Hedge multi-angle pruning robot

Abstract

The utility model discloses a hedge multi-angle pruning robot in the field of hedge pruning equipment, which comprises a walking mechanism, a walking mechanism, a driving mechanism and a driving mechanism, the transverse repairing mechanism is arranged on the walking mechanism through a lifting mechanism; the vertical repairing mechanism is also arranged on the walking mechanism through the lifting mechanism; the sliding mechanism is arranged at the top of the lifting mechanism; the environment assembly is arranged on the walking mechanism; the hedge trimming robot has the advantages that the transverse trimming mechanism and the vertical trimming mechanism are arranged, the height and the distance of the transverse trimming mechanism and the vertical trimming mechanism can be independently adjusted, the hedge trimming effect of the robot is greatly improved, and adaptability and functionality are better.

Description

Technical Field

[0001] The utility model relates to the field of hedge trimming equipment, and particularly relates to a multi-angle hedge trimming robot. Background Art

[0002] Shrub-type green belts are widely used in China. They are applied to urban parks, squares, road greening and other places, forming a rich and diverse landscape greening effect, which not only beautifies the urban environment, but also improves the quality of life of citizens. At the same time, in residential areas such as residential quarters and villas, shrub-type green belts also play an important role. They not only provide residents with a beautiful living environment, but also play ecological functions such as dust prevention, noise reduction and air purification.

[0003] The traditional manual trimming method is not only inefficient, but also has a large labor intensity and is prone to safety accidents. Although vehicle-mounted and walk-behind hedge trimmers improve the trimming efficiency, the machines are relatively bulky and are only suitable for simple single-sided trimming, unable to meet the shaping design of green belts. At the same time, vehicle-mounted hedge trimmers are mainly used for trimming highway green belts, and their passability on complex roads is limited. To address these problems, it is urgent to make necessary improvements and innovations to hedge trimmers.

[0004] Therefore, we propose a multi-angle hedge trimming robot. Summary of the Invention

[0005] In view of the above deficiencies of the prior art, the utility model provides a multi-angle hedge trimming robot.

[0006] To achieve the above invention purpose, the technical solution adopted by the utility model is as follows:

[0007] A multi-angle hedge trimming robot, comprising: a traveling mechanism, in contact with the working plane at the bottom and used for the traveling of the trimming robot; a horizontal trimming mechanism, arranged on the traveling mechanism through a lifting mechanism and used for trimming the horizontal plane of the hedge, and the lifting mechanism is used for adjusting the height of the horizontal trimming mechanism; a vertical trimming mechanism, also arranged on the traveling mechanism through the lifting mechanism and used for trimming the vertical plane of the hedge, and the lifting mechanism is also used for adjusting the vertical trimming mechanism and is independently adjustable from the horizontal trimming mechanism; a sliding mechanism, arranged on the top of the lifting mechanism and used for independently adjusting the horizontal direction of the horizontal trimming mechanism and the vertical trimming mechanism; an environmental component, arranged on the traveling mechanism and used for perceiving the environment around the traveling mechanism.

[0008] By setting up the walking mechanism, the robot can walk on its own, avoiding manual movement. The horizontal trimming mechanism can trim the top of the hedge, and the vertical trimming mechanism can trim the vertical sides of the hedge. The lifting mechanism can independently adjust the heights of the horizontal and vertical trimming mechanisms to adapt to hedges of different heights. The sliding mechanism can independently adjust the distances between the horizontal and vertical trimming mechanisms and the hedge. The environmental component can monitor the environment around the robot, preventing the walking mechanism from hitting obstacles or pedestrians during movement, enhancing safety, being able to adapt to hedge trimming operations on complex road surfaces, and also being able to carry out green belt shaping design, with more diverse functions and better adaptability.

[0009] Further defined, the walking mechanism includes a walking box and drive wheels provided at the bottom of the walking box. The walking box is in the shape of a rectangular box, with an open top surface and one long side surface; the side of the walking box where the opening is located corresponds to the side where the hedge is located, facilitating the installation and operation of the device.

[0010] Further defined, there are two sets of lifting mechanisms, which are respectively provided at the bottoms of the horizontal and vertical trimming mechanisms. Each set of lifting mechanisms includes a mounting plate, a scissor lift, a lifting rod, and a top plate; the mounting plate is fixedly provided on the bottom plate of the walking box. One side of the bottom of the scissor lift is hinged to the mounting plate, and the other side is slidably connected to the mounting plate. One side of the top of the scissor lift is hinged to the top plate, and the other side is slidably connected to the top plate. The lifting rod is obliquely arranged inside the scissor lift. The bottom end of the lifting rod is hinged to one side of the bottom of the scissor lift, and the top end is hinged to the other side of the top of the scissor lift; By using the scissor lift as the lifting mechanism, space can be saved while ensuring the lifting height, and the occupied space in the contracted state is less.

[0011] Further defined, there are two sets of sliding mechanisms, which are respectively provided on the top plates of the two sets of lifting mechanisms. Each set of sliding mechanisms includes a sliding rail, a sliding screw rod, a sliding motor, and a sliding plate. The sliding rail is fixedly provided on the top plate. The two ends of the sliding screw rod are rotatably connected to the sliding rail, and one end is fixedly connected to the output shaft of the sliding motor. The sliding motor is horizontally fixed on the top plate. The bottom of the sliding plate is threadedly connected to the sliding screw rod and is simultaneously slidably clamped on the sliding rail. The horizontal and vertical trimming mechanisms are both fixedly provided on the corresponding sliding plates; By driving the sliding screw rod to rotate through the sliding motor, the sliding plate is threadedly connected to the sliding screw rod and clamped on the sliding rail, and the sliding rail forms a limit for the sliding plate. Therefore, the sliding plate will slide on the sliding screw rod during the rotation of the sliding screw rod, completing the adjustment of the distance between the horizontal and vertical trimming mechanisms and the hedge.

[0012] Further defined, the horizontal trimming mechanism includes a horizontal trimming base, a horizontal trimming large arm, a horizontal trimming small arm, and a horizontal trimming cutter group; the horizontal trimming base is fixedly arranged on the corresponding sliding skateboard, the tail of the horizontal trimming large arm is rotationally connected to the horizontal trimming base through a first horizontal trimming motor, the tail of the horizontal trimming small arm is rotationally connected to the head of the horizontal trimming large arm through a second horizontal trimming motor, the horizontal trimming cutter group is slidably connected to the horizontal trimming small arm along the extension direction of the horizontal trimming small arm through a sliding component, and the horizontal trimming cutter group is rotationally connected to the sliding component; through the first horizontal trimming motor, the horizontal trimming large arm can rotate vertically on the horizontal trimming base, and through the second horizontal trimming motor, the horizontal trimming small arm can rotate vertically on the horizontal trimming large arm. In this way, with the cooperation of the horizontal trimming large arm and the horizontal trimming small arm, the trimming angle of the horizontal trimming cutter group can be more diverse, improving the horizontal trimming effect.

[0013] Further defined, the vertical trimming mechanism includes a vertical trimming base, a vertical trimming large arm, a vertical trimming small arm, and a vertical trimming cutter; the vertical trimming base is also fixedly arranged on the corresponding sliding skateboard, the tail of the vertical trimming large arm is rotationally connected to the vertical trimming base through a first vertical trimming motor, the tail of the vertical trimming small arm is rotationally connected to the head of the vertical trimming large arm through a second vertical trimming motor, the vertical trimming cutter is rotationally connected to the head of the vertical trimming small arm through a third vertical trimming motor, the vertical trimming small arm is segmented and includes a head segment and a tail segment, and a flipping motor is arranged in the tail segment for radially rotating the head segment of the vertical trimming small arm; by setting the first vertical trimming motor, the vertical trimming large arm can rotate vertically on the vertical trimming base, the second vertical trimming motor can make the vertical trimming small arm rotate vertically on the vertical trimming large arm, enabling the vertical trimming small arm to rotate to a vertical state for convenient placement of the device, the third vertical trimming motor can make the vertical trimming cutter rotate vertically on the head segment of the vertical trimming small arm, and the flipping motor can make the head segment of the vertical trimming small arm rotate radially, making the trimming angle of the vertical trimming cutter more diverse and improving the adaptability and trimming effect.

[0014] Further defined, the environmental component includes a vision module and an infrared module. The infrared module is embedded on the walking box and is located on both sides of the walking box in the walking direction. The vision module is arranged on the bottom plate of the walking box, and the picture capture direction is the opening side of the walking box; the vision module monitors the curb height at the bottom of the hedge, and the infrared module monitors the environment in front of and behind the robot's traveling route to prevent obstacles during traveling, with a higher degree of intelligence and more convenient use.

[0015] Further defined, the sliding assembly includes a sliding rail, a sliding screw rod, a sliding motor and a sliding slider; the sliding rail is fixedly arranged on the inner side of the horizontal trimming small arm along the extending direction of the horizontal trimming small arm, both ends of the sliding screw rod are rotatably connected to the sliding rail, and one end is fixedly connected to the output shaft of the sliding motor, the sliding motor is fixedly arranged on the horizontal trimming small arm, the sliding slider is threadedly connected to the sliding screw rod and is slidably clamped on the sliding rail, and the horizontal trimming knife group is fixedly arranged on the sliding slider; the setting of the sliding assembly enables the horizontal trimming knife group to slide on the horizontal trimming small arm, which can avoid the problem that the position of the horizontal trimming knife group does not match the hedge when trimming the hedge in some narrow sections, and improves the applicable range of the robot.

[0016] Further defined, the horizontal trimming knife group includes a housing, a rotation motor and a horizontal trimming knife body, the housing is fixed on the sliding slider, the rotation motor is arranged in the housing, and the output shaft is fixedly connected to the horizontal trimming knife body, and the rotation motor is used for the horizontal trimming knife body to rotate around the housing; such a setting of a rotation motor enables the horizontal trimming knife body to be able to rotate and coincide with the horizontal trimming small arm, which is convenient for the placement of the device.

[0017] Further defined, the driving wheel is connected to the bottom of the walking box through a suspension damping system; the setting of the suspension damping system can improve the traveling stability of the robot on rough roads.

[0018] The beneficial effects of the present utility model are as follows: by setting a horizontal trimming mechanism and a vertical trimming mechanism, and the heights and distances of the horizontal trimming mechanism and the vertical trimming mechanism can be independently adjusted, which greatly improves the trimming effect of the robot on the hedge, and the adaptability and functionality are better. Description of the Drawings

[0019] Figure 1 is a three-dimensional schematic diagram of the present utility model;

[0020] Figure 2 is a three-dimensional schematic diagram of the cooperation state of the horizontal trimming mechanism and the lifting mechanism;

[0021] Figure 3 is a three-dimensional schematic diagram of the cooperation state of the vertical trimming mechanism and the lifting mechanism;

[0022] Figure 4 is a three-dimensional schematic diagram of the driving wheel and the suspension damping system;

[0023] Figure 5 is Figure 1 an enlarged schematic diagram of part A in

[0024] The symbols of each component are as follows:

[0025] Travel mechanism 1, travel box 11, drive wheel 12, suspension damping system 13, horizontal repair mechanism 2, horizontal repair base 21, horizontal repair boom 22, horizontal repair forearm 23, horizontal repair tool group 24, housing 241, horizontal repair tool body 242, first horizontal repair motor 25, second horizontal repair motor 26, sliding rail 27, sliding lead screw 28, sliding motor 29, sliding slider 210, vertical repair mechanism 3, vertical repair base 31, vertical repair boom 32, vertical repair forearm 33, tail section 331, head section 332, vertical repair tool 34, lifting mechanism 4, mounting plate 41, scissor lift 42, lift rod 43, top plate 44, sliding mechanism 5, sliding rail 51, sliding lead screw 52, sliding motor 53, sliding plate 54, environmental component 6, vision module 61, infrared module 62. Detailed implementation manners

[0026] The following describes the detailed implementation manners of the present invention to facilitate those skilled in the art of this technical field to understand the present invention. However, it should be clear that the present invention is not limited to the scope of the detailed implementation manners. For those of ordinary skill in the art of this technical field, as long as various changes are within the spirit and scope of the present invention defined and determined by the appended claims, these changes are obvious, and all utility models created using the concept of the present invention are within the scope of protection.

[0027] Embodiment:

[0028] As Figures 1 - 5As shown in the figure, a multi-angle hedge trimming robot includes a traveling mechanism 1, a horizontal trimming mechanism 2, a vertical trimming mechanism 3, a lifting mechanism 4, a sliding mechanism 5, and an environmental component 6; the bottom of the traveling mechanism 1 is in contact with the working plane and is used for the robot to travel; the traveling mechanism 1 includes a traveling box 11 and driving wheels 12 provided at the bottom of the traveling box 11. The traveling box 11 is in the shape of a rectangular box, and the top surface and one long side surface are open; the driving wheels 12 are connected to the bottom of the traveling box 11 through a suspension damping system 13; there are two sets of lifting mechanisms 4, and the two sets of lifting mechanisms 4 are respectively provided at the bottoms of the horizontal trimming mechanism 2 and the vertical trimming mechanism 3. Each set of lifting mechanism 4 includes a mounting plate 41, a scissor lift 42, a lifting rod 43, and a top plate 44; the mounting plate 41 is fixedly provided on the bottom plate of the traveling box 11. One side of the bottom of the scissor lift 42 is hinged to the mounting plate 41, and the other side is slidably connected to the mounting plate 41. One side of the top of the scissor lift 42 is hinged to the top plate 44, and the other side is slidably connected to the top plate 44. The lifting rod 43 is obliquely arranged inside the scissor lift 42. The bottom end of the lifting rod 43 is hinged to one side of the bottom of the scissor lift 42, and the top end is hinged to the other side of the top of the scissor lift 42; there are two sets of sliding mechanisms 5, and the two sets of sliding mechanisms 5 are respectively provided on the top plates 44 of the two sets of lifting mechanisms 4. Each set of sliding mechanism 5 includes a sliding rail 51, a sliding screw 52, a sliding motor 53, and a sliding plate 54. The sliding rail 51 is fixedly provided on the top plate 44. The two ends of the sliding screw 52 are rotatably connected to the sliding rail 51, and one end is fixedly connected to the output shaft of the sliding motor 53. The sliding motor 53 is horizontally fixed on the top plate 44. The bottom of the sliding plate 54 is threadedly connected to the sliding screw 52 and is simultaneously slidably clamped on the sliding rail 51. The horizontal trimming mechanism 2 and the vertical trimming mechanism 3 are both fixedly provided on the corresponding sliding plates 54; the horizontal trimming mechanism 2 is provided on the traveling mechanism 1 through the lifting mechanism 4 and is used for trimming the horizontal plane of the hedge, and the lifting mechanism 4 is used to adjust the height of the horizontal trimming mechanism 2; the horizontal trimming mechanism 2 includes a horizontal trimming base 21, a horizontal trimming large arm 22, a horizontal trimming small arm 23, and a horizontal trimming cutter group 24; the horizontal trimming base 21 is fixedly provided on the corresponding sliding plate 54. The tail of the horizontal trimming large arm 22 is rotatably connected to the horizontal trimming base 21 through a first horizontal trimming motor 25. The tail of the horizontal trimming small arm 23 is rotatably connected to the head of the horizontal trimming large arm 22 through a second horizontal trimming motor 26. The horizontal trimming cutter group 24 is slidably connected to the horizontal trimming small arm 23 along the extension direction of the horizontal trimming small arm 23 through a sliding component, and the horizontal trimming cutter group 24 is rotatably connected to the sliding component; the sliding component includes a sliding rail 27, a sliding screw 28, a sliding motor 29, and a sliding block 210; the sliding rail 27 is fixedly provided inside the horizontal trimming small arm 23 along the extension direction of the horizontal trimming small arm 23. The two ends of the sliding screw 28 are rotatably connected to the sliding rail 27, and one end is fixedly connected to the output shaft of the sliding motor 29. The sliding motor 29 is fixedly provided on the horizontal trimming small arm 23. The sliding block 210 is threadedly connected to the sliding screw 28 and is slidably clamped on the sliding rail 27. The horizontal trimming cutter group 24 is fixedly provided on the sliding block 210;The horizontal repair tool group 24 includes a housing 241, a self-rotating motor, and a horizontal repair tool body 242. The housing 241 is fixed on the sliding slider 210. The self-rotating motor is arranged inside the housing 241, and the output shaft is fixedly connected to the horizontal repair tool body 242. The self-rotating motor is used to rotate the horizontal repair tool body 242 around the housing 241. The vertical repair mechanism 3 includes a vertical repair base 31, a vertical repair large arm 32, a vertical repair small arm 33, and a vertical repair tool 34. The vertical repair base 31 is also fixedly arranged on the corresponding sliding skateboard 54. The tail of the vertical repair large arm 32 is rotationally connected to the vertical repair base 31 through a first vertical repair motor. The first vertical repair motor is arranged vertically inside the vertical repair base 31. The tail of the vertical repair small arm 33 is rotationally connected to the head of the vertical repair large arm 32 through a second vertical repair motor. The second vertical repair motor is arranged at the tail of the vertical repair large arm 32 and transmits power to the head of the vertical repair large arm 32 through a belt to drive the vertical repair small arm 33. The vertical repair tool 34 is rotationally connected to the head of the vertical repair small arm 33 through a third vertical repair motor. The vertical repair small arm 33 is segmented and includes a head section 332 and a tail section 331. A flipping motor is arranged inside the tail section 331 and is used to rotate the head section 332 of the vertical repair small arm 33 radially. The environment component 6 is used to sense the environment around the traveling mechanism 1. The environment component 6 includes a vision module 61 and an infrared module 62. The infrared module 62 is embedded on the traveling box 11 and is located on both sides of the traveling box 11 in the traveling direction. The vision module 61 is arranged on the bottom plate of the traveling box 11, and the picture capture direction is the opening side of the traveling box 11.;

[0029] By setting the traveling mechanism 1, the robot can walk on its own, avoiding manual movement. The horizontal trimming mechanism 2 can trim the top of the hedge, the vertical trimming mechanism 3 can trim the vertical sides of the hedge, the lifting mechanism 4 can independently adjust the heights of the horizontal trimming mechanism 2 and the vertical trimming mechanism 3 to adapt to hedges of different heights, the sliding mechanism 5 can independently adjust the distances between the horizontal trimming mechanism 2 and the vertical trimming mechanism 3 and the hedge, and the environmental component 6 can monitor the environment around the robot to prevent the traveling mechanism 1 from hitting obstacles or pedestrians during travel, improving safety. It can adapt to hedge trimming operations on complex road surfaces and can also perform green belt shaping design, with more diverse functions and better adaptability. One side of the opening of the traveling box 11 corresponds to the side where the hedge is located, facilitating the installation and operation of the device. By using the scissor lift 42 as the lifting mechanism 4, space can be saved while ensuring the lifting height, and less space is occupied in the retracted state. By driving the sliding screw 52 to rotate with the sliding motor 53, the sliding plate 54 is threadedly connected to the sliding screw 52 and clamped on the sliding rail 51, and the sliding rail 51 limits the sliding plate 54. Therefore, the sliding plate 54 will slide on the sliding screw 52 during the rotation of the sliding screw 52 to complete the adjustment of the distances between the horizontal trimming mechanism 2, the vertical trimming mechanism 3 and the hedge. By the first horizontal trimming motor 25, the horizontal trimming arm 22 can rotate vertically on the horizontal trimming base 21, and by the second horizontal trimming motor 26, the horizontal trimming forearm 23 can rotate vertically on the horizontal trimming arm 22. In this way, with the cooperation of the horizontal trimming arm 22 and the horizontal trimming forearm 23, the trimming angle of the horizontal trimming cutter group 24 can be more diverse, improving the horizontal trimming effect. By setting the first vertical trimming motor, the vertical trimming arm 32 can rotate vertically on the vertical trimming base 31, and by the second vertical trimming motor, the vertical trimming forearm 33 can rotate vertically on the vertical trimming arm 32, enabling the vertical trimming forearm 33 to rotate to the vertical state for easy placement of the device. By the third vertical trimming motor, the vertical trimming cutter 34 can rotate vertically at the head section 332 of the vertical trimming forearm 33, and by the flipping motor, the head section 332 of the vertical trimming forearm 33 can rotate radially, making the trimming angle of the vertical trimming cutter 34 more diverse and improving the adaptability and trimming effect. By monitoring the curb height at the bottom of the hedge with the vision module 61 and monitoring the environment in front of and behind the traveling route of the robot with the infrared module 62 to prevent encountering obstacles during travel, the degree of intelligence is higher and it is more convenient to use. By setting the sliding component, the horizontal trimming cutter group 24 can slide on the horizontal trimming forearm 23, avoiding the problem that the position of the horizontal trimming cutter group 24 does not match the hedge due to the excessive length of the horizontal trimming forearm 23 when trimming the hedge in some narrow sections, and improving the applicable range of the robot. By setting a rotation motor, the horizontal trimming cutter body 242 can rotate to coincide with the horizontal trimming forearm 23 for easy placement of the device. By setting the suspension damping system 13, the traveling stability of the robot on rough roads can be improved.

Claims

1. A multi-angle hedge trimming robot, characterized in that, Comprising: A traveling mechanism (1) whose bottom contacts with the working plane and is used for the traveling of the trimming robot; A horizontal trimming mechanism (2) arranged on the traveling mechanism (1) through a lifting mechanism (4) and used for trimming the horizontal plane of the hedge, and the lifting mechanism (4) is used for adjusting the height of the horizontal trimming mechanism (2); A vertical trimming mechanism (3) also arranged on the traveling mechanism (1) through the lifting mechanism (4) and used for trimming the vertical plane of the hedge, and the lifting mechanism (4) is also used for adjusting the vertical trimming mechanism (3) and is independently adjustable from the horizontal trimming mechanism (2); A sliding mechanism (5) arranged on the top of the lifting mechanism (4) and used for independently adjusting the horizontal direction of the horizontal trimming mechanism (2) and the vertical trimming mechanism (3); An environment component (6) arranged on the traveling mechanism (1) and used for sensing the environment around the traveling mechanism (1).

2. The hedge multi-angle trimming robot according to claim 1, characterized in that The traveling mechanism (1) includes a traveling box (11) and driving wheels (12) arranged at the bottom of the traveling box (11). The traveling box (11) is in the shape of a rectangular box and has openings on the top surface and one long side surface.

3. The hedge multi-angle trimming robot according to claim 2, wherein There are two sets of the lifting mechanism (4). The two sets of the lifting mechanism (4) are respectively arranged at the bottoms of the horizontal trimming mechanism (2) and the vertical trimming mechanism (3). Each set of the lifting mechanism (4) includes a mounting plate (41), a scissor lift (42), a lifting rod (43) and a top plate (44); The mounting plate (41) is fixedly arranged on the bottom plate of the traveling box (11). One side of the bottom of the scissor lift (42) is hinged to the mounting plate (41), and the other side is slidably connected to the mounting plate (41). One side of the top of the scissor lift (42) is hinged to the top plate (44), and the other side is slidably connected to the top plate (44). The lifting rod (43) is obliquely arranged inside the scissor lift (42). The bottom end of the lifting rod (43) is hinged to one side of the bottom of the scissor lift (42), and the top end is hinged to the other side of the top of the scissor lift (42).

4. The hedge multi-angle trimming robot according to claim 3, characterized in that There are two sets of the sliding mechanism (5). The two sets of the sliding mechanism (5) are respectively arranged on the top plates (44) of the two sets of the lifting mechanism (4). Each set of the sliding mechanism (5) includes a sliding rail (51), a sliding screw rod (52), a sliding motor (53) and a sliding plate (54). The sliding rail (51) is fixedly arranged on the top plate (44). The two ends of the sliding screw rod (52) are rotatably connected to the sliding rail (51), and one end is fixedly connected to the output shaft of the sliding motor (53). The sliding motor (53) is horizontally fixed on the top plate (44). The bottom of the sliding plate (54) is threadedly connected to the sliding screw rod (52) and is simultaneously slidably clamped on the sliding rail (51). The horizontal trimming mechanism (2) and the vertical trimming mechanism (3) are both fixedly arranged on the corresponding sliding plates (54).

5. The hedge multi-angle trimming robot according to claim 4, characterized in that, The horizontal repair mechanism (2) includes a horizontal repair base (21), a horizontal repair large arm (22), a horizontal repair small arm (23), and a horizontal repair tool group (24); the horizontal repair base (21) is fixedly arranged on the corresponding sliding slide plate (54), the tail of the horizontal repair large arm (22) is rotatably connected to the horizontal repair base (21) through a first horizontal repair motor (25), the tail of the horizontal repair small arm (23) is rotatably connected to the head of the horizontal repair large arm (22) through a second horizontal repair motor (26), the horizontal repair tool group (24) is slidably connected to the horizontal repair small arm (23) along the extension direction of the horizontal repair small arm (23) through a sliding component, and the horizontal repair tool group (24) is rotatably connected to the sliding component.

6. The hedge multi-angle trimming robot according to claim 4, wherein The vertical repair mechanism (3) includes a vertical repair base (31), a vertical repair large arm (32), a vertical repair small arm (33), and a vertical repair tool (34); the vertical repair base (31) is also fixedly arranged on the corresponding sliding slide plate (54), the tail of the vertical repair large arm (32) is rotatably connected to the vertical repair base (31) through a first vertical repair motor, the tail of the vertical repair small arm (33) is rotatably connected to the head of the vertical repair large arm (32) through a second vertical repair motor, the vertical repair tool (34) is rotatably connected to the head of the vertical repair small arm (33) through a third vertical repair motor, the vertical repair small arm (33) is segmented and includes a head section (332) and a tail section (331), and a turning motor is arranged in the tail section (331) for realizing radial rotation of the head section (332) of the vertical repair small arm (33).

7. The hedge multi-angle trimming robot according to claim 2, characterized in that, The environmental component (6) includes a vision module (61) and an infrared module (62), the infrared module (62) is embedded on the walking box (11) and is located on both sides of the walking box (11) in the walking direction, and the vision module (61) is arranged on the bottom plate of the walking box (11) and the picture capturing direction is the opening side of the walking box (11).

8. The hedge multi-angle trimming robot according to claim 5, characterized in that The sliding component includes a sliding slide rail (27), a sliding lead screw (28), a sliding motor (29), and a sliding slider (210); the sliding slide rail (27) is fixedly arranged on the inner side of the horizontal repair small arm (23) along the extension direction of the horizontal repair small arm (23), both ends of the sliding lead screw (28) are rotatably connected to the sliding slide rail (27) and one end is fixedly connected to the output shaft of the sliding motor (29), the sliding motor (29) is fixedly arranged on the horizontal repair small arm (23), the sliding slider (210) is threadedly connected to the sliding lead screw (28) and is slidably clamped on the sliding slide rail (27), and the horizontal repair tool group (24) is fixedly arranged on the sliding slider (210).

9. The hedge multi-angle trimming robot according to claim 8, characterized in that, The horizontal repair tool group (24) includes a housing (241), a self-rotation motor, and a horizontal repair tool body (242), the housing (241) is fixed on the sliding slider (210), the self-rotation motor is arranged in the housing (241) and the output shaft is fixedly connected to the horizontal repair tool body (242), and the self-rotation motor is used for the horizontal repair tool body (242) to rotate around the housing (241).

10. The hedge multi-angle trimming robot according to claim 2, characterized in that, The driving wheel (12) is connected to the bottom of the traveling box (11) through a suspension damping system (13).

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