Weed crushing and weeding robot

Abstract

The invention discloses a weed smashing and weeding robot which mainly comprises a main body box, a weed pulling rod, optical components, a clamping jaw mechanism, a weed smashing device, an air cylinder and a weed pushing plate, a receding cylinder is vertically arranged in the main body box, a power and control system and an air pressure unit are arranged in the main body box, and the two optical components are installed on the lower sides of the front end and the rear end of the main body box correspondingly. The left side and the right side of the main body box are each provided with two supporting leg devices used for walking, the weed pulling rod and the receding barrel are coaxially installed and can move up and down, the clamping jaw mechanism is installed at the lower end of the weed pulling rod, and an air cylinder installed in a rack rod can push weeds away from the clamping jaw mechanism and fall into the weed smashing device to be smashed. The weed smashing device is installed on the lower side of the main body box and can move front and back, the weed smashing and weeding robot can pull out the roots of weeds out of the ground, the possibility that the weeds regenerate by means of residual rhizomes is avoided, then the weeds and the rhizomes of the weeds are smashed and backfilled together, the weeds return to soil after being turned into fertilizer, the soil fertility is improved, and the effect of one stone with two birds is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of gardening weeding robots, and in particular to a weed crushing and weeding robot. Background Art

[0002] Horticultural weeding has far-reaching significance in horticultural management and maintenance. It not only affects the aesthetics of horticultural plants, but also directly affects the growth of horticultural plants and the balance of the local ecosystem. Gardening weeding has the following significance: ① Enhance the ornamental value of gardening plants. Weeding is a key step in keeping the gardening area clean and beautiful. The growth of weeds will destroy the uniformity of the lawn and the overall design of the garden. Regular weeding can ensure that the lawn and garden present a neat and orderly appearance; ② Promote plant growth. Weeds will compete with garden plants for resources such as nutrients, water and light, resulting in poor plant growth. Weeding can reduce this competition, so that garden plants can get more sufficient resources and grow healthier; ③ Reduce the spread of pests and diseases. Weeds are the host and habitat of many pests and diseases. Weeding can reduce the risk of pest and disease transmission and reduce the possibility of garden plants being harmed; ④ Improve soil quality. Weeding helps to keep the soil loose and breathable, which is conducive to the growth and development of the root system of gardening plants; ⑤ Maintain the balance of the local ecosystem. Weeding is an important means to maintain the balance of the ecosystem. By controlling the number of weeds, gardening plants and biodiversity can be protected, and alien species invasion and ecosystem imbalance can be prevented. In summary, gardening weeding is of great significance for maintaining the beauty of gardening, promoting plant growth, reducing the spread of pests and diseases, improving soil quality, and maintaining the balance of the local ecosystem. Therefore, weeding is an important task that cannot be ignored in gardening management.

[0003] The most important requirement for horticultural weeding is environmental protection. Although chemical weeding has the advantages of being fast and efficient, it may have a negative impact on the soil and the surrounding environment. Therefore, chemical weeding is generally not chosen in the process of horticultural weeding; manual weeding usually does not cause chemical pollution to the soil and the environment. Therefore, manual weeding is often used in the process of horticultural weeding. However, manual weeding also has defects, such as low weeding efficiency, high labor costs, high labor intensity, etc., and after manual weeding, the weeds are generally transported away in a concentrated manner, which not only causes the loss of soil nutrients, but also increases the cost of weed treatment. Therefore, it is of great significance to develop a weeder that can pull out the weeds, crush them and return them to the soil. Summary of the invention

[0004] In order to solve the deficiencies of the prior art, the purpose of the present invention is to provide a weed crushing and weeding robot, which mainly includes a main body box, a lifting motor, a weeding rod, a transmission device, a front optical component, a rear optical component, a clamping claw mechanism, a grass chopping device, a power and control system, a cylinder, a grass pushing plate, and a pneumatic unit. The characteristics are as follows: the interior of the front end of the main body box is a single-layer structure, and the interior of the rear end is a double-layer structure. The interior of the double-layer structure is vertically provided with a cylindrical yield cylinder with an opening downward, the lower layer of the main body box is provided with a power and control system, the upper layer of the main body box is provided with a pneumatic unit, and the main body box is provided with a plurality of pneumatic units. There are two slidable grooves symmetrically arranged on the lower side, and two push rod seats symmetrically arranged on the lower front end of the main box. The front optical component and the rear optical component are respectively installed on the lower sides of the front and rear ends of the main box. Cameras and laser ranging devices are integrated inside the two optical components. Two outrigger devices for walking are arranged on the left and right sides of the main box; the transmission device and the lifting motor are installed on the upper side of the main box, the weeding rod is coaxially installed with the give way cylinder and driven up and down by the lifting motor, the clamping claw mechanism is installed at the lower end of the weeding rod, and the clamping claw mechanism can remove the roots of weeds by opening and closing, and the rack rod is internally A cylinder is installed at the lower end of the part, and the cylinder drives the grass pushing plate to move downward to push the weeds away from the clamping claw mechanism and drop them into the grass chopping device for crushing; the grass chopping device mainly includes a crushing frame, a crushing motor, a lower blade, an upper blade, a driving gear, a lower gear, an upper gear, and an electric push rod, wherein the crushing frame is a shell structure, and two sliding bars are symmetrically arranged on both sides of the upper end of the crushing frame and are vertically rotatably installed inside the crushing frame, a lower cutter disc is arranged at the upper end of the upper gear, and five lower blades are evenly and fastenedly installed on the upper side of the lower cutter disc in a circumferential direction, the rotating shaft of the lower gear passes through the circular hole in the center of the upper gear, and an upper cutter disc is arranged at the upper end of the lower gear. Five upper blades are evenly distributed and fastened on the upper side of the cutter disc, the driving gear is installed in a transverse rotation inside the crushing frame, and the driving gear is meshed with the upper gear and the lower gear at the same time to form a gear transmission structure. The crushing motor installed on the front side of the crushing frame drives the five upper blades and the five lower blades to rotate simultaneously through the gear transmission structure; the crushing frame is installed on the lower side of the main box, and the sliding bars on both sides of the crushing frame are respectively installed in cooperation with the two sliding grooves on the lower side of the main box to form a moving pair, the front ends of the two electric push rods are respectively fastened to the two push rod seats, and the rear ends of the two electric push rods are respectively fastened to the two sides of the crushing frame.

[0005] As a further solution of the present invention: a battery pack and an integrated circuit are integrated inside the power and control system, the battery pack provides power for all electrical devices in the weed crushing and weeding robot, and the integrated circuit is electrically connected to all electrical components in the weed crushing and weeding robot, thereby intelligently controlling the weed crushing and weeding robot.

[0006] As a further solution of the present invention: the air pressure unit is integrated with an air compressor, a high-pressure gas tank, a negative pressure generator, a negative pressure gas tank and a solenoid valve, wherein the air compressor is connected to the high-pressure gas tank, so that the air compressor stores high-pressure air in the high-pressure gas tank, the negative pressure generator is connected to the negative pressure gas tank, so that the negative pressure generator produces a vacuum state in the negative pressure gas tank, and the solenoid valve is respectively connected to the high-pressure gas tank and the negative pressure gas tank through an air pipe.

[0007] As a further solution of the present invention: the inlet at the upper end of the crushing frame is square, and the outlet at the lower end thereof is cylindrical.

[0008] As a further solution of the present invention: the upper gear, the lower gear and the driving gear are all bevel gear structures.

[0009] As a further solution of the present invention: the sides of the upper blade and the lower blade are both provided with cutting edges.

[0010] As a further solution of the present invention, the upper blade and the lower blade rotate in opposite directions, so that the weeds can be crushed to a better effect.

[0011] As a further solution of the present invention: when the two electric push rods are retracted at the same time, the grass chopping device moves forward to make way, so as to avoid interference when the weeding rod is extended downward.

[0012] As a further solution of the present invention: after the clamping claw mechanism enters into the clearance cylinder, when the two electric push rods extend at the same time, the grass chopping device moves backward to below the clearance cylinder to crush the weeds.

[0013] The beneficial effects of the present invention are as follows: (1) The weed crushing and weeding robot can pull the roots of weeds out of the ground, thus avoiding the possibility of weeds reviving by relying on the remaining rhizomes, and then crush the weeds and their rhizomes together and backfill them. The weeds are transformed into fertilizers and return to the soil to improve soil fertility, thus achieving the effect of killing two birds with one stone. (2) The weed crushing and weeding robot can replace manual labor to complete the work of gardening weeding, which can reduce the labor intensity of workers and improve the weeding efficiency, realize automatic weeding and intelligent weeding, and reduce the cost of gardening weeding. (3) The bionic walking device in the form of outriggers can minimize the pressure loss caused to gardening plants by the weed crushing and weeding robot during its walking process, which has obvious advantages over traditional wheeled walking and crawler walking. In addition, the weed crushing and weeding robot has a symmetrical structure at the front and back, and there is no strict front and back distinction, which makes the movement of the weed crushing and weeding robot more flexible. (4) Both the front optical component and the rear optical component are integrated with a camera and a laser ranging device. The camera can collect image information for identifying the type of weeds and the rough target position, and the laser ranging device is used to accurately locate the position of the target weeds, so that the weed crushing and weeding robot can achieve targeted removal of weeds, avoid accidental damage to horticultural plants, and reduce damage to the ground soil. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0015] Figure 2 It is a schematic diagram of the cross-sectional structure of the lower layer of the main body box in the present invention.

[0016] Figure 3 It is a schematic diagram of the enlarged structure of a local section at the lower end of the rack rod in the present invention.

[0017] Figure 4 It is a partial enlarged structural schematic diagram of the clamping jaws when they are opened in the present invention.

[0018] Figure 5 It is a partial enlarged structural schematic diagram of the clamping jaws when they are closed in the present invention.

[0019] Figure 6 It is a schematic diagram of the cross-sectional structure of the grass chopping device in the present invention.

[0020] Figure 7 It is a schematic diagram of the longitudinal partial cross-section structure at the rear end of the main body box in the present invention.

[0021] Figure 8 It is a schematic diagram of the longitudinal section structure of the main box position in the present invention.

[0022] Figure numbers: 1 main box, 1.1 right front outrigger shaft, 1.2 give way cylinder, 1.3 slide, 1.4 push rod seat, 2 lifting motor, 3 weeding rod, 3.1 air nozzle, 4 transmission device, 5 right rear outrigger, 6 left rear outrigger, 7 right front outrigger, 8 left front outrigger, 9 front optical component, 10 clamping claw, 11 grass cutting device, 12 rear optical component, 13 right front motor, 14 right rear motor, 15 left front motor, 16 left rear motor, 17 power and control system, 18 cylinder, 18.1 cylinder rod, 19 motor compartment, 19.1 connecting frame, 20 clamping claw motor, 20.1 hollow output shaft, 21 rotating disk, 21.1 arc-shaped groove, 22 clamping rod, 23 grass pushing plate, 23.1 slot, 24 crushing frame, 24.1 push rod connecting ear, 24.2 slide bar, 25 crushing motor, 26 lower blade, 27 upper blade, 28 driving gear, 29 lower gear, 29.1 upper cutter disc, 30 upper gear, 30.1 lower cutter disc, 31 electric push rod, 32 pneumatic unit, 33 driving rod, 34 upper connecting rod, 35 tripod rod, 36 lower connecting rod, 37 upper parallel rod, 38 lower parallel rod, 39 leg rod, 39.1 supporting foot. DETAILED DESCRIPTION

[0023] The present invention will be further described below in conjunction with specific embodiments. The illustrative embodiments and descriptions of the present invention are used to explain the present invention but are not intended to limit the present invention.

[0024] like Figure 1-8 As shown, a weed crushing and weeding robot mainly includes a main body box 1, a lifting motor 2, a weeding rod 3, a transmission device 4, a right rear leg 5, a left rear leg 6, a right front leg 7, a left front leg 8, a front optical component 9, a clamping claw mechanism 10, a weed crushing device 11, a rear optical component 12, a power and control system 17, a cylinder 18, a weed pushing plate 23, and an air pressure unit 32. The characteristics are as follows: the interior of the front end of the main body box 1 is a single-layer structure, and the interior of the rear end is a double-layer structure. The interior of the double-layer structure is vertically provided with a cylindrical yield cylinder 1.2 with an opening downward, a right front leg shaft 1.1 is arranged on the right side of the front end of the main body box 1, and a leg shaft is arranged on the left side of the front end and both sides of the rear end, and the lower layer of the main body box 1 is provided with a power and control system 17, and a battery pack and an integrated circuit are integrated in the power and control system 17. The battery pack can provide power for all electrical equipment of the weed crushing and weeding robot, and the integrated circuit is electrically connected to all electrical components in the weed crushing and weeding robot, so as to intelligently control the weed crushing and weeding robot. Control; an air pressure unit 32 is arranged inside the upper layer of the main body box 1, and an air compressor, a high-pressure gas tank, a negative pressure generator, a negative pressure gas tank and a solenoid valve are integrated inside the air pressure unit 32, wherein the air compressor is connected to the high-pressure gas tank, so that the air compressor can store high-pressure air in the high-pressure gas tank, the negative pressure generator is connected to the negative pressure gas tank, so that the negative pressure generator can produce a vacuum state in the negative pressure gas tank, and the solenoid valve is connected to the high-pressure gas tank and the negative pressure gas tank respectively through the air pipe; two slide grooves 1.3 are longitudinally symmetrically arranged on the lower side of the main body box 1, and two push rod seats 1.4 are arranged on the lower front end of the main body box 1, and the positions of the two push rod seats 1.4 are symmetrical on the left and right; the front optical component 9 and the rear optical component 12 are integrated with a camera and a laser ranging device, wherein the camera can collect image information for identifying the type of weeds and the rough target direction, and the laser ranging device is used to accurately locate the position of the target weeds, the front optical component 9 is fixedly installed on the lower side of the front end of the main body box 1, and the rear optical component 12 is fixedly installed on the lower side of the rear end of the main body box 1.

[0025] like Figure 7As shown, the right front outrigger 7 comprises a right front motor 13, an active rod 33, an upper connecting rod 34, a tripod rod 35, a lower connecting rod 36, an upper parallel rod 37, a lower parallel rod 38, and an outrigger rod 39, wherein the right front motor 13 is fixedly mounted on the front right side of the lower layer of the main body box 1, the rear end of the active rod 33 is fastened to the output shaft of the right front motor 13, and the front end of the active rod 33 is rotatably connected to the lower end of the upper connecting rod 34; three rotating holes are arranged at equal intervals on the outer side of the tripod rod 35, the rotating hole at the upper end of the tripod rod 35 is rotatably connected to the upper end of the upper connecting rod 34, the rotating hole at the front end of the tripod rod 35 is rotatably connected to the upper end of the upper parallel rod 37, and the rotating hole at the lower end of the tripod rod 35 is rotatably connected to the lower The upper end of the parallel rod 38 is rotatably connected; the rear end of the lower connecting rod 36 is rotatably connected to the lower end of the upper connecting rod 34, and the front end of the lower connecting rod 36 is rotatably connected to the middle position of the lower parallel rod 38; the upper end of the support leg rod 39 is provided with two high and low rotation holes, wherein the high rotation hole is rotatably connected to the lower end of the upper parallel rod 37, and the low rotation hole is rotatably connected to the lower end of the lower parallel rod 38, and the lower end of the support leg rod 39 is provided with a supporting foot 39.1, and the lower end of the supporting foot 39.1 is an arc surface structure, and a plurality of spike teeth are provided on the lower side of the arc surface structure, and the spike teeth can increase the grip of the supporting foot 39.1; when the right front motor 13 drives the active rod 33 to rotate clockwise, the supporting foot 39.1 can rotate clockwise according to the rotation of the supporting foot 39.1. Figure 7 When the right front motor 13 drives the active rod 33 to rotate counterclockwise, the support foot 39.1 can move clockwise according to the dotted line in the figure. Figure 7 The corresponding dotted line moves counterclockwise.

[0026] The right rear motor 14 is fixedly installed on the right side of the rear end of the lower layer of the main box 1, and the right rear leg 5 is installed on the right rear end of the main box 1. The structure and movement principle of the right rear leg 5 are the same as those of the right front leg 7, but the installation direction is opposite. The output shaft of the right rear motor 14 is tightly connected to the front end of the active rod in the right rear leg 5, so that when the right rear motor 14 drives the corresponding active rod to rotate clockwise, the support foot in the right rear leg 5 can rotate according to Figure 7 The corresponding dotted line in the figure moves clockwise. When the right rear motor 14 drives the corresponding active rod to rotate counterclockwise, the support foot in the right rear leg 5 can move according to Figure 7 The left front motor 15 is fixedly installed on the left side of the front end of the lower layer of the main box 1, and the left front leg 8 is installed on the left side of the front end of the main box 1. The structure and movement principle of the left front leg 8 are the same as those of the right front leg 7. The output shaft of the left front motor 15 is tightly connected to the rear end of the active rod in the left front leg 8, so that when the left front motor 15 drives the corresponding active rod to rotate clockwise, the support foot in the left front leg 8 can rotate according to Figure 7 The corresponding dotted line in the middle moves clockwise, and when the left front motor 15 drives the corresponding active rod to rotate counterclockwise, the support foot in the left front leg 8 can move according to Figure 7The left rear motor 16 is fixedly installed on the left side of the rear end of the lower layer of the main box 1, and the left rear leg 6 is installed on the left rear end of the main box 1. The structure and movement principle of the left rear leg 6 are the same as those of the right rear leg 5. The output shaft of the left rear motor 16 is tightly connected to the rear end of the active rod in the left rear leg 6, so that when the left rear motor 16 drives the corresponding active rod to rotate clockwise, the support foot in the left rear leg 6 can rotate according to Figure 7 The corresponding dotted line in the figure moves clockwise. When the left rear motor 16 drives the corresponding active rod to rotate counterclockwise, the support foot in the left rear leg 6 can move according to Figure 7 The corresponding dotted line in the middle moves counterclockwise; when the weed crushing weeding robot moves, the four legs move alternately in sequence; when the supporting feet of the four legs move clockwise in sequence, the weed crushing weeding robot can move straight forward; when the supporting feet of the four legs move counterclockwise in sequence, the weed crushing weeding robot can move straight backward; when the supporting feet of the two left legs move counterclockwise and the supporting feet of the two right legs move clockwise, the weed crushing weeding robot can turn left; when the supporting feet of the two left legs move clockwise and the supporting feet of the two right legs move counterclockwise, the weed crushing weeding robot can turn right.

[0027] like Figure 1 , Figure 7 As shown, the transmission device 4 is fixedly installed on the upper side of the main box 1, the lifting motor 2 is fixedly installed on the upper side of the main box 1, and the output shaft of the lifting motor 2 is coaxially and tightly connected with the input shaft of the transmission device 4; the weeding rod 3 is a cylindrical rod-shaped structure, and a row of racks are vertically provided on its side. The weeding rod 3 is vertically installed in the output shaft hole of the transmission device 4 and can move up and down, and the weeding rod 3 is located at the center position of the yield cylinder 1.2. The transmission device 4 is internally provided with a gear and a rack meshing to form a gear rack transmission structure, so that the lifting motor 2 can drive the weeding rod 3 to move up and down.

[0028] like Figure 3 , Figure 4 , Figure 5As shown, the clamping mechanism 10 includes a cylinder 18, a motor bin 19, a clamping motor 20, a rotating disk 21, a clamping rod 22, and a weeding plate 23, wherein the upper end of the motor bin 19 is tightly connected to the lower end of the weeding rod 3, and five connecting frames 19.1 are evenly distributed tangentially at the lower end of the motor bin 19. The clamping motor 20 is fixedly installed inside the motor bin 19, and the hollow output shaft 20.1 is the output shaft of the clamping motor 20. The hollow output shaft 20.1 is provided with a circular hole that passes through from top to bottom, and the lower end of the hollow output shaft 20.1 is connected to the weeding rod 3. The rotating disk 21 is coaxially fastened, and five arc-shaped slots 21.1 are evenly distributed in the circumferential direction inside the rotating disk 21, and each arc-shaped slot 21.1 is deflected, and the distance between the inner end of the arc-shaped slot 21.1 and the center of the rotating disk 21 is smaller than the distance between the outer end and the center of the rotating disk 21; an air nozzle 3.1 is arranged at the upper end of the weeding rod 3, and the air nozzle 3.1 is connected to the electromagnetic valve through an air pipe, and a cylinder 18 is installed at the lower end of the weeding rod 3, and an air channel is arranged at the upper end of the weeding rod 3 to connect the cylinder 18 with the air nozzle 3.1 The cylinder 18 is provided with a cylinder rod 18.1 inside, and the cylinder rod 18.1 can move up and down. The lower end of the cylinder rod 18.1 passes through the center of the hollow output shaft 20.1 and is coaxially and tightly connected with the grass-pushing plate 23. Five slots 23.1 are provided in the circumferential direction of the outer side of the grass-pushing plate 23, and the grass-pushing plate 23 is arranged below the rotating disk 21; the number of the clamping rods 22 is five, and the lower end of each clamping rod 22 is a sharp angle structure, which is convenient for reducing resistance when inserted into the soil. The five clamping rods 22 are respectively connected to the five connecting frames 1 9.1 rotation connection, and the five clamping rods 22 all pass through the five arc-shaped push grooves 21.1 and the five slots 23.1 accordingly; so that when the clamping motor 20 drives the rotating disk 21 to rotate clockwise, the rotating disk 21 can drive the five clamping rods 22 to rotate inwardly through the five arc-shaped push grooves 21.1, thereby realizing the closing of the clamping mechanism 10; when the clamping motor 20 drives the rotating disk 21 to rotate counterclockwise, the rotating disk 21 can drive the five clamping rods 22 to rotate outwardly through the five arc-shaped push grooves 21.1, thereby realizing the opening of the clamping mechanism 10.

[0029] like Figure 6As shown, the grass chopping device 11 mainly includes a crushing frame 24, a crushing motor 25, a lower blade 26, an upper blade 27, a driving gear 28, a lower gear 29, an upper gear 30, and an electric push rod 31, wherein the crushing frame 24 is a shell structure, the inlet at the upper end is square, and the outlet at the lower end is cylindrical, two slide bars 24.2 are symmetrically arranged on both sides of the upper end of the crushing frame 24, and two push rod connecting ears 24.1 are symmetrically arranged on both sides of the rear end of the crushing frame 24; the upper gear 30 is a bevel gear structure and is vertically rotatably installed inside the crushing frame 24, a circular hole is provided in the center of the upper gear 30, a lower cutter disc 30.1 is provided on the upper end of the upper gear 30, and five lower blades 26 are evenly and fastened to the upper side of the lower cutter disc 30.1, and a cutting edge is provided on the side of each lower blade 26; the lower gear 29 is a bevel gear structure, the lower gear 29 is vertically rotatably installed inside the crushing frame 24, and the lower The rotating shaft of the gear 29 passes through the circular hole in the center of the upper gear 30, and an upper cutter disc 29.1 is provided at the upper end of the lower gear 29, and the upper cutter disc 29.1 is located above the lower cutter disc 30.1, and five upper blades 27 are evenly and circumferentially fixedly installed on the upper side of the upper cutter disc 29.1, and each upper blade 27 has a cutting edge on its side; the driving gear 28 is a bevel gear structure, and the driving gear 28 is installed in the crushing frame 24 for transverse rotation, and the driving gear 28 is simultaneously meshed with the upper gear 30 and the lower gear 29 to form a gear transmission structure; the crushing motor 25 is fixedly installed at the front lower end of the crushing frame 24, and the output shaft of the crushing motor 25 is coaxially and tightly connected with the driving gear 28, so that the crushing motor 25 can drive the five upper blades 27 and the five lower blades 26 to rotate simultaneously through the gear transmission structure, and the rotation directions of the upper blade 27 and the lower blade 26 are opposite, so that the weeds can achieve a better crushing effect.

[0030] like Figure 7 , Figure 8 As shown, the crushing frame 24 is installed on the lower side of the main box 1, and the slide bars 24.2 on both sides of the crushing frame 24 are respectively installed in cooperation with the two slide grooves 1.3 on the lower side of the main box 1 to form a moving pair; the number of the electric push rods 31 is two, and the front ends of the two electric push rods 31 are respectively fastened to the two push rod seats 1.4, and the rear ends of the two electric push rods 31 are respectively fastened to the two push rod connecting ears 24.1, so that when the two electric push rods 31 are extended at the same time, the grass chopping device 11 can move backward to the bottom of the clearance tube 1.2, and when the two electric push rods 31 are retracted at the same time, the grass chopping device 11 can move forward to make way, so as to avoid interference when the weeding rod 3 is extended downward.

[0031] The weeding process of the weed crushing weeding robot, such as Figure 7 , Figure 8 As shown:

[0032] (1) The two electric push rods 31 are retracted at the same time, so that the grass-chopping device 11 moves forward to make way, and the solenoid valve is connected to the negative pressure gas tank, so that the cylinder rod 18.1 drives the grass-chopping plate 23 to move to the upper position, and the front optical component 9 or the rear optical component 12 collects ground image information and identifies the type and precise position of the weeds;

[0033] (2) The four legs move accordingly, so that the clamp mechanism 10 moves to the position just above the target weed root;

[0034] (3) The lifting motor 2 drives the weeding rod 3 to move downward, and the five clamping rods 22 of the clamping claw mechanism 10 are inserted into the soil around the weed roots;

[0035] (4) The clamping motor 20 drives the rotating disk 21 to rotate clockwise, so that the five clamping rods 22 swing inward at the same time and clamp the weed roots and the soil tissue at the roots;

[0036] (5) The lifting motor 2 drives the weeding rod 3 to move upward, so that the clamping mechanism 10 pulls the weed roots and the soil around the roots off the ground, and the weeding rod 3 continues to move upward until the clamping mechanism 10 completely enters the inside of the clearance cylinder 1.2;

[0037] (6) The two electric push rods 31 extend at the same time, causing the grass-chopping device 11 to move backward to below the clearance cylinder 1.2, and then the pulverizing motor 25 drives the five upper blades 27 and the five lower blades 26 to rotate rapidly at the same time;

[0038] (7) The clamping motor 20 drives the rotating disk 21 to rotate counterclockwise, so that the five clamping rods 22 swing outward at the same time and release the grip on the weed roots and the soil tissue at the roots;

[0039] (8) The solenoid valve is connected to the high-pressure gas tank in the air pressure unit 32. Driven by the compressed air, the cylinder rod 18.1 drives the grass-pushing plate 23 to move downward, so that the grass-pushing plate 23 pushes the weeds downward away from the clamping mechanism 10 and drops them into the grass-chopping device 11. The upper blade 27 and the lower blade 26 rotate rapidly to crush the weed plants, rhizomes and the soil blocks wrapped around the rhizomes together, and the rhizomes fall to the ground from the outlet at the lower end of the crushing frame 24, thereby achieving the effect of soil backfilling. The crushed weeds fall back to the ground and are exposed to the wind and sun and fermented. The weed fragments are converted into nutrients and return to the land, thereby improving soil fertility. The above steps are repeated many times to remove the weeds in the gardening area.

Claims

1. A weed crushing and weeding robot, mainly comprising a main body box, a lifting motor, a weeding rod, a transmission device, a front optical component, a rear optical component, a clamping claw mechanism, a weed crushing device, a power and control system, a cylinder, a weed pushing plate, and a pneumatic unit, characterized in that: The front end of the main box is a single-layer structure, and the rear end is a double-layer structure. The double-layer structure is vertically provided with a cylindrical yield cylinder with an opening downward. The lower layer of the main box is provided with a power and control system, and the upper layer of the main box is provided with an air pressure unit. Two slide grooves are longitudinally symmetrically provided on the lower side of the main box, and two left-right symmetrical push rod seats are provided at the front end of the lower side of the main box. The front optical component and the rear optical component are respectively installed on the lower side of the front and rear ends of the main box, and cameras and laser ranging devices are integrated in the two optical components. Two leg devices for walking are provided on each side of the main box; the transmission device and the lifting motor are installed on the upper side of the main box, the weeding rod is coaxially installed with the yield cylinder and driven up and down by the lifting motor, the clamping claw mechanism is installed at the lower end of the weeding rod, and the clamping claw mechanism can remove the roots of weeds by opening and closing, and a cylinder is installed at the lower end of the rack rod, and the cylinder drives the weed pushing plate to move downward to push the weeds away from the clamping claw mechanism and fall into the grass crushing device for crushing; the grass crushing device mainly includes a powder A crushing frame, a crushing motor, a lower blade, an upper blade, a driving gear, a lower gear, an upper gear, and an electric push rod, wherein the crushing frame is a shell structure, two slide bars are symmetrically arranged on both sides of the upper end of the crushing frame, and are vertically rotatably installed inside the crushing frame, a lower cutter disc is arranged on the upper end of the upper gear, and five lower blades are evenly and tightly installed on the upper side of the lower cutter disc in a circumferential direction, the rotating shaft of the lower gear passes through the circular hole in the center of the upper gear, an upper cutter disc is arranged on the upper end of the lower gear, and five upper blades are evenly and tightly installed on the upper side of the upper cutter disc in a circumferential direction, the driving gear is horizontally rotatably installed inside the crushing frame, and the driving gear is meshed with the upper gear and the lower gear at the same time to form a gear transmission structure, and the crushing motor installed on the front side of the crushing frame drives the five upper blades and the five lower blades to rotate simultaneously through the gear transmission structure; the crushing frame is installed on the lower side of the main box, and the slide bars on both sides of the crushing frame are respectively installed in cooperation with the two slide grooves on the lower side of the main box to form a moving pair, the front ends of the two electric push rods are respectively fastened to the two push rod seats, and the rear ends of the two electric push rods are respectively fastened to the two sides of the crushing frame.

2. The weed crushing and weeding robot according to claim 1, characterized in that: The power and control system integrates a battery pack and an integrated circuit. The battery pack provides power to all electrical devices in the weed crushing and weeding robot. The integrated circuit is electrically connected to all electrical components in the weed crushing and weeding robot, thereby intelligently controlling the weed crushing and weeding robot.

3. The weed crushing and weeding robot according to claim 1, characterized in that: The air pressure unit internally integrates an air compressor, a high-pressure gas tank, a negative pressure generator, a negative pressure gas tank and a solenoid valve, wherein the air compressor is connected to the high-pressure gas tank, so that the air compressor stores high-pressure air in the high-pressure gas tank, the negative pressure generator is connected to the negative pressure gas tank, so that the negative pressure generator creates a vacuum state in the negative pressure gas tank, and the solenoid valve is respectively connected to the high-pressure gas tank and the negative pressure gas tank through an air pipe.

4. The weed crushing and weeding robot according to claim 1, characterized in that: The inlet at the upper end of the crushing frame is square, and the outlet at the lower end is cylindrical.

5. The weed crushing and weeding robot according to claim 1, characterized in that: The upper gear, lower gear and driving gear are all bevel gear structures.

6. The weed crushing and weeding robot according to claim 1, characterized in that: The sides of the upper blade and the lower blade are both provided with cutting edges.

7. The weed crushing and weeding robot according to claim 1, characterized in that: The upper blade and the lower blade rotate in opposite directions, so that the weeds can be crushed better.

8. The weed crushing and weeding robot according to claim 1, characterized in that: When the two electric push rods are retracted at the same time, the grass-chopping device moves forward to make way, thereby avoiding interference when the weeding rod is extended downward.

9. The weed crushing and weeding robot according to claim 1, characterized in that: After the clamping claw mechanism enters the clearance cylinder, when the two electric push rods extend at the same time, the grass chopping device moves backward to the bottom of the clearance cylinder to crush the weeds.

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