Wheel type weeding robot

Abstract

The invention relates to the technical field of mowing, in particular to a wheel type weeding robot which comprises a rack, a wheel type walking mechanism used for walking is fixedly connected to the bottom of the rack, a control box is fixedly connected to the bottom of the rack, and a first supporting sleeve and two second supporting sleeves are rotationally connected into the control box; the two second supporting sleeves are located on the two sides of the first supporting sleeve correspondingly. A translation mechanism used for driving the two second supporting sleeves to move in different directions is installed in the control box, and a driver matched with the first supporting sleeve is installed on the control box. The second supporting sleeve is rotationally sleeved with a swing seat, and the swing seat is rotationally connected with a supporting shaft. According to the weeding device, weeds between two adjacent rows of seedlings in the transverse direction can be cut, weeds between two adjacent seedlings in the longitudinal direction can also be cut, independent longitudinal cutting and weeding are not needed, and the weeding efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of mowing grass, and in particular to a wheel-type weeding robot. Background Art

[0002] A lawn mower is also called a lawn mower, a lawn mower, a lawn trimmer, etc. A lawn mower is a mechanical tool used to trim lawns, vegetation, etc. The drive device is connected to the shaft, and a blade is mounted on the shaft. The blade uses the high-speed rotation of the drive device to cut the weeds, saving the weeding workers' working time.

[0003] It was found through searching the prior art that a Chinese patent with publication number CN220493625U discloses a weeding device for forestry, which can intercept stones by setting a baffle in front of the cutting assembly to prevent stones from damaging the cutter head.

[0004] But it is worth thinking about that after the forestry seedlings are planted at fixed points, when the seedlings grow to between 10cm and 30cm, the weeds growing between the seedlings need to be cut. When the weeding device moves between two adjacent rows of seedlings in the horizontal direction, the weeds can be cut, but the weeds between two adjacent seedlings in each row cannot be cut. After the horizontal weeds are cut, it is necessary to cut and weed longitudinally again, which reduces the weeding efficiency and has certain limitations.

[0005] Therefore, in order to solve the above problems, a related facility that better meets the usage requirements is needed. Summary of the invention

[0006] In view of this, the object of the present invention is to provide a wheel-type weeding robot to solve the problem that after the horizontal weeds are cut, it is necessary to cut the weeds again in the longitudinal direction.

[0007] Based on the above purpose, the present invention provides a wheel-type weeding robot, comprising a frame, a wheel-type walking mechanism for walking is fixedly connected to the bottom of the frame, a control box is fixedly connected to the bottom of the frame, a first support sleeve and two second support sleeves are rotatably connected in the control box, and the two second support sleeves are respectively located on both sides of the first support sleeve; The control box is equipped with a translation mechanism for driving the two second support sleeves to move in different directions, and the control box is equipped with a driver adapted to the first support sleeve; The outer rotating sleeve of the second support sleeve is provided with a swing seat, and the swing seat is rotatably connected to a support shaft. The first support sleeve, the second support sleeve and the support shaft are equipped with a synchronous rotation component, which is used to drive the first support sleeve, the second support sleeve and the support shaft to rotate synchronously. The first support sleeve is equipped with a main mowing structure, and the second support sleeve is equipped with an auxiliary mowing structure.

[0008] Optionally, the translation mechanism includes a translation seat rotatably sleeved on the outside of the second support sleeve, two first hydraulic telescopic rods are fixedly connected in the control box, and the telescopic ends of the first hydraulic telescopic rods are fixedly connected to the corresponding translation seats.

[0009] Optionally, a guide plate passes through the translation seat, and two ends of the guide plate are respectively fixedly connected to the inner wall of the control box.

[0010] Optionally, the main mowing structure includes a first cutting shaft arranged below the frame, the first cutting shaft passes through the control box, and the first support sleeve is sleeved on the outside of the first cutting shaft, the bottom end of the first cutting shaft is fixedly connected to the main cutting knife located below the control box, the top end of the first cutting shaft is rotatably connected to the first support seat located above the control box, the control box is fixedly installed with a second hydraulic telescopic rod, and the telescopic end of the second hydraulic telescopic rod is fixedly connected to the first support seat, a first guide groove is opened on the first cutting shaft, a first guide strip is slidably provided in the first guide groove, and the first guide strip is fixedly connected to the inner wall of the first support sleeve.

[0011] Optionally, the auxiliary mowing structure includes two second cutting shafts arranged below the frame, the second cutting shafts pass through the control box, and the second support sleeve is sleeved on the outside of the corresponding second cutting shafts, the top inner wall and the bottom inner wall of the control box are both provided with two first rectangular holes adapted to the second cutting shafts, a second guide groove is provided on the second cutting shaft, a second guide bar is slidably provided in the second guide groove, and the second guide bar is fixedly connected to the inner wall of the second support sleeve, the bottom end of the second cutting shaft is fixedly connected to the auxiliary cutting knife located below the control box, the top end of the second cutting shaft is rotatably connected to the second support seat located above the control box, the top of the translation seat is fixedly connected to the third hydraulic telescopic rod, and the telescopic end of the third hydraulic telescopic rod is fixedly connected to the second support seat, and the top inner wall of the control box is provided with two second rectangular holes adapted to the third hydraulic telescopic rod.

[0012] Optionally, the driver includes a servo motor fixedly mounted on the bottom of the control box, an output end of the servo motor is fixedly connected to a first gear located in the control box, and an external fixed sleeve of the first support sleeve is provided with a second gear meshing with the first gear.

[0013] Optionally, the synchronous rotation component includes a first damping disk fixedly mounted on the outside of the first support sleeve, a second damping disk is provided on the external fixed sleeve of the second support sleeve, a third damping disk is fixedly connected to the top end of the support shaft, and the third damping disk is respectively in contact with the first damping disk and the second damping disk, and the control box is equipped with an elastic puller adapted to the swing seat.

[0014] Optionally, the elastic puller includes two fixing frames fixedly installed in the control box, the fixing frames are provided with a slide groove, a slider is slidably provided in the slide groove, one side of the slider is connected to the swing seat by a pull rope, and the other side of the slider is connected to the inner wall of the slide groove by a tension spring.

[0015] Optionally, two guide wheels adapted to the pull rope are rotatably connected in the control box.

[0016] The beneficial effects of the present invention are as follows: the frame is driven to move to a position where grass cutting is required by a wheel-type walking mechanism, the initial position of the main grass cutting structure is located between two adjacent rows of seedlings, and the initial position of the auxiliary grass cutting structure is located between two adjacent seedlings in a row. The first support sleeve is driven to rotate by a driver, and the first support sleeve drives the support shaft and the second support sleeve to rotate synchronously through a synchronous rotation component, so that the first support sleeve drives the main grass cutting structure to rotate, and the second support sleeve drives the auxiliary grass cutting structure to rotate, and the weeds between two adjacent rows of seedlings are cut by the rotating main grass cutting structure, and the weeds between two adjacent seedlings in each row are cut by the rotating auxiliary grass cutting structure. As the frame continues to move, the two second support sleeves are driven to move in different directions by a translation mechanism, and the spacing between the two second support sleeves is increased, so that the second support sleeve drives the auxiliary grass cutting structure to bypass the seedlings in each row, and the auxiliary grass cutting structure is prevented from cutting the seedlings. In the process of the frame walking by the wheel-type walking mechanism, the weeds between two adjacent rows of seedlings in the horizontal direction can be cut, and the weeds between two adjacent seedlings in the vertical direction can also be cut, and there is no need to perform longitudinal cutting and weeding separately, thereby improving the weeding efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only for the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 This is one of the overall structural diagrams of an embodiment of the present invention; Figure 2 This is the second schematic diagram of the overall structure of an embodiment of the present invention; Figure 3 The third schematic diagram of the overall structure of the embodiment of the present invention; Figure 4 This is one of the structural schematic diagrams of the exterior of the control box according to an embodiment of the present invention; Figure 5 This is the second structural schematic diagram of the exterior of the control box according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure inside the control box of an embodiment of the present invention; Figure 7 It is a schematic structural diagram of a combination of a first gear plate, a second gear plate and a third gear plate according to an embodiment of the present invention; Figure 8 It is a structural schematic diagram of an elastic puller according to an embodiment of the present invention; Fig. 9 This is a schematic diagram of the structure of the swing seat according to an embodiment of the present invention; Fig.10 This is a schematic diagram of the structure of the fixed frame and the sliding block separated according to an embodiment of the present invention; Fig.11 It is a schematic diagram of the structure of the driver according to an embodiment of the present invention; Fig.12 It is a structural schematic diagram of the walking trajectory of the main cutting knife and the auxiliary cutting knife in an embodiment of the present invention.

[0019] The markings in the figure are: 1. Frame; 2. Control box; 3. First cutting axis; 4. Main cutting knife; 5. Second cutting axis; 6. Second cutting knife; 7. First support sleeve; 8. Second support sleeve; 9. Translation seat; 10. Swing seat; 11. Support shaft; 12. First damping plate; 13. Second damping plate; 14. Third damping plate; 15. Servo motor; 16. First gear; 17. Second gear; 18. First guide bar; 19. First guide groove; 20. First hydraulic telescopic rod; 21. First rectangular hole; 22. Guide plate; 23. Guide wheel; 24. Pull Rope; 25, fixing frame; 26, slide groove; 27, slider; 28, tension spring; 29, first supporting seat; 30, second hydraulic telescopic rod; 31, containing box; 32, avoidance hole; 33, stirring blade; 34, water pump; 35, distribution pipe; 36, nozzle; 37, liquid extraction pipe; 38, liquid inlet pipe; 39, sealing cover; 40, first gear plate; 41, second gear plate; 42, third gear plate; 43, second rectangular hole; 44, second supporting seat; 45, third hydraulic telescopic rod; 46, second guide strip; 47, second guide groove. DETAILED DESCRIPTION

[0020] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments.

[0021] Embodiment 1, by Figure 1 , Figure 2 , Figure 6 , Figure 8 , Fig. 9 , Fig.11 and Fig.12The present invention comprises a frame 1, a wheel-type walking mechanism for walking is fixedly connected to the bottom of the frame 1, and the frame 1 is driven to walk to a position where grass needs to be mowed by the wheel-type walking mechanism. A control box 2 is fixedly connected to the bottom of the frame 1, and a first support sleeve 7 and two second support sleeves 8 are rotatably connected in the control box 2, and the two second support sleeves 8 are respectively located on both sides of the first support sleeve 7; A translation mechanism for driving the two second support sleeves 8 to move in different directions is installed in the control box 2. When the frame 1 moves, the two second support sleeves 8 are driven to move in different directions by the translation mechanism, and the spacing between the two second support sleeves 8 is increased, so that the second support sleeves 8 drive the auxiliary mowing structure to bypass the seedlings in each row, thereby preventing the auxiliary mowing structure from cutting the seedlings. The control box 2 is installed with a driver adapted to the first support sleeve 7, and the first support sleeve 7 is driven to rotate by the driver; The outer rotating sleeve of the second support sleeve 8 is provided with a swing seat 10, and a support shaft 11 is rotatably connected to the swing seat 10. A synchronous rotation component is installed on the first support sleeve 7, the second support sleeve 8 and the support shaft 11. The synchronous rotation component is used to drive the first support sleeve 7, the second support sleeve 8 and the support shaft 11 to rotate synchronously. The first support sleeve 7 is installed with a main mowing structure, and the second support sleeve 8 is installed with an auxiliary mowing structure. The initial position of the main mowing structure is located between two adjacent rows of seedlings, and the initial position of the auxiliary mowing structure is located between two adjacent seedlings in a row. The first support sleeve 7 is driven to rotate by a driver, and the first support sleeve 7 drives the support shaft 11 and the second support sleeve 8 to rotate synchronously through the synchronous rotation component, and The first support sleeve 7 drives the main mowing structure to rotate, and the second support sleeve 8 drives the auxiliary mowing structure to rotate. The rotating main mowing structure is used to cut the weeds between two adjacent rows of seedlings. As the frame 1 moves, the two second support sleeves 8 are driven to move in different directions through the translation mechanism, so that the second support sleeves 8 drive the auxiliary mowing structure to bypass the seedlings in each row, and the weeds between two adjacent seedlings in each row are cut by the rotating auxiliary mowing structure. During the walking of the frame 1 through the wheel-type walking mechanism, the weeds between two adjacent rows of seedlings in the horizontal direction can be cut, and the weeds between two adjacent seedlings in the vertical direction can also be cut. There is no need to perform longitudinal cutting and weeding separately, thereby improving the weeding efficiency.

[0022] Embodiment 2, based on embodiment 1, Figure 6 and Figure 8It is given that the translation mechanism includes a translation seat 9 rotatably sleeved on the outside of the second support sleeve 8, and two first hydraulic telescopic rods 20 are fixedly connected in the control box 2. The telescopic ends of the first hydraulic telescopic rods 20 are fixedly connected to the corresponding translation seat 9. The translation seat 9 is driven to move horizontally by the first hydraulic telescopic rod 20, and the translation seat 9 can drive the second support sleeve 8 to move horizontally relative to the control box 2. A guide plate 22 runs through the translation seat 9, and the two ends of the guide plate 22 are respectively fixedly connected to the inner wall of the control box 2. When the translation seat 9 moves, the translation seat 9 slides horizontally relative to the guide plate 22. Through the design of the guide plate 22, the translation seat 9 can move smoothly in the horizontal direction relative to the control box 2, reducing the possibility of shaking of the second support sleeve 8 and the auxiliary mowing structure when moving horizontally, thereby improving the stability when cutting weeds.

[0023] Embodiment 3, based on embodiment 2, Figure 4 , Figure 5 , Figure 6 , Figure 8 , Fig. 9 and Fig.11 It is given that the main mowing structure includes a first cutting shaft 3 arranged below the frame 1, the first cutting shaft 3 passes through the control box 2, and the first support sleeve 7 is sleeved on the outside of the first cutting shaft 3, the bottom end of the first cutting shaft 3 is fixedly connected to the main cutting knife 4 located below the control box 2, the top end of the first cutting shaft 3 is rotatably connected to the first support seat 29 located above the control box 2, the control box 2 is fixedly installed with a second hydraulic telescopic rod 30, and the telescopic end of the second hydraulic telescopic rod 30 is fixedly connected to the first support seat 29, a first guide groove 19 is opened on the first cutting shaft 3, a first guide bar 18 is slidably provided in the first guide groove 19, and the first guide bar 18 is fixedly connected to the inner wall of the first support sleeve 7; When the first support sleeve 7 rotates, the first support sleeve 7 drives the first cutting shaft 3 and the main cutting knife 4 to rotate through the first guide bar 18, and the main cutting knife 4 can cut the weeds. When the first cutting shaft 3 rotates, the first cutting shaft 3 rotates relative to the first support seat 29. When the initial height of the main cutting knife 4 and the first cutting shaft 3 needs to be adjusted, the first support seat 29 is driven to move in the vertical direction through the second hydraulic telescopic rod 30. The first support seat 29 can drive the main cutting knife 4 to move in the vertical direction through the first cutting shaft 3, and the first guide bar 18 slides in the first guide groove 19, which is convenient for adjusting the cutting height of the main cutting knife 4 according to actual needs. When there are protruding foreign objects on the ground, the height of the main cutting knife 4 can be controlled to avoid the main cutting knife 4 directly hitting the protruding foreign objects on the ground.

[0024] The auxiliary mowing structure includes two second cutting shafts 5 arranged below the frame 1, the second cutting shafts 5 pass through the control box 2, and the second support sleeve 8 is sleeved on the outside of the corresponding second cutting shafts 5, the top inner wall and the bottom inner wall of the control box 2 are both provided with two first rectangular holes 21 adapted to the second cutting shafts 5, a second guide groove 47 is provided on the second cutting shaft 5, a second guide bar 46 is slidably provided in the second guide groove 47, and the second guide bar 46 is fixedly connected to the inner wall of the second support sleeve 8, the bottom end of the second cutting shaft 5 is fixedly connected to the cutting auxiliary knife 6 located below the control box 2, and the top end of the second cutting shaft 5 is rotatably connected to the second support seat located above the control box 2 44, a third hydraulic telescopic rod 45 is fixedly connected to the top of the translation seat 9, and the telescopic end of the third hydraulic telescopic rod 45 is fixedly connected to the second support seat 44, and two second rectangular holes 43 adapted to the third hydraulic telescopic rod 45 are provided on the top inner wall of the control box 2, and the driver includes a servo motor 15 fixedly installed at the bottom of the control box 2, and the output end of the servo motor 15 is fixedly connected to the first gear 16 located in the control box 2, and the outer fixed sleeve of the first support sleeve 7 is provided with a second gear 17 meshing with the first gear 16, and the first gear 16 can drive the first support sleeve 7 to rotate through the second gear 17 by driving the first gear 16 to rotate by the servo motor 15; When the first hydraulic telescopic rod 20 drives the translation seat 9 to move horizontally, the translation seat 9 drives the second cutting axis 5 to move synchronously in the horizontal direction through the second support sleeve 8, the second cutting axis 5 slides relative to the first rectangular hole 21, and the translation seat 9 drives the third hydraulic telescopic rod 45 to slide relative to the second rectangular hole 43. When the second support sleeve 8 rotates, the second support sleeve 8 drives the second cutting axis 5 and the cutting auxiliary knife 6 to rotate synchronously through the second guide bar 46, and the cutting auxiliary knife 6 can cut the weeds, and the second cutting axis 5 rotates relative to the second support seat 44, and drives the second support seat 44 to move vertically through the third hydraulic telescopic rod 45. The second support seat 44 can drive the cutting auxiliary knife 6 to move vertically through the second cutting axis 5, so that the initial height of the cutting auxiliary knife 6 can be changed according to the needs of cutting weeds, and the cutting auxiliary knife 6 can be driven to move upward at the same time, thereby preventing the cutting auxiliary knife 6 from hitting foreign objects protruding from the ground.

[0025] Embodiment 4, based on embodiment 2, Figure 6 It is given that the synchronous rotation assembly includes a first damping disc 12 fixedly sleeved on the outside of the first support sleeve 7, a second damping disc 13 is fixedly sleeved on the outside of the second support sleeve 8, a third damping disc 14 is fixedly connected to the top end of the support shaft 11, and the third damping disc 14 is in contact with the first damping disc 12 and the second damping disc 13 respectively, and the control box 2 is equipped with an elastic puller adapted to the swing seat 10; When the first support sleeve 7 rotates, the first support sleeve 7 drives the first damping disc 12 to rotate, and the first damping disc 12 drives the third damping disc 14 and the support shaft 11 to rotate through friction force. The third damping disc 14 can drive the second damping disc 13 and the second support sleeve 8 to rotate through friction force. When the second support sleeve 8 moves horizontally relative to the control box 2, the swing seat 10 moves synchronously in the horizontal direction, and a pulling force is applied to the swing seat 10 through an elastic puller. The swing seat 10 rotates relative to the second support sleeve 8 so that the third damping disc 14 is always in contact with the first damping disc 12. The second support sleeve 8 moves horizontally without affecting the synchronous rotation between the first support sleeve 7, the second support sleeve 8 and the support shaft 11, ensuring that when the second support sleeve 8 moves, the first support sleeve 7 can drive the second support sleeve 8 and the auxiliary mowing structure to rotate, and the weeds between two adjacent seedlings in each row are cut by the rotating auxiliary mowing structure.

[0026] Embodiment 5, on the basis of embodiment 4, the damping transmission component in the synchronous rotation assembly can be replaced with a gear transmission component to increase the transmission force between the first support sleeve 7 and the second support sleeve 8. Figure 6 and Figure 7 It is given that the synchronous rotation assembly includes a first gear plate 40 fixedly sleeved on the outside of the first support sleeve 7, a second gear plate 41 is fixedly sleeved on the outside of the second support sleeve 8, a third gear plate 42 is fixedly connected to the top end of the support shaft 11, and the third gear plate 42 is meshed with the first gear plate 40 and the second gear plate 41 respectively, and the control box 2 is installed with an elastic puller adapted to the swing seat 10; When the first support sleeve 7 rotates, the first support sleeve 7 drives the first gear plate 40 to rotate, and the first gear plate 40 drives the third gear plate 42 and the support shaft 11 to rotate through the meshing between the gear teeth. The third gear plate 42 can drive the second gear plate 41 and the second support sleeve 8 to rotate through the meshing between the gear teeth. When the second support sleeve 8 moves horizontally relative to the control box 2, the swing seat 10 moves synchronously in the horizontal direction, and a pulling force is applied to the swing seat 10 through the elastic puller. The swing seat 10 rotates relative to the second support sleeve 8 so that the third gear plate 42 is always meshed with the first gear plate 40. The second support sleeve 8 moves horizontally without affecting the synchronous rotation between the first support sleeve 7, the second support sleeve 8 and the support shaft 11, ensuring that when the second support sleeve 8 moves, the first support sleeve 7 can drive the second support sleeve 8 and the auxiliary mowing structure to rotate, and the weeds between two adjacent seedlings in each row are cut by the rotating auxiliary mowing structure.

[0027] Embodiment 6, based on embodiment 1, Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 8It is given that two containing boxes 31 are fixedly connected to the bottom of the control box 2, and the containing boxes 31 are a cavity structure with an opening at the top, a plurality of stirring blades 33 located in the containing boxes 31 are fixedly connected to the bottom end of the support shaft 11, and two avoidance holes 32 compatible with the support shaft 11 are provided on the bottom inner wall of the control box 2, a liquid inlet pipe 38 is fixedly installed at the top of the containing box 31, and the control box 2 is installed with a spray unit compatible with the containing box 31; the staff adds herbicide into the containing box 31 through the liquid inlet pipe 38, when the second support sleeve 8 moves horizontally, causing the positions of the swing seat 10 and the support shaft 11 to change, the positions of the support shaft 11 and the stirring blades 33 located in the containing box 31 are changed, and when the first support sleeve 7, the second support sleeve 8 and the support shaft 11 rotate synchronously, the support shaft 11 can drive the stirring blades 33 to mix and stir the herbicides at different positions in the containing box 31, thereby reducing the occurrence of uneven stratification; The spraying unit includes a water pump 34 fixedly mounted on the control box 2, the input end of the water pump 34 is fixedly connected with a liquid extraction pipe 37, and the discharge port on the receiving box 31 is fixedly connected to the liquid extraction pipe 37, the output end of the water pump 34 is fixedly connected with a distribution pipe 35, and a plurality of nozzles 36 are arranged on the distribution pipe 35, and a sealing cover 39 is sleeved on the top end of the liquid inlet pipe 38, and the connection mode of the sealing cover 39 and the liquid inlet pipe 38 is a threaded connection; the staff can open the liquid inlet pipe 38 by rotating the sealing cover 39 to make the sealing cover 39 detach from the liquid inlet pipe 38, and start the water pump 34, the water pump 34 extracts the medicine in the receiving box 31 into the distribution pipe 35 through the liquid extraction pipe 37, and finally sprays the medicine onto the cut weeds through the nozzles 36 on the distribution pipe 35, and the weeds can be directly weeded by cutting the weeds, thereby reducing the volume of the weeds, and the weeds can be withered by spraying the medicine on the cut weeds, so as to achieve a better weeding effect.

[0028] Embodiment 7, based on embodiment 4 or embodiment 5, Figure 6 , Figure 8 and Fig.10The elastic puller includes two fixing frames 25 fixedly installed in the control box 2, and a slide groove 26 is provided on the fixing frame 25. A slider 27 is slidably provided in the slide groove 26. One side of the slider 27 is connected to the swing seat 10 by a pull rope 24, and the other side of the slider 27 is connected to the inner wall of the slide groove 26 by a tension spring 28. The tension spring 28 is in a tensioned state in an initial state. The tension spring 28 applies tension to the slider 27 and the pull rope 24. When the swing seat 10 moves horizontally, the swing seat 10 pulls the slider 27 to move through the pull rope 24, and the tension spring 28 applies tension to the slider 27, so that the third damping disc 14 is always aligned with the first damping disc 12. The third gear plate 42 is in contact with or always meshed with the first gear plate 40 to ensure the stability of the transmission. Two guide wheels 23 compatible with the pull rope 24 are rotatably connected in the control box 2, and the pull rope 24 is guided by the guide wheel 23, so that the pull rope 24 moves in the pulling direction of the slider 27 and the opening direction of the slide groove 26, so that the slider 27 can slide smoothly relative to the slide groove 26, reducing the friction between the slider 27 and the slide groove 26, and increasing the stability of the swing seat 10 when rotating relative to the second support sleeve 8, thereby ensuring that the first support sleeve 7 drives the second support sleeve 8 to rotate synchronously, and the second support sleeve 8 can cut weeds through the auxiliary mowing structure.

[0029] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present invention is limited to these examples. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity.

Claims

1. A wheeled weeding robot, comprising a frame (1), the bottom of the frame (1) being fixedly connected to a wheeled walking mechanism for walking, characterized in that: The bottom of the frame (1) is fixedly connected to a control box (2), and a first support sleeve (7) and two second support sleeves (8) are rotatably connected inside the control box (2), and the two second support sleeves (8) are respectively located on both sides of the first support sleeve (7); The control box (2) is provided with a translation mechanism for driving the two second support sleeves (8) to move in different directions, and the control box (2) is provided with a driver adapted to the first support sleeve (7); The outer rotating sleeve of the second support sleeve (8) is provided with a swing seat (10), and a support shaft (11) is rotatably connected to the swing seat (10). The first support sleeve (7), the second support sleeve (8) and the support shaft (11) are provided with a synchronous rotation component, and the synchronous rotation component is used to drive the first support sleeve (7), the second support sleeve (8) and the support shaft (11) to rotate synchronously. The first support sleeve (7) is provided with a main mowing structure, and the second support sleeve (8) is provided with an auxiliary mowing structure.

2. The wheeled weeding robot according to claim 1, characterized in that: The translation mechanism comprises a translation seat (9) rotatably sleeved on the outside of the second support sleeve (8), two first hydraulic telescopic rods (20) are fixedly connected in the control box (2), and the telescopic ends of the first hydraulic telescopic rods (20) are fixedly connected to the corresponding translation seats (9).

3. The wheeled weeding robot according to claim 2, characterized in that: A guide plate (22) passes through the translation seat (9), and two ends of the guide plate (22) are respectively fixedly connected to the inner wall of the control box (2).

4. The wheeled weeding robot according to claim 1, characterized in that: The main mowing structure comprises a first cutting shaft (3) arranged below the frame (1), the first cutting shaft (3) passes through the control box (2), and a first support sleeve (7) is sleeved on the outside of the first cutting shaft (3), the bottom end of the first cutting shaft (3) is fixedly connected to a main cutting knife (4) located below the control box (2), the top end of the first cutting shaft (3) is rotatably connected to a first support seat (29) located above the control box (2), a second hydraulic telescopic rod (30) is fixedly installed on the control box (2), and the telescopic end of the second hydraulic telescopic rod (30) is fixedly connected to the first support seat (29), a first guide groove (19) is opened on the first cutting shaft (3), a first guide bar (18) is slidably provided in the first guide groove (19), and the first guide bar (18) is fixedly connected to the inner wall of the first support sleeve (7).

5. The wheeled weeding robot according to claim 2, characterized in that: The auxiliary mowing structure comprises two second cutting shafts (5) arranged below the frame (1), the second cutting shafts (5) passing through the control box (2), and the second support sleeves (8) are sleeved on the outside of the corresponding second cutting shafts (5), the top inner wall and the bottom inner wall of the control box (2) are both provided with two first rectangular holes (21) adapted to the second cutting shafts (5), the second cutting shafts (5) are provided with second guide grooves (47), a second guide bar (46) is slidably provided in the second guide grooves (47), and the second guide bar (46) and the second support sleeves (8) are respectively provided with the second cutting shafts (5) and the second guide bar (46) and the second support sleeves (8) are respectively provided with the second cutting shafts (5) and the second guide bar (46) and the second support sleeves (8) are respectively provided with the second cutting shafts (5) and the second cutting shafts (5) and the second guide grooves (47) and the second guide bar (46) and the second support sleeves (8) are respectively provided with the second cutting shafts (5) and the second cutting shafts (5) and the second cutting shafts (5) and the second cutting shafts (5) are respectively provided with ... and the second guide bar (46) and the second guide bar (46) and the second support sleeves (8) and the second cutting shafts (5) and the second cutting shafts (5) and the second cutting shafts (5) and the second cutting shafts (5) and the second cutting shafts (5) and the second cutting shafts (5) and the second cutting shafts (5) and the second cutting shafts (5) and The inner wall of the sleeve (8) is fixedly connected, the bottom end of the second cutting shaft (5) is fixedly connected to the cutting auxiliary knife (6) located below the control box (2), the top end of the second cutting shaft (5) is rotatably connected to the second support seat (44) located above the control box (2), the top of the translation seat (9) is fixedly connected to the third hydraulic telescopic rod (45), and the telescopic end of the third hydraulic telescopic rod (45) is fixedly connected to the second support seat (44), and the top inner wall of the control box (2) is provided with two second rectangular holes (43) adapted to the third hydraulic telescopic rod (45).

6. The wheeled weeding robot according to claim 1, characterized in that: The driver comprises a servo motor (15) fixedly mounted on the bottom of the control box (2); an output end of the servo motor (15) is fixedly connected to a first gear (16) located in the control box (2); and an external fixed sleeve of the first support sleeve (7) is provided with a second gear (17) meshing with the first gear (16).

7. The wheeled weeding robot according to claim 2, characterized in that: The synchronous rotation component comprises a first damping disc (12) fixedly sleeved on the outside of a first support sleeve (7), a second damping disc (13) being provided on the outer fixed sleeve of a second support sleeve (8), a third damping disc (14) being fixedly connected to the top end of the support shaft (11), and the third damping disc (14) being in contact with the first damping disc (12) and the second damping disc (13) respectively, and an elastic puller matching the swing seat (10) being installed on the control box (2).

8. The wheeled weeding robot according to claim 1, characterized in that: The bottom of the control box (2) is fixedly connected to two containing boxes (31), and the containing boxes (31) are a cavity structure with an opening at the top. The bottom end of the support shaft (11) is fixedly connected to a plurality of stirring blades (33) located in the containing boxes (31), and the bottom inner wall of the control box (2) is provided with two avoidance holes (32) that are compatible with the support shaft (11). The top of the containing boxes (31) is fixedly installed with a liquid inlet pipe (38), and the control box (2) is installed with a spray unit that is compatible with the containing boxes (31).

9. The wheeled weeding robot according to claim 8, characterized in that: The spraying unit comprises a water pump (34) fixedly mounted on the control box (2); an input end of the water pump (34) is fixedly connected to a liquid extraction pipe (37); a liquid discharge port on the containing box (31) is fixedly connected to the liquid extraction pipe (37); an output end of the water pump (34) is fixedly connected to a distribution pipe (35); and a plurality of spray heads (36) are provided on the distribution pipe (35).

10. The wheeled weeding robot according to claim 9, characterized in that: The top end of the liquid inlet pipe (38) is sleeved with a sealing cover (39), and the sealing cover (39) and the liquid inlet pipe (38) are connected in a threaded manner.

11. The wheeled weeding robot according to claim 7, characterized in that: The elastic puller comprises two fixing frames (25) fixedly mounted in the control box (2), the fixing frames (25) being provided with a slide groove (26), a slider (27) being slidably disposed in the slide groove (26), one side of the slider (27) being connected to the swing seat (10) via a pull rope (24), and the other side of the slider (27) being connected to the inner wall of the slide groove (26) via a tension spring (28).

12. The wheeled weeding robot according to claim 11, characterized in that: Two guide wheels (23) adapted to the pull ropes (24) are rotatably connected inside the control box (2).

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