A laser weeding robot

Abstract

The present invention relates to the field of laser weeding robots, and in particular to a laser weeding robot, comprising a mobile trolley, an energy storage device is provided at the end of the mobile trolley, and a cantilever capable of horizontal rotation is provided at the bottom end of the energy storage device, a second telescopic component is provided at one end of the cantilever, a fixing frame is fixed at the output end of the second telescopic component, two groups of third flanges are symmetrically provided on both sides of the fixing frame near the top, and two groups of fourth flanges are symmetrically provided at the bottom of both sides of the fixing frame, a weeding rod is movably installed on the inner side of the fourth flange, and a weeding claw for removing weeds from the soil is provided at the bottom end of the weeding rod. The present application realizes that the laser weeding robot can burn the roots of weeds, and solves the problem that the laser robot cannot treat the rhizomes of weeds buried in the soil, resulting in incomplete weeding.

Description

Technical Field

[0001] The invention relates to the field of laser weeding robots, in particular to a laser weeding robot. Background Art

[0002] The laser weeding robot is a modern agricultural equipment that combines laser technology, artificial intelligence and robotics technology. Its main function is to accurately remove weeds in farmland through laser irradiation, thereby achieving a weeding effect without chemical pollution. The laser weeding robot can efficiently remove weeds and improve agricultural production efficiency. The robot can accurately identify weeds and crops to ensure that crops are not damaged during the weeding process. In addition, laser weeding technology completely abandons the use of chemical herbicides, achieves a weeding effect without chemical pollution, and is conducive to the sustainable development of agriculture.

[0003] The patent document with announcement number CN117652480A discloses a laser weeding robot, including a movable body and a control system. A three-degree-of-freedom platform is arranged at the bottom of the movable body, and a laser emitting mechanism is connected under the three-degree-of-freedom platform. In addition, it also includes a first rope drive device and a second rope drive device controlled by the control system. The first rope drive device and the second rope drive device are respectively connected to the laser emitting mechanism and the three-degree-of-freedom platform through ropes, wherein the second rope drive device is used to control the movement of the three-degree-of-freedom platform in the X, Y, and Z axis directions, and the first rope drive device is used to adjust the direction of the laser emitting mechanism. The three-degree-of-freedom platform and the laser emitting mechanism of the present application are both controlled by the rope drive device, which simplifies the traditional multi-link structure, simplifies the entire control structure, reduces production and maintenance costs, and improves positioning speed and weeding efficiency. However, the following shortcomings still exist.

[0004] The laser weeding robot in the above patent document can only burn the weeds exposed outside the soil through the laser transmitter when working, thereby completing the weeding. However, although the existing laser weeding robots can burn the weeds, they process the weed rhizomes buried inside the soil, resulting in incomplete weeding and making it easy for the weeds to grow repeatedly. Therefore, the inventor proposes a laser weeding robot to solve the above problem. Summary of the invention

[0005] In view of the above problems, a laser weeding robot is provided. A second telescopic component is fixed at one end of a cantilever, and a fixing frame is arranged at the output end of the second telescopic component, so that the second telescopic component can drive the fixing frame to rotate and adjust the angle. Two groups of weeding rods that can be opened and closed are symmetrically arranged on the inner sides of the fourth flanges on both sides of the fixing frame, and weeding claws are arranged at the bottom ends of the weeding rods, so that the second telescopic component drives the weeding rods on both sides downward through the fixing frame, so that the weeding rods drive the weeding claws downward, and then the weeding rods drive the weeding claws to close, so as to grab the roots of weeds. Then the second telescopic component drives the weeding rod upward through the fixing frame, so that the weeding rod and the weeding claws pull the weeds out of the soil, and then the laser emitter burns the weeds. The laser weeding robot can burn the roots of weeds, and the problem that the laser robot cannot process the rhizomes of weeds buried in the soil, resulting in incomplete weeding, is solved.

[0006] To solve the problems of the prior art, the present invention provides a laser weeding robot, comprising a mobile cart, an energy storage device is provided at the end of the mobile cart, and a cantilever capable of horizontal rotation is provided at the bottom end of the energy storage device, a second telescopic assembly is provided at one end of the cantilever, a fixing frame is fixed at the output end of the second telescopic assembly, two groups of third flanges are symmetrically provided on both sides of the fixing frame near the top, and two groups of fourth flanges are symmetrically provided on the bottom of both sides of the fixing frame, and a weeding rod is movably installed on the inner side of the fourth flange, and a weeding claw for removing weeds from the soil is provided at the bottom end of the weeding rod to facilitate grasping the roots of the weeds, and then the weeding rod is driven upward by the second telescopic assembly through the fixing frame, so that the weeding rod and the weeding claw pull the weeds out of the soil, thereby enabling the laser weeding robot to burn the roots of the weeds to avoid incomplete weeding and repeated growth.

[0007] As a technical solution of the present invention, a third telescopic component is movably installed on the inner side of the third flange, and the output end of the third telescopic component is movably installed on the top of the weeding rod so that the two groups of weeding rods can be driven to open and close when the third telescopic component is extended or retracted.

[0008] As a technical solution of the present invention, an intelligent identification device capable of identifying weeds is installed at the center of the bottom end of the fixing frame, so that the intelligent identification device can identify the weeds to avoid the laser weeding robot from accidentally damaging crops.

[0009] As a technical solution of the present invention, a second sleeve is fixed to the outside of the bottom end of the second telescopic assembly, a second flange is provided on one side of the second telescopic assembly, and a laser emitter with an adjustable angle is movably provided on the inner side of the second flange so that the output end of the laser emitter can burn the pulled weeds to prevent the weeds from growing repeatedly.

[0010] As a technical solution of the present invention, a plurality of rotating driving members are evenly distributed at the bottom of the energy storage device, a cantilever is fixed at the output end of the rotating driving member, and a first flange is provided at the bottom of the cantilever close to one end of the rotating driving member, so that the rotating driving member can drive the cantilever to rotate horizontally, thereby expanding the weeding range.

[0011] As a technical solution of the present invention, a first telescopic component is movably installed on the inner side of the first flange, and the output end of the first telescopic component can be movably connected to the top of the laser emitter to facilitate adjusting the angle of the laser emitter when the first telescopic component is telescoped.

[0012] As a technical solution of the present invention, a first sleeve is provided at one end of the cantilever away from the rotating drive member, and a second telescopic component is installed inside the first sleeve, so that the cantilever drives the second telescopic component to rotate along the axis of the output end of the rotating drive member through the first sleeve, so that the second telescopic component can be adjusted according to the position of the weeds.

[0013] As a technical solution of the present invention, a movable slide rail bracket is fixed to the top of the movable trolley, and an air purification device for filtering smoke and dust generated during weeding is fixed to the bottom of one end of the movable slide rail bracket, so that the air purification device can filter the smoke and dust generated during weeding to avoid air pollution.

[0014] As a technical solution of the present invention, two groups of mounting brackets fixed to the bottom of the movable slide rail bracket are symmetrically arranged on both sides of the top of the energy storage device, so that the mounting brackets can fix the energy storage device.

[0015] As a technical solution of the present invention, four groups of wheel brackets are symmetrically arranged at both ends of the bottom of the mobile cart, a wheel is rotatably arranged at one end of the wheel bracket, and a shock-absorbing spring is arranged on the top of the wheel bracket, and the top end of the shock-absorbing spring is fixedly connected to the bottom of the mobile cart, so that the laser weeding robot has better adaptability.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The present application fixes the second telescopic component at one end of the cantilever and arranges a fixing frame at the output end of the second telescopic component, so that the second telescopic component drives the fixing frame to rotate and adjust the angle, symmetrically arranges two groups of weeding rods that can be opened and closed on the inner sides of the fourth flanges on both sides of the fixing frame, and arranges weeding claws at the bottom ends of the weeding rods, so that the second telescopic component drives the weeding rods on both sides downward through the fixing frame, thereby making the weeding rods drive the weeding claws downward, and then the weeding rods drive the weeding claws to close, so as to grab the roots of weeds, and then the second telescopic component drives the weeding rod upward through the fixing frame, so that the weeding rod and the weeding claws pull the weeds out of the soil, and then the laser emitter burns the weeds, thereby realizing that the laser weeding robot can burn the roots of weeds, and solves the problem that the laser robot cannot process the rhizomes of weeds buried in the soil, resulting in incomplete weeding. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a three-dimensional structure diagram of a laser weeding robot. Figure 1 .

[0019] Figure 2 This is a three-dimensional structure diagram of a laser weeding robot. Figure 2 .

[0020] Figure 3 It is a stereoscopic diagram of a movable slide rail bracket in a laser weeding robot.

[0021] Figure 4 It is a three-dimensional diagram of an energy storage device in a laser weeding robot.

[0022] Figure 5 It is a stereoscopic image of a cantilever in a laser weeding robot.

[0023] Figure 6 It is a stereoscopic diagram of a laser transmitter in a laser weeding robot.

[0024] Figure 7 The present invention is an installation diagram of a weeding rod in a laser weeding robot.

[0025] Figure 8 It is a stereoscopic diagram of a fixed frame in a laser weeding robot.

[0026] Fig. 9 It is a stereoscopic image of a weeding claw in a laser weeding robot.

[0027] The numbers in the figure are: 1. Mobile trolley; 11. Wheel bracket; 12. Shock-absorbing spring; 13. Wheel; 2. Mobile slide rail bracket; 3. Air purification device; 4. Energy storage device; 41. Mounting frame; 42. Rotating drive member; 5. Cantilever; 51. First telescopic assembly; 52. First flange; 53. First sleeve; 6. Second telescopic assembly; 61. Second sleeve; 62. Second flange; 63. Laser transmitter; 7. Fixed frame; 71. Third flange; 72. Fourth flange; 73. Weeding rod; 74. Weeding claw; 75. Third telescopic assembly; 8. Intelligent identification device. DETAILED DESCRIPTION

[0028] In order to further understand the features, technical means, specific objectives and functions of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0029] See also Figure 1-Figure 9 As shown, a laser weeding robot comprises a mobile trolley 1, an energy storage device 4 is arranged at the end of the mobile trolley 1, and a cantilever 5 capable of horizontal rotation is arranged at the bottom end of the energy storage device 4, a second telescopic assembly 6 is arranged at one end of the cantilever 5, a fixing frame 7 is fixed to the output end of the second telescopic assembly 6, two groups of third flanges 71 are symmetrically arranged on both sides of the fixing frame 7 near the top, and two groups of fourth flanges 72 are symmetrically arranged at the bottom of both sides of the fixing frame 7, a weeding rod 73 is movably installed on the inner side of the fourth flange 72, and a weeding claw 74 for removing weeds from the inside of the soil is arranged at the bottom end of the weeding rod 73.

[0030] When in use, the second telescopic component 6 is fixed to one end of the cantilever 5, and a fixing frame 7 is arranged at the output end of the second telescopic component 6, so that the second telescopic component 6 drives the fixing frame 7 to rotate and adjust the angle, and two groups of weeding rods 73 that can be opened and closed are symmetrically arranged on the inner side of the fourth flange 72 on both sides of the fixing frame 7, and weeding claws 74 are arranged at the bottom ends of the weeding rods 73, so that the second telescopic component 6 drives the weeding rods 73 on both sides downward through the fixing frame 7, so that the weeding rods 73 drive the weeding claws 74 downward, and then the weeding rods 73 drive the weeding claws 74 to close, so as to grab the roots of weeds, and then the second telescopic component 6 drives the weeding rods 73 upward through the fixing frame 7, so that the weeding rods 73 and the weeding claws 74 pull the weeds out of the soil, so that the laser weeding robot can burn the roots of the weeds to avoid incomplete weeding and repeated growth.

[0031] See also Figure 5 and Figure 7 As shown, a third telescopic assembly 75 is movably mounted on the inner side of the third flange 71 , and an output end of the third telescopic assembly 75 is movably mounted on the top end of the weeding rod 73 .

[0032] When in use, the end of the third telescopic component 75 is movably installed on the outside of the inner mounting shaft of the third flange 71, and the output end of the third telescopic component 75 is hingedly installed on the top of the weeding rod 73, so that the third telescopic component 75 drives the two groups of weeding rods 73 to open and close when it is extended or retracted.

[0033] See also Figure 7 and Figure 8 As shown, an intelligent identification device 8 capable of identifying weeds is installed at the center of the bottom end of the fixing frame 7.

[0034] When in use, the intelligent identification device 8 is fixed to the inside of the mounting groove at the center of the bottom end of the fixing frame 7 by bolts, so that the intelligent identification device 8 can identify the weeds to prevent the laser weeding robot from accidentally damaging crops.

[0035] See also Figure 5 and Figure 6 As shown, a second sleeve 61 is fixed to the outside of the bottom end of the second telescopic component 6, a second flange 62 is provided on one side of the second telescopic component 6, and a laser emitter 63 capable of adjusting the angle is movably provided inside the second flange 62.

[0036] When in use, the second sleeve 61 is fixed to the outside of the bottom end of the second telescopic assembly 6 by bolts, and then a second flange 62 is set on one side of the second sleeve 61, and then the laser emitter 63 is movably installed on the inner side of the second flange 62 through a limiting rod, so that the output end of the laser emitter 63 can burn the pulled weeds to prevent the weeds from growing repeatedly.

[0037] See also Figure 4 , Figure 5 and Figure 6 As shown, a plurality of rotating drive members 42 are evenly distributed at the bottom of the energy storage device 4 , a cantilever 5 is fixed to the output end of the rotating drive member 42 , and a first flange 52 is provided at the bottom of the cantilever 5 close to one end of the rotating drive member 42 .

[0038] When in use, the rotary drive member 42 is fixed to the bottom of the energy storage device 4 by bolts, and the cantilever 5 is installed on the output end of the rotary drive member 42, so that the rotary drive member 42 drives the cantilever 5 to rotate horizontally, thereby expanding the weeding range.

[0039] See also Figure 5 and Figure 6 As shown, a first telescopic assembly 51 is movably mounted on the inner side of the first flange 52 , and an output end of the first telescopic assembly 51 can be movably connected to the top end of the laser emitter 63 .

[0040] When in use, the end of the first telescopic component 51 is movably installed inside the inner mounting shaft of the first flange 52, and the output of the first telescopic component 51 is movably connected to the top of the laser emitter 63, so that the angle of the laser emitter 63 can be adjusted when the first telescopic component 51 is extended or retracted.

[0041] See also Figure 5 and Figure 6 As shown, a first sleeve 53 is provided at one end of the cantilever 5 away from the rotary drive member 42 , and a second telescopic assembly 6 is installed inside the first sleeve 53 .

[0042] When in use, the second telescopic assembly 6 is installed inside the first sleeve 53 at the end of the cantilever 5 and away from the rotating drive member 42, so that the cantilever 5 drives the second telescopic assembly 6 to rotate along the axis of the output end of the rotating drive member 42 through the first sleeve 53, so that the second telescopic assembly 6 can be adjusted according to the position of the weeds.

[0043] See also Figure 1 , Figure 2 and Figure 3 As shown, a movable slide rail bracket 2 is fixed to the top of the movable trolley 1, and an air purification device 3 for filtering smoke and dust generated during weeding is fixed to the bottom of one end of the movable slide rail bracket 2.

[0044] When in use, by fixing the air purification device 3 at the bottom of one end of the movable slide rail bracket 2, the air purification device 3 can filter the smoke and dust generated during weeding to avoid air pollution.

[0045] See also Figure 2 and Figure 4 As shown, two groups of mounting brackets 41 fixed to the bottom of the movable slide rail bracket 2 are symmetrically arranged on both sides of the top of the energy storage device 4 .

[0046] When in use, the two sets of mounting frames 41 are symmetrically fixed at the center of both sides of the energy storage device 4, and the top of the mounting frame 41 is fixed to one end of the movable slide rail bracket 2 close to the bottom of the air purification device 3, so that the mounting frame 41 fixes the energy storage device 4.

[0047] See also Figure 1 and Figure 2 As shown, four sets of wheel brackets 11 are symmetrically arranged at both ends of the bottom of the moving trolley 1, a wheel 13 is rotatably arranged at one end of the wheel bracket 11, and a shock-absorbing spring 12 is arranged on the top of the wheel bracket 11, and the top end of the shock-absorbing spring 12 is fixedly connected to the bottom of the moving trolley 1.

[0048] When in use, the wheel 13 is fixed to one end of the wheel bracket 11, so that the mobile cart 1 can be moved. By arranging a shock-absorbing spring 12 on the top of the wheel bracket 11, and the top of the shock-absorbing spring 12 is fixed to the bottom of the mobile cart 1, the mobile cart 1 has a good shock-absorbing function, thereby making the laser weeding robot more adaptable.

[0049] When the present application is working, the movable slide rail bracket 2 is fixed to the top of the movable trolley 1, and then the air purification device 3 is fixed to the bottom of one end of the movable slide rail bracket 2, so that the air purification device 3 filters the smoke generated during weeding to avoid air pollution, and then two sets of mounting frames 41 are symmetrically fixed at the center of both sides of the energy storage device 4, and the top of the mounting frame 41 is fixed to the bottom of one end of the movable slide rail bracket 2 close to the air purification device 3, so that the mounting frame 41 fixes the energy storage device 4, and then the rotating drive member 42 is fixed to the bottom of the energy storage device 4 by bolts, and the cantilever 5 is installed at the output end of the rotating drive member 42, so that the rotating drive member 42 drives the cantilever 5 to rotate horizontally, and a first flange 52 is provided at the bottom of one end of the cantilever 5 close to the rotating drive member 42, and the end of the first telescopic component 51 is movably installed inside the mounting shaft inside the first flange 52, and the output of the first telescopic component 51 is movably connected to the top of the laser emitter 63, so that the first telescopic component 51 The angle of the laser emitter 63 is adjusted during telescoping. A first sleeve 53 is provided at one end of the cantilever 5 away from the rotating drive member 42, and the second telescopic assembly 6 is fixed inside the first sleeve 53 at one end of the cantilever 5. A fixing frame 7 is provided at the output end of the second telescopic assembly 6, so that the second telescopic assembly 6 drives the fixing frame 7 to rotate and adjust the angle. Two groups of weeding rods 73 that can be opened and closed are symmetrically provided on the inner side of the fourth flanges 72 on both sides of the fixing frame 7, and a weeding claw 74 is provided at the bottom end of the weeding rod 73, so that the second telescopic assembly 6 drives the weeding rod 73 downward through the fixing frame 7, so that the weeding rod 73 drives the weeding claw 74 downward, and then the weeding rod 73 drives the weeding claw 74 to close, so as to grab the roots of weeds. Then, the second telescopic assembly 6 drives the weeding rod 73 upward through the fixing frame 7, so that the weeding rod 73 and the weeding claw 74 pull the weeds out of the soil, and then the roots of the weeds are burned by the laser emitter 63 to avoid incomplete weeding and repeated growth, thereby completing the weeding work.

[0050] The above embodiments only express one or several implementation modes of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. A laser weeding robot, comprising a mobile vehicle (1), characterized in that: An energy storage device (4) is provided at the end of the mobile vehicle (1), and a cantilever (5) capable of horizontal rotation is provided at the bottom end of the energy storage device (4), a second telescopic assembly (6) is provided at one end of the cantilever (5), a fixing frame (7) is fixed to the output end of the second telescopic assembly (6), two groups of third flanges (71) are symmetrically provided on both sides of the fixing frame (7) near the top, and two groups of fourth flanges (72) are symmetrically provided at the bottom of both sides of the fixing frame (7), a weeding rod (73) is movably installed inside the fourth flange (72), and a weeding claw (74) for removing weeds from the soil is provided at the bottom end of the weeding rod (73); A third telescopic assembly (75) is movably mounted on the inner side of the third flange (71), and an output end of the third telescopic assembly (75) is movably mounted on the top end of the weeding rod (73); An intelligent identification device (8) capable of identifying weeds is installed at the center of the bottom end of the fixing frame (7); A second sleeve (61) is fixed to the outside of the bottom end of the second telescopic assembly (6), a second flange (62) is provided on one side of the second telescopic assembly (6), and a laser emitter (63) capable of adjusting the angle is movably provided on the inner side of the second flange (62); A plurality of rotating drive members (42) are evenly distributed at the bottom of the energy storage device (4); a cantilever (5) is fixed to the output end of the rotating drive member (42); and a first flange (52) is provided at the bottom of one end of the cantilever (5) close to the rotating drive member (42); A first telescopic assembly (51) is movably mounted on the inner side of the first flange (52), and an output end of the first telescopic assembly (51) is capable of being movably connected to the top end of the laser emitter (63); A first sleeve (53) is provided at one end of the cantilever (5) away from the rotary drive member (42), and a second telescopic assembly (6) is installed inside the first sleeve (53).

2. A laser weeding robot according to claim 1, characterized in that: A movable slide rail bracket (2) is fixed to the top of the movable trolley (1), and an air purification device (3) for filtering smoke and dust generated during weeding is fixed to the bottom of one end of the movable slide rail bracket (2).

3. The laser weeding robot according to claim 1, characterized in that: Two groups of mounting frames (41) fixed to the bottom of the movable slide rail bracket (2) are symmetrically arranged on both sides of the top of the energy storage device (4).

4. The laser weeding robot according to claim 1, characterized in that: Four sets of wheel brackets (11) are symmetrically arranged at two ends of the bottom of the moving trolley (1), a wheel (13) is rotatably arranged at one end of the wheel bracket (11), a shock absorbing spring (12) is arranged at the top of the wheel bracket (11), and the top end of the shock absorbing spring (12) is fixedly connected to the bottom of the moving trolley (1).

Images