Weeding robot

Abstract

The present invention relates to the technical field of weeding equipment, and in particular to a weeding robot, comprising: a frame, the frame being provided with a baling box, the bottom of the frame being provided with a walking assembly; a mowing assembly, the mowing assembly comprising an adjusting mechanism and a cutting mechanism; a transport assembly, the transport assembly comprising a transverse conveyor belt and a longitudinal conveyor belt; a packing assembly, the packing assembly comprising a bag mechanism, a sealing mechanism and a unloading mechanism, the bag mechanism being used to lay grass baling bags inside the baling box, the sealing mechanism being used to perform hot-melt sealing on the baling bags, and the unloading mechanism being used to unload the sealed baling bags from the baling box. The present application realizes the rapid removal of weeds on a small lawn by providing an efficient mowing assembly, a mowing assembly and a transport assembly, and automatically packs and collects the cut weeds, thereby greatly improving the efficiency and environmental friendliness of lawn maintenance in public spaces.

Description

Technical Field

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

[0002] With the acceleration of urbanization and the increasing importance of greening public spaces, lawn maintenance in parks, golf courses, large residential areas and other areas has become a heavy and continuous task. Traditional manual weeding and mowing methods are not only time-consuming and labor-intensive, but also difficult to ensure the timeliness and efficiency of weeding. Agricultural weeders are used to remove weeds in urban public areas. Although agricultural weeders can quickly complete large-scale weeding work, they have many problems such as high noise and inability to adapt to narrow terrain, which affects the weeding efficiency. Based on the above problems, we proposed a weeding robot. Summary of the invention

[0003] The object of the present invention is to provide a weeding robot to solve the problems raised in the above background technology.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] A weeding robot, comprising:

[0006] A frame, wherein the frame is provided with a packing box, and a walking assembly is provided at the bottom of the frame;

[0007] A mowing assembly, the mowing assembly is arranged on one side of the frame, the mowing assembly comprises an adjusting mechanism and a cutting mechanism, the adjusting mechanism is used to adjust the cutting height of the cutting mechanism, and the cutting mechanism is used to mow grass;

[0008] A grass raking assembly, the grass raking assembly is used to collect grass clippings laid on the ground after being cut by the cutting mechanism;

[0009] A transport assembly, the transport assembly comprising a transverse conveyor belt and a longitudinal conveyor belt, the transverse conveyor belt is used to transport grass clippings collected by the grass raking assembly to the longitudinal conveyor belt, and the longitudinal conveyor belt climbs and transports the grass clippings to the baling box; and

[0010] A packing assembly is arranged in the packing box, and the packing assembly includes a bag mechanism, a sealing mechanism and a unloading mechanism. The bag mechanism is used to lay the packing bag inside the packing box, the sealing mechanism is used to hot-melt seal the packing bag, and the unloading mechanism is used to unload the sealed packing bag out of the packing box.

[0011] Preferably, the travel assembly comprises an engine, a driving wheel and a driven wheel, the engine is arranged on the frame and is used to drive the driving wheel to rotate, and the driven wheel is arranged on the frame.

[0012] Preferably, the cutting mechanism includes a mounting plate, a cutting motor, a cutting disc and a guide plate. The cutting disc is arranged on the mounting plate. Four groups of cutting discs are arranged. The cutting motor and the cutting discs are arranged correspondingly. The cutting motor is used to drive the four groups of cutting discs to rotate towards each other in pairs. The guide plates are symmetrically arranged on both sides of the mounting plate.

[0013] Preferably, the adjustment mechanism comprises a supporting positioning plate and an adjustment rod, the supporting positioning plate is arranged on the frame, and the adjustment rod is installed at different positions of the positioning plate by bolts for adjusting the position of the mounting plate.

[0014] Preferably, the grass raking assembly includes a mounting frame, a grass raking motor, a contour wheel and a spring-toothed conveyor belt, the mounting frame is connected to the frame, the grass raking motor is arranged on the mounting frame and is used to drive the spring-toothed conveyor belt to rotate, and the spring-toothed conveyor belt and the contour wheel cooperate to gather grass clippings laid on the ground after being cut by the cutting mechanism.

[0015] Preferably, the transverse conveyor belt and the longitudinal conveyor belt are arranged perpendicular to each other.

[0016] Preferably, the packing bag is a foldable structure, and the bag opening of the packing bag is provided with a hot-melt sealing strip.

[0017] Preferably, the packing box is provided with a storage slot for storing packing bags, the bag mechanism comprises a clamping bracket, a clamping push rod 1, a clamping push rod 2, a ball screw, a mounting beam, a negative pressure generator, a clamping motor and a clamping block, the clamping bracket is symmetrically arranged on both sides of the storage slot, the clamping push rod 1 and the clamping push rod 2 are correspondingly arranged, and the clamping push rods 1 and the clamping push rods 2 are staggered on the clamping bracket, and the correspondingly arranged clamping push rods 1 and the clamping push rods 2 are respectively used to limit the two side walls of the packing bag, the ball screws are symmetrically arranged on both sides of the packing box, two ends of the mounting beam are respectively connected to different ball screws, the mounting beam is provided with adsorption holes, the negative pressure generator is connected to the mounting beam and is used to generate negative pressure in the adsorption hole and adsorb one of the side walls of the packing bag, and the clamping motor is used to drive the clamping block to rotate and then clamp and fix the adsorbed side wall of the packing bag.

[0018] Preferably, the mounting beam is provided with a mounting groove, and the sealing mechanism includes a heating core, a movable push rod 1, a movable push rod 2 and a baffle, the heating core is arranged in the mounting groove, the movable push rod 1 is arranged in the packing box and is used to drive the movable push rod 2 to move, the movable push rod 1 and the movable push rod 2 are arranged perpendicular to each other, and the movable push rod 2 is used to drive the baffle to be inserted between adjacent packing bags to prevent the heating core from affecting unused packing bags when hot-melt sealing is performed on fully loaded packing bags.

[0019] Preferably, the unloading mechanism includes a unloading motor, a transmission gear and a unloading plate, the unloading motor is arranged on the packing box, the unloading plate is hinged to the packing box, the transmission gear is connected to the unloading plate, and the output gear of the unloading motor and the transmission gear are meshed with each other.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows: when the walking component drives the entire weeding robot to walk, the mowing component cuts the weeds in front of the running, and then the raking component raks up the grass clippings laid on the ground after being cut by the cutting mechanism. The grass clippings collected by the raking component are transported to the packing box through the longitudinal conveyor belt after being transported by the transverse conveyor belt. The bag mechanism will automatically lay the packing bag in the packing box. When the packing bag is full of grass clippings, the sealing mechanism will hot-melt seal the packing bag and unload the packing bag from the packing box through the unloading mechanism. The present application realizes the rapid removal of lawn weeds in a small area by setting an efficient mowing component, a raking component and a transport component, and automatically packs and collects the cut weeds, thereby greatly improving the efficiency and environmental protection of public space lawn maintenance. At the same time, the present application can be used in complex and changeable public space lawns, reducing the dependence on manual operation, improving operation safety, and having less noise pollution and strong adaptability compared with traditional agricultural weeders. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the axial structure of the present invention;

[0022] Figure 2 It is a schematic diagram of the connection structure between the longitudinal conveyor belt and the frame of the present invention;

[0023] Figure 3 It is a schematic diagram of the connection structure of the transverse conveyor belt and the longitudinal conveyor belt of the present invention;

[0024] Figure 4 This is a schematic diagram of the axial structure of the mowing assembly of the present invention;

[0025] Figure 5 This is a schematic diagram of the axial structure of the grass raking assembly of the present invention;

[0026] Figure 6The isometric structure diagram of the packing box of the present invention is shown in FIG. Figure 1 ;

[0027] Figure 7 The isometric structure diagram of the packing box of the present invention is shown in FIG. Figure 2 ;

[0028] Figure 8 This is a schematic diagram of the connection structure between the ball screw and the mounting beam of the present invention;

[0029] Fig. 9 This is a schematic diagram of the connection structure between the mounting beam and the heating core of the present invention;

[0030] Fig.10 This is a schematic diagram of the position structure of the sealing mechanism of the present invention inside the packaging box;

[0031] Fig.11 It is a schematic diagram of the axial structure of the packaging bag of the present invention.

[0032] In the figure: 1 frame, 2 packing box, 3 horizontal conveyor belt, 4 longitudinal conveyor belt, 5 engine, 6 driving wheel, 7 driven wheel, 8 mounting plate, 9 cutting motor, 10 cutting blade, 11 guide plate, 12 supporting positioning plate, 13 adjusting rod, 14 mounting frame, 15 grass raking motor, 16 profiling wheel, 17 elastic tooth conveyor belt, 18 hot melt sealing strip, 19 clamping bracket, 20 clamping push rod 1, 21 clamping push rod 2, 22 ball screw, 23 mounting beam, 24 negative pressure generator, 25 clamping motor, 26 clamping block, 27 heating core, 28 moving push rod 1, 29 moving push rod 2, 30 baffle, 31 unloading motor, 32 transmission gear, 33 unloading plate, 100 packing bag, 1201 fixing hole, 2301 adsorption hole. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] See also Figure 1-11 , the present invention provides a technical solution:

[0035] A weeding robot, as shown in the instruction manual Figure 1 As shown, including:

[0036] Frame 1, frame 1 is used to install other parts of the present application, frame 1 is provided with a packing box 2, packing box 2 is used to pack grass clippings, a walking component is provided at the bottom of frame 1, in this embodiment, a visual recognition module is provided on frame 1 (the visual recognition module includes a camera for capturing environmental images, and the image collected by the camera will use computer vision technology to analyze the image to identify the height and area of ​​weeds, and then combine with sensors such as a laser radar module provided on frame 1 to further improve the accuracy and robustness of environmental perception, and finally make the mowing component, raking component, transport component and packing component in the present application respond through the processing module), which can identify the position and height of weeds, thereby removing weeds more intelligently, and the visual recognition module belongs to the prior art, which will not be described in detail here;

[0037] A mowing assembly is arranged on one side of the frame 1. The mowing assembly includes an adjusting mechanism and a cutting mechanism. The adjusting mechanism is used to adjust the cutting height of the cutting mechanism, and the cutting mechanism is used to mow the grass;

[0038] The grass raking component is used to collect grass clippings laid on the ground after being cut by the cutting mechanism;

[0039] The transport component includes a transverse conveyor belt 3 and a longitudinal conveyor belt 4. The transverse conveyor belt 3 is used to transport the grass clippings collected by the grass raking component to the longitudinal conveyor belt 4, and the longitudinal conveyor belt 4 climbs and transports the grass clippings to the packing box 2; the transverse conveyor belt 3 and the longitudinal conveyor belt 4 are arranged perpendicular to each other.

[0040] The packing assembly is arranged in the packing box 2. The packing assembly includes a cloth bag mechanism, a sealing mechanism and a unloading mechanism. The cloth bag mechanism is used to lay the packing bag 100 inside the packing box 2, the sealing mechanism is used to perform hot-melt sealing on the packing bag 100, and the unloading mechanism is used to unload the sealed packing bag 100 out of the packing box 2.

[0041] The walking assembly includes an engine 5, a driving wheel 6 and a driven wheel 7. The engine 5 is arranged on the frame 1 and is used to drive the driving wheel 6 to rotate through the driving bridge. The driven wheel 7 is arranged on the frame 1 and is used to bear the weight of the robot and maintain walking stability.

[0042] The cutting mechanism includes a mounting plate 8, a cutting motor 9, a cutting disc 10 and a guide plate 11. The mounting plate 8 is used to install the cutting motor 9 and the cutting disc 10. The cutting disc 10 is arranged on the mounting plate 8. There are four groups of cutting discs 10. The design of four groups of cutting discs 10 effectively improves the cutting efficiency, and cooperates with the inner wall of the mounting plate 8 and the guide plate 11 with adjustable angles to effectively control the splashing of grass clippings during cutting, so that most of the grass clippings gather at the rear end of the mounting plate 8 after cutting is completed, so as to be picked up by the rear end transport component. The cutting motor 9 and the cutting disc 10 are arranged correspondingly. In this embodiment, the cutting motor 9 is a DC motor. The cutting motor 9 is used to drive the four groups of cutting discs 10 to rotate in pairs, and the guide plates 11 are symmetrically arranged on both sides of the mounting plate 8.

[0043] The adjustment mechanism includes a supporting positioning plate 12 and an adjusting rod 13. The supporting positioning plate 12 is fixedly connected to the frame 1. The supporting positioning plate 12 is provided with a plurality of fixing holes 1201. The adjusting rod 13 is installed in the fixing holes 1201 at different positions of the positioning plate by bolts for adjusting the height position of the mounting plate 8.

[0044] The grass raking assembly includes a mounting frame 14, a grass raking motor 15, a contour wheel 16 and a spring-toothed conveyor belt 17. The mounting frame 14 is fixedly connected to the frame 1. The grass raking motor 15 is also a DC motor. The grass raking motor 15 is arranged on the mounting frame 14 and is used to drive the spring-toothed conveyor belt 17 to rotate. The spring-toothed conveyor belt 17 and the contour wheel 16 cooperate to collect grass clippings laid on the ground after being cut by the cutting mechanism. A movable groove is arranged in the contour wheel 16 corresponding to the spring-toothed conveyor belt 17. The movable groove is used to prevent the contour wheel 16 from affecting the operation of the spring-toothed conveyor belt 17.

[0045] The packing bag 100 is a foldable structure. A hot-melt sealing strip 18 is provided at the bag opening of the packing bag 100. The hot-melt sealing strip 18 is made of hot-melt adhesive.

[0046] The packing box 2 is provided with a storage slot for storing the packing bag 100, and the storage slot is used to store the packing bag 100. The bag mechanism includes a clamping bracket 19, a clamping push rod 1 20, a clamping push rod 21, a ball screw 22, a mounting beam 23, a negative pressure generator 24, a clamping motor 25 and a clamping block 26. The clamping bracket 19 is symmetrically arranged on both sides of the storage slot, and the clamping bracket 19 is fixedly connected to the storage slot. The clamping push rod 1 20 and the clamping push rod 21 are both DC hydraulic push rods. There are several corresponding clamping push rods 1 20 and the clamping push rod 2 21, and several clamping push rods 1 20 and the clamping push rod 2 21 are staggered on the clamping bracket 19. The correspondingly arranged clamping push rod 1 20 and the clamping push rod 2 21 are respectively used to limit the two side walls of the packing bag 100. The ball screw 22 is symmetrically arranged on both sides of the packing box 2. One of the ball screws 22 is used to drive the mounting beam 23 to move, and the other ball screw 22 is used to limit the movement direction of the mounting beam 23. The ball screw 22 is used to drive the mounting beam 23 to move up and down. The two ends of the mounting beam 23 are respectively fixedly connected to different ball screws 22. The mounting beam 23 is provided with a reflective infrared sensor for detecting the position of the packing bag 100 and thereby determining the moving position of the ball screw 22. The mounting beam 23 is provided with an adsorption hole 2301, and the adsorption hole 2301 is connected to the negative pressure generator 24 through a pipeline. The negative pressure generator 24 is connected to the mounting beam 23 and is used to generate negative pressure in the adsorption hole 2301 and adsorb one of the side walls of the packing bag 100. The clamping motor 25 is used to drive the clamping block 26 to rotate and thereby clamp and fix the adsorbed side wall of the packing bag 100.

[0047] The mounting beam 23 is provided with a mounting groove, which is used to install the heating core 27. The sealing mechanism includes the heating core 27, a movable push rod 1 28, a movable push rod 29 and a baffle 30. The heating core 27 is arranged in the mounting groove, the movable push rod 1 28 is arranged in the packing box 2 and is used to drive the movable push rod 2 29 to move, the movable push rod 1 28 and the movable push rod 2 29 are arranged perpendicular to each other, and the movable push rod 2 29 is used to drive the baffle 30 to be inserted between adjacent packing bags 100 to prevent the heating core 27 from affecting the unused packing bags 100 when the fully loaded packing bags 100 are hot-melt sealed.

[0048] The unloading mechanism includes a unloading motor 31, a transmission gear 32 and a unloading plate 33. The unloading motor 31 is a servo motor and can therefore accurately control the rotation angle of the unloading plate 33. The unloading motor 31 is fixedly connected to the packing box 2, the unloading plate 33 is connected to the packing box 2 through a hinge, and the transmission gear 32 is fixedly connected to the unloading plate 33. The output gear of the unloading motor 31 and the transmission gear 32 are meshed with each other.

[0049] Working principle:

[0050] Before use, according to the application scenario, the height of the adjustment rod 13 on the support positioning plate 12 is adjusted, and it is ensured that there are enough packing bags 100 in the clamping bracket 19. When the packing bags 100 are packed, the clamping push rod 20 arranged at the top of the storage slot will first release the limit on the upper side of the packing bag 100, and then the ball screw 22 drives the mounting beam 23 to move downward and adsorbs the upper side of the paper bag through the negative pressure generator 24. After the adsorption is completed, the ball screw 22 moves upward and drives the clamping block 26 to rotate through the clamping motor 25 during the movement, thereby clamping the upper side wall of the paper bag to ensure the stability of the forage when loading;

[0051] When in use, the engine 5 drives the driving wheel 6 to rotate and then drives the entire weeding robot to move. The cutting motor 9 drives the cutting disc 10 to rotate and then cooperates with the guide plate 11 to cut the weeds in front of the robot. The cut grass will be collected and transported to the transverse conveyor belt and the longitudinal conveyor belt in cooperation with the spring tooth conveyor belt 17 and the contour wheel 16. The grass clippings entering the transverse conveyor belt will also be transported to the packing box 2 through the longitudinal conveyor belt 4 after being transported by the transverse conveyor belt 3. The grass clippings enter the packing bag 100 in the packing box 2 for storage. After the grass clippings in the packing bag 100 are collected, The movable push rod 1 28 and the movable push rod 29 cooperate with each other to drive the baffle 30 to be inserted between the used packing bag 100 and the adjacent packing bag 100, and then the ball screw 22 drives the mounting beam 23 to move downward so that the hot melt sealing strips 18 on the upper and lower side walls of the packing bag 100 are bonded together. After the bonding is completed, the packing bag 100 is hot-melt sealed by the heating core 27. After the sealing is completed, the clamping push rod 21 will release the limit on the lower side of the used packing bag 100, and then the unloading motor 31 is started to drive the unloading plate 33 to rotate through the transmission gear 32, thereby unloading the used packing bag 100 from the packing box 2.

[0052] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A weeding robot, characterized in that: include: A frame, wherein the frame is provided with a packing box, and a walking assembly is provided at the bottom of the frame; A mowing assembly, the mowing assembly is arranged on one side of the frame, the mowing assembly comprises an adjusting mechanism and a cutting mechanism, the adjusting mechanism is used to adjust the cutting height of the cutting mechanism, and the cutting mechanism is used to mow grass; A grass raking assembly, the grass raking assembly is used to collect grass clippings laid on the ground after being cut by the cutting mechanism; A transport assembly, the transport assembly comprising a transverse conveyor belt and a longitudinal conveyor belt, the transverse conveyor belt is used to transport grass clippings collected by the grass raking assembly to the longitudinal conveyor belt, and the longitudinal conveyor belt climbs and transports the grass clippings to the packing box; as well as A packing assembly, which is arranged in the packing box, and includes a bagging mechanism, a sealing mechanism and a discharging mechanism. The bagging mechanism is used to lay the packing bag inside the packing box, the sealing mechanism is used to perform hot-melt sealing on the packing bag, and the discharging mechanism is used to discharge the sealed packing bag out of the packing box; The packing bag is a foldable structure, and a hot-melt sealing strip is provided at the bag opening of the packing bag; The packing box is provided with a storage slot for storing the packing bag, and the bag mechanism comprises a clamping bracket, a clamping push rod 1, a clamping push rod 2, a ball screw, a mounting beam, a negative pressure generator, a clamping motor and a clamping block, the clamping bracket is symmetrically arranged on both sides of the storage slot, the clamping push rod 1 and the clamping push rod 2 are correspondingly arranged, and the clamping push rods 1 and the clamping push rods 2 are staggered on the clamping bracket, and the correspondingly arranged clamping push rods 1 and the clamping push rods 2 are respectively used to limit the two side walls of the packing bag, the ball screws are symmetrically arranged on both sides of the packing box, and the two ends of the mounting beam are respectively connected to different ball screws, the mounting beam is provided with adsorption holes, the negative pressure generator is connected to the mounting beam and is used to generate negative pressure in the adsorption hole and adsorb one of the side walls of the packing bag, and the clamping motor is used to drive the clamping block to rotate and then clamp and fix the adsorbed side wall of the packing bag; The mounting beam is provided with a mounting groove, and the sealing mechanism includes a heating core, a movable push rod 1, a movable push rod 2 and a baffle. The heating core is arranged in the mounting groove, the movable push rod 1 is arranged in the packing box and is used to drive the movable push rod 2 to move, the movable push rod 1 and the movable push rod 2 are arranged perpendicular to each other, and the movable push rod 2 is used to drive the baffle to be inserted between adjacent packing bags to prevent the heating core from affecting the unused packing bags when hot-melt sealing is performed on the fully loaded packing bags.

2. A weeding robot according to claim 1, characterized in that: The traveling assembly comprises an engine, a driving wheel and a driven wheel. The engine is arranged on the frame and is used to drive the driving wheel to rotate. The driven wheel is arranged on the frame.

3. A weeding robot according to claim 1, characterized in that: The cutting mechanism includes a mounting plate, a cutting motor, a cutting disc and a guide plate. The cutting disc is arranged on the mounting plate. Four groups of cutting discs are arranged. The cutting motor and the cutting discs are arranged correspondingly. The cutting motor is used to drive the four groups of cutting discs to rotate in pairs. The guide plates are symmetrically arranged on both sides of the mounting plate.

4. A weeding robot according to claim 3, characterized in that: The adjustment mechanism comprises a supporting positioning plate and an adjustment rod. The supporting positioning plate is arranged on the frame. The adjustment rod is installed at different positions of the positioning plate by bolts to adjust the position of the mounting plate.

5. The weeding robot according to claim 1, characterized in that: The grass raking assembly includes a mounting frame, a grass raking motor, a contour wheel and a spring-toothed conveyor belt. The mounting frame is connected to the frame. The grass raking motor is arranged on the mounting frame and is used to drive the spring-toothed conveyor belt to rotate. The spring-toothed conveyor belt and the contour wheel cooperate to gather grass clippings laid on the ground after being cut by the cutting mechanism.

6. The weeding robot according to claim 1, characterized in that: The transverse conveyor belt and the longitudinal conveyor belt are arranged perpendicular to each other.

7. The weeding robot according to claim 1, characterized in that: The unloading mechanism includes a unloading motor, a transmission gear and a unloading plate. The unloading motor is arranged on the packing box. The unloading plate is hinged to the packing box. The transmission gear is connected to the unloading plate. The output gear of the unloading motor and the transmission gear are meshed with each other.

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