Fully automated fallen leaf collection robot with packaging device

Abstract

The present invention discloses a fully automatic fallen leaf collecting robot with a packaging device, comprising a fallen leaf cleaning device consisting of a cleaning component, a swing component of a four-bar mechanism and a lifting component, the height of the sweeping brush from the ground and the cleaning range can be adjusted, a fallen leaf collecting device consisting of a slider swing rod mechanism and a four-bar mechanism is arranged at the rear, the height of the collecting roller brush and the collecting bucket from the ground can be flexibly adjusted, a fallen leaf conveying device consisting of a multi-stage roller brush and a vacuum device is arranged at the rear, large garbage and small dust can be filtered out to improve the purity of the fallen leaves, and a hydraulic system fallen leaf compression and packaging device with bonding and heating functions is arranged at the rear, which improves the compression effect of the fallen leaves, facilitates the staff to quickly remove the fallen leaves, and reduces the labor intensity of the staff.

Description

Technical Field

[0001] The present invention relates to a public health cleaning robot, in particular to a fallen leaf collecting robot. Background Art

[0002] The large amount of fallen leaves piled up on the roadside has brought many inconveniences to vehicles and pedestrians. At the same time, if the fallen leaves are not cleaned for a long time, there are many hidden dangers such as fires and mosquito breeding. At present, the equipment designed for the problem of fallen leaves cleaning is all manual operation equipment, which requires a large number of workers to work for a long time every day, which is time-consuming, labor-intensive and inefficient. The fallen leaves cleaning equipment has limited fallen leaves capacity and requires multiple trips to the recycling point, further increasing the workload. Large fallen leaves cleaning vehicles can reduce the workload to a certain extent, but they have a narrow scope of application, poor mobility, low overall efficiency, and generate huge noise during the collection process, making them unable to be used on campus or in industrial parks. At the same time, according to existing technology, loose fallen leaves are difficult to pack after collection, difficult to transport, and even more difficult to use later.

[0003] The Chinese patent application number is 201510273394.2, and the invention name is "A fallen leaf cleaning device that integrates automatic cleaning, crushing and extrusion molding and can be used with motor vehicles." It discloses the role of adhesives in the fallen leaf compression molding process, but the entire device needs to be installed in a motor vehicle and cannot be moved and used by itself.

[0004] The Chinese patent with application number 202122879683.0 and invention name "Garden Fallen Leaf Recovery and Processing Device" discloses the beneficial effects of exhaust fans in the process of collecting fallen leaves, but the effect of using exhaust fans alone to transport fallen leaves is not good. It requires the use of extra-high-power exhaust fans. The whole machine has high power and generates loud noise, and cannot be used on campus or in industrial parks.

[0005] The Chinese patent application number is 202122880613.7, and the invention name is "A fallen leaf cleaning device for gardens". It discloses a fallen leaf conveying device composed of a belt conveyor. The device cannot filter high-quality large stones and other non-fallen leaf garbage during the fallen leaf conveying process. Other large garbage will be collected together into the compression and packaging device, which may easily cause damage to the compression and packaging device, and the collected fallen leaf bags containing miscellaneous garbage are not convenient for direct use.

[0006] The Chinese patent application number is 202110247568.3, and the invention name is "A solar-powered leaf cleaning vehicle based on Mecanum wheels". It discloses a leaf compression and packing device with a hydraulic cylinder installed above a collection and compression box. This design makes the leaf compression and packing device have limited leaf capacity, requiring multiple trips to the recycling point, further increasing the workload and making it inconvenient to clean up large areas of fallen leaves on campus or in industrial parks. Summary of the Invention

[0007] The present invention aims to overcome the shortcomings of the existing technology by providing a fully automated, efficient, low-noise, large-capacity, and easily recyclable leaf collection robot. This robot increases the capacity of the leaf collection robot and compresses fallen leaves into cubes, facilitating subsequent transportation and processing.

[0008] In order to achieve the object of the present invention, the technical solution of the present invention is:

[0009] The fully automated fallen leaf collecting robot with a packing device of the present invention comprises a chassis, wherein the chassis comprises two side panels spaced apart on the left and right, a top panel arranged in a horizontal direction fixed to the top walls on the front sides of the two side panels, a body shell fixed to the chassis, a steering wheel provided at the bottom wall on the front side of the top panel, and a wheel provided on the outer sides of the rear sides of the two side panels, the steering wheel being connected to a steering wheel driving device, and being driven by the steering wheel driving device so as to be able to rotate 360 ​​degrees in a vertical plane, and the two wheels being connected to the wheel driving device, and being driven by the wheel driving device so as to be able to move forward at the same speed or at different speeds;

[0010] A fallen leaf cleaning device, a fallen leaf collecting device, a fallen leaf conveying device and a fallen leaf compressing and packing device are sequentially arranged in the vehicle body shell from front to back;

[0011] The lifting frame of the swing assembly is connected to the upper and lower ends of the swing assembly, and the lifting frame is connected to the upper and lower ends of the swing assembly by a plurality of lifting frames connected to the swing assembly.

[0012] The fallen leaf collecting device includes a transfer roller brush located at the upper part between the left and right side panels at the rear end of the top panel, the left and right ends of the transfer shaft of the transfer roller brush are respectively connected to the bearings installed on the upper parts of the left and right side panels, and a collection roller brush is provided between the left and right side panels below the rear end of the top panel, and arc-shaped grooves are respectively provided on the front sides of the left and right side panels from the bottom walls of the left and right side panels upward and inclined toward the front sides of the left and right side panels. The left and right ends of the roller brush shaft of the collection roller brush are respectively provided through the arc-shaped grooves on the left and right side panels, and the front edge of the bucket bottom of an H-shaped collection bucket is connected to the collection roller brush. Tangent, the left and right baffles of the H-shaped collecting bucket are respectively arranged on the outside of the bottom of the left and right side plates, a bucket core shaft passes through the left and right side plates and the left and right ends are respectively rotatably connected to the left and right baffles of the H-shaped collecting bucket, the bucket core shaft is rotatably connected to the left and right side plates, the left and right ends of the roller brush shaft extending out of the arc groove are respectively connected to the end of the transmission shaft on the same side through an adjusting swing rod, the upper and lower ends of the adjusting swing rod are respectively hinged to the end of the roller brush shaft and the end of the transmission shaft, and an adjusting swing rod is rotatably connected in the middle of each adjusting swing rod. A bucket connecting rod shaft is rotatably connected in the middle of the left and right baffles of the H-shaped collecting bucket, and a bucket connecting rod is connected between the adjusting rocker arm intermediate shafts on the left and right sides and the bucket connecting rod shaft. The upper end of the bucket connecting rod is hingedly connected to the adjusting rocker arm intermediate shaft and the lower end of the bucket connecting rod is hingedly connected to the bucket connecting rod shaft. The left end of the roller brush shaft extending out of the arc groove is hingedly connected to the lower end of the pulley connecting rod. The upper end of the pulley connecting rod is hingedly connected to the driving lifting cylinder shaft rotatably installed at the lower end of the second driving lifting cylinder push rod. The second driving lifting cylinder is fixed to the bottom wall of the top plate. On the upper part, the push rod of the second driving lifting cylinder is arranged in the vertical direction, the roller brush shaft, the adjusting rocker arm intermediate shaft, the bucket connecting rod shaft, the driving lifting cylinder shaft, the bucket core shaft and the transmission shaft are all arranged in the horizontal direction, a transmission pulley is installed at the left end of the transmission shaft through a key connection, a collection pulley is installed at the left end of the roller brush shaft, the transmission pulley and the collection pulley are connected by a transmission belt, and the roller brush shaft can move along the arc groove under the drive of the second driving lifting cylinder push rod to contact the ground or leave the ground and sweep the accumulated fallen leaves into the H-shaped collection bucket;

[0013] The conveying box frame is fixed with a bottom wall on the top walls of the two side plates located at the upper position of the wheel, and a conveying box is fixed in the conveying box frame, and a feeding port is provided on the top wall of the conveying box, and an exhaust port is provided on the rear wall of the conveying box, and a conveying roller brush is installed in the conveying box, and the left and right ends of the conveying roller of the conveying roller brush arranged in the horizontal direction are respectively connected to the conveying bearings installed on the left and right side walls of the conveying box, and the conveying roller is connected to the rotation driving device; a vacuum box body is installed on the top wall of the conveying box frame, and the lower end of the sealing shell is fixed on the top walls of the two side plates located at the transfer roller brush, and the rear side of the upper end is provided with a rear outlet, the rear outlet of the sealing shell is connected with the inlet on the side wall of the vacuum box body and is fixedly connected to the vacuum box, the vacuum suction port of the vacuum equipment fixed on the vacuum box body is arranged opposite to the opening on the top wall of the vacuum box, and the opening on the bottom wall of the vacuum box is opposite to the feed port on the conveying box. The conveying box is provided with a discharge port that is inserted into the feeding port at the lower front part of the compression and packaging frame of the fallen leaf compression and packaging device; the fallen leaf conveying device includes a first-level roller, a second-level roller and a third-level roller that are sequentially installed in the sealed shell in the horizontal direction from top to bottom, and the left and right ends of the first-level roller, the second-level roller and the third-level roller are respectively connected to the bearings installed on the left and right side walls of the sealed shell, and the rotation center lines of the first-level roller, the second-level roller, the third-level roller and the transmission shaft are located in the same inclined plane, and the first-level roller brush, the second-level roller brush and the third-level roller brush are respectively installed on the first-level roller brush, the second-level roller brush and the third-level roller brush, and the third-level roller brush and the transmission roller brush are respectively tangent to each other, and the right ends of the first-level roller, the second-level roller, the third roller and the transmission shaft are respectively connected to the roller rotation driving device so that they can rotate under the drive of the roller rotation driving device;

[0014] The fallen leaf compression and packaging device includes a compression and packaging frame whose lower part is fixed on the rear walls of the left and right side panels, a discharge bottom plate is connected to the bottom wall of the compression and packaging frame, and a closing plate is installed on each side wall of the lower part of the compression and packaging frame. The discharge bottom plate and the closing plate together constitute a fallen leaf packaging bin, wherein one side of the closing plate at the rear wall of the compression and packaging frame is rotatably connected to the compression and packaging frame to form a switch door, a square upper frame is provided on the upper part of the compression and packaging frame, and the upper and lower pressing plates are arranged parallel and spaced apart in the horizontal direction. A loose layer is clamped and fixed between the bottom pressing plates, and the loose layer is a loose flexible material with holes. A plurality of discharge holes are opened on the bottom pressing plate. The upper pressing plate is fixed on the bottom wall of the square upper frame. An adhesive feed pump and an adhesive silo are placed on the top wall of the upper pressing plate. The feed port of the adhesive feed pump is connected to the outlet of the adhesive silo, and the discharge port of the adhesive feed pump is connected to the loose layer through the opening on the upper pressing plate. The gap between the top of the fallen leaf baling bin and the bottom pressing plate is the feed port at the lower front part of the compression baling frame.

[0015] The left and right side walls of the upper frame are respectively connected to the inner walls on the left and right sides of the compression and packaging frame through guide rail slider structures. The left side wall of the upper frame is connected to the motion output end of the sliding drive device. Driven by the sliding drive device, the upper frame can slide up and down along the guide rail slider structure and can press the fallen leaves entering the fallen leaf packaging bin from the discharge port of the conveyor box. A fallen leaf dumping mechanism is connected to the compression and packaging frame. After the fallen leaves in the fallen leaf packaging bin are compressed by the upper frame to form fallen leaf bags, they can slide out from the opened switch door under the drive of the fallen leaf dumping mechanism.

[0016] A battery pack and a gasoline generator are installed on the chassis. The gasoline generator is connected to the battery pack through a cable for power supply. The battery pack is connected to the rotational motion output source of the steering wheel drive device, the lifting motion power output source of the lifting component, the rotational motion output power source of the roller rotation drive device, the power output power source of the fallen leaf dumping mechanism, the power output power source of the sliding drive device, the sweeping brush motor, the adjustment motor, and the adhesive feed pump through cables.

[0017] Compared with the prior art, the advantages of the technical solution of the present invention are:

[0018] 1. An adjustable leaf-cleaning device is installed. The swing component of the four-bar mechanism can be controlled by the regulating motor to adjust the working range according to the specific working environment. When the fallen leaves are biased to one side of the road, the regulating motor rotates to drive the cleaning component fixed on the four-bar structure to move, so as to achieve the goal of focusing on cleaning the areas where fallen leaves are accumulated;

[0019] The lifting assembly adjusts the cleaning height according to road conditions during cleaning and prevents the brush from making unnecessary contact with the ground during robot movement when not cleaning, which would increase brush wear. When encountering a slope during cleaning, the lifting cylinder is driven to lift the swing assembly and the brush assembly mounted on the lifting frame together according to cleaning requirements, thus improving the practicality of the device.

[0020] 2. An adjustable fallen leaf collection device is set up, which can control the height of the collection bucket and the collection roller brush from the ground by driving the lifting cylinder, through the slider rocker structure and the four-bar mechanism linkage, according to the specific working conditions. When encountering a slope or speed bump during the cleaning process, the lifting cylinder is driven to shorten the stroke, driving the collection bucket and the collection roller brush to rise. When the robot is moving when not cleaning, the lifting cylinder is driven to shorten the stroke to the shortest, driving the collection bucket and the collection roller brush to rise, and preventing unnecessary friction and collision with the ground. This linkage mechanism maximizes space utilization, reduces energy consumption during the cleaning process, and improves the practicality of the device.

[0021] 3. A leaf conveyor with a filtering function is set up. The roller brush structure and vacuum equipment are used to transfer and collect fallen leaves. Compared with non-leaf litter such as large stones, which are of higher quality, fallen leaves are lighter and have a larger surface area. During the leaf conveying process, large stones and other non-leaf litter will fall back to the ground as the roller brush rolls, and only fallen leaves will be transferred to the conveyor device.

[0022] When the fallen leaves are transported to the conveying device, since the bottom of the conveying box is a fine mesh structure, smaller dust particles will fall into the collection box and be collected separately. The fallen leaf conveying device can filter out high-quality large stones and other non-fallen leaf garbage, and can also filter out smaller dust particles, and only transport the fallen leaves to the fallen leaf compression and packaging device, which improves the conveying efficiency and the neatness of the fallen leaves, making the device more practical.

[0023] 4. A leaf compression and packing device is set up. The leaves are transported from the conveyor box to the compression and packing frame. When a certain volume of leaves is collected, the compression pump-controlled hydraulic cylinder drives the upper pressing plate, loose layer and bottom pressing plate to move downward. According to the power curve of the empty hydraulic cylinder, this process can achieve rapid downward movement when there is no load. When the load increases due to the compression of the leaves, the downward movement speed decreases while the pressure of the compressed leaves is increased autonomously. This ensures that within a certain power range, the compression efficiency is guaranteed and high pressure compression can be achieved autonomously, thereby improving the compression rate.

[0024] The adhesive feed pump installed on the upper pressing plate is connected to the loose layer through a flexible pipe to provide adhesive. When the leaves are compressed to increase the load, the loose layer is squeezed out of the adhesive, which flows into the leaves through the porous structure of the bottom pressing plate. After being heated by the heating and drying device, the moisture in the leaves is removed and the adhesive solidifies, bonding the leaves together to form a high-density block structure.

[0025] The fallen leaves compression and packaging device with adhesive and heating functions can compress the fallen leaves multiple times during use, thereby reducing the volume of the fallen leaves in the packaging box, thereby increasing the capacity of the fallen leaves. At the same time, the fallen leaves compressed into blocks have a tight texture and will not scatter even during subsequent transportation and processing, which facilitates the subsequent processing of the fallen leaves and reduces manual labor. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings, as part of this disclosure, are intended to provide a further understanding of the disclosure. The exemplary embodiments of the disclosure and their descriptions are intended to explain the disclosure and do not constitute undue limitations thereon. Obviously, the drawings described below are merely examples, and those skilled in the art can derive other drawings based on these drawings without inventive effort.

[0027] Figure 1 The overall effect of the fallen leaf collection robot;

[0028] Figure 2 This is a schematic diagram of the internal structure of the fallen leaf collection robot;

[0029] Figure 3 This is a schematic diagram of the chassis structure of the fallen leaf collection robot;

[0030] Figure 4 Schematic diagram of the fallen leaf cleaning device of the fallen leaf collecting robot;

[0031] Figure 5 Schematic diagram of the fallen leaf collection device of the fallen leaf collection robot;

[0032] Figure 6 Schematic diagram of the fallen leaf conveying device of the fallen leaf collecting robot;

[0033] Figure 7 This is a schematic diagram of the interior of the fallen leaf conveyor device of the fallen leaf collection robot;

[0034] Figure 8 This is a schematic diagram of the transport box portion of the fallen leaf conveyor device of the fallen leaf collection robot;

[0035] Figure 9 Schematic diagram of a fallen leaf compression and packaging device example 1 of a fallen leaf collecting robot;

[0036] Figure 10 This is an auxiliary schematic diagram of Example 1 of the fallen leaf compression and packaging device of the fallen leaf collecting robot;

[0037] Figure 11 Schematic diagram of Example 2 of the leaf compression and packaging device of the leaf collecting robot;

[0038] Reference numerals in the figure: 1, chassis; 101, steering wheel; 102, steering wheel frame; 103, steering control motor; 104, steering control motor frame; 107, first drive motor; 108, reduction gear box; 109, differential; 110, brake device; 111, differential sprocket; 112, chain drive assembly; 113, wheel axle; 114, wheel;

[0039] 2. Leaf cleaning device; 201. Brush; 202. Brush plate; 203. Brush motor; 204. Brush frame; 205. Lifting frame; 206. Mechanism connecting rod; 207. Lifting guide rail seat; 208. Lifting guide rail; 209. Adjustment motor; 210. First driving lifting cylinder; 211. Lifting guide rail slider;

[0040] 3. Leaf collection device; 301. Bucket core shaft; 302. Collection bucket; 303. Bucket connecting rod; 304. Bucket connecting rod shaft; 305. Adjustment rocker intermediate shaft; 306. Adjustment rocker; 307. Roller brush shaft; 308. Collection pulley; 309. Pulley connecting rod; 310. Drive lift cylinder shaft; 311. Collection roller brush; 312. Second drive lift cylinder; 313. Transfer roller brush; 314. Drive belt; 315. Transfer shaft; 316. Transfer pulley;

[0041] 4. Leaf conveyor; 401. Sealed housing; 402. Drive pulley; 403. Second drive motor; 404. Drive motor base; 405. Motor pulley; 406. Drive belt; 407. Conveyor box frame; 408. Collection box; 409. Conveyor roller brush; 410. Conveyor roller; 411. Vacuum device; 412. Primary roller brush; 413. Primary roller; 414. Primary pulley; 415. Secondary roller brush; 416. Secondary roller; 417. Secondary pulley; 418. Third-stage roller brush; 419. Third-stage roller; 420. Third-stage pulley; 421. Conveyor bearing; 422. Conveyor pulley; 423. Conveyor box; 425. Conveyor drive pulley;

[0042] 5. Leaf compression and baling device; 5001. Heating and drying device; 5002. Discharge bottom plate; 5003. Discharge swing shaft; 5004. Discharge swing rod; 5005. Drying and heating rod; 5006. First discharge hydraulic cylinder; 5007. Open / close door; 5008. Slider; 5009. Slide rail; 5010. Upper frame; 5011. Binder feed pump; 5012. Hydraulic cylinder articulated seat; 5013. Upper pressing plate; 5014. Loose layer; 5015. Bottom pressing plate; 5016. Compression pump-controlled hydraulic cylinder; 5017. Hydraulic cylinder fixing seat; 5018. Compression and baling frame; 5101. Discharge push plate; 5102. Discharge flange; 5103. Second discharge hydraulic cylinder; 5104. Discharge hydraulic cylinder seat;

[0043] 601. Vehicle body shell; 901. Battery pack; 902. Gasoline generator. DETAILED DESCRIPTION

[0044] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0045] As shown in the accompanying drawings, the fully automatic fallen leaf collecting robot with a packing device of the present invention includes a chassis 1, wherein the chassis 1 includes two side panels spaced apart on the left and right, and a top panel arranged in the horizontal direction is fixed on the top wall on the front side of the two side panels. A body shell 601 is fixed on the chassis 1, and a fallen leaf cleaning device 2, a fallen leaf collecting device 3, a fallen leaf conveying device 4 and a fallen leaf compression and packing device 5 are arranged in sequence from front to back in the body shell 601.

[0046] like Figure 3 As shown, a steering wheel 101 is provided at the bottom wall of the front side of the top plate, and the steering wheel 101 is used to control the forward direction of the fallen leaf collecting robot. A wheel 114 is provided on the outer side of the rear side of each of the two side plates. The steering wheel 101 is connected to a steering wheel driving device, and the steering wheel 101 can rotate 360 ​​degrees in a vertical plane under the drive of the steering wheel driving device. The two wheels 114 are connected to the wheel driving device, and the two wheels 114 can move forward at the same speed or different speeds under the drive of the wheel driving device.

[0047] As one embodiment of the present invention, the steering wheel drive device includes a steering wheel motor 103 mounted on the top wall of the top plate via a steering wheel motor frame 104 and serving as a rotational motion output device. The axle of the horizontally arranged steering wheel 101 is mounted on the steering wheel frame 102. The lower end of the vertically arranged mandrel is fixedly connected to the top wall of the steering wheel frame 102. The upper end of the mandrel passes through the inner ring of a thrust bearing mounted in an opening in the top plate and is connected to the motor shaft of the control motor 104 via a coupling. The steering wheel drive device can also adopt a steering wheel structure. The steering wheel structure can provide an additional driving power source for the robot while achieving directional control, thereby increasing the robot's forward momentum.

[0048] The wheel drive device includes a first drive motor 107. The horizontally disposed shaft of the first drive motor 107 is connected to the input shaft of a differential 109 via a speed reducer 108, providing power for the movement of the leaf-collecting robot. One end of the axles of the two horizontally disposed wheels 114 is connected to bearings mounted on the same side of the side panel, while the other ends of the axles of the two wheels 114 are connected to the output shafts of the corresponding differential 109 via sprocket structures. The axles 113 of the two wheels 114 are not a single through-axle, but rather two axles, allowing the two wheels to rotate at different speeds. The differential 109 transmits power to the left and right wheels 114 via differential sprockets 111 and chain drive assemblies 112 on the left and right output shafts, respectively, controlling the rotational speeds of the two wheels to move in the direction indicated by the steering wheel 101. Braking devices 110 are preferably mounted at the ends of the differential output shafts to control the rotational speeds of the two differential sprockets 111, thereby controlling the movement speed of the chassis 1. The differential and brake device are commercially available structures and can be installed according to the product instructions. The wheel drive device can also adopt a two-electric wheel structure to achieve steering movement through the differential of the two electric wheels.

[0049] In order to efficiently clean fallen leaves on the road, Figure 4 As shown, the fallen leaf cleaning device 2 includes two sweeping brush assemblies spaced apart on the left and right sides, and the two sweeping brush assemblies are connected to a swinging assembly.

[0050] Each sweeping brush assembly includes a sweeping brush 201, which is fixedly connected to the rotating shaft of the sweeping brush motor 203 arranged in the vertical direction through the sweeping brush disc 202. The flange installed on the housing of the sweeping brush motor 203 is fixed to the sweeping brush frame 204 by screws. The sweeping brush motor 203 provides power for the rotation of the sweeping brush 201. The sweeping brush 201 is used to sweep the fallen leaves in front of and on both sides of the robot to the front of the collection roller brush 311 of the fallen leaf collection device 3.

[0051] The swing assembly includes a four-bar structure, and the lifting frame 205 and the mechanism connecting rod 206 arranged in parallel and spaced apart in the front and rear are connected to the sweeping brush frame 204 on the left and right sides to form the four-bar structure. The left and right ends of the lifting frame 205 are respectively hingedly connected to the sweeping brush frame 204 on the corresponding side. The adjusting motor 209 is fixed to one end of the mechanism connecting rod 206. The motor shaft of the adjusting motor 209, whose axis is arranged in the vertical direction, is fixedly connected to the sweeping brush frame 204 on this side through a flange. The other end of the mechanism connecting rod 206 away from the adjusting motor 209 is hingedly connected to the sweeping brush frame 204.

[0052] comparison Figure 4 The driving force transmission process of the swing assembly is as follows: the driving force is generated by the adjusting motor 209, and the motor shaft of the adjusting motor 209 is transmitted to the sweep brush frame 204 on one side through the flange, so that the sweep brush frame 204 on this side rotates around one end of the lifting frame 205, thereby driving the sweep brush assembly on one side to swing, and the mechanism connecting rod 206 transmits the driving force to the sweep brush frame 204 on the other side through the hinge, so that the sweep brush frame 204 on the other side rotates around the other end of the lifting frame 205, thereby driving the sweep brush assembly on the other side to swing.

[0053] According to the accumulation of fallen leaves on the road surface, the swing angle of the sweeping brush is controlled by the four-rod structure, and the locations where a large number of fallen leaves are accumulated are cleaned intensively.

[0054] The lifting frame 205 of the swing assembly is connected to the up and down lifting motion output end of the lifting assembly and can move up and down under the drive of the lifting assembly. The swing assembly and the lifting assembly are installed in the fallen leaf cleaning device box below the top plate on the side of the direction wheel 101.

[0055] As one embodiment of the present invention, the lifting assembly includes two left and right first-driven lifting cylinders 210 as lifting motion output devices. The bases of the left and right first-driven lifting cylinders 210 are respectively fixed to the bottom wall of the fallen leaf cleaning device housing. The push rod ends of the left and right first-driven lifting cylinders 210 serve as the vertical lifting motion output ends, and their top ends are fixed to the lifting frame 205. There are two pairs of left and right lifting guide rail seats 207, each pair consisting of two upper and lower parts. The four lifting guide rail seats 207 are fixed to the front wall of the fallen leaf cleaning device housing. A lifting guide rail 208 is fixed between each pair of lifting guide rail seats 207. A lifting guide rail slider 211 is fixed to each side of the lifting frame 205. The two lifting guide rail sliders 211 are each connected to a lifting guide rail 208 for vertical sliding movement. By controlling the height of the lifting frame, the height of the two sweeping brush assemblies and one swinging assembly can be adjusted, thereby achieving height adjustment of the sweeping brush 201.

[0056] comparison Figure 4The driving force transmission route of the lifting assembly is as follows: the end of the push rod of the first driving lifting cylinder 210 transmits the thrust to the lifting frame 205, so that the lifting frame 205 drives the sweeping brush frames 204 on both sides to move along the axis direction of the lifting guide rail 208, thereby controlling the movement of the sweeping brush assembly.

[0057] like Figure 5 and 6As shown, in order to efficiently complete the collection of accumulated fallen leaves, the fallen leaf collecting device 3 includes a transfer roller brush 313 located at the upper part between the left and right side panels at the rear end of the top panel, and the left and right ends of the transfer shaft 315 of the transfer roller brush 313 are respectively connected to the bearings installed on the upper parts of the left and right side panels. A collection roller brush 311 is provided between the left and right side panels below the rear of the top panel, and arc grooves are respectively opened on the front sides of the left and right side panels from the bottom walls of the left and right side panels upward and inclined toward the front sides of the left and right side panels. The left and right ends of the roller brush shaft 307 of the collection roller brush 311 are respectively provided through the arc grooves on the left and right side panels, and an H-shaped collection bucket 30 is provided. 2 is tangent to the collecting roller brush 311, and the left and right baffles of the H-shaped collecting bucket 302 are respectively arranged on the outside of the bottom of the left and right side plates. A bucket core shaft 301 passes through the left and right side plates and the left and right ends are respectively rotatably connected to the left and right baffles of the H-shaped collecting bucket 302. The bucket core shaft 301 is rotatably connected to the left and right side plates. The left and right ends of the roller brush shaft 307 extending out of the arc groove are respectively connected to the ends of the transmission shaft 315 on the same side through an adjusting rocker 306. The upper and lower ends of the adjusting rocker 306 are respectively hinged to the ends of the roller brush shaft 307 and the end of the transmission shaft 315. The middle of 306 is respectively connected to an adjusting rocker intermediate shaft 305, and a bucket connecting rod shaft 304 is respectively connected to the middle of the left and right baffles of the H-shaped collecting bucket 302. A bucket connecting rod 303 is connected between the adjusting rocker intermediate shaft 305 and the bucket connecting rod shaft 304 on both sides. The upper end of the bucket connecting rod 303 is hingedly connected to the adjusting rocker intermediate shaft 305 and the lower end of the bucket connecting rod 303 is hingedly connected to the bucket connecting rod shaft 304. The left end of the roller brush shaft 307 extending out of the arc groove is hingedly connected to the lower end of the pulley connecting rod 309, and the upper end of the pulley connecting rod 309 is hingedly connected to the second driving lifting cylinder 31. The driving lift cylinder shaft 310 at the lower end of the push rod is hingedly connected, the second driving lift cylinder 312 is fixed to the bottom wall of the top plate, the push rod of the second driving lift cylinder 312 is arranged in the vertical direction, the roller brush shaft 307, the adjusting rocker arm intermediate shaft 305, the bucket connecting rod shaft 304, the driving lift cylinder shaft 310, the bucket core shaft 301 and the transmission shaft 315 are all arranged in the horizontal direction, and a transmission pulley 316 is installed at the left end of the transmission shaft 315 through a key connection. A collection pulley 308 is installed at the left end of the roller brush shaft 307, and the transmission pulley 316 and the collection pulley 308 are connected by a transmission belt 314. Driven by the push rod of the second driving lifting cylinder 312, the roller brush shaft 307 can move along the arc groove to contact the ground or leave the ground and sweep the accumulated fallen leaves into the H-shaped collection bucket 302. The collection bucket 302 is an H-shaped structure, and its two side baffles are longer than the bottom of the bucket, so that the length of the two side baffles of the collection bucket 302 can exceed the position where the collection roller brush 311 contacts the ground.

[0058] In order to filter out large pieces of stone and other non-leaf garbage with larger mass and smaller dust particles in the fallen leaves, the bottom wall of a conveying box frame 407 is fixed on the top walls of the two side panels located at the upper position of the wheel 114, and a conveying box 423 is fixed in the conveying box frame 407. A feed port is provided on the top wall of the conveying box 423, and a discharge port is provided on the rear wall of the conveying box 423. A conveying roller brush 409 is installed in the conveying box 423, and the left and right ends of the conveying roller 410 of the conveying roller brush 409 arranged in the horizontal direction are respectively connected to the conveying bearings 421 installed on the left and right side walls of the conveying box 423, and the conveying roller 410 is connected to the rotation drive device.

[0059] The bottom surface of the conveying box 423 preferably has a grid-like structure, which serves to filter smaller dust particles. The collection box 408 is mounted on the conveying box frame 407 directly below the bottom surface of the conveying box 423. The top opening of the collection box 408 communicates with the grid-like structure on the bottom wall of the conveying box. The side wall of the conveying box frame 407 at the position corresponding to the collection box 408 is preferably open, so that the collection box 408 can be removed from the side opening of the conveying box frame 407 for easy cleaning.

[0060] A vacuum box is installed on the top wall of the conveying box frame 407. Figure 6 As shown, the lower end of the sealed shell 401 is fixed on the top wall of the two side panels located at the transfer roller brush 313, and the rear side of the upper end has a rear outlet. The rear outlet of the sealed shell 401 is connected to the inlet on the side wall of the vacuum box and is fixedly connected to the vacuum box. The vacuum suction port of the vacuum device 411 fixed on the vacuum box is arranged opposite to the opening on the top wall of the vacuum box. The sealed shell 401 can be a pipe structure with a hollow square cross-section. The opening on the bottom wall of the vacuum box is arranged opposite to the feed port on the conveying box, and the discharge port of the conveying box 423 is inserted into the feed port at the lower front side of the compression and packaging frame 5018 of the fallen leaf compression and packaging device 5.

[0061] The fallen leaf conveyor 4 includes a primary roller 413, a secondary roller 416, and a tertiary roller 419, which are installed horizontally from top to bottom within the sealed housing 401. The left and right ends of the primary roller 413, the secondary roller 416, and the tertiary roller 419 are respectively connected to bearings installed on the left and right side walls of the sealed housing 401. The rotation centerlines of the primary roller 413, the secondary roller 416, the tertiary roller 419, and the transmission shaft 315 are located within the same inclined plane. A primary roller brush 412, a secondary roller brush 415, and a tertiary roller brush 418 are respectively installed on the primary roller 413, the secondary roller 416, and the tertiary roller 419. The primary roller brush 412 and the secondary roller brush 415, the secondary roller brush 415 and the tertiary roller brush 418, and the tertiary roller brush 418 and the transmission roller brush 313 are respectively arranged tangentially to each other. The first-level roller 413, the second-level roller 416, the third-level roller 419 and the right end of the transmission shaft 315 are respectively connected to the roller rotation driving device so that they can rotate under the drive of the roller rotation driving device. Preferably, the first-level roller brush 412, the second-level roller brush 415 and the third-level roller brush 418 are in friction rotational contact with the inner wall of the sealed shell 401 during rotation.

[0062] As an embodiment of the present invention, the roller rotation drive device includes a drive motor seat 404 installed on the right side panel of the chassis 1, and a second drive motor 403 is installed on the drive motor seat 404 as a rotational motion output power source of the roller rotation drive device, and a motor pulley 405 is installed on the motor shaft of the second drive motor 403 arranged in the horizontal direction, and a primary pulley 414, a secondary pulley 417 and a tertiary pulley 420 are respectively installed on the right side of the primary roller 413, the secondary roller 416 and the tertiary roller 419, and a transmission pulley 402 is connected to the right end of the transmission shaft 315 by a key, and the motor pulley 405 is connected to the secondary pulley 417 and the tertiary pulley 420 by a transmission belt 406 respectively, the primary pulley 414 and the secondary pulley 417 are connected by a transmission belt, and the transmission pulley 402 and the tertiary pulley 420 are connected by a transmission belt. The rotation drive device includes a conveyor pulley 422 installed on the left side of the conveyor roller 410. The conveyor pulley 422 is connected to the conveyor drive pulley 425 installed on the left side of the primary roller 413 through a transmission belt to control the rotation of the conveyor roller brush 409. Of course, the rollers of each roller brush can also be controlled by other existing drive devices.

[0063] The operating principle of the roller brush drive device is as follows: The roller brush shaft 307 and the transmission shaft 315 in the roller brush drive device are long connecting rods that extend from one side plate to the other. A second drive lift cylinder 312, a pulley connecting rod 309, and an adjustment rocker 306 form a slider-rocker mechanism. The rear end of the collection bucket 302 is rotatably connected to the left and right side plates via a bucket connecting shaft 301. The collection bucket 302, the bucket connecting rod 303, and the adjustment rocker 306 form a four-bar mechanism. The slider-rocker mechanism and the four-bar structure of the collection bucket 302 are linked, allowing the second drive lift cylinder 312 to simultaneously control the height of both the collection roller brush 311 and the collection bucket 302 above the ground. Alternatively, the existing bucket connecting shaft 301 can be directly connected to the control motor shaft to drive the bucket 302 to rotate and raise and lower. Alternatively, a telescopic cylinder can be added to the bucket sidewall as a bucket rotation drive to control the bucket's height. According to the road conditions, the height of the collecting roller brush 311 and the collecting bucket 302 from the ground is controlled to avoid collision.

[0064] comparison Figure 5 The transmission route of the lifting device of the fallen leaf collection device 3 is as follows: the driving force is generated by the second driving lifting cylinder 312, and the second driving lifting cylinder 312 transmits the driving force to the adjusting rocker arm 306, so that the adjusting rocker arm 306 swings around the transmission shaft 315, thereby driving the roller brush shaft 307 and the collection roller brush 311 fixed thereon to move in an arc manner; the adjusting rocker arm 306 transmits the driving force to the collection bucket 302 through the bucket connecting rod 303, so that the collection bucket 302 rotates around the bucket core shaft 301, thereby controlling the height of the bucket.

[0065] comparison Figure 5 and Figure 6 The transmission route of the roller brush driving device of the fallen leaf collecting device 3 is as follows: the driving force is generated by the second driving motor 403, and the driving force is transmitted to the third-stage pulley 420 through the transmission belt, so that the third-stage pulley 420 rotates around the axis of the third-stage roller 419. Then, the driving force is transmitted to the transmission pulley 402 through the transmission belt, so that the transmission pulley 402 drives the transmission shaft 315 connected by the key to rotate around the axis of the transmission shaft 315. Then, the driving force is transmitted to the transmission roller brush 313 through the transmission shaft 315. The transfer roller brush 313 is driven to rotate around the axis direction of the transfer shaft 315, and then the driving force is transmitted through the transfer shaft 315 to the transmission pulley 316 fixed on the transfer shaft 315 by a key connection, and then the driving force is transmitted to the collection pulley 308 through the transmission pulley 316 and the transmission belt 314, and finally the driving force is transmitted through the collection pulley 308 to the roller brush shaft 307 fixed to the collection pulley 308 by a key connection, driving the collection roller brush 311 to rotate around the axis direction of the roller brush shaft 307.

[0066] The vacuum equipment 411 is installed on the top of the sealed shell 401 to provide suction to transport fallen leaves. The surface area of ​​fallen leaves of the same mass is much larger than that of large stones and other non-leaf garbage with larger mass. Therefore, the vacuum equipment also plays a role in filtering out large stones and other non-leaf garbage with larger mass in the fallen leaves, thereby improving the purity of the fallen leaves and increasing the efficiency of transporting fallen leaves. The vacuum suction port of the vacuum equipment 411 is opposite to the opening above the front wall of the vacuum box, so that the sealed shell 401 can form a low-pressure space below atmospheric pressure, ensuring that the fallen leaves are transported upward.

[0067] comparison Figure 2 、 Figure 6 、 Figure 7 and Figure 8 The driving force transmission route of the fallen leaf conveyor 4 is as follows: the driving force is generated by the second driving motor 403, and the driving force is transmitted to the tertiary pulley 420 through the motor pulley 405 and the transmission belt 406, so that the tertiary pulley 420 rotates around the axis direction of the tertiary roller 419, and then the tertiary pulley 420 drives the tertiary roller 419 connected by the key to rotate, and drives the tertiary roller brush 418 fixed on the tertiary roller 419 to rotate. At the same time, the driving force generated by the second driving motor 403 is transmitted to the secondary pulley 417 through the motor pulley 405 and the transmission belt 406, so that the secondary pulley 417 rotates around the axis direction of the secondary roller 416, and then the secondary pulley 417 drives the secondary roller 416 connected by the key to rotate, driving the fixed The secondary roller brush 415 on the secondary roller 416 rotates, and then the driving force is transmitted to the primary pulley 414 through the transmission belt, so that the primary pulley 414 rotates around the axis of the primary roller 413, and then the primary pulley 414 drives the primary roller 413 connected by the key to rotate, and drives the primary roller brush 413 fixed on the primary roller 413 to rotate, and then the driving force is transmitted to the conveying transmission pulley 425 through the primary roller 413, and finally the driving force is transmitted to the conveying pulley 422 through the transmission belt, so that the conveying pulley 422 rotates around the axis of the conveying roller 410, and then the conveying pulley 422 drives the conveying roller 410 connected by the key to rotate, and drives the conveying roller brush 409 fixed on the conveying roller 410 to rotate.

[0068] comparison Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 and Figure 8During the leaf collection process, the fallen leaves in front of the robot are swept by two sweeping brushes 201 and moved to the collection roller brush 311. The collection roller brush 311 rotates and transfers the fallen leaves to the collection bucket 302. The air pressure inside the sealed housing 401 is lower than the external atmospheric pressure, and the fallen leaves in the bucket are sucked into the sealed housing 401. The fallen leaves are then transported upward within the sealed housing 401 by the rotating transfer roller brush 313. The fallen leaves are then successively transferred to the discharge outlet of the vacuum box by the third-stage roller brush 418, the second-stage roller brush 415, and the first-stage roller brush 412. From the discharge outlet of the vacuum box, the fallen leaves enter the conveyor box 423. The fallen leaves pass through the conveyor roller brush 409 and enter the fallen leaf compression and packaging device 5 from the discharge port of the conveyor box 423. The coordinated transportation of fallen leaves by the various roller brushes can filter out large stones and other non-leaf debris from the fallen leaves, thereby improving the purity of the fallen leaves.

[0069] In order to increase the volume of fallen leaves of the fallen leaf collection robot and facilitate the subsequent processing of fallen leaves, the fallen leaf compression and packaging device 5 includes a compression and packaging frame 5018 whose lower part is fixed on the rear walls of the left and right side panels, and a discharge bottom plate 5002 is connected to the bottom wall of the compression and packaging frame 5018, and a closing plate is installed on each side wall of the lower part of the compression and packaging frame 5018. The discharge bottom plate and the closing plate together constitute a fallen leaf packaging bin, wherein one side of the closing plate at the rear wall of the compression and packaging frame 5018 is rotatably connected to the compression and packaging frame 5018 to form a switch door 5007, and a square upper frame 5010 is provided on the upper part of the compression and packaging frame 5018, and the upper pressing plate 5013 and the bottom pressing plate 5015 are arranged in the horizontal direction. The upper and lower layers 5013 and 5015 are arranged parallel and spaced apart. A loose layer 5014 is clamped and fixed between the upper and lower layers 5013 and 5015. The loose layer 5014 is a loose and flexible material with cavities, such as a loose layer composed of sponge soil, asbestos cloth or other organic materials. A plurality of discharge holes are opened on the bottom layer 5015. The upper and lower layers 5013 are fixed to the bottom wall of the square upper frame 5010. An adhesive feed pump 5011 and an adhesive silo are placed on the top wall of the upper and lower layers 5013. The feed port of the adhesive feed pump 5011 is connected to the outlet of the adhesive silo, and the discharge port of the adhesive feed pump 5011 is connected to the loose layer 5014 through the opening on the upper and lower layers 5013. The gap between the top of the fallen leaf baling bin and the bottom layer 5015 is the feed port at the lower front side of the compression baling frame 5018. Preferably, multiple drying and heating rods 5005 are respectively installed on the left and right side walls of the leaf baling bin, and a heating and drying device 5001 is fixed on the compression and baling frame. The heating and drying device 5001 provides energy to the drying and heating rods 5005 through wires. The heating and drying device can be a chip-type resistance heater or a rod-shaped resistance heater.

[0070] comparison Figure 9The left and right side walls of the upper frame 5010 are respectively connected to the inner walls of the left and right sides of the compression and packaging frame 5018 through a guide rail slider structure. The left side wall of the upper frame 5010 is connected to the motion output end of the sliding drive device. Driven by the sliding drive device, the upper frame 5010 can slide up and down along the guide rail slider structure and can compress the fallen leaves entering the fallen leaf packaging bin from the discharge outlet of the conveyor box 423. A fallen leaf dumping mechanism is connected to the compression and packaging frame 5018. After the fallen leaves in the fallen leaf packaging bin are compressed by the upper frame 5010 to form fallen leaf bags, they can slide out from the opened switch door 5007 under the drive of the fallen leaf dumping mechanism. The structure of the guide rail slider structure is specifically as follows: the slide rails 5009 of the guide rail slider structure arranged in the vertical direction are respectively fixed to the left and right side walls of the compression and packaging frame 5018, and the sliders 5008 of the guide rail slider structure are fixed to the front and rear sides of the left and right side walls of the upper frame 5010.

[0071] like Figure 10 As shown, as the first embodiment of the present invention, the fallen leaf dumping mechanism includes a first discharge hydraulic cylinder 5006 as a power output power source of the fallen leaf dumping mechanism, the upper part of the cylinder body of the first discharge hydraulic cylinder 5006 is hingedly connected to the lower part of the right side wall of the compression and packaging frame 5018, the rear end of the discharge base plate 5002 is fixed on a discharge swing shaft 5003 arranged in the horizontal direction, and the left and right ends of the discharge swing shaft 5003 are rotatably connected to the left and right side walls of the compression and packaging frame 5018, the discharge swing shaft 5003 passes through the end arranged on the right wall of the compression and packaging frame 5018 and is fixedly connected to the rear end of the discharge swing rod 5004, the lower end of the pull rod of the first discharge hydraulic cylinder 5006 is hingedly connected to the front end of the discharge swing rod 5004, and the discharge swing rod 5004 can be driven by the pull rod of the first discharge hydraulic cylinder 5006 to rotate upward from a horizontal position around the discharge swing shaft 5003 to be tilted so that the fallen leaf bag on the discharge base plate 5002 is discharged from the opened switch door. The sliding drive device includes a hydraulic cylinder fixing seat 5017 fixed on the lower part of the left outer wall of the compression packaging frame 5018. The compression pump-controlled hydraulic cylinder 5016 serving as the power output source of the sliding drive device is fixedly connected to the hydraulic cylinder fixing seat 5017. The hydraulic rod of the compression pump-controlled hydraulic cylinder 5016 arranged in the vertical direction serves as the motion output end. The hydraulic rod is fixedly connected to the hydraulic cylinder articulated seat 5012 installed in the middle of the upper part of the left side wall of the upper frame 5010.

[0072] comparison Figure 2 、 Figure 5 and Figure 6The movement process of the fallen leaf compression and packaging device 5 is as follows: when the fallen leaf collecting robot starts to work, the drying and heating rod 5005 works at low power to dry the moisture in the fallen leaves; when the fallen leaves in the compression and packaging frame 5018 accumulate to a certain capacity, the sliding drive device drives the upper frame 5010 and the upper pressing plate 5013, the loose plate 5014, and the bottom pressing plate 5015 to move and press down, compressing the fallen leaves to reduce the volume, and at the same time the adhesive feeding device 5012 feeds the fallen leaf adhesive, and at the same time the drying and heating rod 5005 works at high power to accelerate the coagulation speed of the adhesive, improve the efficiency of the fallen leaves being consolidated into blocks, and prevent the fallen leaves from increasing in volume after losing pressure. The above process is repeated many times. When the accumulation of fallen leaves in the compression and packaging frame 5018 reaches the upper limit of capacity, the first discharge hydraulic cylinder 5006 works and contracts, pulling the discharge rocker arm 5004 to rotate around the axis of the discharge rocker shaft 5003, thereby driving the discharge rocker shaft 5003 to rotate. The discharge rocker shaft 5003 is fixed to the rear wall of the discharge bottom plate 5002, thereby driving the discharge bottom plate 5002 to rotate around the axis of the discharge rocker shaft 5003, and the fallen leaf bags are discharged. The discharge push plate 5002 discharges the compressed and adhesive-bonded fallen leaf blocks.

[0073] like Figure 11 As shown, as a second embodiment of the present invention, the discharge bottom plate 5002 is fixedly connected to the bottom of the compression and packaging frame 5018, and the fallen leaf dumping mechanism includes an opening provided on the closed plate at the front wall of the fallen leaf packaging bin, a discharge push plate 5101 is provided at the opening, and a discharge flange 5102 is fixed in the middle of the front wall of the discharge push plate 5101. The middle of the front wall of the discharge flange 5102 is fixed to the push rod of the second discharge hydraulic cylinder 5103 which is arranged in the horizontal direction and serves as the power output power source of the fallen leaf dumping mechanism. The second discharge hydraulic cylinder 5103 is fixed on the discharge hydraulic cylinder seat 5014, and the discharge hydraulic cylinder seat 5014 is fixed on the compression and packaging frame 5018. The discharge push plate 5101 can move toward the switch door side under the drive of the push rod of the second discharge hydraulic cylinder 5103 to push the fallen leaf bag out of the opened switch door. There are two sliding drive devices, and the two sliding drive devices include hydraulic cylinder fixing seats 5017 respectively fixed on the lower part of the outer walls on the left and right sides of the compression packaging frame 5018. A compression pump-controlled hydraulic cylinder 5016 serving as the power output source of the sliding drive device is fixed on each hydraulic cylinder fixing seat 5017. The two hydraulic rods of the compression pump-controlled hydraulic cylinder 5016 arranged in the vertical direction serve as the motion output ends. The two hydraulic rods are respectively fixedly connected to the hydraulic cylinder articulated seats 5012 installed in the middle of the upper part of the left and right side walls of the upper frame 5010.

[0074] In order to ensure that the leaf cleaning robot can operate for a long time, over a long distance, and clean and collect fallen leaves over a large area, a battery pack 901 and a gasoline generator 902 are installed on the chassis 1. The gasoline generator 902 is connected to the battery pack 901 through a cable for power supply. The battery pack 901 is connected to the rotational motion output source of the steering wheel drive device, the lifting motion power output source of the lifting component, the rotational motion output power source of the roller rotation drive device, the power output power source of the leaf dumping mechanism, the power output power source of the sliding drive device, the sweeping brush motor 203, the adjustment motor 209, and the adhesive feed pump 5011 through cables.

[0075] Specifically, the battery pack 901 is connected to the first drive motor 107, the brake device 110, the first drive lifting cylinder 210, the second drive lifting cylinder 312, the second drive motor 403, the first discharge hydraulic cylinder 5006, the compression pump-controlled hydraulic cylinder 5016, the second discharge hydraulic cylinder 5103, and the heating and drying device 5001 through cables, providing power to each device during operation, charging the battery while ensuring low noise, and further improving the operating time.

[0076] During use, the above structures are all connected to a controller installed on the chassis 1 through circuits. The controller controls the turning on and off of the direction control motor 103 and the rotation angle, the turning on and off of the first drive motor 107 and the rotation speed, the turning on and off of the brake device 110, the turning on and off of the sweeping motor 203 and the rotation speed, the turning on and off of the regulating motor 209 and the rotation angle, the lifting height of the first drive lift cylinder 210, the lifting height of the second drive lift cylinder 312, the turning on and off of the second drive motor 403 and the direction and rotation speed, the turning on and off of the first discharge hydraulic cylinder 5006, the pressing speed and lifting speed and pressure holding of the compression pump control hydraulic cylinder 5016, the turning on and off of the second discharge hydraulic cylinder 5103, the turning on and off of the heating and drying device 5001 and the supply voltage, the turning on and off of the adhesive feed pump 5011, and the turning on and off of the gasoline generator 902. The controller can receive signals from a remote control controlled by a remote operator to control the operation of all electrical devices in the robot. The communication between the remote control and the controller can be achieved using existing technology.

[0077] The above description is merely a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as above in terms of a preferred embodiment, it is not intended to limit the present invention. Any technician familiar with this patent can make slight changes or modifications to equivalent embodiments using the above technical content without departing from the scope of the technical solution of the present invention. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the solution of the present invention.

Claims

1. A fully automated fallen leaf collecting robot with a packing device, comprising a chassis (1), wherein the chassis comprises two side panels spaced apart from each other, a top panel arranged in a horizontal direction fixed to the top walls of the front sides of the two side panels, a vehicle body shell (601) fixed to the chassis, a steering wheel (101) provided at the bottom wall of the front side of the top panel, and a wheel (114) provided on the outer sides of the rear sides of the two side panels, the steering wheel being connected to a steering wheel driving device, and being driven by the steering wheel driving device to be able to rotate 360 ​​degrees in a vertical plane, and the two wheels being connected to the wheel driving device, and being driven by the wheel driving device to be able to move forward at the same speed or at different speeds; Its characteristics are: A fallen leaf cleaning device (2), a fallen leaf collecting device (3), a fallen leaf conveying device (4) and a fallen leaf compressing and packing device (5) are sequentially arranged in the vehicle body shell from front to back; The fallen leaf cleaning device (2) comprises two sweeping brush assemblies spaced apart on the left and right sides, and the two sweeping brush assemblies are connected to the swinging assembly; each sweeping brush assembly comprises a sweeping brush (201), and the sweeping brush is fixedly connected to the rotating shaft of the sweeping brush motor (203) arranged in the vertical direction through a sweeping brush disc (202), and a flange mounted on the sweeping brush motor housing is fixedly connected to the sweeping brush frame (204); the swinging assembly comprises a four-bar structure, and a lifting frame (205) and a mechanism connecting rod (206) arranged in parallel and spaced apart on the front and back sides are connected to the sweeping brush frames (204) on the left and right sides to form the four-bar structure, and the left and right ends of the lifting frame are respectively connected to the corresponding side. The sweeping brush frame is hingedly connected, the regulating motor (209) is fixed to one end of the mechanism connecting rod (206), the motor shaft of the regulating motor (209) whose axis is arranged in the vertical direction is fixedly connected to the sweeping brush frame (204) on this side through a flange, the other end of the mechanism connecting rod (206) away from the regulating motor (209) is hingedly connected to the sweeping brush frame (204), the lifting frame (205) of the swing assembly is connected to the up and down lifting motion output end of the lifting assembly and can move up and down under the drive of the lifting assembly, the swing assembly and the lifting assembly are installed in the fallen leaf cleaning device box below the top plate on the side close to the direction wheel (101); The fallen leaf collecting device (3) comprises a transfer roller brush (313) located at the upper part between the left and right side panels at the rear end of the top panel, the left and right ends of the transfer shaft (315) of the transfer roller brush are respectively connected to the bearings installed at the upper parts of the left and right side panels, a collecting roller brush (311) is provided between the left and right side panels below the rear part of the top panel, and arc grooves are respectively provided on the front sides of the left and right side panels, extending upward from the bottom walls of the left and right side panels and tilted toward the front sides of the left and right side panels, the left and right ends of the roller brush shaft (307) of the collecting roller brush are respectively provided through the arc grooves on the left and right side panels, and the front edge of the bucket bottom of an H-shaped collecting bucket (302) is connected to the collecting bucket. The collecting roller brush (311) is tangent to the collecting roller brush (311), and the left and right baffles of the H-shaped collecting bucket are respectively arranged on the bottom outer sides of the left and right side plates. A bucket core shaft (301) passes through the left and right side plates and the left and right ends are respectively rotatably connected to the left and right baffles of the H-shaped collecting bucket. The bucket core shaft is rotatably connected to the left and right side plates. The left and right ends of the roller brush shaft (307) extending out of the arc groove are respectively connected to the ends of the transmission shaft (315) on the same side through an adjusting swing rod (306). The upper and lower ends of the adjusting swing rod are respectively hingedly connected to the ends of the roller brush shaft and the end of the transmission shaft. An adjusting swing rod is rotatably connected in the middle of each adjusting swing rod. The intermediate shaft (305) is rotatably connected to a bucket connecting rod shaft (304) in the middle of the left and right baffles of the H-shaped collecting bucket. A bucket connecting rod (303) is connected between the adjusting rocker intermediate shafts on the left and right sides and the bucket connecting rod shaft (304). The upper end of the bucket connecting rod is hingedly connected to the adjusting rocker intermediate shaft and the lower end of the bucket connecting rod is hingedly connected to the bucket connecting rod shaft. The left end of the roller brush shaft extending out of the arc groove is hingedly connected to the lower end of the pulley connecting rod (309). The upper end of the pulley connecting rod is hingedly connected to the driving lifting cylinder shaft (310) rotatably installed at the lower end of the push rod of the second driving lifting cylinder (312). The lifting cylinder is fixed on the bottom wall of the top plate, the push rod of the second driving lifting cylinder is arranged in the vertical direction, the roller brush shaft, the adjusting rocker arm intermediate shaft, the bucket connecting rod shaft, the driving lifting cylinder shaft, the bucket core shaft and the transmission shaft are all arranged in the horizontal direction, a transmission pulley (316) is installed at the left end of the transmission shaft through a key connection, a collection pulley (308) is installed at the left end of the roller brush shaft, the transmission pulley and the collection pulley are connected by a transmission belt, and the roller brush shaft (307) can move along the arc groove under the drive of the second driving lifting cylinder push rod to contact the ground or leave the ground and sweep the accumulated fallen leaves into the H-shaped collection bucket; The bottom wall of a conveying box frame (407) is fixed on the top wall of the two side plates located at the upper position of the wheel (114), a conveying box (423) is fixed in the conveying box frame, a feed port is provided on the top wall of the conveying box, a discharge port is provided on the rear wall of the conveying box, a conveying roller brush (409) is installed in the conveying box, and the left and right ends of the conveying roller (410) of the conveying roller brush arranged in the horizontal direction are respectively connected to the conveying bearings installed on the left and right side walls of the conveying box, and the conveying roller is connected to the rotating drive device. The vacuum box is installed on the top wall of the conveying box frame, the lower end of the sealing shell (401) is fixed on the top walls of the two side plates located at the transfer roller brush (313), and the rear side of the upper end has a rear outlet, the rear outlet of the sealing shell is connected to the inlet on the side wall of the vacuum box and is fixedly connected to the vacuum box, the vacuum suction port of the vacuum device (411) fixed on the vacuum box is arranged opposite to the opening on the top wall of the vacuum box, and the opening on the bottom wall of the vacuum box is arranged opposite to the feed port on the conveying box. The discharge port of the conveying box is inserted into the feed port at the lower front part of the compression and packaging frame (5018) of the fallen leaf compression and packaging device (5); the fallen leaf conveying device (4) comprises a first-level roller (413), a second-level roller (416) and a third-level roller (419) which are sequentially installed in the sealed shell from top to bottom in the horizontal direction, and the left and right ends of the first-level roller, the second-level roller and the third-level roller are respectively connected to the bearings installed on the left and right side walls of the sealed shell. The rotation center lines of the transmission shaft are located in the same inclined plane. A first-stage roller brush (412), a second-stage roller brush (415), and a third-stage roller brush (418) are respectively installed on the first-stage roller, the second-stage roller, and the third-stage roller brush. The first-stage roller brush and the second-stage roller brush, the second-stage roller brush and the third-stage roller brush, and the third-stage roller brush and the transmission roller brush are respectively arranged tangentially to each other. The first-stage roller, the second-stage roller, the third-stage roller, and the right end of the transmission shaft are respectively connected to the roller rotation driving device so as to be able to rotate under the drive of the roller rotation driving device. The fallen leaf compression and packaging device (5) includes a compression and packaging frame (5018) whose lower part is fixed on the rear walls of the left and right side panels, a discharge bottom plate (5002) is connected to the bottom wall of the compression and packaging frame (5018), and a closing plate is installed on each side wall of the lower part of the compression and packaging frame (5018). The discharge bottom plate and the closing plate together constitute a fallen leaf packaging bin, wherein one side of the closing plate at the rear wall of the compression and packaging frame (5018) is rotatably connected to the compression and packaging frame (5018) to form a switch door. (5007), a square upper frame (5010) is provided in the upper part of the compression packaging frame (5018), an upper pressing plate (5013) and a bottom pressing plate (5015) are arranged parallel to each other in the horizontal direction, a loose layer (5014) is clamped and fixed between the upper pressing plate (5013) and the bottom pressing plate (5015), the loose layer is a loose flexible material with holes, a plurality of discharge holes are opened on the bottom pressing plate, and the upper pressing plate is fixed on the square upper frame ( 5010), an adhesive feeding pump (5011) and an adhesive silo are placed on the top wall of the upper pressing plate (5013), the feed port of the adhesive feeding pump (5011) is connected to the outlet of the adhesive silo, the discharge port of the adhesive feeding pump (5011) is connected to the loose layer through the opening on the upper pressing plate, and the gap between the top of the fallen leaf packing bin and the bottom pressing plate is the feed port at the lower front side of the compression packing frame; a plurality of drying heating rods (5005) are respectively installed on the fallen leaf packing bin. On the left and right side walls of the packaging bin, a heating and drying device (5001) is fixed on the compression packaging frame. The heating and drying device provides energy for the drying heating rod through an electric wire; the adhesive feeding pump is connected to the loose layer through a flexible pipe to provide adhesive. When the fallen leaves are compressed to increase the load, the loose layer is pressed to squeeze out the adhesive, which flows into the fallen leaves through the porous structure of the bottom pressure plate. After being heated by the heating and drying device, the moisture in the fallen leaves is removed and the adhesive is solidified, bonding the fallen leaves together to form a high-density block structure. The left and right side walls of the upper frame (5010) are respectively connected to the inner walls of the left and right sides of the compression and packaging frame (5018) through a guide rail slider structure. The left side wall of the upper frame (5010) is connected to the motion output end of the sliding drive device. Driven by the sliding drive device, the upper frame (5010) can slide up and down along the guide rail slider structure and can compress the fallen leaves entering the fallen leaf packaging bin from the discharge port of the conveying box (423). A fallen leaf dumping mechanism is connected to the compression and packaging frame. After the fallen leaves in the fallen leaf packaging bin are compressed by the upper frame to form a fallen leaf bag, they can slide out from the opened switch door driven by the fallen leaf dumping mechanism. A battery pack (901) and a gasoline generator (902) are installed on the chassis. The gasoline generator is connected to the battery pack via a cable for power supply. The battery pack (901) is connected to the rotational motion output source of the steering wheel drive device, the lifting motion power output source of the lifting component, the rotational motion output power source of the roller rotation drive device, the power output power source of the fallen leaf dumping mechanism, the power output power source of the sliding drive device, the sweeping motor (203), the regulating motor (209), and the adhesive feeding pump (5011) via cables.

2. The fully automatic fallen leaf collecting robot with a packaging device according to claim 1 is characterized in that: The leaf dumping mechanism includes a first discharge hydraulic cylinder (5006) as a power output power source of the leaf dumping mechanism, the upper part of the cylinder body of the first discharge hydraulic cylinder is hingedly connected to the lower part of the right side wall of the compression and packaging frame (5018), the rear end of the discharge bottom plate (5002) is fixed on a discharge swing shaft (5003) arranged in the horizontal direction, and the left and right ends of the discharge swing shaft (5003) are rotatably connected to the left and right side walls of the compression and packaging frame, and the discharge swing shaft (5003) passes through the end portion arranged on the right wall of the compression and packaging frame and is connected to the discharge swing rod (500 4), the rear end of the pull rod of the first discharging hydraulic cylinder is fixedly connected to the front end of the discharging swing arm (5004), and the discharging swing arm (5004) can be rotated upward from a horizontal position around the discharging swing shaft (5003) driven by the pull rod of the first discharging hydraulic cylinder (5006) to be tilted so that the fallen leaf bags on the discharging bottom plate (5002) are discharged from the opened switch door. The sliding drive device includes a hydraulic cylinder fixing seat (5017) fixed to the lower part of the left outer wall of the compression and packaging frame, a compression pump-controlled hydraulic cylinder (5016) serving as a power output source of the sliding drive device is fixedly connected to the hydraulic cylinder fixing seat, and a hydraulic rod of the compression pump-controlled hydraulic cylinder arranged in the vertical direction serves as a motion output end. The hydraulic rod is fixedly connected to a hydraulic cylinder hinge seat (5012) installed in the middle of the upper part of the left side wall of the upper frame, and the first discharging hydraulic cylinder is connected to the battery pack (901) via a cable.

3. The fully automatic fallen leaf collecting robot with a packaging device according to claim 1 is characterized in that: The discharge bottom plate (5002) is fixedly connected to the bottom of the compression packing frame (5018), and the fallen leaf dumping mechanism includes an opening on the closed plate arranged at the front wall of the fallen leaf packing bin, and a discharge push plate (5101) is arranged at the opening, and a discharge flange (5102) is fixed in the middle of the front wall of the discharge push plate. The middle of the front wall of the discharge flange is fixedly connected to the push rod of the second discharge hydraulic cylinder (5103) which is arranged in the horizontal direction and serves as the power output power source of the fallen leaf dumping mechanism. The second discharge hydraulic cylinder is fixed in the discharge The material hydraulic cylinder seat (5104) is fixed on the compression and packaging frame. The discharge hydraulic cylinder seat is fixed on the compression and packaging frame. The discharge push plate can move toward the switch door side under the drive of the push rod of the second discharge hydraulic cylinder (5103) to push the fallen leaf bag out of the opened switch door. There are two sliding drive devices. The two sliding drive devices include hydraulic cylinder fixing seats (5017) respectively fixed on the lower part of the left and right outer walls of the compression and packaging frame. A compression pump-controlled hydraulic cylinder (5016) serving as the power output source of the sliding drive device is fixed on each hydraulic cylinder fixing seat. The hydraulic rods of the two compression pump-controlled hydraulic cylinders arranged in the vertical direction serve as the motion output ends. The two hydraulic rods are respectively fixedly connected to the hydraulic cylinder hinge seats installed in the middle of the upper part of the left and right side walls of the upper frame. The second discharge hydraulic cylinder and the compression pump-controlled hydraulic cylinder are connected to the battery pack through cables.

4. The fully automatic fallen leaf collecting robot with a packaging device according to any one of claims 1, 2, and 3, characterized in that: The roller rotation driving device comprises a driving motor seat (404) mounted on the right side panel of the chassis, a second driving motor (403) serving as a rotational motion output power source of the roller rotation driving device is mounted on the driving motor seat (404), a motor pulley (405) is mounted on the motor shaft of the second driving motor arranged in the horizontal direction, a first-stage pulley (414), a second-stage pulley (417), and a third-stage pulley (420) are respectively mounted on the right side of the first-stage roller (413), the second-stage roller (416), and the third-stage roller (419), and a key is connected at the right end of the transmission shaft (315). A transmission pulley (402) is connected, the motor pulley is connected to the secondary pulley and the tertiary pulley respectively through a transmission belt, the primary pulley is connected to the secondary pulley through a transmission belt, and the transmission pulley is connected to the tertiary pulley through a transmission belt, the rotation drive device includes a conveyor pulley (422) installed on the left side of the conveyor roller (410), the conveyor pulley (422) is connected to the conveyor drive pulley (425) installed on the left side of the primary roller (413) through a transmission belt to control the rotation of the conveyor roller brush (409), and the second drive motor is connected to the battery pack through a cable.

5. The fully automatic fallen leaf collecting robot with a packaging device according to claim 4 is characterized in that: The bottom surface of the conveying box is a grid-like structure. The collection box (408) is installed on the conveying box frame (407) directly below the bottom surface of the conveying box (423). The top opening of the collection box is connected to the grid-like structure on the bottom wall of the conveying box. The side wall of the conveying box frame at the corresponding position of the collection box is open, and the collection box can be taken out from the side opening of the conveying box frame.

6. The fully automatic fallen leaf collecting robot with a packaging device according to claim 5, characterized in that: The first-stage roller brush, the second-stage roller brush and the third-stage roller brush are in frictional rotational contact with the inner wall of the sealing shell during the rotation process.

7. The fully automatic fallen leaf collecting robot with a packaging device according to claim 6, characterized in that: The direction wheel driving device comprises a direction control motor (103) which is mounted on the top wall of the top plate via a direction control motor frame (104) and serves as a rotational motion output device; the wheel axle of the direction wheel (101) arranged in the horizontal direction is mounted on the direction wheel frame (102); the lower end of a core shaft arranged in the vertical direction is fixedly connected to the top wall of the direction wheel frame; the upper end of the core shaft passes through the inner ring of a thrust bearing installed in an opening in the top plate and is connected to the motor shaft of the direction control motor (103) via a coupling; and the direction control motor is connected to a battery pack via a cable.

8. The fully automatic fallen leaf collecting robot with a packaging device according to claim 7, characterized in that: The wheel drive device includes a first drive motor (107), the rotating shaft of the first drive motor arranged in the horizontal direction is connected to the input shaft of the differential (109) through a reducer (108), one end of the wheel axles of the two wheels (114) arranged in the horizontal direction are respectively connected to the bearings installed on the side plate on the same side, and the other ends of the wheel axles of the two wheels are respectively connected to the output shafts on the corresponding sides of the differential through a sprocket structure. The first drive motor is connected to the battery pack through a cable.

9. The fully automatic fallen leaf collecting robot with a packaging device according to claim 8, characterized in that: Braking devices are respectively arranged at the ends of the differential output shafts, and the braking devices are connected to the battery pack via cables.

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