Intelligent shrub cleaning and weeding machine for hillside orchard

Abstract

The invention discloses a hillside orchard intelligent shrub cleaning weeding machine, and relates to the technical field of intelligent agricultural machinery, the core structure of the hillside orchard intelligent shrub cleaning weeding machine is a self-adaptive crawler chassis, the self-adaptive crawler chassis comprises a chassis shell and crawlers on two sides, and the contact area between the crawlers and the ground can be dynamically adjusted through telescopic cooperation of a wheel support hydraulic rod and a tripod and a driven wheel; and the trafficability and the stability of the machine on complex mountain terrains are obviously improved. In addition, the machine is further provided with a deformation mechanism, the levelness of the working mechanism can be automatically adjusted according to the terrain, and stable operation on the sloping field and the rugged terrain is ensured. The control and power system achieves centralized driving control over all power mechanisms, and the operation convenience and the intelligent level are further improved. Through the innovative design of the self-adaptive crawler chassis and the deformation mechanism, the defects in the prior art are effectively overcome, remarkable practicability and innovativeness are achieved, the actual requirement for cleaning the shrubs in the hills and mountains can be met, and a new solution is provided for agricultural mechanization development.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent agricultural machinery, and more specifically, to a smart shrub clearing and weeding machine for mountain orchards. Background Art

[0002] In recent years, with the gradual popularization of mechanized planting technology in hilly and mountainous areas, the demand for shrub clearing machines suitable for hilly and mountainous areas has been increasing.

[0003] However, the existing modern agricultural adaptive navigation large shrub clearing machines are mainly applicable to flat shrub forests. For the situation where there are mostly hilly and mountain slopes with uneven terrain, and shrubs and low trees are widely distributed and scattered, it is difficult to be effectively applied. In addition, large shrub clearing machines are difficult to drive, have high requirements for vehicle driving speed and output torque control, and are likely to cause driver fatigue. In addition, in order to reduce fossil fuel pollution, it is necessary to solve the problem of excessive energy consumption of traditional agricultural machinery.

[0004] Traditional shrub clearing machines mainly have the following problems: First, the operation is complex, the learning cost is high, and the work intensity is large; second, for the complex and changeable environment in mountainous and hilly areas, the applicability is poor. For example, for terrains with a lot of water content such as muddy shrub forests and swamp shrub forests, traditional large shrub clearing machines are difficult to use; third, the structure is complex, the maintenance time is long, and the functionality is single; fourth, it is mainly driven by an engine, the transmission system is complex, the whole machine is heavy, which does not meet the requirements of miniaturization and lightweight in hilly and mountainous areas. At the same time, it is not easy to achieve intelligent control, and it has a large noise, high energy consumption, and relatively serious environmental pollution.

[0005] To solve the above problems and meet the needs of shrub clearing in hilly and mountainous areas, designing a smart shrub clearing and weeding machine for mountain orchards with high passability and high adaptability is an urgent problem for those skilled in the art. Summary of the Invention

[0006] In view of this, the present invention provides a smart shrub clearing and weeding machine for mountain orchards, aiming to solve the above technical problems.

[0007] To achieve the above purpose, the present invention adopts the following technical solutions:

[0008] A smart shrub clearing and weeding machine for mountain orchards, comprising:

[0009] An adaptive crawler chassis, the adaptive crawler chassis includes a chassis housing and crawlers provided on both sides of the chassis housing, and the crawlers are driven by a driving wheel that is rotatably connected to the side wall of the chassis housing and cooperates with the inner surface of the crawlers; wheel support hydraulic rods are symmetrically arranged at the front and rear inside of the crawlers, the fixed end of the wheel support hydraulic rod is rotatably connected to the side wall of the chassis housing, the telescopic end of the wheel support hydraulic rod is hinged to one end of a triangular frame, the center point of the triangular frame is rotatably connected to the side wall of the chassis housing through a rotating shaft, and the other two ends of the triangular frame are respectively rotatably connected with a large driven wheel and a small driven wheel that cooperate with the inner side of the crawlers; when the adaptive crawler chassis is moving forward, the contact area between the outer surface of the crawler and the ground during travel is changed by controlling the telescopic movement of the front and rear wheel support hydraulic rods;

[0010] A deformation mechanism, the deformation mechanism includes a flipping chassis main shaft rotatably connected to the front end of the chassis housing, the flipping chassis main shaft is connected with a flipping chassis, the flipping chassis is driven to flip by a flipping drive hydraulic rod arranged inside the chassis housing, a side-rotating chassis is arranged on the top surface of the flipping chassis, and the side-rotating chassis is driven to perform left and right flipping actions by a side-rotating control part arranged on the flipping chassis, and further, by the front and rear flipping of the flipping chassis and the left and right flipping of the side-rotating chassis, the levelness of the side-rotating chassis is adjusted according to the terrain during travel;

[0011] A working mechanism, the working mechanism is installed on the top surface of the side-rotating chassis;

[0012] A control and power system, the control and power system is installed on the inner side of the chassis housing and the top surface of the side-rotating chassis, and is used to realize the drive control of each power mechanism.

[0013] Through the above technical solutions, in the present invention, through the design of the adaptive crawler chassis, the crawlers can change the contact area with the ground according to the terrain by the telescopic movement of the wheel support hydraulic rods, thereby improving the passing performance and stability of the machine on mountainous and complex terrains. The deformation mechanism can adjust the levelness of the side-rotating chassis according to the terrain, ensuring that the working mechanism maintains a stable working posture on different slopes and undulating terrains. The control and power system realizes the centralized drive control of each power mechanism, improving the convenience and intelligent level of operation.

[0014] Preferably, in the above-mentioned intelligent shrub clearing and weeding machine for mountain orchards, the adaptive crawler chassis further includes two auxiliary driven wheels arranged inside the crawlers and located between the two wheel support hydraulic rods, the auxiliary driven wheels are rotatably connected to one end of a right-angle rotating support, the right-angle inflection point of the right-angle rotating support is rotatably connected to the side wall of the chassis housing through a rotating shaft, and the other end of the right-angle rotating support is connected to the side wall of the chassis housing through a shock absorber, so that the auxiliary driven wheels are pressed against the inner bottom surface of the crawlers.

[0015] Preferably, in the above-mentioned intelligent shrub clearing and weeding machine for mountain orchards, the side wall of the chassis housing has support columns. The shock absorber includes a shock absorber head rod rotatably connected to the support columns. The shock absorber head rod is coaxially and slidably connected to a support base rod. The support base rod is rotatably connected to the end of the right-angle rotating support away from the auxiliary driven wheel, so that the support base rod and the right-angle rotating support are sequentially connected to form a Z-shaped link structure. A support spring is provided directly between the support base rod and the shock absorber head rod.

[0016] Preferably, in the above-mentioned intelligent shrub clearing and weeding machine for mountain orchards, a support beam is fixed inside the chassis housing. A first hydraulic support seat for flipping is fixed on the support beam. A second hydraulic support seat for flipping is fixed on the bottom surface of the flipping chassis. The flipping drive hydraulic rod is connected between the first hydraulic support seat for flipping and the second hydraulic support seat for flipping.

[0017] Preferably, in the above-mentioned intelligent shrub clearing and weeding machine for mountain orchards, side rotation support bases are fixed on both sides of the top surface of the flipping chassis. The side rotation main shafts on both sides of the side rotation chassis are respectively embedded in the grooves of the two side rotation support bases, so that both sides of the side rotation chassis can be laterally flipped with the corresponding side rotation support bases as fulcrums; Side rotation limit frames are respectively slidably connected to the outsides of the two side rotation support bases. The tops of the two side rotation limit frames have cross fork heads inserted into the tops of the side rotation support bases. The cross fork heads can cooperate with the grooves of the side rotation support bases to limit the side rotation main shafts on the edges of the side rotation chassis; An expansion motor installed on the flipping chassis is provided below the side rotation chassis. The ends of the expansion shafts on both sides of the expansion motor are respectively fixed to the two side rotation limit frames. By controlling the left and right movement of the expansion shafts through the expansion motor, only the cross fork head on one of the side rotation limit frames is always used to limit the side rotation main shaft on one side of the side rotation chassis.

[0018] Preferably, in the above-mentioned intelligent shrub clearing and weeding machine for mountain orchards, the side rotation control part includes a high-torque reduction motor installed on the top surface of the flipping chassis. The power output shaft of the high-torque reduction motor is rotatably connected to a side rotation sub-shaft on the front edge of the side rotation chassis through two mutually articulated side rotation linkages.

[0019] Preferably, in the above-mentioned intelligent shrub clearing and weeding machine for mountain orchards, a side rotation back plate is vertically fixed at the rear end of the flipping chassis. Mutually perpendicular slide rails are fixed between the side rotation back plate and the rear end of the side rotation chassis. Sliders are slidably connected to the slide rails. A side rotation shaft is connected between the two sliders. The ends of the side rotation shaft are respectively rotatably connected to the two sliders.

[0020] Preferably, in the above-mentioned intelligent shrub clearing and weeding machine for mountain orchards, a robotic arm base is fixed on the top surface of the side-turning chassis, and a first-stage hydraulic connection seat one is provided on the robotic arm base; the working mechanism includes a robotic arm rotatably connected to the robotic arm base, and the robotic arm is provided with a first-stage hydraulic connection seat two and a second-stage hydraulic connection seat one. A first-stage hydraulic rod is connected between the first-stage hydraulic connection seat one and the first-stage hydraulic connection seat two. The front end of the robotic arm is rotatably connected to the working mechanism housing through a robotic arm connecting piece. A second-stage hydraulic connection seat two is fixed on the working mechanism housing, and a second-stage hydraulic rod is connected between the second-stage hydraulic connection seat two and the second-stage hydraulic connection seat one; a driven roller shaft is rotatably connected to the front end of the working mechanism housing, and a driven roller is fixedly sleeved on the driven roller shaft. A driven roller blade and a cutter block support piece are fixed on the driven roller, and a cutter block is fastened on the cutter block support piece; a high-torque direct-drive motor is installed on one side of the rear part of the working mechanism housing, and a driving pulley is fixed on the working motor shaft of the high-torque direct-drive motor. A driven pulley is fixed at one end of the driven roller shaft, and a belt is sleeved outside the driving pulley and the driven pulley. A belt transmission housing is buckled outside the driving pulley, the driven pulley and the belt.

[0021] Preferably, in the above-mentioned intelligent shrub clearing and weeding machine for mountain orchards, a protective baffle is fixed on the upper part of the working mechanism housing, and a protective soft leather is fixed on the lower part of the working mechanism housing and behind and below the protective baffle; a camera support is fixed on the upper part of the working mechanism housing and behind the protective baffle, and a camera is installed on the camera support.

[0022] Preferably, in the above-mentioned intelligent shrub clearing and weeding machine for mountain orchards, the control and power system includes high-torque reduction drive motors installed on both sides of the inner cavity of the chassis housing. The high-torque reduction drive motors are used to drive the driving wheels to rotate. A storage battery is installed at the rear end of the middle part of the chassis housing, a switch and a power meter are installed on the left side of the rear end of the chassis housing, a hydraulic cylinder and a hybrid electric range extender engine are installed on the upper part of the rear end of the chassis housing and are covered by a rear cover; a camera is installed on the upper part of the rear shell, and a main control system is installed on the upper part of the rear end of the side-turning chassis. A satellite positioning and navigation system device is installed on the upper part of the main control system.

[0023] It can be seen from the above technical solutions that compared with the prior art, the present invention discloses an intelligent shrub clearing and weeding machine for mountain orchards, which has the following beneficial effects:

[0024] 1. Strong terrain adaptability: The self - adaptive crawler chassis can automatically adjust the contact area between the crawler and the ground according to the terrain through the telescopic movement of the wheel support hydraulic rod and the cooperation of the auxiliary driven wheels, ensuring stability and passability on complex mountain terrains. The deformation mechanism can automatically adjust the levelness of the working mechanism according to the terrain through the combined actions of flipping the chassis and side - turning the chassis, enabling it to maintain a stable working posture on slopes and undulating terrains, with stronger adaptability.

[0025] 2. High operation convenience: The control and power system realizes centralized drive control of each power mechanism. Operators can perform remote operations through remote control or satellite positioning and navigation system devices, reducing the operation difficulty, minimizing manual intervention, and improving work efficiency. Through the cooperation of cameras and sensors in the intelligent design, the machine can monitor the working state and terrain changes in real - time, automatically adjust working parameters, further enhancing the operation convenience and intelligent level.

[0026] 3. Excellent working performance: The working mechanism adopts a combination of a robotic arm and hydraulic rods, which can flexibly adjust the working height and angle to meet different requirements for shrub clearance. The blade and cutter block design on the driven roller can efficiently clear shrubs and weeds with good cleaning effects. The power system uses an oil - electric hybrid range - extender engine combined with a storage battery, which can not only meet the long - term operation requirements but also automatically charge when the battery power is insufficient, improving the endurance and work efficiency.

[0027] 4. High safety and reliability: The protective design of the working mechanism is equipped with protective baffles and soft leather, effectively protecting the safety of operators and equipment. The shock - absorption design can effectively absorb ground impact forces through shock absorbers and Z - type link structures, reducing equipment wear and extending service life. The limit and support design of the side - turning chassis, with its limit frame and slide rail structure, ensures the smoothness and reliability of the side - turning action, further improving the operation stability of the equipment.

[0028] 5. Energy - saving and environmental - friendly: The power system adopts oil - electric hybrid technology, reducing the dependence on traditional fuels, lowering energy consumption and environmental pollution. The lightweight design features a compact overall structure and light weight, meeting the miniaturization and lightweight requirements of hilly and mountainous areas, and further enhancing its applicability in complex terrains. Brief Description of the Drawings

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings described below are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the provided drawings.

[0030] Figure 1The accompanying drawing is a schematic structural diagram of the intelligent shrub clearing and weeding machine for mountain orchards provided by the present invention;

[0031] Figure 2 The accompanying drawing is a schematic structural diagram of the adaptive crawler chassis provided by the present invention;

[0032] Figure 3 The accompanying drawing is a schematic structural diagram of the wheel support hydraulic rod part provided by the present invention;

[0033] Figure 4 The accompanying drawing is a schematic structural diagram of the auxiliary driven wheel part provided by the present invention;

[0034] Figure 5 The accompanying drawing is a schematic structural diagram of the deformation mechanism provided by the present invention;

[0035] Figure 6 The accompanying drawing is a front view of the deformation mechanism provided by the present invention;

[0036] Figure 7 The accompanying drawing is a schematic structural diagram of the deformation mechanism in the direction of the side rotation control part provided by the present invention;

[0037] Figure 8 The accompanying drawing is a schematic structural diagram of the side rotation back plate part provided by the present invention;

[0038] Figure 9 The accompanying drawing is a schematic structural diagram of the working mechanism provided by the present invention;

[0039] Figure 10 The accompanying drawing is a schematic structural diagram of the control and power system provided by the present invention;

[0040] Figure 11 The accompanying drawing is a schematic diagram of the state change of the intelligent shrub clearing and weeding machine for mountain orchards provided by the present invention when going uphill;

[0041] Figure 12 The accompanying drawing is a schematic diagram of the state change of the intelligent shrub clearing and weeding machine for mountain orchards provided by the present invention after going uphill.

[0042] Wherein:

[0043] 100 - Adaptive crawler chassis;

[0044] 101 - Crawler; 102 - Wheel support hydraulic rod; 103 - Support column; 104 - Shock absorber head rod; 105 - Support spring; 106 - Support base rod; 107 - Large driven wheel; 108 - Small driven wheel; 109 - Driving wheel; 110 - Right-angle rotation support; 111 - Chassis housing; 112 - Tipping chassis support bearing; 113 - Tipping chassis; 114 - Auxiliary driven wheel; 115 - Tripod;

[0045] 200 - Working mechanism;

[0046] 201 - Working mechanism housing; 202 - Protective baffle; 203 - Protective soft leather; 204 - Driven roller support bearing; 205 - Driven roller; 206 - Driven roller blade; 207 - Blade block support piece; 208 - Blade block; 209 - Driven roller shaft; 210 - Driven pulley; 211 - Belt drive housing; 212 - Driving pulley; 213 - Working motor shaft; 214 - Belt; 215 - High torque direct drive motor; 216 - Robotic arm connector; 217 - Secondary hydraulic connection seat two; 218 - Secondary hydraulic rod; 219 - Secondary hydraulic connection seat one; 220 - Primary hydraulic rod; 221 - Primary hydraulic connection seat two; 222 - Robotic arm; 223 - Camera support.

[0047] 300 - Deformation mechanism;

[0048] 301 - Tipping chassis main shaft; 302 - Support beam; 303 - Tipping drive hydraulic rod; 304 - Tipping hydraulic support seat one; 305 - Side - turning back plate; 306 - Slide block; 307 - Side - turning shaft; 308 - Slide rail; 309 - Robotic arm base; 310 - Primary hydraulic connection seat one; 311 - Telescopic shaft; 312 - Telescopic motor; 313 - Side - turning chassis; 314 - Side - turning limit frame; 315 - Side - turning support base; 316 - Side - turning secondary shaft; 317 - Side - turning connecting rod; 318 - High torque reduction motor; 319 - Side - turning main shaft; 320 - Tipping hydraulic support seat two; 321 - Cross fork head.

[0049] 400 - Control and power system;

[0050] 401 - High torque reduction drive motor; 402 - Battery; 403 - Switch; 404 - Fuel gauge; 405 - Rear shell; 406 - Hydraulic cylinder; 407 - Hybrid electric range - extender engine; 408 - Camera; 409 - Main control system; 410 - Satellite positioning and navigation system device. Detailed implementation manners

[0051] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0052] See attached Figure 1 to attached Figure 8 , the embodiments of the present invention disclose an intelligent shrub clearing and weeding machine for mountain orchards, including:

[0053] Adaptive crawler chassis 100, the adaptive crawler chassis includes a chassis housing 111 and crawlers 101 provided on both sides of the chassis housing 111. The crawlers 101 are driven by a driving wheel 109 that is rotatably connected to the side wall of the chassis housing 111 and cooperates with the inner surface of the crawlers 101. Hydraulic wheel support rods 102 are symmetrically arranged at the front and rear inside the crawlers 101. The fixed end of the hydraulic wheel support rod 102 is rotatably connected to the side wall of the chassis housing 111, and the telescopic end of the hydraulic wheel support rod 102 is hinged to one end of a tripod 115. The center point of the tripod 115 is rotatably connected to the side wall of the chassis housing 111 through a rotating shaft. The other two ends of the tripod 115 are respectively rotatably connected with a large driven wheel 107 and a small driven wheel 108 that cooperate with the inside of the crawlers 101. When the adaptive crawler chassis 100 is moving forward, the contact area between the outer surface of the crawlers 101 and the ground being traveled is changed by controlling the telescopic movement of the front and rear hydraulic wheel support rods 102.

[0054] Deformation mechanism 300, the deformation mechanism 300 includes a flipping chassis main shaft 301 rotatably connected to the front end of the chassis housing 111. The flipping chassis main shaft 301 is connected to flipping chassis support bearings 112 on both sides of the front end of the chassis housing 111. The flipping chassis main shaft 301 is connected with a flipping chassis 113. The flipping chassis 113 is driven to flip by a flipping drive hydraulic rod 303 provided inside the chassis housing 111. A side-rotating chassis 313 is provided on the top surface of the flipping chassis 113. The side-rotating chassis 313 is driven to perform left and right flipping movements by a side-rotating control part provided on the flipping chassis 113. Thus, by the front and rear flipping of the flipping chassis 113 and the left and right flipping of the side-rotating chassis 313, the levelness of the side-rotating chassis 313 is adjusted according to the traveling terrain.

[0055] Working mechanism 200, the working mechanism 200 is installed on the top surface of the side-rotating chassis 313.

[0056] Control and power system 400, the control and power system 400 is installed on the inner side of the chassis housing 111 and the top surface of the side-rotating chassis 313, and is used to realize the drive control of each power mechanism.

[0057] See Appendix Figure 2 to Appendix Figure 4, the adaptive crawler chassis 100 further includes two auxiliary driven wheels 114 disposed inside the crawler 101 and between the two wheel support hydraulic rods 102. The auxiliary driven wheels 114 are rotatably connected to one end of the right-angle rotating support 110. The right-angle inflection point of the right-angle rotating support 110 is rotatably connected to the side wall of the chassis housing 111 through a rotating shaft. The other end of the right-angle rotating support 110 is connected to the side wall of the chassis housing 111 through a shock absorber, so that the auxiliary driven wheels 114 are pressed against the inner bottom surface of the crawler 101. The setting of the auxiliary driven wheels 114 further enhances the stability of the crawler 101. Through the cooperation of the right-angle rotating support 110 and the shock absorber, the impact caused by the uneven ground can be effectively absorbed, the wear of the crawler 101 can be reduced, and the service life and running smoothness of the machine can be improved.

[0058] To further optimize the above technical solution, the side wall of the chassis housing 111 has a support column 103. The shock absorber includes a shock absorber head rod 104 rotatably connected to the support column 103. The shock absorber head rod 104 is coaxially and slidably connected to a support base rod 106. The support base rod 106 is rotatably connected to the end of the right-angle rotating support 110 away from the auxiliary driven wheel 114, so that the support base rod 106 and the right-angle rotating support 110 are sequentially connected to form a Z-shaped link structure. A support spring 105 is provided between the support base rod 106 and the shock absorber head rod 104. The shock absorber is designed to be connected to the chassis housing 111 through the support column 103 to form a Z-shaped link structure. The support spring 105 can effectively buffer the ground impact force, further optimize the shock absorption effect, and improve the adaptability and stability of the machine on complex terrains.

[0059] See Appendix Figure 5 to Appendix Figure 8 , a support beam 302 is fixed inside the chassis housing 111. A first flipping hydraulic support seat 304 is fixed on the support beam 302. A second flipping hydraulic support seat 320 is fixed on the bottom surface of the flipping chassis 113. The flipping drive hydraulic rod 303 is connected between the first flipping hydraulic support seat 304 and the second flipping hydraulic support seat 320. By connecting the flipping drive hydraulic rod 303 through the first flipping hydraulic support seat 304 and the second flipping hydraulic support seat 320, stable support and power are provided for the flipping chassis 113, ensuring the accuracy and reliability of the flipping action, and thus better adapting to terrain changes.

[0060] To further optimize the above technical solution, on both sides of the top surface of the flipping chassis 113, side-rotation support bases 315 are fixedly installed. The side-rotation main shafts 319 on both sides of the edge of the side-rotation chassis 313 are respectively embedded in the grooves of the two side-rotation support bases 315, so that both sides of the edge of the side-rotation chassis 313 can be laterally flipped with the corresponding side-rotation support bases 315 as fulcrums; on the outside of the two side-rotation support bases 315, side-rotation limit frames 314 are respectively slidably connected. At the top of the two side-rotation limit frames 314, there are cross forks 321 inserted into the top of the side-rotation support bases 315. The cross forks 321 can cooperate with the grooves of the side-rotation support bases 315 to limit the side-rotation main shafts 319 on the edge of the side-rotation chassis 313; below the side-rotation chassis 313, there is a telescopic motor 312 installed on the flipping chassis 113. The ends of the telescopic shafts 311 on both sides of the telescopic motor 312 are respectively fixedly connected to the two side-rotation limit frames 314. By controlling the left and right movement of the telescopic shafts 311 through the telescopic motor 312, it is always ensured that only the cross fork 321 on one side-rotation limit frame 314 limits the side-rotation main shaft 319 on one side of the side-rotation chassis 313. The design of the side-rotation support bases 315 and the side-rotation limit frames 314 can accurately limit the side-rotation angle of the side-rotation chassis 313. The telescopic motor 312 controls the movement of the telescopic shafts 311 to achieve the lateral flipping control of the side-rotation chassis 313, improving the adaptability and flexibility of the machine on complex terrains.

[0061] To further optimize the above technical solution, the side-rotation control part includes a high-torque reduction motor installed on the top surface of the flipping chassis 113. The power output shaft of the high-torque reduction motor is rotationally connected to the side-rotation sub-shaft on the front edge of the side-rotation chassis 313 through two mutually articulated side-rotation connecting rods 317. The side-rotation control part uses a high-torque reduction motor and is connected to the side-rotation chassis 313 through the side-rotation connecting rods 317, which can provide sufficient power and precise control, enabling the side-rotation chassis 313 to quickly and accurately perform left and right flips, further improving the adaptability and working efficiency of the machine on complex terrains.

[0062] To further optimize the above technical solution, a side-rotation back plate 305 is vertically fixed at the rear end of the flipping chassis 113. Mutually perpendicular slide rails 308 are fixed between the side-rotation back plate 305 and the rear end of the side-rotation chassis 313. Slide blocks 306 are slidably connected to the slide rails 308. A side-rotation shaft 307 is connected between the two slide blocks 306. The ends of the side-rotation shaft 307 are respectively rotationally connected to the two slide blocks 306. Through the cooperation of the slide rails 308, the slide blocks 306 and the side-rotation shaft 307, stable front and rear limits and supports are provided for the side-rotation chassis 313, ensuring the smoothness and reliability of the side-rotation action and further optimizing the dynamic performance of the machine.

[0063] See the appendix Figure 9, a robotic arm base 309 is fixed on the top surface of the side-rotating chassis 313, and a first-stage hydraulic connection seat one 310 is provided on the robotic arm base 309; the working mechanism 200 includes a robotic arm 222 rotatably connected to the robotic arm base 309, and a first-stage hydraulic connection seat two 221 and a second-stage hydraulic connection seat one 219 are provided on the robotic arm 222. A first-stage hydraulic rod 220 is connected between the first-stage hydraulic connection seat one 310 and the first-stage hydraulic connection seat two 221. The front end of the robotic arm 222 is rotatably connected to the working mechanism housing 201 through a robotic arm connecting piece 216. A second-stage hydraulic connection seat two 217 is fixed on the working mechanism housing 201, and a second-stage hydraulic rod 218 is connected between the second-stage hydraulic connection seat two 217 and the second-stage hydraulic connection seat one 219; a driven roller shaft 209 is rotatably connected to the front end of the working mechanism housing 201, and both ends of the driven roller shaft 209 are connected to the driven roller support bearings 204 on the working mechanism housing 201; a driven roller 205 is fixedly sleeved on the driven roller shaft 209, a driven roller blade 206 and a cutter block support piece 207 are fixed on the driven roller 205, and a cutter block 208 is fastened on the cutter block support piece 207; a high-torque direct-drive motor 215 is installed on one side of the rear part of the working mechanism housing 201. A driving pulley 212 is fixed on the working motor shaft 213 of the high-torque direct-drive motor 215. A driven pulley 210 is fixed on one end of the driven roller shaft 209. A belt 214 is sleeved outside the driving pulley 212 and the driven pulley 210, and a belt transmission housing 211 is buckled outside the driving pulley 212, the driven pulley 210 and the belt 214. Through the cooperation of the robotic arm 222 and the hydraulic rod, the design of the working mechanism 200 can flexibly adjust the working height and angle. The blades and cutter blocks on the driven roller 205 can efficiently clean shrubs and weeds, and the protective baffle 202 and the protective soft skin 203 effectively protect the safety of the operator. The setting of the camera 408 further improves the intelligent level of the machine, facilitating the operator to remotely monitor and control.

[0064] To further optimize the above technical solution, a protective baffle 202 is fixed on the upper part of the working mechanism housing 201, and a protective soft skin 203 is fixed on the lower part of the working mechanism housing 201 and behind and below the protective baffle 202; a camera support 223 is fixed on the upper part of the working mechanism housing 201 and behind the protective baffle 202, and a camera 408 is installed on the camera support 223. The protective baffle 202 and the protective soft skin 203 further enhance the safety and protection performance of the working mechanism. The setting of the camera 408 provides a better view for the operator, facilitating real-time monitoring of the working state and improving the accuracy and safety of the operation.

[0065] See Appendix Figure 10, the control and power system 400 includes high-torque reduction drive motors 401 installed on both sides of the inner cavity of the chassis housing 111. The high-torque reduction drive motors 401 are used to drive the driving wheels 109 to rotate. A storage battery 402 is installed at the middle rear end of the chassis housing 111. A switch 403 and a fuel gauge 404 are installed on the left side of the rear end of the chassis housing 111. A hydraulic cylinder 406 and a hybrid fuel-electric range extender engine 407 are installed on the upper part of the rear end of the chassis housing 111 and are covered by a rear shell 405. A camera 408 is installed on the upper part of the rear shell 405. A main control system 409 is installed on the upper part of the rear end of the side-turning chassis 313. A satellite positioning and navigation system device 410 is installed on the upper part of the main control system 409. The control and power system 400 adopts high-torque reduction drive motors 401 and a hybrid fuel-electric range extender engine 407, which can flexibly switch the power mode according to the working requirements, improving the endurance and working efficiency. The design of the storage battery 402 and the fuel gauge 404 facilitates the operator to monitor the power in real time, and the satellite positioning and navigation system device 410 realizes the unmanned operation of the machine, further improving the intelligent level.

[0066] When working in hilly shrub forests, when the operator operates remotely or works unmanned through the satellite positioning and navigation system device 410, the machine will identify the road surface and the target through the front and rear cameras 408. When going uphill or downhill, the flipping drive hydraulic rod 303 will work to lift the upper part of the machine, so as to change the center of gravity. As Figure 12 shown, and the wheel support hydraulic rod 102 works to actively increase the ground contact area of the crawler 101 and other driven wheels adapt to the ground. As Figure 11 and 12 shown, the wheel support hydraulic rod 102 makes the large driven wheel 107 move downward by squeezing the tripod 115, so that the small driven wheel 108 moves upward to squeeze the crawler 101, thereby improving the working efficiency.

[0067] It is also possible to control the first-stage hydraulic rod 220 to adjust the working height and the second-stage hydraulic rod 218 to adjust the facing angle of the cutter head according to different shrub cleaning requirements.

[0068] It is also possible to adjust the working angle of the working mechanism 200 in the horizontal direction through the deformation mechanism 300. For example, the high-torque reduction motor 318 rotates to provide side-turning power for the deformation mechanism 300. The telescopic shaft 311 is driven by the telescopic motor 312 to adjust the side-turning limit frame 314 to provide support for left and right side-turning. The front and rear limiting effects are achieved through the slider 306, the side-turning shaft 307 and the slide rail 308.

[0069] When the machine is working normally, the storage battery 402 provides power for the high-torque reduction drive motor 401. When large power is required or the power is insufficient, the hybrid fuel-electric range extender engine 407 can be started to charge the battery, thereby increasing the endurance and improving the working efficiency.

[0070] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the embodiments, reference can be made to each other. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple. For the relevant parts, reference can be made to the description in the method section.

[0071] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

Claims

1. An intelligent shrub clearing and weeding machine for mountain orchards, characterized in that, Comprising: An adaptive crawler chassis (100), the adaptive crawler chassis comprising a chassis housing (111) and crawlers (101) provided on both sides of the chassis housing (111), the crawlers (101) being driven by a driving wheel (109) rotatably connected to the side wall of the chassis housing (111) and mating with the inner surface of the crawlers (101); wheel support hydraulic rods (102) are symmetrically arranged front and rear on the inner side of the crawlers (101), the fixed end of the wheel support hydraulic rods (102) is rotatably connected to the side wall of the chassis housing (111), the telescopic end of the wheel support hydraulic rods (102) is hinged to one end of a tripod (115), the center point of the tripod (115) is rotatably connected to the side wall of the chassis housing (111) through a rotating shaft, and the other two ends of the tripod (115) are respectively rotatably connected with a large driven wheel (107) and a small driven wheel (108) mating with the inner side of the crawlers (101); when the adaptive crawler chassis (100) is moving forward, the contact area between the outer surface of the crawlers (101) and the ground being traveled is changed by controlling the telescopic movement of the front and rear wheel support hydraulic rods (102); A deformation mechanism (300), the deformation mechanism (300) comprising a flipping chassis main shaft (301) rotatably connected to the front end of the chassis housing (111), the flipping chassis main shaft (301) being connected to a flipping chassis (113), the flipping chassis (113) being driven to flip by a flipping drive hydraulic rod (303) provided inside the chassis housing (111), a side-turning chassis (313) being provided on the top surface of the flipping chassis (113), the side-turning chassis (313) being driven to perform left and right flipping actions by a side-turning control part provided on the flipping chassis (113), and thus, by the front and rear flipping of the flipping chassis (113) and the left and right flipping of the side-turning chassis (313), the levelness of the side-turning chassis (313) is adjusted according to the traveling terrain; A working mechanism (200), the working mechanism (200) being installed on the top surface of the side-turning chassis (313); A control and power system (400), the control and power system (400) being installed on the inner side of the chassis housing (111) and the top surface of the side-turning chassis (313), and being used to realize the driving control of each power mechanism.

2. The intelligent shrub clearing and weeding machine for mountain orchards according to claim 1, characterized in that, The adaptive crawler chassis (100) further comprises two auxiliary driven wheels (114) provided on the inner side of the crawlers (101) and located between the two wheel support hydraulic rods (102), the auxiliary driven wheels (114) being rotatably connected to one end of a right-angle rotating support (110), the right-angle inflection point of the right-angle rotating support (110) being rotatably connected to the side wall of the chassis housing (111) through a rotating shaft, and the other end of the right-angle rotating support (110) being connected to the side wall of the chassis housing (111) through a shock absorber, so that the auxiliary driven wheels (114) are pressed against the inner bottom surface of the crawlers (101).

3. An intelligent shrub clearing and weeding machine for mountain orchards according to claim 2, characterized in that, The side wall of the chassis housing (111) is provided with support columns (103). The shock absorber includes a shock absorber head rod (104) rotatably connected to the support columns (103). The shock absorber head rod (104) is coaxially and slidably connected with a support base rod (106). The support base rod (106) is rotatably connected to one end of the right-angle rotating support (110) away from the auxiliary driven wheel (114), so that the support base rod (106) and the right-angle rotating support (110) are sequentially connected to form a Z-shaped link structure. A support spring (105) is provided directly between the support base rod (106) and the shock absorber head rod (104).

4. The intelligent shrub clearing and weeding machine for mountain orchards according to claim 1, characterized in that, A support beam (302) is fixed inside the chassis housing (111). A first flip hydraulic support base (304) is fixed on the support beam (302). A second flip hydraulic support base (320) is fixed on the bottom surface of the flip chassis (113). The flip drive hydraulic rod (303) is connected between the first flip hydraulic support base (304) and the second flip hydraulic support base (320).

5. The intelligent shrub clearing and weeding machine for mountain orchards according to claim 4, characterized in that, On both sides of the top surface of the flip chassis (113), side rotation support bases (315) are fixed. The side rotation main shafts (319) on both sides of the side rotation chassis (313) are respectively embedded in the grooves of the two side rotation support bases (315), so that both sides of the side rotation chassis (313) can be laterally flipped with the corresponding side rotation support bases (315) as the fulcrums. Side rotation limit frames (314) are respectively slidably connected to the outside of the two side rotation support bases (315). The top ends of the two side rotation limit frames (314) have cross fork heads (321) inserted into the top ends of the side rotation support bases (315). The cross fork heads (321) can cooperate with the grooves of the side rotation support bases (315) to limit the side rotation main shafts (319) on the edges of the side rotation chassis (313). Below the side rotation chassis (313), a telescopic motor (312) installed on the flip chassis (113) is provided. The ends of the telescopic shafts (311) on both sides of the telescopic motor (312) are respectively fixedly connected to the two side rotation limit frames (314). By controlling the left and right movement of the telescopic shafts (311) through the telescopic motor (312), only the cross fork head (321) on one of the side rotation limit frames (314) is always used to limit the side rotation main shaft (319) on one side of the side rotation chassis (313).

6. The intelligent shrub clearing and weeding machine for mountain orchards according to claim 5, characterized in that, The side rotation control part includes a high-torque reduction motor installed on the top surface of the flip chassis (113). The power output shaft of the high-torque reduction motor is rotatably connected to a side rotation secondary shaft on the front edge of the side rotation chassis (313) through two hinged side rotation links (317).

7. The intelligent shrub clearing and weeding machine for mountain orchards according to claim 6, wherein, A side-rotating back plate (305) is vertically fixed to the rear end of the flipping chassis (113). Slide rails (308) perpendicular to each other are fixed to the rear ends of the side-rotating back plate (305) and the side-rotating chassis (313). Sliders (306) are slidably connected to the slide rails (308). A side-rotating shaft (307) is connected between the two sliders (306), and the ends of the side-rotating shaft (307) are rotatably connected to the two sliders (306) respectively.

8. An intelligent shrub clearing and weeding machine for mountain orchards according to claim 1, characterized in that, A robotic arm base (309) is fixed to the top surface of the side-rotating chassis (313), and a first-stage hydraulic connection seat one (310) is provided on the robotic arm base (309); the working mechanism (200) includes a robotic arm (222) rotatably connected to the robotic arm base (309). A first-stage hydraulic connection seat two (221) and a second-stage hydraulic connection seat one (219) are provided on the robotic arm (222). A first-stage hydraulic rod (220) is connected between the first-stage hydraulic connection seat one (310) and the first-stage hydraulic connection seat two (221). The front end of the robotic arm (222) is rotatably connected to a working mechanism housing (201) through a robotic arm connecting member (216). A second-stage hydraulic connection seat two (217) is fixed to the working mechanism housing (201). A second-stage hydraulic rod (218) is connected between the second-stage hydraulic connection seat two (217) and the second-stage hydraulic connection seat one (219); A driven roller shaft (209) is rotatably connected to the front end of the working mechanism housing (201). A driven roller (205) is fixedly sleeved on the driven roller shaft (209). A driven roller blade (206) and a cutter block support piece (207) are fixed to the driven roller (205). A cutter block (208) is fastened to the cutter block support piece (207); A high-torque direct drive motor (215) is installed on one side of the rear part of the working mechanism housing (201). A driving pulley (212) is fixed to the working motor shaft (213) of the high-torque direct drive motor (215). A driven pulley (210) is fixed to one end of the driven roller shaft (209). A belt (214) is sleeved on the outer sides of the driving pulley (212) and the driven pulley (210). A belt transmission housing (211) is buckled on the outer sides of the driving pulley (212), the driven pulley (210) and the belt (214).

9. The intelligent shrub clearing and weeding machine for mountain orchards according to claim 8, characterized in that, A protective baffle (202) is fixed to the upper part of the working mechanism housing (201). A protective soft leather (203) is fixed to the lower part of the working mechanism housing (201) and behind and below the protective baffle (202); A camera support (223) is fixed to the upper part of the working mechanism housing (201) and behind the protective baffle (202). A camera (408) is installed on the camera support (223).

10. The intelligent shrub clearing and weeding machine for mountain orchards according to claim 1, characterized in that, The control and power system (400) includes high-torque reduction drive motors (401) installed on both sides of the inner cavity of the chassis housing (111). The high-torque reduction drive motors (401) are used to drive the driving wheels (109) to rotate. A storage battery (402) is installed at the rear end of the middle part of the chassis housing (111). A switch (403) and a fuel gauge (404) are installed on the left side of the rear end of the chassis housing (111). A hydraulic cylinder (406) and a hybrid electric range extender engine (407) are installed on the upper part of the rear end of the chassis housing (111) and are covered by a rear shell (405). A camera (408) is installed on the upper part of the rear shell (405). A main control system (409) is installed on the upper part of the rear end of the side-rotating chassis (313). A satellite positioning and navigation system device (410) is installed on the upper part of the main control system (409).

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