Automatically adjustable weeding robot weeding device and method

Abstract

The present invention relates to the field of automation technology, and specifically to an automatically adjustable weeding robot weeding equipment, including a bracket plate, a cutting mechanism and an auxiliary mechanism. In the present invention, the distance between the cutting tool and the ground is controlled by an adjustment group in the auxiliary mechanism so that the cutting height of the lawn by the cutting tool remains consistent. During the movement, the roller in the adjustment group cooperates with the ground so that the roller drives the rectangular plate to move up and down as the height of the ground changes, and then the cutting tool is driven to move up and down by a rotating column so that the height between the cutting tool and the ground remains consistent during the cutting process, thereby ensuring the beauty of the weeds after cutting. The grass in the forward direction is pushed to the guide group by the grass pushing plate, so that the grass pushed to the guide group is gathered by the shape cooperation of the guide plate in the guide group, and then cut by the cutting tool. After the cutting is completed, the grass gathered in the middle is dispersed by the grass-pulling group.

Description

Technical Field

[0001] The present invention relates to the technical field of weeding, and in particular to an automatically adjustable weeding robot weeding device and method. Background Art

[0002] Weeding equipment is a mechanical device used to automatically or semi-automatically remove weeds in lawns, farmlands or other planting areas. It is usually used in agriculture, gardening and landscape management to reduce the workload of manual weeding and improve work efficiency and quality. The existing weeding method usually requires workers to use mowers or mowing equipment to cut and weed. When using mowing equipment, workers need to carry the mowing equipment and control the height of the cutting tool in the mowing equipment to cut and weed the lawn to ensure the cutting height.

[0003] The following problems exist in the process of cutting and weeding the lawn: 1. First, in gardening and landscaping, it is usually necessary to control the cutting height during weeding to keep it consistent in order to ensure the beauty of the landscape. In the process of cutting and weeding, there are different heights and shapes of the ground, and it is necessary to control the continuity and flatness of the cutting and weeding. In order to improve work efficiency, the staff usually move the cutting tool in the cutting equipment back and forth left and right to increase the cutting area of ​​the lawn by the cutting tool. The cutting height deviation is easy to occur during the cutting process. The current weeding method is difficult to ensure that the height of the cutting tool in the mowing knife or the mowing equipment is always consistent, and it is difficult to ensure the continuity and flatness of the cutting process.

[0004] 2. After cutting, the grass is usually piled on the lawn, and it naturally decomposes into organic matter to provide nutrients to the soil. In the current cutting weeding method, the weeds after cutting are usually piled on one side of the cutting path, which is not conducive to their natural decomposition. Summary of the invention

[0005] Based on this, it is necessary to provide an automatically adjustable weeding robot weeding device to solve the above problems.

[0006] The present application provides an automatically adjustable weeding robot weeding device, comprising:

[0007] A bracket plate, wherein two sliding columns are slidably arranged on the bracket plate, which are symmetrical front and back and whose axes extend from top to bottom. A rectangular plate is fixedly arranged between the upper end surfaces of the two sliding columns. A cutting mechanism is arranged between the rectangular plate and the bracket plate. An auxiliary mechanism is arranged between the two sliding columns and the bracket plate. A driving unit is arranged on the left end surface of the bracket plate, and the driving unit is an existing device including a driving wheel.

[0008] The cutting mechanism includes a rotating column, and the lower end surface of the rectangular plate is rotatably provided with two rotating columns that are symmetrical front and back and whose axes extend from top to bottom. The lower end surfaces of the two rotating columns are fixedly provided with cutting tools, and the upper end surface of the bracket plate is rotatably provided with two transmission shafts that are symmetrical front and back and whose axes extend from bottom to top. A driving group is jointly provided between the two transmission shafts and the bracket plate, and an adjustment group is provided on the lower end surface of the rectangular plate.

[0009] The auxiliary mechanism comprises a U-shaped plate 1, the lower end surfaces of the two sliding columns are fixedly provided with a U-shaped plate 1 with an opening facing downward and opposite to each other front and back, a transmission group is provided on the two U-shaped plate 1s, and a horizontal plate located between the bracket plate and the U-shaped plate 1 is fixedly sleeved on the two sliding columns, and a U-shaped plate 2 with an opening facing downward is fixedly provided between the right end surfaces of the two horizontal plates, and a grass-pushing plate is rotatably provided on the lower end surfaces of the two vertical sections of the U-shaped plate 2 through the vertical column 1, and a grass-pushing group is provided on the opposite surfaces of the two vertical sections of the U-shaped plate 2, and a U-shaped plate 3 with an opening facing downward is fixedly provided between the left end surfaces of the two horizontal plates, and a rectangular block is fixedly provided on the left end surfaces of the two vertical sections of the U-shaped plate 3, and a grass-pushing group is provided on the opposite back surfaces of the two vertical sections of the U-shaped plate 3.

[0010] According to a favorable embodiment, the adjustment group includes a moving column, a moving column with an axis extending from top to bottom is fixedly provided on the lower end surface of the rectangular plate, a roller is provided on the lower section of the moving column for rotation via a rotating shaft, and a spring mounted on the moving column is fixedly provided between the bracket plate and the rectangular plate.

[0011] According to a favorable embodiment, the drive group includes a driving gear, and the two transmission shafts are fixedly sleeved with a driving gear, and the two driving gears are meshed with each other. The rotating column is provided with two sliding grooves that are symmetrically distributed in the circumference and extend from top to bottom. The two rotating columns are slidingly sleeved with a transmission gear rotatably connected to the bracket plate, and the two rotating gears are respectively meshed with the corresponding driving gears. The inner annular surfaces of the two transmission gears are fixedly provided with two sliding blocks evenly distributed in the circumference, and the two sliding blocks are both located in the corresponding sliding grooves.

[0012] According to a preferred embodiment, the opposite sides of the horizontal sections of the two U-shaped plates are provided with guide groups, and the guide groups include connecting rods, and the opposite sides of the horizontal sections of the two U-shaped plates are fixedly provided with connecting rods with axes extending from back to front, and the two connecting rods are fixedly connected with arc-shaped blocking plates through connecting strips, and the axes of the blocking plates are colinear with the axes of the rotating column, and the inner arc surfaces of the arc sections of the two blocking plates are fixedly provided with circular plates that are sleeved on the rotating column and located on the lower side of the corresponding worm, the two circular plates are irregular circles and the adjacent surfaces of the two circular plates are rectangular surfaces extending from left to right, and the right sections of the two arc plates are fixedly provided with guide plates, and the front and rear guide plates are away from each other from left to right.

[0013] According to a favorable embodiment, the grass pushing group includes a sliding rod 1, and the opposite surfaces of the two vertical sections of the U-shaped plate 2 are fixedly provided with a sliding rod 1 whose axis extends from front to rear, and the two sliding rods 1 are slidably sleeved with a slider 1, and the upper end surfaces of the two grass pushing plates are provided with a sliding groove 1, and the lower end surfaces of the two sliders 1 are fixedly provided with a transmission column 1 whose axis extends from top to bottom, and the two transmission columns 1 are both located in the corresponding sliding groove 1, and the left end surfaces of the two sliders 1 are rotatably provided with a connecting strip 1 through a connecting column 1, and the left end surfaces of the two connecting strips 1 away from the slider 1 are rotatably provided with a rotating bar 1 connected to the transmission group through a connecting column 2.

[0014] According to a preferred embodiment, the grass-clearing group includes a sliding rod 2, and the opposite back surfaces of the two vertical sections of the U-shaped plate 3 are fixedly provided with a sliding rod 2 whose axis extends from front to rear, and a sliding block 2 is slidably provided on the two sliding rods 2, and the upper end surfaces of the two grass-clearing plates are provided with a sliding groove 2, and the two grass-clearing plates are provided with through grooves evenly distributed along the grass-clearing plates, and the lower end surfaces of the two sliding blocks 2 are fixedly provided with a transmission column 2 whose axis extends from top to bottom, and the two transmission columns 2 are located in the corresponding sliding groove 2, and the right end surfaces of the two sliding blocks 2 are rotatably provided with a connecting strip 2 through a connecting column 3, and the rear end surfaces of the two connecting strips 2 away from the transmission column 3 are rotatably provided with a rotating bar 2 connected to the transmission group through a connecting column 4.

[0015] According to a favorable embodiment, the transmission group includes a worm, and the two rotating columns are fixedly sleeved with a worm located above the cutting tool. The vertical sections of the two U-shaped plates are penetrated by a transmission rod with an axis extending from left to right. The left end faces of the two transmission rods are fixedly connected to the corresponding rotating bar 2, and the right end faces of the two transmission rods are fixedly connected to the corresponding rotating bar 1. The two transmission rods are fixedly sleeved with a worm wheel located between the two vertical sections of the U-shaped plate 1, and the two worm wheels and the corresponding worm are meshed with each other.

[0016] According to a favorable embodiment, the rotating column is provided with a pushing group located above the circular plate, and the pushing group includes a pushing bar. Three pushing bars located between the worm and the circular plate and evenly distributed circumferentially are fixedly provided on the two rotating columns, and a pushing plate is fixedly provided on the upper end surfaces of the six pushing bars, and a pulling plate is fixedly provided on the end surfaces of the six pushing bars and the six pushing plates facing the rotation direction of the corresponding rotating column.

[0017] In addition, the present invention also provides a weeding method of an automatically adjustable weeding device:

[0018] S1. Control height: The driving unit drives the cutting mechanism and the auxiliary mechanism to move to the right on the lawn where weeding is required. By adjusting the coordination between the rollers in the group and the ground, the cutting tool always maintains a certain distance from the ground.

[0019] S2. Gathering grass: The driving group works by rotating the column to make the transmission group work, and the transmission group drives the corresponding grass pushing group to work through two transmission rods. The two grass pushing groups drive the two grass pushing plates to deflect toward the middle synchronously, and push the grass in the forward direction of the equipment toward the guide group. Through the shape coordination between the two guide plates in the guide group, the grass to be cut is gathered to the middle position on the right side of the cutting tool.

[0020] S3. Cutting and pushing down: the driving group drives the transmission group to make the front rotating column and the rear rotating column rotate in opposite directions, thereby driving the corresponding cutting tools to rotate in the opposite direction through the two rotating columns. At the same time, the rotating column drives the pushing down group to work. The pushing down group pushes the grass gathered to the middle position to the left to the cutting tool position and cuts it through the cutting tool. The cut grass moves to the left to the working position of the grass-pulling group under the push of the pushing down group.

[0021] S4. Scattering the grass: After the cutting is completed, the transmission group drives the grass pushing group to work through the transmission rod, and the grass pushing group drives the grass pushing board to scatter the cut grass.

[0022] In summary, the present invention includes at least one of the following beneficial effects: First, in the present invention, the distance between the cutting tool and the ground is controlled by the adjustment group in the auxiliary mechanism so that the cutting height of the lawn by the cutting tool remains consistent, and during the movement, the roller in the adjustment group cooperates with the ground so that the roller drives the rectangular plate to move up and down as the height of the ground changes, and then the cutting tool is driven to move up and down by the rotating column, so that the height between the cutting tool and the ground remains consistent during the cutting process, thereby ensuring the beauty after cutting and weeding, and the grass in the forward direction is pushed to the guide group by the grass pushing plate, so that the grass pushed to the guide group is gathered by the shape cooperation of the guide plate in the guide group, and then cut by the cutting tool, and the grass gathered in the middle is dispersed by the grass clearing group after cutting, thereby avoiding the problem that the cut grass is piled up and is not conducive to subsequent decomposition.

[0023] 2. In the present invention, the push plate and the pull bar in the pushing group rotate around the rotating column, so that the push plate and the pull bar drive the grass to the cutting tool during the rotation, and the cut grass is pushed to the grass-pulling group. The blocking plate and the circular plate in the guiding group prevent the cut grass from being driven by the cutting tool, thereby preventing the cut grass from being entangled on other components under the drive of the cutting tool.

[0024] 3. In the present invention, two driving gears are arranged in the driving group, so that the two transmission gears rotate in opposite directions. Through the shape matching between the sliding groove and the sliding block provided on the rotating column, the transmission gear drives the rotating column to rotate a full circle without affecting the up and down movement of the rotating column. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0026] Figure 1 A front view of an automatically adjustable weeding robot weeding device provided according to an embodiment of the present invention is shown.

[0027] Figure 2 A three-dimensional structural schematic diagram of a cutting mechanism and an auxiliary mechanism provided according to an embodiment of the present invention is shown.

[0028] Figure 3 The embodiment provided according to the present invention shows Figure 2 A magnified view of the structure in the middle.

[0029] Figure 4A right side view of a cutting mechanism and an auxiliary mechanism provided according to an embodiment of the present invention is shown.

[0030] Figure 5 A right side view of a cutting mechanism provided according to an embodiment of the present invention is shown.

[0031] Figure 6 A three-dimensional structural schematic diagram of an auxiliary mechanism provided according to an embodiment of the present invention is shown.

[0032] Figure 7 A top view of a transmission group, a grass pushing group and a grass pulling group provided according to an embodiment of the present invention is shown.

[0033] Figure 8 A schematic diagram of the three-dimensional structure of a grass-cutting group provided according to an embodiment of the present invention is shown.

[0034] Fig. 9 A schematic diagram of the three-dimensional structure of a grass-pulling group provided according to an embodiment of the present invention is shown.

[0035] Fig.10 A schematic diagram of the three-dimensional structure of a transmission group and a guide group provided according to an embodiment of the present invention is shown.

[0036] The above drawings include the following reference numerals:

[0037] 1. Bracket plate; 2. Sliding column; 3. Rectangular plate; 4. Cutting mechanism; 40. Rotating column; 41. Cutting tool; 42. Transmission shaft; 43. Driving group; 430. Driving gear; 431. Sliding groove; 432. Transmission gear; 433. Sliding block; 44. Adjusting group; 440. Moving column; 441. Roller; 442. Spring; 5. Auxiliary mechanism; 50. U-shaped plate 1; 51. Horizontal plate; 52. U-shaped plate 2; 53. Transmission group; 530. Worm; 531. Worm wheel; 532. Transmission rod; 54. Pushing grass group; 540. Sliding rod 1; 541. Sliding block 1; 542. Slide groove one; 543, transmission column one; 544, connecting bar one; 545, rotating bar one; 546, grass-pushing plate; 55, U-shaped plate three; 56, rectangular block; 57, pushing group; 570, pushing bar; 571, pushing plate; 572, pulling plate; 58, grass-clearing group; 580, sliding rod two; 581, sliding block two; 582, slide groove two; 583, through groove; 584, transmission column two; 585, connecting bar two; 586, rotating bar two; 587, grass-clearing plate; 59, guiding group; 590, connecting rod; 591, blocking plate; 592, circular plate; 593, guiding plate; 6, driving unit. DETAILED DESCRIPTION

[0038] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0039] like Figure 1 and Figure 2 As shown, an automatically adjustable weeding robot weeding device comprises:

[0040] A bracket plate 1, on which two sliding columns 2 are symmetrical front and back and whose axes extend from top to bottom are slidably arranged, a rectangular plate 3 is fixedly arranged between the upper end surfaces of the two sliding columns 2, a cutting mechanism 4 is arranged between the rectangular plate 3 and the bracket plate 1, an auxiliary mechanism 5 is arranged between the two sliding columns 2 and the bracket plate 1, and a driving unit 6 is arranged on the left end surface of the bracket plate 1, and the driving unit 6 is an existing device including a driving wheel.

[0041] like Figure 4 and Figure 5 As shown, the cutting mechanism 4 includes a rotating column 40, and the lower end surface of the rectangular plate 3 is rotatably provided with two rotating columns 40 which are symmetrical front to back and whose axes extend from top to bottom, and the lower end surfaces of the two rotating columns 40 are fixedly provided with cutting tools 41, and the upper end surface of the bracket plate 1 is rotatably provided with two transmission shafts 42 which are symmetrical front to back and whose axes extend from bottom to top, and the front transmission shaft 42 is connected to an external motor (not shown in the figure), and a driving group 43 is jointly provided between the two transmission shafts 42 and the bracket plate 1, and an adjustment group 44 is provided on the lower end surface of the rectangular plate 3.

[0042] like Figure 4 , Figure 5 , Figure 6 and Figure 7As shown, the auxiliary mechanism 5 includes a U-shaped plate 1 50, the lower end surfaces of the two sliding columns 2 are fixedly provided with a U-shaped plate 1 50 with an opening facing downward and facing each other front and back, and the two U-shaped plates 1 50 are provided with a transmission group 53, and the two sliding columns 2 are fixedly sleeved with a horizontal plate 51 located between the bracket plate 1 and the U-shaped plate 1 50, and a U-shaped plate 2 52 with an opening facing downward is fixedly provided between the right end surfaces of the two horizontal plates 51, and the lower end surfaces of the two vertical sections of the U-shaped plate 2 52 are both connected A grass-pushing plate 546 is provided for rotation through the vertical column one, grass-pushing groups 54 are provided on the opposite surfaces of the two vertical sections on the U-shaped plate two 52, a U-shaped plate three 55 with an opening facing downward is fixedly provided between the left end surfaces of the two horizontal plates 51, rectangular blocks 56 are fixedly provided on the left end surfaces of the two vertical sections of the U-shaped plate three 55, and grass-pulling plates 587 are provided on the lower end surfaces of the two rectangular blocks 56 for rotation through the vertical column two, and grass-pulling groups 58 are provided on the opposite back surfaces of the two vertical sections on the U-shaped plate three 55.

[0043] During operation, at the place where cutting work is required, the driving wheel in the driving unit 6 is used to make the bracket plate 1 drive the cutting mechanism 4 and the auxiliary mechanism 5 to move to the right, and the height of the cutting tool 41 from the ground is adjusted by the adjustment group 44. The external motor works through the front transmission shaft 42 to make the driving group 43 work, and the driving group 43 drives the cutting tool 41 to rotate through the rotating column 40. At the same time, the rotating column 40 makes the corresponding grass pushing group 54 work through two transmission groups 53. The two grass pushing groups 54 drive two grass pushing plates 546 to gather the grass in the forward direction of the equipment to the middle to facilitate the cutting work of the cutting tool 41. After cutting is completed, the grass picking group 58 set on the U-shaped plate three 55 is driven to push the cut grass out and scatter it.

[0044] like Figure 2 and Figure 4 As shown, the adjustment group 44 includes a moving column 440, and the lower end surface of the rectangular plate 3 is fixedly provided with a moving column 440 whose axis extends from top to bottom, and the lower section of the moving column 440 is provided with a roller 441 that is rotatable through a rotating shaft, and a spring 442 that is sleeved on the moving column 440 is fixedly provided between the bracket plate 1 and the rectangular plate 3.

[0045] like Figure 2 , Figure 3 and 6As shown, the driving group 43 includes a driving gear 430, and the two transmission shafts 42 are fixedly sleeved with driving gears 430, and the two driving gears 430 are meshed with each other. The rotating column 40 is provided with two sliding grooves 431 which are symmetrically distributed in the circumference and extend from top to bottom. The two rotating columns 40 are both slidably sleeved with transmission gears 432 which are rotatably connected to the bracket plate 1, and the two rotating gears are respectively meshed with the corresponding driving gears 430, and the inner annular surfaces of the two transmission gears 432 are fixedly provided with two sliding blocks 433 which are evenly distributed in the circumference, and the two sliding blocks 433 are both located in the corresponding sliding grooves 431.

[0046] like Figure 2 , Figure 5 and Fig.10 As shown, the opposite sides of the horizontal sections of the two U-shaped plates 50 are provided with guide groups 59, and the guide groups 59 include connecting rods 590. The opposite sides of the horizontal sections of the two U-shaped plates 50 are fixedly provided with connecting rods 590 with axes extending from back to front. The two connecting rods 590 are fixedly connected with arc-shaped blocking plates 591 through connecting strips, and the axes of the blocking plates 591 are colinear with the axis of the rotating column 40. The inner arc surfaces of the arc sections of the two blocking plates 591 are fixedly provided with circular plates 592 which are sleeved on the rotating column 40 and located at the lower side of the corresponding worm 530. The two circular plates 592 are irregular circles, and the adjacent surfaces of the two circular plates 592 are rectangular surfaces extending from left to right. The right sections of the two arc-shaped plates are fixedly provided with guide plates 593, and the front and rear guide plates 593 are away from each other from left to right.

[0047] like Figure 2 , Figure 4 , Figure 7 and Figure 8 As shown, the grass pushing group 54 includes a sliding rod 540, and the opposite surfaces of the two vertical sections of the U-shaped plate 52 are fixedly provided with a sliding rod 540 with an axis extending from front to rear, and the two sliding rods 540 are slidably sleeved with a slider 541, and the upper end surfaces of the two grass pushing plates 546 are provided with a slide groove 542, and the lower end surfaces of the two sliders 541 are fixedly provided with a transmission column 543 with an axis extending from top to bottom, and the two transmission columns 543 are both located in the corresponding slide groove 542, and the left end surfaces of the two sliders 541 are rotatably provided with a connecting strip 544 through a connecting column one, and the left end surfaces of the two connecting strips 544 away from the slider 541 are rotatably provided with a rotating bar 545 connected to the transmission group 53 through a connecting column two.

[0048] like Figure 2 , Figure 4 , Figure 7 and Fig. 9As shown, the grass-clearing group 58 includes a sliding rod 2 580, and the opposite back surfaces of the two vertical sections of the U-shaped plate 3 55 are fixedly provided with a sliding rod 2 580 with an axis extending from front to rear, and a sliding block 2 581 is slidably provided on the two sliding rods 2 580, and the upper end surfaces of the two grass-clearing plates 587 are provided with a sliding groove 2 582, and the two grass-clearing plates 587 are provided with through grooves 583 evenly distributed along the grass-clearing plates 587, and the lower end surfaces of the two sliding blocks 2 581 are fixedly provided with a transmission column 2 584 with an axis extending from top to bottom, and the two transmission columns 2 584 are located in the corresponding sliding groove 2 582, and the right end surfaces of the two sliding blocks 2 581 are rotatably provided with a connecting strip 2 585 through a connecting column 3, and the rear end surfaces of the two connecting strips 2 585 away from the transmission column 3 are rotatably provided with a rotating bar 2 586 connected to the transmission group 53 through a connecting column 4.

[0049] like Figure 6 , Figure 7 and Fig.10 As shown, the transmission group 53 includes a worm 530, and the two rotating columns 40 are fixedly sleeved with a worm 530 located above the cutting tool 41, and the vertical sections of the two U-shaped plates 50 are penetrated by a transmission rod 532 with an axis extending from left to right, the left end surfaces of the two transmission rods 532 are fixedly connected to the corresponding rotating bar 2 586, and the right end surfaces of the two transmission rods 532 are fixedly connected to the corresponding rotating bar 1 545, and the two transmission rods 532 are fixedly sleeved with a worm wheel 531 located between the two vertical sections of the U-shaped plate 50, and the two worm wheels 531 and the corresponding worm 530 are meshed with each other.

[0050] During operation, at the place where cutting work is required, the driving wheel in the driving unit 6 is used to make the bracket plate 1 drive the cutting mechanism 4 and the auxiliary mechanism 5 to move to the right, and the spring 442 arranged in the adjusting group 44 is used to make the roller 441 in the adjusting group 44 always contact with the ground, and the height of the rectangular plate 3 from the ground is controlled by the cooperation between the roller 441 and the ground, thereby controlling the height of the cutting tool 41 from the ground, and the external motor works to make the corresponding driving gear 430 rotate forward through the front transmission shaft 42, and the cooperation between the two driving gears 430 makes the front driving gear 430 rotate forward and the rear driving gear 430 rotate backward. The side drive gear 430 reverses, causing the front cutting tool 41 to rotate forward and the rear cutting tool 41 to reverse. While the tools rotate, the vertical rotation of the rotating column 40 is converted into horizontal rotation through the transmission group 53. The grass pushing group 54 is driven by the transmission group 53 to make the grass pushing plate 546 push the grass in the forward direction to the guide group 59. Through the shape coordination of the two guide plates 593, the grass in the forward direction is gathered to the middle to facilitate the cutting of the tool. After the cutting is completed, the grass-moving plate 587 is driven by the transmission group 53 to work, and the grass pushing plate 546 scatters the grass after cutting.

[0051] like Figure 2 and Fig.10 As shown, the rotating column 40 is provided with a push-down group 57 located above the circular plate 592, and the push-down group 57 includes a push bar 570. Three push bars 570 located between the worm 530 and the circular plate 592 and evenly distributed circumferentially are fixedly provided on the two rotating columns 40, and a push plate 571 is fixedly provided on the upper end surfaces of the six push bars 570. The end surfaces of the six push bars 570 and the corresponding six fixedly connected push plates 571 facing the rotation direction of the corresponding rotating column 40 are jointly fixedly provided with a pulling plate 572.

[0052] During specific operation, the driving unit 6 works at the location where cutting work is required, and the driving wheel in the driving unit 6 makes the bracket plate 1 drive the cutting mechanism 4 and the auxiliary mechanism 5 to move to the right. In the initial state, the spring 442 is in a stretched deformation state, and the elastic force generated by the deformation of the spring 442 acts on the rectangular plate 3 and the bracket plate 1. The elastic force pulls the rectangular plate 3 to move toward the bracket plate 1, and the rectangular plate 3 drives the moving column 440 to move downward until the roller 441 contacts the ground. The driving unit 6 pushes the bracket plate 1 to move to the right. Under the elastic force of the spring 442, the roller 441 is always pressed against the ground. Through the shape coordination between the roller 441 and the ground, the moving column 440 drives the rectangular plate 3 to move up and down, and the rectangular plate 3 drives the cutting tool 41 to move up and down through the rotating column 40, thereby controlling the height of the cutting tool 41 from the ground.

[0053] When the driving unit 6 pushes the bracket plate 1 to move to the right, the external motor works to make the driving gear 430 rotate forward through the front transmission shaft 42, and the rear driving gear 430 is reversed through the meshing between the front driving gear 430 and the rear driving gear 430, and the front driving gear 430 is reversed and the rear driving gear 432 is rotated forward through the meshing between the two transmission gears 432 and the corresponding driving gears 430. The two transmission gears 432 are matched with the sliding blocks 433 fixed thereon and the sliding grooves 431 provided on the corresponding rotating columns 40, so that the front rotating column 40 is reversed and the rear rotating column 40 is rotated forward (such as Fig.10 As shown by the middle arrow, the two cutting tools 41 cut the grass.

[0054] When the two cutting tools 41 rotate, the two rotating columns 40 drive the corresponding worms 530 fixed thereon to rotate. The two worm gears 531 are meshed with each other, and the front worm gear 531 rotates in opposite directions to the rear worm gear 531. The front and rear sides of the grass pushing group 54 have the same movement process. The movement process of the front grass pushing group 54 is described as an example. The worm gear 531 drives the rotating bar 1 545 to rotate around the transmission rod 532 through the transmission rod 532, and the rotating bar 1 545 drives the slider 1 541 to rotate along the sliding rod 1 544 through the connecting bar 1 40 moves back and forth, and the cooperation between the transmission column 543 fixedly arranged on the lower end surface of the slider 541 and the slide groove 542 makes the grass pushing plate 546 open when the slider 541 moves forward, and close when the slider 541 moves backward. During the closing process, the grass pushing plate 546 pushes the grass to be cut on the right to the opening range of the two guide plates 593. Through the shape cooperation of the two guide plates 593, the guide group 59 makes the grass to be cut gather to the middle when it moves to the right, so that the cutting tool 41 can cut it.

[0055] While cutting the grass, the two rotating columns 40 drive the three pushing bars 570 arranged thereon to rotate around the axis of the corresponding rotating column 40. The pushing bars 570 drive the corresponding pushing plates 571 to move around the axis of the rotating column 40. The pushing bars 570 and the pushing plates 571 drive the pulling plates 572 to rotate synchronously around the rotating column 40, driving the uncut grass to move to the left, so that the cutting tool 41 can cut the grass, and push the grass after cutting to the left to the left side of the cutting tool 41.

[0056] After the grass is cut, the two worm gears 531 in the transmission group 53 drive the corresponding transmission rod 532 to rotate. The movement process of the front and rear sides of the grass-clearing group 58 is the same. Taking the front grass-clearing group 58 as an example, the transmission rod 532 drives the rotating bar 2 586 to rotate around the transmission rod 532, and the rotating bar 2 586 drives the sliding block 2 581 to move along the sliding rod 2 580 through the connecting bar 2 585. The movement of the sliding block 2 581 drives the transmission column 2 584 set thereon to move. Through the shape cooperation between the transmission column 2 584 and the sliding groove 2 582, the grass-clearing plate 587 rotates around the vertical column 2 to open during the backward movement of the sliding block 2 581, and rotates around the vertical column 2 to close during the forward movement of the sliding block 2 581. In the process of its movement to the right, the two grass-clearing plates 587 open to evenly clear the grass cut by the left side of the cutting tool 41, which is more conducive to the natural decomposition of the cut grass.

[0057] In addition, the present invention also provides a weeding method of an automatically adjustable weeding device:

[0058] S1. Controlling height: The driving unit 6 drives the cutting mechanism 4 and the auxiliary mechanism 5 to move rightward on the lawn to be cut and weeded, and the cutting tool 41 always maintains the same distance from the ground by adjusting the coordination between the roller 441 in the adjustment group 44 and the ground.

[0059] S2. Gathering grass: The driving group 43 works by rotating the column 40 to make the transmission group 53 work. The transmission group 53 drives the corresponding grass pushing group 54 to work through the two transmission rods 532. The two grass pushing groups 54 drive the two grass pushing plates 546 to deflect toward the middle synchronously, and push the grass in the forward direction of the equipment toward the guide group 59. Through the shape coordination between the two guide plates 593 in the guide group 59, the grass to be cut is gathered to the middle position on the right side of the cutting tool 41.

[0060] S3. Cutting and pushing down: the driving group 43 drives the transmission group 53 to make the front rotating column 40 and the rear rotating column 40 rotate in opposite directions, so that the two rotating columns 40 drive the corresponding cutting tools 41 to rotate in the opposite direction. At the same time, the rotating column 40 drives the pushing down group 57 to work. The pushing down group 57 pushes the grass gathered to the middle position to the left to the position of the cutting tool 41 and cuts it through the cutting tool 41. The cut grass moves to the left to the working position of the grass-pulling group 58 under the push of the pushing down group 57.

[0061] S4. Scattering the grass: After the cutting is completed, the transmission group 53 drives the grass pushing group 54 to work through the transmission rod 532, and the grass pushing group 54 drives the grass pushing plate 546 to push away and scatter the cut grass.

[0062] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the devices or elements referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention. The directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0063] In addition, the terms "first", "second", "number one", "number two" 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", "second", "number one", "number two" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0064] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "connect", "install", and "connect" 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 it can be indirectly connected through an intermediate medium, or it can be the internal communication of 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.

[0065] The embodiments of this specific implementation method are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, all equivalent changes made according to the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatically adjustable weeding robot weeding device, characterized in that: include: A support plate (1), wherein two sliding columns (2) are slidably arranged on the support plate (1) and are symmetrical in front and back and have axes extending from top to bottom, a rectangular plate (3) is fixedly arranged between the upper end surfaces of the two sliding columns (2), a cutting mechanism (4) is arranged between the rectangular plate (3) and the support plate (1), an auxiliary mechanism (5) is arranged between the two sliding columns (2) and the support plate (1), and a driving unit (6) is arranged on the left end surface of the support plate (1); The cutting mechanism (4) comprises a rotating column (40), the lower end surface of the rectangular plate (3) is rotatably provided with two rotating columns (40) whose axes extend from top to bottom and are symmetrical in front and back, and the lower end surfaces of the two rotating columns (40) are fixedly provided with cutting tools (41), the upper end surface of the bracket plate (1) is rotatably provided with two transmission shafts (42) whose axes extend from bottom to top and are symmetrical in front and back, and a driving group (43) is commonly provided between the two transmission shafts (42) and the bracket plate (1), and the lower end surface of the rectangular plate (3) is provided with an adjustment group (44); The auxiliary mechanism (5) comprises a U-shaped plate (50), the lower end surfaces of the two sliding columns (2) are fixedly provided with a U-shaped plate (50) with an opening facing downward and facing each other front and back, the two U-shaped plates (50) are provided with a transmission group (53), the two sliding columns (2) are fixedly sleeved with a horizontal plate (51) located between the bracket plate (1) and the U-shaped plate (50), the right end surfaces of the two horizontal plates (51) are fixedly provided with a U-shaped plate (52) with an opening facing downward, the lower end surfaces of the two vertical sections of the U-shaped plate (52) are A grass-pushing plate (546) is rotatably arranged by the vertical column one, grass-pushing groups (54) are arranged on opposite surfaces of two vertical sections of the U-shaped plate two (52), a U-shaped plate three (55) with an opening facing downward is fixedly arranged between the left end surfaces of the two horizontal plates (51), rectangular blocks (56) are fixedly arranged on the left end surfaces of the two vertical sections of the U-shaped plate three (55), grass-pulling plates (587) are rotatably arranged on the lower end surfaces of the two rectangular blocks (56) by the vertical column two, and grass-pulling groups (58) are arranged on opposite back surfaces of the two vertical sections of the U-shaped plate three (55); The adjustment group (44) comprises a moving column (440), the lower end surface of the rectangular plate (3) is fixedly provided with a moving column (440) with an axis extending from top to bottom, the lower section of the moving column (440) is provided with a roller (441) which is rotatable via a rotating shaft, and a spring (442) which is sleeved on the moving column (440) is fixedly provided between the bracket plate (1) and the rectangular plate (3).

2. The automatically adjustable weeding robot weeding device according to claim 1, characterized in that: The driving group (43) comprises a driving gear (430), the two transmission shafts (42) are both fixedly sleeved with a driving gear (430), and the two driving gears (430) are meshed with each other, the rotating column (40) is provided with two sliding grooves (431) which are symmetrically distributed in the circumference and extend from top to bottom, the two rotating columns (40) are both slidably sleeved with a transmission gear (432) which is rotatably connected to the bracket plate (1), the two rotating gears are respectively meshed with the corresponding driving gear (430), the inner ring surfaces of the two transmission gears (432) are both fixedly provided with two sliding blocks (433) which are evenly distributed in the circumference, and the two sliding blocks (433) are both located in the corresponding sliding grooves (431).

3. The automatically adjustable weeding robot weeding device according to claim 1, characterized in that: The opposite sides of the horizontal sections of the two U-shaped plates (50) are both provided with guide groups (59), the guide groups (59) comprising connecting rods (590), the opposite sides of the horizontal sections of the two U-shaped plates (50) are both fixedly provided with connecting rods (590) whose axes extend from the back to the front, the two connecting rods (590) are both fixedly connected with arc-shaped blocking plates (591) through connecting strips, and the axes of the blocking plates (591) are colinear with the axes of the rotating column (40), the inner arc surfaces of the arc sections of the two blocking plates (591) are both fixedly provided with circular plates (592) which are sleeved on the rotating column (40) and located at the lower side of the corresponding worm (530), the two circular plates (592) are irregular circles and the adjacent surfaces of the two circular plates (592) are both rectangular surfaces extending from left to right, the right sections of the two arc-shaped plates are both fixedly provided with guide plates (593), and the front and rear guide plates (593) are away from each other from left to right.

4. The automatically adjustable weeding robot weeding device according to claim 1, characterized in that: The grass pushing group (54) includes a sliding rod (540), and the opposite surfaces of the two vertical sections of the U-shaped plate (52) are fixedly provided with a sliding rod (540) with an axis extending from front to rear. The two sliding rods (540) are slidably sleeved with a slider (541), and the upper end surfaces of the two grass pushing plates (546) are provided with a slide groove (542), and the lower end surfaces of the two sliders (541) are fixedly provided with a transmission column (543) with an axis extending from top to bottom, and the two transmission columns (543) are located in the corresponding slide groove (542), and the left end surfaces of the two sliders (541) are rotatably provided with a connecting strip (544) through a connecting column, and the left end surfaces of the two connecting strips (544) away from the slider (541) are rotatably provided with a rotating bar (545) connected to the transmission group (53) through a connecting column.

5. The automatically adjustable weeding robot weeding device according to claim 1, characterized in that: The grass-pulling group (58) comprises a sliding rod (580), and the opposite back surfaces of the two vertical sections of the U-shaped plate (55) are fixedly provided with a sliding rod (580) whose axis extends from front to rear, and the two sliding rods (580) are slidably provided with a sliding block (581), and the upper end surfaces of the two grass-pulling plates (587) are provided with a sliding groove (582), and the two sliding grooves (582) and the two grass-pulling plates (587) are provided with passages evenly distributed along the grass-pulling plates (587). The lower end surfaces of the two sliders (581) are fixedly provided with transmission columns (584) with axes extending from top to bottom, and the two transmission columns (584) are located in the corresponding slide grooves (582). The right end surfaces of the two sliders (581) are rotatably provided with connecting bars (585) through connecting columns (3), and the rear end surfaces of the two connecting bars (585) away from the transmission columns (3) are rotatably provided with rotating bars (586) connected to the transmission group (53) through connecting columns (4).

6. The automatically adjustable weeding robot weeding device according to claim 1, characterized in that: The transmission group (53) comprises a worm (530), the two rotating columns (40) are both fixedly sleeved with a worm (530) located above the cutting tool (41), the vertical sections of the two U-shaped plates (50) are both penetrated by a transmission rod (532) whose axis extends from left to right, the left end faces of the two transmission rods (532) are fixedly connected to the corresponding rotating bar (586), the right end faces of the two transmission rods (532) are fixedly connected to the corresponding rotating bar (545), the two transmission rods (532) are both fixedly sleeved with a worm wheel (531) located between the two vertical sections of the U-shaped plate (50), and the two worm wheels (531) and the corresponding worm (530) are meshed with each other.

7. The automatically adjustable weeding robot weeding device according to claim 3, characterized in that: The rotating column (40) is provided with a push-down group (57) located above the circular plate (592), and the push-down group (57) includes a push bar (570). Three push bars (570) located between the worm (530) and the circular plate (592) and evenly distributed in the circumferential direction are fixedly provided on the two rotating columns (40), and push plates (571) are fixedly provided on the upper end surfaces of the six push bars (570), and the end surfaces of the six push bars (570) and the corresponding six fixedly connected push plates (571) facing the rotation direction of the corresponding rotating column (40) are jointly fixedly provided with a pulling plate (572).

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