Knife, knife control method and weeding robot

Abstract

The invention discloses a tool, a tool control method and a weeding robot. It relates to the technical field of agricultural machinery. The tool includes a bearing assembly, an angle adjustment assembly and a weeding assembly. At least two bearing shafts are arranged on the bearing surface of the bearing assembly. When there are two bearing shafts, the two bearing shafts are arranged opposite to each other. When there are more than two bearing shafts, a triangle, a quadrilateral or a polygon is formed by all the bearing shafts. The angle adjustment assembly includes a rotating joint, a curved friction member and a driving member, and the rotating joint is arranged at a position close to the center of the bearing surface. The curved friction member is fastened to the rotating joint. A driving member is correspondingly arranged on each bearing shaft, and the driving member rotates around the bearing shaft. When the driving end of at least one driving member contacts the curved friction member, the curved friction member rotates to a preset position with the rotating joint as a fulcrum. The weeding assembly is connected to the curved friction member and rotates to a preset position with the curved friction member, and the weeding assembly is used to remove weeds.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to a cutter, a cutter control method and a weeding robot. Background Art

[0002] In the process of agricultural production, weed removal has always been one of the indispensable tasks in the farmland. Weeds always grow between plants and are closely connected to the plants, which makes the weed cleaning work very difficult.

[0003] The knives provided by the prior art have the disadvantages of being unable to effectively remove weeds with "tricky" angles and being easy to damage plants. Summary of the invention

[0004] The purpose of the present invention is to provide a tool, a tool control method and a weeding robot, which can effectively remove weeds with "tricky" angles while improving the width of tool angle adjustment. In addition, while improving the accuracy of tool angle adjustment, the risk of the tool damaging plants is effectively reduced.

[0005] In the first aspect, in order to achieve the above-mentioned purpose, the present invention provides a tool, including a bearing assembly, an angle adjustment assembly and a weeding assembly. Among them, on the bearing surface of the bearing assembly, at least two bearing shafts are arranged along the circumference of the bearing surface and close to the edge of the bearing surface, and there is a gap between each bearing shaft and the bearing surface. When there are two bearing shafts, the two bearing shafts are arranged opposite to each other. When there are more than two bearing shafts, all the bearing shafts are surrounded to form a triangle, a quadrilateral or a polygon. The angle adjustment assembly includes a rotating joint, a curved friction member and a driving member, and the rotating joint is arranged at a position close to the center of the bearing surface. The curved friction member is fastened to the rotating joint and can rotate with the rotating joint. A driving member is correspondingly arranged on each bearing shaft, and the driving member rotates around the bearing shaft so that the driving end of the driving member can be controllably contacted or separated from the curved friction member. When the driving end of at least one driving member contacts the curved friction member, the curved friction member rotates to a preset position with the rotating joint as a fulcrum. The weeding assembly is connected to the curved friction member and rotates to a preset position with the curved friction member, and the weeding assembly is used to remove weeds.

[0006] In practical applications, the tool can be hoisted by a mobile device to form a weeding robot. The weeding robot using the above-mentioned tool can be specifically used for weeding or topping plants. After the mobile device hoists the tool and moves it to the area where weeding or topping is required, it can be paused in the above-mentioned area. At this time, the current position of the weeding component of the tool may not meet the requirements of weeding or topping. Based on this, it is possible to manually or by computer first determine the angle that the weeding component needs to rotate from the current position to the weeding position at the next moment. On this basis, it is determined that a specific one or several driving parts are in contact with the curved friction part so that the curved friction part can rotate the required angle with the rotating joint as the fulcrum. Driven by the curved friction part, the weeding component can rotate from the current position to the position where weeding or topping is required at the next moment.

[0007] From the above application process, it can be known that the angle of the weeding component can be flexibly adjusted according to the position of weeding or topping, driven by the driving member and driven by the curved friction member, so as to effectively remove weeds with "tricky" angles. In addition, since one or several driving members can be flexibly selected to contact the curved friction member according to actual needs to achieve high-precision adjustment of the rotation angle of the weeding component, based on this, the risk of the tool damaging the plant during weeding or topping can be effectively reduced.

[0008] In one implementation, the swivel joint is a swivel joint capable of achieving 360° rotation.

[0009] In one implementation, the curved friction member is a semi-spherical structure or a semi-ellipsoidal structure.

[0010] In one implementation, each driving member includes a transmission arm, a motor, a telescopic rod, a first telescopic arm and a second telescopic arm, wherein the transmission arm has a first end and a second end opposite to each other, and the first end is connected to the bearing shaft. The transmission arm is penetrated near the first end to form a first installation space; an open groove is opened from the second end to the direction close to the first end, and the open groove is the second installation space. The motor is arranged on one side of the first installation space and close to the second installation space. The threaded rod is accommodated in the first installation space, one end of the threaded rod is connected to the output shaft of the motor, and the other end of the threaded rod extends in the direction close to the first end of the transmission arm. After the telescopic rod obliquely penetrates the first end of the transmission arm and enters the first installation space, it is screwed together with the threaded rod. The first telescopic arm is accommodated in the first installation space, the first telescopic arm is a hollow structure, and is sleeved on one end of the telescopic rod close to the motor; the first telescopic arm can be controlled to move away from or close to the first end with the telescopic rod. The second telescopic arm is located outside the first end, and the second telescopic arm is a hollow structure, and is sleeved on one end of the telescopic rod close to the motor. The second telescopic arm can be controlled to move away from or close to the first end by the telescopic rod.

[0011] In one implementation, a first through hole is formed through the bearing surface, a first limiting shaft is disposed in the first through hole, and an axial extension direction of the first limiting shaft is consistent with an axial extension direction of the bearing shaft. A second through hole is formed along the radial direction of the first telescopic arm at a position close to the first telescopic arm away from one end of the telescopic rod, and the first limiting shaft is inserted into the second through hole.

[0012] In one implementation, at a position close to the second telescopic arm away from one end of the telescopic rod, opposite grooves are provided along the radial direction of the second telescopic arm, and a second limiting shaft is inserted into each groove. In the first installation space, opposite limiting plates are provided on the periphery of the first telescopic arm, and one end of each second limiting shaft protruding from the limiting plate is inserted into a blind hole of the limiting plate.

[0013] In one implementation, the open groove has a first side wall and a second side wall opposite to each other, and a third through hole and a fourth through hole are respectively formed through the first side wall and the second side wall. The driving end of the driving member is a sheave; the two sheave axles of the sheave are respectively inserted into the third through hole and the fourth through hole. The sheave is driven by a motor arranged outside the first side wall or the second side wall, and the output shaft of the motor is dynamically connected to any one of the sheave axles of the sheave. The sheave can be controllably contacted or separated from the curved friction member.

[0014] In one implementation, the bearing assembly includes: a bearing rod and a first end cover fastened to the bearing rod, and a surface of the first end cover facing the angle adjustment assembly is a bearing surface.

[0015] In one implementation, the weeding assembly includes a rear arm, a motor, a rotating shaft and a cutter head, wherein the rear arm is tightly connected to one end of the curved friction member away from the rotating joint through a second end cover, and the rear arm is a hollow rear arm. The motor is disposed in a hollow cavity of the rear arm. One end of the rotating shaft is inserted into the hollow cavity and tightly connected to an output shaft of the motor. The cutter head is tightly connected to the other end of the rotating shaft.

[0016] In one implementation, the cutter further includes a housing and a connection net, wherein the housing is disposed around the periphery of the angle adjustment component, and one end of the housing is fastened to a bearing surface of the bearing component. One end of the connection net is butted against the other end of the housing and then enclosed around the periphery of the angle adjustment component, and the other end of the connection net is fastened to the bearing surface of the weeding component.

[0017] In a second aspect, the present invention further provides a tool control method, which is a tool provided by the first aspect and / or any one of the implementations of the first aspect.

[0018] When the current position of the cutter and the weeding position at the next moment are determined, the cutter control method includes:

[0019] It is determined that the driving end of one or more driving members is in contact with the curved friction member, and the curved friction member is driven by the driving member to rotate with the rotating joint as a fulcrum. The weeding component is driven by the curved friction member to rotate from the current position to the next weeding position.

[0020] The beneficial effects of the tool control method provided by the present invention are the same as the beneficial effects of the tool provided by the first aspect of the present invention and / or any one of the implementations of the first aspect, and will not be repeated here.

[0021] In the third aspect, the present invention also provides a weeding robot, comprising a mobile device and a cutting tool provided by the first aspect and / or any one of the implementation methods of the first aspect, the mobile device being connected to a supporting component included in the weeding device, the mobile device being used to drive the cutting tool to move in any direction, and when the cutting tool moves with the mobile device, an angle adjustment component of the cutting tool adjusts the weeding component to rotate from a current position to a weeding position at a next moment.

[0022] The beneficial effects of the weeding robot provided by the present invention are the same as the beneficial effects of the tool provided by the first aspect of the present invention and / or any one of the implementations of the first aspect, and will not be described in detail herein. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0024] Figure 1 A schematic diagram of the overall structure of a tool provided by an embodiment of the present invention;

[0025] Figure 2 A front view of a tool provided by an embodiment of the present invention;

[0026] Figure 3 and Figure 4 A schematic diagram of the internal structure of a tool provided by an embodiment of the present invention;

[0027] Figure 5 A schematic diagram of the structure of a driving member provided in an embodiment of the present invention;

[0028] Figure 6 A schematic diagram of the telescopic structure of the telescopic rod of the driving member provided in an embodiment of the present invention.

[0029] Reference numerals:

[0030] 1-Carrying component, 2-Angle adjustment component, 3-Weeding component,

[0031] 10-bearing shaft, 11-bearing rod, 12-first end cover,

[0032] 13-first through hole, 14-first limiting axis;

[0033] 20-rotating joint, 21-curved friction part, 22-driving part,

[0034] 220-transmission arm, 221-motor, 222-threaded rod

[0035] 223-telescopic rod, 224-first telescopic arm, 225-second telescopic arm,

[0036] 226 - first installation space, 227 - opening slot / second installation space, 228 - second through hole,

[0037] 229-groove, 230-second limiting axis, 231-limiting plate,

[0038] 232-groove wheel, 233-motor;

[0039] 30-rear arm, 31-rotating shaft, 32-cutter head;

[0040] 4-housing, 5-connecting net, 6-second end cover. DETAILED DESCRIPTION

[0041] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0042] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0043] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined. The meaning of "several" is one or more, unless otherwise clearly and specifically defined.

[0044] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by the terms "up", "down", "front", "back", "left", "right", etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0045] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] In a first aspect, an embodiment of the present invention provides a tool. Figures 1 to 6 The above-mentioned tool includes a bearing component 1, an angle adjustment component 2 and a weeding component 3. Among them, on the bearing surface of the bearing component 1, at least two bearing shafts 10 are arranged along the circumference of the bearing surface and close to the edge of the bearing surface, and there is a gap between each bearing shaft 10 and the bearing surface. When there are two bearing shafts 10, the two bearing shafts 10 are arranged opposite to each other. When there are more than two bearing shafts 10, all the bearing shafts 10 are surrounded to form a triangle, a quadrilateral or a polygon. The angle adjustment component 2 includes a rotating joint 20, a curved friction member 21 and a driving member 22, and the rotating joint 20 is arranged at a position close to the center of the bearing surface. The curved friction member 21 is fastened to the rotating joint 20 and can rotate with the rotating joint 20. A driving member 22 is correspondingly arranged on each bearing shaft 10, and the driving member 22 rotates around the bearing shaft 10 so that the driving end of the driving member 22 can be controllably contacted or separated from the curved friction member 21. When the driving end of at least one driving member 22 contacts the curved friction member 21, the curved friction member 21 rotates to a preset position with the rotating joint 20 as a fulcrum. The weeding assembly 3 is connected to the curved friction member 21 and rotates to a preset position with the curved friction member 21. The weeding assembly 3 is used to remove weeds.

[0047] In practical applications, the tool can be hoisted by a mobile device to form a weeding robot. The weeding robot using the above-mentioned tool can be specifically used for weeding or topping plants. After the mobile device hoists the tool and moves it to the area where weeding or topping is required, it can be paused in the above-mentioned area. At this time, the current position of the weeding component 3 of the tool may not meet the requirements of weeding or topping. Based on this, it is possible to manually or by computer first determine the angle that the weeding component 3 needs to rotate from the current position to the weeding position at the next moment. On this basis, it is determined that a specific one or several driving members 22 are in contact with the curved friction member 21 so that the curved friction member 21 can rotate the required angle with the rotating joint 20 as the fulcrum. Driven by the curved friction member 21, the weeding component 3 can be rotated from the current position to the position where weeding or topping is required at the next moment.

[0048] It can be seen from the above application process that the angle of the weeding component 3 can be flexibly adjusted according to the position of weeding or topping, driven by the driving member 22 and driven by the curved friction member 21, so as to effectively remove weeds with "tricky" angles. In addition, since one or several driving members 22 can be flexibly selected to contact the curved friction member 21 according to actual needs to achieve high-precision adjustment of the rotation angle of the weeding component 3, based on this, the risk of the tool damaging the plant during weeding or topping can be effectively reduced.

[0049] See also Figures 1 to 4 As an example, two bearing shafts 10 are arranged along the circumference of the bearing surface and close to the edge of the bearing surface. The two bearing shafts 10 are spaced apart and symmetrically arranged with the central plane of the bearing surface as the symmetry plane. The rotary joint 20 is arranged at the center between the two bearing shafts 10. At this time, the curved friction member 21 is located at the center of the bearing surface, and the driving member 22 is symmetrically arranged around the curved friction member 21.

[0050] See also Figures 1 to 4 As a first example, three bearing shafts 10 are arranged along the circumference of the bearing surface and close to the edge of the bearing surface, and the three bearing shafts 10 are connected end to end to form a closed equilateral triangle. The rotary joint 20 is arranged at the center point of the area enclosed by the equilateral triangle. At this time, the curved friction member 21 is located at the center of the bearing surface, and the driving members 22 are evenly arranged on three sides of the curved friction member 21.

[0051] See also Figures 1 to 4 As a third example, four bearing shafts 10 are arranged along the circumference of the bearing surface and close to the edge of the bearing surface, and the four bearing shafts 10 are connected end to end to form a closed square. The rotary joint 20 is arranged at the center point of the area enclosed by the square. At this time, the curved friction member 21 is located at the center of the bearing surface, and the driving members 22 are evenly arranged around the curved friction member 21.

[0052] See also Figures 1 to 6 The bearing assembly 1 is used to bear the angle adjustment assembly 2 and the weeding assembly 3 included in the cutter on one hand, and is used to connect with a moving device that drives the cutter to move on the other hand. The structure of the bearing assembly 1 is various and is not specifically limited here.

[0053] See also Figures 1 to 4 As an example, the above-mentioned bearing assembly 1 may include a bearing rod 11 and a first end cap 12 fastened to the bearing rod 11, and the side of the first end cap 12 facing the angle adjustment assembly 2 is a bearing surface. Structurally, in order to facilitate the above-mentioned mobile device to grab or hoist the bearing rod 11, the cross-section of the bearing rod 11 may be a quadrilateral or a polygon. The first end cap 12 may be a circular or polygonal structure that is integrally formed with the bearing rod 11 or separately formed and then connected together by welding, bonding or threading. In specific applications, the mobile device can grab or hoist the bearing rod 11, and the side of the first end cap 12 facing the angle adjustment assembly 2 carries the angle adjustment assembly 2.

[0054] See also Figures 3 to 6 As an example, the adapter joint included in the angle adjustment component 2 may be a rotating joint 20 capable of realizing 360° rotation, such as a universal joint. In the case where the rotating joint 20 is a universal joint, one end of the universal joint is fastened to the surface of the first end cover 12 facing the angle adjustment component 2 in a detachable or non-detachable manner. The other end of the universal joint may also be fastened to one end of the curved friction member 21 in a detachable or non-detachable manner. The universal joint is used to realize the 360° rotation of the curved friction member 21. In actual applications, the curved friction member 21 can realize 360° flexible rotation with the universal joint as the fulcrum. Based on this, the rotation flexibility of the curved friction member 21 can be improved, and on this basis, the rotation flexibility of the weeding component 3 can be ensured.

[0055] See also Figures 3 to 6 The curved friction member 21 may be a semi-spherical structure or a semi-elliptical structure. In specific applications, the driving end of the driving member 22 can be controlled to contact or separate from the curved friction member 21. When the curved friction member 21 contacts the driving end of the driving member 22, the friction between the two can be reduced, so as to achieve the flexibility of the driving member 22 in controlling the angle of the curved friction member 21.

[0056] See also Figures 3 to 6As a possible implementation, each of the driving members 22 may include a transmission arm 220, a motor 221, a threaded rod 222, a telescopic rod 223, a first telescopic arm 224 and a second telescopic arm 225. The transmission arm 220 has a first end and a second end opposite to each other, and the first end is connected to the bearing shaft 10. The transmission arm 220 is penetrated near the first end to form a first installation space 226; an opening groove 227 is opened from the second end to the direction close to the first end, and the opening groove 227 is the second installation space 227. The motor 221 is arranged on one side of the first installation space 226 and close to the second installation space 227. The threaded rod 222 is accommodated in the first installation space 226, one end of the threaded rod 222 is connected to the output shaft of the motor 221, and the other end of the threaded rod 222 extends in the direction close to the first end of the transmission arm 220. After the telescopic rod 223 obliquely penetrates the first end of the transmission arm 220 and enters the first installation space 226, it is screwed together with the threaded rod 222. The first telescopic arm 224 is accommodated in the first installation space 226. The first telescopic arm 224 is a hollow structure and is sleeved on one end of the telescopic rod 223 close to the motor 221. The first telescopic arm 224 can be controlled to move away from or close to the first end along with the telescopic rod 223. The second telescopic arm 225 is located outside the first end. The second telescopic arm 225 is a hollow structure and is sleeved on one end of the telescopic rod 223 away from the motor 221. The second telescopic arm 225 can be controlled to move away from or close to the first end along with the telescopic rod 223.

[0057] As an example, the rod-shaped structure composed of the telescopic rod 223, the first telescopic arm 224 and the second telescopic arm 225 is obliquely inserted into the transmission arm 220 as a whole. When the transmission arm 220 is an arc-shaped transmission arm 220, the intersection of the transmission arm 220 and the rod-shaped structure is defined as a contact point, and the surface passing through the contact point and tangent to the arc-shaped transmission arm 220 is defined as an oblique cut surface, and the oblique cut surface has an angle α with the central axis of the rod-shaped structure, where α is an acute angle greater than 0° and less than 90°, for example, α=30°, α=45° or α=60°.

[0058] In addition, since the first telescopic arm 224 and the second telescopic arm 225 are both sleeved on the telescopic rod 223, at this time, the connecting end of the first telescopic arm 224 and the telescopic rod 223 and the connecting end of the second telescopic arm 225 and the telescopic rod 223 have shoulders.

[0059] When the transmission arm 220 needs to be rotated to make the end of the transmission arm 220 away from the curved friction member 21, the motor 221 can be started to rotate the telescopic rod 223. At this time, the second telescopic arm 225 sleeved on the telescopic rod 223 moves horizontally in the direction close to the first telescopic arm 224. When the shoulder of the connection between the second telescopic arm 225 and the telescopic rod 223 touches the transmission arm 220, the second telescopic arm 225 applies pressure to the transmission arm 220 along the length extension direction of the telescopic arm. One of the components of the pressure generates a torque on the load-bearing shaft 10. Under the action of the torque, the transmission arm 220 is rotated in the direction away from the curved friction member 21, so that the transmission arm 220 is separated from the curved friction member 21. At this time, the transmission arm 220 cannot drive the curved friction member 21 to rotate.

[0060] When it is necessary to rotate the transmission arm 220 so that the end of the transmission arm 220 approaches and contacts the curved friction member 21, the motor 221 can be started to rotate the telescopic rod 223. At this time, the first telescopic arm 224 mounted on the telescopic rod 223 moves horizontally in the direction close to the second telescopic arm 225. When the shoulder of the connection between the first telescopic arm 224 and the telescopic rod 223 touches the transmission arm 220, the first telescopic arm 224 applies pressure to the transmission arm 220 along the length extension direction of the telescopic arm. One of the components of the pressure generates a torque on the load-bearing shaft 10. Under the action of the torque, the transmission arm 220 is rotated in the direction close to the curved friction member 21, so that the transmission arm 220 is pressed on the curved friction member 21. At this time, the transmission arm 220 can drive the rotation of the curved friction member 21. As mentioned above, the angle adjustment component 2 may include at least two driving members 22. When the angle adjustment component 2 includes four driving members 22, the transmission arms 220 included in one, two, three or four driving members 22 can be made to contact the curved friction member 21 according to the required rotation angle, so that the curved friction member 21 can be rotated at a preset angle with the rotating joint 20 as a fulcrum.

[0061] See also Figures 3 to 6 As an example, when the curved friction member 21 is a semi-spherical structure or a semi-elliptical spherical structure, the transmission arm 220 may be an arc-shaped transmission arm 220. After the arc-shaped transmission arm 220 is connected to the bearing shaft 10, a plurality of arc-shaped transmission arms 220 may be embraced at the periphery of the curved friction member 21. Through holes may be provided through the opposite sides of the first end of the arc-shaped transmission arm 220, and the bearing shaft 10 may be inserted into the through holes in a clearance fit or transition fit manner to achieve the connection between the arc-shaped transmission arm 220 and the bearing shaft 10.

[0062] See also Figures 3 to 5As a possible implementation, in order to improve the stability of the transmission arm 220 during the rotation process, that is, to prevent the transmission arm 220 from over-rotating when rotating in the direction away from the curved friction member 21 and causing the transmission arm 220 to touch other structures of the tool (for example, when a housing 4 is provided on the periphery of the angle adjustment component 2, the over-rotation of the transmission arm 220 will touch the housing 4), and to prevent the transmission arm 220 from over-rotating when rotating in the direction close to the curved friction member 21 and causing excessive pressure on the curved friction member 21, so as to reduce the flexibility of the rotation of the curved friction member 21. The above-mentioned possible problems can be improved in the following ways.

[0063] See also Figures 3 to 5 As an example, a first through hole 13 is formed through the bearing surface (specifically, the first end cover 12), and a first limiting shaft 14 is disposed in the first through hole 13. The axial extension direction of the first limiting shaft 14 is consistent with the axial extension direction of the bearing shaft 10. A second through hole 228 is formed along the radial direction of the first telescopic arm 224 at a position close to the end of the first telescopic arm 224 away from the telescopic rod 223, and the first limiting shaft 14 is inserted into the second through hole 228. In this way, under the limitation of the first limiting shaft 14, the rotation amplitude of the transmission arm 220 is small, so as to effectively avoid over-rotation of the transmission arm 220.

[0064] See also Figures 3 to 5 As a second example, at a position close to the end of the second telescopic arm 225 away from the telescopic rod 223, opposite grooves 229 are provided along the radial direction of the second telescopic arm 225, and a second limiting shaft 230 is inserted into each groove 229. In the first installation space 226, and on the periphery of the first telescopic arm 224, opposite limiting plates 231 are provided, and one end of each second limiting shaft 230 protruding toward the limiting plate 231 is inserted into a blind hole of the limiting plate 231. In this way, under the limitation of the second limiting shaft 230, the rotation range of the transmission arm 220 is small, so as to effectively prevent the transmission arm 220 from over-rotating.

[0065] See also Figure 3 and Figure 5 As a possible implementation, the open groove 227 has a first side wall and a second side wall opposite to each other, and a third through hole and a fourth through hole are respectively formed through the first side wall and the second side wall. The driving end of the driving member 22 is a groove wheel 232. The two groove wheel 232 axles of the groove wheel 232 are respectively inserted into the third through hole and the fourth through hole. The groove wheel 232 is driven by a motor 233 arranged outside the first side wall or the second side wall, and the output shaft of the motor 233 is dynamically connected to any one of the groove wheel 232 axles of the groove wheel 232. The groove wheel 232 can be controllably contacted or separated from the curved friction member 21.

[0066] In practical applications, when the curved friction member 21 needs to be rotated, the motor 233 can be started to rotate the sheave 232 when the transmission arm 220 does not contact the curved friction member 21. On this basis, the transmission arm 220 can be driven to rotate in the direction close to the curved friction member 21 in the manner described above, until the sheave 232 in the rotating state contacts the curved friction member 21, and the curved friction member 21 is driven by the sheave 232 to rotate. When the curved friction member 21 does not need to be rotated, the transmission arm 220 can be driven to rotate in the direction away from the curved friction member 21 in the manner described above. When the sheave 232 leaves the curved friction member 21, the motor 233 is turned off to stop the sheave 232 from rotating.

[0067] When the above technical solution is adopted, the groove wheel 232 cooperates with the curved friction member 21 to reduce the friction force between the groove wheel 232 and the curved friction member 21, so as to achieve the effect of flexible rotation of the curved friction member 21.

[0068] See also Figures 1 to 4 As a possible implementation, the weeding assembly 3 includes a rear arm 30, a motor (not shown in the figure), a rotating shaft 31 and a cutter head 32. The rear arm 30 is fastened to one end of the curved friction member 21 away from the rotating joint 20 through the second end cover 6. The rear arm 30 is a hollow rear arm 30. The motor is disposed in the hollow cavity of the rear arm 30. One end of the rotating shaft 31 is inserted into the hollow cavity and fastened to the output shaft of the motor. The cutter head 32 is fastened to the other end of the rotating shaft 31.

[0069] In actual use, after the weeding component 3 is driven by the curved friction member 21 to rotate to the weeding or topping position, the motor is started to drive the rotating shaft 31 and the cutter head 32 to rotate, thereby achieving the purpose of weeding or topping.

[0070] See also Figure 1 and Figure 2 As a possible implementation, the cutter further includes a housing 4 and a connecting net 5, wherein the housing 4 is disposed around the periphery of the angle adjustment component 2, and one end of the housing 4 is fastened to the bearing surface (first end cap 12) of the bearing component 1. One end of the connecting net 5 is docked with the other end of the housing 4 and then enclosed around the periphery of the angle adjustment component 2, and the other end of the connecting net 5 is fastened to the bearing surface of the weeding component 3. Specifically, the other end of the connecting net 5 can be fastened to the surface of the second end cap 6 facing the first end cap 12. With such an arrangement, weeds can be effectively prevented from being entangled in the angle adjustment component 2 during the weeding or topping process.

[0071] In a second aspect, the present invention further provides a tool control method, which is a tool provided by the first aspect and / or any one of the implementations of the first aspect.

[0072] When the current position of the cutter and the weeding position at the next moment are determined, the cutter control method includes:

[0073] The driving end of one or more driving members 22 is in contact with the curved friction member 21. The curved friction member 21 rotates around the rotating joint 20 under the driving of the driving member 22. The weeding assembly 3 rotates from the current position to the next weeding position under the driving of the curved friction member 21.

[0074] The beneficial effects of the tool control method provided by the present invention are the same as the beneficial effects of the tool provided by the first aspect of the present invention and / or any one of the implementations of the first aspect, and will not be repeated here.

[0075] In the third aspect, the present invention also provides a weeding robot, comprising a mobile device and a cutting tool provided by the first aspect and / or any one of the implementation methods of the first aspect, the mobile device is connected to a supporting component 1 included in the weeding device, the mobile device is used to drive the cutting tool to move in any direction, and when the cutting tool moves with the mobile device, the angle adjustment component 2 of the cutting tool adjusts the weeding component 3 to rotate from a current position to a weeding position at the next moment.

[0076] The beneficial effects of the weeding robot provided by the present invention are the same as the beneficial effects of the tool provided by the first aspect of the present invention and / or any one of the implementations of the first aspect, and will not be described in detail herein.

[0077] Although the present invention is described herein in conjunction with various embodiments, in the process of implementing the claimed invention, those skilled in the art may understand and implement other variations of the disclosed embodiments by viewing the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "one" or "an" does not exclude multiple situations. A single processor or other unit may implement several functions listed in the claims. Certain measures are recorded in different dependent claims, but this does not mean that these measures cannot be combined to produce good results.

[0078] Although the present invention has been described in conjunction with specific features and embodiments thereof, it is apparent that various modifications and combinations may be made thereto without departing from the spirit and scope of the present invention. Accordingly, this specification and the accompanying drawings are merely exemplary illustrations of the present invention as defined by the appended claims and are deemed to cover any and all modifications, variations, combinations or equivalents within the scope of the present invention. Obviously, those skilled in the art may make various modifications and variations to the present invention without departing from the spirit and scope of the present invention. Thus, the present invention is intended to include such modifications and variations if they fall within the scope of the claims of the present invention and their equivalents.

Claims

1. A cutting tool, characterized in that: include: A bearing component, wherein at least two bearing shafts are arranged on the bearing surface of the bearing component along the circumference of the bearing surface and close to the edge of the bearing surface, and there is a gap between each of the bearing shafts and the bearing surface; when there are two bearing shafts, the two bearing shafts are arranged opposite to each other; when there are more than two bearing shafts, all the bearing shafts are enclosed to form a polygon; An angle adjustment component, the angle adjustment component includes a rotating joint, a curved friction member and a driving member, the rotating joint is arranged at a position near the center of the bearing surface; the curved friction member is fastened to the rotating joint and can be rotated with the rotating joint within a first preset rotation angle range; each of the bearing shafts is correspondingly provided with a driving member, the driving member rotates around the bearing shaft within a second preset rotation angle range, so that the driving end of the driving member can be controllably contacted or separated from the curved friction member; when the driving end of at least one driving member contacts the curved friction member, the curved friction member rotates to a preset position with the rotating joint as a fulcrum; A weeding assembly, the weeding assembly is connected to the curved friction member and rotates to the preset position along with the curved friction member; the weeding assembly is used for weeding; The rotating joint is a rotating joint capable of achieving 360° rotation; and / or, The curved friction member is a semi-spherical structure or a semi-elliptical structure; Each of the driving members comprises: A transmission arm, the transmission arm having a first end and a second end opposite to each other, the first end being connected to the bearing shaft; the transmission arm is penetrated near the first end to form a first installation space; an open groove is formed from the second end toward the direction close to the first end, the open groove being the second installation space; A motor, wherein the motor is arranged in the first installation space and on a side close to the second installation space; A threaded rod, the threaded rod is accommodated in the first installation space, one end of the threaded rod is connected to the output shaft of the motor, and the other end of the threaded rod extends in a direction close to the first end of the transmission arm; a telescopic rod, wherein the telescopic rod obliquely penetrates the first end of the transmission arm and enters the first installation space, and is screwed together with the threaded rod; A first telescopic arm, the first telescopic arm is accommodated in the first installation space, the first telescopic arm is a hollow structure, and is sleeved on one end of the telescopic rod close to the motor; the first telescopic arm can be controllably moved away from or close to the first end along with the telescopic rod; A second telescopic arm, the second telescopic arm is located outside the first end, the second telescopic arm is a hollow structure, and is sleeved on an end of the telescopic rod away from the motor; the second telescopic arm can be controlled to move away from or close to the first end of the telescopic rod; The bearing assembly comprises: A bearing bar and a first end cap fastened to the bearing bar, wherein a side of the first end cap facing the angle adjustment assembly is the bearing surface; and / or, The weeding assembly comprises: A rear arm, the rear arm is tightly connected to an end of the curved friction member away from the rotary joint through a second end cover; the rear arm is a hollow rear arm; A motor, wherein the motor is disposed in the hollow cavity of the rear arm; A rotating shaft, one end of which is inserted into the hollow cavity and is tightly connected to an output shaft of the motor; A cutter head, the cutter head is tightly connected to the other end of the rotating shaft; The tool also includes: A shell, the shell is arranged to surround the periphery of the angle adjustment component, and one end of the shell is fastened to the bearing surface of the bearing component; A connecting net, one end of which is butted against the other end of the shell and then enclosed around the periphery of the angle adjustment component, and the other end of the connecting net is tightly connected to the bearing surface of the weeding component.

2. The tool according to claim 1, characterized in that A first through hole is formed through the bearing surface, a first limiting shaft is disposed in the first through hole, and an axial extension direction of the first limiting shaft is consistent with an axial extension direction of the bearing shaft; A second through hole is provided in the radial direction of the first telescopic arm at a position close to the first telescopic arm and away from one end of the telescopic rod, and the first limiting shaft is inserted into the second through hole.

3. The tool according to claim 1, characterized in that Near a position of the second telescopic arm away from one end of the telescopic rod, relative grooves are opened along the radial direction of the second telescopic arm, and a second limiting shaft is inserted in each of the grooves; in the first installation space, relative limiting plates are provided on the periphery of the first telescopic arm, and one end of each second limiting shaft protruding toward the limiting plate is inserted in a blind hole of the limiting plate.

4. The tool according to claim 1, characterized in that The opening groove has a first side wall and a second side wall opposite to each other, and a third through hole and a fourth through hole are respectively formed through the first side wall and the second side wall; The driving end of the driving member is a groove wheel; the two groove wheel axles of the groove wheel are respectively inserted into the third through hole and the fourth through hole; the groove wheel is driven by a motor arranged outside the first side wall or the second side wall, and the output shaft of the motor is dynamically connected to any one of the groove wheel axles of the groove wheel; the groove wheel can be controllably contacted or separated from the curved friction member.

5. A tool control method, characterized in that: The tool control method is a tool control method using the tool described in any one of claims 1 to 4; When the current position of the cutter and the weeding position at the next moment are determined, the cutter control method includes: Determine that the driving end of one or more driving members is in contact with the curved surface friction member, and the curved surface friction member is driven by the driving member to rotate with the rotating joint as a fulcrum; The weeding component is driven by the curved friction member to rotate from the current position to the weeding position at the next moment.

6. A weeding robot, characterized in that: It comprises a moving device and the tool as claimed in any one of claims 1 to 4, wherein the moving device is connected to the supporting assembly included in the tool, the moving device is used to drive the tool to move in any direction, and when the tool moves with the moving device, the angle adjustment assembly of the tool adjusts the weeding assembly of the tool to rotate from the current position to the weeding position at the next moment.

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