CN111406454A

CN111406454A - Weeding and soil loosening robot for agriculture

Info

Publication number: CN111406454A
Application number: CN202010313072.7A
Authority: CN
Inventors: 张德华; 孙劭儒
Original assignee: Henan University
Current assignee: Henan University
Priority date: 2020-04-20
Filing date: 2020-04-20
Publication date: 2020-07-14
Anticipated expiration: 2040-04-20
Also published as: CN111406454B

Abstract

The invention relates to the technical field of agricultural robots, in particular to an agricultural weeding and soil loosening robot, which comprises a crawler walking device and a hollow underframe, wherein the underframe is fixedly arranged at the top of the crawler walking device, the top of the underframe is provided with a hollow U-shaped frame, the inside of the underframe is respectively provided with a driving motor and a controller, the center of the top of the U-shaped frame is provided with a lifting assembly, a camera is arranged above the lifting assembly, the lifting assembly comprises a lifting plate capable of lifting, two sides of the lifting plate are respectively provided with a hollow connecting frame, the middle ends of two sides of each hinged frame are respectively hinged with the inner wall of the U-shaped frame, each hinged frame is respectively provided with a telescopic assembly, the output end of each telescopic assembly is respectively provided with a weeding assembly and a soil loosening assembly, and the controller is respectively electrically connected with the driving motor, the camera, the weeding assembly, the soil loosening assembly and each telescopic assembly, the equipment can realize automatic weeding and soil loosening, and improves the working efficiency.

Description

Weeding and soil loosening robot for agriculture

Technical Field

The invention relates to the technical field of agricultural robots, in particular to an agricultural weeding and soil loosening robot.

Background

The weed killer is often needed to be used to recuperate and get rid of weeds in the soil in the recuperation process of crops field and afforestation, and the most existing weed killers can only remove weeds, still need carry out the manual soil loosening again after removing weeds, waste time and energy, and can't realize automatic weeding and loosen the soil, reduce work efficiency, consequently, we have provided a weeding and soil loosening robot for agricultural, so as to solve the above-mentioned problem of proposing.

Disclosure of Invention

The technical problem to be solved by the invention is to provide the weeding and soil loosening robot for the agriculture, and the equipment can realize automatic weeding and soil loosening and improve the working efficiency.

In order to solve the technical problems, the invention provides the following technical scheme:

a weeding and soil loosening robot for agriculture comprises a crawler walking device and a hollow underframe, wherein the underframe is fixedly installed at the top of the crawler walking device, a hollow U-shaped frame is arranged at the top of the underframe, a driving motor and a controller are respectively arranged inside the underframe, a lifting assembly is arranged at the center of the top of the U-shaped frame, a camera is arranged above the lifting assembly, the output end of the driving motor can rotatably penetrate through two sides of the U-shaped frame and the U-shaped frame to be connected with the internal transmission of the lifting assembly in a transmission manner, the lifting assembly comprises a lifting plate capable of lifting, hollow connecting frames are respectively arranged on two sides of the lifting plate, one end of each hinge frame is respectively connected with the internal transmission of the lifting plate, the middle ends of two sides of each hinge frame are respectively hinged with the inner wall of the U-shaped frame, a telescopic assembly is respectively arranged on each hinge frame, a weeding assembly and a soil loosening assembly are respectively arranged at the output, the controller is connected with driving motor, camera, weeding subassembly, the subassembly that loosens the soil and every flexible subassembly electricity respectively.

Preferably, the lifting component is fixed with a lifting sleeve, threaded rod and lead screw slider, fixed lifting cover is the bottom of vertical fixed mounting in the inside center department of U type frame, the threaded rod is vertical and can be rotatory setting in the inside of fixed lifting cover, the lead screw slider sets up on the threaded rod, lead screw slider and threaded rod threaded connection, the both sides of lead screw slider are equipped with respectively and extend the piece, fixed lifting is sheathe in and is equipped with the bar that is used for supplying every extension piece to remove and removes and wears the mouth, the lifter plate sets up and sheathes in fixed lifting, be equipped with on the lifter plate and be used for dodging fixed lifting cover dodging the perforation, the one end of every extension piece lets perforation inner wall fixed connection with the wall on the lifter plate respectively, the top of fixed lifting cover is equipped with the roof that is the level setting, the top both sides fixed connection of support and U type frame is passed through respectively at the both ends of.

Preferably, the lifting plate is equipped with first articulated column respectively near the one end both sides of every link, is equipped with articulated connecting rod on every first articulated column respectively, and the one end of every articulated connecting rod sets up with every first articulated column is articulated respectively, and the one end both sides that every link is close to the lifting plate are equipped with the articulated column of second respectively, and the one end of every articulated connecting rod sets up with every second link is articulated respectively.

Preferably, the weeding assembly comprises a connecting plate, a driving box, a first motor, a driving shaft and a plurality of mowing knives, the connecting plate is horizontally arranged at one end of one of the connecting frames far away from the lifting plate, the output end of one of the telescopic assemblies is in transmission connection with the center of one side of the connecting plate, the driving box is horizontally arranged at one side below the connecting plate, two ends of the bottom of the connection are respectively and fixedly connected with the top of the driving box through the connecting frame, the first motor is horizontally and fixedly arranged at one end of the driving box, the driving shaft is horizontally arranged in the driving box, two ends of the driving shaft are respectively and rotatably inserted into the inner wall of the driving box and extend outwards, one end of the driving shaft is fixedly connected with the output end of the first motor, the plurality of mowing knives are uniformly arranged below the driving box in a horizontal state, rotating rods are respectively arranged at the center of the top of each mowing knife, the top of each rotating rod can respectively and rotatably extend towards the inside, the extension end of every bull stick is equipped with first awl tooth respectively, is equipped with the second awl tooth with every first awl tooth one-to-one on the drive shaft, and first awl tooth and second awl tooth meshing set up, and first motor is connected with the controller electricity.

Preferably, the bottom of the weeding assembly driving box is provided with a baffle plate which is obliquely arranged above one side of the driving box.

Preferably, the subassembly that loosens the soil includes the cavity lid, loosen soil axle and second motor, the cavity lid is the one end that the lifter plate was kept away from to the level lies in another link, the output of another flexible subassembly is connected with the transmission of the top center department of cavity lid, the axle that loosens the soil is the inside that the level set up at the cavity lid, the second motor is the one end of level fixed mounting at the cavity lid, the both ends of cavity lid can be rotated respectively insert the inner wall of locating the cavity lid and outwards extend, the output of second motor and the one end fixed connection of the axle that loosens the soil, the epaxial claw that loosens the soil that is equipped with a plurality of evenly distributed and sets up that loosens the soil, the second motor is connected with the controller electricity.

Preferably, one end of the hollow cover close to the second motor is provided with a dust cover, and the second motor is positioned in the dust cover.

Preferably, every telescopic component all includes the L template, the third motor, fixed loop bar, interior pole, screw thread loop bar and thread bush tool, fixed loop bar is the inside hypomere that the level is located the link, the inner wall and the outer wall that the link was passed to the one end of fixed loop bar extend outwards, the L template is the below that the level is located fixed loop bar, the both sides of L template respectively with the inner wall fixed connection of link, the third motor is horizontal fixed mounting in the top center department of L template, and the output of third motor can the pivoted extend to the inside of fixed loop bar, the inside one end that third motor was kept away from to the thread bush tool fixed mounting at fixed loop bar, the thread loop bar is the level and sets up the sliding tray that is used for every conflict bar on the thread loop bar, the inner circle of thread bush tool is passed to outwards extend, the thread loop bar is connected with the thread bush tool screw thread, interior pole sets up the inner circle at the thread bush bar, the both sides of interior pole are equipped with respectively and support the feeler, be equipped with the gliding sliding tray that is used for every conflict bar on the screw thread bush tool, the fixed assembly is connected with the top electricity of third motor, the connecting plate is connected, the hollow core bar that can insert respectively, the top of motor is located.

Preferably, the hollow cover and the two sides of the top of the connecting plate are respectively provided with a limiting rod extending to the two sides of each connecting frame, and each connecting frame is respectively provided with a limiting sleeve for each limiting rod to pass through.

Compared with the prior art, the invention has the beneficial effects that: a weeding and soil loosening robot for agriculture is characterized in that during operation, a controller controls equipment to move to a position needing operation, a camera is arranged to remotely observe through a cloud end, a driving motor is controlled by the controller to drive a threaded rod to rotate, the threaded rod drives a lead screw slider to drive a lifting plate to move downwards through each extending block on the lead screw slider, when the lifting plate moves downwards, one end of each connecting frame is respectively driven to move upwards through each hinged connecting rod, the other end of each connecting frame is obliquely and downwards arranged, the controller controls a third motor on each telescopic assembly, an inner rod is driven to rotate through the third motor, the inner rod enables a threaded sleeve rod to rotate through a sliding groove on each abutting strip abutting against the threaded sleeve rod, the threaded sleeve rod extends towards the outside of a fixed sleeve rod through threaded connection of a threaded sleeve jig, and the weeding assembly and a soil loosening assembly are respectively driven to move downwards through the threaded sleeve rod on each telescopic assembly, until the output ends of the soil loosening assembly and the weeding assembly are moved to a required position, when the soil loosening assembly and the weeding assembly are moved respectively, each limiting rod and each limiting sleeve are arranged to play a role of limiting movement, after the weeding assembly is moved to the required position, the controller controls the first motor, the first motor drives the driving shaft to rotate, the driving shaft drives each second bevel gear to rotate, each second bevel gear drives each first bevel gear and each rotating rod to rotate respectively, each rotating rod drives each mowing knife to rotate respectively and carries out weeding operation, the baffle is arranged to resist the cut weeds, after the weeding assembly removes the weeds, the controller controls the second motor, the second motor drives the soil loosening shaft to rotate, the soil loosening shaft drives all soil loosening claws to operate, the hollow cover is arranged to resist the soil loosened, and the dust cover is arranged to prevent the soil from entering the second motor, influence the second motor operation, this equipment can realize automatic weeding and loosen the soil, improves work efficiency.

Drawings

FIG. 1 is a first perspective view of the present invention;

FIG. 2 is a schematic perspective view of the present invention;

FIG. 3 is a side view of the present invention;

FIG. 4 is a top view of the present invention;

FIG. 5 is a cross-sectional view taken along line A-A of FIG. 4 of the present invention;

FIG. 6 is an enlarged view of the invention at B of FIG. 5;

fig. 7 is a partial perspective view of the ripping assembly of the present disclosure;

FIG. 8 is a schematic partial perspective view of the herbicidal assembly of the present invention;

FIG. 9 is a side view of the attachment bracket of the present invention;

FIG. 10 is a cross-sectional view taken at C-C of FIG. 9 in accordance with the present invention;

fig. 11 is an enlarged view of fig. 10 at D according to the present invention.

The reference numbers in the drawing are 1-crawler traveling device, 2-underframe, 3-U-shaped frame, 4-driving motor, 5-controller, 6-camera, 7-lifting plate, 8-connecting frame, 9-fixed lifting sleeve, 10-threaded rod, 11-screw rod sliding block, 12-extending block, 13-strip-shaped movable penetrating port, 14-top plate, 15-hinged connecting rod, 16-connecting plate, 17-driving box, 18-first motor, 19-driving shaft, 20-mowing knife, 21-rotating rod, 22-first conical tooth, 23-second conical tooth, 24-baffle, 25-hollow cover, 26-loosening shaft, 27-second motor, 28-loosening claw, 29-dust cover, 30-L shaping plate, 31-third motor, 32-fixed sleeve rod, 33-inner rod, 34-threaded sleeve rod, 35-threaded sleeve jig, 36-resisting contact strip, 37-sliding groove, 38-limiting rod, 39-limiting sleeve, S-limiting sleeve, and S-shaped structure

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Referring to fig. 1 to 11, the agricultural weeding and soil loosening robot comprises a crawler walking device 1 and a hollow underframe 2, wherein the underframe 2 is fixedly installed at the top of the crawler walking device 1, the top of the underframe 2 is provided with a hollow U-shaped frame 3, the inside of the underframe 2 is respectively provided with a driving motor 4 and a controller 5, the center of the top of the U-shaped frame 3 is provided with a lifting component, a camera 6 is arranged above the lifting component, the output end of the driving motor 4 can rotatably penetrate through two sides of the U-shaped frame 3 and the U-shaped frame 3 to be connected with the inner transmission of the lifting component, the lifting component comprises a lifting plate 7 capable of lifting, two sides of the lifting plate 7 are respectively provided with a hollow connecting frame 8, one end of each hinge frame is respectively connected with the inner transmission of the lifting plate 7, the middle ends of two sides of each hinge frame are respectively hinged with the inner wall of the U-shaped frame 3, each hinge frame is respectively provided with a telescopic, the output of every flexible subassembly is equipped with weeding subassembly and the subassembly that loosens the soil respectively, and controller 5 is connected with driving motor 4, camera 6, weeding subassembly, the subassembly that loosens the soil and every flexible subassembly electricity respectively.

The lifting assembly is fixedly provided with a lifting sleeve 9, a threaded rod 10 and a lead screw slider 11, the fixed lifting sleeve 9 is vertically and fixedly arranged at the bottom end of the inner center of the U-shaped frame 3, the threaded rod 10 is vertically and rotatably arranged inside the fixed lifting sleeve 9, the lead screw slider 11 is arranged on the threaded rod 10, the lead screw slider 11 is in threaded connection with the threaded rod 10, two sides of the lead screw slider 11 are respectively provided with an extending block 12, the fixed lifting sleeve 9 is provided with a strip-shaped moving through hole 13 for moving each extending block 12, a lifting plate 7 is arranged on the fixed lifting sleeve 9, the lifting plate 7 is provided with an avoiding perforation for avoiding the fixed lifting sleeve 9, one end of each extending block 12 is respectively and fixedly connected with the inner wall of the perforation by the wall on the lifting plate 7, the top of the fixed lifting sleeve 9 is provided with a top plate 14 in a horizontal arrangement, two ends of the top plate 14 are respectively and fixedly connected with two, one end of threaded rod 10 and drive assembly's output fixed connection, during the operation, 5 controlgear of controller remove to the position that needs the operation, set up camera 6 and can pass through high in the clouds remote observation, and rethread controller 5 control driving motor 4 drives threaded rod 10 rotatory, and threaded rod 10 drives lead screw slider 11 and drives lifter plate 7 rebound through every extension piece 12 on the lead screw slider 11.

The one end both sides that lifter plate 7 is close to every link 8 are equipped with first articulated post respectively, be equipped with articulated connecting rod 15 on every first articulated post respectively, every articulated connecting rod 15 one end sets up with every first articulated post is articulated respectively, every link 8 is close to the one end both sides of lifter plate 7 and is equipped with the articulated post of second respectively, every articulated connecting rod 15 one end sets up with every second link is articulated respectively, lifter plate 7 is when the lapse, drive the one end rebound of every link 8 respectively through every articulated connecting rod 15, make the other end slope of every link 8 set up downwards.

The weeding assembly comprises a connecting plate 16, a driving box 17, a first motor 18, a driving shaft 19 and a plurality of mowing knives 20, wherein the connecting plate 16 is horizontally arranged at one end of one connecting frame 8 far away from the lifting plate 7, the output end of one telescopic assembly is in transmission connection with the center of one side of the connecting plate 16, the driving box 17 is horizontally arranged at one side below the connecting plate 16, two ends of the bottom of the connection are respectively and fixedly connected with the top of the driving box 17 through the connecting frame 8, the first motor 18 is horizontally and fixedly arranged at one end of the driving box 17, the driving shaft 19 is horizontally arranged in the driving box 17, two ends of the driving shaft 19 are respectively and rotatably inserted into the inner wall of the driving box 17 and extend outwards, one end of the driving shaft 19 is fixedly connected with the output end of the first motor 18, the plurality of mowing knives are uniformly arranged below the driving box 17 in a horizontal state, the center of the top of each mowing knife 20 is respectively provided with a rotating, the top of each bull stick 21 can be pivoted respectively and extend to the inside of drive box 17, the end that extends of each bull stick 21 is equipped with first awl tooth 22 respectively, be equipped with on the drive shaft 19 with the second awl tooth 23 of every first awl tooth 22 one-to-one, first awl tooth 22 sets up with the meshing of second awl tooth 23, first motor 18 is connected with controller 5 electricity, after weeding subassembly removes to required position, controller 5 controls first motor 18, first motor 18 drives the drive shaft 19 rotatory, drive shaft 19 drives every second awl tooth 23 rotatory, every second awl tooth 23 drives every first awl tooth 22 and every bull stick 21 rotation respectively, every bull stick 21 drives every mowing sword 20 respectively and rotates, and the operation of weeding is carried out.

The bottom of weeding subassembly drive box 17 is equipped with the baffle 24 of slope setting to drive box 17 one side top, and the baffle 24 that sets up is used for keeping out the weeds that cut off.

The soil loosening assembly comprises a hollow cover 25, a soil loosening shaft 26 and a second motor 27, the hollow cover 25 is horizontally positioned at one end of the other connecting frame 8 far away from the lifting plate 7, the output end of the other telescopic assembly is in transmission connection with the center of the top of the hollow cover 25, the soil loosening shaft 26 is horizontally arranged inside the hollow cover 25, the second motor 27 is horizontally and fixedly installed at one end of the hollow cover 25, two ends of the hollow cover 25 can be respectively inserted into the inner wall of the hollow cover 25 in a rotating manner and extend outwards, the output end of the second motor 27 is fixedly connected with one end of the soil loosening shaft 26, a plurality of soil loosening claws 28 are uniformly distributed on the soil loosening shaft 26, the second motor 27 is electrically connected with the controller 5, after the weeding assembly is weeding, the controller 5 controls the second motor 27, the second motor 27 drives the soil loosening shaft 26 to rotate, the soil loosening shaft 26 drives all the soil loosening claws 28 to loosen soil, the hollow cover 25 is arranged to resist soil after loosening.

The one end that cavity lid 25 is close to second motor 27 is equipped with dust cover 29, and second motor 27 is located the inside of dust cover 29, and the dust cover 29 that sets up is used for preventing earth entering second motor 27, influences the operation of second motor 27.

Each telescopic assembly comprises L type plates 30, a third motor 31, a fixed loop bar 32, an inner rod 33, a threaded loop bar 34 and a threaded sleeve jig 35, the fixed loop bar 32 is horizontally located at the lower section of the inside of the connecting frame 8, one end of the fixed loop bar 32 penetrates through the inner wall and the outer wall of the connecting frame 8 and extends outwards, the L type plates 30 are horizontally located below the fixed loop bar 32, the two sides of the L type plates 30 are respectively and fixedly connected with the inner wall of the connecting frame 8, the third motor 31 is horizontally and fixedly installed at the center of the top of the L type plates 30, the output end of the third motor 31 can rotate and extend towards the inside of the fixed loop bar 32, the threaded sleeve jig 35 is fixedly installed at one end of the fixed loop bar 32, which is far away from the inside of the third motor 31, the threaded loop bar 34 is horizontally arranged at the inner ring of the fixed loop bar 32, one end of the threaded loop bar 34 penetrates through the inner ring of the threaded sleeve jig 35 and extends outwards, the threaded sleeve bar 34 is in threaded sleeve groove connection with the threaded sleeve jig 35, the inner rod 33 is arranged at the inner ring 34, the position, the telescopic assembly 34 and the telescopic assembly 34 is connected with the telescopic assembly, the telescopic assembly.

The two sides of the top of the hollow cover 25 and the connecting plate 16 are respectively provided with a limiting rod 38 extending towards the two sides of each connecting frame 8, each connecting frame 8 is respectively provided with a limiting sleeve 39 for each limiting rod 38 to pass through, and when the soil loosening assembly and the weeding assembly move respectively, each limiting rod 38 and each limiting sleeve 39 which are arranged play a role in limiting movement.

The working principle is as follows: during operation, the controller 5 controls the equipment to move to a position needing operation, the camera 6 is arranged to be capable of remotely observing through a cloud end, the controller 5 controls the driving motor 4 to drive the threaded rod 10 to rotate, the threaded rod 10 drives the lead screw slide block 11 to drive the lifting plate 7 to move downwards through each extending block 12 on the lead screw slide block 11, when the lifting plate 7 moves downwards, one end of each connecting frame 8 is respectively driven to move upwards through each hinged connecting rod 15, the other end of each connecting frame 8 is obliquely and downwards arranged, the controller 5 controls the third motor 31 on each telescopic assembly, the inner rod 33 is driven to rotate through the third motor 31, the inner rod 33 abuts against the sliding groove 37 on the threaded sleeve rod 34 through each abutting contact strip 36 to enable the threaded sleeve rod 34 to rotate, the threaded sleeve rod 34 extends towards the outside of the fixed sleeve rod 32 through threaded connection of the threaded sleeve jig 35, and the weeding assembly and the soil loosening assembly are respectively driven to move downwards through the threaded sleeve rod 34 on each telescopic assembly, until the output ends of the soil loosening assembly and the weeding assembly are moved to a required position, the soil loosening assembly and the weeding assembly are respectively moved, each limiting rod 38 and each limiting sleeve 39 are arranged to play a role of limiting movement, after the weeding assembly is moved to the required position, the controller 5 controls the first motor 18, the first motor 18 drives the driving shaft 19 to rotate, the driving shaft 19 drives each second conical tooth 23 to rotate, each second conical tooth 23 respectively drives each first conical tooth 22 and each rotating rod 21 to rotate, each rotating rod 21 respectively drives each mowing knife 20 to rotate and perform weeding operation, the baffle 24 is arranged to resist cut weeds, after the weeding assembly weeds, the controller 5 controls the second motor 27, the second motor 27 drives the soil loosening shaft 26 to rotate, the soil loosening shaft 26 drives all soil loosening claws 28 to perform soil loosening operation, the hollow cover 25 is arranged to resist soil loosened, a dust cover 29 is provided to prevent dirt from entering the second motor 27 and affecting the operation of the second motor 27.

Claims

1. The agricultural weeding and soil loosening robot comprises a crawler walking device (1) and is characterized by further comprising a hollow underframe (2), wherein the underframe (2) is fixedly installed at the top of the crawler walking device (1), a hollow U-shaped frame (3) is arranged at the top of the underframe (2), a driving motor (4) and a controller (5) are respectively arranged inside the underframe (2), a lifting assembly is arranged at the center of the top of the U-shaped frame (3), a camera (6) is arranged above the lifting assembly, the output end of the driving motor (4) can rotatably penetrate through the two sides of the U-shaped frame (3) and is in transmission connection with the inside of the lifting assembly, the lifting assembly comprises a lifting plate (7) capable of lifting, hollow connecting frames (8) are respectively arranged on the two sides of the lifting plate (7), one end of each hinged frame is respectively in transmission connection with the inside of the lifting plate (7), the both sides middle-end of every articulated frame sets up with the inner wall of U type frame (3) is articulated respectively, is equipped with flexible subassembly on every articulated frame respectively, and the output of every flexible subassembly is equipped with weeding subassembly and the subassembly that loosens the soil respectively, and controller (5) are connected with driving motor (4), camera (6), weeding subassembly, the subassembly that loosens the soil and every flexible subassembly electricity respectively.

2. The agricultural weeding and soil loosening robot according to claim 1, wherein the lifting assembly fixes a lifting sleeve (9), a threaded rod (10) and a screw rod slider (11), the fixed lifting sleeve (9) is vertically and fixedly installed at the bottom end of the center of the inside of the U-shaped frame (3), the threaded rod (10) is vertically and rotatably arranged inside the fixed lifting sleeve (9), the screw rod slider (11) is arranged on the threaded rod (10), the screw rod slider (11) is in threaded connection with the threaded rod (10), the two sides of the screw rod slider (11) are respectively provided with an extension block (12), the fixed lifting sleeve (9) is provided with a strip-shaped moving through hole (13) for each extension block (12) to move, the lifting plate (7) is arranged on the fixed lifting sleeve (9), the lifting plate (7) is provided with an avoiding through hole for avoiding the fixed lifting sleeve (9), one end of each extension block (12) is fixedly connected with the wall of the lifting plate (7) through a perforated inner wall, the top of each fixed lifting sleeve (9) is provided with a top plate (14) horizontally arranged, two ends of each top plate (14) are fixedly connected with two sides of the top of the U-shaped frame (3) through supports respectively, and one end of each threaded rod (10) is fixedly connected with the output end of the driving assembly.

3. The agricultural weeding and soil loosening robot according to claim 2, wherein the lifting plate (7) is provided with first hinge columns on both sides of one end close to each connecting frame (8), each first hinge column is provided with a hinge connecting rod (15), one end of each hinge connecting rod (15) is hinged to each first hinge column, each connecting frame (8) is provided with second hinge columns on both sides of one end close to the lifting plate (7), and one end of each hinge connecting rod (15) is hinged to each second connecting column.

4. The agricultural weeding and soil loosening robot according to claim 3, wherein the weeding assembly comprises a connecting plate (16), a driving box (17), a first motor (18), a driving shaft (19) and a plurality of mowing knives (20), the connecting plate (16) is horizontally arranged at one end of one connecting frame (8) far away from the lifting plate (7), the output end of one telescopic assembly is in transmission connection with the center of one side of the connecting plate (16), the driving box (17) is horizontally arranged at one side below the connecting plate (16), the two ends of the connected bottom are respectively and fixedly connected with the top of the driving box (17) through the connecting frame (8), the first motor (18) is horizontally and fixedly arranged at one end of the driving box (17), the driving shaft (19) is horizontally arranged inside the driving box (17), the two ends of the driving shaft (19) are respectively and rotatably inserted into the inner wall of the driving box (17) and extend outwards, one end of a driving shaft (19) is fixedly connected with an output end of a first motor (18), a plurality of lawn mowers are uniformly arranged below a driving box (17) in an even horizontal state, a rotating rod (21) is arranged at the center of the top of each lawn mower blade (20), the top of each rotating rod (21) can rotate to extend into the driving box (17), the extending end of each rotating rod (21) is provided with a first bevel gear (22), the driving shaft (19) is provided with a second bevel gear (23) corresponding to each first bevel gear (22), the first bevel gear (22) is meshed with the second bevel gear (23), and the first motor (18) is electrically connected with a controller (5).

5. The agricultural weeding and soil loosening robot according to claim 4, wherein a baffle plate (24) is provided at the bottom of the weeding-unit drive box (17) so as to be inclined upward toward the drive box (17).

6. The agricultural weeding and soil loosening robot according to claim 5, wherein the soil loosening assembly comprises a hollow cover (25), a soil loosening shaft (26) and a second motor (27), the hollow cover (25) is horizontally arranged at one end of the other connecting frame (8) far away from the lifting plate (7), the output end of the other telescopic assembly is in transmission connection with the top center of the hollow cover (25), the soil loosening shaft (26) is horizontally arranged inside the hollow cover (25), the second motor (27) is horizontally and fixedly arranged at one end of the hollow cover (25), two ends of the hollow cover (25) can be respectively rotatably inserted into the inner wall of the hollow cover (25) and extend outwards, the output end of the second motor (27) is fixedly connected with one end of the soil loosening shaft (26), the soil loosening shaft (26) is provided with a plurality of soil loosening claws (28) which are uniformly distributed, the second motor (27) is electrically connected with the controller (5).

7. An agricultural weeding and soil loosening robot as claimed in claim 6, wherein said hollow cover (25) is provided with a dust cover (29) at an end near the second motor (27), and the second motor (27) is located inside the dust cover (29).

8. The agricultural weeding and soil loosening robot according to claim 7, wherein each telescopic assembly comprises L type plates (30), a third motor (31), a fixed sleeve rod (32), an inner rod (33), a threaded sleeve rod (34) and a threaded sleeve jig (35), the fixed sleeve rod (32) is horizontally positioned at the lower inner section of the connecting frame (8), one end of the fixed sleeve rod (32) penetrates through the inner wall and the outer wall of the connecting frame (8) to extend outwards, the L type plates (30) are horizontally positioned below the fixed sleeve rod (32), two sides of the L type plates (30) are fixedly connected with the inner wall of the connecting frame (8) respectively, the third motor (31) is horizontally and fixedly installed at the center of the top of the L type plates (30), the output end of the third motor (31) can rotatably extend towards the inside of the fixed sleeve rod (32), the threaded sleeve jig (35) is fixedly installed at one end of the fixed sleeve rod (32) far away from the third motor (31), the threaded sleeve rod (34) is arranged at the center of the fixed sleeve rod (34), the threaded sleeve rod (34) and the threaded sleeve rod (34) is connected with the threaded sleeve rod (34), and the threaded sleeve rod (34) is connected with the inner rod (16) and the inner rod (31) and the threaded sleeve rod (34) and the threaded sleeve jig (34) and the inner rod (34) respectively, the telescopic assembly is arranged on the inner rod, the inner rod (34).

9. An agricultural weeding and soil loosening robot as claimed in claim 8, wherein the hollow cover (25) and the connecting plate (16) are respectively provided with a limiting rod (38) extending to both sides of each connecting frame (8) at both sides of the top, and each connecting frame (8) is respectively provided with a limiting sleeve (39) for each limiting rod (38) to pass through.