Modularized laser module for field laser weeding and thinning robot and laser weeding and thinning robot

Abstract

The utility model relates to the technical field of lasers, in particular to a modularized laser module for a field laser weeding and thinning robot and the laser weeding and thinning robot, which comprises a laser tube packaging assembly with an outer sleeve, a front support assembly and a rear support assembly, the galvanometer assembly and the pseudo coaxial camera assembly are installed on the rear support assembly. The laser module can realize large-scale modular and standardized batch production, and can be very conveniently and flexibly assembled, disassembled, used, adjusted and maintained on a mobile robot. Moreover, miniature windscreen wiper accessories suitable for dust removal of the window lens are respectively and integrally mounted on the galvanometer and the pseudo coaxial camera assembly on the rear bracket, so that daily maintenance of the window lens of the equipment during field operation is facilitated, and the operation efficiency of the equipment is indirectly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of lasers, in particular to a modular laser module for a field laser weeding and thinning robot. Background Technique

[0002] Due to the relatively low manufacturing cost and selling price, carbon dioxide glass tube lasers have been widely used in production and life fields such as laser marking and laser cutting of clothing fabrics. Especially in recent years, a large number of practices at home and abroad have proved that the 10.6-micron laser wavelength of carbon dioxide lasers is more easily absorbed by the stems and leaves of field weeds and crops. Therefore, using a 150w high-power carbon dioxide laser beam, through machine vision technology and AI algorithms, accurately lock and irradiate the apical meristem of field weeds or crop seedlings that need to be topped or the roots of crops that need to be thinned, and accurately give them a certain irradiation time and irradiation intensity, it is possible to instantly form a prominent laser flame, or burn the top of the weeds to ashes, or burn the top or roots of the seedlings to wither. It can not only cause significant damage and inactivation to field weeds, but also efficiently complete the weeding or topping operations of crops. Therefore, using a high-power carbon dioxide laser for weeding or thinning or topping has high cost performance and working efficiency compared with manual and other mechanical operations. In the emerging field of mobile robot laser weeding or thinning and topping, high-power carbon dioxide lasers are therefore quite popular and become the first choice.

[0003] However, because the high-power carbon dioxide glass tube lasers available for weeding are relatively fragile, with their own length approaching 2 meters and relatively large size, it also brings some inconveniences in practical applications. Although there have already appeared various forms of carbon dioxide laser modules in reality, which have initially solved the basic protection problem of the laser glass tube, there is still a lack of an integrated functional module that is both convenient for transportation, installation, replacement, adjustment and maintenance, and at the same time integrates a laser digital scanning galvanometer and a pseudo-coaxial camera, and there is also a lack of some other necessary auxiliary functions and accessories such as lens dust removal suitable for field operations, so it is not convenient for mobile robot laser weeding or thinning and topping operations. Summary of the Invention

[0004] The purpose of the utility model is to provide a modular laser module for a field laser weeding and thinning robot to solve the problems put forward in the above background technique.

[0005] In order to solve the above technical problems, the utility model provides the following technical solutions:

[0006] A modular laser module for a field laser weeding and thinning robot, comprising: a front support assembly, a laser tube encapsulation assembly and a rear support assembly connected in sequence;

[0007] The described laser tube packaging assembly includes a front cover assembly, an outer sleeve assembly, a rear cover assembly, and a laser tube assembly connected in sequence. The laser tube assembly is coaxially installed in the cavity at the center of the outer sleeve assembly; the front cover assembly and the rear cover assembly are coaxially installed at both ends of the outer sleeve assembly;

[0008] The laser tube assembly includes a laser tube, a plurality of pipeline brackets sleeved on the outer periphery of the laser tube, two sets of fixing rings, a support rod passing through the pipeline brackets, a front laser tube sealing plate arranged at the front end of the laser tube, and a rear laser tube sealing plate arranged at the rear end of the laser tube;

[0009] The outer sleeve assembly includes an outer sleeve and a plurality of laser tube centering and alignment screws passing through the outer sleeve and connected to the fixing rings;

[0010] The pipeline bracket is circular, and its outer diameter has a clearance fit with the inner diameter of the outer sleeve.

[0011] Preferably, the outer sleeve is provided with a screw hole, and a self-tapping screw sleeve is arranged inside the screw hole, and the self-tapping screw sleeve is adapted to the laser tube centering and alignment screw.

[0012] Preferably, a buffer ring is arranged between the pipeline bracket and the laser tube, and a buffer ring is arranged between the fixing ring and the laser tube.

[0013] Preferably, the buffer ring is an EVA foam single-sided soft tape.

[0014] Preferably, the number of the support rods is 2.

[0015] Preferably, the outer sleeve assembly includes two guiding frames, and the two guiding frames are respectively sleeved on the front and rear ends of the middle part of the outer sleeve.

[0016] Preferably, a guiding boss is arranged at the lower end of the guiding frame.

[0017] Preferably, the material of the front bracket assembly is a high-strength engineering plastic such as PPO with insulation, high voltage resistance, and high temperature resistance.

[0018] Preferably, it includes a laser digital scanning galvanometer assembly and a pseudo-coaxial camera assembly connected to the rear bracket assembly.

[0019] A laser weeding and thinning robot includes a modular laser module for a field laser weeding and thinning robot as described in any one of the foregoing.

[0020] Compared with the prior art, the beneficial effects achieved by the utility model are as follows: The utility model is designed to meet the needs of mobile robot laser weeding, thinning, or topping operations. It efficiently integrates a 150w high-power carbon dioxide laser, a matching laser digital scanning galvanometer, and a pseudo-coaxial camera into a modular general laser module. At the same time, a micro wiper dust removal system is equipped for the galvanometer and the camera lens to solve various technical requirements regarding the compactness and working reliability of the laser module, as well as the convenience of maintenance, repair, and replacement in the field weeding operation of the mobile laser weeding and thinning robot, and corresponding solutions are provided. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are used to provide a further understanding of the utility model and constitute a part of the specification. They are used together with the embodiments of the utility model to explain the utility model and do not constitute a limitation to the utility model. In the drawings:

[0022] Figure 1 : Side view of the laser module; Figure 2 : Cross-sectional view of the laser module; Figure 3 : Exploded view of the laser module; Figure 4 : Front view of the laser module; Figure 5 : End view of the laser module; Figure 6 : Cross-sectional view of the laser tube alignment adjustment of the laser module; Figure 7 : Cross-sectional view of the guide frame of the laser module; Figure 8 : Front bracket assembly diagram; Figure 9 : Rear bracket assembly diagram; Figure 10 : Side view of the laser tube encapsulation assembly; Figure 11 : Exploded view of the laser tube encapsulation assembly; Figure 12 : Cross-sectional view of the laser tube encapsulation assembly; Figure 13 : Cross-sectional view of the front cover assembly; Figure 14 : Side view of the front cover assembly; Figure 15 : Exploded view of the front cover assembly; Figure 16 : Side view and cross-sectional view of the rear cover assembly; Figure 17 : Exploded view of the rear cover assembly; Figure 18 : Side view of the outer sleeve assembly; Figure 19 : Exploded view of the outer sleeve assembly;

[0023] Figure 20 : Cross-sectional view of the outer sleeve assembly; Figure 21 : Cross-sectional view of the outer sleeve assembly; Figure 22 : Side view of the laser tube assembly; Figure 23 : Exploded view of the laser tube assembly; Figure 24 : Front and rear sealing plates of the laser tube assembly; Figure 25 : Fixed ring of the laser tube assembly; Figure 26 : Side view of the laser tube Figure 1 ;Figure 27 : Side view of the laser tube Figure 2 ; Figure 28 : Assembly side view of the rear bracket assembly, galvanometer assembly and pseudo coaxial camera assembly; Figure 29 : Exploded view of the rear bracket assembly, galvanometer assembly and pseudo coaxial camera assembly; Figure 30 : Assembly sectional view of the rear bracket assembly, galvanometer assembly and pseudo coaxial camera assembly; Figure 31 : Schematic diagram of the assembly of the rear bracket assembly and the galvanometer assembly Figure 1 ; Figure 32 : Schematic diagram of the assembly of the rear bracket assembly and the galvanometer assembly Figure 2 ; Figure 33 : Assembly side view of the rear bracket assembly and the pseudo coaxial camera assembly; Figure 34 : Assembly sectional view of the rear bracket assembly and the pseudo coaxial camera assembly; Figure 35 : Side view and exploded view of the pseudo coaxial camera assembly; Figure 36 : Side view and exploded view of the pseudo coaxial base; Figure 37 : Sectional view of the pseudo coaxial base; Figure 38 : Side view and exploded view of the measurement and control camera assembly; Figure 39 : Side view and exploded view of the camera dust-proof assembly; Figure 40 : Side view of the laser module application - mobile robot laser strike platform; Figure 41 : Exploded view of the laser module;

[0024] In the figure: 1. front bracket assembly; 11. front bracket installation positioning cone surface; 12. anti-rotation screw; 13. guide keyway; 14. slideway; 15. slideway screw; 2. laser tube packaging assembly; 21. front cover assembly; 211. front cover installation positioning cone surface; 212. DC high-voltage spiral quick-change socket; 212a. DC high-voltage spiral quick-change socket fixed end plug; 212b. DC high-voltage spiral quick-change socket outer active end plug; 213. three-core aviation socket; 214. pagoda connector; 214a. pagoda connector (water inlet); 214b. pagoda connector (water outlet); 215. anti-rotation screw insertion hole; 22. outer sleeve assembly; 221. laser tube Centering screw; 222, injection hole screw plug; 223, locking nut; 224, self-tapping screw sleeve; 23, rear cover assembly; 231 rear cover installation positioning cone; 232, dust sleeve; 24, laser tube assembly; 241, laser tube; 2412, laser tube red light indicator; 2413, red light indicator positive and negative leads; 2414, laser cathode low-voltage lead; 2415, laser cooling water outlet pipe; 2416, laser cooling water inlet pipe; 2417, laser cathode high-voltage lead; 242, support rod; 243, laser tube front cover; 244, light outlet positioning block; 245, pipeline bracket; 2451, laser cathode cable and red light indicator positive and negative 2452, wiring hole for polar cable; 2453, wiring hole for cooling water outlet hose; 246, EVA foam single-sided soft tape; 247, fixing ring; 2471, upper half ring pressure block for fixing ring; 2472, lower half ring pressure block for fixing ring; 2473, fixing ring connecting screw; 248, rear sealing plate for laser tube; 249, rear positioning block; 3, rear bracket assembly; 31, rear bracket mounting positioning cone; 32, laser tube laser output hole and galvanometer mounting positioning boss; 33, pseudo-coaxial camera mounting positioning groove stop; 4, laser digital scanning galvanometer assembly; 41, laser window lens; 42, laser window lens pressure plate; 43, micro wiper assembly; 431, micro digital servo; 4 32. Micro digital servo bracket; 433. Micro scraper; 44. Spray pipe assembly; 441. Spray pipe bracket; 442. Spray pipe; 45. Galvanometer laser input hole and galvanometer mounting positioning hole; 5. Pseudo-coaxial camera assembly; 51. Pseudo-coaxial base; 511. Pseudo-coaxial camera mounting positioning boss stop; 52. Measurement and control camera assembly; 521. Measurement and control camera; 522. Measurement and control camera lens; 523. Camera adapter plate; 53. Camera dustproof assembly; 531. Camera dustproof lens; 532. Camera dustproof lens pressure plate; 533. Camera dustproof cover; 534. Camera connector cover; 6. Guide frame; 61. Guide boss; 62. Guide frame fastening screw. DETAILED DESCRIPTION

[0025] The following will clearly and completely describe the technical solutions in the embodiments of the present utility model in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0026] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the indicated position or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present utility model.

[0027] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0028] This embodiment provides a high-power carbon dioxide laser module that is applicable to laser weeding or thinning and topping of mobile robots, such as Figures 1 to 41, including a laser tube encapsulation assembly 2 with an outer sleeve, a front support assembly 1, a rear support assembly 3, a laser digital scanning galvanometer assembly 4 and a pseudo coaxial camera assembly 5 respectively installed on the rear support assembly. Among them, the laser tube encapsulation assembly includes a 150w high-power carbon dioxide glass tube laser tube 241 with a coaxial red light indicator, the laser tube is connected with several concentric pipeline brackets 245, and two groups of fixing rings 247 (i.e., centering brackets) for adjusting the concentricity of the laser tube, combined with two aluminum alloy support rods 242, a laser tube front cover plate 243 and a laser tube rear cover plate 248 to form a laser tube assembly 24. The laser tube assembly is coaxially installed in the cavity at the center of the outer sleeve assembly 22 and coaxially installed with the front cover assembly 21 and the rear cover assembly 23 respectively to form a relatively complete laser tube encapsulation assembly. The front support assembly, the rear support assembly, the galvanometer and the pseudo coaxial camera assembly can be pre-installed on the laser striking platform of the mobile robot. Since the front and rear cover assemblies of the laser tube encapsulation assembly and the front and rear support assemblies each have a 1:5 mating conical surface convenient for positioning and disassembly, the laser tube encapsulation assembly can be installed and mated through these 1:5 conical surfaces, and can be conveniently combined with the front and rear support assemblies to form a complete laser module suitable for laser weeding or thinning and topping of mobile robots. The laser module can achieve large-scale modular and standardized mass production, and can be flexibly installed, disassembled, used, adjusted and maintained on the mobile robot very conveniently. Moreover, a micro wiper assembly 43 suitable for dust removal of the window lens is respectively integrated and installed on the galvanometer on the rear support and the pseudo coaxial camera assembly, which also facilitates the daily maintenance of the window lens of the equipment during field operations and indirectly improves the operation efficiency of the equipment.

[0029] As shown in Figures 1 to 3 , the laser module of the present utility model can be decomposed into the following 5 large components: front support assembly, laser tube encapsulation assembly, rear support assembly, laser digital scanning galvanometer assembly, pseudo coaxial camera assembly.

[0030] As a preferred solution, as shown in Figure 2 and Figure 3 , the front support assembly and the rear support assembly respectively have a conical hole that can be coaxially assembled, specifically the front support installation positioning conical surface 11 and the rear support installation positioning conical surface 31, and the taper is a common standard taper such as 1:5 that is convenient for disassembly and assembly, as shown in Figure 8 and Figure 9 ; while Figure 3 on the front and rear cover assemblies of the laser tube encapsulation assembly, there are also respectively a conical boss that can be coaxially assembled, specifically the front cover installation positioning conical surface 211 and the rear cover installation positioning conical surface 231, and the taper is also such as 1:5, as shown in Figure 12 , Figure 13 and Figure 16, therefore, the front support assembly, the laser tube encapsulation assembly, and the rear support assembly can be coaxially installed through these male and female conical mating surfaces with the same 1:5 taper. Moreover, this conical mating with such a taper can not only achieve accurate coaxial positioning but also facilitate disassembly and assembly.

[0031] Meanwhile, as Figure 8 , in the middle of the bottom surface of the front support, a guiding keyway 13 is provided. By installing a guiding flat key with a corresponding width on the striking platform, the front-back sliding of the front support assembly can be realized. Additionally, Figure 8 on the horizontal mounting surface of the front support, two sliding grooves 14 are arranged, and inside the sliding grooves, 2 rows of sliding groove screws 15 are arranged. The front support can be fixed to the striking platform through these screws, and together with the guiding keyway below it, as Figure 40 on the striking platform, coaxial disassembly and assembly among the front support assembly, the laser tube encapsulation assembly, and the rear support assembly can be achieved.

[0032] Meanwhile, as Figure 8 below the tapered hole of the front support assembly, a rotation prevention screw hole and a rotation prevention screw 12 are also provided. Meanwhile, as Figure 13 at the corresponding position on the front cover assembly, a rotation prevention screw insertion hole 215 is also provided. The rotation prevention screw and the rotation prevention screw insertion hole are used to lock the laser tube encapsulation assembly to prevent it from rotating on the conical mating axis of the front and rear supports and to keep it in the correct position;

[0033] As Figure 4 , Figure 5 , Figures 13 to 15 shown, on the front cover assembly of the laser module, 1 DC high-voltage spiral quick-change socket 212 (including the fixed-end plug 212a of the DC high-voltage spiral quick-change socket and the outer movable-end plug 212b of the DC high-voltage spiral quick-change socket), 1 three-core aviation socket 213, and 2 tower connectors 214 (tower-type cooling water pipe connectors) are respectively integrally installed. The tower connectors are further divided into the tower connector (inlet water) 214a and the tower connector (outlet water) 214b, which are respectively used for the quick plugging and separation of the positive and negative cables of the laser power supply, the positive and negative cables of the red light indicator, and the inlet and outlet cooling water pipes; in order to prevent misconnection, corresponding identification words and symbols are also provided at the corresponding positions on the front cover;

[0034] As Figures 10 to 12 shown, the laser tube encapsulation assembly can be disassembled into a rear cover assembly, an outer sleeve assembly, a front cover assembly, and a laser tube assembly. The laser tube assembly is coaxially installed in the cavity at the center of the outer sleeve assembly, and then coaxially installed with the front cover assembly with an outer conical surface and the rear cover assembly with an outer conical surface respectively to form a complete laser tube encapsulation assembly module.

[0035] As Figure 26 and Figure 27As shown, the laser tube includes a laser tube red light indicator 2412, positive and negative leads 2413 of the red light indicator, a laser cathode low-voltage lead 2414, a laser cooling water outlet pipe 2415, a laser cooling water inlet pipe 2416, and a laser cathode high-voltage lead 2417; the positive and negative leads of the red light indicator and the laser cathode low-voltage lead are connected to a three-core aviation plug and then to a three-core aviation socket, the laser cathode high-voltage lead is connected to a DC high-voltage spiral quick-change socket, the laser cooling water outlet pipe is connected to a pagoda connector (water outlet), and the laser cooling water inlet pipe is connected to a pagoda connector (water inlet); before the laser tube is activated, firstly, the axis of the red light needs to be pre-adjusted through the two sets of self-aligning screws for laser tube centering provided on the red light indicator so as to coincide with the axis of the laser emitted by the laser tube;

[0036] like Figure 22 and Figure 23 The laser tube assembly includes a 150W high-power carbon dioxide glass tube laser tube with a coaxial red light indicator, and is composed of several pipeline brackets, two sets of fixing rings, two support rods, and front and rear sealing plates. The pipeline brackets and fixing rings are respectively mounted on the laser tube and maintained at an appropriate distance, and then these pipeline brackets are connected in series through two or more support rods made of lightweight materials (such as aluminum alloy). Then, the positive and negative leads of the red light indicator attached to the laser tube and the laser cathode low-voltage leads are passed through the laser cathode cable and the red light indicator positive and negative cable routing holes 2451 on the pipeline bracket, and the laser cooling water outlet hose is passed through the cooling water outlet hose routing holes 2452 on the pipeline bracket, and then these cables are neatly fixed on the support rods through nylon tie bands, and finally the support rods are connected with screws through the laser tube front sealing plate, the laser tube rear sealing plate and the light outlet positioning block 244 and the rear positioning block 249, so as to fix the laser tube to form a laser tube assembly module;

[0037] like Figure 20 , the diameter of the cavity at the center of the outer sleeve is Φb1,

[0038] like Figure 24 The outer diameters of the front and rear sealing plates of the laser tube and the pipeline bracket are both Φb2.

[0039] Furthermore, in order to facilitate the subsequent fine-tuning of the laser tube centering, b2 should be slightly smaller than b1 as appropriate, depending on the diameter, shape, and position error of the glass tube of the laser tube;

[0040] Furthermore, in order to facilitate the subsequent fine-tuning of the laser tube centering and protect the glass tube of the laser tube from being squeezed, several strips of EVA foam single-sided soft tape 246 with appropriate thickness and surrounding the laser tube can be pasted between the center hole of each pipeline bracket and the fixing ring and the laser glass tube.

[0041] like Figure 25, The fixed ring consists of the upper half ring pressing block 2471 and the lower half ring pressing block 2472 of the fixed ring made of engineering plastic materials such as nylon, and the left and right fixed ring connecting screws 2473. It serves as a bracket for centering the laser tube to adjust the coaxiality error between the laser axis emitted by the laser tube and the outer sleeve.

[0042] As Figures 18 to 21 , The outer sleeve assembly includes an outer sleeve, 2 guide frames 6, and 2 sets of centering screw groups for centering the laser tube, specifically including: lock nuts 223, self-tapping screw sleeves 224, and laser tube centering and aligning screws 221. The outer sleeve is made of lightweight materials (such as alloy polypropylene PPH pipe or carbon fiber pipe); the guide frames are respectively sleeved on the front and rear ends of the middle part of the outer sleeve and fixed on the outer sleeve with 2 guide frame set screws 62, as Figure 7 shown. In addition, the lower end guide boss 61 of the guide frame can cooperate with the grooves provided on the striking platform, which is convenient for assembly and positioning and can also prevent the outer sleeve assembly from rotating randomly.

[0043] As Figure 21 , At appropriate distances from the two end faces of the outer sleeve and at positions corresponding to the center of the fixed ring as Figure 22 , 2 sets of centering screw installation screw holes are respectively opened, and stainless steel self-tapping screw sleeves are embedded in each screw hole to prevent the screw holes from slipping and being damaged; at the same time, lock nuts are used to prevent the laser tube centering and aligning screws from loosening, so as to maintain and enhance the working reliability and service life of the laser tube centering and aligning screws.

[0044] As Figure 13 and Figure 16 , On the inner side of the outer circular surface of the front cover assembly and the rear cover assembly, an outer stop with a diameter of Φd is respectively machined;

[0045] As Figure 20 , At the front and rear ends of the outer sleeve, inner stops with a diameter of Φd are respectively machined;

[0046] As Figure 12 , The outer stops of the front cover assembly and the rear cover assembly respectively form a precise clearance fit with the inner stops at the front and rear ends of the outer sleeve to ensure that inside the laser tube encapsulation assembly, the laser tube assembly and the outer sleeve assembly are precisely coaxially installed. As a preferred solution, as Figure 6 and Figure 21 , Above the cross-section where each set of centering screw holes of the outer sleeve is located, there is a glue injection screw hole, which is used to inject an appropriate amount of structural glue into the circular ring channel where the fixed ring of the laser tube assembly is located below the glue injection hole after the laser axis of the laser module is adjusted and centered in the later stage, for fixing and maintaining the position of the laser tube to prevent loosening during subsequent use. After the glue injection is completed, the glue injection hole is blocked with a glue injection hole plug 222.

[0047] AsFigure 16 and Figure 17 The central hole inside the outer conical surface of the rear cover assembly is the light output channel of the laser tube. An engineering plastic dust-proof sleeve 232 is inserted therein to prevent external dust from entering the interior of the laser tube encapsulation assembly.

[0048] As Figures 28 to 30 shown, it is a side view, an exploded view and a cross-sectional view of the assembly relationship between the rear support assembly, the laser digital scanning galvanometer assembly and the pseudo-coaxial camera assembly;

[0049] As Figure 31 and Figure 32 shown, the laser digital scanning galvanometer is fitted with the laser tube laser output hole and the galvanometer mounting positioning boss 32 of the rear support through its own galvanometer laser input hole and galvanometer mounting positioning hole 45, ensuring that the laser output from the laser tube enters the galvanometer through this hole, and then the two are reliably connected by the positioning pins and screws on both sides; furthermore, as Figure 2 and Figure 6 shown, the red light emitted by the red light indicator of the laser tube coaxial installation can be accurately projected onto the center of the first mirror of the galvanometer by further finely adjusting the 2 groups of laser tube centering and alignment screws before and after the laser tube, ensuring that the red light (the coaxiality between the red light and the output laser has been adjusted previously) can accurately hit the center of the first mirror of the galvanometer, as Figure 30 shown;

[0050] As Figure 33 and Figure 34 shown, the pseudo-coaxial camera assembly is fitted with the pseudo-coaxial camera mounting positioning groove stop 33 of the rear support through its own pseudo-coaxial camera mounting positioning boss stop 511, ensuring that the optical axis of the camera is centered with the output optical axis of the laser galvanometer, and then the two are reliably connected by screws.

[0051] As Figure 35 shown, the pseudo-coaxial camera assembly is disassembled into a pseudo-coaxial base 51, a measurement and control camera assembly 52 and a camera dust-proof assembly 53;

[0052] As Figure 36 and Figure 37 shown, the pseudo-coaxial base includes a mounting base, a laser window lens 41 and a laser window lens pressing plate 42. The laser window lens is installed on a 45° inclined plane on the mounting base and is pressed tightly by the laser window lens pressing plate and screws. Among them, the material of the laser window lens is a zinc selenide or zinc sulfide single-sided coated window lens, which has good penetration and low absorption rate for carbon dioxide laser, and the coating is beneficial to reflect visible light into the camera lens; as Figure 36The pseudo-coaxial base includes a micro-wiper assembly consisting of a micro-digital servo 431, a micro-digital servo bracket 432, and a micro-scraping brush 433, wherein the micro-digital servo is a commonly used DC micro-digital servo on the market, the micro-scraping brush is a special micro-wiper similar to a car wiper, and the micro-digital servo bracket is an adapted servo bracket; the pseudo-coaxial base also includes a liquid spraying pipe assembly 44 consisting of a liquid spraying pipe bracket 441 and a liquid spraying pipe 442, by externally connecting a set of liquid spraying tanks and liquid spraying motor outsourced components similar to car wipers, the liquid sprayed on the laser window lens can be realized, but the liquid sprayed here must be a special liquid such as acetone or anhydrous alcohol adapted to the laser window lens material; such as Figure 38 The measurement and control camera assembly includes a measurement and control camera 521, a measurement and control camera lens 522 and a camera adapter plate 523. The measurement and control camera assembly is installed on the camera adapter plate as shown in FIG. Figure 35 Mounting base as shown.

[0053] like Figure 39 The camera dustproof assembly includes a camera dustproof cover 533, which is made of sheet metal and connected to the mounting base by a set of screws. Figure 35 The camera dustproof component also includes a camera dustproof lens 531 and a camera dustproof lens pressure plate 532, the camera dustproof lens is mounted on the inner flange of the camera dust cover and fixed by the camera dustproof lens pressure plate and screws; the camera dustproof component also includes a group of micro-wiper components consisting of a micro-digital servo, a micro-digital servo bracket and a micro-scratching brush, wherein the micro-digital servo is a commonly used DC micro-digital servo on the market, the micro-scratching brush is a special micro-wiper similar to a car wiper, and the micro-digital servo bracket is an adapted servo bracket; the camera dustproof component also includes a spray pipe assembly consisting of a spray pipe bracket and a spray pipe, by externally connecting a set of spray tanks and spray motor outsourced parts similar to car wipers, the laser window lens can be sprayed, but the sprayed liquid here must be a special liquid such as acetone or anhydrous alcohol that is compatible with the laser window lens material, and a camera connector cover 534 is provided at the camera connector to play a dustproof and waterproof role.

[0054] like Figure 40 , is to use Figure 1 An application example of laser modules, used to form a laser striking platform for mobile robots, which can be used for mobile robot laser weeding, thinning, topping and other similar operations. The use of 4 sets of laser modules is only an example, and the actual number of available modules depends on the operation requirements and overall design of the mobile robot.

[0055] It should be noted that in this text, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Finally, it should be stated that the above are only preferred embodiments of the present utility model and are not used to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A modular laser module for a field laser weeding and thinning robot, characterized in that: It includes, connected in sequence: a front bracket assembly, a laser tube packaging assembly and a rear bracket assembly; The laser tube packaging assembly comprises a front cover assembly, an outer sleeve assembly, a rear cover assembly and a laser tube assembly connected in sequence, wherein the laser tube assembly is coaxially installed in the cavity at the center of the outer sleeve assembly; the front cover assembly and the rear cover assembly are coaxially installed at both ends of the outer sleeve assembly; The laser tube assembly comprises a laser tube, a plurality of pipeline brackets and two sets of fixing rings sleeved on the outer periphery of the laser tube, a support rod penetrating the pipeline bracket, a laser tube front sealing plate arranged at the front end of the laser tube, and a laser tube rear sealing plate arranged at the rear end of the laser tube; The outer sleeve assembly includes an outer sleeve and a plurality of laser tube centering screws that penetrate the outer sleeve and are connected to the fixing ring; The pipeline support is in the shape of a ring, and its outer diameter is loosely matched with the inner diameter of the outer sleeve.

2. A modular laser module for a field laser weeding and thinning robot according to claim 1, characterized in that: The outer sleeve is provided with a screw hole, and a self-tapping screw sleeve is provided inside the screw hole. The self-tapping screw sleeve is matched with the laser tube centering screw.

3. The modular laser module for a field laser weeding and thinning robot according to claim 1, characterized in that: A buffer ring is arranged between the pipeline support and the laser tube, and a buffer ring is arranged between the fixing ring and the laser tube.

4. A modular laser module for a field laser weeding and thinning robot according to claim 3, characterized in that: The buffer ring is an EVA foam single-sided soft tape.

5. The modular laser module for a field laser weeding and thinning robot according to claim 1, characterized in that: The number of the support rods is 2.

6. The modular laser module for a field laser weeding and thinning robot according to claim 1, characterized in that: The outer sleeve assembly comprises two guide frames, and the two guide frames are respectively sleeved on the front and rear ends of the middle part of the outer sleeve.

7. The modular laser module for a field laser weeding and thinning robot according to claim 6, characterized in that: The lower end of the guide frame is provided with a guide boss.

8. The modular laser module for a field laser weeding and thinning robot according to claim 1, characterized in that: It includes a laser digital scanning galvanometer component and a pseudo coaxial camera component connected to the rear bracket component.

9. A laser weeding and thinning robot, characterized in that: It comprises a modular laser module for a field laser weeding and thinning robot as described in any one of claims 1 to 8.

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