Cotton field plant protection robot with adjustable wheel tread

Abstract

The invention relates to the technical field of agricultural mechanical equipment, and particularly discloses a wheel-track-adjustable cotton field plant protection robot which comprises a vehicle body frame and four wheel assemblies symmetrically arranged in pairs. Each wheel assembly comprises wheels, a wheel track adjusting mechanism used for adjusting the transverse distance between the wheels, an in-situ steering mechanism used for achieving independent steering of the wheels, a function execution system, a power supply system and a control system used for coordinating and controlling all the modules to work. The wheel track adjusting mechanism drives a connecting rod assembly through an electric push rod to drive a wheel mounting frame to move transversely so as to adjust the wheel track. The pivot steering mechanism and a slewing bearing gear pair achieve four-wheel independent steering through belt transmission. The function execution module comprises a uniform spraying assembly or a directional weeding assembly; the power supply system is in an oil-electricity mixed form. Through the design of adjustable wheel tread and in-situ steering, the cotton field plant protection robot adapts to different row spacing of a cotton field, steering rolling compaction is reduced, and the adaptability and accuracy of cotton field plant protection operation are improved by combining the functions of directional weeding and uniform pesticide spraying.

Description

Technical Field

[0001] This invention belongs to the technical field of head roll device for cold rolling mills, specifically a cotton field plant protection robot with adjustable wheel spacing. Background Technology

[0002] Large-scale cotton fields commonly employ narrow-row planting patterns, which places specific demands on the field operation capabilities of plant protection robots. Currently, self-propelled robots are gradually being used to replace some human labor in cotton field plant protection operations. However, in practical applications, it has been found that some existing plant protection robot solutions still have limitations when adapting to the complex operating environment of cotton fields. On the one hand, in terms of mechanical structure, common chassis designs lack sufficient steering flexibility. For example, using a fixed wheelbase or simple steering method makes it inconvenient to turn around or maneuver between narrow cotton rows, restricting the planning of operating paths and affecting operational efficiency. On the other hand, in terms of operational functions, existing spraying systems are mostly wide-area uniform spraying modes, with limited ability to target weeds or localized pests and diseases within cotton rows, making it difficult to achieve precise pesticide delivery, which may affect the control effect and cause pesticide waste. Therefore, to solve the common technical problems of insufficient field turning flexibility and imprecise pesticide application methods of existing plant protection robots, it is urgent to design a new type of cotton field plant protection robot, which should have better mobility and adaptability and more precise operation execution capabilities. Summary of the Invention

[0003] The technical problem to be solved by this invention is to provide a cotton field plant protection robot that is adaptive, efficient, flexible and functionally integrated, addressing the issues of fixed wheel track, poor adaptability, large turning radius which easily damages crops, and limited functionality that makes it difficult to cover the plant protection needs of cotton throughout its entire growth cycle.

[0004] To address the aforementioned technical problems, this invention provides a cotton field plant protection robot with adjustable wheel track, comprising:

[0005] The vehicle body frame has four sets of wheel assemblies at its bottom, and the four sets of wheel assemblies are arranged symmetrically in pairs.

[0006] Each wheel assembly includes a wheel, a track adjustment mechanism for adjusting the lateral spacing between the wheels, and a stationary steering mechanism for enabling independent steering of the wheels.

[0007] The function execution system is detachably mounted on the vehicle frame, and the function execution system is a directional weeding component or a uniform spraying component;

[0008] The hybrid power supply system includes a lithium battery pack, a diesel generator, and a hybrid controller. The hybrid controller, diesel generator, and lithium battery pack are sequentially installed at the rear of the vehicle frame to supply power to each module. The diesel generator is connected to a fuel tank.

[0009] The control system is communicatively connected to the wheels, wheel track adjustment mechanism, stationary steering mechanism, directional weeding component, uniform spraying component, lithium battery pack, diesel generator and hybrid controller, and is used to control wheel track adjustment, steering action and weeding operation.

[0010] Furthermore, each of the wheel assemblies is equipped with a track width adjustment mechanism, and the track width adjustment mechanisms on the same side are connected by a main connecting rod.

[0011] Each wheel track adjustment mechanism includes a support link, a mounting base, a secondary link, and an electric push rod. The electric push rod is horizontally fixed to the bottom of the vehicle frame by a mounting bracket and bolts. The output end of the electric push rod is hinged to the main link. Both ends of the main link are respectively hinged to the secondary links of the two wheel track adjustment mechanisms. The end of the secondary link away from the main link is hinged to the support link. One end of the support link is fixed to the side of the vehicle frame, and the other end is connected to the stationary steering mechanism through the mounting base.

[0012] Furthermore, the stationary steering mechanism includes a housing, a steering motor, a small pulley, a transmission belt, a large pulley, a pinion, a slewing bearing, and a fixed frame. The steering motor is fixed to the housing via a motor bracket, and its output shaft is connected to a small pulley transmission shaft via a coupling. The other end of the small pulley transmission shaft is fixed to the housing via a first belt bearing. The small pulley is sleeved on the small pulley transmission shaft and forms a belt drive pair with the large pulley via the transmission belt. The large pulley is installed in the housing via a large pulley transmission shaft, and the large pulley transmission shaft is connected to the housing via a second belt bearing. One end of the large pulley transmission shaft extends beyond the rear end of the large pulley and is provided with a limiting mechanism. The other end passes through the second belt bearing and extends beyond the bottom of the housing, where the pinion is installed. The inner ring of the slewing bearing is fixedly connected to the housing, and the outer ring is fixedly connected to the fixed frame. The pinion meshes with the outer ring of the slewing bearing, and the fixed frame is fixed to the wheel.

[0013] Furthermore, the limiting mechanism at the end of the large pulley drive shaft includes a stop washer and a round nut. The round nut is threadedly connected to the large pulley drive shaft, and the stop washer is sleeved on the large pulley drive shaft and engaged with the round nut to achieve axial positioning of the large pulley drive shaft.

[0014] Furthermore, the directional weeding assembly is disposed at the bottom of the vehicle frame and detachably connected thereto. The directional weeding assembly includes a mounting bracket, a swing frame, an electric push rod, a swing connecting shaft, a weeding nozzle mounting bracket, and several weeding electromagnetic nozzles. The mounting bracket is fixed to the bottom of the vehicle frame by bolts. The swing frame is hinged to the bottom of the mounting bracket. The fixed end of the electric push rod is hinged to the mounting bracket, and the telescopic end is hinged to the swing frame. The weeding nozzle mounting bracket is hinged to the swing frame. There are two swing connecting shafts, which are arranged parallel above the swing frame. One end of each swing connecting shaft is hinged to the bottom of the mounting bracket, and the other end is hinged to the swing frame. The two swing connecting shafts, the swing frame, the mounting bracket, and the weeding nozzle mounting bracket form a parallelogram structure. Several weeding electromagnetic nozzles are arranged sequentially on the weeding nozzle mounting bracket.

[0015] Furthermore, the uniform spraying assembly is detachably connected to the vehicle frame. The uniform spraying assembly includes a medicine tank, a water pump, a bracket, a connecting bracket, two rotary nozzle mounting brackets, a middle section nozzle mounting bracket, a spraying pipeline, and several electromagnetic spraying nozzles. The medicine tank and the water pump are connected and sequentially fixed to the vehicle frame by bolts. The bracket is hung at the rear of the vehicle frame, and the connecting brackets are provided on both sides of the bracket. The two ends of the middle section nozzle mounting bracket are respectively connected to the two connecting brackets on both sides. The two rotary nozzle mounting brackets are respectively arranged on both sides of the middle section nozzle mounting bracket and are rotatably connected to the two connecting brackets on both sides. Several electromagnetic spraying nozzles are evenly spaced on the two rotary nozzle mounting brackets and the middle section nozzle mounting bracket. Each electromagnetic spraying nozzle is connected to a spraying pipeline, and the spraying pipeline is connected to the medicine tank.

[0016] Furthermore, the control system includes an electrical control box and an environmental sensing unit. The electrical control box is mounted on the vehicle frame and houses a main controller. The environmental sensing unit includes a main camera, a lidar, a distance sensor, and an auxiliary camera. The main camera is mounted on the top front end of the vehicle frame and connected to the main controller. The auxiliary camera is installed in the directional weeding assembly and is used to accurately identify crop row spacing, weed location, and plant height, transmitting the information to the main controller. The lidar is located at the front end of the vehicle frame and is used for path planning and obstacle detection, transmitting the detected information to the main controller. Two distance sensors are located on either side of the vehicle frame, collecting real-time information on the distance between the machine and the crops and transmitting it to the main controller.

[0017] The main controller is equipped with a walking control module, an operation control module, and a power supply module. The walking control module receives row spacing information from the main controller and controls the wheel track adjustment mechanism to adjust the spacing. The operation control module selectively controls the directional weeding component or the uniform spraying component to work based on the recognition results of the environmental perception unit, achieving precise weeding and spraying operations. The power supply module adopts a hybrid power supply system. The power supply module is connected to the diesel generator, lithium battery pack, and hybrid controller. The power supply module controls the lithium battery pack to provide power for the cotton field plant protection robot to start and operate at low speeds. The power supply module controls the diesel generator to start when operating at high speeds or when the lithium battery pack is low on power. The power supply module controls the hybrid controller to control the diesel generator and lithium battery pack to switch and work together to ensure continuous operation of the robot.

[0018] Furthermore, the vehicle frame is made of high-strength aluminum alloy square tubes, with horizontal and vertical reinforcing ribs welded to the bottom. The vehicle frame is also equipped with a lighting system, which consists of two sets. The two sets of lighting systems are symmetrically installed on both sides of the front end of the vehicle frame, and the lighting system is connected to the main controller.

[0019] The beneficial effects of this invention:

[0020] This invention relates to a cotton field plant protection robot. Its adjustable wheelbase and in-situ turning walking mechanism significantly improves the robot's mobility and adaptability in cotton fields with varying row spacings, effectively preventing damage to crops. Through modular and switchable functional execution components, it integrates multiple plant protection operations such as weeding and pesticide application, covering the management needs of the entire cotton growth cycle. Relying on a multi-sensor fusion control system, it achieves autonomous navigation, precise identification, and variable-rate operation, greatly improving operational efficiency and quality while reducing reliance on manual labor and pesticide waste. The robot has a compact overall structure and comprehensive functions, making it particularly suitable for modern plant protection operations in large-scale, intensive cotton fields. Attached Figure Description

[0021] To more clearly illustrate the technical solution of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the overall structure of the cotton field plant protection robot in an embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram of the internal structure of the cotton field plant protection robot in an embodiment of the present invention;

[0024] Figure 3 This is a schematic diagram of the uniform spraying component structure in an embodiment of the present invention;

[0025] Figure 4 This is a schematic diagram of the stationary steering mechanism (without the housing) in an embodiment of the present invention;

[0026] Figure 5 This is a partial enlarged view of the stationary steering mechanism (without the housing installed);

[0027] Figure 6 This is a schematic diagram of the wheel track adjustable mechanism in an embodiment of the present invention;

[0028] Figure 7 This is a schematic diagram of the directional weeding component structure in an embodiment of the present invention;

[0029] Figure 8 This is a partially enlarged schematic diagram of the directional weeding component in an embodiment of the present invention.

[0030] In the diagram: 1-Lighting system, 2-Main camera, 3-Uniform spraying assembly, 4-Stationary steering mechanism, 5-Wheel track adjustment mechanism, 6-Directional weeding assembly, 7-Electrical control box, 8-Medication tank, 9-Water pump, 10-Hybrid controller, 11-Diesel generator, 12-Lithium battery pack, 13-Fuel tank, 14-Vehicle frame, 15-Wheel, 21-LiDAR, 22-Distance sensor, 23-Auxiliary camera, 31-Hanger, 32-Connecting bracket, 33-Rotating nozzle mounting bracket, 34-Intermediate section nozzle mounting bracket, 35-Spraying pipeline, 36-Spraying electromagnetic nozzle, 401-Steering motor, 402- Coupling, 403-Box, 404-Small pulley drive shaft, 405-First belt bearing, 406-Small pulley, 407-Drive belt, 408-Large pulley, 409-Large pulley drive shaft, 410-Second belt bearing, 411-Pinary gear, 412-Slewing bearing, 413-Fixed bracket, 414-Stabilizing washer, 415-Round nut, 51-Supporting link, 52-Mounting seat, 53-Secondary link, 54-Electric push rod, 55-Main link, 61-Mounting bracket, 62-Swing bracket, 63-Electric push rod, 64-Swing connecting shaft, 65-Weeding nozzle mounting bracket, 66-Weeding electromagnetic nozzle. Detailed Implementation

[0031] The technical solutions in the embodiments of the invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0032] like Figure 1-8As shown, this embodiment includes a cotton field plant protection robot vehicle frame 14, a function execution system, a hybrid power supply system, and a control system. The bottom of the vehicle frame 14 is provided with four sets of wheel assemblies, which are arranged symmetrically in pairs. Each set of wheel assemblies includes a wheel 15, a wheel track adjustment mechanism 5 for adjusting the lateral distance between the wheels, and a stationary steering mechanism 4 for realizing independent steering of the wheels. Each wheel 15 is equipped with a wheel drive motor, which is controlled by the control system to drive the wheels. The function execution system is detachably mounted on the vehicle frame 14. The function execution system is either a directional weeding component or a uniform spraying component. The hybrid power supply system includes a lithium battery pack 12, a diesel generator 11, and a hybrid controller 10. The hybrid controller 10, diesel generator 11, and lithium battery pack 12 are sequentially installed at the rear of the vehicle frame 14 to supply power to each module. The diesel generator 11 is connected to a fuel tank 13. The control system is communicatively connected to the wheels 15, the wheel track adjustment mechanism 5, the stationary steering mechanism 4, the directional weeding component, the uniform spraying component, the lithium battery pack 12, the diesel generator 11, and the hybrid controller 10, and is used to control wheel track adjustment, steering action, and weeding operation.

[0033] The vehicle frame 14 is constructed from high-strength aluminum alloy square tubing, with horizontal and vertical reinforcing ribs welded to the bottom to enhance structural load-bearing stability. A lighting system 1 is also installed on the vehicle frame 14, symmetrically mounted on both sides of the top front end of the frame, and connected to the main controller. The electrical control box 7 is fixed to the upper middle section of the vehicle frame. The medicine tank 8, water pump 9, hybrid controller 10, diesel generator 11, lithium battery pack 12, and fuel tank 13 are all bolted to designated areas of the vehicle frame 14, resulting in a compact layout and balanced center of gravity.

[0034] Each wheel assembly is equipped with a track adjustment mechanism 5. The track adjustment mechanisms 5 on the same side are connected by a main connecting rod 55. Each track adjustment mechanism 5 includes a support connecting rod 51, a mounting base 52, a secondary connecting rod 53, and an electric push rod 54. The electric push rod 54 is horizontally fixed to the bottom of the vehicle frame 14 by a mounting bracket and bolts. The output end of the electric push rod 54 is hinged to the main connecting rod 55. The two ends of the main connecting rod 55 are respectively hinged to the secondary connecting rods 53 of the two sets of track adjustment mechanisms 5. The end of the secondary connecting rod 53 away from the main connecting rod 55 is hinged to the support connecting rod 51. One end of the support connecting rod 55 is fixed to the side of the vehicle frame 14, and the other end is connected to the stationary steering mechanism 4 through the mounting base 52 to ensure that the wheel remains vertical during the adjustment process. When the plant protection robot adjusts its wheel spacing, the control system sends an adjustment command to the walking control unit based on the row spacing information of the cotton field collected by the environmental sensing unit. The electric push rod 54 extends and retracts to drive the main connecting rod 55 to move horizontally, and drives the support connecting rod 51 to swing through the secondary connecting rod 53, thereby realizing the wheel spacing adjustment to adapt to the row spacing changes in the cotton field from the sowing period to the maturity period.

[0035] The stationary steering mechanism 4 includes a housing 403, a steering motor 401, a small pulley 406, a transmission belt 407, a large pulley 408, a pinion 411, a slewing bearing 412, and a fixing frame 413. The housing 403 is fixedly connected to the mounting base 52. The steering motor 401 is fixed inside the housing 403 by a motor bracket, and its output shaft is connected to a small pulley transmission shaft 404 via a coupling 402. The other end of the small pulley transmission shaft 404 is fixed to the housing 403 by a first belt bearing 405. The small pulley 406 is sleeved on the small pulley transmission shaft 404 and forms a belt drive with the large pulley 408 via the transmission belt 407. The large pulley 408 is installed inside the housing 403 via a large pulley drive shaft 409. The large pulley drive shaft 409 is connected to the housing 403 via a second belt bearing 410. One end of the large pulley drive shaft 409 extends beyond the rear end of the large pulley 408 and is provided with a limiting mechanism. The other end passes through the second belt bearing 410 and extends beyond the bottom of the housing 403, where the pinion 411 is installed. The inner ring of the slewing bearing 412 is fixedly connected to the housing 403, and the outer ring is fixedly connected to the fixing frame 413. The pinion 411 meshes with the outer ring of the slewing bearing 412, and the fixing frame 413 is fixed to the wheel 15. When turning, after the control system issues a turning command, the steering motor 401 starts and the output torque is transmitted to the small pulley drive shaft through the coupling 402, which drives the small pulley 406 to rotate synchronously. The small pulley 406 drives the large pulley 408 to rotate through the transmission belt 407, which in turn drives the small gear 411 below to rotate through the large pulley drive shaft 409. Since the inner ring of the slewing bearing 419 is fixed, the small gear 411 meshes and drives the outer ring of the slewing bearing 412 to rotate around the center of the inner ring, thereby driving the wheel 15 to turn synchronously, and finally realizes the cotton field plant protection robot turning in place to avoid crushing crops.

[0036] The directional weeding assembly 6 is disposed at the bottom of the vehicle frame 14 and detachably connected thereto. The directional weeding assembly 6 includes a mounting bracket 61, a swing frame 62, an electric push rod 63, a swing connecting shaft 64, a weeding nozzle mounting bracket 65, and several weeding electromagnetic nozzles 66. The mounting bracket 61 is fixed to the bottom of the vehicle frame 14 by bolts. The swing frame 62 is hinged to the bottom of the mounting bracket 61. The fixed end of the electric push rod 63 is hinged to the mounting bracket 61, and the telescopic end is hinged to the swing frame 62. The weeding nozzle mounting bracket 65 is hinged to the swing bracket 62. There are two swing connecting shafts 64, which are arranged parallel to each other above the swing bracket 62. One end of each swing connecting shaft 64 is hinged to the bottom of the mounting bracket 61, and the other end is hinged to the swing bracket 62. The two swing connecting shafts 64, the swing bracket 62, the mounting bracket 61, and the weeding nozzle mounting bracket 65 form a parallelogram structure. A plurality of weeding electromagnetic nozzles 66 are arranged sequentially on the weeding nozzle mounting bracket 65.

[0037] The uniform spraying assembly 3 is detachably connected to the vehicle frame 14. The uniform spraying assembly 3 includes a medicine tank 8, a water pump 9, a bracket 31, a connecting frame 32, two rotary nozzle mounting brackets 33, a middle section nozzle mounting bracket 34, spraying pipes 35, and several electromagnetic spraying nozzles 36. The medicine tank 8 and the water pump 9 are connected and sequentially fixed to the vehicle frame 14 by bolts. The bracket 31 is hung at the rear of the vehicle frame 14, and the connecting frame 32 is provided on both sides of the bracket 31. The two ends of the intermediate section nozzle mounting bracket 34 are respectively connected to the connecting brackets 32 on both sides. Two rotary nozzle mounting brackets 33 are respectively installed on both sides of the intermediate section nozzle mounting bracket 34 and are rotatably connected to the connecting brackets 32 on both sides. A plurality of electromagnetic spray nozzles 36 are evenly spaced on the two rotary nozzle mounting brackets 33 and the intermediate section nozzle mounting bracket 34. Each electromagnetic spray nozzle 36 is connected to a spray pipe 35, which is connected to the medicine tank 8. The medicine tank 8 has a liquid inlet and a threaded sealing cap on the top, and an integrally formed liquid level observation window on the outside for easy real-time liquid level monitoring. The water pump 9 is a high-pressure diaphragm pump, with its input end connected to the bottom of the medicine tank 8 via a flexible hose. A stainless steel filter screen is installed at the end of the hose to prevent impurities from clogging the nozzles. The spray pipe 35 is fixed to the rotary nozzle mounting bracket 33 and the intermediate section nozzle mounting bracket 34 by pipe clamps. In this embodiment, a total of 10 electromagnetic spray nozzles 36 are evenly distributed on the rotary nozzle mounting bracket 33 and the intermediate section nozzle mounting bracket 34.

[0038] The control system includes an electrical control box 7 and an environmental sensing unit. The electrical control box 7 is mounted on the vehicle frame 14 and contains a main controller. The environmental sensing unit includes a main camera 2, a lidar 21, a distance sensor 22, and an auxiliary camera 23. The main camera 2 is mounted on the top front end of the vehicle frame 14 and connected to the main controller. The auxiliary camera 23 is mounted on the weeding nozzle mounting bracket 65 in the directional weeding assembly 6 and is located in front of the weeding electromagnetic nozzle. In this embodiment, the number of auxiliary cameras 23 is preferably two. Based on the weed location coordinate information identified by the two auxiliary cameras 23, the information is transmitted to the main controller to control the start / stop, spray pressure, and single spray duration of the corresponding weeding electromagnetic nozzle 66. The spray triggering timing is corrected in real time in conjunction with the vehicle's driving speed to achieve fixed-point, quantitative, and precise application of pesticides to individual weeds. The lidar 21 is installed at the front end of the vehicle frame 14 for path planning and obstacle detection, and transmits the detected information to the main controller; there are two distance sensors 22, which are respectively distributed on both sides of the vehicle frame 14, to collect the distance information between the machine body and the crop in real time and transmit it to the main controller.

[0039] The main controller is equipped with a walking control module, an operation control module, and a power supply module. The walking control module receives row spacing information from the main controller and controls the wheel track adjustment mechanism 5 to adjust the spacing. The operation control module selectively controls the directional weeding component 6 or the uniform spraying component 3 to work based on the recognition results of the environmental perception unit, so as to achieve precise weeding and spraying operations. The power supply module adopts a hybrid power supply system. The power supply module is connected to the diesel generator 11, the lithium battery pack 12, and the hybrid controller 10. The power supply module controls the lithium battery pack 12 to provide power for the cotton field plant protection robot to start and operate at low speeds. The power supply module controls the diesel generator 11 to start when operating at high speeds or when the lithium battery pack 12 is low on power. The power supply module controls the hybrid controller 10 to control the diesel generator 11 and the lithium battery pack 12 to switch and work together to ensure continuous operation of the robot.

[0040] The above description is merely a preferred embodiment of the present invention and should not be construed as limiting the scope of the invention. Therefore, any equivalent variations made in accordance with the claims of the present invention are still within the scope of the present invention.

Claims

1. A cotton field plant protection robot with adjustable wheel track, characterized in that, include The vehicle frame (14) has four sets of wheel assemblies at its bottom, and the four sets of wheel assemblies are arranged symmetrically in pairs. Each wheel assembly includes a wheel (15), a wheel track adjustment mechanism (5) for adjusting the lateral spacing between the wheels, and a stationary steering mechanism (4) for enabling independent steering of the wheels. The function execution system is detachably mounted on the vehicle frame (14), and the function execution system is a directional weeding component or a uniform spraying component; The hybrid power supply system includes a lithium battery pack (12), a diesel generator (11) and a hybrid controller (10). The hybrid controller (10), the diesel generator (11) and the lithium battery pack (12) are installed in sequence at the rear of the vehicle frame (14) to supply power to each module. The diesel generator (11) is connected to a fuel tank (13). The control system is connected to the wheels (15), wheel track adjustment mechanism (5), stationary steering mechanism (4), directional weeding component, uniform spraying component, lithium battery pack (12), diesel generator (11) and hybrid controller (10) respectively, and is used to control wheel track adjustment, steering action and weeding operation.

2. The cotton field plant protection robot with adjustable wheel track according to claim 1, characterized in that, Each wheel assembly is equipped with a track width adjustment mechanism (5), and the track width adjustment mechanisms (5) on the same side are connected by a main connecting rod (55). Each wheel track adjustment mechanism (5) includes a support link (51), a mounting base (52), a secondary link (53), and an electric push rod (54). The electric push rod (54) is horizontally fixed to the bottom of the vehicle frame (14) by a mounting bracket and bolts. The output end of the electric push rod (54) is hinged to the main link (55). Both ends of the main link (55) are respectively hinged to the secondary links (53) of the two wheel track adjustment mechanisms (5). The end of the secondary link (53) away from the main link (55) is hinged to the support link (51). One end of the support link (55) is fixed to the side of the vehicle frame (14), and the other end is connected to the stationary steering mechanism (4) through the mounting base (52).

3. The cotton field plant protection robot with adjustable wheel track according to claim 1, characterized in that, The stationary steering mechanism (4) includes a housing (403), a steering motor (401), a small pulley (406), a transmission belt (407), a large pulley (408), a pinion (411), a slewing bearing (412), and a fixing frame (413). The steering motor (401) is fixed inside the housing (403) by a motor bracket, and its output shaft is connected to a small pulley drive shaft (404) via a coupling (402). The other end of the small pulley drive shaft (404) is fixed to the housing (403) by a first belt bearing (405). The small pulley (406) is sleeved on the small pulley drive shaft (404) and forms a belt drive pair with the large pulley (408) via the transmission belt (407). 408) The large pulley drive shaft (409) is installed inside the housing (403). The large pulley drive shaft (409) and the housing (403) are connected by a second belt bearing (410). One end of the large pulley drive shaft (409) extends out of the rear end of the large pulley (408) and is provided with a limiting mechanism. The other end passes through the second belt bearing (410) and extends out of the bottom of the housing (403), and is equipped with the pinion (411). The inner ring of the slewing bearing (412) is fixedly connected to the housing (403), and the outer ring is fixedly connected to the fixing frame (413). The pinion (411) meshes with the outer ring of the slewing bearing (412), and the fixing frame (413) is fixed on the wheel (15).

4. The cotton field plant protection robot with adjustable wheel track according to claim 3, characterized in that, The limiting mechanism at the end of the large pulley drive shaft (409) includes a stop washer (414) and a round nut (415). The round nut (415) is threadedly connected to the large pulley drive shaft (409). The stop washer (414) is sleeved on the large pulley drive shaft (409) and engages with the round nut (415) to achieve axial positioning of the large pulley drive shaft (409).

5. The cotton field plant protection robot with adjustable wheel track according to claim 1, characterized in that, The directional weeding assembly (6) is disposed at the bottom of the vehicle frame (14) and detachably connected thereto. The directional weeding assembly (6) includes a mounting bracket (61), a swing frame (62), an electric push rod (63), a swing connecting shaft (64), a weeding nozzle mounting bracket (65), and several weeding electromagnetic nozzles (66). The mounting bracket (61) is bolted to the bottom of the vehicle frame (14). The swing frame (62) is hinged to the bottom of the mounting bracket (61). The fixed end of the electric push rod (63) is hinged to the mounting bracket (61), and the telescopic end is hinged to the swing frame (62). The weeding nozzle mounting bracket (65) is hinged to the swing bracket (62). There are two swing connecting shafts (64). The two swing connecting shafts (64) are arranged parallel to each other above the swing bracket (62). One end of the two swing connecting shafts (64) is hinged to the bottom of the mounting bracket (61), and the other end is hinged to the swing bracket (62). The two swing connecting shafts (64), the swing bracket (62), the mounting bracket (61), and the weeding nozzle mounting bracket (65) form a parallelogram structure. A number of weeding electromagnetic nozzles (66) are arranged sequentially on the weeding nozzle mounting bracket (65).

6. The cotton field plant protection robot with adjustable wheel track according to claim 1, characterized in that, The uniform spraying assembly (3) is detachably connected to the vehicle frame (14). The uniform spraying assembly (3) includes a medicine tank (8), a water pump (9), a bracket (31), a connecting bracket (32), two rotary nozzle mounting brackets (33), a middle section nozzle mounting bracket (34), a spraying pipeline (35), and several electromagnetic spraying nozzles (36). The medicine tank (8) and the water pump (9) are connected and sequentially fixed to the vehicle frame (14) by bolts. The bracket (31) is hung at the rear of the vehicle frame (14), and the connecting bracket is provided on both sides of the bracket (31). (32) The two ends of the intermediate section nozzle mounting bracket (34) are respectively connected to the two side connecting brackets (32). The two rotating nozzle mounting brackets (33) are respectively set on both sides of the intermediate section nozzle mounting bracket (34) and are rotatably connected to the two side connecting brackets (32). A number of spraying electromagnetic nozzles (36) are evenly spaced on the two rotating nozzle mounting brackets (33) and the intermediate section nozzle mounting bracket (34). Each spraying electromagnetic nozzle (36) is connected to a spraying pipe (35), and the spraying pipe (35) is connected to the medicine tank (8).

7. A cotton field plant protection robot with adjustable wheel track according to any one of claims 1 to 6, characterized in that, The control system includes an electrical control box (7) and an environmental sensing unit. The electrical control box (7) is installed on the vehicle frame (14), and a main controller is provided inside the electrical control box (7). The environmental sensing unit includes (2), a lidar (21), a distance sensor (22), and an auxiliary camera (23). The main camera (2) is installed at the top front end of the vehicle frame (14) and connected to the main controller. The auxiliary camera (23) is installed in the directional weeding component (6) and is used to accurately identify crop row spacing, weed position, and plant height and transmit the information to the main controller. The lidar (21) is set at the front end of the vehicle frame (14) and is used for path planning and obstacle detection, and transmits the detected information to the main controller. There are two distance sensors (22), which are distributed on both sides of the vehicle frame (14) to collect the distance information between the machine body and the crops in real time and transmit it to the main controller. The main controller is equipped with a walking control module, an operation control module and a power supply module. The walking control module receives the row spacing information sent by the main controller and controls the wheel spacing adjustment mechanism (5) to complete the spacing adjustment. The operation control module selectively controls the directional weeding component (6) or the uniform spraying component (3) to work according to the recognition results of the environmental perception unit, so as to realize precise weeding and spraying operations. The power supply module adopts a hybrid power supply system. The power supply module is connected to the diesel generator (11), the lithium battery pack (12) and the hybrid controller (10) respectively. The power supply module controls the lithium battery pack (12) to be responsible for the power supply for the cotton field plant protection robot to start and low-speed operation. The power supply module controls the diesel generator (11) to start when high-speed operation or when the lithium battery pack (12) is low on power. The power supply module controls the hybrid controller (10) to control the diesel generator (11) and the lithium battery pack (12) to switch and work together.

8. The invention according to claim 1, characterized in that, The vehicle frame (14) is made of high-strength aluminum alloy square tubes and has horizontal and vertical reinforcing ribs welded to the bottom. The vehicle frame (14) is also equipped with a lighting system (1). The lighting system (1) consists of two sets, which are symmetrically installed on both sides of the front end of the vehicle frame (1). The lighting system (1) is connected to the main controller.

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