Lawn maintenance robot

Abstract

The invention discloses a lawn maintenance robot which comprises a machine frame, a driving mechanism is arranged on the lower portion of the machine frame, and the machine frame is provided with at least one of the following devices: a trimming device which is movably arranged on the front portion and / or the side portion of the machine frame and trims a to-be-trimmed lawn in a self-adaptive mode to the ground; the hole inserting device is movably arranged on the rack so as to selectively perform hole inserting operation on the lawn ground; the seeding device is arranged on the rack and is used for planting seeds carried by the seeding device on the lawn ground; the spraying device is arranged on the rear portion of the machine frame and used for conducting spraying operation on the lawn ground, the vision device is used for observing the environment of the lawn maintenance robot in real time, and the controller controls the driving mechanism according to information sent by the vision device. And a working instruction is sent to at least one of the pruning device, the hole inserting device, the seeding device and the spraying device. The lawn maintenance robot is high in automation degree and high in efficiency.

Description

Technical Field

[0001] The present application relates to the field of lawn maintenance, and specifically refers to a lawn maintenance robot. Background Art

[0002] Lawn maintenance machines refer to mechanical equipment dedicated to maintaining the beauty and health of lawns, covering multiple functions such as mowing, plugging, spraying, sowing, and water and fertilizer management. At present, lawn maintenance mainly relies on manual operation, supplemented by various mechanical equipment to improve efficiency.

[0003] Among traditional mowing equipment, backpack mowers need to be carried and operated manually, which is labor-intensive and inefficient. Although remote-controlled automatic mowers have reduced the labor burden to a certain extent, their high cost and low flexibility limit their widespread application, especially when dealing with complex terrain such as under trees and rock walls, where it is difficult to completely remove weeds. In the jacking operation, handheld jacking machines are also labor-intensive, while remote-controlled equipment faces the problem of complex operation and difficulty in precise control. In terms of pesticide spraying, sowing, and water and fertilizer management, there are also common defects such as reliance on manpower, high labor intensity, and uneven operation. Summary of the invention

[0004] In view of this, the present application proposes a lawn maintenance robot with high integration and automation. The various modules of the lawn maintenance robot of the present application can be fully installed on the equipment to realize integrated work, and some devices can also be quickly installed and uninstalled separately to realize flexible selection and combination of various functions of the lawn maintenance robot.

[0005] The technical solution according to the present application is as follows: The present invention provides a fully automatic greening lawn maintenance machine, including a frame driven by a driving mechanism, the driving mechanism is provided at the lower part of the frame, and the frame is provided with at least one of the following devices: a trimming device, which is movably arranged at the front and / or side of the frame to trim the lawn to be trimmed in a manner that is adaptive to the ground; a jack device, which is movably arranged at the frame to selectively perform jacking operations on the lawn ground; a sowing device, which is arranged at the frame and is used to plant the seeds carried by itself on the lawn ground; a spraying device, which is arranged at the rear part of the frame and is used to spray the lawn ground, wherein the lawn maintenance robot includes a visual device and a controller, the visual device is used to observe the environment of the lawn maintenance robot in real time, and the controller controls the driving mechanism according to the information sent by the visual device, and issues a work instruction to at least one of the trimming device, the jack device, the sowing device and the spraying device.

[0006] Preferably, the trimming device includes a front trimming mechanism and / or a side trimming mechanism; the front trimming mechanism is arranged on the front side of the frame, and includes an adaptive component and a front shearing component, the movable end of the adaptive component rises and falls according to the height of the terrain, and the front shearing component is detachably mounted on the movable end of the adaptive component and moves with the adaptive component; the side trimming mechanism is arranged on the left and / or right side of the frame, and the side trimming mechanism includes a height adjustment component for adjusting the side cutting knife and an elastic avoidance component for enabling the side trimming mechanism to translate in the horizontal direction.

[0007] Preferably, the adaptive component includes an elastic component and a movable support rod, the elastic component can shrink or stretch in a linear direction, one end of which is rotatably fixed to the frame, and the other end is rotatably arranged in the middle of the movable support rod; one end of the movable support rod is fixed to the frame, and the other end is fixedly provided with the front side shearing component; or the front side shearing component includes the crank saw blade structure and the fixed saw blade structure, the crank saw blade structure drives the moving saw blade to reciprocate through the connecting rod under the drive of the power source; the fixed saw blade structure includes a protective cover body fixedly connected to the movable support rod, the fixed saw blade is connected to the protective cover body and is located in the cavity formed by the protective cover body; the spatial plane in which the moving saw blade reciprocates is parallel to the spatial plane in which the fixed saw is located.

[0008] Preferably, the height adjustment assembly includes a pillar fixed to the side of the frame, a floating support assembly, a support arm, a side scissors assembly and a limit assembly; one end of the floating support assembly is sleeved on the circumference of the pillar so that the floating support assembly has the freedom to rotate along the Z axis, and the other end is rotatably connected to the upper end of the support arm so that the support arm has the freedom to rotate along the Y axis; the side scissors assembly is connected to the lower end of the support arm, and the side scissors assembly includes side scissors that are powered to rotate by a power source; one end of the elastic avoidance assembly is fixed to the side of the frame, and its fixed position on the frame is spaced a certain distance from the fixed position of the pillar on the frame, and the other end of the elastic avoidance assembly is fixed to the floating support assembly, and the elastic avoidance assembly can be stretched or compressed; the limit assembly can be extended or shortened, one end is rotatably fixed to the pillar, and the other end is rotatably fixed to the middle of the support arm.

[0009] Preferably, the socket device includes a socket member having a plurality of hollow socket tubes and a guide rail assembly, the guide rail assembly is fixed to the frame, and the socket member can move linearly along the guide rail setting direction of the guide rail assembly; the socket device also includes a crank slider assembly, one end of which is rotatably connected to the socket member, for driving the socket member to move linearly along the guide rail setting direction of the guide rail assembly.

[0010] Preferably, the crank slider assembly includes a fixed support shaft 1 and a fixed support shaft 2 fixed on the frame, serving as two rotation fulcrums of the crank slider assembly; it also includes a support rod 1 rotatably connected to the fixed support shaft 1 at one end, and a support rod 2 rotatably connected to the fixed support shaft 2 at one end, the other end of the support rod 2 being rotatably connected to the middle part of the support rod 1; it also includes a support rod 3, one end of which is rotatably connected to the other end of the support rod 1, and the other end of the support rod 3 is connected to the socket member; the rotation axis of the fixed support shaft 2 is eccentrically arranged with respect to the rotation fulcrum of the fixed support shaft 2.

[0011] Preferably, the sowing device is fixedly mounted on the lawn maintenance robot, and includes a material box, an outlet adjustment component, a discharge tray and a motor. The outlet adjustment component is used to adjust the size of the discharge port, the motor drives the discharge tray to rotate, and a gap is set between the material box and the bottom of the discharge tray.

[0012] Preferably, the outlet adjustment assembly includes an adjustment member, an adjustment nut and a top cover; a vertebral structure is arranged at the center of the discharge tray; a through hole is arranged at the center of the adjustment member, the diameter of the through hole is between the bottom size and the top size of the vertebral structure, and an adjustment threaded column is arranged above the through hole in the center of the adjustment member; the adjustment nut is screwed on the upper part of the adjustment threaded column; the top cover is detachably arranged on the upper side of the material box, and a through hole is arranged in the center of the top cover for the adjustment threaded column to pass through.

[0013] Preferably, the spray device comprises a fluid box and a spray assembly, the fluid box and the spray assembly are fixedly arranged at the rear of the lawn maintenance robot, and the fluid box and the spray assembly are fluidically connected.

[0014] Preferably, the driving mechanism comprises a driving power assembly and a track moving assembly, the driving power assembly drives the transmission device to rotate, the sprocket is meshedly connected with the driving gear, and the inner toothed portion of the track is meshedly connected with the sprocket.

[0015] The lawn maintenance robot proposed in this application reduces labor intensity in the lawn mowing process, and has high flexibility, and can cut weeds in corners such as under trees and rock walls; in the jacking loosening process, it reduces labor intensity, has a high degree of automation, and the depth and spacing of the loosening holes are uniform: the way of replanting the lawn is changed, and there is no need to manually check the missing range of the lawn and rely on manual replanting, but rely on the front visual device to identify lawn vacancies through color recognition. After identifying the vacancy, the signal is transmitted to the sowing device, and then replanting is achieved. The sowing labor intensity is low and the sowing is uniform. It has a fully automatic spraying device. When it is necessary to water the lawn or apply water and fertilizer, the spraying device is started and follows the motion trajectory of the lawn maintenance robot, and can spray the lawn conveniently, quickly and over a large area. The lawn maintenance robot is equipped with a visual device, which transmits the visual signal to the controller electrically to perform remote control operations and path planning operations.

[0016] The various modules of the lawn maintenance robot of the present application can be all installed on the equipment to realize integrated work, and some devices can also be quickly installed and uninstalled separately to realize flexible selection and combination of various functions of the lawn maintenance robot. The lawn maintenance robot of the present application has various functions, high integration, does not rely on manual labor, and is suitable for lawn automation operations.

[0017] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 A three-dimensional schematic diagram of the lawn maintenance robot of the present application;

[0020] Figure 2 A three-dimensional schematic diagram of the trimming device of the present application;

[0021] Figure 3 A three-dimensional schematic diagram of the trimming device of the present application;

[0022] Figure 4 A three-dimensional schematic diagram of the crank saw blade structure of the present application;

[0023] Figure 5 A three-dimensional schematic diagram of the side trimming mechanism of the present application;

[0024] Figure 6 A three-dimensional schematic diagram of the jack device of the present application;

[0025] Figure 7 A three-dimensional perspective view of the seeding device of the present application;

[0026] Figure 8 A partial three-dimensional schematic diagram of the seeding device of the present application;

[0027] Fig. 9 A three-dimensional schematic diagram of a threaded adjustment column of the present application;

[0028] Fig.10 A three-dimensional schematic diagram of the material box of this application;

[0029] Fig.11 A three-dimensional schematic diagram of the lawn maintenance robot of the present application;

[0030] Fig.12 It is a three-dimensional schematic diagram of the driving mechanism of the present application.

[0031] Description of the drawings: 1-frame; 2-driving mechanism; 21-driving power assembly; 22-track moving assembly; 3-trimming device; 31-front trimming mechanism; 311-adaptive assembly; 3111-elastic assembly; 3112-movable support rod; 312-front shearing assembly; 3121-crank saw blade structure; 31211-moving saw blade; 3122-fixed saw blade structure; 31221-fixed saw blade; 31222-protective cover; 32-side trimming mechanism; 321-height adjustment assembly; 3211-pillar; 3212-floating support assembly; 3213-support arm; 3214-side scissor assembly; 321 5-limiting assembly; 322-elastic avoidance assembly; 4-jack device; 41-jack piece; 42-guide rail assembly; 43-crank slider assembly; 431-fixed support shaft one; 432-fixed support shaft two; 433-support rod one; 434-support rod two; 435-support rod three; 5-seeding device; 51-material box; 52-export adjustment assembly; 521-adjusting piece; 5211-through hole; 5212-adjusting threaded column; 522-adjusting nut; 523-top cover; 53-discharge tray; 531-vertebral structure; 54-motor; 6-spraying device; 61-fluid box; 62-spraying assembly; 7-visual device; 8-controller. DETAILED DESCRIPTION

[0032] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific implementation methods. Obviously, the drawings described below are only some implementation methods of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0033] The technical solution of the present application will be described in detail below with reference to the accompanying drawings and in combination with specific implementation methods.

[0034] like Figure 1-Figure 12 As shown, the lawn maintenance robot includes a frame 1 driven by a driving mechanism 2, the lower part of the frame 1 is provided with a driving mechanism 2, and the frame 1 is provided with at least one of the following devices: a trimming device 3, which is movably arranged at the front and / or side of the frame 1 to trim the lawn to be trimmed in a manner that is adaptive to the ground; a jack device 4, which is movably arranged on the frame 1 to selectively perform a jacking operation on the lawn ground; a sowing device 5, which is arranged on the frame 1 and is used to plant the seeds carried by the sowing device on the lawn ground; a spraying device 6, which is arranged at the rear part of the frame 1 and is used to spray the lawn ground, wherein the lawn maintenance robot includes a visual device 7 and a controller 8, the visual device 7 is used to observe the environment of the lawn maintenance robot in real time, and the controller 8 controls the driving mechanism 2 according to the information sent by the visual device 7, and sends a work instruction to at least one of the trimming device 3, the jack device 4, the sowing device 5 and the spraying device 6.

[0035] In use, first, in order to better realize the functional integration of the lawn maintenance robot, in this embodiment, all devices can be quickly loaded and unloaded. When the lawn maintenance robot is working, the front trimming device 3 first trims the lawn on the open plane, and the side trimming device 3 trims the lawn in the corners such as under the tree roots and under the rock wall. At the same time, the lawn on the low slope can be trimmed. When necessary, the jack device 4 performs jacking operations on the lawn driven by the motor. Before the operation, seeds are added to the material box of the lawn maintenance robot. After the visual device 7 detects that the lawn in the module area is empty, it sends a signal to the sowing device 5, and the turntable in the sowing device 5 rotates to replant the empty area. Before the operation, solid fertilizer is added to the material box 51 of the lawn maintenance robot, and solid fertilizer can be applied. Before the operation, water fertilizer or water is added to the fluid box 61 of the lawn maintenance robot. During the operation, the spray device 6 behind the maintenance machine performs spraying operations to achieve water fertilizer or watering.

[0036] Specifically, if Figure 2-Figure 5 As shown, the trimming device 3 of this embodiment includes a front trimming mechanism 31 and / or a side trimming mechanism 32; the front trimming mechanism 31 is arranged on the front side of the frame 1, and includes an adaptive component 311 and a front shearing component 312, the movable end of the adaptive component 311 rises and falls according to the height of the terrain, and the front shearing component 312 is detachably mounted on the movable end of the adaptive component 311 and follows the adaptive component 311; the side trimming mechanism 32 is arranged on the left and / or right side of the frame 1, and the side trimming mechanism 32 includes a height adjustment component 321 for adjusting the side cutting knife and an elastic avoidance component 322 for enabling the side trimming mechanism 32 to translate in the horizontal direction.

[0037] Specifically, if Figure 2-Figure 5 As shown, the adaptive component 311 includes an elastic component 3111 and a movable support rod 3112. The elastic component 3111 can shrink or stretch in a linear direction, one end of which is rotatably fixed to the frame 1, and the other end is rotatably arranged in the middle of the movable support rod 3112; one end of the movable support rod 3112 is fixed to the frame 1, and the other end is fixedly arranged with a front side shearing component 312; or the front side shearing component 312 includes a crank saw blade structure 3121 and a fixed saw blade structure 3122. The crank saw blade structure 3121 is driven by a power source through a connecting rod to move The movable saw blade 31211 performs reciprocating motion; the fixed saw blade structure 3122 includes a protective cover body 31222 fixedly connected to the movable support rod 3112; the fixed saw blade 31221 is connected to the protective cover body 31222 and is located in a cavity formed by the protective cover body 31222; the spatial plane in which the movable saw blade 31211 performs reciprocating motion is parallel to the spatial plane in which the fixed saw 31221 performs reciprocating motion; the crank saw blade structure 3121, driven by the power source, drives the movable saw blade 31211 to perform reciprocating motion through the connecting rod, thereby clearing the weeds on the road surface.

[0038] Specifically, if Figure 2-Figure 5 As shown, the height adjustment component 321 includes a pillar 3211 fixed to the side of the frame 1, a floating support component 3212, a support arm 3213, a side scissors component 3214 and a limit component 3215; one end of the floating support component 3212 is sleeved on the circumference of the pillar 3211, so that the floating support component 3212 has the freedom to rotate along the Z axis, and the other end is rotatably connected to the upper end of the support arm 3213, so that the support arm 3213 has the freedom to rotate along the Y axis; the side scissors component 3214 is connected to the lower end of the support arm 3213, and the side scissors component 3214 includes side scissors that are powered by a power source to rotate; one end of the elastic avoidance component 322 is fixed to the side of the frame 1, and is fixed in a fixed position on the frame The arrangement is spaced a certain distance from the fixed position of the pillar 3211 on the frame 1, and the other end of the elastic avoidance component 322 is fixed to the floating support component 3212, and the elastic avoidance component 322 can be stretched or compressed; the limiting component 3215 can be extended or shortened, one end is rotatably fixed to the pillar 3211, and the other end is rotatably fixed to the middle of the support arm 3213, the output end of the limiting component 3215 can be extended or shortened to adjust the height of the support arm 3213, thereby adjusting the height of the side scissors assembly 3214, and the power source gives power to the rotating side scissors, and the side scissors rotate to trim the weeds. During the movement of the equipment, the elastic avoidance component 322 can be stretched or compressed to adapt to obstacles on the road.

[0039] In the technical solution of the present application, the adaptive front trimming mechanism 31 and the automatic obstacle-avoiding side trimming mechanism 32 are combined to perform lawn trimming more comprehensively and thoroughly. Figure 2-5 As shown, one end of the elastic component 3111 is fixed on the top of the frame 1, and the other end is fixed on the middle end of the movable support rod 3112, which plays the role of pulling the movable support rod 3112. The other side of the movable support rod 3112 is fixed on the bottom of the frame 1. When the rodless cavity or the rod cavity of the elastic component 3111 is filled with oil, the movable support rod 3112 rotates around the connection point between the movable support rod 3112 and the bottom of the frame 1 to achieve the height adjustment of the bottom end of the movable support rod 3112. The elastic component 3111 is installed on the front side of the frame 1, and one end of the tension spring is fixed in the spring tube and the other end is hooked on the movable support rod 3112. When the equipment is working, the elastic component 3111 is in an oil-free state and is pulled by the tension spring. When the positioning wheel encounters a higher terrain, it transmits the upward force to the movable support rod 3112, and the movable support rod 3112 transmits the force to the tension spring, which generates compression, so that the front trimming mechanism 31 can adjust the terrain adaptively.

[0040] like Figure 4 It is a three-dimensional schematic diagram of the crank saw blade structure of the present application; the shearing action of the front shearing mechanism 31 is realized with reference to the crank slider mechanism, and the slider is regarded as a moving saw blade 31211. When the crank rotates, the slider is driven to reciprocate through the connecting rod, that is, the moving saw blade 31211 is driven to reciprocate, forming shearing with the fixed saw blade 31221.

[0041] Compared with grasslands and prairies, the lawn growth environment of urban greening gardens and highway green belts is very different, that is, the operating conditions of the maintenance machine are very different. The lawns of urban greening gardens and highway green belts may be sandwiched between trees or railings. Traditional mowers cannot mow these hidden areas, causing the grass in these areas to grow too high, affecting the aesthetics. Based on this, the technical solution of the present application provides a side mowing mechanism 32.

[0042] like Figure 5 As shown, when the lawn maintenance robot of the present application is performing a mowing operation, the height adjustment of the side scissor assembly 3214 is achieved by controlling the limit assembly 3215. When the protective cover in the side trimming mechanism 32 hits a tree root or a wall, the lawn maintenance robot moves forward and transmits the thrust to the safety cover. The safety cover then transmits the thrust to the height adjustment assembly 321. The height adjustment assembly 321 pulls the elastic avoidance assembly 322 to rotate the side trimming mechanism 32 backward. When passing through a special area, the side trimming mechanism 32 is pulled back by the elastic avoidance assembly 322.

[0043] In this specific embodiment, Figure 6As shown, the jack device 4 includes a jack member 41 having a plurality of hollow jack tubes and a guide rail assembly 42, the guide rail assembly 42 is fixed to the frame 1, and the jack member 41 can move linearly along the guide rail setting direction of the guide rail assembly 42; the jack device 4 also includes a crank slider assembly 43, one end of which is rotatably connected to the jack member 41, and is used to drive the jack member 41 to move linearly along the guide rail setting direction of the guide rail assembly 42, and the crank slider assembly 43 includes a fixed support shaft 1 431 and a fixed support shaft 2 432 fixed to the frame 1, as the crank slider assembly 43 Two rotation fulcrums; also includes a support rod 1 433 whose one end is rotatably connected to the fixed support shaft 1 431, and a support rod 2 434 whose one end is rotatably connected to the fixed support shaft 2 432, the other end of the support rod 2 434 is rotatably connected to the middle part of the support rod 1 433; also includes a support rod 3 435 whose one end is rotatably connected to the other end of the support rod 1 433, the other end of the support rod 3 435 is connected to the socket member 41; the rotation axis of the fixed support shaft 2 432 and the support rod 2 434 are eccentrically arranged relative to the rotation fulcrum of the fixed support shaft 2 432. The power source drives the fixed support shaft 2 432 to rotate and drive the support rod 2 434 to rotate, the rotation of the support rod 2 434 drives the support rod 1 433 to move, the movement of the support rod 1 433 drives the support rod 3 435 to move, the support rod 3 435 moves up and down on the guide rail assembly 42 to drive the socket member 41 to move up and down, thereby drilling holes in the land.

[0044] The realization of the jacking action of the jack device 4 refers to the crank slider mechanism, and a crank rocker mechanism is added on the basis of the crank slider mechanism, which enhances stability and saves effort. Among them, there are 5 active components, 7 low pairs, and according to the formula F = 3 (N-1) - (2PL + PH) = 3n-2PL-Ph, F = 3 * 5-2 * 7-0 is calculated. According to the above formula, it can be concluded that the degree of freedom of the multi-link mechanism is 1. This theoretical data proves that the jack device 4 of this application is practical.

[0045] In this embodiment, if Figure 7-10As shown, the sowing device 5 is fixedly arranged on the lawn maintenance robot, including a material box 51, an outlet adjustment component 52, a material discharging tray 53 and a motor 54. The outlet adjustment component 52 is used to adjust the size of the material discharging port. The motor 54 drives the material discharging tray 53 to rotate. A gap is set between the material box 51 and the bottom of the material discharging tray 53. The outlet adjustment component 52 includes an adjustment member 521, an adjustment nut 522 and a top cover 523. A vertebral structure 531 is set at the center of the material discharging tray 53. A through hole 5211 is set at the center of the adjustment member 521. The diameter of the through hole 5211 is between the bottom size and the top size of the vertebral structure 531. An adjustment nut 5211 is set above the through hole 5211 at the center of the adjustment member 521. The threaded column 5212 is a section of the threaded column 5212; the adjusting nut 522 is screwed onto the upper part of the adjusting threaded column 5212; the top cover 523 is detachably arranged on the upper side of the material box 51, and a through hole is arranged in the center of the top cover 523 for the adjusting threaded column 5212 to pass through. The output end of the motor 54 rotates to drive the discharge tray 53 to rotate, and the seeds in the material box 51 fall onto the discharge tray 53 through the through hole 5211, and are thrown out from the discharge chute of the material box 51 by centrifugal force; the height of the adjusting member 521 can be adjusted by rotating the adjusting threaded column 5212, the closer the adjusting member 521 is to the vertebral structure 531, the more the through hole 5211 is blocked, and the less seeds can fall, thereby achieving control of the sowing speed.

[0046] In this embodiment, if Fig.11 As shown, the spray device 6 includes a fluid box 61 and a spray assembly 62, which are fixedly arranged at the rear of the lawn maintenance robot. The fluid box 61 and the spray assembly 62 are fluidically connected. Liquid fertilizer is poured into the fluid box 61 and sprayed out through the spray assembly 62 to carry out fertilization.

[0047] In this embodiment, if Fig.12 As shown, the driving mechanism 2 includes a driving power assembly 21 and a track moving assembly 22. The driving power assembly 21 drives the transmission device to rotate, the sprocket is meshed with the driving gear, and the inner toothed portion of the track is meshed with the sprocket.

[0048] The lawn maintenance robot in the technical solution of the present application has the following significant beneficial effects:

[0049] (I) Mowing method: An adaptive front mowing mechanism 31 and an automatic obstacle-avoiding side mowing mechanism 32 are designed, and the combination of the two can mow the lawn more comprehensively and thoroughly.

[0050] (ii) Sowing, replanting and fertilizing methods: A double-disc sowing and fertilizing sowing device 5 is designed, which is controlled by a controller 8 through the feedback of information from a visual device 7, and can realize the automatic replanting and fertilizing functions.

[0051] (III) Insertion method: A simple and stable insertion device 4 is provided, which can realize insertion operation with high efficiency and uniformity and ensure insertion depth.

[0052] The visual device 7 carried by the lawn maintenance robot cooperates with the controller 8 to perform remote control operations and path planning operations.

[0053] The lawn maintenance robot in the technical solution of the present application has a working system of trimming, planting, applying, sowing and spreading. All modules can be installed on the lawn maintenance robot to realize integrated work, and some modules can also be quickly loaded and unloaded separately to realize flexible use of the machine.

[0054] The preferred embodiments of the present application are described in detail above; however, the present application is not limited to the specific details in the above embodiments. Within the technical concept of the present application, a variety of simple modifications can be made to the technical solution of the present application, and these simple modifications all fall within the protection scope of the present application.

[0055] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this application will not further describe various possible combinations.

[0056] In addition, the various implementation modes of the present application may be arbitrarily combined, and as long as they do not violate the concept of the present application, they should also be regarded as the contents disclosed by the present invention.

Claims

1. A lawn maintenance robot, characterized in that: The lawn maintenance robot comprises a frame (1) driven by a driving mechanism (2), the driving mechanism (2) being arranged at the lower part of the frame (1), and the frame (1) being provided with at least one of the following devices: A trimming device (3) is movably arranged at the front and / or side of the frame (1) to trim the lawn to be trimmed in a manner that is adaptive to the ground; A jacking device (4) is movably arranged on the frame (1) to selectively perform a jacking operation on the lawn ground; A sowing device (5), which is arranged on the frame (1) and is used to plant the seeds carried by the sowing device on the lawn ground; A spraying device (6) is arranged at the rear of the frame (1) and is used for spraying the lawn. The lawn maintenance robot comprises a visual device (7) and a controller (8), wherein the visual device (7) is used to observe the environment of the lawn maintenance robot in real time, and the controller (8) controls the driving mechanism (2) according to information sent by the visual device (7), and sends a working instruction to at least one of the trimming device (3), the jack device (4), the sowing device (5) and the spraying device (6).

2. The lawn maintenance robot according to claim 1, characterized in that: The trimming device (3) comprises a front trimming mechanism (31) and / or a side trimming mechanism (32); The front trimming mechanism (31) is arranged at the front side of the frame (1), and comprises an adaptive component (311) and a front shearing component (312); the movable end of the adaptive component (311) rises and falls in accordance with the height of the terrain; the front shearing component (312) is detachably mounted on the movable end of the adaptive component (311) and moves with the adaptive component (311); The side trimming mechanism (32) is arranged on the left and / or right side of the frame (1), and comprises a height adjustment component (321) for adjusting a side cutting knife and an elastic avoidance component (322) for enabling the side trimming mechanism (32) to translate in a horizontal direction.

3. The lawn maintenance robot according to claim 2, characterized in that: The adaptive component (311) comprises an elastic component (3111) and a movable support rod (3112); the elastic component (3111) is capable of contracting or stretching in a linear direction, one end of which is rotatably fixed to the frame (1), and the other end of which is rotatably arranged in the middle of the movable support rod (3112); one end of the movable support rod (3112) is fixed to the frame (1), and the other end of which is fixedly arranged with the front shearing component (312); or The front side shearing assembly (312) comprises the crank saw blade structure (3121) and the fixed saw blade structure (3122); the crank saw blade structure (3121) drives the moving saw blade (31211) to perform reciprocating motion through a connecting rod under the drive of a power source; The fixed saw blade structure (3122) comprises a protective cover body (31222) fixedly connected to the movable support rod (3112); the fixed saw blade (31221) is connected to the protective cover body (31222) and is located in a cavity formed by the protective cover body (31222); The spatial plane in which the moving saw blade (31211) reciprocates is spatially parallel to the spatial plane in which the fixed saw (31221) is located.

4. The lawn maintenance robot according to claim 2, characterized in that: The height adjustment component (321) comprises a support column (3211) fixed to the side of the frame (1), a floating support component (3212), a support arm (3213), a side scissor component (3214) and a limit component (3215); One end of the floating support assembly (3212) is sleeved on the circumference of the pillar (3211), so that the floating support assembly (3212) has the freedom to rotate along the Z axis, and the other end is rotatably connected to the upper end of the support arm (3213), so that the support arm (3213) has the freedom to rotate along the Y axis; the side scissor assembly (3214) is connected to the lower end of the support arm (3213), and the side scissor assembly (3214) includes a side scissor that is powered by a power source to rotate; One end of the elastic avoidance component (322) is fixed to the side of the frame (1), and the fixed position on the frame is spaced a certain distance from the fixed position of the support (3211) on the frame (1); the other end of the elastic avoidance component (322) is fixed to the floating support component (3212); and the elastic avoidance component (322) can be stretched or compressed; The limiting component (3215) can be extended or shortened, one end of which can be rotatably fixed to the support (3211), and the other end of which can be rotatably fixed to the middle of the supporting arm (3213).

5. The lawn maintenance robot according to claim 1, characterized in that: The jack device (4) comprises a jack member (41) having a plurality of hollow jack tubes and a guide rail assembly (42), wherein the guide rail assembly (42) is fixed to the frame (1), and the jack member (41) can move linearly along the guide rail setting direction of the guide rail assembly (42); The socket device (4) also includes a crank slider assembly (43), one end of which is rotatably connected to the socket member (41) and is used to drive the socket member (41) to move linearly along the guide rail setting direction of the guide rail assembly (42).

6. The lawn maintenance robot according to claim 5, characterized in that: The crank slider assembly (43) comprises a fixed support shaft 1 (431) and a fixed support shaft 2 (432) fixed on the frame (1), serving as two rotation fulcrums of the crank slider assembly (43); It also includes a support rod 1 (433) whose one end is rotatably connected to the fixed support shaft 1 (431), and a support rod 2 (434) whose one end is rotatably connected to the fixed support shaft 2 (432), and the other end of the support rod 2 (434) is rotatably connected to the middle part of the support rod 1 (433); It also includes a support rod 3 (435), one end of which is rotatably connected to the other end of the support rod 1 (433), and the other end of the support rod 3 (435) is connected to the socket member (41); The rotation axis of the second fixed support shaft (432) and the second support rod (434) are eccentrically arranged relative to the rotation fulcrum of the second fixed support shaft (432).

7. The lawn maintenance robot according to claim 1, characterized in that: The sowing device (5) is fixedly arranged on the lawn maintenance robot, and comprises a material box (51), an outlet adjustment component (52), a material discharge tray (53) and a motor (54); the outlet adjustment component (52) is used to adjust the size of the material discharge port; the motor (54) drives the material discharge tray (53) to rotate; and a gap is arranged between the material box (51) and the bottom of the material discharge tray (53).

8. The lawn maintenance robot according to claim 7, characterized in that: The outlet adjustment component (52) comprises an adjustment member (521), an adjustment nut (522) and a top cover (523); a vertebral structure (531) is arranged at the center of the discharge tray (53); A through hole (5211) is arranged at the center of the adjusting member (521), the diameter of the through hole (5211) is between the bottom size and the top size of the vertebral structure (531), and an adjusting threaded column (5212) is arranged above the through hole (5211) at the center of the adjusting member (521); The adjusting nut (522) is screwed onto the upper portion of the adjusting threaded column (5212); The top cover (523) is detachably arranged on the upper side of the material box (51), and a through hole is arranged in the center of the top cover (523) for the adjusting threaded column (5212) to pass through.

9. The lawn maintenance robot according to claim 1, characterized in that: The spray device (6) comprises a fluid box (61) and a spray assembly (62). The fluid box (61) and the spray assembly (62) are fixedly arranged at the rear of the lawn maintenance robot, and the fluid box (61) and the spray assembly (62) are fluidically connected.

10. The lawn maintenance robot according to claim 1, characterized in that: The driving mechanism (2) comprises a driving power assembly (21) and a crawler moving assembly (22); the driving power assembly (21) drives the transmission device to rotate, the sprocket is meshedly connected with the driving gear, and the inner toothed portion of the crawler is meshedly connected with the sprocket.

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