Spartina alterniflora mowing rotary tillage robot

Abstract

The invention belongs to the field of agricultural machinery, and particularly relates to a spartina alterniflora mowing and rotary tillage robot which comprises a power mechanism, a walking mechanism, a mowing mechanism and a rotary tillage mechanism. Outer supporting leg assemblies are fixed to the four corners of the lower surface of a steel plate of the rack assembly. Guide rails of the sliding assembly are fixed to the lower surface of the steel plate, the upper surface of an upper moving plane slides on the guide rails, the two ends of the upper moving plane are fixed to oil cylinder bodies, and oil cylinder telescopic rods are fixed to the front end and the rear end of the steel plate. The rotary assembly comprises a lower moving plane and a gear, the gear is connected with a driving shaft of a motor, and a motor shell is fixed to the upper moving plane; the upper moving plane and the lower moving plane can rotate, and the inner supporting leg assemblies are fixed to the four corners of the lower surface of the lower moving plane. The mowing mechanism and the rotary tillage mechanism are fixed on the steel plate, so that spartina alterniflora at different heights can be effectively mowed, and other operation functions can be realized by replacing operation accessories.

Description

Technical Field

[0001] The invention belongs to the field of agricultural machinery, and in particular relates to a Spartina alterniflora mowing and rotary tilling robot. Background Art

[0002] This invasive alien species, Spartina alterniflora, has extremely strong reproductive and spreading capabilities, which destroys biodiversity, blocks waterways, affects coastal fishery production, and seriously degrades coastal wetland ecosystems.

[0003] At present, the prevention and control of Alternaria alternifolia mainly includes physical control, chemical control and biological substitution. Chemical control mainly uses chemical agents such as herbicides, but the disadvantage is that it will cause serious pollution to the environment. Biological substitution mainly uses fast-growing tree species such as Sonneratia apetala to replace Alternaria alternifolia, but the invasive characteristics of fast-growing tree species are questioned and may become new invasive species. Physical control mainly includes manual removal, dike flooding and mowing control. The labor cost required for manual removal is high, and there is a problem of asexual reproduction and secondary growth. Dike flooding is used in specific environments and is not suitable for open environments such as mudflats outside forests. Mechanical mowing can remove Alternaria alternifolia on a large scale efficiently and at low cost.

[0004] However, current mowing machines have difficulty traveling on low-pressure terrains such as tidal flats and wetlands. Their weeding and tilling mechanisms are also unable to effectively remove Alternaria japonica at different heights, let alone clean the roots of Alternaria japonica 30 to 50 cm underground. Summary of the invention

[0005] The purpose of the present invention is to provide a Spartina alterniflora mowing and rotary tilling robot, which can adjust the height above the ground and adapt to the rugged terrain of the tidal flat, so as to effectively mow Spartina alterniflora at different heights, and can realize other working functions by replacing working accessories.

[0006] The purpose of the present invention is achieved through the following technical solutions: A Spartina alterniflora mowing and rotary tilling robot comprises a power mechanism 100, a walking mechanism 200, a mowing mechanism 300 and a rotary tilling mechanism 400; the walking mechanism 200 comprises a frame assembly 210, a sliding assembly 220, a rotating assembly 230, an inner supporting leg assembly 240 and an outer supporting leg assembly 250; the outer supporting leg assembly 250 is fixedly connected to the four corners of the lower surface of a steel plate 217 of the frame assembly 210; the sliding assembly 220 comprises a guide rail 225, an upper moving plane 228 with a through hole in the middle and two oil cylinders 222 parallel to the guide rail 225, the guide rail 225 is fixedly connected to the lower surface of the steel plate 217, the upper surface of the upper moving plane 228 is slidably connected to the guide rail 225, and the two ends of the upper moving plane 228 are connected to the guide rail 225. The cylinder body of the cylinder 222 is fixedly connected, and the telescopic rod of the cylinder 222 is fixedly connected to the front and rear ends of the steel plate 217; the rotating assembly 230 includes a lower moving plane 234 with an internal gear and a gear 232 meshing with the internal gear, the gear is connected to the driving shaft of the motor 231, and the motor 231 housing is fixedly connected to the upper moving plane 228; the upper moving plane 228 and the lower moving plane 234 are rotatably connected through a slewing bearing 233, and the inner supporting leg assembly 240 is fixedly connected to the four corners of the lower surface of the lower moving plane 234; the mowing mechanism 300 is fixedly connected to the front end of the steel plate 217 through the mowing mechanism lifting structure 510, and the rotary tillage mechanism 400 is fixedly connected to the rear end of the steel plate 217 through the rotary tillage assembly lifting structure 410.

[0007] As a more optimal technical solution of the present invention, the mowing mechanism 300 includes a mowing mechanism lifting structure 310, a fixed seat 321, a weeding tool 328, a cutting knife 329, a cutting knife driving motor 331 and a gear driving motor 332; the two ends of the mowing mechanism lifting structure 310 are respectively fixedly connected to the steel plate 217 and the fixed seat 321, one end of the fixed seat 321 is fixedly connected to the gear driving motor 332, the gear driving motor 332 drives the chain 327 to rotate around the center of the gear driving motor 332, a plurality of gears 325 are evenly distributed on the chain 327, the weeding tool 328 is fixedly connected to the gear 325, the middle part of the fixed seat 321 is fixedly connected to the cutting knife driving motor 331, and the cutting knife driving motor 331 drives the lever 323 to rotate around the center of the eccentric disk 322 through the eccentric disk 322.

[0008] As a better technical solution of the present invention, the mowing mechanism lifting structure 310 is divided into two, one of which has two ends fixedly connected to the steel plate 217 and the fixed seat 321 respectively; the mowing mechanism 300 also includes a slide groove fixed seat 324, the slide groove fixed seat 324 is fixedly connected to the fixed seat 321, and one end of the other is hinged on the steel plate 217, and the other end is slidably connected in the slide groove fixed seat 324.

[0009] As a better technical solution of the present invention, the rotary tillage mechanism 400 includes a rotary tillage lifting structure 410, a transmission shaft 422, a rotating knife shaft 428, a blade fixing frame 429, and a blade 430, one end of which is fixedly connected to the steel plate 217; the other end of the rotary tillage lifting structure 410 is fixedly connected to the blade fixing frame 429, the transmission shaft 422 and the rotating knife shaft 428 are chain-drivenly connected, the transmission shaft 422 is connected to the rotating shaft of the rotary tillage motor 421 fixedly connected to the blade fixing frame 429, and the blade 430 is installed on the rotating knife shaft 428.

[0010] As a better technical solution of the present invention, the inner support leg assembly 240 includes a cylinder rod fixing seat 241, an inner support cylinder 242, an inner first leg 243, a cylinder barrel fixing seat 244, an inner second leg 245, a driving motor 247 and a track 248; the cylinder rod of the inner support cylinder 242 is fixedly connected to the end of the inner first leg 243 through the cylinder rod fixing seat 241, and the cylinder barrel is fixedly connected to the inner second leg 245 through the cylinder barrel fixing seat 244. Under the drive of the inner support cylinder 242, the inner first leg 243 and the inner second leg 245 slide relative to each other, and the track support frame 246 is installed at the bottom of the inner second leg 245, and the track 248 is fixedly connected to the track support frame 246.

[0011] As a more optimal technical solution of the present invention, the outer support leg assembly 250 includes a cylinder rod fixing seat 251, an outer support cylinder 252, an outer first-level leg 253, a cylinder barrel fixing seat 254, an outer second-level leg 255, a ball joint ball seat 257 and a foot end bottom plate 258. The outer support cylinder 252 is built into the support leg, and the cylinder rod of the outer support cylinder 252 is fixedly connected to the end of the first-level leg 253 through the cylinder rod fixing seat 251, and the cylinder barrel is fixedly connected to the end of the second-level leg 255 through the cylinder barrel fixing seat 254. Under the drive of the outer support cylinder 252, the outer first-level leg 253 and the outer second-level leg 255 slide relatively. As a more optimal technical solution of the present invention, an airbag 259 is installed at the bottom of the foot end base plate 258, and the airbag 259 can produce local deformation when contacting the ground.

[0012] As a more optimal technical solution of the present invention, the mowing mechanism lifting structure 310 includes a cylinder fixing seat 311, a mowing lifting cylinder 312, a mowing secondary leg 313, a fixing block 314, a cylinder rod fixing seat 320 and a mowing primary leg 321. The mowing primary leg 321 extends into the mowing secondary leg 313 and can slide relatively. The cylinder rod fixing seat 320 is fixed to the end of the mowing secondary leg 313. The cylinder fixing seat 311 is fixedly connected to the mowing primary leg 321. The mowing lifting cylinder 312 is fixed by the cylinder rod fixing seat 320 and the cylinder fixing seat 311. Under the drive of the lifting cylinder 312, the mowing primary leg 321 and the mowing secondary leg 313 slide relatively. The weeding tool is connected to the mowing mechanism lifting structure 310 through the pin 318.

[0013] As a more preferred technical solution of the present invention, the rotary tillage lifting structure 410 includes a primary leg 411, a rotary tillage lifting cylinder 412, a cylinder barrel fixing seat 413, a secondary leg 414, and a cylinder rod fixing seat 415. The cylinder rod of the lifting cylinder 412 is fixed to the end of the secondary leg 414 through the cylinder rod fixing seat 415, and the cylinder barrel of the rotary tillage lifting cylinder 412 is fixed to the end of the primary leg 411 through the cylinder barrel fixing seat 413, and the lifting cylinder 412 is used to control the extension and retraction of the secondary leg 414.

[0014] The beneficial effects are: The robot provided by the present invention comprises two moving modes, namely a foot-type walking mode and a track-driven mode, which can enable the robot to travel on low-pressure terrains and structured terrains such as tidal flats and wetlands, and can effectively mow Alpinia serrata of different heights.

[0015] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a front view of the structure of the mowing and rotary tilling robot of the present invention.

[0017] Figure 2 The utility model is an axonometric diagram of the structure of the mowing and rotary tilling robot of the present invention.

[0018] Figure 3 It is a structural diagram of the walking mechanism of the present invention.

[0019] Figure 4 It is a structural diagram of the rack assembly of the present invention.

[0020] Figure 5 It is a structural diagram of the sliding assembly of the present invention.

[0021] Figure 6 It is a structural diagram of the rotary assembly of the present invention.

[0022] Figure 7 It is a structural diagram of the inner supporting leg assembly of the present invention.

[0023] Figure 8 It is a structural diagram of the outer support leg assembly of the present invention.

[0024] Fig. 9 It is a structural diagram of the mowing mechanism of the present invention.

[0025] Fig.10 It is a front view of the mowing structure of the present invention.

[0026] Fig.11 It is a structural diagram of the lifting structure of the mowing mechanism of the present invention.

[0027] Fig.12It is a structural diagram of the rotary tillage mechanism of the present invention.

[0028] Fig.13 It is a structural diagram of the lifting structure of the rotary tillage mechanism of the present invention.

[0029] In the figure, the power mechanism 100; Walking mechanism 200: frame assembly 210, sliding assembly 220, slewing assembly 230, inner supporting leg assembly 240), outer supporting leg assembly 250; Frame assembly 210: angle steel 211, fixing plate 212, I-beam 213, connecting frame 214, I-beam 215, fixing frame 216, steel plate 217, steel plate 218; Sliding assembly 220: cylinder rod fixing frame 221, displacement cylinder 222, cylinder barrel fixing seat 223, limiting angle steel 224, guide rail 225, slider 226, support frame 227, upper moving plane 228, square steel 229; Rotating assembly 230: steering motor 231, gear 232, slewing bearing 233, lower moving plane 234, connecting frame 235; Inner support leg assembly 240: cylinder rod fixing seat 241, inner support cylinder 242, inner primary leg 243, cylinder fixing seat 244, inner secondary leg 245, crawler support frame 246, drive motor 247, crawler 248; External support leg assembly 250: cylinder rod fixing seat 251, external support cylinder 252, external primary leg 253, cylinder fixing seat 254, external secondary leg 255, flange seat 256, ball joint ball seat 257, foot end bottom plate 258, air bag 259; The mowing mechanism 300 includes a mowing mechanism lifting structure 310, a fixing seat 321, an eccentric disc 322, a lever 323, a slide fixing seat 324, a shifting tooth 325, a gear 326, a chain 327, a grass-moving cutter 328, a cutting knife 329, a cutting knife driving motor 331, and a shifting tooth driving motor 332; The mowing mechanism lifting structure 310 includes: a cylinder fixing seat 311, a mowing lifting cylinder 312, a mowing secondary leg 313, a fixing block 314, a sleeve 315, a bearing 316, a sleeve 317, a pin 318, a channel steel 319, a cylinder rod fixing seat 320, and a mowing primary leg 321; Rotary tillage mechanism 400: rotary tillage lifting structure 410, rotary tillage motor 421, transmission shaft 422, small sprocket 423, chain 424, large sprocket 425, tillage depth adjustment device 426, angle steel 427, rotating blade shaft 428, blade fixing frame 429, blade 430, gear box 431; The rotary tillage lifting structure 410 includes a rotary tillage first-stage leg 411 , a rotary tillage lifting cylinder 412 , a cylinder barrel fixing seat 413 , a rotary tillage second-stage leg 414 , and a cylinder rod fixing seat 415 . DETAILED DESCRIPTION

[0030] The present invention will be further described in detail below with reference to the accompanying drawings.

[0031] like Figure 1 and Figure 2 As shown, the present invention provides a mowing and rotary tilling robot for Spartina alterniflora, comprising a power mechanism 100, a walking mechanism 200, a mowing mechanism 300 and a rotary tilling mechanism 400; wherein the walking mechanism 200 enables the robot to travel on tidal flat terrain and structured terrain respectively, the mowing mechanism 300 mows the Spartina alterniflora, and the rotary tilling mechanism 400 rotary tills the mowed area. The walking mechanism 200 includes a frame assembly 210, a sliding assembly 220, a rotating assembly 230, an inner supporting leg assembly 240 and an outer supporting leg assembly 250; the frame assembly 210 includes a steel plate 217, and the outer supporting leg assemblies 250 are fixedly connected at the four corners of the lower surface of the steel plate 217; the sliding assembly 220 includes a guide rail 225, an upper moving plane 228 with a through hole in the middle, and two oil cylinders 222 parallel to the guide rail 225, the guide rail 225 is fixedly connected to the lower surface of the steel plate 217, the upper surface of the upper moving plane 228 is slidably connected to the guide rail 225, the two ends of the upper moving plane 228 are fixedly connected to the cylinder body of the oil cylinder 222, and the oil cylinder 222 The telescopic rod is fixedly connected to the front and rear ends of the steel plate 217; the rotating assembly 230 includes a lower moving plane 234 with an internal gear and a gear 232 meshing with the internal gear, the gear is connected to the driving shaft of the motor 231, and the motor 231 housing is fixedly connected to the upper moving plane 228; the upper moving plane 228 and the lower moving plane 234 are rotatably connected through a slewing bearing 233, and the inner support leg assembly 240 is fixedly connected to the four corners of the lower surface of the lower moving plane 234; the mowing mechanism 300 is fixedly connected to the front end of the steel plate 217 through the mowing mechanism lifting structure 510, and the rotary tillage mechanism 400 is fixedly connected to the rear end of the steel plate 217 through the rotary tillage assembly lifting structure 410.

[0032] like Figure 3As shown, the walking mechanism 200 realizes two moving modes, namely, the foot-type walking mode and the crawler driving mode, and can realize the robot's travel on low-pressure terrain and structured terrain such as mudflats and wetlands. At the same time, in the foot-type mode, the whole machine can be turned through the slewing assembly 230. Specifically, it includes a frame assembly 210, a sliding assembly 220, a slewing assembly 230, an inner support leg assembly 240, and an outer support leg assembly 250. The relative sliding of the inner support leg assembly 240 and the outer support leg assembly 250 in the forward direction is controlled by the extension and contraction of the two displacement cylinders 222, and the inner support leg assembly 240 and the outer support leg assembly 250 that alternately touch the ground under the drive of the inner support cylinder 242 are coordinated to complete the inchworm-like movement, thereby realizing the walking function of low-pressure non-structured terrain, and at the same time, the whole machine can be turned through the slewing assembly 230. In addition, when passing through structured ground, the mechanism can also achieve a higher speed of travel by driving the crawler 248 alone.

[0033] like Figure 4 As shown, the frame assembly 210 includes an angle steel 211, a fixing plate 212, an I-beam 213, a connecting frame 214, an I-beam 215, a fixing frame 216, a steel plate 217, and a steel plate 218. The angle steel 211 is welded to the fixing plate 212, and the fixing plate 212 is connected to the I-beam 213 by bolts, and is used to fix the mowing mechanism 300 and the rotary tillage mechanism 400. The two I-beams 213 are fixed by eight channel steels, and the I-beam 213 and the I-beam 215 are fixed by eleven channel steels. The fixing plate 212 is fixed to the I-beam 213 by bolts. The fixing frame 216 is fixed to the I-beam 213 by bolts. One end of the connecting frame 214 is welded to the I-beam 215, and the other end is welded to the fixing frame 216, and is used to fix the outer support leg assembly 250. The steel plate 217 is welded and fixed between the I-beam 213 and the I-beam 215 , and the steel plate 180 is welded and fixed between the two I-beams 213 , so as to facilitate the operation of the driver.

[0034] like Figure 5As shown, the sliding assembly 220 includes a cylinder rod fixing frame 221, a displacement oil cylinder 222, a cylinder barrel fixing seat 223, a limiting angle steel 224, a guide rail 225, a slider 226, a support frame 227, an upper moving plane 228, and a square steel 229. The cylinder rod fixing frame 221 is mounted on two fixing frames 216 by bolts. The cylinder barrel fixing seat 223 is fixed on the square steel 229, and the square steel 229 is fixed on the upper moving plane 228. The cylinder rod of the displacement oil cylinder 222 is fixed on the fixing frame 221, and the cylinder barrel is fixed on the cylinder barrel fixing seat 223. The guide rail 225 is connected to the fixing frame 216 by bolts, and the slider 226 is mounted on the guide rail 225. The limiting angle steel 224 is mounted on both ends of the guide rail 225 to limit the maximum sliding distance of the slider 226 on the guide rail 225. The support frame 227 is fixed on the upper moving plane 228 to install the rotary motor 231. Driven by the displacement cylinder 222 , the upper moving plane 228 and the parts connected thereto slide relative to the frame assembly 210 through the sliding of the slider 226 on the guide rail 225 .

[0035] like Figure 6 As shown, the slewing assembly 230 includes a steering motor 231, a gear 232, a slewing bearing 233, a lower moving plane 234, and a connecting frame 235. The steering motor 231 is mounted on the support frame 227, and the gear 232 is mounted on the steering motor 231. The outer race of the slewing bearing 233 is connected to the upper moving plane 228, and the inner race of the slewing bearing 233 is connected to the lower moving plane 234. The connecting frame 235 is mounted on the lower moving plane 234 and is used to fix the inner support leg assembly 240. Driven by the steering motor 231, the gear 232 drives the slewing bearing 233 to rotate, so that the lower moving plane 234 and its connected structure rotate relative to the upper moving plane 228 and its connected structure.

[0036] like Figure 7 As shown, the inner support leg assembly 240 includes a cylinder rod fixing seat 241, an inner support oil cylinder 242, an inner primary leg 243, a cylinder barrel fixing seat 244, an inner secondary leg 245, a driving motor 247, and a crawler 248. The cylinder rod fixing seat 241 is fixed to the end of the inner primary leg 243, and the cylinder barrel fixing seat 244 is fixed to the inner secondary leg 245. The cylinder rod of the inner support oil cylinder 242 is fixed to the cylinder rod fixing seat 241, and the cylinder barrel is fixed to the cylinder barrel fixing seat 244. Under the drive of the inner support oil cylinder 242, the inner primary leg 243 and the inner secondary leg 245 slide relative to each other. The crawler support frame 246 is installed at the bottom of the inner secondary leg 245, and the crawler 248 is fixed to the crawler support frame 246. In structured terrain, the mowing and rotary tilling robot can achieve the movement and steering of the whole machine through the crawler 248 under the drive of the driving motor 247.

[0037] like Figure 8As shown, the outer support leg assembly 250 includes a cylinder rod fixing seat 251, an outer support oil cylinder 252, an outer primary leg 253, a cylinder barrel fixing seat 254, an outer secondary leg 255, a flange seat 256, a ball joint ball seat 257, a foot end bottom plate 258, and an air bag 259. The cylinder rod of the outer support oil cylinder 252 is fixed to the end of the outer primary leg 253 through the cylinder rod fixing seat 251, and the cylinder barrel of the outer support oil cylinder 252 is fixed to the end of the outer secondary leg 255 through the cylinder barrel fixing seat 254. Under the drive of the outer support oil cylinder 252, the outer primary leg 253 and the outer secondary leg 255 can slide relative to each other. The flange seat 256 is fixed on the outer secondary leg 255, and the ball joint ball seat 257 is used to connect the flange seat 256 and the foot end base plate 258. At the same time, in order to achieve effective support on the tidal flat terrain, an air bag 259 is installed on the foot end base plate 258. The air bag 259 can produce local deformation when it contacts the ground, and thus has a certain ability to compensate for the terrain.

[0038] like Fig. 9 and Fig.10 As shown, the mowing mechanism 300 includes a mowing mechanism lifting structure 310, a fixed seat 321, an eccentric disk 322, a lever 323, a chute fixed seat 324, a shifting tooth 325, a gear 326, a chain 327, a weeding cutter 328, a cutter 329, a cutter driving motor 331 and a shifting tooth driving motor 332. One end of the two mowing mechanism lifting structures 310 is welded to the fixed plate 212 through an angle steel 211, and the other end is respectively fixed to the fixed seat 321 and the chute fixed seat 324, the shifting tooth driving motor 332 is connected to the eccentric disk 322, one end of the lever 323 is installed on the eccentric disk, and the other end is installed in the groove of the cutter 329. The gear 326 is installed on the shifting tooth driving motor 332, the chain 327 is wound around the gear 326, and the shifting teeth 325 are welded to the chain 327 at equal intervals. Under the drive of the tooth drive motor 332, the gear 326 drives the chain 327 to rotate, and the tooth 325 drives the weeding cutter 328 to rotate, and the Spartina alterniflora mowing the front of the rotary tillage robot is moved between the blades of the cutter 329. Under the drive of the cutter drive motor 331, the lever 323 moves in a circle around the center of the eccentric disk 322, thereby promoting the cutter 329 to do reciprocating linear motion, and the cutter is cut. The height of the cutter is adjusted by the mowing mechanism lifting structure 310, and when the two mowing mechanism lifting structures 310 are extended to different heights by the pin 318 that is hingedly installed at one end and installed at one end of the slideway, the cutter 329 can have a certain tilt angle relative to the frame assembly 210 to adapt to the terrain change.

[0039] like Fig.11As shown, the mowing mechanism lifting structure 310 includes a cylinder fixing seat 311, a mowing lifting oil cylinder 312, a mowing secondary leg 313, a fixing block 314, a sleeve 315, a bearing 316, a sleeve 317, a pin 318, a channel steel 319, a cylinder rod fixing seat 320 and a mowing primary leg 321. The mowing primary leg 321 extends into the mowing secondary leg 313 and can slide relatively, the cylinder rod fixing seat 320 is fixed to the end of the mowing secondary leg 313, and the cylinder fixing seat 311 is fixed to the mowing primary leg 321. The mowing lifting oil cylinder 312 is fixed by the cylinder rod fixing seat 320 and the cylinder fixing seat 311. Driven by the mowing lifting cylinder 312, the first-stage mowing leg 321 and the second-stage mowing leg 313 slide relative to each other, so that the mowing mechanism 300 can adjust its height to adapt to the terrain changes, and the weeding cutter is connected to the mowing mechanism lifting structure 310 through the pin 318, so that when the protruding heights of the mowing lifting cylinders 312 on both sides are inconsistent, the cutter 329 can achieve a certain tilt angle relative to the frame assembly 210. The channel steel 319 is welded to the second-stage mowing leg 313, the pin 318 is welded to the channel steel 319, and the fixing block is welded to the end of the pin 318 to play a limiting role.

[0040] like Fig.12 As shown, the rotary tillage mechanism 400 includes a rotary tillage lifting structure 410, a rotary tillage motor 421, a transmission shaft 422, a small sprocket 423, a chain 424, a large sprocket 425, a tillage depth adjustment device 426, an angle steel 427, a rotary cutter shaft 428, a blade fixing frame 429, a blade 430, and a gear box 431. One end of the two rotary tillage lifting structures 410 is welded to the fixing plate 212 through the angle steel 211, and the other end is fixed to the rotary tiller 420 through the angle steel 427. The rotary tillage motor 421 is connected to the gear box 431, and the power is transmitted to the transmission shaft 422 through the bevel gear in the gear box 431, and the small sprocket 423 is driven by the key connection, and then the large sprocket 425 is driven by the chain 424, and then the rotary cutter shaft 428 is driven by the key connection, and finally the blade 430 fixed on the rotary cutter shaft 428 through the blade fixing frame 429 is driven. In addition, during the plowing process, the plowing depth can be adjusted by the plowing depth adjustment device 426, and the ground heights of the mowing mechanism 300 and the rotary tillage mechanism 400 can be adjusted respectively by the rotary tillage lifting structure 410 and the mowing mechanism lifting structure 310 to adapt to terrain changes, thereby effectively mowing the Alpinia scabra of different heights.

[0041] like Fig.12As shown, the rotary tillage lifting structure 410 includes a rotary tillage primary leg 411, a rotary tillage lifting oil cylinder 412, a cylinder barrel fixing seat 413, a rotary tillage secondary leg 414 and a cylinder rod fixing seat 415. One end of the rotary tillage lifting structure 410 is welded to the fixing plate 212 through an angle steel 211, and the other end is fixed to the rotary tiller 420 through an angle steel 427. The cylinder rod of the rotary tillage lifting oil cylinder 412 is fixed to the end of the rotary tillage secondary leg 414 through a cylinder rod fixing seat 415, and the cylinder barrel of the rotary tillage lifting oil cylinder 412 is fixed to the end of the rotary tillage primary leg 411 through a cylinder barrel fixing seat 413. During the rotary tillage process, the rotary tillage secondary leg 414 can be controlled to extend and retract by the rotary tillage lifting oil cylinder 412, thereby adjusting the height of the rotary tillage mechanism 400 to control the rotary tillage depth to adapt to terrain changes.

[0042] In the description of the present invention, it is necessary to understand that the terms "center", "vertical", "up", "down", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0043] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0044] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0045] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

[0046] The specific implementation of the present invention described above does not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A Spartina alterniflora mowing and rotary tilling robot, characterized in that: It includes a power mechanism, a walking mechanism, a mowing mechanism and a rotary tillage mechanism; the walking mechanism includes a frame assembly, a sliding assembly, a rotating assembly, an inner supporting leg assembly and an outer supporting leg assembly; the outer supporting leg assemblies are fixedly connected to the four corners of the lower surface of the steel plate of the frame assembly; the sliding assembly includes a guide rail, an upper moving plane with a through hole in the middle and two oil cylinders parallel to the guide rail, the guide rail is fixedly connected to the lower surface of the steel plate, the upper surface of the upper moving plane is slidably connected to the guide rail, the two ends of the upper moving plane are fixedly connected to the cylinder body, and the oil cylinder The telescopic rod is fixedly connected to the front and rear ends of the steel plate; the rotary assembly includes a lower moving plane with an internal gear and a gear meshing with the internal gear, the gear is connected to the driving shaft of the motor, and the motor housing is fixedly connected to the upper moving plane; the upper moving plane and the lower moving plane are rotatably connected through a slewing bearing, and the inner supporting leg assembly is fixedly connected to the four corners of the lower surface of the lower moving plane; the mowing mechanism is fixedly connected to the front end of the steel plate through the mowing mechanism lifting structure, and the rotary tillage mechanism is fixedly connected to the rear end of the steel plate through the rotary tillage assembly lifting structure.

2. The Spartina alterniflora mowing and rotary tilling robot according to claim 1, characterized in that: The mowing mechanism comprises a mowing mechanism lifting structure, a fixed seat, a grass-pulling tool, a cutting knife, a cutting knife driving motor and a gear-shifting driving motor; the two ends of the mowing mechanism lifting structure are respectively fixedly connected to a steel plate and a fixed seat, one end of the fixed seat is fixedly connected to a gear-shifting driving motor, the gear-shifting driving motor drives a chain to rotate around the center of the gear-shifting driving motor, a plurality of gears are evenly distributed on the chain, a grass-pulling tool is fixedly connected to the gears, the middle part of the fixed seat is fixedly connected to a cutting knife driving motor, the cutting knife driving motor drives a shifting rod to rotate around the center of the eccentric disk through an eccentric disk.

3. The Spartina alterniflora mowing and rotary tilling robot according to claim 1, characterized in that: The mowing mechanism has two lifting structures, one of which has two ends fixedly connected to the steel plate and the fixed seat respectively; the mowing mechanism also includes a slide groove fixed seat, which is fixedly connected to the fixed seat, and one end of the other is hinged on the steel plate, and the other end is slidably connected in the slide groove fixed seat.

4. The Spartina alterniflora mowing and rotary tilling robot according to claim 1, characterized in that: The rotary tillage mechanism includes a rotary tillage lifting structure, a transmission shaft, a rotating knife shaft, a blade fixing frame, and a blade, one end of which is fixedly connected to a steel plate; the other end of the rotary tillage lifting structure is fixedly connected to the blade fixing frame, the transmission shaft is chain-drivenly connected to the rotating knife shaft, the transmission shaft is connected to the rotating shaft of a rotary tillage motor fixedly connected to the blade fixing frame, and the blade is installed on the rotating knife shaft.

5. The Spartina alterniflora mowing and rotary tilling robot according to claim 1, characterized in that: The inner supporting leg assembly includes a cylinder rod fixing seat, an inner supporting oil cylinder, an inner first-level leg, a cylinder barrel fixing seat, an inner second-level leg, a driving motor and a crawler track; the cylinder rod of the inner supporting oil cylinder is fixedly connected to the end of the inner first-level leg through the cylinder rod fixing seat, and the cylinder barrel is fixedly connected to the inner second-level leg through the cylinder barrel fixing seat; the inner first-level leg and the inner second-level leg slide relative to each other under the drive of the inner supporting oil cylinder, and the crawler track support frame is installed at the bottom of the inner second-level leg, and the crawler track is fixedly connected to the crawler track support frame.

6. The Spartina alterniflora mowing and rotary tilling robot according to claim 1, characterized in that: The outer support leg assembly includes a cylinder rod fixing seat, an outer support cylinder, an outer first-level leg, a cylinder barrel fixing seat, an outer second-level leg, a flange seat, a ball joint ball seat and a foot end base plate. The outer support cylinder is built into the support leg, the cylinder rod of the outer support cylinder is fixedly connected to the end of the first-level leg through the cylinder rod fixing seat, and the cylinder barrel is fixedly connected to the end of the second-level leg through the cylinder barrel fixing seat. Under the drive of the outer support cylinder, the outer first-level leg and the outer second-level leg slide relatively.

7. The Spartina alterniflora mowing and rotary tilling robot according to claim 1, characterized in that: An air bag is installed at the bottom of the foot end bottom plate.

8. The Spartina alterniflora mowing and rotary tilling robot according to claim 1, characterized in that: The mowing mechanism lifting structure includes a cylinder barrel fixing seat, a mowing lifting cylinder, a second-level mowing leg, a fixing block, a sleeve, a bearing, a sleeve, a pin, a channel steel, a cylinder rod fixing seat and a first-level mowing leg. The first-level mowing leg extends into the second-level mowing leg and can slide relatively. The cylinder rod fixing seat is fixed to the end of the second-level mowing leg. The cylinder barrel fixing seat is fixedly connected to the first-level mowing leg. The mowing lifting cylinder is fixed by the cylinder rod fixing seat and the cylinder barrel fixing seat. Under the drive of the lifting cylinder, the first-level mowing leg and the second-level mowing leg slide relatively.

9. The Spartina alterniflora mowing and rotary tilling robot according to claim 1, characterized in that: The rotary tillage lifting structure includes a primary leg, a rotary tillage lifting cylinder, a cylinder barrel fixing seat, a secondary leg, and a cylinder rod fixing seat; the cylinder rod of the lifting cylinder is fixed to the end of the secondary leg through the cylinder rod fixing seat, and the cylinder barrel of the rotary tillage lifting cylinder is fixed to the end of the primary leg through the cylinder barrel fixing seat, and the extension and retraction of the secondary leg is controlled by the lifting cylinder.

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