Crawler-type hillside orchard inter-row and inter-plant mixed weeding robot

Abstract

The invention relates to the technical field of weeding machines, and discloses a crawler-type hillside orchard inter-row and inter-plant mixed weeding robot which comprises a trolley body and a conveying device arranged on the trolley body, the trolley body is further provided with a first crawler wheel assembly and a second crawler wheel assembly, the end of the trolley body is provided with a plurality of abutting plates, and the abutting plates are arranged on the conveying device. The abutting plate is used for pushing grass rods with grass roots, a soil inserting plate piece used for shoveling up the grass roots is arranged below the abutting plate, and a cutting blade used for cutting off the grass rods is fixedly arranged at the bottom of the abutting plate. According to the device, along with continuous pushing of the abutting plate, the soil inserting plate can shovel up soil, along with continuous soil shoveling of the soil inserting plate, the soil inserting plate does not make contact with grass roots when reaching the positions close to the grass roots of the grass rods, and at the moment, the grass rods are still in an inclined state; the soil inserting plate shovels the grass roots and rotates upwards, so that the grass roots with soil on the soil inserting plate are lifted together, and part of the grass roots remaining in the soil cannot grow again at the moment.

Description

Technical Field

[0001] The invention relates to the technical field of weeding machines, and in particular to a crawler-type mountain orchard inter-row and inter-plant hybrid weeding robot. Background Art

[0002] Traditional weeders are mainly used to weed between rows. Since weeds gather between plants, mechanical weeding is difficult and currently relies mainly on manual labor. Compared with traditional weeding methods, mechanical weeding is faster, takes less time, has higher efficiency and lower cost. Compared with chemical weeding, it is slower, takes longer and has lower efficiency. However, considering long-term interests and the ecological environment, mechanical weeding is more suitable for the current needs of agricultural development. However, mechanical weeding often has the following problems: First, the weeds to be removed in the orchard are weeds similar to foxtail grass, which are tall weeds. They look unsightly when grown in the orchard and are not conducive to the operation of fruit trees by personnel. Therefore, it is necessary to remove these weeds. However, the existing technology removes these weeds by directly pulling them out without pulling out the roots of the weeds together. This will cause the roots of the weeds to remain in the soil and will grow again over time. Secondly, if you use a shovel to remove the soil with roots, or turn over the soil in the entire orchard, although this can solve the problem of long-stem weeds in the orchard, it will also destroy the topography of the orchard, causing damage to the overall topography of the orchard and even the surface ecosystem. It also takes some time to repair the surface, so it is necessary to carry out targeted removal of long-stem weeds in the orchard.

[0003] To this end, we designed a tracked inter-row and inter-plant hybrid weeding robot for mountain orchards. Summary of the invention

[0004] The purpose of the present invention is to solve the problem of using a shovel to dig out the soil with roots, or to turn over the soil in the entire orchard. Although this can solve the problem of long-stem weeds in the orchard, it also destroys the orchard's topography. A crawler-type mountain orchard inter-row and inter-plant mixed weeding robot is proposed.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions: A crawler-type mountain orchard inter-row and inter-plant hybrid weeding robot comprises a trolley body and a conveying device arranged on the trolley body, the trolley body is further equipped with a first crawler wheel assembly and a second crawler wheel assembly, a plurality of abutment plates are arranged at the end of the trolley body, the abutment plates are used to push grass stems with grass roots, a soil inserting plate for shoveling grass roots is arranged below the abutment plates, and a cutting blade for cutting grass stems is fixed at the bottom of the abutment plates; The trolley body is provided with a conveying portion for conveying grass roots between the first track wheel assembly and the second track wheel assembly, and the abutment plate is provided with a conveying assembly for conveying grass roots to the conveying portion.

[0006] Preferably, the first track wheel assembly and the second track wheel assembly are rotated by a driving mechanism, and the second track wheel assembly slides on the side wall of the trolley body through an axis and a sliding cavity, an axis frame is sleeved on the axis, and the axis frame pushes the second track wheel assembly toward the first track wheel assembly through a compression spring.

[0007] Preferably, a V-shaped inclined side groove is provided at the end of the support plate, a wheel groove is provided at the bottom of the inclined side groove, and a rotating wheel rotates coaxially in the wheel groove, a roller close to the ground is provided at the bottom of the support plate, and the roller rolls on the bottom of the support plate through a bracket, the soil insertion plate rotates on the bracket, and a flipping drive part is provided in the support plate to drive the soil insertion plate to flip.

[0008] Preferably, the rotating wheel is coaxially provided with a cylindrical cavity, and the inner wall of the cylindrical cavity is provided with a spiral groove, and a square telescopic rod is coaxially slid in the wheel groove, an L-shaped telescopic rod is provided at the end of the square telescopic rod, which extends into the cylindrical cavity and abuts against the spiral groove, and a third reset spring is provided on the outer wall of the square telescopic rod, and the third reset spring is used to reset the L-shaped telescopic rod.

[0009] Preferably, a second built-in cavity is opened in the abutment plate, and the square telescopic rod extends into the second built-in cavity, a first metal sheet is fixed to the second built-in cavity, and a second metal sheet is fixed to the outer side wall of the square telescopic rod.

[0010] Preferably, the flip driving unit comprises: A lifting chamber is provided in which a second connecting plate is arranged to telescope and slide in the bracket, the soil inserting plate is rotated on the bracket through a rotating shaft, a gear chamber is provided on the bracket, and a rotating gear arranged in the gear chamber is fixed on the outer wall of the rotating shaft, and a toothed plate is arranged at the bottom of the second connecting plate to mesh with the rotating gear for transmission.

[0011] Preferably, the flip driving unit further includes: An energized solenoid, the energized solenoid being arranged in the lifting chamber, and having a first magnetic pole plate and a second magnetic pole plate fixed to a second connecting plate respectively disposed at two ends of the energized solenoid; A fourth reset spring is used to reset the second connecting plate. The first metal sheet and the second metal sheet are provided with a first wire and a second wire respectively. Both ends of the energized solenoid are connected to the first wire and the second wire through the energized wire.

[0012] Preferably, a first through cavity is formed in the abutment plate, and a transmission assembly is provided on opposite side walls of the first through cavity. The transmission assembly is retracted and reset in the first through cavity by a second resetting spring, and the transmission assembly includes: Two first connecting plates, wherein the first connecting plates are right-angle trapezoidal plates, and four rotating rollers are arranged on the first connecting plates; a second conveyor belt, the second conveyor belt is wound around the outer side walls of the four rotating rollers, and a driving motor is provided in the two first connecting plates for driving the rotating rollers to rotate; A connecting frame is fixedly provided on the two first connecting plates to telescopically slide in the first through cavity.

[0013] Preferably, the conveying part includes a first built-in cavity in the abutment plate and connected with the first through cavity, a first conveying belt is arranged in the first built-in cavity, a lifting bracket is arranged at the end of the trolley body, and the lifting bracket is reset by a first reset spring, a support frame is arranged at the bottom of the lifting bracket, a plurality of the abutment plates are arranged on the support frame, a conveying cavity is arranged on the support frame, and a rubber tube is arranged on the trolley body and is used to connect the conveying cavity and the first built-in cavity.

[0014] Preferably, the conveying part further comprises a feeding pipe and a connecting pipe which are coaxially arranged, a discharge port is provided on the feeding pipe, and a spiral pushing body is provided in the feeding pipe.

[0015] The beneficial effects of the present invention are: 1. In the present invention, as the resisting plate is continuously pushed, the soil inserting plate will scoop up the soil. As the soil inserting plate continues to scoop up the soil, it will reach the vicinity of the grass roots of the grass stalks without touching the grass roots. At this time, the grass stalks are still in an inclined state. When the soil inserting plate scoops over the grass roots and rotates upward, the grass roots with soil on the soil inserting plate will be lifted up together, and the part of the grass roots remaining in the soil at this time cannot grow again.

[0016] 2. In the present invention, since the transmission directions of the first track wheel assembly and the second track wheel assembly are opposite to each other during the transmission process, the grass roots with soil that fall out of the discharge port will be located between the first track wheel assembly and the second track wheel assembly, and then the grass roots transmitted here will be crushed by the tracks and then thrown back into the soil, which can effectively remove the tall weeds and destroy the roots of the weeds, so that the weeds cannot grow again. This method can achieve the targeted eradication of tall weeds in the soil without causing large-scale damage to the orchard soil. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the structure of a crawler-type mountain orchard inter-row and inter-plant hybrid weeding robot proposed by the present invention; Figure 2It is a left and right isometric view of a crawler-type mountain orchard inter-row and inter-plant hybrid weeding robot proposed by the present invention; Figure 3 for Figure 2 A schematic diagram of the structure enlargement at the center A; Figure 4 This is a schematic diagram of the structure of multiple groups of abutment plates in a crawler-type mountain orchard inter-row and inter-plant hybrid weeding robot proposed by the present invention; Figure 5 This is a schematic diagram of the structure of the middle plate of a crawler-type mountain orchard inter-row and inter-plant hybrid weeding robot proposed by the present invention; Figure 6 This is a front view of the middle plate of a crawler-type mountain orchard inter-row and inter-plant hybrid weeding robot proposed by the present invention; Figure 7 It is a vertical and horizontal isometric view of the middle plate of a crawler-type mountain orchard inter-row and inter-plant hybrid weeding robot proposed by the present invention; Figure 8 This is a schematic diagram of the structure of a transmission component in a crawler-type mountain orchard inter-row and inter-plant hybrid weeding robot proposed by the present invention; Fig. 9 A schematic diagram of a first state of weeding by a crawler-type mountain orchard inter-row and inter-plant hybrid weeding robot proposed by the present invention; Fig.10 A schematic diagram of a second state of weeding by a crawler-type mountain orchard inter-row and inter-plant hybrid weeding robot proposed by the present invention; Fig.11 A front view of a second state of a crawler-type mountain orchard inter-row and inter-plant hybrid weeding robot for weeding proposed by the present invention; Fig.12 It is a vertical isometric view of the second state of weeding of a crawler-type mountain orchard inter-row and inter-plant hybrid weeding robot proposed by the present invention; Fig.13 This is a diagram showing the internal structure of a middle plate of a crawler-type mountain orchard inter-row and inter-plant hybrid weeding robot proposed by the present invention; Fig.14 This is a schematic diagram of the structure of the wheel groove of the anti-plate in a crawler-type mountain orchard inter-row and inter-plant hybrid weeding robot proposed by the present invention; Fig.15 yes Fig.14 A schematic diagram of the structure enlarged at B in the middle; Fig.16 This is a schematic structural diagram of the feed pipe in a crawler-type mountain orchard inter-row and inter-plant hybrid weeding robot proposed by the present invention.

[0018] In the figure: 1, trolley body; 2, first crawler wheel assembly; 3, second crawler wheel assembly; 4, conveying device; 5, lifting bracket; 6, first return spring; 7, support frame; 8, rubber tube; 9, stop plate; 10, roller; 11, shaft; 12, sliding cavity; 13, shaft frame; 14, compression spring; 15, inclined side groove; 16, rotating wheel; 17, cutting blade; 18, soil inserting plate; 19, rotating shaft; 20, bracket; 21, first through cavity; 22, first built-in cavity; 23, first transmission belt; 24. Conveying assembly; 241. First connecting plate; 242. Rotating roller; 243. Second conveying belt; 244. Connecting frame; 25. Second return spring; 26. Grass root; 27. Grass stem; 28. L-shaped telescopic rod; 29. ​​Spiral groove; 30. Wheel groove; 31. Square telescopic rod; 32. Third return spring; 33. Second built-in cavity; 34. First metal sheet; 35. Second metal sheet; 36. First wire; 37. Second wire; 38. Rotating gear; 39. Tooth plate; 40. Second connecting plate; 41. First magnetic pole plate; 42. Second magnetic pole plate; 43. Fourth return spring; 44. Energized solenoid; 45. Feed pipe; 46. Discharge port; 47. Spiral pusher; 48. Connecting pipe. DETAILED DESCRIPTION

[0019] Reference Figure 1-Figure 16 A crawler-type mountain orchard inter-row and inter-plant hybrid weeding robot includes a trolley body 1 and a conveying device 4 arranged on the trolley body 1. The trolley body 1 is also equipped with a first track wheel assembly 2 and a second track wheel assembly 3. The first track wheel assembly 2 and the second track wheel assembly 3 are rotated by a driving mechanism. In this way, the first track wheel assembly 2 is driven to rotate by the external driving mechanism, and the second track wheel assembly 3 close to the ground will also drive the transmission.

[0020] The end of the trolley body 1 is provided with a lifting bracket 5, and the lifting bracket 5 is reset by a first reset spring 6. The end of the trolley body 1 is provided with a plurality of abutment plates 9, which are used to push the grass stems 27 with grass roots 26. The end of the abutment plate 9 is provided with a V-shaped inclined side groove 15. Figure 4 The figure shows a state diagram in which multiple push plates 9 are fixed at the bottom of the support frame 7. The V-shaped inclined side groove 15 is provided to ensure that the grass stem 27 located at the end of the push plate 9 will slide along the V-shaped inclined side groove 15 to the bottom of the V-shaped inclined side groove 15. Since a wheel groove 30 is provided at the bottom of the inclined side groove 15, and a rotating wheel 16 rotates coaxially in the wheel groove 30, when the trolley body 1 continues to run, the multiple push plates 9 at the bottom of the support frame 7 will be pushed to continue to move forward, so that the push plate 9 will press against the tall weeds in front, so that the grass stems 27 of the tall weeds press against the rotating wheel 16 in the wheel groove 30. Under the pushing action of the push plate 9, the rotating wheel 16 on the push plate 9 pushes the grass stem 27 to tilt.

[0021] It should be noted that when the rotating wheel 16 pushes the grass stem 27 to tilt, the grass root 26 of the grass stem 27 is in the soil, so the grass stem 27 will pull the rotating wheel 16 to rotate in the wheel groove 30 on the support plate 9. The support plate 9 is provided with a flipping drive part that drives the soil insertion plate 18 to flip, thereby driving the flipping drive part in the support plate 9 to operate.

[0022] Reference Fig.13 As shown, the rotating wheel 16 is coaxially provided with a cylindrical cavity, and the inner wall of the cylindrical cavity is provided with a spiral groove 29, and a square telescopic rod 31 is coaxially slidable in the wheel groove 30, and an L-shaped telescopic rod 28 is provided at the end of the square telescopic rod 31, which extends into the cylindrical cavity and abuts against the spiral groove 29. Therefore, when the rotating wheel 16 rotates, the L-shaped telescopic rod 28 is driven to move, wherein the L-shaped telescopic rod 28 is connected to the square telescopic rod 31. Therefore, during the rotation of the rotating wheel 16, the L-shaped telescopic rod 28 and the square telescopic rod 31 are pushed to slide along the axis, and a second built-in cavity 33 is provided in the support plate 9, thereby transmitting the movement trend of the square telescopic rod 31 to the second built-in cavity 33 in the support plate 9.

[0023] Reference Fig.14 and Fig.15 As shown, when the square telescopic rod 31 extends into the second built-in cavity 33, the first metal sheet 34 is fixed to the second built-in cavity 33, and the second metal sheet 35 is fixed to the outer wall of the square telescopic rod 31. At this time, the first metal sheet 34 and the second metal sheet 35 will be in contact with each other, thereby achieving circuit connectivity.

[0024] Reference Fig.13 and Fig.14 State, the flip driving part includes a lifting chamber, in which a second connecting plate 40 is arranged to telescopically slide in the bracket 20, and an energized solenoid 44 is arranged in the lifting chamber, and two ends of the energized solenoid 44 are respectively provided with a first magnetic pole plate 41 and a second magnetic pole plate 42 fixed to the second connecting plate 40, and a first wire 36 and a second wire 37 are respectively provided on the first metal sheet 34 and the second metal sheet 35, and two ends of the energized solenoid 44 are connected to the first wire 36 and the second wire 37 through the energized wire, so after the first metal sheet 34 and the second metal sheet 35 contact, the circuit will be connected and the energized solenoid 44 will carry current, so a magnetic field will be generated at both ends of the energized solenoid 44, and since the first magnetic pole plate 41 and the second magnetic pole plate 42 on the second connecting plate 40 are located on both sides of the energized solenoid 44, after the energized solenoid 44 generates a magnetic field, it will attract the first magnetic pole plate 41 and repel the second magnetic pole plate 42, which will drive the lifting of the second connecting plate 40.

[0025] The flip driving unit also includes a fourth reset spring 43, which is used to reset the second connecting plate 40. When the second connecting plate 40 is lifted, the fourth reset spring 43 will be squeezed to store energy for subsequent energy release.

[0026] The second connecting plate 40 is provided with a tooth plate 39 meshing with the rotating gear 38 at the bottom thereof, and a gear cavity is provided on the bracket 20, and a rotating gear 38 arranged in the gear cavity is fixed to the outer wall of the rotating shaft 19. When the second connecting plate 40 is lifted, the tooth plate 39 is lifted together, and then the rotating gear 38 is meshed with the rotating gear 38 to rotate with the rotating shaft 19, and the soil inserting plate 18 is rotated on the bracket 20 through the rotating shaft 19, so that the original soil inserting plate 18 is rotated. Figure 5 The soil inserting plate 18 in the state is rotated into Fig.12 state.

[0027] It should be noted that a roller 10 close to the ground is provided at the bottom of the plate 9, and the roller 10 rolls at the bottom of the plate 9 through a bracket 20, and the soil inserting plate 18 rotates on the bracket 20. During the rotation of the soil inserting plate 18, the bottom end of the soil inserting plate 18 is lower than the ground, that is, Fig. 9 and Fig.10 At this time, the soil inserting plate 18 will first be close to the ground when it rotates, and then the soil inserting plate 18 will be inserted into the soil under the pushing action of the abutment plate 9, forming Fig.10 State, as the resisting plate 9 continues to push, the soil inserting plate 18 will shovel up the soil. As the soil inserting plate 18 continues to shovel the soil and reaches the vicinity of the grass roots 26 of the grass stems 27 without touching the grass roots 26, the grass stems 27 are still in an inclined state.

[0028] When the push plate 9 continues to advance with the soil inserting plate 18 and destroys the grass root 26, the grass stem 27 cannot maintain its tilted state and becomes a tilted state because the grass root 26 of the grass stem 27 is destroyed. At this time, the grass stem 27 no longer resists the rotating wheel 16.

[0029] Since the third reset spring 32 is provided on the outer wall of the square telescopic rod 31, and the third reset spring 32 is used to reset the L-shaped telescopic rod 28, the rotating wheel 16 is pushed in the spiral groove 29 of the L-shaped telescopic rod 28, so that the rotating wheel 16 rotates in the opposite direction to reset, and at the same time, the first metal sheet 34 and the second metal sheet 35 that were originally tightly attached are separated, and then the energized solenoid 44 is de-energized, and the magnetic fields at both ends disappear, and the second connecting plate 40 descends under the action of the fourth reset spring 43, thereby driving the bottom gear plate 39 to descend, and then the meshing rotating gear 38 will rotate in the opposite direction with the rotating shaft 19. At this time, the soil insertion plate 18 rotates upward, so that the grass roots 26 with soil on the soil insertion plate 18 will be lifted together, and at this time, some grass roots 26 remaining in the soil cannot grow again.

[0030] At the same time, a soil inserting plate 18 for shoveling up grass roots 26 is provided below the plate 9, and a cutting blade 17 for cutting off grass stems 27 is fixed at the bottom of the plate 9. Figure 6 The soil inserting plate 18 and the cutting blade 17 in the engaged state interlock with each other and cut off the grass stems 27 , leaving the grass roots 26 with soil between the two conveying components 24 .

[0031] Reference Figure 7 and Figure 8 In this state, a first through cavity 21 is opened in the support plate 9, and a conveying component 24 is provided on the opposite side walls of the first through cavity 21. The support plate 9 is provided with a conveying component 24 for conveying grass roots 26 to the conveying part, wherein during the lifting process of the soil insertion plate 18, the grass roots 26 with soil will be stuck between the two conveying components 24.

[0032] The transmission component 24 includes two first connecting plates 241, which are right-angled trapezoidal plates. Four rotating rollers 242 are provided on the first connecting plates 241. The second transmission belt 243 is wrapped around the outer walls of the four rotating rollers 242. A driving motor is provided in the two first connecting plates 241 to drive the rotating rollers 242 to rotate. A connecting frame 244 that can be telescopically slid in the first through cavity 21 is fixedly provided on the two first connecting plates 241. The transmission component 24 is reset and telescoped in the first through cavity 21 by the second reset spring 25. Therefore, the two transmission components 24 will clamp the grass roots 26 with soil, allowing the grass roots 26 with soil to move from the first through cavity 21 to the first built-in cavity 22.

[0033] The conveying part includes a first built-in cavity 22 connected to the first through cavity 21 in the abutment plate 9, a first conveying belt 23 is arranged in the first built-in cavity 22, a support frame 7 is arranged at the bottom of the lifting bracket 5, a plurality of abutment plates 9 are arranged on the support frame 7, a conveying cavity is arranged on the support frame 7, and a rubber tube 8 is arranged on the trolley body 1, which is used to connect the conveying cavity and the first built-in cavity 22. Therefore, the first conveying belt 23 will convey the grass roots 26 with soil to the first conveying belt 23, and then convey them to the conveying cavity in the support frame 7, and then the grass roots 26 with soil will be conveyed under the action of the conveying device 4.

[0034] The conveying device 4 is a prior art, which is used to convey the grass roots 26 with soil from the first conveying belt 23 to the conveying cavity in the support frame 7 and then to the connecting pipe 48 through the rubber tube 8. The conveying device 4 can use an air suction device to convey the grass roots 26 with soil, which will not be elaborated here.

[0035] Reference Figure 3 and Fig.16In this state, the trolley body 1 is provided with a conveying portion for conveying the grass roots 26 between the first track wheel assembly 2 and the second track wheel assembly 3, the conveying portion also includes a coaxially arranged feeding pipe 45 and a connecting pipe 48, the feeding pipe 45 is provided with a discharge port 46, and the feeding pipe 45 is provided with a spiral pushing body 47, wherein the spiral pushing body 47 rotates under the external driving mechanism to convey the grass roots 26 conveyed into the connecting pipe 48 into the feeding pipe 45, and then falls out from the discharge port 46.

[0036] The second track wheel assembly 3 slides on the side wall of the trolley body 1 through the shaft 11 and the sliding cavity 12. The shaft 11 is sleeved with a shaft frame 13, and the shaft frame 13 pushes the second track wheel assembly 3 toward the first track wheel assembly 2 through the compression spring 14. Under the action of the compression spring 14, the shaft frame 13 will be pushed to slide with the shaft 11 in the sliding cavity 12, so that the second track wheel assembly 3 on the shaft 11 will be closer to the first track wheel assembly 2. It should be noted that the transmission directions of the relative ends of the first track wheel assembly 2 and the second track wheel assembly 3 are opposite during the transmission process, and the grass roots 26 with soil falling out of the discharge port 46 will be located between the first track wheel assembly 2 and the second track wheel assembly 3, and then the grass roots 26 transmitted here will be crushed by the tracks and then thrown back into the soil.

[0037] This method can effectively remove tall weeds and destroy the roots of the weeds, preventing them from growing again. This method can achieve targeted eradication of tall weeds in the soil without causing large-scale damage to the orchard soil.

[0038] The working principle of the present invention is as follows: The first track wheel assembly 2 and the second track wheel assembly 3 rotate through the driving mechanism, so that the first track wheel assembly 2 is driven to rotate through the external driving mechanism, and the second track wheel assembly 3 close to the ground will also drive the transmission. When the trolley body 1 continues to run, it will push the multiple abutment plates 9 at the bottom of the support frame 7 to continue to move forward, so that the abutment plates 9 will press against the tall weeds in front, allowing the grass stems 27 of the tall weeds to press against the rotating wheel 16 in the wheel groove 30. Under the pushing action of the abutment plates 9, the rotating wheel 16 on the abutment plates 9 pushes the grass stems 27 to tilt.

[0039] The grass roots 26 with soil on the soil inserting plate 18 will be lifted up together with the grass roots 26 when the soil inserting plate 18 shovels over the grass roots 26 and rotates upward. At this time, some grass roots 26 remaining in the soil cannot grow again. The grass roots 26 with soil are transmitted to the transmission part through the transmission device 4, and the grass roots 26 transported to the connecting pipe 48 are transmitted to the feeding pipe 45, and then fall out from the discharge port 46. The transmission directions of the relative ends of the first crawler wheel assembly 2 and the second crawler wheel assembly 3 are opposite during the transmission process, and the grass roots 26 with soil that fall out from the discharge port 46 will be located between the first crawler wheel assembly 2 and the second crawler wheel assembly 3, and then the grass roots 26 transmitted here will be crushed by the track and then thrown back into the soil.

[0040] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A crawler-type inter-row and inter-plant hybrid weeding robot for mountain orchards, comprising a trolley body (1) and a conveying device (4) arranged on the trolley body (1), characterized in that: The trolley body (1) is also equipped with a first track wheel assembly (2) and a second track wheel assembly (3); a plurality of abutment plates (9) are provided at the end of the trolley body (1); the abutment plates (9) are used to push grass stems (27) with grass roots (26); a soil inserting plate (18) is provided below the abutment plates (9) for shoveling up the grass roots (26); a cutting blade (17) for cutting off the grass stems (27) is fixed at the bottom of the abutment plates (9); The trolley body (1) is provided with a conveying portion for conveying grass roots (26) between the first track wheel assembly (2) and the second track wheel assembly (3), and the abutment plate (9) is provided with a conveying assembly (24) for conveying the grass roots (26) to the conveying portion.

2. A crawler-type mountain orchard inter-row and inter-plant hybrid weeding robot according to claim 1, characterized in that: The first track wheel assembly (2) and the second track wheel assembly (3) are rotated by a driving mechanism, and the second track wheel assembly (3) slides on the side wall of the trolley body (1) through a shaft member (11) and a sliding cavity (12); a shaft frame (13) is sleeved on the shaft member (11), and the shaft frame (13) pushes the second track wheel assembly (3) to move toward the first track wheel assembly (2) through a compression spring (14).

3. The crawler-type mountain orchard inter-row and inter-plant hybrid weeding robot according to claim 1, characterized in that: The end of the support plate (9) is provided with a V-shaped inclined side groove (15), the bottom of the inclined side groove (15) is provided with a wheel groove (30), and a rotating wheel (16) is coaxially rotated in the wheel groove (30), the bottom of the support plate (9) is provided with a roller (10) close to the ground, and the roller (10) rolls on the bottom of the support plate (9) through a bracket (20), the soil insertion plate (18) rotates on the bracket (20), and a turning drive part for driving the soil insertion plate (18) to turn over is provided in the support plate (9).

4. A crawler-type mountain orchard inter-row and inter-plant hybrid weeding robot according to claim 3, characterized in that: The rotating wheel (16) is coaxially provided with a cylindrical cavity, and the inner wall of the cylindrical cavity is provided with a spiral groove (29), and a square telescopic rod (31) is coaxially slidable in the wheel groove (30), and an L-shaped telescopic rod (28) is provided at the end of the square telescopic rod (31) and extends into the cylindrical cavity and abuts against the spiral groove (29), and a third reset spring (32) is sleeved on the outer wall of the square telescopic rod (31), and the third reset spring (32) is used to reset the L-shaped telescopic rod (28).

5. The crawler-type mountain orchard inter-row and inter-plant hybrid weeding robot according to claim 4, characterized in that: A second built-in cavity (33) is provided in the abutment plate (9), and the square telescopic rod (31) extends into the second built-in cavity (33). A first metal sheet (34) is fixed to the second built-in cavity (33), and a second metal sheet (35) is fixed to the outer side wall of the square telescopic rod (31).

6. The crawler-type mountain orchard inter-row and inter-plant hybrid weeding robot according to claim 5, characterized in that: The flip driving unit comprises: A lifting chamber is provided in the lifting chamber, wherein a second connecting plate (40) is telescopically slidable in the bracket (20), the soil inserting plate (18) is rotated on the bracket (20) via a rotating shaft (19), a gear chamber is provided on the bracket (20), a rotating gear (38) arranged in the gear chamber is fixed to the outer wall of the rotating shaft (19), and a toothed plate (39) meshing with the rotating gear (38) is provided at the bottom of the second connecting plate (40).

7. The crawler-type mountain orchard inter-row and inter-plant hybrid weeding robot according to claim 6, characterized in that: The flip driving unit also includes: An energized solenoid (44), the energized solenoid (44) being arranged in the lifting chamber, and having a first magnetic pole plate (41) and a second magnetic pole plate (42) fixed to a second connecting plate (40) respectively provided at two ends of the energized solenoid (44); A fourth reset spring (43), the fourth reset spring (43) being used to reset the second connecting plate (40), the first metal sheet (34) and the second metal sheet (35) being provided with a first wire (36) and a second wire (37) respectively, and two ends of the energized solenoid (44) being connected to the first wire (36) and the second wire (37) via the energized wires.

8. The crawler-type mountain orchard inter-row and inter-plant hybrid weeding robot according to claim 1, characterized in that: A first through cavity (21) is formed in the abutment plate (9), and a transmission assembly (24) is provided on opposite side walls of the first through cavity (21). The transmission assembly (24) is retracted and retracted in the first through cavity (21) by a second resetting spring (25). The transmission assembly (24) comprises: Two first connecting plates (241), wherein the first connecting plates (241) are right-angled trapezoidal plates, and four rotating rollers (242) are provided on the first connecting plates (241); A second conveyor belt (243), the second conveyor belt (243) being wound around the outer side walls of the four rotating rollers (242), and a driving motor is provided in the two first connecting plates (241) for driving the rotating rollers (242) to rotate; A connecting frame (244) is fixedly provided on the two first connecting plates (241) and is telescopically slidable in the first through cavity (21).

9. The crawler-type mountain orchard inter-row and inter-plant hybrid weeding robot according to claim 8, characterized in that: The conveying part comprises a first built-in cavity (22) in the abutment plate (9) and connected to the first through cavity (21); a first conveying belt (23) is arranged in the first built-in cavity (22); a lifting bracket (5) is arranged at the end of the trolley body (1); the lifting bracket (5) is reset by a first reset spring (6); a support frame (7) is arranged at the bottom of the lifting bracket (5); a plurality of the abutment plates (9) are arranged on the support frame (7); a conveying cavity is arranged on the support frame (7); and a rubber tube (8) is arranged on the trolley body (1) and is used to connect the conveying cavity and the first built-in cavity (22).

10. The crawler-type mountain orchard inter-row and inter-plant hybrid weeding robot according to claim 9, characterized in that: The conveying section further comprises a coaxially arranged material passage pipe (45) and a connecting pipe (48); a material discharge port (46) is provided on the material passage pipe (45), and a spiral material pushing body (47) is provided in the material passage pipe (45).

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