Weeding device and inspection robot

Abstract

The weeding device comprises a first weeding mechanism, a second weeding mechanism, a connecting assembly and a mounting assembly, the second weeding mechanism is rotationally connected to the first weeding mechanism through the connecting assembly, one end of the mounting assembly is connected with the first weeding mechanism, and the other end of the mounting assembly is in butt joint with the inspection robot; the connecting assembly comprises a supporting seat, a rocker arm and an elastic part, the supporting seat is fixed on the first weeding mechanism, one end of the rocker arm is horizontally and rotatably connected with the supporting seat, the other end is connected with the second weeding mechanism, and one end of the elastic part is fixed on the first weeding mechanism while the other end is connected with the rocker arm; when encountering an obstacle, the second weeding mechanism is extruded by the obstacle to horizontally rotate around the first weeding mechanism, the elastic piece is stressed to deform, and the elastic piece rebounds to drive the rocker arm and the second weeding mechanism to reset after bypassing the obstacle. The weeding device can be in butt joint with the inspection robot, and the weeding requirement of the photovoltaic power station is met by carrying the weeding device by utilizing the intelligent cruise advantage of the weeding device.

Description

Technical Field

[0001] The invention relates to the technical field of photovoltaic power generation, in particular to a weeding device and an inspection robot. Background Art

[0002] Currently, large-scale photovoltaic power stations are faced with the problem of weeding and operation and maintenance in the later stage, especially in power stations using double-glass modules. The weeds on the ground will seriously affect the power generation efficiency of the modules.

[0003] In the prior art, weeding in photovoltaic power stations is mostly done by hand-held weeders or by driving weeding vehicles. Most of the weeding area is between two component arrays, and it is difficult to cover the area from the bottom of the component to the support column. However, the weeds in this area often have the greatest impact on the power generation efficiency of the component.

[0004] Therefore, it is necessary to provide a new weeding device and inspection robot to solve the above problems. Summary of the invention

[0005] The purpose of the present invention is to provide a weeding device and a patrol robot for a photovoltaic power station, which utilizes the intelligent cruising advantage of the patrol robot to carry a weeding device to solve the weeding needs, and the weeding area can cover the bottom of the photovoltaic module.

[0006] To achieve the above object, the present invention adopts the following technical solution:

[0007] A weeding device, suitable for being assembled on a patrol robot and performing weeding, comprises a first weeding mechanism, a second weeding mechanism, a connecting assembly and a mounting assembly, wherein the connecting assembly rotatably connects the second weeding mechanism to the first weeding mechanism, and one end of the mounting assembly is connected to the first weeding mechanism and the other end is connected to the patrol robot;

[0008] The connecting assembly comprises a support seat, a rocker arm and an elastic member, wherein the support seat is fixed on the first weeding mechanism, one end of the rocker arm is horizontally rotatably connected to the support seat, the other end of the rocker arm is connected to the second weeding mechanism, one end of the elastic member is fixed to the first weeding mechanism, and the other end of the elastic member is connected to the rocker arm;

[0009] When the weeding device encounters an obstacle, the second weeding mechanism is squeezed by the obstacle and rotates horizontally around the first weeding mechanism, the elastic member is deformed by the force, and after bypassing the obstacle, the elastic member rebounds and drives the rocker arm and the second weeding mechanism to reset.

[0010] As a further improved technical solution of the present invention, the rocker arm includes a first arm and a second arm, the first arm is horizontally rotatably connected to the support base, the second arm is fixedly connected to the second weeding mechanism, and the second arm is vertically rotatably connected to the first arm.

[0011] As a further improved technical solution of the present invention, the rocker arm also includes a rotating shaft, which connects the first arm and the support seat horizontally and rotatably, and the end of the elastic member connected to the first arm is located on the side of the rotating shaft away from the second arm.

[0012] As a further improved technical solution of the present invention, the elastic member is a tension spring. When the second weeding mechanism is squeezed and rotated by the obstacle, the length of the elastic member increases due to the horizontal inward rotation of the rocker arm. When the second weeding mechanism is not squeezed by the obstacle, the length of the elastic member decreases, thereby driving the second weeding mechanism to reset.

[0013] As a further improved technical solution of the present invention, the first weeding mechanism includes a first plate cover, a first walking wheel, a first motor and a first blade, the first blade is located on the lower side of the first plate cover, the first motor is located on the upper side of the first plate cover and drives the first blade to rotate, and the first walking wheel drives the first weeding mechanism to move;

[0014] The second weeding mechanism includes a second plate cover, a second walking wheel, a second motor and a second blade, the second blade is located on the lower side of the second plate cover, the second motor is located on the upper side of the second plate cover and drives the second blade to rotate, and the second walking wheel drives the second weeding mechanism to move.

[0015] As a further improved technical solution of the present invention, the projection of the first blade in the vertical direction is located within the outer contour of the first plate cover, and the projection of the second blade in the vertical direction is located within the outer contour of the second plate cover.

[0016] As a further improved technical solution of the present invention, the second weeding mechanism further includes a buffer belt, and the buffer belt is sleeved on the outer periphery of the second plate cover.

[0017] As a further improved technical solution of the present invention, the connecting assembly also includes a limiting member, the rocker arm is provided with a first limiting hole, the first weeding mechanism is provided with a second limiting hole, and the limiting member can pass through the first limiting hole and the second limiting hole to limit the second weeding mechanism to rotate within a small range near the first weeding mechanism.

[0018] As a further improved technical solution of the present invention, the mounting assembly includes a connecting seat and a connecting arm, the connecting seat can be horizontally rotatably connected to the first weeding mechanism, the connecting arm can be vertically rotatably connected to the connecting seat, and the connecting arm is docked with the inspection robot.

[0019] To achieve the above object, the present invention adopts the following technical solution:

[0020] A patrol robot comprises a weeding device as described in any one of the above items, wherein the weeding device is connected to the tail of the patrol robot through the mounting assembly, and the patrol robot can perform patrol and weeding at the same time.

[0021] Compared with the prior art, the beneficial effects of the weeding device and the inspection robot of the present invention are as follows: a first weeding mechanism and a second weeding mechanism are provided, and the second weeding mechanism is rotatably connected to the first weeding mechanism through a connecting assembly. When there are no obstacles, the second weeding mechanism can weed side by side with the first weeding mechanism, and the second weeding mechanism can cover the area below the photovoltaic module, and can cut the weeds below the photovoltaic module to the maximum extent, thereby improving the power generation efficiency of the photovoltaic module. When the second weeding mechanism encounters an obstacle such as a column, the second weeding mechanism is squeezed and rotates horizontally around the first weeding mechanism, and the elastic member in the connecting assembly is deformed by force. After bypassing the obstacle, the elastic member rebounds and drives the second weeding mechanism to reset, realizing the automatic avoidance and return function of the machine, and will not cause damage to the obstacle, and no additional drive machine or identification module is required, and the cost is low. The weeding device is docked to the inspection robot, and the intelligent cruising advantage of the inspection robot is utilized. By carrying the weeding device, the weeding needs of the photovoltaic power station are solved, and unmanned weeding is realized. The weeding device and the inspection robot are connected through a simple structure, which expands the weeding area of ​​the weeding device, realizes low-cost unmanned weeding, and greatly improves the weeding efficiency and the power generation efficiency of the photovoltaic power station. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of a closed state of a weeding device according to a specific embodiment of the present invention;

[0023] Figure 2 A schematic diagram of an open state of a weeding device according to a specific embodiment of the present invention;

[0024] Figure 3 It is a partial structural schematic diagram of a weeding device according to a specific embodiment of the present invention;

[0025] Figure 4 for Figure 3 A schematic structural diagram of the weeding device from another perspective;

[0026] Figure 5 It is a structural schematic diagram of a rocker arm according to a specific embodiment of the present invention;

[0027] Figure 6 It is a schematic diagram of the exploded structure of a rocker arm according to a specific embodiment of the present invention;

[0028] Figure 7 It is a structural schematic diagram of a hinged member according to a specific embodiment of the present invention;

[0029] Figure 8 It is a structural schematic diagram of a second weeding mechanism according to a specific embodiment of the present invention;

[0030] Fig. 9 for Figure 8 A schematic structural diagram of the second weeding mechanism at another viewing angle;

[0031] Fig.10 The figure is a schematic diagram of the installation structure of the installation component according to a specific embodiment of the present invention. DETAILED DESCRIPTION

[0032] The exemplary embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. If there are several embodiments, the features of these embodiments can be combined with each other without conflict. When the description refers to the drawings, unless otherwise specified, the same numbers in different drawings represent the same or similar elements. The contents described in the following exemplary embodiments do not represent all embodiments consistent with the present invention; on the contrary, they are only examples of devices, products and / or methods consistent with some aspects of the present invention as recorded in the claims of the present invention.

[0033] The terms used in the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the scope of protection of the present invention. The singular forms "a", "said" or "the" used in the specification and claims of the present invention are also intended to include plural forms, unless the context clearly indicates other meanings.

[0034] It should be understood that the words used in the specification and claims of the present invention, such as "first", "second" and similar words, do not indicate any order, quantity or importance, but are only used to distinguish the names of features. Similarly, words such as "one" or "an" do not indicate a quantitative limitation, but indicate the existence of at least one. Unless otherwise specified, words such as "front", "rear", "upper", "lower" and similar words appearing in the present invention are only for the convenience of explanation and are not limited to a specific position or a spatial orientation. Words such as "include" or "comprise" are an open-ended expression, meaning that the elements appearing before "include" or "comprise" include the elements appearing after "include" or "comprise" and their equivalents, which does not exclude that the elements appearing before "include" or "comprise" may also include other elements. If "several" appears in the present invention, it means two or more.

[0035] See also Figures 1 to 10 As shown, this embodiment discloses a weeding device, including a first weeding mechanism 1, a second weeding mechanism 2 and a connecting assembly 3, wherein the connecting assembly 3 rotatably connects the second weeding mechanism 2 to the first weeding mechanism 1. When there are no obstacles, the weeding device is in an open state, and the second weeding mechanism 2 and the first weeding mechanism 1 are opposite and side by side to perform weeding work, and the weeding area can cover the bottom of the photovoltaic module; when encountering an obstacle such as a column, the weeding device changes from an open state to a closed state, and the second weeding mechanism 2 is squeezed and rotates horizontally around the first weeding mechanism 1. After bypassing the obstacle, the connecting assembly 3 drives the second weeding mechanism 2 to return to the original position, so that the weeds under the photovoltaic module can be cut to the maximum extent.

[0036] In this embodiment, two second weeding mechanisms 2 are arranged on both sides of the first weeding mechanism 1. In other embodiments, the second weeding mechanism 2 connected to the first weeding mechanism 1 can also be connected to one or more second weeding mechanisms 2 in the same manner through the connecting component 3 to further expand the weeding range, which will not be elaborated here.

[0037] See also Figures 1 to 3As shown, the connection assembly 3 includes a support seat 31, a rocker arm 32 and an elastic member 33. The support seat 31 is fixed on the first weeding mechanism 1. One end of the rocker arm 32 can be horizontally rotatably connected to the support seat 31. The other end of the rocker arm 32 is fixedly connected to the second weeding mechanism 2. One end of the elastic member 33 is fixedly connected to the first weeding mechanism 1. The other end of the elastic member 33 is connected to the rocker arm 32 and swings with the rocker arm 32. In this way, the automatic avoidance and return functions of the second weeding mechanism 2 are realized through the mechanical connection structure. The coverage area of ​​the second weeding mechanism 2 can extend to the bottom of the photovoltaic module, and the weeds under the module can be cut to the maximum extent. The second weeding mechanism 2 generates rotation avoidance by contacting with obstacles, and returns to the center by the resilience of the elastic member 33 itself. There is no need to set up an additional infrared module or drive module for avoidance and return, and the cost is low.

[0038] For further information, see Figures 1 to 5 As shown, the rocker arm 32 includes a first arm 321 and a second arm 322. The first arm 321 can be horizontally rotatably connected to the support base 31, and the second arm 322 is fixedly connected to the second weeding mechanism 2. The second arm 322 is vertically rotatably connected to the first arm 321, so that the second weeding mechanism 2 can be horizontally and vertically rotated relative to the first weeding mechanism 1. With such a configuration, the weeding device can adapt to uneven ground and has a high consistency in weeding; in addition, when the weeding device needs to be transported or not in use, the second weeding mechanism 2 can be rotated in the vertical direction to flip it over the first weeding mechanism 1 to reduce the overall footprint and volume of the weeding device, making it easier to transport and store.

[0039] See also Figures 1 to 5 As shown, the rocker arm 32 also includes a rotating shaft 323, which connects the first arm 321 and the support base 31 horizontally and rotatably. The end of the elastic member 33 connected to the first arm 321 is located on the side of the rotating shaft 323 away from the second arm 322; that is, the rotation center of the rocker arm 32 is relatively located in the middle of the first arm 321. When rotating, the rotating end of the first arm 321 is respectively close to and away from the end of the elastic member 33 connected to the first weeding mechanism 1, so that the elastic member 33 is extended or shortened, and the elastic member 33 has a rebound force to drive the rocker arm 32 and the second weeding mechanism 2 to reset.

[0040] See also Figures 5 to 7As shown, a first hinge portion 3211 is provided at one end of the first arm 321 close to the second arm 322, a second hinge portion 3221 is provided at one end of the second arm 322 close to the first arm 321, and the first hinge portion 3211 and the second hinge portion 3221 are rotatably connected via a hinge 5. Specifically, the hinge 5 includes a pin 51 and a locking member 52, and the pin 51 horizontally penetrates the first hinge portion 3211 and the second hinge portion 3221, so that the second arm 322 can rotate in the vertical direction around the pin 51. The pin shaft 51 includes a shaft body 511 and a head 512. The diameter of the head 512 is larger than the diameter of the shaft body 511. The shaft body 511 is adapted to the first hinge part 3211 and the second hinge part 3221. The shaft body 511 is provided with a through hole 513. The shaft body 511 penetrates the first hinge part 3211 and the second hinge part 3221. The head 512 and the through hole 513 are respectively located at the two ends of the first hinge part 3211 and the second hinge part 3221. The locking piece 52 is penetrated by the through hole 513 to prevent the pin shaft 51 from falling off. The locking member 52 includes a strip portion 521, an arc portion 522 and an operating portion 523. The operating portion 523 connects the strip portion 521 and the arc portion 522. The strip portion 521 is penetrated by a through hole 513. The arc portion 522 fits at least part of the outer wall of the shaft body 511, and the minimum distance between the arc portion 522 and the strip portion 521 is smaller than the radius of the shaft body 511, so that the locking member 52 is clamped on the pin shaft 51 to prevent the locking member 52 from falling off. The operating portion 523 facilitates the staff to disassemble and assemble the locking member 52.

[0041] See also Figure 3 As shown, in this embodiment, the elastic member 33 is a tension spring. When the weeding device is in an open state, that is, the second weeding mechanism 2 is relatively side by side with the first weeding mechanism 1, the length of the elastic member 33 is the shortest. At this time, the elastic member 33 is in an initial state, that is, a state without resilience; when the second weeding mechanism 2 is squeezed and rotated by an obstacle, the length of the elastic member 33 increases due to the horizontal rotation of the rocker arm 32 inward, and the resilience also increases. After bypassing the obstacle, the elastic member 33 rebounds and the length decreases, thereby driving the rocker arm 32 and the second weeding mechanism 2 to rotate along the original path and work relatively side by side with the first weeding mechanism 1.

[0042] In other embodiments, the elastic member 33 is a compression spring. When the weeding device is in an open state, that is, when the second weeding mechanism 2 is relatively parallel to the first weeding mechanism 1, the length of the elastic member 33 is the longest. At this time, the elastic member 33 is in an initial state, that is, a state without resilience. When the second weeding mechanism 2 is squeezed and rotated by an obstacle, the length of the elastic member 33 is shortened, and the resilience is increased. After bypassing the obstacle, the elastic member 33 rebounds and drives the rocker arm 32 and the second weeding mechanism 2 to rotate along the original path and work relatively parallel to the first weeding mechanism 1. Of course, the elastic member 33 in the present invention can also be presented in other forms. Here, only some common implementations of the elastic member 33 are described.

[0043] See also Figures 1 to 4 As shown, the first weeding mechanism 1 includes a first plate cover 11, a first running wheel 12, a first motor 13 and a first blade 14. The first blade 14 is located at the lower side of the first plate cover 11. The first motor 13 is located at the upper side of the first plate cover 11 and drives the first blade 14 to rotate for weeding. The first running wheel 12 drives the first weeding mechanism 1 to move. At least three first running wheels 12 are provided and are not located on the same straight line to ensure the balance of the first weeding mechanism 1. In this embodiment, one first motor 13 drives one first blade 14 to rotate. Three groups of first motors 13 and first blades 14 are provided, and the three groups are arranged in parallel and spaced apart to cover a larger weeding range. Further, the projection of the first blade 14 in the vertical direction is located within the outer contour of the first plate cover 11, that is, the first blade 14 is completely located below the first plate cover 11. The first blade 14 only cuts the weeds covered by the first plate cover 11 and will not damage obstacles outside the first plate cover 11.

[0044] See also Figures 1 to 4 , Figure 8 and Fig. 9 As shown, the second weeding mechanism 2 includes a second plate cover 21, a second running wheel 22, a second motor 23 and a second blade 24. The second blade 24 is located at the lower side of the second plate cover 21. The second motor 23 is located at the upper side of the second plate cover 21 and drives the second blade 24 to rotate for weeding. The second running wheel 22 assists the second weeding mechanism 2 in moving and provides certain support for the second weeding mechanism 2. In this embodiment, one second motor 23 drives one second blade 24 to rotate, and each second weeding mechanism 2 is provided with a set of second motors 23 and second blades 24. Further, the projection of the second blade 24 in the vertical direction is located within the outer contour of the second plate cover 21, that is, the second blade 24 is completely located below the second plate cover 21, and the second blade 24 only cuts the weeds covered by the second plate cover 21, and will not damage obstacles outside the second plate cover 21.

[0045] See also Figure 1 and Figure 2 As shown, the first weeding mechanism 1 also includes a first upper cover 15 fixed on the first plate cover 11, and the second weeding mechanism 2 also includes a second upper cover 26 fixed on the second plate cover 21. The space between the first upper cover 15 and the first plate cover 11 is used to accommodate components such as the first motor 13 and the elastic member 33, and the space between the second upper cover 26 and the second plate cover 21 is used to accommodate components such as the second motor 23, so as to protect these components from being exposed to the outside and not easily damaged.

[0046] For further information, see Figures 1 to 4 , Figure 8 and Fig. 9As shown, the second weeding mechanism 2 also includes a buffer belt 25, which is sleeved on the outer periphery of the second plate cover 21 to protect the damage caused by collision when contacting with obstacles such as support columns, and also provides a buffer for the second weeding mechanism 2. Since the weeding device of this embodiment moves side by side with the first weeding mechanism 1 in the process of weeding without obstacles, and the second weeding mechanism 2 is located on both sides of the first weeding mechanism 1, that is, the second weeding mechanism 2 is relatively located on the outside, so when weeding the photovoltaic power station, the second weeding mechanism 2 located on the outside will hit the column. The setting of the buffer belt 25 prevents the column and the second weeding mechanism 2 from being damaged, reduces the collision force, and ensures that the second weeding mechanism 2 will not rotate too much due to collision when rotating around the first weeding mechanism 1. At the same time, the buffer belt 25 cooperates with the elastic member 33 to enable the second weeding mechanism 2 to always fit the column for weeding, thereby improving the weeding efficiency.

[0047] See also Figure 1 , Figure 2 , Figure 5 and Figure 6 As shown, the connection assembly 3 also includes a limiting member 34 for limiting the rocker arm 32 and the second weeding mechanism 2. The rocker arm 32 is provided with a first limiting hole 324, and the first weeding mechanism 1 is provided with a second limiting hole 111. The limiting member 34 can penetrate the first limiting hole 324 and the second limiting hole 111, and limit the second weeding mechanism 2 to rotate within a small range near the first weeding mechanism 1. In this embodiment, the first limiting hole 324 is provided on the first arm 321, and the second limiting hole 111 is provided on the first plate cover 11. When the second weeding mechanism 2 is in a closed state, the first limiting hole 324 corresponds to the second limiting hole 111 up and down, and the limiting member 34 fixes the first arm 321 and the first plate cover 11 relatively, so that the first arm 321 cannot drive the second arm 322 and the second weeding mechanism 2 to rotate horizontally, so that they remain in a closed state, which is convenient for carrying and storage.

[0048] For further information, see Figure 1 , Figure 2 and Figure 5 As shown, a pull ring 325 is also provided on the rocker arm 32, which is used to facilitate the staff to pull the second weeding mechanism 2 to a closed state. In this embodiment, the pull ring 325 is provided on the second support arm 322, and in the closed state, the pull rings 325 of the second weeding mechanisms 2 on both sides are located on the side of the second support arm 322 close to each other.

[0049] See also Figure 1 , Figure 2 and Fig.10As shown, the weeding device of this embodiment also includes a mounting assembly 4, which is used to connect the weeding device to the tail of the inspection robot. One end of the mounting assembly 4 is connected to the first weeding mechanism 1, and the other end is docked with the inspection robot. The mounting assembly 4 includes a connecting seat 41 and a connecting arm 42. The connecting seat 41 can be horizontally rotatably connected to the first weeding mechanism 1 to provide the weeding device with horizontal swing freedom. The connecting arm 42 can be vertically rotatably connected to the connecting seat 41 to provide the weeding device with vertical swing freedom. The connecting arm 42 is docked with the inspection robot.

[0050] This embodiment also discloses a patrol robot, comprising the weeding device as described above, wherein the weeding device is connected to the tail of the patrol robot via a mounting assembly 4, so that the patrol robot can perform patrol and weeding at the same time.

[0051] See also Fig.10 As shown, the connection seat 41 includes a first connection end 411 and a second connection end 412, the first weeding mechanism 1 extends a fixed third connection end 112, the connection arm 42 includes a fourth connection end 421, the first connection end 411 is hinged with the third connection end 112, so that the first weeding mechanism 1 can drive the second weeding mechanism 2 to rotate horizontally relative to the connection seat 41, the second connection end 412 is hinged with the fourth connection end 421 through a hinge 5, so that the connection seat 41, the first weeding mechanism 1 and the second weeding mechanism 2 can rotate vertically relative to the connection arm 42 as a whole. The installation component 4 also includes a connecting rod 43, the connection arm 42 includes a fifth connection end 422, the connection rod 43 includes a sixth connection end 431, the fifth connection end 422 and the sixth connection end 431 are hinged through a hinge 5, so that the connection arm 42, the connection seat 41, the first weeding mechanism 1 and the second weeding mechanism 2 can rotate vertically relative to the connection rod 43 as a whole; the setting of the connection rod 43 facilitates the docking of the installation component 4 with the inspection robot. With such arrangement, the mounting assembly 4 can provide the entire weeding device with space for flipping up and down and swinging horizontally left and right relative to the inspection robot to adapt to different road conditions.

[0052] In actual operation, the weeding device of this embodiment can be used alone or in conjunction with a patrol robot. When used alone, the worker holds the mounting assembly 4 and pulls the weeding device to weed; when used in conjunction with a patrol robot, the weeding device is connected to the tail of the patrol robot through the mounting assembly 4, and follows the patrol robot to cruise and weed at the same time.

[0053] In a photovoltaic power station, the obstacles in the weeding area are mainly the columns of the photovoltaic support. When the columns are not encountered, the second weeding mechanism 2 performs weeding work side by side with the first weeding mechanism 1 and can extend to the bottom of the photovoltaic module; when the second weeding mechanism 2 encounters the columns, the columns squeeze the second weeding mechanism 2 to make it rotate horizontally inward around the first weeding mechanism 1, stretching the elastic member 33 to make it have a rebound force, and the second weeding mechanism 2 always fits the columns for weeding. When the columns are out of contact with the second weeding mechanism 2, the squeezing of the second weeding mechanism 2 by the columns disappears, and the elastic member 33 rebounds to drive the rocker arm 32 and the second weeding mechanism 2 to rotate horizontally outward in turn, and the second weeding mechanism 2 returns to a position side by side with the first weeding mechanism 1 to maintain the maximum weeding range.

[0054] When the weeding device is not in use or needs to be carried, the staff can pull the second weeding mechanism 2 inward to a closed state through the pull ring 325, and use the limiter 34 to fix it in the closed state; since the first arm 321 and the second arm 322 are hinged, the two can rotate vertically relative to each other, so the second arm 322 and the second weeding mechanism 2 can be further flipped upward to above the first weeding mechanism 1.

[0055] In summary, compared with the prior art, the weeding device and the inspection robot of the present invention have the following advantages: a first weeding mechanism 1 and a second weeding mechanism 2 are provided, and the second weeding mechanism 2 is rotatably connected to the first weeding mechanism 1 through a connecting assembly 3. When there are no obstacles, the second weeding mechanism 2 can be weeded side by side with the first weeding mechanism 1, and the second weeding mechanism 2 can cover the area below the photovoltaic module, and can cut the weeds below the photovoltaic module to the maximum extent, thereby improving the power generation efficiency of the photovoltaic module. When the second weeding mechanism 2 encounters an obstacle such as a column, the second weeding mechanism 2 is squeezed and rotates horizontally around the first weeding mechanism 1, and the elastic member 33 in the connecting assembly 3 is deformed by force. After bypassing the obstacle, the elastic member 33 rebounds and drives the second weeding mechanism 2 to reset, realizing the automatic avoidance and return function of the machine, and will not cause damage to the obstacle, and no additional drive machine or identification module is required, and the cost is low. The weeding device is docked to the inspection robot, and the intelligent cruising advantage of the inspection robot is utilized. By carrying the weeding device, the weeding needs of the photovoltaic power station are solved, and unmanned weeding is realized. The weeding device and the inspection robot are connected through a simple structure, which expands the weeding area of ​​the weeding device, realizes low-cost unmanned weeding, and greatly improves the weeding efficiency and the power generation efficiency of the photovoltaic power station.

[0056] The above implementation modes are only used to illustrate the present invention and are not intended to limit the technical solutions described in the present invention. The understanding of this specification should be based on the technical personnel in the relevant technical field. Although this specification has described the present invention in detail with reference to the above embodiments, ordinary technical personnel in the field should understand that the technical personnel in the relevant technical field can still modify or replace the present invention with equivalents, and all technical solutions and improvements thereof that do not depart from the spirit and scope of the present invention should be covered within the scope of the claims of the present invention.

Claims

1. A weeding device, suitable for being mounted on a patrol robot and performing weeding, characterized in that: The weeding device comprises a first weeding mechanism (1), a second weeding mechanism (2), a connecting component (3) and a mounting component (4); the connecting component (3) rotatably connects the second weeding mechanism (2) to the first weeding mechanism (1); one end of the mounting component (4) is connected to the first weeding mechanism (1) and the other end is connected to the inspection robot; The connecting assembly (3) comprises a support seat (31), a rocker arm (32) and an elastic member (33); the support seat (31) is fixed on the first weeding mechanism (1); one end of the rocker arm (32) is horizontally rotatably connected to the support seat (31); the other end of the rocker arm (32) is connected to the second weeding mechanism (2); one end of the elastic member (33) is fixed to the first weeding mechanism (1); the other end of the elastic member (33) is connected to the rocker arm (32); When the weeding device encounters an obstacle, the second weeding mechanism (2) is squeezed by the obstacle and rotates horizontally around the first weeding mechanism (1), and the elastic member (33) is deformed by the force. After bypassing the obstacle, the elastic member (33) rebounds and drives the rocker arm (32) and the second weeding mechanism (2) to reset.

2. The weeding device according to claim 1, characterized in that: The rocker arm (32) comprises a first arm (321) and a second arm (322); the first arm (321) is horizontally rotatably connected to the support seat (31); the second arm (322) is fixedly connected to the second weeding mechanism (2); and the second arm (322) is vertically rotatably connected to the first arm (321).

3. The weeding device according to claim 2, characterized in that: The rocker arm (32) further comprises a rotating shaft (323), wherein the rotating shaft (323) connects the first support arm (321) and the support seat (31) in a horizontally rotatable manner, and an end of the elastic member (33) connected to the first support arm (321) is located on a side of the rotating shaft (323) away from the second support arm (322).

4. The weeding device according to claim 1, characterized in that: The elastic member (33) is a tension spring. When the second weeding mechanism (2) is squeezed and rotated by the obstacle, the length of the elastic member (33) increases due to the inward horizontal rotation of the rocker arm (32). When the second weeding mechanism (2) is not squeezed by the obstacle, the length of the elastic member (33) decreases, thereby driving the second weeding mechanism (2) to reset.

5. The weeding device according to claim 1, characterized in that: The first weeding mechanism (1) comprises a first plate cover (11), a first running wheel (12), a first motor (13) and a first blade (14); the first blade (14) is located on the lower side of the first plate cover (11); the first motor (13) is located on the upper side of the first plate cover (11) and drives the first blade (14) to rotate; and the first running wheel (12) drives the first weeding mechanism (1) to move; The second weeding mechanism (2) comprises a second plate cover (21), a second running wheel (22), a second motor (23) and a second blade (24); the second blade (24) is located on the lower side of the second plate cover (21); the second motor (23) is located on the upper side of the second plate cover (21) and drives the second blade (24) to rotate; and the second running wheel (22) drives the second weeding mechanism (2) to move.

6. The weeding device according to claim 5, characterized in that: The projection of the first blade (14) in the vertical direction is located within the outer contour of the first plate cover (11), and the projection of the second blade (24) in the vertical direction is located within the outer contour of the second plate cover (21).

7. The weeding device according to claim 6, characterized in that: The second weeding mechanism (2) further comprises a buffer belt (25), wherein the buffer belt (25) is sleeved on the outer circumference of the second plate cover (21).

8. The weeding device according to claim 1, characterized in that: The connecting assembly (3) further comprises a limiting member (34), the rocker arm (32) is provided with a first limiting hole (324), the first weeding mechanism (1) is provided with a second limiting hole (111), and the limiting member (34) can penetrate the first limiting hole (324) and the second limiting hole (111) to limit the second weeding mechanism (2) to rotate within a small range near the first weeding mechanism (1).

9. The weeding device according to claim 1, characterized in that: The mounting assembly (4) comprises a connecting seat (41) and a connecting arm (42); the connecting seat (41) can be horizontally rotatably connected to the first weeding mechanism (1); the connecting arm (42) can be vertically rotatably connected to the connecting seat (41); and the connecting arm (42) is docked with the inspection robot.

10. A patrol robot, characterized in that: It comprises a weeding device as claimed in any one of claims 1 to 9, wherein the weeding device is connected to the tail of the inspection robot through the mounting assembly (4), and the inspection robot can perform patrolling and weeding at the same time.

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