Abstract: Weed removal is an unavoidable problem in agricultural production. In this paper, a weeding robot capable of straddling and walking autonomously is designed, which can achieve weeding between rows and plants at the same time.While weeding between rows, it can also play a role in deeply loosening the soil.Through the crank rocker mechanism, the weeding blade can be swung to avoid crops. The EDEM software is used to simulate and analyze the weeding process of different penetration angles under the fixed weeding depth and speed. The results show that: under the same weeding depth and speed, the force of the weeding tool decreases first and then increases with the increase of the soil entry angle; the weeding tool between rows selects the soil entry angle of 45° as the optimal working parameter, and the weeding tool between plants selects 60° entry angle as the optimal working parameter; the soil bulkiness and soil disturbance coefficient are calculated by simulation, and the settlement result shows that the soil bulkiness is between 10% and 40%, and the soil disturbance coefficient is greater than 50%, which is in line with the evaluation index of the effect of loosening soil disturbance.