阅读说明：本技术 一种可过障碍的路边除草车的除草用末端执行器 (Weeding end effector capable of passing obstacles on roadside weeding vehicle ) 是由 吴正飞 黄锋敏 王竑喆 于 2020-11-23 设计创作，主要内容包括：本发明公开了一种可过障碍的路边除草车的除草用末端执行器,属于除草设备技术领域,包括承载板、平面除草装置和侧边除草装置,所述承载板呈水平设置,所述平面除草装置设置在承载板的一端,所述平面除草装置包括压缩晃动组件、摆动组件、可过障碍组件和第一除草组件,所述压缩晃动组件设置在承载板的顶部,摆动组件设置在压缩晃动组件的顶部,所述可过障碍组件设置在摆动组件上,所述第一除草组件转动连接在摆动组件上,所述侧边除草装置设置在承载板的另一端,所述侧边除草装置包括转动组件、升降组件和第二除草组件,所述转动组件设置在承载板的顶部,所述升降组件设置在转动组件上。本发明可以实现对障碍物的规避,提高了装置的使用寿命。(The invention discloses an end effector for weeding of a roadside weeding vehicle capable of passing through obstacles, belonging to the technical field of weeding equipment, and comprising a bearing plate, a planar weeding device and a side weeding device, wherein the bearing plate is horizontally arranged, the planar weeding device is arranged at one end of the bearing plate, the planar weeding device comprises a compression swinging assembly, a accessible obstacle assembly and a first weeding assembly, the compression swinging assembly is arranged at the top of the bearing plate, the swinging assembly is arranged at the top of the compression swinging assembly, the accessible obstacle assembly is arranged on the swinging assembly, the first weeding assembly is rotatably connected to the swinging assembly, the side weeding device is arranged at the other end of the bearing plate, the side weeding device comprises a rotating assembly, a lifting assembly and a second weeding assembly, the rotating assembly is arranged at the top of the bearing plate, the lifting assembly is arranged on the rotating assembly. The invention can realize the avoidance of the obstacle and prolong the service life of the device.)

1. An end effector for weeding of a roadside weeding vehicle that can pass obstacles, characterized in that: including loading board (1), plane weeding device (2) and side weeding device (3), loading board (1) is the level setting, plane weeding device (2) set up the one end in loading board (1), plane weeding device (2) including the compression rock subassembly (21), swing subassembly (22), can cross obstacle subassembly (23) and first weeding subassembly (24), the top of subassembly (21) setting at loading board (1) is rocked in the compression, the top of subassembly (21) is rocked in the compression in swing subassembly (22) setting, can cross obstacle subassembly (23) and set up on swing subassembly (22), first weeding subassembly (24) rotate to be connected on swing subassembly (22), side weeding device (3) set up the other end in loading board (1), side weeding device (3) are including rotating assembly (31), Lifting unit (32) and second weeding subassembly (33), rotating assembly (31) set up the top at loading board (1), lifting unit (32) set up on rotating assembly (31) and with rotating assembly (31) sliding fit, second weeding subassembly (33) and lifting unit (32) rotate to be connected.

2. The end effector for weeding on a roadside herbicidal vehicle that can pass obstacles according to claim 1, wherein: the compression shaking assembly (21) comprises a placing plate (211), a first mounting plate (212), a compression spring (213), a second mounting plate (214), two rotating wheels (215) and two compression rods (216), the first mounting plate (212) is horizontally arranged at the top of the bearing plate (1), the tail ends of the two compression rods (216) are fixedly connected with the first mounting plate (212), the second mounting plate (214) is horizontally disposed on top of two compression bars (216), the second mounting plate (214) is provided with a mounting block (217) which is rotatably connected with the second mounting plate, the two rotating wheels (215) are rotatably connected on two side walls of the mounting block (217), the placing plate (211) is horizontally fixed at the top of the mounting block (217), and two ends of the compression spring (213) are fixedly connected with the first mounting plate (212) and the second mounting plate (214) respectively.

3. The end effector for weeding on a roadside herbicidal vehicle that can pass obstacles according to claim 2, wherein: the swing assembly (22) comprises a mounting seat (221), a first swing plate (222), a second swing plate (223) and a swing motor (224), wherein the mounting seat (221) is vertically arranged at the top of the placing plate (211), one end of the first swing plate (222) is rotatably connected with the mounting seat (221), the swing motor (224) is arranged at the top of the mounting seat (221), a main shaft of the swing motor (224) is fixedly connected with one end of the first swing plate (222), and one end of the second swing plate (223) is rotatably connected with the first swing plate (222).

4. The end effector for weeding on a roadside herbicidal vehicle that can pass obstacles according to claim 3, wherein: obstacle crossing assembly (23) includes connecting spring (231), electric lever (232) and lever seat (233), the both ends of connecting spring (231) respectively with first swing board (222) and second swing board (223) fixed connection, the one end of lever seat (233) and the lateral wall fixed connection of first swing board (222), the tail end and the lever seat (233) of electric lever (232) rotate to be connected, the flexible end and the lateral wall fixed connection of second swing board (223) of electric lever (232).

5. The end effector for weeding on a roadside herbicidal vehicle that can pass obstacles according to claim 3, wherein: first weeding subassembly (24) includes first weeding motor (241), first sprocket (242), second sprocket (243), axis of rotation (244) and weeding cutter dish (245), first weeding motor (241) set up the other end of second swing board (223) and the vertical downward setting of main shaft of first weeding motor (241), first sprocket (242) set up on the main shaft of first weeding motor (241), the top of axis of rotation (244) is rotated with the top of second swing board (223) and is connected, second sprocket (243) set up the bottom at axis of rotation (244), be equipped with chain (246) of being connected with second sprocket (243) transmission on first sprocket (242), weeding cutter dish (245) level fixed mounting is in the bottom of axis of rotation (244).

6. The end effector for weeding on a roadside herbicidal vehicle that can pass obstacles according to claim 1, wherein: the rotating assembly (31) comprises a first rotating motor (311), a second rotating motor (312), a first rotating plate (313), a second rotating plate (314), a third rotating plate (315) and a rotating seat (316), wherein the rotating seat (316) is installed at the top of the bearing plate (1), the bottom of the first rotating plate (313) is rotatably connected with the rotating seat (316), the first rotating motor (311) is arranged on the bearing plate (1) and is in transmission connection with the bottom of the first rotating plate (313), one end of the second rotating plate (314) is rotatably connected to the top of the first rotating plate (313), the second rotating motor (312) is arranged at the top of the first rotating plate (313) and is in transmission connection with one end of the second rotating plate (314), and the top of the third rotating plate (315) is rotatably connected to the other end of the second rotating plate (314).

7. The end effector for weeding on a roadside herbicidal vehicle that can pass obstacles according to claim 6, wherein: lifting unit (32) include elevator motor (321), lifting gear (322), lifter plate (323) and lifting pinion rack (324), be equipped with sliding tray (317) on third rotor plate (315), lifter plate (323) set up on third rotor plate (315) and with sliding tray (317) sliding fit, elevator motor (321) set up on the lateral wall of lifter plate (323), lifting pinion rack (324) set up on third rotor plate (315) and with lifting gear (322) meshing.

8. The end effector for weeding on a roadside herbicidal vehicle that can pass obstacles according to claim 7, wherein: the second weeding subassembly (33) includes weeding case (331), second weeding motor (332) and weeding fluted roller (333), the top of weeding case (331) is rotated with the bottom of lifter plate (323) and is connected, the both ends of weeding fluted roller (333) rotate with weeding case (331) respectively and are connected, second weeding motor (332) set up on the lateral wall of weeding case (331) and the main shaft of second weeding motor (332) and the one end fixed connection of weeding fluted roller (333).

Technical Field

The invention relates to the technical field of weeding equipment, in particular to an end effector for weeding of a roadside weeding vehicle capable of passing obstacles.

Background

Weeds appear in gardens, undoubtedly, garden workers' labor is increased, if weeds in gardens can not be removed in time, the phenomenon of barren grass can probably appear, and nutrients in soil can be drawn to a large amount of barren grass, seriously influences the growth of plants in gardens. For the chemical weeding method using a herbicide to prevent and control weeds, considerable time is required for the herbicide to be sprayed to target weeds and then absorbed, infected and conducted from the surfaces of the weeds to root systems and whole plant parts. In addition, herbicides can be subject to significant losses due to evaporation, the field environment and the weed cuticle barrier. Related studies indicate that less than 10% of the herbicide actually enters the weed cuticle to exert its effect. Thus, an assumption is made: if the surface of the weed is scratched by mechanical external force before the herbicide is applied, the absorption and infection of the herbicide can be greatly promoted, the utilization rate of the herbicide is improved, the conduction of the herbicide in weed plants is accelerated, and the control effect can be achieved by using a trace amount of the herbicide. At the in-process of the weeding of reality, because the existence of trees, wire pole, stake etc. on the roadside, can't avoid and dodge it at the in-process of weeding, under the condition that the weeder during operation met the barrier, the barrier can lead to the fact the injury to the rotation cutter head to reduce the life of cutter head, be not convenient for people's use. It is desirable to provide a weed-weeding end-effector that can cut grass on the ground while avoiding obstacles.

Disclosure of Invention

The invention aims to provide a weeding end effector of a roadside weeding vehicle capable of passing obstacles, which aims to solve the technical problems in the background technology.

The invention provides an end effector for weeding of a roadside weeding vehicle capable of passing obstacles, which comprises a bearing plate, a plane weeding device and a side weeding device, wherein the bearing plate is horizontally arranged, the plane weeding device is arranged at one end of the bearing plate, the plane weeding device comprises a compression swinging assembly, a swinging assembly, an obstacle-passable assembly and a first weeding assembly, the compression swinging assembly is arranged at the top of the bearing plate, the swinging assembly is arranged at the top of the compression swinging assembly, the obstacle-passable assembly is arranged on the swinging assembly, the first weeding assembly is rotationally connected to the swinging assembly, the side weeding device is arranged at the other end of the bearing plate, the side weeding device comprises a rotating assembly, a lifting assembly and a second weeding assembly, the rotating assembly is arranged at the top of the bearing plate, the lifting assembly is arranged on the rotating assembly and is in sliding fit with the rotating assembly, the second weeding assembly is rotatably connected with the lifting assembly.

Further, the subassembly is rocked in the compression is including placing board, first mounting panel, compression spring, second mounting panel, two and rotate wheel and two compression bars, first mounting panel level sets up at the top of loading board, two the tail end and the first mounting panel fixed connection of compression bar, second mounting panel level sets up the top at two compression bars, be equipped with on the second mounting panel rather than rotate the installation piece of being connected, two it rotates to connect on the both sides wall of installation piece to rotate the wheel, place board horizontal fixation at the top of installation piece, compression spring's both ends respectively with first mounting panel second mounting panel fixed connection.

Further, the swing assembly comprises a mounting seat, a first swing plate, a second swing plate and a swing motor, the mounting seat is vertically arranged at the top of the placing plate, one end of the first swing plate is rotatably connected with the mounting seat, the swing motor is fixedly connected with the main shaft of the swing motor at the top of the mounting seat, and one end of the second swing plate is rotatably connected with the first swing plate.

Further, can cross the obstacle subassembly and include connecting spring, electronic pole and pole socket, connecting spring's both ends respectively with first swing board and second swing board fixed connection, the one end of pole socket and the lateral wall fixed connection of first swing board, the tail end and the pole socket of electronic pole rotate to be connected, the flexible end of electronic pole and the lateral wall fixed connection of second swing board.

Further, first weeding subassembly includes first weeding motor, first sprocket, second sprocket, axis of rotation and weeding blade disc, first weeding motor sets up the vertical downward setting of the main shaft of the other end of second swing board and first weeding motor, first sprocket sets up on the main shaft of first weeding motor, the top of axis of rotation is rotated with the top of second swing board and is connected, the second sprocket sets up the bottom at the axis of rotation, be equipped with the chain of being connected with second sprocket drive on the first sprocket, the horizontal fixed mounting of weeding blade disc is in the bottom of axis of rotation.

Furthermore, the rotating assembly comprises a first rotating motor, a second rotating motor, a first rotating plate, a second rotating plate, a third rotating plate and a rotating seat, the rotating seat is installed at the top of the bearing plate, the bottom of the first rotating plate is rotatably connected with the rotating seat, the first rotating motor is arranged on the bearing plate and is in transmission connection with the bottom of the first rotating plate, one end of the second rotating plate is rotatably connected to the top of the first rotating plate, the second rotating motor is arranged at the top of the first rotating plate and is in transmission connection with one end of the second rotating plate, and the top of the third rotating plate is rotatably connected to the other end of the second rotating plate.

Further, the lifting assembly comprises a lifting motor, a lifting gear, a lifting plate and a lifting toothed plate, a sliding groove is formed in the third rotating plate, the lifting plate is arranged on the third rotating plate and is in sliding fit with the sliding groove, the lifting motor is arranged on the side wall of the lifting plate, and the lifting toothed plate is arranged on the third rotating plate and is meshed with the lifting gear.

Further, the second weeding subassembly includes weeding case, second weeding motor and weeding fluted roller, the top of weeding case is rotated with the bottom of lifter plate and is connected, the both ends of weeding fluted roller rotate with the weeding case respectively and are connected, the second weeding motor sets up on the lateral wall of weeding case and the main shaft of second weeding motor and the one end fixed connection of weeding fluted roller.

Compared with the prior art, the invention has the beneficial effects that:

firstly, when the grass on the ground is removed, the bearing plate moves downwards to drive the mounting block to rotate on the second mounting plate when the bearing plate meets the uneven ground, the mounting block rotates to drive the two rotating wheels to rotate on the second mounting plate, the second mounting plate rotates to drive the two compression rods to contract, so that the compression springs are driven to contract, the placing plate moves up and down to drive the first weeding assembly to move up and down, and weeding operation can be performed on the uneven ground.

Secondly, when the invention carries out weeding on different positions on the ground, the swing motor works to drive the first swing plate to rotate on the mounting seat, the first swing plate swings to drive the second swing plate to swing, can weed in different positions and enlarge the weeding area, the first swinging plate and the second swinging plate are rotatably connected, when meeting an obstacle, the second swinging plate rotates on the first swinging plate, the obstacle is avoided, the telescopic end of the electric rod works to drive the second swinging plate to rotate on the first swinging plate, the position of the second swinging plate is moved forwards and recovered, is used for avoiding obstacles and prolonging the service life of the device, the connecting spring can be used for rotating the second swinging plate on the first swinging plate, and after the second rotating plate bypasses the obstacle, the position of the second swinging plate is returned to avoid avoiding the obstacle next time.

Thirdly, the first rotating motor works to drive the first rotating plate to rotate on the rotating seat, the second rotating motor works to drive the second rotating plate to rotate on the first rotating plate so as to drive the third rotating plate to rotate, and the position of the second weeding assembly is moved to any direction and any angle to cut grass on the slope.

Fourthly, the lifting motor works to drive the lifting gear to rotate on the lifting toothed plate so as to drive the lifting plate to move up and down in the sliding groove on the third rotating plate, and the lifting plate moves up and down to drive the second weeding assembly to move up and down to cut grass at different positions.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

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 schematic perspective view of a compression wobble assembly according to the present invention;

FIG. 4 is a perspective view of the swing assembly and first herbicidal assembly of the present invention;

FIG. 5 is a first perspective view of a side weeding device according to the present invention;

FIG. 6 is an enlarged view taken at A in FIG. 5;

fig. 7 is a schematic perspective view of a side weeding device according to the present invention.

Reference numerals:

a bearing plate 1, a planar weeding device 2, a compression and oscillation assembly 21, a placing plate 211, a first mounting plate 212, a compression spring 213, a second mounting plate 214, a rotating wheel 215, a compression rod 216, a mounting block 217, an oscillation assembly 22, a mounting seat 221, a first oscillation plate 222, a second oscillation plate 223, an oscillation motor 224, a passable obstacle assembly 23, a connecting spring 231, an electric rod 232, a rod seat 233, a first weeding assembly 24, a first weeding motor 241, a first chain wheel 242, a second chain wheel 243, a rotating shaft 244, a weeding cutter 245, a chain 246, a side weeding device 3, a rotating assembly 31, a first rotating motor 311, a second rotating motor 312, a first rotating plate 313, a second rotating plate 314, a third rotating plate 315, a rotating seat 316, a sliding groove 317, a lifting assembly 32, a lifting motor 321, a lifting gear 322, a lifting plate 323, a lifting tooth plate 324, a second weeding assembly 33, a weeding box 331, a second weeding motor 332 and a weeding toothed roller 333.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention.

The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention.

All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, 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.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1 to 7, an embodiment of the present invention provides an end effector for weeding of a roadside weeding vehicle capable of crossing obstacles, including a carrying plate 1, a planar weeding apparatus 2 and a side weeding apparatus 3, wherein the carrying plate 1 is horizontally disposed, the planar weeding apparatus 2 is disposed at one end of the carrying plate 1, the planar weeding apparatus 2 includes a compression rocking assembly 21, a rocking assembly 22, a passable obstacle assembly 23 and a first weeding assembly 24, the compression rocking assembly 21 is disposed at a top of the carrying plate 1, the rocking assembly 22 is disposed at a top of the compression rocking assembly 21, the passable obstacle assembly 23 is disposed on the rocking assembly 22, the first weeding assembly 24 is rotatably connected to the rocking assembly 22, the side weeding apparatus 3 is disposed at the other end of the carrying plate 1, and the side weeding apparatus 3 includes a rotating assembly 31, a rotating assembly, a first weeding member, a second weeding, The rotating assembly 31 is arranged at the top of the bearing plate 1, the lifting assembly 32 is arranged on the rotating assembly 31 and is in sliding fit with the rotating assembly 31, and the second weeding assembly 33 is rotatably connected with the lifting assembly 32; the carrier plate 1 is mounted on a prior art drive mechanism.

Specifically, the compression and oscillation assembly 21 includes a placing plate 211, a first mounting plate 212, a compression spring 213, a second mounting plate 214, two rotating wheels 215 and two compression rods 216, the first mounting plate 212 is horizontally disposed on the top of the bearing plate 1, the tail ends of the two compression rods 216 are fixedly connected to the first mounting plate 212, the second mounting plate 214 is horizontally disposed on the top of the two compression rods 216, a mounting block 217 rotatably connected to the second mounting plate 214 is disposed on the second mounting plate 214, the two rotating wheels 215 are rotatably connected to two side walls of the mounting block 217, the placing plate 211 is horizontally fixed to the top of the mounting block 217, and two ends of the compression spring 213 are fixedly connected to the first mounting plate 212 and the second mounting plate 214 respectively; when getting rid of subaerial grass, when meetting unevenness's ground, loading board 1 moves down and drives installation piece 217 and rotate on second mounting panel 214, installation piece 217 rotates and drives two and rotate wheel 215 and rotate on second mounting panel 214, thereby second mounting panel 214 rotates and drives two compression bars 216 and contract, thereby drive compression spring 213 and contract, thereby place board 211 and reciprocate and drive first weeding subassembly 24 and reciprocate, can weed the operation to unevenness's ground.

Specifically, the swing assembly 22 includes a mounting seat 221, a first swing plate 222, a second swing plate 223 and a swing motor 224, the mounting seat 221 is vertically disposed on the top of the placing plate 211, one end of the first swing plate 222 is rotatably connected with the mounting seat 221, the swing motor 224 is disposed on the top of the mounting seat 221, a main shaft of the swing motor 224 is fixedly connected with one end of the first swing plate 222, and one end of the second swing plate 223 is rotatably connected with the first swing plate 222; when weeding different positions on the ground, the swing motor 224 works to drive the first swing plate 222 to rotate on the mounting seat 221, the first swing plate 222 swings to drive the second swing plate 223 to swing, weeding can be carried out on different positions, the weeding area can be enlarged, the first swing plate 222 and the second swing plate 223 are rotatably connected, when an obstacle is met, the second swing plate 223 rotates on the first swing plate 222, and the obstacle is avoided.

Specifically, the accessible obstacle assembly 23 includes a connection spring 231, an electric rod 232 and a rod seat 233, two ends of the connection spring 231 are fixedly connected with the first swing plate 222 and the second swing plate 223 respectively, one end of the rod seat 233 is fixedly connected with a side wall of the first swing plate 222, a tail end of the electric rod 232 is rotatably connected with the rod seat 233, and a telescopic end of the electric rod 232 is fixedly connected with a side wall of the second swing plate 223; the telescopic end of the electric rod 232 works to drive the second swinging plate 223 to rotate on the first swinging plate 222, the position of the second swinging plate 223 is moved forwards and recovered, the second swinging plate 223 is used for avoiding obstacles, the connecting spring 231 can be used for rotating on the first swinging plate 222 at the second swinging plate 223, and the position of the second swinging plate 223 is returned after the second rotating plate 314 bypasses the obstacles, so that the obstacles are prevented from being avoided next time.

Specifically, the first weeding assembly 24 comprises a first weeding motor 241, a first chain wheel 242, a second chain wheel 243, a rotating shaft 244 and a weeding cutter head 245, the first weeding motor 241 is arranged at the other end of the second swinging plate 223, the main shaft of the first weeding motor 241 is vertically arranged downwards, the first chain wheel 242 is arranged on the main shaft of the first weeding motor 241, the top of the rotating shaft 244 is rotatably connected with the top of the second swinging plate 223, the second chain wheel 243 is arranged at the bottom of the rotating shaft 244, a chain 246 in transmission connection with the second chain wheel 243 is arranged on the first chain wheel 242, and the weeding cutter head 245 is horizontally and fixedly arranged at the bottom of the rotating shaft 244; when weeding the ground, the first weeding motor 241 works to drive the first chain wheel 242 to rotate, the first chain wheel 242 rotates to drive the second chain wheel 243 to rotate through the chain 246, the second chain wheel 243 rotates to drive the rotating shaft 244 to rotate at the bottom of the second swinging plate 223, and the rotating shaft 244 rotates to drive the weeding cutter head 245 to rotate to cut the grass on the ground.

Specifically, the rotating assembly 31 includes a first rotating motor 311, a second rotating motor 312, a first rotating plate 313, a second rotating plate 314, a third rotating plate 315 and a rotating base 316, the rotating base 316 is mounted on the top of the bearing plate 1, the bottom of the first rotating plate 313 is rotatably connected with the rotating base 316, the first rotating motor 311 is arranged on the bearing plate 1 and is in transmission connection with the bottom of the first rotating plate 313, one end of the second rotating plate 314 is rotatably connected with the top of the first rotating plate 313, the second rotating motor 312 is arranged on the top of the first rotating plate 313 and is in transmission connection with one end of the second rotating plate 314, and the top of the third rotating plate 315 is rotatably connected with the other end of the second rotating plate 314; the first rotating motor 311 drives the first rotating plate 313 to rotate on the rotating base 316, the second rotating motor 312 drives the second rotating plate 314 to rotate on the first rotation, so as to drive the third rotating plate 315 to rotate, and the position of the second weeding assembly 33 is moved to any direction and any angle, so that the grass on the slope surface is cut.

Specifically, the lifting assembly 32 includes a lifting motor 321, a lifting gear 322, a lifting plate 323 and a lifting toothed plate 324, a sliding groove 317 is formed on the third rotating plate 315, the lifting plate 323 is disposed on the third rotating plate 315 and is in sliding fit with the sliding groove 317, the lifting motor 321 is disposed on a side wall of the lifting plate 323, and the lifting toothed plate 324 is disposed on the third rotating plate 315 and is engaged with the lifting gear 322; the lifting motor 321 works to drive the lifting gear 322 to rotate on the lifting toothed plate 324 so as to drive the lifting plate 323 to move up and down in the sliding groove 317 on the third rotating plate 315, and the lifting plate 323 moves up and down to drive the second weeding assembly 33 to move up and down to cut grass at different positions.

Specifically, the second weeding assembly 33 comprises a weeding box 331, a second weeding motor 332 and a weeding toothed roller 333, wherein the top of the weeding box 331 is rotatably connected with the bottom of the lifting plate 323, two ends of the weeding toothed roller 333 are respectively rotatably connected with the weeding box 331, the second weeding motor 332 is arranged on the side wall of the weeding box 331, and the main shaft of the second weeding motor 332 is fixedly connected with one end of the weeding toothed roller 333; weeding case 331 can rotate on lifter plate 323, can carry out the weeding operation of different angles, and when cutting the grass on domatic, second weeding motor 332 work drives weeding fluted roller 333 and rotates in weeding case 331, and weeding fluted roller 333 rotates and cuts the operation to the grass on domatic.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.