Weeding and ploughing robot walking system

Abstract

The weeding and ploughing robot walking system is composed of two sets of driving wheels, tensioning wheels, driven wheels, bearing wheels and a crawler belt which are installed on the front side face and the rear side face of a main machine respectively, the crawler belt covers the driving wheels, the tensioning wheels and the driven wheels, and a certain number of bearing wheels are arranged on the inner side of the crawler belt. The turning step of the weeding and ploughing robot is realized by utilizing the principle that tracks on two sides of the weeding and ploughing robot synchronously advance or retreat and the track on one side advances and the track on the other side retreats. The walking robot is high in adaptability and widely applied to walking work of weeding and ploughing robots in botanical gardens.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery and equipment, and in particular to a walking system of a weeding and tilling robot. Background Art

[0002] With the introduction of the concept of smart orchard development, intelligent agricultural machinery and equipment has become an important research direction. The advent of intelligent weeding and tillage robots will further reduce labor intensity and improve production efficiency. Due to the terrain of hilly orchards, the diversity of crops, and the complexity of agronomy in fruit tree cultivation and management, many weeding and tillage machines have poor operability and are difficult to apply to small orchard environments. In order to enable weeding machinery and equipment to adapt to dynamic environments and operate stably and efficiently, an intelligent weeding and tillage robot suitable for hilly orchards is urgently needed. Summary of the invention

[0003] The purpose of the present invention is to provide a weeding and tilling robot walking system, and the technical scheme adopted is: the weeding and tilling robot is mainly composed of a main machine, a rolling mowing and tilling device, and two vertical mowing arms. The rolling mowing and tilling device and the two vertical mowing arms are respectively arranged at the left and right ends of the main machine. The main machine travels in the row spacing of the orchard, wherein the rolling mowing and tilling device at the left end cuts and crushes the weeds in the row spacing of the orchard, and the two vertical mowing arms at the right end cut the weeds in the spacing between fruit trees.

[0004] The main machine is a driving travel device, which is composed of a frame, a power system, a travel system and a control system. A handle is provided at the four corners of the upper end of the frame.

[0005] The power system is composed of a generator and a battery, which are fixedly installed in the frame, and the generator generates electrical energy which is stored in the battery;

[0006] The walking system is composed of two groups of driving wheels, tensioning wheels, passive wheels, load-bearing wheels, and tracks, which are respectively installed on the front and rear sides of the main machine. The tracks are covered on the driving wheels, tensioning wheels, and passive wheels, and a certain number of load-bearing wheels are arranged on the inner side of the tracks. The driving wheel I or the driving wheel II is respectively installed on the outer end of the driving shaft I or the driving shaft II, the tensioning wheel I or the tensioning wheel II is respectively installed on the outer end of the tensioning shaft I or the tensioning shaft II, and the passive wheel I or the passive wheel II is respectively installed on the outer end of the passive shaft I or the passive shaft II; the driving shaft I or the driving shaft II, or the tensioning shaft I, or the tensioning shaft II, or the passive shaft I, or the passive shaft II are respectively fixedly installed in the frame through their own two bearing seats; the driving shaft I or the driving shaft II is respectively connected to the motor III or the motor IV through gears and chains;

[0007] The tensioning shaft I or tensioning shaft II is installed in the horizontal "U"-shaped groove of the frame through the bearing seats at both ends, the upper and lower widths of the "U"-shaped groove match the bearing seats of the tensioning shaft, and the bearing seats can slide in the "U"-shaped groove; the tensioning shaft I or tensioning shaft II is respectively connected to one end of the electric hydraulic telescopic rod III or the electric hydraulic telescopic rod IV, and the other end of the electric hydraulic telescopic rod III or the electric hydraulic telescopic rod IV is fixedly connected to the frame.

[0008] The control system is composed of a power system, a power switch, a remote control panel, a microprocessor controller, a sensor III, a sensor I, a sensor II, a motor drive module I, a motor drive module II, a motor drive module III, a motor drive module IV, a motor drive module V, and a motor drive module VI, wherein the remote control panel uses a wireless communication module to remotely control the operation state of the microprocessor controller. The power switch, the microprocessor controller and the motor drive module are fixedly installed in the main machine, 2 sensors III are fixedly installed on the left and right sides of the main machine; 2 sensors I are fixedly installed on both sides of the cover; and 2 sensors II are fixedly installed on the outside of 2 vertical mowing arms.

[0009] The roller mowing and tilling device is composed of a cover and a roller mowing power system; the cover is a support frame of the roller mowing power system, and its structure is a cylindrical cavity structure with a closed upper part and an open lower part, and the cover is connected to the frame in parallel through an electric hydraulic telescopic rod I and two connecting rods; the left end of the electric hydraulic telescopic rod I is movably connected to the cover through a bolt I, and the right end of the electric hydraulic telescopic rod I is fixedly connected to the frame; the left ends of the two connecting rods are fixedly connected to the cover, and the right ends of the two connecting rods are movably connected to the frame through bolts II;

[0010] The roller mowing power system is composed of a motor 1, a transmission shaft, a flinging blade rotating shaft, a driving pulley, a belt, and a passive pulley; the driving pulley, the belt and the passive pulley are two groups of combined devices, which are installed on the front and rear sides of the cover shell; the flinging blade rotating shaft is fixedly connected to the cover shell through two bearing seats 1, and the flinging blade rotating shaft and the cover shell have the same central axis; the motor 1 is fixed outside the cover shell, and the motor 1 is connected to the transmission shaft through gears and chains, two driving pulleys are fixed at both ends of the transmission shaft, and two passive pulleys are fixed at both ends of the flinging blade rotating shaft, and the driving pulley and the passive pulley are connected through a belt transmission.

[0011] The swing knife rotating shaft is fixedly provided with a roller, the swing knife rotating shaft, the swing knife rotating shaft, the roller and the cover are on the same axis, and the length of the roller matches the length of the inner cavity of the cover; a certain number of swing knife brackets are arranged on the outer circle of the roller, and two swing knife brackets are arranged as a group in a staggered manner and fixed on the outer circle of the roller; two swing knives are installed on a group of swing knife brackets;

[0012] The swing knife shown is an "L"-shaped double-edged structure at the lower end; the two swing knives are reversely installed through gaskets and bolts IV to form an inverted "Y" shape as a set of tools installed on a set of swing knife brackets, and the movement trajectory of the swing knife during rotation matches the inner diameter of the cover shell.

[0013] The vertical mowing arm shown is composed of a mowing bracket and a vertical mowing power system; the mowing bracket is composed of a bracket I, a bracket II, a bracket III, and a bracket IV;

[0014] Preferably, the upper end of the bracket I is movably connected to the frame through a bolt V, and the insertion direction of the bolt V is perpendicular to the ground horizontal line, and an electric hydraulic telescopic rod II is movably connected between the lower end of the bracket I and the frame.

[0015] Preferably, the bracket II is movably connected to the bracket I through a bolt III, and the insertion direction of the bolt III is parallel to the ground horizontal line;

[0016] Preferably, the bracket III is in an "L"-shaped structure, the upper end of the bracket III is movably connected to the bracket II by a bolt IV, and the direction in which the bolt IV is inserted is perpendicular to the horizontal line of the ground; and a spring is movably connected between the bracket III and the bracket II; the lower end of the bracket III is connected to the bracket IV by a mortise and tenon structure, and is fixed by the cutter head bracket as a bolt;

[0017] Preferably, the bracket IV is an inverted "L"-shaped structure, and a universal wheel is installed at the lower end.

[0018] The vertical mowing power system is composed of a cutter disc bracket, a motor II, a cutter disc shaft, a cutter disc cover, and a mowing cutter disc. The cutter disc bracket is a tubular structure, the cutter disc shaft is inserted into the tubular structure of the cutter disc bracket through a bearing seat, the motor II is fixed on the cutter disc bracket shell, and the motor II and the cutter disc shaft are connected through gears and chains; a mowing cutter disc is fixedly installed at the lower end of the cutter disc shaft, and a cutter disc cover is fixedly installed at the lower end of the cutter disc bracket; the cutter disc cover is a semicircular open cavity, and the cutter disc cover covers the outside of the mowing cutter disc.

[0019] Working principle of vertical mowing arm: the contraction force of the spring makes bracket III rotate clockwise around bolt IV, so as to expand the working range of the vertical mowing arm; when mowing is needed, start and use the thrust of electric hydraulic telescopic rod II to make bracket I rotate clockwise around bolt V as the axis, so as to expand the working range of the vertical mowing arm again; while the universal wheel at the right end of the vertical mowing arm keeps supporting the ground, the uneven terrain causes the universal wheel to rise and fall, so that the height of the mowing disc and the ground remains unchanged, at this time controlling the stubble height after weeding operation; at the same time, as the universal wheel rises and falls, bracket II is caused to rotate clockwise around bolt V as the axis, so as to expand the working range of the vertical mowing arm again; III rotates up and down as the axis, and the force balance at the rear end of the vertical mowing arm is maintained on this principle, thereby enhancing the safety of the weeding operation; when the weeding and tilling robot is driving, the mowing disc rotates to perform mowing work. When the disc cover encounters obstacles such as trees or hard objects, the obstacles squeeze the disc cover to make the bracket III rotate counterclockwise around the bolt IV, thereby avoiding the obstacle. When the disc cover bypasses the obstacle, the contraction of the spring makes the bracket III rotate clockwise around the bolt IV, thereby expanding the operating range of the vertical mowing arm again. On this principle, the mowing work and obstacle avoidance measures of the vertical mowing arm are realized.

[0020] The control system described above operates in the following steps:

[0021] (1) Working steps of weeding and tilling robot:

[0022] ① Setting and preparation of the working scene: artificially set up obstacles (such as plastic film, etc.) at both ends of the orchard row spacing; then start the generator to charge the battery.

[0023] ② Walking of the weeding and cultivating robot: The weeding and cultivating robot moves to the left for the forward direction and to the right for the backward direction. Turn on the power switch, and the microprocessor controller is in standby mode; click the forward or backward button on the remote control panel to send it to the microprocessor controller, and the microprocessor controller selects to control the one-way application sensor III according to the forward or backward signal of the weeding and cultivating robot. The microprocessor controller instructs the motor drive module III or the motor drive module IV to start the motor III or the motor IV to rotate synchronously in the forward or reverse direction, respectively, and drive the drive shaft I and the connected drive wheel I, the drive shaft II and the connected drive wheel II to rotate synchronously, thereby controlling the track I or the track II to move forward or backward synchronously;

[0024] ③ The forward and right turn principle of the weeding and tilling robot: the weeding and tilling robot is in the parking state. Click the forward and right turn button on the remote control panel to send it to the microprocessor controller. The microprocessor controller selects to control the one-way application sensor III. The microprocessor controller instructs the motor drive module III to start the motor III to rotate forward, the transmission drive shaft I and the connected drive wheel I rotate forward, and the transmission track I moves forward; at the same time, the microprocessor controller instructs the motor drive module IV to start the motor IV to rotate in the opposite direction, the transmission drive shaft II and the connected drive wheel II1 rotate in the opposite direction, and the transmission track I moves backward; using the principle of the forward movement of track I and the backward movement of track II, the forward and right turn steps of the weeding and tilling robot are completed.

[0025] ④ The forward left turn step of the weeding and tilling robot: click the forward left turn button on the remote control panel and send it to the microprocessor controller. The instruction of the microprocessor controller is opposite to the principle of the forward right turn of the weeding and tilling robot mentioned above, and the forward left turn step of the weeding and tilling robot is completed.

[0026] (2) Weeding or tilling steps of the weeding and tilling robot:

[0027] ① Preparation: The weeding and tilling robot enters the work site and is in the parking state. Click the button on the remote control panel to send the mowing instruction of the electric hydraulic telescopic rod I to the microprocessor controller. The microprocessor controller instructs the motor drive module V to start and control the extension degree of the electric hydraulic telescopic rod I to adjust the height of the rolling mowing and tilling device from the ground; click the button on the remote control panel to send the mowing instruction of the electric hydraulic telescopic rod II to the microprocessor controller. The microprocessor controller instructs the motor drive module VI to start and control the extension degree of the electric hydraulic telescopic rod II to control the working range of the vertical mowing arm.

[0028] ② Mowing: Click the remote control panel button to start sensor I and sensor II in standby mode; start the driving command of the weeding and tilling robot. During driving, the microprocessor controller will send a start command to the motor drive module II or motor drive module I only after receiving the plant signal collected by sensor I or sensor II. The motor drive module II drives the motor II to rotate, the drive blade shaft rotates, and the mowing blade rotates to complete the mowing work; the motor drive module I drives the motor I to rotate, the drive blade shaft and the connected blade rotate to complete the mowing work. When the weeding and tilling robot is in the parking state, the microprocessor controller instructs the motor drive module II and the motor drive module I to stop working.

[0029] ③ Weeding work on cultivated land: The weeding and cultivating land robot can also be used for weeding work on cultivated land. Click the button on the remote control panel to send the cultivating land instruction of the electric hydraulic telescopic rod I to the microprocessor controller. The microprocessor controller instructs the motor drive module V to start and control the extension degree of the electric hydraulic telescopic rod I to adjust the rolling grass cutting and cultivating land device to fall to the ground. At the same time, the microprocessor controller instructs to turn off the sensor I and sensor II, and directly instructs the motor drive module I to drive the motor I to rotate, so as to drive the swing knife shaft and the connected swing knife to rotate, thereby completing the weeding work of the tiller.

[0030] Preferably, the transverse center axis of the main machine is the same axis as the center axis of the rolling mowing and tilling device or the two vertical mowing arms.

[0031] Preferably, the microprocessor controller adopts TMS320 series DSP of TI company, which is mainly used for signal processing.

[0032] Preferably, the load-bearing wheel is connected to the load-bearing hydraulic rod, the load-bearing hydraulic rod is connected to the load-bearing hydraulic rod bracket, the load-bearing hydraulic rod bracket is fixedly installed on the frame, and a shock-absorbing spring is mounted on the load-bearing hydraulic rod.

[0033] Preferably, the driving wheel is a toothed structure.

[0034] Preferably, the inner surface of the crawler is provided with grooves, the grooves match the toothed structure of the driving wheel, and the outer surface of the crawler 1 is provided with an anti-skid device.

[0035] Preferably, a steering switch is provided between the microprocessor controller and the two sensors III, and the microprocessor controller selects to control the unidirectional application sensor III according to the forward or backward signal of the weeding and tilling robot.

[0036] Preferably, the sensor III adopts an ultrasonic probe for sensing and collecting obstacle signals in front; the ultrasonic probe is an integrated transmitter and receiver, with a resonant frequency of (35±1.5) kHz, a ranging range of 0.3m-10m, and a half-power angle of 5°.

[0037] Preferably, the sensor I or sensor II adopts a reflective infrared sensor for sensing and collecting weed plant signals. When the sensor outputs a low level, it indicates that an obstacle (such as a plant) is detected; when the sensor outputs a high level, it indicates that no obstacle (such as a plant) is detected.

[0038] Compared with the prior art, the present invention has the following obvious technical effects:

[0039] 1. The load-bearing objects of the weeding and tilling robot are fixed on the main body and the front and rear ends to ensure the stability of the weeding and tilling robot's walking; it adopts front and rear weeding, with a large weeding width, high weeding efficiency, strong adaptability, and can also be widely used in arable land work.

[0040] 2. The weeding and tillage robot adopts a servo drive design, which can capture obstacles and plant signals quickly and accurately. The weeding system will be started according to plant signals during driving. It has a high degree of automation, sensitive response, high efficiency and high safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a front view structural schematic diagram of the present invention;

[0042] Figure 2 It is a schematic diagram of the top view of the structure of the present invention;

[0043] Figure 3 for Figure 1 A schematic diagram of the enlarged structure of the neutral mowing arm;

[0044] Figure 4 The schematic diagram of the combined structure of the swing knife shaft and the roller of the invention;

[0045] Figure 5 for Figure 4 The left side structural diagram of the middle swing knife shaft and roller assembly;

[0046] Figure 6 It is a schematic diagram of the installation structure of the flail knife of the present invention;

[0047] Figure 7 It is a schematic diagram of the structure of the fling knife of the present invention;

[0048] Figure 8 for Figure 2 A partial enlarged structural diagram of a neutral mowing arm;

[0049] Fig. 9 It is a schematic diagram of a control system of the present invention;

[0050] Illustration: A-roller mowing and tilling device, B-vertical mowing arm, C-main machine, D-longitudinal center axis, 1-cover, 2-motor I, 2-1-motor drive module I, 2-2-transmission shaft, 3-driving pulley, 4-belt, 5-passive pulley, 6-swing blade shaft, 6-1-roller, 7-bearing seat I, 8-electric hydraulic telescopic rod I, 9-bolt I, 12-bolt II, 13-connecting rod, 14-frame, 15-driving wheel I, 15-1-driving Wheel II, 16-tensioning wheel I, 16-1-tensioning wheel II, 17-load-bearing wheel, 18-load-bearing hydraulic rod bracket, 19-load-bearing hydraulic rod, 20-handle, 21-passive wheel I, 21-1-passive wheel II, 21-2-passive shaft I, 21-3-passive shaft II, 22-electric hydraulic telescopic rod II, 23-bolt III, 24-1-bracket I, 24-2-bracket II, 24-3-bracket III, 24-4-bracket IV, 24-5-bolt IV, 25-spring, 26-cutter cover, 27-mower blade, 28-motor II, 28-1-motor drive module II, 28-2-cutter shaft, 29-cutter bracket, 30-motor III, 30-1-motor IV, 30-2-motor drive module III, 30-3-motor drive module IV, 31-universal wheel, 32-generator, 33-microprocessor controller, 34-tensioning shaft I, 34-1-tensioning shaft II, 35-drive shaft I, 35 -1-drive shaft II, 36-power switch, 37-1-sensor I, 37-2-sensor II, 37-3-sensor III, 38-electric hydraulic telescopic rod III, 38-1-motor drive module V, 38-2-motor drive module VI, 38-3-electric hydraulic telescopic rod IV, 39-swinging knife bracket, 40-swinging knife, 41-gasket, 42-bolt IV, 43-track I, 43-1-track II, 45-bolt V, 46-battery. DETAILED DESCRIPTION

[0051] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0052] Example 1

[0053] Weeding and tilling robots, such as Figure 1 As shown in FIG. 1 , the weeding and tilling robot is mainly composed of a main unit C, a rolling mowing and tilling device A, and two vertical mowing arms B. Figure 2 As shown, the rolling mowing and cultivating device A and the two vertical mowing arms B are respectively arranged at the left and right ends of the main machine C, the rolling mowing and cultivating device A is arranged at the left end of the main machine C, and the two vertical mowing arms B are arranged at the right end of the main machine C, and the horizontal central axis of the main machine C is used as the central axis of the rolling mowing and cultivating device A or the two vertical mowing arms B;

[0054] Preferably, if Figure 1 As shown, the weeding and cultivating robot uses the longitudinal center axis D of the main unit C as the mass balance line at the left and right ends of the weeding and cultivating robot, that is, the masses at the left and right ends of the longitudinal center axis D of the weeding and cultivating robot are equal, which is conducive to the smooth operation of the weeding and cultivating robot.

[0055] The host C is a driving device, such as Figure 1 , Figure 2 As shown, it is composed of a frame 14, a power system, a walking system and a control system. A handle 20 is provided at the fourth corner of the upper end of the frame 14 to facilitate manual handling in abnormal environments;

[0056] The power system is composed of a generator 32 and a battery 46. Figure 1 As shown, the generator 32 and the battery 46 are fixedly mounted in the frame 14, and the generator 32 generates electrical energy which is stored in the battery 46;

[0057] The walking system, such as Figure 1 , Figure 2 As shown, it is composed of 2 groups of driving wheels, tensioning wheels, passive wheels, load-bearing wheels and tracks. The driving wheels, tensioning wheels and passive wheels are in a "△" structure, and the tracks are covered on the driving wheels, tensioning wheels and passive wheels; and a certain number of load-bearing wheels 17 are arranged on the inner side of the tracks. Among them, one group of walking systems composed of driving wheel I15, tensioning wheel I16, passive wheel I21 and track I43 is installed on the front side of the main machine C, and the other group of walking systems composed of driving wheel II15-1, tensioning wheel II16-1, passive wheel II21-1 and track II43-1 is installed on the rear side of the main machine C; the driving wheel I15 or the driving wheel II15-1 is respectively installed on the outer end of the driving shaft I35 or the driving shaft II35-1, and the tensioning wheel I16 or the tensioning wheel II16-1 is respectively installed on the tensioning shaft I34 or the tensioning shaft II35-1. The outer end of shaft II34-1, the passive wheel I21, or the passive wheel II21-1 are respectively installed on the outer end of the passive shaft I21-2, or the passive shaft II21-3; the driving shaft I35, or the driving shaft II35-1, or the tensioning shaft I34, or the tensioning shaft II34-1, or the passive shaft I21-2, or the passive shaft II21-3 are respectively fixedly installed in the frame 14 through their two bearing seats; the driving shaft I35, or the driving shaft II35-1 is respectively connected to the motor III30, or the motor IV30-1 through gears and chains;

[0058] Preferably, the tensioning shaft I34 or the tensioning shaft II34-1 is installed in the horizontal "U"-shaped slot of the frame 14 through the bearing seats at both ends, and the upper and lower widths of the "U"-shaped slot match the bearing seats of the tensioning shaft, and the bearing seats can slide in the "U"-shaped slot; Figure 1 , Figure 2As shown, the tensioning shaft I34 or the tensioning shaft II34-1 is respectively connected to one end of the electric hydraulic telescopic rod III38 or the electric hydraulic telescopic rod IV38-3, and the other end of the electric hydraulic telescopic rod III38 or the electric hydraulic telescopic rod IV38-3 is fixedly connected to the frame 14. The bearing seat of the tensioning shaft I34 or the tensioning shaft II34-1 is adjusted to move left and right in the "U"-shaped slot by the extension and retraction of the electric hydraulic telescopic rod III38 or the electric hydraulic telescopic rod IV38-3, thereby adjusting the position of the tensioning wheel I16 or the tensioning wheel II16-1 to control the tightness of the track I43 or the track II43-1.

[0059] Preferably, the load-bearing wheel 17, such as Figure 1 , Figure 2 As shown, the load-bearing wheel 17 is connected to the load-bearing hydraulic rod 19, the load-bearing hydraulic rod 19 is connected to the load-bearing hydraulic rod bracket 18, the load-bearing hydraulic rod bracket 18 is fixedly mounted on the frame 14, and a shock-absorbing spring is mounted on the load-bearing hydraulic rod 19. The load-bearing wheel 17 reduces the vibration of the main machine C caused by different ground environments and increases the contact area between the crawler and the ground and adapts to the uneven surface environment.

[0060] Preferably, the driving wheel is a toothed structure.

[0061] Preferably, the inner surface of the crawler is provided with grooves, which match the toothed structure of the driving wheel, and the outer surface of the crawler is provided with an anti-skid device.

[0062] The rolling mowing and tilling device A is as follows: Figure 1 As shown, it is composed of a housing 1 and a rolling mowing power system; the housing 1 is a support frame of the rolling mowing power system, and its structure is a cylindrical cavity structure with a closed upper part and an open lower part, as shown in FIG. Figure 1 , 2 As shown, the cover 1 is connected to the frame 14 in parallel through an electric hydraulic telescopic rod I8 and two connecting rods 13; the left end of the electric hydraulic telescopic rod I8 is movably connected to the cover 1 through a bolt I9, and the right end of the electric hydraulic telescopic rod I8 is fixedly connected to the frame 14; the left ends of the two connecting rods 13 are fixedly connected to the cover 1, and the right ends of the two connecting rods 13 are movably connected to the frame 14 through bolts II12; by controlling the extension and retraction of the electric hydraulic telescopic rod I8, the height of the rolling mowing and tilling device A from the ground is adjusted, so as to control the stubble height after the weeding operation; this principle can also be used for raking operations.

[0063] The rolling mowing power system is as follows: Figure 1 , Figure 2 As shown, it is composed of a motor 12, a transmission shaft 2-2, a swing knife shaft 6, a driving pulley 3, a belt 4, and a passive pulley 5; the driving pulley 3, the belt 4 and the passive pulley 5 are 2 groups of combined devices, such as Figure 2As shown, it is installed on the front and rear sides of the housing 1; the swing knife shaft 6 is fixedly connected to the housing 1 through two bearing seats I7, and the swing knife shaft 6 and the housing 1 are on the same central axis; Figure 2 As shown, the motor 12 is fixed outside the cover 1, and the motor 12 is connected to the transmission shaft 2-2 through gears and chains. Two driving pulleys 3 are fixed at both ends of the transmission shaft 2-2, and two passive pulleys 5 are fixed at both ends of the swing knife shaft 6. The driving pulley 3 transmits power to the passive pulley 5 connected to the swing knife shaft 6 through the belt 4, and provides power to the swing knife shaft 6.

[0064] The knife-fling rotating shaft 6 is as Figure 4 As shown, a roller 6-1 is fixedly arranged on the swinging blade shaft 6, the swinging blade shaft 6, the roller 6-1 and the housing 1 are on the same axis, and the length of the roller 6-1 matches the length of the inner cavity of the housing 1; Figure 4 , Figure 5 As shown, a certain number of swing knife brackets 39 are arranged on the outer circle of the drum 6-1, and two swing knife brackets 39 are arranged as a group and fixed on the outer circle of the drum 6-1 in a staggered manner; two swing knives 40 are installed on one group of swing knife brackets 39;

[0065] The fling knife 40 shown, Figure 7 As shown, it is an "L"-shaped double-edged structure at the lower end; Figure 6 As shown, two swing knives 40 are reversely installed through gaskets 41 and bolts IV42 to form an inverted "Y" shape as a set of tools installed on a set of swing knife brackets 39, and the movement trajectory of the swing knife 40 during rotation matches the inner diameter of the cover shell 1.

[0066] The vertical mowing arm B shown, as Figure 1 , 2 , 3, consisting of a mowing bracket and a vertical mowing power system; the mowing bracket consists of a bracket I24-1, a bracket II24-2, a bracket III24-3, and a bracket IV24-4;

[0067] Preferably, if Figure 2 As shown, the upper end of the bracket I24-1 is movably connected to the frame 14 through a bolt V45, and the direction in which the bolt V45 is inserted is perpendicular to the ground horizontal line. An electric hydraulic telescopic rod II22 is movably connected between the lower end of the bracket I24-1 and the frame 14. By controlling the extension and retraction of the electric hydraulic telescopic rod II22, the bracket I24-1 is horizontally rotated around the bolt V45 as the axis, and the operating range of the vertical mowing arm B is controlled by this principle.

[0068] Preferably, if Figure 2 , Figure 3As shown, the bracket II24-2 is movably connected to the bracket I24-1 by a bolt III23, and the insertion direction of the bolt III23 is parallel to the horizontal line of the ground. The bracket II24-2 rotates up and down with the bolt III23 as the axis, so that the bracket II24-2 can adapt to the height of the vertical mowing power system from the ground caused by uneven terrain;

[0069] Preferably, if Figure 2 , Figure 3 , Figure 8 As shown, the bracket III24-3 is in an "L"-shaped structure, the upper end of the bracket III24-3 is movably connected to the bracket II24-2 by a bolt IV24-5, and the direction in which the bolt IV24-5 is inserted is perpendicular to the horizontal line of the ground, and the bracket III24-3 rotates horizontally with the bolt IV24-5 as the axis; and a spring 25 is movably connected between the bracket III24-3 and the bracket II24-2, and the rotation arc of the bracket III24-3 is controlled by the automatic extension and contraction of the spring 25; the lower end of the bracket III24-3 is connected to the bracket IV24-4 by a mortise and tenon structure, and is fixed by a cutter head bracket 29 as a bolt;

[0070] Preferably, if Figure 3 , 8 As shown, the bracket IV24-4 is an inverted "L"-shaped structure, and a sensor II37-2 is provided on the bracket IV24-4, and a universal wheel 31 is installed at the lower end thereof.

[0071] The vertical mowing power system is as follows: Figure 3 As shown, it consists of a cutter disc bracket 29, a motor II28, a cutter disc shaft 28-2, a cutter disc cover 26, and a mowing cutter disc 27. The cutter disc bracket 29 is a tubular structure, and the cutter disc shaft 28-2 is inserted into the tubular structure of the cutter disc bracket 29 through a bearing seat. The motor II28 is fixed on the outer shell of the cutter disc bracket 29, and the motor II28 and the cutter disc shaft 28-2 are connected through gears and chains; the mowing cutter disc 27 is fixedly installed on the lower end of the cutter disc shaft 28-2, and the cutter disc cover 26 is fixedly installed on the lower end of the cutter disc bracket 29; the cutter disc cover 26 is a semicircular open mouth, and the cutter disc cover 26 covers the outside of the mowing cutter disc 27.

[0072] Working principle of vertical mowing arm B: Figure 2As shown, the contraction force of the spring 25 causes the bracket III24-3 to rotate clockwise around the bolt IV24-5, thereby expanding the operating range of the vertical mowing arm B; when mowing is required, the electric hydraulic telescopic rod II22 is started and the thrust is used to cause the bracket I24-1 to rotate clockwise around the bolt V45 as the axis, thereby expanding the operating range of the vertical mowing arm B again; and the universal wheel 31 at the right end of the vertical mowing arm B keeps supporting the ground, and the uneven terrain causes the universal wheel 31 to rise and fall, so that the height of the mowing blade 27 from the ground remains unchanged, at this time controlling the stubble height after the weeding operation; at the same time, as the universal wheel 31 rises and falls, the bracket II24-2 rotates up and down around the bolt III23 as the axis, and this principle is used to maintain the force balance at the rear end of the vertical mowing arm B, thereby enhancing the safety of the weeding operation; during the driving process of the weeding and tilling robot, Figure 2 , 3 As shown, the mowing blade 27 rotates to perform mowing work. When the blade cover 26 encounters a hard obstacle such as a tree, the obstacle squeezes the blade cover 26 to cause the bracket III24-3 to rotate counterclockwise around the bolt IV24-5, thereby avoiding the obstacle. When the blade cover 26 bypasses the obstacle, the contraction force of the spring 25 causes the bracket III24-3 to rotate clockwise around the bolt IV24-5, expanding the operating range of the vertical mowing arm B again. The mowing work and obstacle avoidance measures of the vertical mowing arm B are realized based on this principle.

[0073] The control system is composed of a power switch 36, a remote control panel, a microprocessor controller 33, a sensor III37-3, a sensor I37-1, a sensor II37-2, a motor drive module I2-1, a motor drive module II28-1, a motor drive module III30-2, a motor drive module IV30-3, a motor drive module V38-1, and a motor drive module VI38-2, wherein the remote control panel uses a wireless communication module to remotely control the operating status of the microprocessor controller 33. Figure 1 , Figure 2 As shown, the power switch 36, the microprocessor controller 33 and the motor drive module are fixedly installed in the host C, and the 2 sensors III37-3 are fixedly installed on the left and right sides of the host C; Figure 1 , Figure 2 As shown, two sensors I37-1 are fixedly installed on both sides of the cover 1; Figure 3 As shown, two sensors II37-2 are fixedly installed on the outside of two vertical mowing arms B.

[0074] The microprocessor controller 33 adopts the TMS320 series DSP of TI Company, and is mainly used for signal processing.

[0075] Preferably, an automatic control steering switch is provided between the microprocessor controller 33 and the two sensors III37-3. The microprocessor controller 33 selects to control the one-way application sensor III37-3 according to the forward or backward signal of the weeding and tilling robot. Figure 1 As shown, when the weeding and tilling robot travels to the left, the microprocessor controller 33 controls the steering switch command to the left side of the host C, only receives the command from the left side sensor III37-3 of the host C, and turns off the command from the right side sensor III37-3; when the weeding and tilling robot travels to the right, the microprocessor controller 33 controls the steering switch command to the right side of the host C, only receives the command from the right side sensor III37-3 of the host C, and turns off the command from the left side sensor III37-3.

[0076] Preferably, the sensor III37-3 uses an ultrasonic probe to sense and collect obstacle signals in front; based on the time-of-flight method in the ultrasonic ranging method, the ultrasonic probe is used to detect and identify various obstacles in front of the robot in real time, so that the robot can automatically stop when it encounters obstacles that must be avoided. The ultrasonic probe is a transceiver with a resonant frequency of (35±1.5)kHz, a ranging range of 0.3m-10m, and a half-power angle of 5°.

[0077] Preferably, the sensor I37-1 or sensor II37-2 uses a reflective infrared sensor to sense and collect weed plant signals. When the sensor outputs a low level, it indicates that an obstacle (such as a plant) is detected; when the sensor outputs a high level, it indicates that no obstacle (such as a plant) is detected. Before the on-site debugging of the weeding and tilling robot, the sensing distance of the infrared sensor is adjusted. The reflective infrared sensor model used in this embodiment is CDD-40N125140105S.

[0078] The control system, such as Fig. 9 As shown, its working principle lies in the following working steps:

[0079] (1) Working steps of weeding and tilling robot:

[0080] ① Setting and preparation of the working scene: artificially set up obstacles (such as plastic film, etc.) at both ends of the orchard row spacing; then start the generator 32 to charge the battery 46.

[0081] ② Walking of weeding and tilling robot: Figure 2As shown, the weeding and tilling robot moves to the left as the forward direction, and to the right as the backward direction. Turn on the power switch 36, and the microprocessor controller 33 is in standby mode; click the forward or backward button on the remote control panel to send it to the microprocessor controller 33, and the microprocessor controller 33 selects to control the one-way application sensor III37-3 according to the forward or backward signal of the weeding and tilling robot, and the microprocessor controller 33 instructs the motor drive module III30-2 or the motor drive module IV30-3 to start the motor III30 or the motor IV30-1 to rotate synchronously in the forward or reverse direction, and respectively drive the drive shaft I35 and the connected drive wheel I15, the drive shaft II35-1 and the connected drive wheel II15-1 to rotate synchronously, so as to control the track I43 or the track II43-1 to move forward or backward synchronously;

[0082] ③ The principle of the weeding and tilling robot turning right: Figure 2 As shown, the weeding and tilling robot is in the parking state. Click the forward and right turn button on the remote control panel to send it to the microprocessor controller 33. The microprocessor controller 33 selects to control the one-way application sensor III37-3. The microprocessor controller 33 instructs the motor drive module III30-2 to start the motor III30 to rotate forward, the transmission drive shaft I35 and the connected drive wheel I15 to rotate forward, and the transmission track I43 to move forward; at the same time, the microprocessor controller 33 instructs the motor drive module IV30-3 to start the motor IV30-1 to rotate in the opposite direction, the transmission drive shaft II35-1 and the connected drive wheel II15-1 to rotate in the opposite direction, and the transmission track I43 to move backward; using the principle of the forward movement of the track I43 and the backward movement of the track II43-1, the forward and right turn steps of the weeding and tilling robot are completed.

[0083] ④ The forward left turn step of the weeding and tilling robot: click the forward left turn button on the remote control panel to send it to the microprocessor controller 33. The instruction of the microprocessor controller 33 is opposite to the principle of the forward right turn of the weeding and tilling robot mentioned above, and the forward left turn step of the weeding and tilling robot is completed.

[0084] (2) Weeding or tilling steps of the weeding and tilling robot:

[0085] ① Preparation: The weeding and tilling robot enters the work site and is in the parking state. Click the button on the remote control panel to send the mowing instruction of the electric hydraulic telescopic rod I8 to the microprocessor controller 33. The microprocessor controller 33 instructs the motor drive module V38-1 to start and control the telescopic degree of the electric hydraulic telescopic rod I8 to adjust the ground height of the rolling mowing and tilling device A; click the button on the remote control panel to send the mowing instruction of the electric hydraulic telescopic rod II22 to the microprocessor controller 33. The microprocessor controller 33 instructs the motor drive module VI38-2 to start and control the telescopic degree of the electric hydraulic telescopic rod II22 to control the working range of the vertical mowing arm B.

[0086] ② Mowing: Click the remote control panel button to start the sensor I37-1 and sensor II37-2 in standby mode; start the driving command of the weeding and cultivating robot. During the driving process, the microprocessor controller 33 will send a start command to the motor drive module II28-1 or the motor drive module I2-1 only after receiving the plant signal collected by the sensor I37-1 or the sensor II37-2. The motor drive module II28-1 drives the motor II28 to rotate, and the transmission cutter shaft 28-2 rotates, so that the mowing cutter disc 27 rotates to complete the mowing work; the motor drive module I2-1 drives the motor I2 to rotate, and the transmission swing blade shaft 6 and the connected swing blade 40 rotate to complete the mowing work. When the weeding and cultivating robot is in the parking state, the microprocessor controller 33 instructs the motor drive module II28-1 and the motor drive module I2-1 to stop working.

[0087] ③ Land weeding work: The weeding and tilling robot can also be used for land weeding work. Click the button on the remote control panel to send the tilling instruction of the electric hydraulic telescopic rod I8 to the microprocessor controller 33. The microprocessor controller 33 instructs the motor drive module V38-1 to start and control the telescopic degree of the electric hydraulic telescopic rod I8 to adjust the rolling mowing and tilling device A to fall to the ground. At the same time, the microprocessor controller 33 instructs to turn off the sensor I37-1 and the sensor II37-2, and directly instructs the motor drive module I2-1 to drive the motor I2 to rotate, and the transmission swing blade shaft 6 and the connected swing blade 40 rotate to complete the tilling machine weeding work.

[0088] The weeding and cultivating robot adopts front and rear weeding and servo drive design, and the load-bearing objects are fixed on the front and rear sides of the main unit C to ensure the stability of the weeding and cultivating robot's walking; it captures obstacles and plant signals quickly and accurately, has a high degree of automation, and is sensitive and efficient; the weeding and cultivating robot has high weeding efficiency and strong adaptability, and can also be widely used in farmland work.

Claims

1. A walking system of a weeding and cultivating robot. The main machine (C) of the weeding and cultivating robot is composed of a frame (14), a power system, a walking system and a control system, and is characterized in that: The walking system is composed of two sets of driving wheels, tensioning wheels, passive wheels, load-bearing wheels and crawler tracks, which are respectively installed on the front and rear sides of the main machine (C). The crawler tracks are covered on the driving wheels, tensioning wheels and passive wheels, and a certain number of load-bearing wheels (17) are arranged on the inner side of the crawler tracks. The driving wheel I (15) and the driving wheel II (15-1) are respectively mounted on the outer ends of the driving shaft I (35) and the driving shaft II (35-1); the tensioning wheel I (16) and the tensioning wheel II (16-1) are respectively mounted on the outer ends of the tensioning shaft I (34) and the tensioning shaft II (34-1); the passive wheel I (21) and the passive wheel II (21-1) are respectively mounted on the outer ends of the passive shaft I (21-2) and the passive shaft II (21-3); the driving shaft I (35), the driving shaft II (35-1), the tensioning shaft I (34), the tensioning shaft II (34-1), the passive shaft I (21-2) and the passive shaft II (21-3) are respectively fixedly mounted in the frame (14) through two bearing seats respectively; the driving shaft I (35) and the driving shaft II (35-1) are respectively connected to the motor III (30) and the motor IV (30-1) through gears and chains; The tensioning shaft I (34) and the tensioning shaft II (34-1) are installed in the transverse "U"-shaped slot of the frame (14) through the bearing seats at both ends, and the upper and lower widths of the "U"-shaped slot match the bearing seats of the tensioning shaft, and the bearing seats can slide in the "U"-shaped slot; the tensioning shaft I (34) and the tensioning shaft II (34-1) are respectively connected to one end of the electric hydraulic telescopic rod III (38) and the electric hydraulic telescopic rod IV (38-3), and the other ends of the electric hydraulic telescopic rod III (38) and the electric hydraulic telescopic rod IV (38-3) are fixedly connected to the frame (14).

2. The weeding and tilling robot walking system according to claim 1, characterized in that: The load-bearing wheel (17) is connected to a load-bearing hydraulic rod (19), the load-bearing hydraulic rod (19) is connected to a load-bearing hydraulic rod bracket (18), the load-bearing hydraulic rod bracket (18) is fixedly mounted on the frame (14), and a shock-absorbing spring is mounted on the load-bearing hydraulic rod (19).

3. The weeding and tilling robot walking system according to claim 1, characterized in that: The driving wheel is a toothed structure.

4. The weeding and tilling robot walking system according to claim 1, characterized in that: The inner surface of the crawler is provided with grooves which match the toothed structure of the driving wheel, and the outer surface of the crawler is provided with an anti-skid device.

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