Mowing and leaf combing multifunctional orchard operation machine with automatic avoiding function

Abstract

The invention discloses an automatic avoiding mowing and leaf combing multifunctional orchard operation machine, and relates to the technical field of orchard operation, the automatic avoiding mowing and leaf combing multifunctional orchard operation machine comprises a machine body, a walking mechanism is arranged at the side end of the lower portion of the machine body, and a support is arranged at the end, close to the walking mechanism, of the machine body. Two core operations of mowing and leaf combing can be completed through one device, the purchase cost is greatly reduced, in addition, the working mechanism has an obstacle detection function, damage of various obstacles in an orchard to the device and fruit trees can be effectively avoided through cooperation of an adjusting air cylinder and a connector, and the working efficiency is improved. A heat dissipation mechanism with an automatic cleaning function and a liftable exhaust hood are further arranged, when equipment is in a non-working state, an air outlet of the heat dissipation device can be shielded through the exhaust hood, external impurities are prevented from entering and affecting airflow circulation, and meanwhile automatic fixed-point cleaning of the filter screen can be achieved by means of a power source of the heat dissipation mechanism and a linkage assembly.

Description

Technical Field

[0001] This invention relates to the field of orchard operation technology, specifically to a multi-functional orchard operation machine that automatically avoids obstacles while mowing and leaf trimming. Background Technology

[0002] In the daily management of orchards, mowing and leaf thinning are key operations to ensure the healthy growth of fruit trees and improve fruit yield and quality. With the development of agricultural mechanization, various orchard operation equipment are gradually being applied to production practices.

[0003] However, existing orchard equipment generally suffers from limited functionality. Weeding and leaf-trimming equipment operate independently, requiring farmers to purchase two separate systems for different tasks. This significantly increases equipment costs and necessitates frequent equipment transfers and switching during operations, drastically reducing efficiency. Furthermore, most existing orchard equipment lacks effective active obstacle avoidance mechanisms. While some equipment possesses basic obstacle avoidance capabilities, their accuracy is low and response is slow. Additionally, current orchard equipment typically includes cooling systems to ensure that weeding and leaf-trimming can continue for extended periods. However, existing heat dissipation systems often lack adequate protection. When not in operation, external debris can easily enter the heat dissipation channels or vents, obstructing airflow. At the same time, filter components usually need to be manually disassembled and cleaned every so often, resulting in a large workload for maintenance. If cleaning is not done in time, it can lead to poor air intake and affect heat dissipation efficiency. Finally, when mowing and leaf trimming equipment moves in the orchard, the tires are prone to sticking to mud. Currently, mud is usually cleaned directly from the tires using a scraper, but this method can easily lead to mud accumulation on the scraper, causing cleaning failure. The accumulated mud can even hinder the movement of the tires. Summary of the Invention

[0004] The purpose of this invention is to provide a multi-functional orchard machine that automatically avoids obstacles while mowing and leaf trimming, in order to solve the problems mentioned in the prior art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a multi-functional orchard machine for automatic obstacle avoidance, comprising a body, a walking mechanism disposed on the lower side of the body, a support disposed on the end of the body near the walking mechanism, a connecting head disposed on the side of the support, a working mechanism disposed on the connecting head, the connecting head being connected to the support via a rotating shaft, an adjusting cylinder disposed on the support, the working end of the adjusting cylinder being connected to the connecting head, during operation, the walking mechanism provides power to the machine, enabling the machine to move freely within the orchard, and the working mechanism achieves the purpose of mowing and leaf trimming. Compared with current orchard machines, the working mechanism in the present invention has an obstacle detection function, avoiding collisions with hard objects that could cause damage to the working mechanism. Finally, the working mechanism can be controlled to swing horizontally by adjusting the cylinder and the connecting head to achieve obstacle avoidance.

[0006] Furthermore, the working mechanism includes a mower, a first connecting frame, and an arc-shaped anti-collision bar. When mowing is required in the orchard, the operator must first secure the first connecting frame to the connecting head with bolts. Then, as the machine moves through the orchard, the mower is activated to perform the mowing work. Finally, the invention includes an arc-shaped anti-collision bar located on the lower side of the first connecting frame. The arc-shaped anti-collision bar is connected to the first connecting frame via an elastic element. A pressure detection element is installed at the connection between the elastic element and the first connecting frame to monitor the deformation of the elastic element. During mowing, the operator can control the deformation by adjusting the cylinder. The first connecting frame swings horizontally until the arc-shaped anti-collision bar is located on the front side of the mower, thus forming a front protection for the mower. When an obstacle appears in front of the mower, the arc-shaped anti-collision bar will make contact with the obstacle first, using the elastic deformation of the elastic element to buffer the impact force of the collision, preventing the mower from directly hitting the obstacle and damaging the blade. At the same time, the deformation of the elastic element will trigger the pressure detection element to generate a pressure signal. When this signal is transmitted to the machine control system, the regulating cylinder controls the first connecting frame and the mower to swing away from the obstacle, while the walking mechanism drives the machine to deflect its movement direction to avoid the obstacle, ensuring the continuity and integrity of the mowing operation.

[0007] Furthermore, the working mechanism includes a baffle, a second connecting frame, a leaf comber, and a strip-shaped anti-collision bar. A strip-shaped anti-collision bar is located on the lower side of the second connecting frame. The strip-shaped anti-collision bar is connected to the first connecting frame via an elastic element. A pressure detection element is installed at the connection point between the elastic element and the first connecting frame to monitor the deformation of the elastic element. When leaf combing is required in the orchard, the operator must first secure the second connecting frame to the connecting head with bolts, and then control the horizontal swing of the second connecting frame using an adjusting cylinder until the strip-shaped anti-collision bar... The strip-shaped anti-collision bar is located on the front side of the leaf comber. When the working machine moves in the orchard, the leaf comber is activated to perform leaf combing. When an obstacle appears in front of the leaf comber, the strip-shaped anti-collision bar will be the first to contact the obstacle, and the elastic element will deform and trigger the pressure detection element to generate a pressure signal. When this signal is transmitted to the working machine control system, the regulating cylinder controls the second connecting frame and the leaf comber to swing away from the obstacle, while the walking mechanism drives the working machine to deflect the direction of movement to avoid the obstacle and ensure the continuity and integrity of the leaf combing operation.

[0008] Furthermore, the machine body is equipped with an oil tank and a heat dissipation mechanism. The oil tank is equipped with a first circulation pump and a second circulation pump, forming a dual-circulation power supply structure. The oil tank is connected to the working mechanism through the first circulation pump and several oil pipes, providing lubrication and cooling assurance for the stable operation of the working mechanism. The oil tank is connected to the heat dissipation mechanism through the second circulation pump and several oil pipes, forming a hydraulic oil heat dissipation circulation path to cool the hydraulic oil in the oil tank and prevent the hydraulic oil from deteriorating due to high temperature, thus affecting the lubrication and cooling effect on the working structure.

[0009] Furthermore, the heat dissipation mechanism includes a heat dissipation box, a mounting base, a first fixing frame, and a second fixing frame. The heat dissipation box is mounted on the mounting base, the second fixing frame is mounted on the side of the heat dissipation box, and the first fixing frame is mounted on the side of the second fixing frame away from the heat dissipation box. The heat dissipation box has several air outlets and several heat dissipation channels, which are arranged alternately along the height of the heat dissipation box. The first fixing frame has a fixing seat, and the fixing seat has a motor. The motor has a fan blade near the end of the heat dissipation box. When the machine is working in the orchard, the second circulating pump continuously delivers hydraulic oil from the oil tank to the heat dissipation box and it flows along the several heat dissipation channels. At the same time, the motor continuously drives the fan blade to work, thereby sending outside air into the second fixing frame. Finally, the air flows out along the several air outlets in the heat dissipation box. During the process of the air flowing through the several air outlets, it can exchange heat with the hydraulic oil in the several heat dissipation channels, thereby achieving the cooling of the hydraulic oil.

[0010] Furthermore, the heat dissipation mechanism also includes an exhaust hood, which is located on the side of the heat dissipation box away from the second fixed frame. The exhaust hoods are connected to each other by a lifting cylinder. The end of the exhaust hood near the heat dissipation box has a cavity, and several exhaust pipes are arranged in the cavity. Each exhaust pipe is matched with an air outlet. During operation, each exhaust pipe is aligned with an air outlet, and the air flowing out of the air outlet flows to the outside along the exhaust pipe. When the machine is not in operation, the exhaust hood is driven to rise by the lifting cylinder, thereby staggering the exhaust pipes and air outlets. Through the above technical solution, it is possible to prevent external impurities from falling into the air outlet when the machine is not in operation, thus affecting the subsequent air flow in the air outlet.

[0011] Furthermore, the fixed base is fixedly connected to the first fixed frame via a first sealing cover and a second sealing cover. The first sealing cover is connected to an exhaust hood via a ventilation hose. A dust exhaust pipe is provided on the side of the second sealing cover away from the first sealing cover. A turntable is also provided inside the first fixed frame, with one end of the turntable located between the first and second sealing covers. Several filters are provided on the turntable. When the machine is working in the orchard, the filters can intercept debris from the external environment, preventing the motor and fan blades from supplying air containing debris into the second fixed frame. A linkage component is provided inside the fixed base. One end of the linkage component is connected to the motor, and the other end is connected to the turntable. When the machine finishes working, the operator can activate the linkage component as needed, connecting the turntable to the motor drive. The motor drives the turntable to rotate, causing the filter to be cleaned to move to the first sealing cover and... Between the second sealing covers, the linkage component is then shut off (at this time, the motor will not be able to drive the turntable to rotate), and at the same time, the exhaust cover is driven to rise by the lifting cylinder, so that several exhaust pipes and several air outlets are staggered. Finally, the fan blades are driven by the motor to work, so as to send outside air into the second fixed frame. Since several exhaust pipes and several air outlets are staggered, the air will enter the cavity after flowing out of several air outlets, and finally enter the first sealing cover along the ventilation hose. This group of air can clean the filter screen located between the first sealing cover and the second sealing cover. Through the above technical solution, the present invention does not require manual disassembly and cleaning. It can clean a certain filter screen by using the power source of the heat dissipation mechanism itself. This not only reduces the maintenance workload of the staff, but also ensures that several filters screens are always in good filtration condition, avoids poor air intake due to blockage of a certain filter screen, and ensures stable heat dissipation efficiency of the heat dissipation mechanism.

[0012] Furthermore, the linkage component includes an electromagnet, a transmission gear, a first gear assembly, and an internal gear. The electromagnet is connected to the working end of the motor, the internal gear is connected to the turntable, and the transmission gear is located on the side end of the electromagnet and is made of ferromagnetic material. The transmission gear is connected to the internal gear through the first gear assembly. When the linkage component needs to be activated so that the motor drives the turntable to rotate, the electromagnet only needs to be activated. The electromagnet magnetically attracts the transmission gear, and at this time, the transmission gear and the electromagnet will rotate synchronously with the working end of the motor. The power is transmitted to the internal gear through the first gear assembly to achieve the purpose of synchronous rotation of the internal gear and the turntable. Similarly, when the linkage component needs to be deactivated so that the motor is disconnected from the turntable, the electromagnet only needs to be deactivated. At this time, when the motor drives the electromagnet to rotate, the transmission gear will no longer rotate.

[0013] Furthermore, the walking mechanism includes an electric roller, a cleaning frame, and a mounting frame. The electric roller is connected to the machine body via the mounting frame, driving the machine to move within the orchard. The cleaning frame is located on the side of the electric roller away from the direction of travel of the machine. A cleaning plate is installed inside the cleaning frame. An intermittent vibration component is installed inside the mounting frame and connected to the cleaning plate. Tires are installed on the outside of the electric roller to improve traction. The side end of the electric roller is connected to the intermittent vibration component. During the movement of the machine, the electric roller synchronously drives the intermittent vibration component to extend and retract the cleaning plate within the cleaning frame. When the cleaning plate approaches the tire on the electric roller, it cleans the tire, preventing uneven adhesion of mud and other contaminants to the tire, which could affect the movement of the machine. When the cleaning plate extends and retracts into the cleaning frame, it prevents mud from accumulating on the cleaning plate, thus avoiding interference with subsequent cleaning work.

[0014] Furthermore, the intermittent vibration assembly includes a second gear assembly, an intermittent gear, and a transmission rack. One end of the second gear assembly is connected to the electric drum, and the other end is connected to the intermittent gear. The transmission rack is located below the intermittent gear, and its side end is connected to the cleaning plate. When the electric drum moves while driving the machine, the intermittent gear rotates synchronously under the action of the second gear assembly. In this invention, the intermittent gear is an incomplete gear, and the lower end of the transmission rack is slidably mounted on a spring rod. Therefore, when the intermittent gear rotates, it intermittently drives the transmission rack to move. The transmission rack drives the cleaning plate to extend and retract within the cleaning frame, thereby achieving the purpose of cleaning the tires on the electric drum and preventing dirt from accumulating on the cleaning plate.

[0015] Compared with existing technologies, the advantages of this invention are as follows: This invention features a detachable working mechanism. By using different detachable connecting frames with a mower or leaf trimmer, a single device can complete both mowing and leaf trimming, eliminating the need for farmers to equip themselves with multiple devices, significantly reducing purchase costs, minimizing equipment transportation, and dramatically improving operational efficiency. Furthermore, the working mechanism has an obstacle detection function. By adjusting the cylinder and connecting head, the working mechanism can be quickly driven to swing horizontally to actively avoid obstacles, ensuring continuous and complete operation and effectively preventing damage to the equipment and fruit trees from various obstacles in the orchard. This invention also includes a heat dissipation mechanism with automatic cleaning function and a liftable exhaust hood, ensuring efficient operation when the equipment is not in use. The exhaust hood blocks the radiator's air outlet, preventing external impurities from entering and affecting airflow. Simultaneously, the radiator's own power source and linkage components enable automatic, targeted cleaning of the filter. Compared to existing technologies, this invention eliminates the need for manual disassembly, reducing maintenance workload and ensuring the filter remains in good filtration condition, preventing reduced heat dissipation efficiency due to poor airflow. Finally, the invention includes an intermittent vibration component and a cleaning plate. During operation, the intermittent vibration component uses the walking power to synchronously drive the cleaning plate to extend and retract. This promptly removes mud adhering to the tire surface, preventing uneven mud adhesion that could affect the machine's movement. Furthermore, the extension and retraction of the cleaning plate prevents mud accumulation, which could hinder subsequent cleaning work. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the lawn mowing state structure of the present invention; Figure 2 This is a schematic diagram of the comb blade configuration of the present invention. Figure 3 This is a schematic diagram of the working mechanism structure in Embodiment 1 of the present invention; Figure 4 This is a schematic diagram of the working mechanism structure in Embodiment 2 of the present invention; Figure 5 This is a schematic diagram of the heat dissipation mechanism of the present invention; Figure 6 This is a schematic diagram of the exhaust hood structure of the present invention; Figure 7 This is a schematic diagram of the internal structure of the first fixing frame of the present invention; Figure 8 This is a schematic diagram of the heat sink structure of the present invention; Figure 9 This is a schematic diagram of the turntable position according to the present invention; Figure 10 This is a schematic diagram of the linkage component structure of the present invention; Figure 11 This is a schematic diagram of the walking mechanism structure of the present invention; Figure 12 This is a schematic diagram of the internal structure of the cleaning rack of the present invention; Figure 13 This is a schematic diagram of the intermittent vibration component structure of the present invention.

[0017] In the diagram: 1. Body; 11. Bracket; 111. Connector; 112. Adjusting cylinder; 2. Oil tank; 3. Cooling mechanism; 31. Cooling box; 311. Air outlet; 312. Cooling channel; 32. Mounting base; 33. Lifting cylinder; 34. Exhaust hood; 341. Exhaust pipe; 342. Cavity; 35. First fixed frame; 351. Fixed base; 3511. Motor; 3512. Electromagnet; 3513. Transmission gear; 3514. First gear assembly; 3515. Internal gear; 352. 1. Sealing cover; 353. Fan blade; 354. Turntable; 3541. Filter screen; 355. Second sealing cover; 36. Second fixed frame; 37. Ventilation hose; 4. Walking mechanism; 41. Electric roller; 42. Cleaning frame; 421. Cleaning plate; 43. Mounting frame; 431. Second gear assembly; 432. Intermittent gear; 433. Transmission rack; 5. Mower; 51. First connecting frame; 52. Arc-shaped anti-collision bar; 6. Baffle; 61. Second connecting frame; 62. Leaf comb; 63. Strip anti-collision bar. Detailed Implementation

[0018] Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Example 1: As Figures 1-13 As shown, this invention provides a technical solution: an automatic obstacle avoidance multi-functional orchard machine for mowing and leaf trimming. It includes a body 1, a walking mechanism 4 located on the lower side of the body 1, a support 11 located at the end of the body 1 near the walking mechanism 4, a connector 111 located on the side of the support 11, a working mechanism mounted on the connector 111, and a shaft connecting the connector 111 to the support 11. An adjusting cylinder 112 is mounted on the support 11, with its working end connected to the connector 111. During operation, the walking mechanism 4 provides power to the machine, allowing it to move freely within the orchard. The working mechanism performs mowing and leaf trimming. Compared to current orchard machines, the working mechanism in this invention has an obstacle detection function, preventing collisions with hard objects and resulting damage. Finally, the working mechanism's horizontal swing can be controlled by the adjustment cylinder 112 and the connector 111 to achieve obstacle avoidance.

[0020] like Figure 1 , Figure 3As shown, the working mechanism includes a mower 5, a first connecting frame 51, and an arc-shaped anti-collision bar 52. When mowing is required in the orchard, the operator must first fasten the first connecting frame 51 to the connector 111 with bolts. Then, as the machine moves through the orchard, the mower 5 is activated to perform the mowing work. Finally, an arc-shaped anti-collision bar 52 is provided on the lower side of the first connecting frame 51. The arc-shaped anti-collision bar 52 is connected to the first connecting frame 51 through an elastic element. A pressure detection element is provided at the connection between the elastic element and the first connecting frame 51 to monitor the deformation of the elastic element. During mowing, the operator can control the operation by adjusting the cylinder 112. The first connecting frame 51 swings horizontally until the arc-shaped anti-collision bar 52 is located on the front side of the mower 5, thus forming a front protection for the mower 5. When an obstacle appears in front of the mower 5, the arc-shaped anti-collision bar 52 will contact the obstacle first, using the elastic deformation of the elastic element to buffer the impact force of the collision, avoiding the mower 5 from directly hitting the obstacle and causing damage to the blade. At the same time, the deformation of the elastic element will trigger the pressure detection element to generate a pressure signal. When this signal is transmitted to the machine control system, the regulating cylinder 112 controls the first connecting frame 51 and the mower 5 to swing away from the obstacle, while the walking mechanism 4 drives the machine to deflect the direction of movement to avoid the obstacle and ensure the continuity and integrity of the mowing operation.

[0021] like Figures 1-5 As shown, the machine body 1 is equipped with an oil tank 2 and a heat dissipation mechanism 3. The oil tank 2 is equipped with a first circulation pump and a second circulation pump, forming a dual-circulation power supply structure. The oil tank 2 is connected to the working mechanism through the first circulation pump and several oil pipes, providing lubrication and cooling guarantee for the stable operation of the working mechanism. The oil tank 2 is connected to the heat dissipation mechanism 3 through the second circulation pump and several oil pipes, forming a hydraulic oil heat dissipation circulation path to cool down the hydraulic oil in the oil tank 2 and prevent the hydraulic oil from deteriorating due to high temperature, thus affecting the lubrication and cooling effect on the working structure.

[0022] like Figures 5-10As shown, the heat dissipation mechanism 3 includes a heat dissipation box 31, a mounting base 32, a first fixing frame 35, and a second fixing frame 36. The heat dissipation box 31 is mounted on the mounting base 32, the second fixing frame 36 is located at the side of the heat dissipation box 31, and the first fixing frame 35 is located on the side of the second fixing frame 36 away from the heat dissipation box 31. The heat dissipation box 31 has several air outlets 311 and several heat dissipation channels 312, which are arranged alternately along the height of the heat dissipation box 31. The first fixing frame 35 has a fixing seat 351, and the fixing seat 351 has a motor 35. 11. A fan blade 353 is provided at one end of the motor 3511 near the heat dissipation box 31. When the machine is working in the orchard, the second circulation pump will continuously deliver the hydraulic oil in the oil tank 2 to the heat dissipation box 31 and flow along several heat dissipation channels 312. At the same time, the motor 3511 will also continuously drive the fan blade 353 to work, thereby sending outside air into the second fixed frame 36. Finally, the air will flow out along several air outlets 311 in the heat dissipation box 31. During the flow of the air through the several air outlets 311, it can exchange heat with the hydraulic oil in the several heat dissipation channels 312, thereby achieving the cooling of the hydraulic oil.

[0023] like Figures 5-7 As shown, the heat dissipation mechanism 3 also includes an exhaust hood 34. The exhaust hood 34 is located on the side of the heat dissipation box 31 away from the second fixed frame 36. The exhaust hoods 34 are connected to each other by a lifting cylinder 33. A cavity 342 is provided at the end of the exhaust hood 34 near the heat dissipation box 31. Several exhaust pipes 341 are provided in the cavity 342. Each exhaust pipe 341 is matched with an air outlet 311. During the operation of the machine, each exhaust pipe 341 is aligned with an air outlet 311. The air flowing out of the air outlet 311 will flow to the outside along the exhaust pipe 341. When the machine is not in operation, the exhaust hood 34 is driven to rise by the lifting cylinder 33, so that the several exhaust pipes 341 and several air outlets 311 are staggered. Through the above technical solution, it is possible to prevent external impurities from falling into the air outlet 311 when the machine is not in operation, thus affecting the subsequent air flow in the air outlet 311.

[0024] like Figures 5-10As shown, the fixed base 351 is fixedly connected to the first fixed frame 35 via the first sealing cover 352 and the second sealing cover 355. The first sealing cover 352 is connected to the exhaust hood 34 via the ventilation hose 37. A dust exhaust pipe is provided on the side of the second sealing cover 355 away from the first sealing cover 352. A turntable 354 is also provided inside the first fixed frame 35, with one end of the turntable 354 located between the first sealing cover 352 and the second sealing cover 355. Several filter screens 3541 are provided on the turntable 354. When the machine is working in the orchard, the dust can be filtered through the filter screens 3541. To intercept debris from the external environment and prevent the motor 3511 and fan blades 353 from conveying air containing debris into the second fixed frame 36, a linkage component is installed inside the fixed base 351. One end of the linkage component is connected to the motor 3511, and the other end is connected to the turntable 354. When the machine finishes working, the operator can activate the linkage component as needed, which drives the turntable 354 to the motor 3511. The motor 3511 drives the turntable 354 to rotate, so that the filter screen 3541 to be cleaned moves to the first sealing cover 352 and the second... Between the two sealing covers 355, the linkage component is then closed (at this time, the motor 3511 will not be able to drive the turntable 354 to rotate). Simultaneously, the exhaust cover 34 is raised via the lifting cylinder 33, thus staggering the several exhaust pipes 341 and several air outlets 311. Finally, the motor 3511 drives the fan blades 353 to work, thereby sending outside air into the second fixed frame 36. Because the several exhaust pipes 341 and several air outlets 311 are staggered, the air flows out from the several air outlets 311 and enters the cavity 342, finally flowing along the... The air hose 37 enters the first sealing cover 352. The airflow through this hose can clean the filter 3541 located between the first sealing cover 352 and the second sealing cover 355. With the above technical solution, the present invention does not require manual disassembly and cleaning. The heat dissipation mechanism 3 can clean a specific filter 3541 by its own power source. This not only reduces the maintenance workload of the staff, but also ensures that several filters 3541 are always in good filtration condition, avoiding poor air intake due to blockage of a filter 3541, and ensuring stable heat dissipation efficiency of the heat dissipation mechanism 3.

[0025] like Figures 9-10As shown, the linkage assembly includes an electromagnet 3512, a transmission gear 3513, a first gear assembly 3514, and an internal gear 3515. The electromagnet 3512 is connected to the working end of the motor 3511, the internal gear 3515 is connected to the turntable 354, and the transmission gear 3513 is located on the side end of the electromagnet 3512 and is made of ferromagnetic material. The transmission gear 3513 is connected to the internal gear 3515 through the first gear assembly 3514. When it is necessary to activate the linkage assembly to drive the turntable 354 to rotate, only the electromagnet 3512 needs to be activated. The transmission gear 3513 is magnetically attracted by the electromagnet 3512. At this time, the transmission gear 3513 and the electromagnet 3512 will rotate synchronously with the working end of the motor 3511. The power is transmitted to the internal gear 3515 through the first gear assembly 3514 to achieve the purpose of synchronous rotation of the internal gear 3515 and the turntable 354. Similarly, when it is necessary to close the linkage component so that the motor 3511 is disconnected from the turntable 354, it is only necessary to close the electromagnet 3512. At this time, when the motor 3511 drives the electromagnet 3512 to rotate, the transmission gear 3513 will no longer rotate.

[0026] like Figures 11-13 As shown, the walking mechanism 4 includes an electric roller 41, a cleaning frame 42, and a mounting frame 43. The electric roller 41 is connected to the machine body 1 via the mounting frame 43, and drives the machine to move within the orchard. The cleaning frame 42 is located on the side of the electric roller 41 away from the direction of travel of the machine. A cleaning plate 421 is installed inside the cleaning frame 42. An intermittent vibration component is installed inside the mounting frame 43 and is connected to the cleaning plate 421. Tires are installed on the outside of the electric roller 41 to improve grip. The side end of the electric roller 41 is connected to the intermittent vibration component. During the movement of the machine, the electric roller 41 synchronously drives the intermittent vibration component to extend and retract the cleaning plate 421 within the cleaning frame 42. When the cleaning plate 421 approaches the tire on the electric roller 41, it cleans the tire, preventing mud and other debris from unevenly adhering to the tire and affecting the movement of the machine. When the cleaning plate 421 extends and retracts into the cleaning frame 42, it prevents mud from accumulating on the cleaning plate 421, thus avoiding affecting subsequent cleaning work.

[0027] like Figures 12-13As shown, the intermittent vibration assembly includes a second gear assembly 431, an intermittent gear 432, and a transmission rack 433. One end of the second gear assembly 431 is connected to the electric drum 41, and the other end of the second gear assembly 431 is connected to the intermittent gear 432. The transmission rack 433 is located below the intermittent gear 432, and the side end of the transmission rack 433 is connected to the cleaning plate 421. When the electric drum 41 moves while driving the work machine, the intermittent gear 432 will rotate synchronously under the action of the second gear assembly 431. At the same time, in this invention, the intermittent gear 432 is an incomplete gear, and the lower end of the transmission rack 433 is slidably mounted on the spring rod. Therefore, when the intermittent gear 432 rotates, it will intermittently drive the transmission rack 433 to move. Through the transmission rack 433, the cleaning plate 421 is driven to extend and retract within the cleaning frame 42, thereby achieving the purpose of cleaning the tires on the electric drum 41 and preventing dirt from accumulating on the cleaning plate 421.

[0028] Example 2, as Figure 2 , Figure 4 As shown, the difference between this embodiment and Embodiment 1 is that the working mechanism includes a baffle 6, a second connecting frame 61, a leaf comber 62, and a strip anti-collision bar 63. A strip anti-collision bar 63 is provided on the lower side of the second connecting frame 61. The strip anti-collision bar 63 is connected to the first connecting frame 51 via an elastic element. A pressure detection element is provided at the connection between the elastic element and the first connecting frame 51 to monitor the deformation of the elastic element. When leaf combing is required in the orchard, the operator must first fasten the second connecting frame 61 to the connector 111 with bolts, and then control the horizontal position of the second connecting frame 61 by adjusting the cylinder 112. The machine swings until the strip anti-collision bar 63 is located on the front side of the leaf comber 62. Finally, as the machine moves through the orchard, the leaf comber 62 is activated to perform leaf combing. When an obstacle appears in front of the leaf comber 62, the strip anti-collision bar 63 will contact the obstacle first, and the elastic element will deform and trigger the pressure detection element to generate a pressure signal. When this signal is transmitted to the machine control system, the regulating cylinder 112 controls the second connecting frame 61 and the leaf comber 62 to swing away from the obstacle, while the walking mechanism 4 drives the machine to deflect its movement direction to avoid the obstacle and ensure the continuity and integrity of the leaf combing operation.

[0029] The working principle of this invention is as follows: When mowing is required in the orchard, the operator must first fasten the first connecting frame 51 to the connecting head 111 with bolts. Then, as the machine moves through the orchard, the mower 5 is activated to perform the mowing work. When leaf trimming is required in the orchard, the operator must first fasten the second connecting frame 61 to the connecting head 111 with bolts. Then, as the machine moves through the orchard, the leaf trimmer 62 is activated to perform the leaf trimming work. When the machine is mowing or trimming leaves in the orchard, the oil tank 2 and the first circulating pump provide lubrication and cooling for the stable operation of the working mechanism. The cooling mechanism 3 and the second circulating pump cool the hydraulic oil in the oil tank 2 to prevent the hydraulic oil from deteriorating due to high temperature and affecting the lubrication and cooling effect on the working structure. When the machine finishes working, the operator can activate the linkage component in the cooling mechanism 3 as needed to clean a filter 3541 using the power source of the cooling mechanism 3 itself, so as to ensure the stable heat dissipation efficiency of the cooling mechanism 3.

[0030] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A multifunctional orchard working machine for mowing and combing leaves with automatic avoidance, comprising a machine body (1), characterized in that: The fuselage (1) is provided with a walking mechanism (4) at the lower side end, and the fuselage (1) is provided with a support (11) near one end of the walking mechanism (4), and the side end of the support (11) is provided with a connecting head (111), and the connecting head (111) is provided with a working mechanism, the working mechanism has an obstacle detection function, the connecting head (111) and the support (11) are connected through a rotating shaft, and the support (11) is provided with an adjusting cylinder (112), and the working end of the adjusting cylinder (112) is connected with the connecting head (111), and the working mechanism is controlled to swing horizontally through the cooperation of the adjusting cylinder (112) and the connecting head (111).

2. The automatic-avoiding mowing and leaf-combing multifunctional orchard working machine according to claim 1, characterized in that: The working mechanism comprises a mower (5), a first connecting frame (51) and an arc-shaped anti-collision rod (52), the first connecting frame (51) is connected with the connecting head (111) through bolts, the arc-shaped anti-collision rod (52) is arranged at the lower side of the first connecting frame (51), the arc-shaped anti-collision rod (52) is connected with the first connecting frame (51) through elastic elements, and pressure detection elements are arranged at the connection between the elastic elements and the first connecting frame (51).

3. The automatic-avoiding mowing and leaf-combing multifunctional orchard working machine according to claim 1, characterized in that: The working mechanism comprises a baffle (6), a second connecting frame (61), a leaf combing device (62) and a strip-shaped anti-collision rod (63), the second connecting frame (61) is connected with the connecting head (111) through bolts, the strip-shaped anti-collision rod (63) is arranged at the lower side of the second connecting frame (61), the strip-shaped anti-collision rod (63) is connected with the first connecting frame (51) through elastic elements, and pressure detection elements are arranged at the connection between the elastic elements and the first connecting frame (51).

4. The automatic-avoiding grass cutting and leaf combing multi-functional orchard working machine according to claim 1, characterized in that: The fuselage (1) is provided with an oil tank (2) and a heat dissipation mechanism (3), the oil tank (2) is provided with a first circulating pump and a second circulating pump, the oil tank (2) and the working mechanism are connected through the first circulating pump and a plurality of oil pipes, and the oil tank (2) and the heat dissipation mechanism (3) are connected through the second circulating pump and a plurality of oil pipes.

5. The automatic-avoiding grass cutting and leaf combing multifunctional orchard working machine according to claim 4, characterized in that: The heat dissipation mechanism (3) comprises a heat dissipation box (31), the heat dissipation box (31) is arranged on the fuselage (1) through a mounting seat (32), the heat dissipation box (31) is provided with a second fixing frame (36) at the side end, the second fixing frame (36) is provided with a first fixing frame (35) away from the heat dissipation box (31), a plurality of air outlets (311) and a plurality of heat dissipation channels (312) are arranged in the heat dissipation box (31), the plurality of air outlets (311) and the plurality of heat dissipation channels (312) are alternately arranged along the height direction of the heat dissipation box (31), a fixing seat (351) is arranged in the first fixing frame (35), a motor (3511) is arranged in the fixing seat (351), and a fan blade (353) is arranged at one end of the motor (3511) close to the heat dissipation box (31).

6. The automatic-avoiding grass cutting and leaf combing multifunctional orchard working machine according to claim 5, characterized in that: The exhaust cover (34) is connected with the mounting seat (32) through the lifting air cylinder (33), and one end of the exhaust cover (34) close to the heat dissipation box (31) is provided with a cavity (342), and a plurality of exhaust pipes (341) are arranged in the cavity (342), and each exhaust pipe (341) is matched with a gas outlet (311).

7. The automatic-avoiding mowing and leaf-combing multifunctional orchard working machine according to claim 6, characterized in that: The fixing seat (351) is fixedly connected with the first fixing frame (35) through the first sealing cover (352) and the second sealing cover (355), the first sealing cover (352) is connected with the exhaust cover (34) through the ventilation hose (37), and the second sealing cover (355) is provided with a dust exhaust pipe on the side away from the first sealing cover (352). The first fixing frame (35) is further provided with a rotating disc (354), the rotating disc (354) is located between the first sealing cover (352) and the second sealing cover (355), a plurality of filter screens (3541) are arranged on the rotating disc (354), and a linkage assembly is arranged in the fixing seat (351). One end of the linkage assembly is connected with the motor (3511), and the other end of the linkage assembly is connected with the rotating disc (354).

8. The automatic-avoiding grass cutting and leaf combing multifunctional orchard working machine according to claim 7, characterized in that: The linkage assembly comprises an electromagnet (3512), a transmission gear (3513) and an internal gear (3515), the electromagnet (3512) is connected with the working end of the motor (3511), the internal gear (3515) is connected with the rotating disc (354), and the transmission gear (3513) is arranged at the side end of the electromagnet (3512) and is made of ferromagnetic material. The transmission gear (3513) is connected with the internal gear (3515) through the first gear assembly (3514).

9. The automatic-avoiding grass cutting and leaf combing multi-functional orchard working machine according to claim 1, characterized in that: The walking mechanism (4) comprises an electric roller (41), a cleaning frame (42) and a mounting frame (43), the electric roller (41) is connected with the machine body (1) through the mounting frame (43), the cleaning frame (42) is arranged on the side of the electric roller (41) away from the advancing direction of the working machine, the cleaning frame (42) is provided with a cleaning plate (421), and the mounting frame (43) is provided with an intermittent vibration assembly.

10. The automatic-avoiding mowing and leaf-combing multifunctional orchard working machine according to claim 9, characterized in that: The intermittent vibration assembly comprises a second gear assembly (431), an intermittent gear (432) and a transmission rack (433), one end of the second gear assembly (431) is connected with the electric roller (41), the other end of the second gear assembly (431) is connected with the intermittent gear (432), the intermittent gear (432) is an incomplete gear, the transmission rack (433) is arranged below the intermittent gear (432), the lower end of the transmission rack (433) is connected with the mounting frame (43) through a spring rod, and the side end of the transmission rack (433) is connected with the cleaning plate (421).

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