Convenient mounting bracket assembly of laser module for field laser weeding and laser weeding and thinning robot

Abstract

The utility model relates to the technical field of lasers, in particular to a convenient mounting bracket assembly of a laser module for field laser weeding and a laser weeding and thinning robot, which comprise a front bracket assembly, a rear bracket assembly, and a galvanometer assembly and a pseudo coaxial camera assembly which are respectively mounted on the rear bracket assembly. According to the convenient mounting bracket assembly for the laser module, flexible assembly, disassembly, use, adjustment and maintenance can be extremely conveniently realized 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 during field operation of the equipment is facilitated, the operation efficiency of the equipment is indirectly improved, and large-scale modular and standardized batch production can be realized.

Description

Technical Field

[0001] The utility model relates to the technical field of lasers, in particular to a convenient installation bracket assembly for a laser module used for field laser weeding. Background Art

[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 domestic and foreign practices have proved that the 10.6-micron laser wavelength of carbon dioxide lasers is more easily absorbed by the leaves and stems 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 thinned, or the roots of crops that need to be thinned, and accurately give it a certain irradiation time and irradiation intensity, it is possible to instantly form a conspicuous laser flame, or burn the top of the weeds into ashes, or burn and wither the top or roots of the seedlings, which can not only cause significant damage and inactivation effects on field weeds, but also efficiently complete the operations of crop thinning or topping. Therefore, using a high-power carbon dioxide laser for weeding, 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 thus quite popular and become the only 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 thus 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 convenient installation bracket assembly for a laser module used for field laser weeding, so as to solve the problems put forward in the above background art.

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

[0006] A convenient installation bracket assembly for a laser module used for field laser weeding, comprising: a front bracket assembly, a laser tube encapsulation assembly and a rear bracket assembly connected in sequence;

[0007] 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;

[0008] The front bracket assembly and the rear bracket assembly are respectively provided with a conical hole which can be assembled coaxially, and the front cover assembly and the rear cover assembly are respectively provided with a conical boss which can be assembled coaxially, and the conical hole and the conical boss are adapted to each other.

[0009] Preferably, the taper of the conical hole and the conical boss is 1:5.

[0010] Preferably, the horizontal mounting surface of the front bracket assembly is provided with a slide groove, and slide groove screws are arranged in the slide groove.

[0011] Preferably, a stop screw hole and a stop screw are provided below the conical hole of the front bracket assembly, and a stop screw insertion hole is provided at a corresponding position of the front cover assembly.

[0012] Preferably, the number of the chutes is two.

[0013] Preferably, a guide keyway is provided in the middle of the bottom surface of the front bracket assembly.

[0014] Preferably, the front bracket assembly is made of high-strength engineering plastics such as PPO that are insulated and resistant to high voltage and high temperature.

[0015] Preferably, it includes a laser digital scanning galvanometer assembly and a pseudo coaxial camera assembly connected to the rear bracket assembly.

[0016] A laser weeding robot preferably comprises any of the aforementioned convenient mounting bracket components of a laser module for field laser weeding.

[0017] Compared with the prior art, the beneficial effects achieved by the utility model are as follows: the utility model is aimed at the needs of mobile robot laser weeding, thinning or topping operations, and efficiently integrates a 150w high-power carbon dioxide laser, and a matching laser digital scanning galvanometer and a pseudo-coaxial camera into a modular universal laser module. At the same time, the galvanometer and the camera lens are equipped with a micro wiper dust removal system to solve the many technical requirements of the mobile laser weeding robot for field weeding operations, such as the compactness of the laser module, the reliability of operation, and the convenience of maintenance and replacement, and provides corresponding solutions. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are used to provide a further understanding of the present utility model, and constitute a part of the specification. Together with the embodiments of the present utility model, they are used to explain the present utility model and do not constitute a limitation to the present utility model. In the accompanying drawings:

[0019] 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 : View from a certain direction 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 : Assembly drawing of the front support assembly; Figure 9 : Assembly drawing of the rear support assembly; Figure 10 : Side view of the laser tube packaging assembly; Figure 11 : Exploded view of the laser tube packaging assembly; Figure 12 : Cross-sectional view of the laser tube packaging 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;

[0020] 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 drawing of the laser tube assembly; Figure 25 : Fixed ring drawing 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 : Side view of the assembly of the rear support assembly, galvanometer assembly and pseudo coaxial camera assembly; Figure 29 : Exploded view of the assembly of the rear support assembly, galvanometer assembly and pseudo coaxial camera assembly; Figure 30 : Cross-sectional view of the assembly of the rear support assembly, galvanometer assembly and pseudo coaxial camera assembly; Figure 31 : Schematic diagram of the assembly of the rear support assembly and galvanometer assembly Figure 1 ; Figure 32 : Schematic diagram of the assembly of the rear support assembly and galvanometer assembly Figure 2 ; Figure 33: Assembly side view of the rear support assembly and the pseudo-coaxial camera assembly; Figure 34 : Assembly sectional view of the rear support 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 : Application of the laser module - Side view of the laser strike platform for mobile robots; Figure 41 : Exploded view of the laser module;

[0021] 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

[0022] 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.

[0023] 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.

[0024] In the description of the present utility model, it should be noted that unless otherwise clearly defined and limited, 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.

[0025] This embodiment provides a high-power carbon dioxide laser module that is universal for 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 and a rear support assembly 3, as well as 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 and 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 front seal plate 243 of the laser tube and a rear seal plate 248 of the laser tube 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 is 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 strike 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 that is convenient for positioning and disassembly, the laser tube encapsulation assembly can be installed and mated through these 1:5 conical surfaces, and can be easily 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 window lens dust removal 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.

[0026] As Figures 1 to 3 shown, the laser module of the present utility model can be decomposed into the following 5 major components: front support assembly, laser tube encapsulation assembly, rear support assembly, laser digital scanning galvanometer assembly, pseudo coaxial camera assembly.

[0027] As a preferred solution, as Figure 2 and Figure 3 shown, the front support assembly and the rear support assembly respectively have a conical hole that can be assembled coaxially, specifically the front support installation positioning conical surface 11 and the rear support installation positioning conical surface 31. The taper is a common standard taper such as 1:5 that is convenient for disassembly and assembly, as Figure 8 and Figure 9 shown; 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 assembled coaxially, specifically the front cover installation positioning conical surface 211 and the rear cover installation positioning conical surface 231. The taper is also such as 1:5, as Figure 12 , Figure 13 and Figure 16Therefore, the front bracket assembly, the laser tube packaging assembly and the rear bracket assembly can be coaxially installed through these concave and convex conical mating surfaces with the same 1:5 taper. Moreover, the conical mating with this taper can not only achieve accurate coaxial positioning, but also is very convenient for disassembly and assembly.

[0028] At the same time, Figure 8 A guide key slot 13 is provided in the middle of the bottom surface of the front bracket. By installing a guide flat key of corresponding width on the striking platform, the front bracket assembly can be slid forward and backward. Figure 8 Two slide grooves 14 are arranged on the horizontal mounting surface of the front bracket, and two rows of slide groove screws 15 are arranged in the slide grooves. The front bracket can be fixed to the striking platform through these screws, so that together with the guide keyway below, Figure 40 The coaxial assembly and disassembly of the front bracket assembly, the laser tube packaging assembly and the rear bracket assembly are realized on the striking platform.

[0029] At the same time, Figure 8 Below the tapered hole of the front bracket assembly, a stop screw hole and a stop screw 12 are also provided. Figure 13 A stop screw insertion hole 215 is also provided at a corresponding position on the front cover assembly. The stop screw and the stop screw insertion hole are used to lock the laser tube packaging assembly to prevent it from rotating on the conical matching axis of the front and rear brackets and maintain the correct position;

[0030] like Figure 4 , Figure 5 , Figures 13 to 15 As shown, a DC high-voltage spiral quick-change socket 212 (including a DC high-voltage spiral quick-change socket fixed end plug 212a and a DC high-voltage spiral quick-change socket outer active end plug 212b) and a three-core aviation socket 213, as well as two pagoda connectors 214 (pagoda-type cooling water pipe connectors) are integrated and installed on the front cover assembly of the laser module. The pagoda connectors are further divided into pagoda connectors (water inlet) 214a and pagoda connectors (water outlet) 214b, which are respectively used for quick connection and separation of the positive and negative cables of the laser power supply and the positive and negative cables of the red light indicator and the inlet and outlet cooling water pipes; in order to prevent wrong connection, corresponding identification characters and symbols are also provided at the corresponding positions on the front cover;

[0031] like Figures 10 to 12 As shown, the laser tube packaging assembly can be decomposed 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 cone and the rear cover assembly with an outer cone, respectively, to form a complete laser tube packaging assembly module.

[0032] like 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;

[0033] 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;

[0034] like Figure 20 , the diameter of the cavity at the center of the outer sleeve is Φb1,

[0035] like Figure 24 The outer diameters of the front and rear sealing plates of the laser tube and the pipeline bracket are both Φb2.

[0036] 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;

[0037] 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.

[0038] like Figure 25, The fixing ring consists of an upper half-ring pressing block 2471 and a lower half-ring pressing block 2472 of engineering plastic materials such as nylon, and two left and right fixing ring connecting screws 2473. It is used 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.

[0039] As Figures 18 to 21 , The outer sleeve assembly includes an outer sleeve, two guiding frames 6, and two sets of centering screw groups for centering the laser tube. Specifically, it includes a lock nut 223, a self-tapping screw sleeve 224, and a laser tube centering and aligning screw 221. The outer sleeve is made of lightweight materials (such as alloy polypropylene PPH pipe or carbon fiber pipe); the guiding 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 two guiding frame fixing screws 62, as Figure 7 shown. In addition, the guiding convex platform 61 at the lower end of the guiding frame can be matched 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.

[0040] As Figure 21 , At appropriate distances from the two end faces of the outer sleeve and at positions corresponding to the center of the fixing ring as Figure 22 , two sets of centering screw installation screw holes are respectively opened, and a stainless steel self-tapping screw sleeve is embedded in each screw hole to prevent the screw holes from slipping and becoming damaged; at the same time, a lock nut is used to prevent the laser tube centering and aligning screw from loosening, so as to maintain and enhance the working reliability and service life of the laser tube centering and aligning screw.

[0041] 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;

[0042] As Figure 20 , At the front and rear ends of the outer sleeve, inner stops with a diameter of Φd are respectively machined;

[0043] As Figure 12 , The outer stops of the front cover assembly and the rear cover assembly are respectively assembled with the inner stops at the front and rear ends of the outer sleeve to form a precise clearance fit, ensuring that the laser tube assembly and the outer sleeve assembly are precisely coaxially installed inside the laser tube encapsulation assembly. As a preferred solution, as Figure 6 and Figure 21 , Above the cross-section where each group of centering screw holes of the outer sleeve is located, there is an injection hole for injecting an appropriate amount of structural adhesive into the circular ring channel where the fixing ring on the laser tube assembly is located below the 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 injection, the injection hole is blocked with an injection hole plug 222.

[0044] 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 inside of the laser tube packaging assembly.

[0045] As Figures 28 to 30 shown, are the side view, exploded view and cross-sectional view of the assembly relationship of the rear support assembly, the laser digital scanning galvanometer assembly and the pseudo-coaxial camera assembly;

[0046] As Figure 31 and Figure 32 shown, the laser digital scanning galvanometer is fitted with the laser output hole of the laser tube 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 by 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; further, 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 fine-tuning the two groups of laser tube centering and alignment screws before and after the laser tube, ensuring that the red light (the coaxiality of 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;

[0047] 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.

[0048] 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;

[0049] 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 of 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 conducive to reflecting visible light into the camera lens; as Figure 36, the pseudo coaxial base includes a micro windshield wiper assembly consisting of a set of a micro digital servo 431, a micro digital servo bracket 432, and a micro wiper 433. The micro digital servo is a commonly used commercially available DC micro digital servo, the micro wiper is a special micro wiper similar to an automotive windshield wiper, and the micro digital servo bracket is a matching servo bracket; the pseudo coaxial base also includes a liquid spraying pipe assembly 44 composed of a liquid spraying pipe bracket 441 and a liquid spraying pipe 442. By externally connecting a complete set of liquid spraying tank and liquid spraying motor off-the-shelf components similar to an automotive windshield wiper, liquid spraying on the laser window lens can be achieved. However, the liquid sprayed here must be a special liquid such as acetone or absolute alcohol that is compatible with the material of the laser window lens; 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 installation base as shown in Figure 35 .

[0050] As Figure 39 , the camera dust-proof assembly includes a camera dust-proof cover 533. The camera dust-proof cover is made of sheet metal and is connected to the installation base by a set of screws, as shown in Figure 35 ; the camera dust-proof assembly also includes a camera dust-proof lens 531 and a camera dust-proof lens pressing plate 532. The camera dust-proof lens is installed on the inner flange of the camera dust-proof cover and is fixed by the camera dust-proof lens pressing plate and screws; the camera dust-proof assembly also includes a micro windshield wiper assembly consisting of a set of a micro digital servo, a micro digital servo bracket, and a micro wiper. The micro digital servo is a commonly used commercially available DC micro digital servo, the micro wiper is a special micro wiper similar to an automotive windshield wiper, and the micro digital servo bracket is a matching servo bracket; the camera dust-proof assembly also includes a liquid spraying pipe assembly composed of a liquid spraying pipe bracket and a liquid spraying pipe. By externally connecting a complete set of liquid spraying tank and liquid spraying motor off-the-shelf components similar to an automotive windshield wiper, liquid spraying on the laser window lens can be achieved. However, the liquid sprayed here must be a special liquid such as acetone or absolute alcohol that is compatible with the material of the laser window lens. A camera connector cover 534 is provided at the camera connector to play a role in dust and water prevention.

[0051] As Figure 40 , it is an application example of using Figure 1 laser modules, which is used to form a laser striking platform for mobile robots and can be applicable to laser weeding, thinning, topping, and other similar operations for mobile robots. Using 4 groups of laser modules is only an example. The actual available quantity is related to the operation requirements and overall design of the equipped mobile robot.

[0052] 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 further includes elements inherent to such process, method, article or device. Finally, it should be stated that the above are only the 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 recorded 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 convenient mounting bracket assembly for a laser module for field laser weeding, 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 front bracket assembly and the rear bracket assembly are respectively provided with a conical hole which can be assembled coaxially, and the front cover assembly and the rear cover assembly are respectively provided with a conical boss which can be assembled coaxially, and the conical hole and the conical boss are adapted to each other.

2. The convenient mounting bracket assembly of a laser module for field laser weeding according to claim 1, characterized in that: The taper of the conical hole and the conical boss is 1:

5.

3. The convenient mounting bracket assembly of a laser module for field laser weeding according to claim 1, characterized in that: The horizontal mounting surface of the front bracket assembly is provided with a slide groove, and slide groove screws are arranged in the slide groove.

4. The convenient mounting bracket assembly of a laser module for field laser weeding according to claim 1, characterized in that: A stop screw hole and a stop screw are arranged below the conical hole of the front bracket assembly, and a stop screw insertion hole is arranged at a corresponding position of the front cover assembly.

5. The convenient mounting bracket assembly of the laser module for field laser weeding according to claim 3, characterized in that: The number of the chutes is two.

6. The convenient mounting bracket assembly of the laser module for field laser weeding according to claim 3, characterized in that: A guide keyway is provided in the middle of the bottom surface of the front bracket assembly.

7. The convenient mounting bracket assembly of a laser module for field laser weeding 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.

8. A laser weeding and thinning robot, characterized in that: A convenient mounting bracket assembly comprising a laser module for field laser weeding as described in any one of claims 1 to 7.

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