CN112154721A

CN112154721A - Agricultural robot for soil preparation and weeding

Info

Publication number: CN112154721A
Application number: CN202010942891.8A
Authority: CN
Inventors: 韩锐丰
Original assignee: Anhui Junsong Modern Agricultural Technology Co ltd
Current assignee: Anhui Junsong Modern Agricultural Technology Co ltd
Priority date: 2020-09-09
Filing date: 2020-09-09
Publication date: 2021-01-01

Abstract

The invention relates to the technical field of weeding, in particular to an agricultural robot for soil preparation and weeding, which comprises a bottom plate, wherein a weeding device is arranged on the lower side of the bottom plate, two first support columns and two second support columns are fixedly connected to the lower side of the bottom plate, the two first support columns are symmetrically arranged, the two second support columns are oppositely arranged, rotating wheels are arranged on the lower sides of the two first support columns, driving wheels are arranged at the lower ends of the two second support columns, the rotating wheels and the driving wheels are correspondingly arranged, a hydraulic station is arranged on the bottom plate, a screening box is arranged on the bottom plate, a weed box is arranged on one side of the screening box, the screening box is matched and connected with the weed box, and bearing seats are fixed on two opposite sides of the screening box. The weeding device is used for weeding, the whole weed is pulled up in a root-by-root mode, the situation that the weed is pulled up on the soil and roots and sprouts is avoided, and the weed removing effect is effectively improved.

Description

Agricultural robot for soil preparation and weeding

Technical Field

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

Background

The weeding robot, as the name suggests, has the function of automatically removing farmland weeds in the seedling stage of crops. Is suitable for crops planted in rows, such as corn, cotton, soybean and the like. In such a field, weeds can be classified into "inter-row weeds" and "intra-row weeds" according to spatial distribution characteristics. By "row weeds" is meant weeds that grow between two crop rows; in-row weeds are weeds that grow within a row of crops, i.e., in the same row as the crop. At present, the chemical weeding of farmland mainly adopts a spraying method. The pesticide can be applied by a sprayer or by aviation. The common spraying method has the advantages of high efficiency and the defects of serious waste of the herbicide and easy environmental pollution, and the accurate weeding method is researched at home and abroad along with the enhancement of public environmental awareness. An intelligent spraying machine, a weeding robot and the like in a research stage. The intelligent spraying machine firstly identifies the weeds on the ground and then sprays the herbicide to the weeds. That is, the "intelligence" of the smart sprayer is embodied in that it can selectively spray; the common sprayer has no selectivity, and can only uniformly spray the pesticide once on the whole farmland. Therefore, the intelligent sprayer saves the herbicide to a certain extent and reduces the environmental pollution. However, the common disadvantage of the spraying method is that the "fogdrop drift" phenomenon is easily generated, and the herbicide is inevitably sprayed on the soil surface, thereby causing pollution. The intelligent spraying machine and the weeding robot are intelligent weeding machines, but the intelligent spraying machine and the weeding robot can automatically walk after being driven by people.

The weeding robot is adopted to remove weeds, and at present, several methods, such as chemical weeding, mechanical weeding and the like, are available. Chemical weeding is the application of herbicides; mechanical weeding is the "weeding" of weeds with mechanical tools. At present, the herbicide is generally applied by a spraying method.

The prerequisite for accurate weed control is the identification of weeds, i.e. identification of weeds from the background. Weeds are generally identified using machine vision and digital image processing methods. The features in the identification process include color features, spatial distribution features, multispectral features, shape features, and the like. Weeds can generally be separated from the soil background using color characterization, i.e., row-to-row weeds can be identified using color characterization. Since only weeds are green between two crop rows, and weeds and crops are green within a row of crop rows, it is difficult to distinguish between them by merely relying on color characteristics-that is, identification of weeds within a row is difficult. Within a crop row, it is critical to distinguish weeds from crops that the identification of weeds and the identification of crops are equivalent. There are a variety of ways to distinguish weeds from crops, including spatial distribution characteristics, multispectral characteristics, shape characteristics, and the like.

However, when the weeding robot at the present stage performs weeding, the whole grass needs to be pulled up along with the roots, so that a large amount of grass roots are collected into the weeding box, on one hand, a large amount of soil is lost, on the other hand, old soil enters the weeding robot, and the risk of damage of the weeding robot is increased.

Disclosure of Invention

The invention aims to provide an agricultural robot for soil preparation and weeding, which aims to solve the problem that when the humanoid weeding robot provided by the background art is used for weeding, the whole grass needs to be pulled up along with the root, so that a large amount of grass roots are collected into a weeding box, on one hand, a large amount of soil is lost, on the other hand, old soil enters the weeding robot, and the damage risk of the weeding robot is increased.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides an agricultural robot for soil preparation is weeded, comprising a base plate, install the weeding device at the bottom plate downside, at two first support columns of bottom plate downside fixedly connected with and two second support columns, two first support column symmetries set up, two second support columns set up relatively, the rotation wheel is installed to two first support column downside, the driving wheel is installed to two second support column lower extremes, it corresponds the setting with the driving wheel to rotate the wheel, install the hydraulic pressure station on the bottom plate, install the screening case on the bottom plate, install the weeds case in screening case one side, the screening case is connected with the cooperation of weeds case, all be fixed with the bearing frame in the relative both sides of screening case.

Further, weeding device includes the main shaft, and the both ends of main shaft set up respectively in corresponding bearing frame, cup joints and is fixed with solid fixed ring on the main shaft, and gu fixed ring has cup jointed the holding ring in the outside, gu fixed ring and the coaxial setting of holding ring use the baffle to accomplish fixed connection, two baffles fixed connection respectively are equipped with this a set of fixing base in solid fixed ring's both sides, and the fixing base uses the axis of main shaft as centre of a circle circumference array setting.

Further, every equal fixedly connected with pneumatic cylinder on the fixing base all is equipped with a set of quad slit on every holding ring, every quad slit all corresponds the setting with corresponding pneumatic cylinder, the one end of the piston rod of every pneumatic cylinder is fixed with the mounting panel, all articulated the weeding board that has two symmetries to set up on every mounting panel, contained angle between two weeding boards is the acute angle, be equipped with the pellosil of two relative settings between mounting panel and weeding board, two pellosils set up the both sides at the mounting panel respectively, weeding board corresponds the setting with the quad slit, install the gas pitcher of two relative settings at the opposite side of mounting panel.

Further, all be equipped with the mounting groove that two sets of symmetries set up on every quad slit, all roll the cooperation and be connected with the ball in every mounting groove, every group ball all corresponds the setting with corresponding weeding board and can accomplish roll connection.

Further, the rotating wheel comprises a rotating base, the upper end of the rotating base is fixed at the lower end of the first supporting column, a driving motor is installed on the rotating base, a wheel body installation seat is installed at the lower end of the rotating base, the driving motor is arranged between the rotating base and the wheel body installation seat, the driving motor drives the wheel body installation seat connected with the figure and the wheel body installation seat, a rotating wheel body is installed on the wheel body installation seat, the rotating wheel body is connected to the wheel body installation seat in a rotating mode through a hinge pin, a groove is formed in the rotating wheel body, a group of weeding blades are fixed in the groove, and the weeding blades are arranged by taking the axis of the rotating.

Furthermore, a first box door and a second box door are arranged on the screening box, the first box door and the second box door are both arranged above the screening box, the first box door and the second box door are fixedly connected by a fixing sleeve, a first clapboard is fixedly arranged at the inner side of the screening box, the first clapboard is obliquely arranged, a screening plate and a second clapboard are fixedly arranged on the first clapboard, the screening plate and the second clapboard are obliquely arranged, a first opening is arranged at the joint of the screening box and the weed box, one end of the screening plate is fixed on the first clapboard, the other end of the screening plate is fixed at the lower side of the first opening and is matched with the first opening, a group of screening holes which are arranged in parallel are arranged on the screening plate, and a second opening is formed in one side of the screening box, a soil-supplementing funnel is connected to the second opening, one end of a second partition plate is fixed on the first partition plate, and the other end of the second partition plate is fixed on the lower side of the second opening and is matched with the second opening.

Furthermore, a weed box door is arranged on one side of the weed box, first handles are arranged on two opposite sides of the weed box, a hydraulic station for providing kinetic energy is fixed on the bottom plate, and the hydraulic station is connected with corresponding bearing seats through connecting pipes.

Further, be equipped with the control box on the bottom plate, the control box pastes tight hydraulic pressure station setting, through connecting plate fixedly connected with camera shooting plate in bottom plate one side, the transversal isosceles triangle who personally submits the inversion of camera shooting plate is equipped with a set of camera mounting groove on camera shooting plate, and the burying has the camera in every camera mounting groove.

Furthermore, the bottom plate downside is equipped with the spout of two relative settings, and the direction of two spouts is the same, and equal sliding fit has the cylinder in every spout, and the lower extreme of the piston rod of every cylinder all is fixed with turns over the floor, is fixed with the second handle on the bottom plate upside, and the second handle slope sets up.

An agricultural robot for soil preparation and weeding, which is used by the following method:

step 1: when the weeding device is used, the weeding plate in the weeding device stretches out of the square hole and is gradually closed due to the stretching of the hydraulic cylinder and the extrusion of the square hole, so that weeds are removed;

step 2: after the weeds are removed, the weeds are thrown into the screening box for screening, the weeds are screened into the weed box, and the screened residual soil is discharged through a soil supplement funnel for soil supplement.

The invention has at least the following beneficial effects:

the weeding robot finishes weeding operation through the weeding device, when weeding is carried out, the whole weed is selected to be pulled up in a root-by-root manner, the situation that the weed is still pulled up on the soil to cause rooting and sprouting of the weed is greatly prevented, the weed removing effect is effectively improved, the weed is mainly removed through a weeding plate in the weeding device, when a hydraulic cylinder stretches, the weeding plate hinged on a mounting plate stretches out of a square hole and is gradually closed due to extrusion of the square hole, the weed is clamped tightly, the weed is placed into a screening box through a contraction hydraulic cylinder, and then the soil in the weeding plate is blown into the screening box through an air tank;

the weeding robot breaks weeds on soil passing by the rotating wheel through the rotating wheel, so that the situation that the weeds are inconvenient to clear when the rotating wheel presses the weeds into the soil is prevented;

this weeding robot is through at the fixed first baffle of screening incasement side, be fixed with screening board and second baffle on first baffle, mutually supporting of first baffle and second baffle and screening board, the earthing up funnel is installed to screening case one side, the effectual separation work that has carried out between soil and the weeds, the screening board that sets up through the slope transports weeds to the weeds incasement and stores, the second baffle that sets up through the slope transports soil to earthing up funnel discharge and is used for the earthing up, effectively prevent the loss of soil.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a front view of FIG. 1;

FIG. 3 is a schematic view of the basic structure of the rotary wheel;

FIG. 4 is a schematic view of the internal basic structure of the screening box;

FIG. 5 is a schematic view of the basic structure of the weeding apparatus;

FIG. 6 is a basic schematic of another configuration of the present invention;

fig. 7 is a bottom view of fig. 6.

In the figure: 1. a base plate; 2. a weeding device; 21. a main shaft; 22. a fixing ring; 23. a positioning ring; 24. a square hole; 25. a ball bearing; 26. a fixed seat; 27. a hydraulic cylinder; 28. mounting a plate; 29. a weeding plate; 210. a silicone membrane; 211. a gas tank; 212. a baffle plate; 3. a first support column; 4. a second support column; 5. a rotating wheel; 51. rotating the base; 52. a wheel body mounting seat; 53. a runner hub; 54. a pin shaft; 55. a groove; 56. a weeding blade; 6. a driving wheel; 7. a hydraulic station; 8. a screening box; 81. a first door; 82. a second door; 83. fixing a sleeve; 84. a first separator; 85. screening the plate; 851. a screening well; 86. a first opening; 87. a second separator; 88. a second opening; 9. a weed box; 91. a weed box door; 10. a first handle; 11. a connecting pipe; 12. a bearing seat; 13. a soil supplement funnel; 14. a control box; 15. a second handle; 16. a connecting plate; 17. a camera board; 18. a camera; 19. a chute; 31. a cylinder; 32. and (5) turning over the floor.

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.

Example 1

Referring to fig. 1, fig. 2, fig. 4 and fig. 5, an agricultural robot for soil preparation and weeding comprises a base plate 1, a weeding device 2 is installed on the lower side of the base plate 1, two first support columns 3 and two second support columns 4 are fixedly connected to the lower side of the base plate 1, the two first support columns 3 are symmetrically arranged, the two second support columns 4 are oppositely arranged, rotating wheels 5 are installed on the lower sides of the two first support columns 3, driving wheels 6 are installed at the lower ends of the two second support columns 4, the rotating wheels 5 correspond to the driving wheels 6, a hydraulic station 7 is installed on the base plate 1, a screening box 8 is installed on the base plate 1, a weed box 9 is installed on one side of the screening box 8, the screening box 8 is connected with the weed box 9 in a matched mode, and bearing seats 12 are fixed on the two opposite sides of the screening box.

Weeding device 2 includes main shaft 21, the both ends of main shaft 21 set up respectively in corresponding bearing frame 12, cup joint and be fixed with solid fixed ring 22 on main shaft 21, gu fixed ring 22 has cup jointed holding ring 23 in the outside, gu fixed ring 22 and the coaxial setting of holding ring 23 use baffle 212 to accomplish fixed connection, two baffle 212 fixed connection are in the both sides of solid fixed ring 22 respectively, be equipped with this a set of fixing base 26 on solid fixed ring 22, fixing base 26 uses the axis of main shaft 21 to set up as centre of a circle circumference array.

Equal fixedly connected with pneumatic cylinder 27 on every fixing base 26, all be equipped with a set of quad slit 24 on every holding ring 23, every quad slit 24 all corresponds the setting with corresponding pneumatic cylinder 27, the one end of the piston rod of every pneumatic cylinder 27 is fixed with mounting panel 28, all articulated have the weeding board 29 that two symmetries set up on every mounting panel 28, contained angle between two weeding boards 29 is the acute angle, be equipped with the pellosil 210 of two relative settings between mounting panel 28 and weeding board 29, two pellosil 210 set up the both sides at mounting panel 28 respectively, weeding board 29 corresponds the setting with quad slit 24, install the gas pitcher 211 of two relative settings at the opposite side of mounting panel 28.

All be equipped with the mounting groove that two sets of symmetries set up on every quad slit 24, all roll the cooperation and be connected with ball 25 in every mounting groove, every group ball 25 all corresponds the setting with corresponding weeding board 29 and can accomplish roll connection.

The present embodiment performs weeding by the weeding device 2, and when weeding is performed, the main shaft 21 is first driven to rotate by the corresponding driving device, when the main shaft 21 rotates, the lowest hydraulic cylinder 27 is vertically arranged downwards, and the corresponding hydraulic cylinder 27 performs telescopic motion, when the hydraulic cylinder 27 is stretched, the weeding plate 29 hinged on the mounting plate 28 fixed on the piston rod of the hydraulic cylinder 27 makes a closing movement and extends out of the corresponding square hole 24, the corresponding weeds are pulled up by connecting roots, then the corresponding hydraulic cylinder 27 is rotated to the placing box through rotation, then the hydraulic cylinder 27 is contracted, the air tank 211 fixed on one side of the mounting plate 28 is used for discharging air, weeds in the two weeding plates 29 are sprayed into the placing box, the weeding device 2 is used for greatly preventing the weeds from being pulled up on the soil, the weeds are rooted and germinate at the place, and the weed removing effect is effectively improved.

Example 2

Referring to fig. 1-5, an agricultural robot for soil preparation and weeding comprises a base plate 1, a weeding device 2 is installed on the lower side of the base plate 1, two first support columns 3 and two second support columns 4 are fixedly connected to the lower side of the base plate 1, the two first support columns 3 are symmetrically arranged, the two second support columns 4 are oppositely arranged, rotating wheels 5 are installed on the lower sides of the two first support columns 3, driving wheels 6 are installed at the lower ends of the two second support columns 4, the rotating wheels 5 are correspondingly arranged with the driving wheels 6, a hydraulic station 7 is installed on the base plate 1, a screening box 8 is installed on the base plate 1, a weed box 9 is installed on one side of the screening box 8, the screening box 8 is connected with the weed box 9 in a matched mode, and bearing seats 12 are fixed on two opposite sides of the screening box 8.

The rotating wheel 5 comprises a rotating base 51, the upper end of the rotating base 51 is fixed at the lower end of the first support column 3, a driving motor is installed on the rotating base 51, a wheel body installation seat 52 is installed at the lower end of the rotating base 51, the driving motor is arranged between the rotating base 51 and the wheel body installation seat 52, the driving motor drives the wheel body installation seat 52 connected with a figure shadow, a rotating wheel body 53 is installed on the wheel body installation seat 52, the rotating wheel body 53 is rotatably connected onto the wheel body installation seat 52 through a pin shaft 54, a groove 55 is formed in the rotating wheel body 53, a group of weeding blades 56 are fixed in the groove 55, and the weeding blades 56 are arranged in a circle center circumferential array mode by using the axis of the rotating wheel body.

In the embodiment, the weeding device 2 is used for weeding, the rotating wheel 5 is used for crushing weeds which cannot be taken out by the weeding device 2, when large-range integral weeding is carried out, the rotating wheel 5 leaks the weeding blade 56, and the weeds on the path passed by the rotating wheel 5 are crushed and removed, when small-range accurate weeding is carried out on a farmland, the rotating wheel 5 is used for crushing the weeds in the gullies by using the weeding blade 56 when the rotating wheel 5 passes through the gullies in the farmland, and the situation that the weeds are pressed into the soil by the wheel and are inconvenient to remove is effectively prevented; the main shaft 21 is driven to rotate by using a corresponding driving device, when the main shaft 21 rotates, the hydraulic cylinder 27 at the lowest part is vertically arranged downwards, at the moment, the corresponding hydraulic cylinder 27 makes telescopic motion, when the hydraulic cylinder 27 stretches out and draws back, the weeding plates 29 hinged on the mounting plate 28 fixed on the piston rod of the hydraulic cylinder 27 make closed motion and extend out of the corresponding square holes 24, the corresponding weeds are pulled up with roots, then the corresponding hydraulic cylinder 27 is rotated into the placing box by rotating, then the hydraulic cylinder 27 is contracted, the gas is discharged through the gas tank 211 fixed on one side of the mounting plate 28, the weeds in the two weeding plates 29 are sprayed into the placing box, the weeding device 2 is used for greatly preventing the weeds from being pulled up on the soil, the situation that the weeds root and sprout is caused at the place, and the weeding effect is effectively improved.

Example 3

Referring to fig. 3, fig. 6 and fig. 7, an agricultural robot for soil preparation and weeding comprises a base plate 1, two first support columns 3 and two second support columns 4 are fixedly connected to the lower side of the base plate 1, the two first support columns 3 are symmetrically arranged, the two second support columns 4 are oppositely arranged, rotating wheels 5 are installed on the lower sides of the two first support columns 3, movable wheels 6 are installed at the lower ends of the two second support columns 4, the rotating wheels 5 are correspondingly arranged with the movable wheels 6, a hydraulic station 7 is installed on the base plate 1, a screening box 8 is installed on the base plate 1, a weed box 9 is installed on one side of the screening box 8, the screening box 8 is connected with the weed box 9 in a matched mode, and bearing seats 12 are fixed on the two opposite sides of the screening box 8.

Be equipped with control box 14 on bottom plate 1, control box 14 pastes tight hydraulic pressure station 7 and sets up, through connecting plate 16 fixedly connected with camera board 17 in bottom plate 1 one side, the transversal isosceles triangle who personally submits the inversion of camera board 17 is equipped with a set of camera mounting groove on camera board 17, has buried camera 18 in every camera mounting groove.

Two oppositely-arranged sliding grooves 19 are formed in the lower side of the bottom plate 1, the directions of the two sliding grooves 19 are the same, an air cylinder 31 is in sliding fit in each sliding groove 19, a turnover plate 32 is fixed to the lower end of a piston rod of each air cylinder 31, a second handle 15 is fixed to the upper side of the bottom plate 1, and the second handle 15 is obliquely arranged.

The embodiment is suitable for small-range precise weeding, when the weeding machine is used, the rotating wheel 5 is placed in a corresponding field gully, weeds in the gully are crushed by the weeding blade 56, the situation that the weeds are pressed into soil by the wheel and are inconvenient to clean is effectively prevented, the farmland situation shot and identified by the camera 18 is processed by the control box 14, the air cylinder 31 driven by the lead screw slides along the direction of the corresponding chute 19, the corresponding position is moved, the air cylinder 31 controls the overturning plate 32 to move downwards, and finally the weeds in the soil are removed by the overturning plate 32.

Example 4

Referring to fig. 1-7, an agricultural robot for soil preparation and weeding comprises a base plate 1, a weeding device 2 is installed on the lower side of the base plate 1, two first support columns 3 and two second support columns 4 are fixedly connected to the lower side of the base plate 1, the two first support columns 3 are symmetrically arranged, the two second support columns 4 are oppositely arranged, rotating wheels 5 are installed on the lower sides of the two first support columns 3, driving wheels 6 are installed at the lower ends of the two second support columns 4, the rotating wheels 5 are correspondingly arranged with the driving wheels 6, a hydraulic station 7 is installed on the base plate 1, a screening box 8 is installed on the base plate 1, a weed box 9 is installed on one side of the screening box 8, the screening box 8 is connected with the weed box 9 in a matched mode, and bearing seats 12 are fixed on two opposite sides of the screening box 8.

A first box door 81 and a second box door 82 are arranged on the screening box 8, the first box door 81 and the second box door 82 are both arranged above the screening box 8, a fixed sleeve 83 is used for fixedly connecting the first box door 81 and the second box door 82, a first clapboard 84 is fixedly arranged on the inner side of the screening box 8, the first clapboard 84 is obliquely arranged, a screening plate 85 and a second clapboard 87 are fixed on the first clapboard 84, the screening plate 85 and the second clapboard 87 are both obliquely arranged, a first opening 86 is arranged at the joint of the screening box 8 and the weed box 9, one end of the screening plate 85 is fixed on the first clapboard 84, the other end of the screening plate 85 is fixed on the lower side of the first opening 86 and is matched with the first opening, a group of screening holes 851 which are arranged in parallel is arranged on the screening plate 85, a second opening 88 is arranged on one side of the screening box 8, a soil-supplementing funnel 13 is connected at the second opening 88, one end of the second clapboard 87 is fixed on the first clapboard 84, the other end is fixed at the lower side of the second opening 88 and is matched with the second opening.

A weed box door 91 is arranged on one side of the weed box 9, a first handle 10 is arranged on two opposite sides of the weed box 9, a hydraulic station 7 for providing kinetic energy is fixed on the bottom plate 1, and the hydraulic station 7 is connected with a corresponding bearing seat 12 through a connecting pipe 11.

This embodiment is weeded through crossing weeding device 2 to use and rotate wheel 5 and carry out the breakage to the weeds that weeding device 2 can not take out, use weeding device 2 to get rid of the weeds on a large scale of bottom plate 1 below, can be through setting up multiunit weeding device 2, thereby carry out monoblock weeding on a large scale, when needs carry out the accurate weeding, get rid of the weeds of the accurate position that weeding device 2 can not get rid of through mutually supporting between camera 18 and cylinder 31 and the board 32 of turning over.

The using principle of the invention is that when the weeding device 2 is operated, the main shaft 21 is driven to rotate by using a corresponding driving device, when the main shaft 21 rotates, the hydraulic cylinder 27 at the lowest part is vertically arranged downwards, at the moment, the corresponding hydraulic cylinder 27 does telescopic motion, when the hydraulic cylinder 27 extends, the weeding plate 29 hinged on the mounting plate 28 fixed on the piston rod of the hydraulic cylinder 27 does closed motion and extends out of the corresponding square hole 24, the corresponding weeds are pulled up together with roots, then the corresponding hydraulic cylinder 27 rotates into the placing box by rotating, then the hydraulic cylinder 27 is contracted, and the gas tank 211 fixed on one side of the mounting plate 28 is used for discharging gas, so that the weeds in the two weeding plates 29 are sprayed into the placing box, the weeding device 2 is used for greatly preventing the weeds from being pulled up on the soil to cause the condition that the weeds germinate at the root, the weeding effect is effectively improved, the rotating wheel 5 is used for crushing weeds which cannot be taken out by the weeding device 2, when large-scale integral weeding is carried out, the rotating wheel 5 leaks out the weeding blade 56, the weeds on a path through which the rotating wheel 5 passes are crushed and cleared, when small-scale precise weeding is carried out on a farmland, when the rotating wheel 5 passes through a gully in the farmland, the weeds in the gully are crushed by the weeding blade 56, the situation that the weeds are pressed into the soil by the wheel and are inconvenient to clear is effectively prevented, the farmland situation shot and identified by the camera 18 is processed by the control box 14, the cylinder 31 driven by the lead screw slides along the direction of the corresponding chute 19, the corresponding position is moved, the overturning plate 32 is controlled by the cylinder 31 to move downwards, and finally the weeds in the soil are removed by the overturning plate 32.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as hereinafter claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. An agricultural robot for soil preparation and weeding, which is characterized by comprising a bottom plate (1), a weeding device (2) is arranged at the lower side of a bottom plate (1), two first supporting columns (3) and two second supporting columns (4) are fixedly connected at the lower side of the bottom plate (1), the two first supporting columns (3) are symmetrically arranged, the two second supporting columns (4) are oppositely arranged, rotating wheels (5) are arranged at the lower sides of the two first supporting columns (3), driving wheels (6) are arranged at the lower ends of the two second supporting columns (4), the rotating wheels (5) are arranged corresponding to the driving wheels (6), a hydraulic station (7) is arranged on the bottom plate (1), a screening box (8) is arranged on the bottom plate (1), install weeds case (9) at screening case (8) one side, screening case (8) are connected with weeds case (9) cooperation, all are fixed with bearing frame (12) in the relative both sides of screening case (8).

2. The agricultural robot for soil preparation and weeding according to claim 1, wherein the weeding device (2) comprises a main shaft (21), two ends of the main shaft (21) are respectively arranged in corresponding bearing seats (12), a fixing ring (22) is sleeved and fixed on the main shaft (21), a positioning ring (23) is sleeved outside the fixing ring (22), the fixing ring (22) and the positioning ring (23) are coaxially arranged and fixedly connected by using a baffle (212), the two baffles (212) are respectively and fixedly connected to two sides of the fixing ring (22), the fixing ring (22) is provided with the group of fixing seats (26), and the fixing seats (26) are circumferentially arrayed by taking the axis of the main shaft (21) as the circle center.

3. An agricultural robot for soil preparation and weeding according to claim 2, wherein a hydraulic cylinder (27) is fixedly connected to each of the fixed seats (26), each positioning ring (23) is provided with a group of square holes (24), each square hole (24) is arranged corresponding to the corresponding hydraulic cylinder (27), one end of the piston rod of each hydraulic cylinder (27) is fixed with a mounting plate (28), each mounting plate (28) is hinged with two symmetrically arranged weeding plates (29), the included angle between the two weeding plates (29) is an acute angle, two silica gel membranes (210) which are oppositely arranged are arranged between the mounting plate (28) and the weeding plate (29), the two silica gel membranes (210) are respectively arranged at two sides of the mounting plate (28), the weeding plate (29) is correspondingly arranged with the square hole (24), two oppositely arranged gas tanks (211) are arranged on the other side of the mounting plate (28).

4. An agricultural robot for soil preparation and weeding according to claim 3, wherein two sets of symmetrically arranged mounting grooves are formed in each square hole (24), a ball (25) is connected in each mounting groove in a rolling fit manner, and each set of balls (25) corresponds to the corresponding weeding plate (29) and can be connected in a rolling manner.

5. An agricultural robot for soil preparation weeding according to claim 1, the rotating wheel (5) comprises a rotating base (51), the upper end of the rotating base (51) is fixed at the lower end of the first supporting column (3), a driving motor is arranged on the rotating base (51), a wheel body mounting seat (52) is arranged at the lower end of the rotating base (51), the driving motor is arranged between the rotating base (51) and the wheel body mounting seat (52), the driving motor drives the wheel body mounting seat (52) connected with the figure and the shadow, a rotating wheel body (53) is arranged on the wheel body mounting seat (52), the rotating wheel body (53) is rotationally connected on the wheel body mounting seat (52) by a pin shaft (54), a groove (55) is arranged on the rotating wheel body (53), a group of weeding blades (56) are fixed in the groove (55), and the weeding blades (56) are arranged in a circumferential array by taking the axis of the rotating wheel body (53) as the circle center.

6. The agricultural robot for soil preparation and weeding according to claim 1, wherein the screening box (8) is provided with a first box door (81) and a second box door (82), the first box door (81) and the second box door (82) are both arranged above the screening box (8), the first box door (81) and the second box door (82) are fixedly connected by using a fixing sleeve (83), a first partition plate (84) is fixedly arranged on the inner side of the screening box (8), the first partition plate (84) is obliquely arranged, a screening plate (85) and a second partition plate (87) are fixed on the first partition plate (84), the screening plate (85) and the second partition plate (87) are both obliquely arranged, a first opening (86) is arranged at the connection position of the screening box (8) and the weed box (9), one end of the screening plate (85) is fixed on the first partition plate (84), and the other end of the screening plate (85) is fixed on the lower side of the first opening (86) and is matched with the first opening, be equipped with a set of parallel arrangement's screening hole (851) on screening board (85), be equipped with second opening (88) in screening case (8) one side, be connected with benefit native funnel (13) in second opening (88) department, second baffle (87) one end is fixed on first baffle (84), and the other end is fixed at second opening (88) downside and is set up rather than the cooperation.

7. An agricultural robot for soil preparation and weeding according to claim 6, wherein the weed box (9) is provided with a weed box door (91) on one side, a first handle (10) is provided on each of the opposite sides of the weed box (9), a hydraulic station (7) for providing kinetic energy is fixed on the base plate (1), and the hydraulic station (7) is connected with the corresponding bearing seat (12) through a connecting pipe (11).

8. The agricultural robot for soil preparation and weeding according to claim 1, wherein a control box (14) is arranged on the base plate (1), the control box (14) is arranged to be close to the hydraulic station (7), a camera plate (17) is fixedly connected to one side of the base plate (1) through a connecting plate (16), the cross section of the camera plate (17) is in an inverted isosceles triangle shape, a group of camera mounting grooves are formed in the camera plate (17), and a camera (18) is buried in each camera mounting groove.

9. The agricultural robot for soil preparation and weeding according to claim 8, wherein the lower side of the bottom plate (1) is provided with two oppositely-arranged sliding grooves (19), the directions of the two sliding grooves (19) are the same, an air cylinder (31) is slidably matched in each sliding groove (19), the lower end of a piston rod of each air cylinder (31) is fixedly provided with a turnover plate (32), the upper side of the bottom plate (1) is fixedly provided with a second handle (15), and the second handle (15) is obliquely arranged.

10. An agricultural robot for soil preparation weeding according to any one of claims 1 to 9, wherein the use method of the weeding robot is as follows:

step 1: under the condition that non-precise weeding is needed, the weeding device (2) is used for weeding, and when the weeding device is used, the weeding plate (29) in the weeding device (2) extends out of the square hole (24) and is gradually closed due to the stretching of the hydraulic cylinder (27) and the extrusion of the square hole (24), so that weeds are removed;

step 2: after the weeds are removed, the weeds are thrown into a screening box (8) for screening, the weeds are screened into a weed box (9), and the remaining soil after screening is discharged through a soil supplement hopper (13) for soil supplement.