Self-adaptive adjusting cutter head of intelligent weeding robot

Abstract

A self-adaptive adjusting cutterhead of an intelligent weeding robot relates to the technical field of weeding cutterheads and comprises a weeding robot body, a first electric push rod is mounted on a connecting arm of the weeding robot body, a mounting box is fixed to the telescopic end of the first electric push rod, and a driving mechanism is mounted on the inner side of the mounting box. A transmission shaft is fixed to the end of the driving mechanism, a tool apron is fixed to the end of the transmission shaft, and the tool apron is hollow. According to the intelligent weeding robot, the cutter head is adjusted in a self-adaptive mode, angle adjustment is convenient, adaptability is good, and the requirement for weeding of different slopes can be met, so that the weeding efficiency is improved; the heat generated by the motor in the cutting process is used for heating the blade, so that juice remaining on the blade is rapidly evaporated, the adverse effect on normal operation of the blade due to the fact that the wet juice on the blade is contaminated by much dust or the blade is avoided, and the failure rate of the cutter head is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of weeding blade discs, and in particular to an intelligent weeding robot self-adjusting blade disc. Background Art

[0002] The cutter device is the core working part of the weeding robot. When the weeding robot is performing weeding operations, the power output shaft drives the cutter to rotate at high speed to achieve weeding operations. The height of the cutter from the ground when working is the stubble height of the mowing. The stubble height of the weeding robot varies in different operating scenarios. When the cutter is cutting, the plant itself will produce some juice, which will remain on the blade. The juice will adhere to some dust, which will have an adverse effect on the service life of the blade. At the same time, the juice will also adhere to the leaves. The accumulation of leaves on the blade may hinder the normal operation of the blade, resulting in a higher failure rate. In addition, when mowing the lawn, some ground is not flat and has some slopes. Designing a blade structure that can adapt to different slopes can greatly increase the efficiency of weeding and ensure the adaptability of the intelligent weeding robot. Summary of the invention

[0003] The technical problem to be solved by the present invention is to overcome the existing defects and provide an intelligent weeding robot with an adaptively adjustable blade disc, which has convenient angle adjustment and good adaptability and can meet the needs of weeding on different slopes, thereby improving the weeding efficiency. The heat generated by the motor during the cutting process is used to heat the blade, so that the juice remaining on the blade evaporates quickly, thereby preventing the wetter juice on the blade from being contaminated with more dust or leaves and causing adverse effects on the normal operation of the blade, thereby reducing the failure rate of the blade disc and effectively solving the problems in the background technology.

[0004] In order to achieve the above-mentioned object of the invention, the present invention adopts the following technical scheme: A smart weeding robot with an adaptively adjustable blade disc comprises a weeding robot body, a first electric push rod is installed on the connecting arm of the weeding robot body, a mounting box is fixed to the telescopic end of the first electric push rod, a driving mechanism is installed on the inner side of the mounting box, a transmission shaft is fixed to the end of the driving mechanism, a knife seat is fixed to the end of the transmission shaft, the knife seat is hollow inside, a sleeve is rotatably connected to the transmission shaft via a second bearing, the sleeve is connected to the bottom of the mounting box via an angle adjustment mechanism, a connecting frame is fixed to the sleeve, the end of the connecting frame is rotatably connected to a knife cover via a rotating joint, and the knife cover is rotatably connected to the transmission shaft via a third bearing, the knife seat is connected to a hollow knife shaft via a deflection protection structure, a blade is fixed to the end of the hollow knife shaft, and a heat transfer mechanism is installed at a position corresponding to the transmission shaft on the mounting box.

[0005] Furthermore, the driving mechanism includes a stepper motor, a universal ball and a coupling, the stepper motor is mounted on the universal ball, the universal ball is assembled at the bottom of the mounting box, the stepper motor is arranged on the inner side of the mounting box, and the transmission shaft is fixedly connected to the output shaft of the stepper motor through the coupling.

[0006] Furthermore, the angle adjustment mechanism includes a worm, a servo motor, a worm wheel and a stand. There are two stands, both of which are fixed at the bottom of the mounting box. The worm is rotatably installed between the two stands. The servo motor is installed on the side of one of the stands, and the output shaft of the servo motor is fixedly connected to the end of the worm. The worm wheel is rotatably installed at the bottom of the mounting box through a first bearing, and the worm is meshed with the worm wheel.

[0007] Furthermore, the angle adjustment mechanism includes a first hinge, a second electric push rod and a second hinge, one end of the second electric push rod is hinged to the end of the worm gear through the first hinge, and the other end of the second electric push rod is hinged to the side of the sleeve through the first hinge.

[0008] Furthermore, the heat transfer mechanism includes a first air inlet hole and a cooling fan, the first air inlet hole is evenly arranged on the side of the installation box, the cooling fan is installed at the bottom of the installation box, the exhaust port of the cooling fan is located on the inner side of the installation box, and the air outlet of the cooling fan is arranged on the outer side of the installation box.

[0009] Furthermore, the heat transfer mechanism also includes a protective cover, which is arranged between the knife cover and the mounting box, the angle adjustment mechanism is arranged on the inner side of the protective cover, and the air outlet of the cooling fan is arranged on the inner side of the protective cover.

[0010] Furthermore, the protective cover is a bellows structure.

[0011] Furthermore, the heat transfer mechanism also includes a second air inlet hole, which is evenly arranged on the transmission shaft. The transmission shaft is a hollow structure, and the second air inlet hole, the transmission shaft, the knife seat and the hollow knife shaft are interconnected.

[0012] Furthermore, the deflection protection structure includes a torsion spring and a connecting block, the connecting block is fixed to the inner end of the hollow knife shaft, the torsion spring is sleeved on the hollow knife shaft, and the ends of the torsion spring are respectively fixedly connected to the connecting block and the knife seat.

[0013] Furthermore, the blade is of a hollow structure, the interior of the blade is connected to the interior of the blade seat through a hollow blade shaft, and exhaust holes are evenly arranged on the surface of the blade.

[0014] Compared with the prior art, the beneficial effects of the present invention are: the intelligent weeding robot can adaptively adjust the blade, which has the following advantages: 1. The cutting angle of the blade is adjusted through the angle adjustment mechanism. The angle adjustment is convenient and has good adaptability. It can meet the needs of weeding on different slopes, thereby improving the efficiency of weeding.

[0015] 2. The heat generated by the motor during the cutting process is transferred to the blade through the heat transfer mechanism, and the blade is heated by hot air, so that the juice remaining on the blade evaporates quickly, thereby preventing the wetter juice on the blade from being contaminated with more dust or blades and causing adverse effects on the normal operation of the blade, thereby reducing the failure rate of the cutter disc. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 It is a schematic diagram of the local structure of the cutter disc of the present invention; Figure 3 for Figure 2 Schematic diagram of the cross-sectional structure at AA; Figure 4 for Figure 3 A schematic diagram of the enlarged structure at B; Figure 5 It is a schematic diagram of the partial structure of the angle adjustment mechanism of the present invention.

[0017] In the figure: 1-weeding robot body, 2-first electric push rod, 3-installation box, 4-driving mechanism, 41 stepping motor, 42 universal ball, 43 coupling, 5-deflection protection structure, 51-torsion spring, 52-connecting block, 6-angle adjustment mechanism, 61-worm, 62-servo motor, 63-worm gear, 64-first hinge, 65-second electric push rod, 66-second hinge, 67-stand, 7-heat transfer mechanism, 71-first air inlet, 72-protective cover, 73-second air inlet, 74-cooling fan, 8-knife cover, 9-blade, 10-exhaust hole, 11-hollow knife shaft, 12-knife seat, 13-shaft sleeve, 14-transmission shaft, 15-first bearing, 16-second bearing, 17-third bearing, 18-connecting frame. DETAILED DESCRIPTION

[0018] The present invention can be explained in detail by the following examples, and the purpose of disclosing the present invention is to protect all technical improvements within the scope of the present invention.

[0019] See also Figure 1-5The present embodiment provides a technical solution: an intelligent weeding robot with an adaptively adjustable blade disc, comprising a weeding robot body 1, a first electric push rod 2 is installed on the connecting arm of the weeding robot body 1, a mounting box 3 is fixed to the telescopic end of the first electric push rod 2, a driving mechanism 4 is installed on the inner side of the mounting box 3, a transmission shaft 14 is fixed to the end of the driving mechanism 4, a knife seat 12 is fixed to the end of the transmission shaft 14, the knife seat 12 is hollow inside, a sleeve 13 is rotatably connected to the transmission shaft 14 through a second bearing 16, the sleeve 13 is connected to the bottom of the mounting box 3 through an angle adjustment mechanism 6, a connecting frame 18 is fixed to the sleeve 13, a knife cover 8 is rotatably connected to the end of the connecting frame 18 through a rotating joint, and the knife cover 8 is rotatably connected to the transmission shaft 14 through a third bearing 17, the knife seat 12 is connected to a hollow knife shaft 11 through a deflection protection structure 5, a blade 9 is fixed to the end of the hollow knife shaft 11, and a heat transfer mechanism 7 is installed at a position corresponding to the transmission shaft 14 on the mounting box 3.

[0020] The driving mechanism 4 includes a stepper motor 41, a universal ball 42 and a coupling 43. The stepper motor 41 is installed on the universal ball 42, and the universal ball 42 is assembled at the bottom of the installation box 3. The stepper motor 41 is arranged on the inner side of the installation box 3. The transmission shaft 14 is fixedly connected to the output shaft of the stepper motor 41 through the coupling 43. When adjusting the angle, the stepper motor 41 rotates relative to the installation box 3 through the universal ball 42 to adapt to the angle adjustment operation. The telescopic end of the first electric push rod 2 drives the installation box 3 to move up and down, thereby adjusting the cutting height of the blade 9. The output shaft of the stepper motor 41 drives the transmission shaft 14 to rotate through the coupling 43. The transmission shaft 14 drives the blade 9 to rotate through the knife seat 12, and the weeding operation is performed by the high-speed rotating blade 9.

[0021] The angle adjustment mechanism 6 includes a worm 61, a servo motor 62, a worm wheel 63 and a stand 67. There are two stands 67, both of which are fixed to the bottom of the installation box 3. The worm 61 is rotatably installed between the two stands 67. The servo motor 62 is installed on the side of one of the stands 67, and the output shaft of the servo motor 62 is fixedly connected to the end of the worm 61. The worm wheel 63 is rotatably installed at the bottom of the installation box 3 through the first bearing 15. The worm 61 is meshed with the worm wheel 63. The angle adjustment mechanism 6 includes a first hinge 64, a second electric push rod 65 and a second hinge 66. One end of the second electric push rod 65 is hinged to the end of the worm wheel 63 through the first hinge 64, and the other end of the second electric push rod 65 is hinged to the end of the worm wheel 63 through the first hinge 64 is hinged to the side of the sleeve 13, and the second electric push rod 65 performs telescopic movement. The telescopic end of the push rod 65 drives the sleeve 13 to move through the second hinge 66, and the sleeve 13 drives the transmission shaft 14 to move, thereby adjusting the cutting angle of the blade 9. When adjusting the angle, the protective cover 72 with the bellows structure performs telescopic variation to adapt to its angle adjustment requirements. The output shaft of the servo motor 62 drives the worm 61 to rotate, and the worm 61 engages with the worm wheel 63 for transmission. The worm wheel 63 drives the second electric push rod 65 to move through the first hinge 64, thereby adjusting the orientation of the required angle of the blade 9 to adapt to the needs of weeding on different slopes. The angle adjustment is convenient and the adaptability is good, thereby improving the efficiency of weeding.

[0022] The heat transfer mechanism 7 includes a first air inlet hole 71 and a cooling fan 74. The first air inlet hole 71 is evenly arranged on the side of the installation box 3. The cooling fan 74 is installed at the bottom of the installation box 3. The exhaust port of the cooling fan 74 is located on the inner side of the installation box 3. The air outlet of the cooling fan 74 is arranged on the outer side of the installation box 3. The heat transfer mechanism 7 also includes a protective cover 72. The protective cover 72 is arranged between the knife cover 8 and the installation box 3. The angle adjustment mechanism 6 is arranged on the inner side of the protective cover 72. The air outlet of the cooling fan 74 is arranged on the inner side of the protective cover 72. The protective cover 72 is a bellows structure. The protective cover 72 is used to prevent foreign objects from obstructing the angle adjustment mechanism 6, such as some branches, so as to protect the angle adjustment mechanism 6. On the one hand, the protective cover 72 is used to gather the hot air exhausted by the cooling fan 74, so as to facilitate the transfer of the hot air. The heat transfer mechanism 7 also includes a second air inlet hole 73. The second air inlet hole 73 is evenly arranged on the transmission shaft 14. The transmission shaft 14 is a hollow structure. The second air inlet hole 73, the transmission shaft 14, the knife seat 12 and the hollow knife shaft 11 are interconnected. The heat generated by the stepper motor 41 during operation is gathered in the installation box 3. The cooling fan 74 works to transport the hot air in the installation box 3 to the protective cover 72. At this time, the outside air enters the installation box 3 through the first air inlet hole 71, so as to cool the stepper motor 41, and the hot air in the protective cover 72 enters the transmission shaft 14 through the second air inlet hole 73.

[0023] The deflection protection structure 5 includes a torsion spring 51 and a connecting block 52. The connecting block 52 is fixed to the inner end of the hollow blade shaft 11. The torsion spring 51 is sleeved on the hollow blade shaft 11. The ends of the torsion spring 51 are fixedly connected to the connecting block 52 and the blade seat 12 respectively. When the blade surface of the blade 9 is supported by an external hard object, the hollow blade shaft 11 of the blade 9 and the blade seat 12 rotate relative to each other, thereby preventing the blade 9 from being damaged by long-term contact with external hard objects. The hollow blade shaft 11 drives the connecting block 52 to rotate, and the connecting block 52 causes the torsion spring 51 to deflect. When there is no external force affecting the surface of the blade 9, the torsion spring 51 restores its deformation, and its deformation force reacts to the connecting block 52, so that the hollow blade shaft 11 can drive the blade 9 to return to its original position, thereby increasing the service life of the blade 9 through deflection protection.

[0024] The blade 9 is a hollow structure, and the interior of the blade 9 is connected to the interior of the blade seat 12 through the hollow blade shaft 11. Exhaust holes 10 are evenly opened on the surface of the blade 9. The second air inlet hole 73, the transmission shaft 14, the blade seat 12 and the hollow blade shaft 11 are connected to each other, so the hot air enters the blade 9 through the hollow blade shaft 11 and is discharged through the exhaust holes 10. The hot air can heat the blade 9, so that the juice remaining on the blade 9 can be quickly evaporated, thereby preventing the relatively wet juice on the blade 9 from being contaminated with more dust or blades and causing adverse effects on the normal operation of the blade 9, thereby reducing the failure rate of the knife disc. At the same time, the hot air discharged through the exhaust holes 10 can also blow out foreign matter remaining in the knife cover 8 to prevent it from accumulating in the knife cover 8 and causing knife jamming.

[0025] The working principle of the adaptively adjustable blade disc of an intelligent weeding robot provided by the present invention is as follows: the telescopic end of the first electric push rod 2 drives the mounting box 3 to move up and down, thereby adjusting the cutting height of the blade 9, the output shaft of the stepping motor 41 drives the transmission shaft 14 to rotate through the coupling 43, the transmission shaft 14 drives the blade 9 to rotate through the blade seat 12, and the weeding operation is performed by the high-speed rotating blade 9; The heat generated by the stepper motor 41 during operation is gathered in the installation box 3, and the cooling fan 74 works to transport the hot air in the installation box 3 to the protective cover 72. At this time, the outside air enters the installation box 3 through the first air inlet 71, thereby cooling the stepper motor 41, and the hot air in the protective cover 72 enters the transmission shaft 14 through the second air inlet 73. The second air inlet 73, the transmission shaft 14, the knife seat 12 and the hollow knife shaft 11 are interconnected, so the hot air enters the blade 9 through the hollow knife shaft 11 and is discharged through the exhaust hole 10. The hot air can heat the blade 9, so that the juice remaining on the blade 9 can be quickly evaporated, thereby preventing the relatively wet juice on the blade 9 from being contaminated with more dust or blades and causing adverse effects on the normal operation of the blade 9; When the blade surface of the blade 9 is pressed by an external hard object, the hollow blade shaft 11 of the blade 9 and the blade seat 12 rotate relatively, so as to prevent the blade 9 from being damaged due to long-term contact with the external hard object. The hollow blade shaft 11 drives the connecting block 52 to rotate, and the connecting block 52 deflects the torsion spring 51. When there is no external force on the surface of the blade 9, the torsion spring 51 recovers its deformation, and its deformation force reacts on the connecting block 52, so that the hollow blade shaft 11 can drive the blade 9 to return to its original position. The second electric push rod 65 performs telescopic movement, and its telescopic end drives the sleeve 13 to move through the second hinge 66, and the sleeve 13 drives the transmission shaft 14 to move, thereby adjusting the cutting angle of the blade 9. When adjusting the angle, the protective cover 72 with the bellows structure performs telescopic movement to adapt to its angle adjustment requirements, and the output shaft of the servo motor 62 drives the worm 61 to rotate, and the worm 61 engages with the worm wheel 63 for transmission. The worm wheel 63 drives the second electric push rod 65 to move through the first hinge 64, thereby adjusting the position of the required angle of the blade 9 to adapt to the needs of weeding on different slopes.

[0026] It is worth noting that the components disclosed in the above embodiments are all universal standard parts or components known to those skilled in the art, and their structures and principles can be known to those skilled in the art through technical manuals or conventional experimental methods. The electronic components inside the adaptively adjustable blade disc are controlled by a controller inside the weeding robot body 1.

[0027] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances, for example, the rotational connection can be a rotational connection through a bearing.

[0028] The parts of the present invention that are not described in detail are prior art. Although the present invention is specifically demonstrated and introduced in conjunction with the preferred implementation scheme, there are many methods and approaches to specifically implement the technical solution. The above is only a preferred implementation scheme of the present invention, but technical personnel in the relevant field should understand that various changes can be made to the present invention in form and details without departing from the spirit and scope of the present invention as defined in the attached claims, and all of them are within the scope of protection of the present invention.

Claims

1. An intelligent weeding robot with an adaptively adjustable blade, comprising a weeding robot body (1), characterized in that: A first electric push rod (2) is mounted on the connecting arm of the weeding robot body (1); a mounting box (3) is fixed to the telescopic end of the first electric push rod (2); a driving mechanism (4) is mounted on the inner side of the mounting box (3); a transmission shaft (14) is fixed to the end of the driving mechanism (4); a knife seat (12) is fixed to the end of the transmission shaft (14); the knife seat (12) is hollow inside; a shaft sleeve (13) is rotatably connected to the transmission shaft (14) via a second bearing (16); the shaft sleeve (13) is adjusted by an angle adjustment mechanism ( 6) is connected to the bottom of the installation box (3), a connecting frame (18) is fixed on the shaft sleeve (13), the end of the connecting frame (18) is rotatably connected to a knife cover (8) via a rotating joint, the knife cover (8) is rotatably connected to the transmission shaft (14) via a third bearing (17), the knife seat (12) is connected to a hollow knife shaft (11) via a deflection protection structure (5), a blade (9) is fixed to the end of the hollow knife shaft (11), and a heat transfer mechanism (7) is installed at a position on the installation box (3) corresponding to the transmission shaft (14).

2. The intelligent weeding robot with self-adaptive blade adjustment according to claim 1, characterized in that: The driving mechanism (4) comprises a stepping motor (41), a universal ball (42) and a coupling (43); the stepping motor (41) is mounted on the universal ball (42); the universal ball (42) is mounted on the bottom of the mounting box (3); the stepping motor (41) is arranged on the inner side of the mounting box (3); and the transmission shaft (14) is fixedly connected to the output shaft of the stepping motor (41) via the coupling (43).

3. The self-adaptive blade adjustment device of the intelligent weeding robot according to claim 1, characterized in that: The angle adjustment mechanism (6) comprises a worm (61), a servo motor (62), a worm wheel (63) and a stand (67). There are two stands (67), both of which are fixed to the bottom of the installation box (3). The worm (61) is rotatably mounted between the two stands (67). The servo motor (62) is mounted on the side of one of the stands (67), and the output shaft of the servo motor (62) is fixedly connected to the end of the worm (61). The worm wheel (63) is rotatably mounted on the bottom of the installation box (3) via a first bearing (15), and the worm (61) is meshed with the worm wheel (63).

4. The self-adaptive blade adjustment device of the intelligent weeding robot according to claim 3, characterized in that: The angle adjustment mechanism (6) comprises a first hinge (64), a second electric push rod (65) and a second hinge (66); one end of the second electric push rod (65) is hinged to the end of the worm gear (63) via the first hinge (64); and the other end of the second electric push rod (65) is hinged to the side of the shaft sleeve (13) via the first hinge (64).

5. The self-adaptive blade adjustment device of the intelligent weeding robot according to claim 1, characterized in that: The heat transfer mechanism (7) comprises a first air inlet hole (71) and a heat dissipation fan (74), wherein the first air inlet hole (71) is evenly arranged on a side surface of the installation box (3), the heat dissipation fan (74) is installed at the bottom of the installation box (3), the air exhaust port of the heat dissipation fan (74) is located on the inner side of the installation box (3), and the air outlet of the heat dissipation fan (74) is arranged on the outer side of the installation box (3).

6. The self-adaptive blade adjustment device of the intelligent weeding robot according to claim 5, characterized in that: The heat transfer mechanism (7) further comprises a protective cover (72), wherein the protective cover (72) is arranged between the knife cover (8) and the mounting box (3), the angle adjustment mechanism (6) is arranged on the inner side of the protective cover (72), and the air outlet of the cooling fan (74) is arranged on the inner side of the protective cover (72).

7. The intelligent weeding robot with self-adaptive blade adjustment according to claim 6, characterized in that: The protective cover (72) is a bellows structure.

8. The self-adaptive blade adjustment device of the intelligent weeding robot according to claim 1, characterized in that: The heat transfer mechanism (7) further comprises second air inlet holes (73), wherein the second air inlet holes (73) are evenly arranged on the transmission shaft (14), the transmission shaft (14) is a hollow structure, and the second air inlet holes (73), the transmission shaft (14), the knife seat (12) and the hollow knife shaft (11) are interconnected.

9. The intelligent weeding robot with self-adaptive blade adjustment according to claim 1, characterized in that: The deflection protection structure (5) comprises a torsion spring (51) and a connecting block (52); the connecting block (52) is fixed to the inner end of the hollow knife shaft (11); the torsion spring (51) is sleeved on the hollow knife shaft (11); and the ends of the torsion spring (51) are respectively fixedly connected to the connecting block (52) and the knife seat (12).

10. The self-adaptive blade adjustment device of the intelligent weeding robot according to claim 1, characterized in that: The blade (9) is of a hollow structure; the interior of the blade (9) is connected to the interior of the blade seat (12) via a hollow blade shaft (11); and exhaust holes (10) are evenly arranged on the surface of the blade (9).

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