Rolling type mowing and ploughing device of weeding and ploughing robot

Abstract

A rolling type mowing and ploughing device of a weeding and ploughing robot is composed of a housing and a rolling type mowing power system. The housing is a support frame of the rolling type mowing power system, is of a cylindrical cavity structure with a closed upper part and an open lower part, and is connected with the main machine frame in parallel through the electric hydraulic telescopic rod and the two connecting rods; wherein the left end of the electric hydraulic telescopic rod is movably connected with the housing through a bolt, and the right end of the electric hydraulic telescopic rod is fixedly connected with the rack; the left ends of the two connecting rods are fixedly connected with the housing, and the right ends of the two connecting rods are movably connected with the main machine frame through bolts. According to the rolling type mowing and ploughing device, the height above the ground of the rolling type mowing and ploughing device is adjusted by controlling stretching and retracting of the electric hydraulic telescopic rod, so that the stubble reserving or ploughing height after weeding operation is controlled, adaptability is high, and the rolling type mowing and ploughing device is widely applied to weeding and ploughing work of botanical gardens.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery and equipment, and particularly to a rolling mowing and tilling device for a weeding and tilling robot in an orchard. Background Art

[0002] With the proposal of the development concept of intelligent orchards, intelligent agricultural machinery and equipment has become an important research direction. The advent of intelligent weeding and tilling robots will further reduce the labor intensity and improve the production efficiency. Due to the diversity of the terrain and crops in hilly orchards, as well as the complexity of the agronomy of fruit tree cultivation and management, many weeding and tilling machines have poor operability and are difficult to be applied to narrow orchard environments. In order to enable weeding machinery and equipment to adapt to dynamic environments and operate stably and efficiently, there is an urgent need for an intelligent weeding and tilling robot suitable for hilly orchards. Summary of the Invention

[0003] The purpose of the present invention is to provide a rolling mowing and tilling device for a weeding and tilling robot. The technical solution adopted is that the weeding and tilling robot mainly consists of a main body, 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 body. The main body travels in the row spacing of the orchard. Among them, the left-end rolling mowing and tilling device cuts and crushes the weeds in the row spacing of the orchard, and the two right-end vertical mowing arms cut the weeds in the space between the fruit trees.

[0004] The main body is a driving and traveling device, which consists of a frame, a power system, a traveling system, and a control system. Handles are arranged at the four corners of the upper end of the frame;

[0005] The power system consists of a generator and a storage battery. The generator and the storage battery are fixedly installed in the frame, and the electric energy generated by the generator is stored in the storage battery;

[0006] The traveling system consists of two sets of driving wheels, tension wheels, idler wheels, load-bearing wheels, and crawler belts, which are respectively installed on the front and rear sides of the main body. The crawler belts are laid on the driving wheels, tension wheels, and idler wheels, and a certain number of load-bearing wheels are arranged on the inner side of the crawler belts. Driving wheel one or driving wheel two is respectively installed at the outer end of driving shaft one or driving shaft two, tension wheel one or tension wheel two is respectively installed at the outer end of tension shaft one or tension shaft two, idler wheel one or idler wheel two is respectively installed at the outer end of idler shaft one or idler shaft two; Driving shaft one or driving shaft two or tension shaft one or tension shaft two or idler shaft one or idler shaft two is respectively fixedly installed in the frame through its two bearing seats; Driving shaft one or driving shaft two is respectively connected to motor three or motor four through gears and chains;

[0007] The tensioning shaft 1 or tensioning shaft 2 is installed in the horizontal "U"-shaped card slot of the frame through the bearing seats at both ends. The upper and lower widths of the "U"-shaped card slot match the bearing seats of the tensioning shaft, and the bearing seat can slide in the "U"-shaped card slot. The tensioning shaft 1 or tensioning shaft 2 is respectively connected to one end of the electro-hydraulic telescopic rod 3 or electro-hydraulic telescopic rod 4, and the other end of the electro-hydraulic telescopic rod 3 or electro-hydraulic telescopic rod 4 is fixedly connected to the frame.

[0008] The described control system is composed of a power system, a power switch, a remote control board, a microprocessor controller, a sensor 3, a sensor 1, a sensor 2, a motor drive module 1, a motor drive module 2, a motor drive module 3, a motor drive module 4, a motor drive module V, and a motor drive module VI. Among them, the remote control board uses a wireless communication module to remotely control the operating 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 3 are fixedly installed on the left and right sides of the main machine; 2 sensors 1 are fixedly installed on both sides of the housing; 2 sensors 2 are fixedly installed on the outer sides of 2 vertical mowing arms.

[0009] The described rolling mowing and tilling device consists of a housing and a rolling mowing power system. The housing is a support frame for the rolling mowing power system, and its structure is a cylindrical cavity structure that is closed at the upper part and open at the lower part. The housing is connected to the frame in parallel through an electro-hydraulic telescopic rod 1 and 2 connecting rods. Among them, the left end of the electro-hydraulic telescopic rod 1 is movably connected to the housing through a bolt 1, and the right end of the electro-hydraulic telescopic rod 1 is fixedly connected to the frame; the left ends of the 2 connecting rods are fixedly connected to the housing, and the right ends of the 2 connecting rods are movably connected to the frame through a bolt 2.

[0010] The described rolling mowing power system consists of a motor 1, a transmission shaft, a flail blade rotating shaft, a driving pulley, a belt, and a driven pulley. The driving pulley, the belt, and the driven pulley are 2 sets of combined devices, which are installed on the front and rear sides of the housing. The described flail blade rotating shaft is fixedly connected to the housing through 2 bearing seats 1, and the flail blade rotating shaft and the housing are on the same central axis. The motor 1 is fixed outside the housing, and the motor 1 and the transmission shaft are connected through gears and chains. 2 driving pulleys are fixed at both ends of the transmission shaft, 2 driven pulleys are fixed at both ends of the flail blade rotating shaft, and the driving pulley and the driven pulley are connected through a belt.

[0011] For the described flail blade rotating shaft, a drum is fixedly arranged on the flail blade rotating shaft. The flail blade rotating shaft, the drum, and the housing are on the same axis, and the length of the drum matches the length of the inner cavity of the housing. A certain number of flail blade brackets are arranged on the outer circle of the drum, and 2 flail blade brackets are arranged as a group and fixed on the outer circle of the drum in a staggered manner; 2 flail blades are installed on a group of flail blade brackets.

[0012] The shown flail knives have a double-edge structure at the lower end in an "L" shape. Two flail knives are reversely installed through gaskets and bolts IV to form an inverted "Y" shape as a set of tools and are installed on a set of flail knife brackets. Moreover, the movement trajectory during the rotation of the flail knives matches the inner diameter of the housing.

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

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

[0015] Preferably, bracket II and bracket I are movably linked through bolt III, and the inserting direction of bolt III is parallel to the ground horizontal line.

[0016] Preferably, bracket III has an "L" shape. The upper end of bracket III is movably linked to bracket II through bolt IV, and the inserting direction of bolt IV is perpendicular to the ground horizontal line. A spring is movably linked between bracket III and bracket II. The lower end of bracket III is connected to bracket IV in a mortise and tenon structure and is fixed by a cutter head bracket as a bolt.

[0017] Preferably, bracket IV has an inverted "L" shape, and a universal wheel is installed at its lower end.

[0018] The vertical mowing power system consists of a cutter head bracket, motor II, cutter head shaft, cutter head housing, and mowing cutter head. The cutter head bracket is a tubular structure. The cutter head shaft is inserted into the tubular structure of the cutter head bracket through a bearing seat. Motor II is fixed on the outer shell of the cutter head bracket. Motor II and the cutter head shaft are connected through gears and chains. The lower end of the cutter head shaft is fixedly installed with a mowing cutter head, and the lower end of the cutter head bracket is fixedly installed with a cutter head housing. The cutter head housing is a semi-circular cavity body, and the cutter head housing covers the outside of the mowing cutter head.

[0019] Working principle of the vertical mowing arm: The contraction force of the spring causes the support three to rotate clockwise around the bolt four, thereby expanding the working width range of the vertical mowing arm; when mowing is required, start and use the thrust of the electro-hydraulic telescopic rod two to make the support one rotate clockwise around the bolt V, and again expand the working width range of the vertical mowing arm; the universal wheel at the right end of the vertical mowing arm keeps supporting the ground, and the terrain unevenness causes the universal wheel to rise and fall, so that the height of the mowing cutter head from the ground remains unchanged. At this time, control the stubble height after the weeding operation; at the same time, as the universal wheel rises and falls, it causes the support two to rotate up and down around the bolt three. Based on this principle, the force balance at the rear end of the vertical mowing arm is maintained, enhancing the safety of the weeding operation; during the driving process of the weeding and tilling robot, the mowing cutter head rotates to perform the mowing work. When the cutter head housing encounters obstacles such as trees or hard objects, the obstacle squeezes the cutter head housing, causing the support three to rotate counterclockwise around the bolt four, thereby avoiding the obstacle. When the cutter head housing bypasses the obstacle, the contraction of the spring causes the support three to rotate clockwise around the bolt four, and again expands the working width range of the vertical mowing arm. Based on this principle, the mowing work and obstacle avoidance measures of the vertical mowing arm are realized.

[0020] The working principle of the described control system lies in the following working steps:

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

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

[0023] ② Walking of the weeding and tilling robot: The leftward driving of the weeding and tilling robot is the forward direction, and the rightward driving is the backward direction. Turn on the power switch, and the microprocessor controller is in the standby state; click the forward or backward button on the remote control panel and send it to the microprocessor controller. The microprocessor controller selects and controls the unidirectional application sensor three according to the forward or backward signal of the weeding and tilling robot. The microprocessor controller instructs the motor drive module three or the motor drive module four to start the motor three or the motor four to rotate synchronously forward or backward respectively, and drives the drive shaft one and the connected drive wheel one, and the drive shaft two and the connected drive wheel two to rotate synchronously respectively, so as to control the synchronous forward or backward movement of the crawler belt one or the crawler belt two respectively;

[0024] ③Forward right turn principle of the weeding and tilling robot: When the weeding and tilling robot is in the parked state, click the forward right turn button on the remote control panel to send it to the microprocessor controller. The microprocessor controller selects to control the unidirectional application sensor III. The microprocessor controller instructs the motor drive module III to start motor III to rotate forward. The transmission drive shaft I and the connected drive wheel I rotate forward, and the transmission crawler I moves forward; at the same time, the microprocessor controller instructs the motor drive module IV to start motor IV to rotate in the reverse direction. The transmission drive shaft II and the connected drive wheel II1 rotate in the reverse direction, and the transmission crawler I moves backward; using the principle of the forward movement of crawler I and the backward movement of crawler II, the forward right turn step of the weeding and tilling robot is completed.

[0025] ④Forward 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. The instruction of the microprocessor controller is opposite to the forward right turn principle of the weeding and tilling robot in ③ 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] ①Preparation work: When the weeding and tilling robot enters the working site and is in the parked 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 telescopic degree of the electric hydraulic telescopic rod I to adjust the ground clearance of the roller mowing and tilling device; 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 telescopic degree of the electric hydraulic telescopic rod II to control the operation range of the vertical mowing arm.

[0028] ②Mowing work: Click the button on the remote control panel to start sensor I and sensor II in the standby state; start the driving instruction of the weeding and tilling robot. During the driving process, the microprocessor controller will send a start instruction to the motor drive module II or the motor drive module I only when it receives the plant signal collected by sensor I or sensor II. The motor drive module II drives motor II to rotate, and the transmission cutter head shaft rotates, so that the mowing cutter head rotates to complete the mowing work; the motor drive module I drives motor I to rotate, and the transmission flail shaft and the connected flails rotate to complete the mowing work. When the weeding and tilling robot is in the parked state, the microprocessor controller instructs the motor drive module II and the motor drive module I to stop working.

[0029] ③Weeding and plowing work: This weeding and plowing robot can also be used for weeding and plowing work. Click the button on the remote control panel to send the plowing instruction of the electric hydraulic telescopic rod 1 to the microprocessor controller. The microprocessor controller instructs the motor drive module V to start and controls the telescopic degree of the electric hydraulic telescopic rod 1 to adjust the roller mowing and plowing device to fall to the ground. At the same time, the microprocessor controller instructs to turn off sensor 1 and sensor 2, and directly instructs the motor drive module 1 to drive the motor 1 to rotate, driving the transmission flail shaft and the connected flails to rotate, completing the weeding work of the plowing machine.

[0030] Preferably, the horizontal central axis of the main body is the same axis as the central axis of the roller mowing and plowing device or the two vertical mowing arms.

[0031] Preferably, the microprocessor controller uses the TMS320 series DSP of TI Company, which is mainly applied for signal processing.

[0032] Preferably, for the load-bearing wheels, the load-bearing wheels are connected to the load-bearing hydraulic rods, the load-bearing hydraulic rods are connected to the load-bearing hydraulic rod brackets, the load-bearing hydraulic rod brackets are fixedly installed on the frame, and shock-absorbing springs are sleeved on the load-bearing hydraulic rods.

[0033] Preferably, the driving wheels are of a toothed structure.

[0034] Preferably, for the crawler belts, grooves are provided on the inner surface thereof, and the grooves are matched with the toothed structure of the driving wheels. Anti-slip devices are provided on the outer surface of the crawler belt 1.

[0035] Preferably, a steering switch is provided between the microprocessor controller and the two sensors 3. The microprocessor controller selects to control the one-way application of the sensors 3 according to the forward or backward signals of the weeding and plowing robot.

[0036] Preferably, the sensors 3 adopt ultrasonic probes for sensing and collecting obstacle signals in front; the ultrasonic probes are of a transceiver integrated type, 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, sensor 1 or sensor 2 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 output is 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 this weeding and plowing robot are fixed at the front and rear ends of the main body, ensuring the walking stability of the weeding and plowing robot; adopting front and rear weeding, it has a large weeding width, high weeding efficiency, strong adaptability, and can also be widely applied to plowing work.

[0040] 2. The weeding and tilling robot adopts a servo drive design, can capture obstacle and plant signals quickly and accurately, and will activate the weeding system according to the plant signals only during driving. It has a high degree of automation, is sensitive, efficient and safe. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

[0043] Figure 3 is Figure 1 an enlarged structural schematic diagram of the neutral type mowing arm;

[0044] Figure 4 is a schematic diagram of the combination structure of the flail knife rotating shaft and the drum of the invention;

[0045] Figure 5 is Figure 4 a left view structural schematic diagram of the combination of the flail knife rotating shaft and the drum in the middle;

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

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

[0048] Figure 8 is Figure 2 an enlarged partial structural schematic diagram of the neutral type mowing arm;

[0049] Figure 9 is a schematic diagram of the control system of the present invention;

[0050] Illustration: A - Rotary mowing and tilling device, B - Vertical mowing arm, C - Main machine, D - Longitudinal central axis, 1 - Housing, 2 - Motor 1, 2-1 - Motor drive module 1, 2-2 - Transmission shaft, 3 - Driving pulley, 4 - Belt, 5 - Driven pulley, 6 - Flail shaft, 6-1 - Drum, 7 - Bearing block 1, 8 - Electric hydraulic telescopic rod 1, 9 - Bolt 1, 12 - Bolt 2, 13 - Connecting rod, 14 - Frame, 15 - Driving wheel 1, 15-1 - Driving wheel 2, 16 - Tensioning wheel 1, 16-1 - Tensioning wheel 2, 17 - Load-bearing wheel, 18 - Load-bearing hydraulic rod bracket, 19 - Load-bearing hydraulic rod, 20 - Handle, 21 - Driven wheel 1, 21-1 - Driven wheel 2, 21-2 - Driven shaft 1, 21-3 - Driven shaft 2, 22 - Electric hydraulic telescopic rod 2, 23 - Bolt 3, 24-1 - Bracket 1, 24-2 - Bracket 2, 24-3 - Bracket 3, 24-4 - Bracket 4, 24-5 - Bolt 4, 25 - Spring, 26 - Cutter head housing, 27 - Mowing cutter head, 28 - Motor 2, 28-1 - Motor drive module 2, 28-2 - Cutter head shaft, 29 - Cutter head bracket, 30 - Motor 3, 30-1 - Motor 4, 30-2 - Motor drive module 3, 30-3 - Motor drive module 4, 31 - Universal wheel, 32 - Generator, 33 - Microprocessor controller, 34 - Tensioning shaft 1, 34-1 - Tensioning shaft 2, 35 - Drive shaft 1, 35-1 - Drive shaft 2, 36 - Power switch, 37-1 - Sensor 1, 37-2 - Sensor 2, 37-3 - Sensor 3, 38 - Electric hydraulic telescopic rod 3, 38-1 - Motor drive module V, 38-2 - Motor drive module VI, 38-3 - Electric hydraulic telescopic rod 4, 39 - Flail bracket, 40 - Flail, 41 - Spacer, 42 - Bolt 4, 43 - Track 1, 43-1 - Track 2, 45 - Bolt V, 46 - Battery. Detailed implementation

[0051] The present invention will be described in detail below in conjunction with the accompanying drawings and specific implementation manners.

[0052] Embodiment 1

[0053] The weeding and tilling robot, as Figure 1 shown, mainly consists of three major parts: the main machine C, the rotary mowing and tilling device A, and two vertical mowing arms B; as Figure 2 shown, the rotary mowing and tilling device A and the two vertical mowing arms B are respectively arranged at the left and right ends of the main machine C. The rotary mowing and tilling 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 transverse central axis of the main machine C is used as the central axis of the rotary mowing and tilling device A or the two vertical mowing arms B;

[0054] Preferably, as Figure 1As shown, the weeding and plowing robot uses the longitudinal central axis D of the main body C as the mass balance line at both the left and right ends of the weeding and plowing robot, that is, the masses at both the left and right ends of the longitudinal central axis D of the weeding and plowing robot are equal, which is conducive to the stable operation of the weeding and plowing robot.

[0055] The said main body C is a driving and walking device, such as Figure 1 , Figure 2 shown, which is composed of a frame 14, a power system, a walking system and a control system. Handles 20 are arranged at the four corners of the upper end of the frame 14, which is convenient for manual handling in abnormal environments;

[0056] The said power system is composed of a generator 32 and a storage battery 46, such as Figure 1 shown, the generator 32 and the storage battery 46 are fixedly installed in the frame 14, and the electric energy generated by the generator 32 is stored in the storage battery 46;

[0057] The said walking system, such as Figure 1 , Figure 2 shown, is composed of 2 groups of driving wheels, tension wheels, passive wheels, load-bearing wheels and crawlers. The driving wheels, tension wheels and passive wheels are in a "Δ" structure, and the crawler is laid on the driving wheels, tension wheels and passive wheels; and a certain number of load-bearing wheels 17 are arranged on the inner side of the crawler. One group of walking systems composed of a driving wheel one 15, a tension wheel one 16, a passive wheel one 21 and a crawler one 43 is installed on the front side of the main body C, and the other group of walking systems composed of a driving wheel two 15-1, a tension wheel two 16-1, a passive wheel two 21-1 and a crawler two 43-1 is installed on the rear side of the main body C; the driving wheel one 15 or the driving wheel two 15-1 is respectively installed at the outer end of the driving shaft one 35 or the driving shaft two 35-1, the tension wheel one 16 or the tension wheel two 16-1 is respectively installed at the outer end of the tension shaft one 34 or the tension shaft two 34-1, and the passive wheel one 21 or the passive wheel two 21-1 is respectively installed at the outer end of the passive shaft one 21-2 or the passive shaft two 21-3; the driving shaft one 35 or the driving shaft two 35-1 or the tension shaft one 34 or the tension shaft two 34-1 or the passive shaft one 21-2 or the passive shaft two 21-3 is respectively fixedly installed in the frame 14 through their respective 2 bearing seats; the driving shaft one 35 or the driving shaft two 35-1 is respectively connected to the motor three 30 or the motor four 30-1 through gears and chains;

[0058] Preferably, the tension shaft one 34 or the tension shaft two 34-1 is installed in the transverse "U" - shaped card slot of the frame 14 through the bearing seats at both ends, the upper and lower widths of the "U" - shaped card slot match the bearing seats of the tension shaft, and the bearing seat can slide in the "U" - shaped card slot; such as Figure 1 , Figure 2As shown, the tensioning shaft 1 - 34 or the tensioning shaft 2 - 34 - 1 is respectively connected to one end of the electro - hydraulic telescopic rod 3 - 38 or the electro - hydraulic telescopic rod 4 - 38 - 3. The other end of the electro - hydraulic telescopic rod 3 - 38 or the electro - hydraulic telescopic rod 4 - 38 - 3 is fixedly connected to the frame 14. By the telescoping of the electro - hydraulic telescopic rod 3 - 38 or the electro - hydraulic telescopic rod 4 - 38 - 3, the bearing seats of the tensioning shaft 1 - 34 or the tensioning shaft 2 - 34 - 1 are adjusted to move left and right in the "U" - shaped card slot, thereby adjusting the position of the tensioning wheel 1 - 16 or the tensioning wheel 2 - 16 - 1 to control the tightness of the crawler 1 - 43 or the crawler 2 - 43 - 1.

[0059] Preferably, the load - bearing wheel 17, as Figure 1 , Figure 2 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 installed on the frame 14, and a shock - absorbing spring is sleeved on the load - bearing hydraulic rod 19. The load - bearing wheel 17 reduces the vibration of the main machine C in different ground environments, increases the contact area between the crawler and the ground, and adapts to the uneven ground surface environment.

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

[0061] Preferably, the crawler has grooves on its inner surface, which are matched with the toothed structure of the driving wheel, and an anti - slip device is provided on the outer surface of the crawler.

[0062] The rolling mowing and plowing device A, as Figure 1 shown, is composed of a housing 1 and a rolling mowing power system; the housing 1 is a support frame for the rolling mowing power system, and its structure is a cylindrical cavity structure that is closed at the top and open at the bottom, as Figure 1 , 2 shown, the housing 1 is connected to the frame 14 through the electro - hydraulic telescopic rod 1 - 8 and 2 connecting rods 13 arranged in parallel; the left end of the electro - hydraulic telescopic rod 1 - 8 is movably connected to the housing 1 through a bolt 1 - 9, and the right end of the electro - hydraulic telescopic rod 1 - 8 is fixedly connected to the frame 14; the left ends of the 2 connecting rods 13 are fixedly connected to the housing 1, and the right ends of the 2 connecting rods 13 are movably connected to the frame 14 through bolts 2 - 12; by controlling the telescoping of the electro - hydraulic telescopic rod 1 - 8, the height of the rolling mowing and plowing device A from the ground is adjusted to control the stubble height after mowing; the harrowing operation can also be carried out based on this principle.

[0063] The rolling mowing power system, as Figure 1 , Figure 2 shown, is composed of a motor 1 - 2, a transmission shaft 2 - 2, a flail - mower rotating shaft 6, a driving pulley 3, a belt 4, and a driven pulley 5; the driving pulley 3, the belt 4, and the driven pulley 5 are 2 sets of combined devices, as Figure 2As shown in the figure, it is installed on the front and rear sides of the housing 1; the fly knife rotating shaft 6 is fixedly connected to the housing 1 through two bearing seats 7, and the fly knife rotating shaft 6 and the housing 1 are on the same central axis; Figure 2 As shown in the figure, the first motor 2 is fixed outside the housing 1. The first motor 2 and the transmission shaft 2-2 are connected by gears and chains. Two driving pulleys 3 are fixed at both ends of the transmission shaft 2-2, and two driven pulleys 5 are fixed at both ends of the fly knife rotating shaft 6. The driving pulley 3 transmits power to the driven pulley 5 connected to the fly knife rotating shaft 6 through the belt 4 and provides power to the fly knife rotating shaft 6.

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

[0065] The fly knife 40 shown in the figure, Figure 7 As shown in the figure, it is an "L"-shaped double-edge structure at the lower end; Figure 6 As shown in the figure, two fly knives 40 are reversely installed through gaskets 41 and bolts 42 to form an inverted "Y" shape as a set of tools and installed on a set of fly knife brackets 39, and the movement trajectory of the fly knife 40 during rotation matches the inner diameter of the housing 1.

[0066] The vertical mowing arm B shown in the figure, as Figure 1 、 2 、Figure 3, is composed of a mowing bracket and a vertical mowing power system; the mowing bracket is composed of a first bracket 24-1, a second bracket 24-2, a third bracket 24-3, and a fourth bracket 24-4;

[0067] Preferably, as Figure 2 As shown in the figure, the upper end of the first bracket 24-1 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 electro-hydraulic

[0068] expansion and contraction rod 22 is movably connected between the lower end of the first bracket 24-1 and the frame 14. By controlling the expansion and contraction of the electro-hydraulic expansion and contraction rod 22, the first bracket 24-1 rotates horizontally around the bolt V 45 as the axis, and the working width range of the vertical mowing arm B is controlled based on this principle.

[0069] Preferably, as Figure 2 、 Figure 3As shown, the second bracket 24-2 and the first bracket 24-1 are movably connected by the third bolt 23, and the insertion direction of the third bolt 23 is parallel to the ground horizontal line. The second bracket 24-2 rotates up and down with the third bolt 23 as the axis to adapt the second bracket 24-2 to the ground clearance of the vertical mowing power system caused by uneven terrain.

[0070] Preferably, as Figure 2 , Figure 3 , Figure 8 As shown, the third bracket 24-3 is in an "L" shape. The upper end of the third bracket 24-3 is movably connected to the second bracket 24-2 by the fourth bolt 24-5, and the insertion direction of the fourth bolt 24-5 is perpendicular to the ground horizontal line. The third bracket 24-3 rotates horizontally with the fourth bolt 24-5 as the axis; and a spring 25 is movably connected between the third bracket 24-3 and the second bracket 24-2, and the rotation arc of the third bracket 24-3 is controlled by the automatic expansion and contraction of the spring 25; the lower end of the third bracket 24-3 is connected to the fourth bracket 24-4 by a mortise and tenon structure and is fixed by a cutter head bracket 29 as a bolt.

[0071] Preferably, as Figure 3 , 8 As shown, the fourth bracket 24-4 is in an inverted "L" shape, and a second sensor 37-2 is provided on the fourth bracket 24-4, and a universal wheel 31 is installed at its lower end.

[0072] The vertical mowing power system, as Figure 3 As shown, is composed of a cutter head bracket 29, a second motor 28, a cutter head shaft 28-2, a cutter head housing 26, and a mowing cutter head 27. The cutter head bracket 29 is a tubular structure. The cutter head shaft 28-2 is inserted into the tubular structure of the cutter head bracket 29 through a bearing seat. The second motor 28 is fixed on the outer shell of the cutter head bracket 29. The second motor 28 and the cutter head shaft 28-2 are connected by gears and chains; a mowing cutter head 27 is fixedly installed at the lower end of the cutter head shaft 28-2, and a cutter head housing 26 is fixedly installed at the lower end of the cutter head bracket 29; the cutter head housing 26 is a semi-circular open cavity body, and the cutter head housing 26 covers the outside of the mowing cutter head 27.

[0073] The working principle of the vertical mowing arm B: As Figure 2As shown in the figure, the contraction force of the spring 25 causes the bracket three 24-3 to rotate clockwise around the bolt four 24-5, so as to expand the working width range of the vertical mowing arm B; when mowing is required, start and use the thrust of the electro-hydraulic telescopic rod two 22 to make the bracket one 24-1 rotate clockwise around the bolt V 45, and again expand the working width range of the vertical mowing arm B; while the universal wheel 31 at the right end of the vertical mowing arm B keeps supporting the ground, the lifting of the universal wheel 31 caused by the uneven terrain keeps the height of the mowing cutter head 27 from the ground unchanged, and at this time, the stubble height after the weeding operation is controlled; at the same time, with the lifting of the universal wheel 31, the bracket two 24-2 rotates up and down around the bolt three 23 as the axis, and based on this principle, the force balance at the rear end of the vertical mowing arm B is maintained, enhancing the safety of the weeding operation; during the driving process of the weeding and tilling robot, Figure 2 、 3 As shown in the figure, the mowing cutter head 27 rotates to perform the mowing work. When the cutter head housing 26 encounters hard obstacles such as trees, the obstacle squeezes the cutter head housing 26 to make the bracket three 24-3 rotate counterclockwise around the bolt four 24-5, so as to avoid the obstacle. When the cutter head housing 26 bypasses the obstacle, the contraction force of the spring 25 makes the bracket three 24-3 rotate clockwise around the bolt four 24-5, and again expands the working width range of the vertical mowing arm B. Based on this principle, the mowing work and obstacle avoidance measures of the vertical mowing arm B are realized.

[0074] The described control system is composed of a power switch 36, a remote control board, a microprocessor controller 33, a sensor three 37-3, a sensor one 37-1, a sensor two 37-2, a motor drive module one 2-1, a motor drive module two 28-1, a motor drive module three 30-2, a motor drive module four 30-3, a motor drive module V 38-1, and a motor drive module VI 38-2. Among them, the remote control board uses a wireless communication module to remotely control the operating state of the microprocessor controller 33. Figure 1 、 Figure 2 As shown in the figure, the power switch 36, the microprocessor controller 33, and the motor drive module are fixedly installed in the main body C, and the 2 sensors three 37-3 are fixedly installed on the left and right sides of the main body C; Figure 1 、 Figure 2 As shown in the figure, the 2 sensors one 37-1 are fixedly installed on both sides of the housing 1; Figure 3 As shown in the figure, the 2 sensors two 37-2 are fixedly installed on the outer sides of the 2 vertical mowing arms B.

[0075] The described microprocessor controller 33 adopts the TMS320 series DSP of Texas Instruments, which is mainly applied for signal processing.

[0076] Preferably, an automatic control steering switch is arranged between the microprocessor controller 33 and the 2 sensors three 37-3. The microprocessor controller 33 selects and controls the one-way application of the sensor three 37-3 according to the forward or backward signal of the weeding and tilling robot. For example,Figure 1 As shown, when the weeding and tilling robot travels to the left, the microprocessor controller 33 controls the steering switch instruction to the left side of the main machine C, and only receives the instruction of the left sensor three 37-3 of the main machine C, while closing the instruction of the right sensor three 37-3; when the weeding and tilling robot travels to the right, the microprocessor controller 33 controls the steering switch instruction to the right side of the main machine C, and only receives the instruction of the right sensor three 37-3 of the main machine C, while closing the instruction of the left sensor three 37-3.

[0077] Preferably, the sensor three 37-3 uses an ultrasonic probe, which is used to sense and collect the obstacle signals in front; based on the transit time method in the ultrasonic ranging method, the ultrasonic probe is used to detect and identify various obstacles in front of the operation in real time, so as to realize automatic parking when the weeding and tilling robot encounters an obstacle that must avoid obstacles. The ultrasonic probe is of a transceiver integrated type, with a resonant frequency of (35±1.5) kHz, a ranging range of 0.3m-10m, and a half-power angle of 5°.

[0078] Preferably, the sensor one 37-1 or the sensor two 37-2 uses a reflective infrared sensor, which is used 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 output is 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 used in this embodiment is of the model CDD-40N125140105S.

[0079] The control system, as Figure 9 shown, its working principle lies in the following working steps:

[0080] (1) The walking working steps of the weeding and tilling robot:

[0081] ① Setting and preparation of the working scene: Man-made obstacles (such as plastic films, etc.) are set at both ends of the orchard row spacing; then the generator 32 is started to charge the battery 46.

[0082] ② The walking of the weeding and tilling robot: As Figure 2As shown in the figure, the forward direction of the weeding and tilling robot is to move left, and the backward direction is to move right. Turn on the power switch 36, and the microprocessor controller 33 is in the standby state; click the forward or backward button on the remote control panel to send it to the microprocessor controller 33. The microprocessor controller 33 selects and controls the unidirectional application inductor III 37-3 according to the forward or backward signal of the weeding and tilling robot. The microprocessor controller 33 instructs the motor drive module III 30-2 or the motor drive module IV 30-3 to start the motor III 30 or the motor IV 30-1 to rotate synchronously forward or backward respectively, and drives the drive shaft I 35 and the connected drive wheel I 15, and the drive shaft II 35-1 and the connected drive wheel II 15-1 to rotate synchronously respectively, so as to control the track I 43 or the track II 43-1 to move forward or backward synchronously;

[0083] ③ Principle of the forward right turn of the weeding and tilling robot: As Figure 2 shown in the figure, the weeding and tilling robot is in the parking state. Click the forward right turn button on the remote control panel to send it to the microprocessor controller 33. The microprocessor controller 33 selects and controls the unidirectional application inductor III 37-3. The microprocessor controller 33 instructs the motor drive module III 30-2 to start the motor III 30 to rotate forward, driving the drive shaft I 35 and the connected drive wheel I 15 to rotate forward, and driving the track I 43 to move forward; at the same time, the microprocessor controller 33 instructs the motor drive module IV 30-3 to start the motor IV 30-1 to rotate in the reverse direction, driving the drive shaft II 35-1 and the connected drive wheel II 15-1 to rotate in the reverse direction, and driving the track II 43-1 to move backward; using the principle of the forward movement of the track I 43 and the backward movement of the track II 43-1, the forward right turn step of the weeding and tilling robot is completed.

[0084] ④ Steps of the forward left turn 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 in ③ above, and the forward left turn step of the weeding and tilling robot is completed.

[0085] (2) Weeding or tilling steps of the weeding and tilling robot:

[0086] ① Preparation work: The weeding and tilling robot enters the working 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 8 to the microprocessor controller 33. The microprocessor controller 33 instructs the motor drive module V 38-1 to start and control the telescopic degree of the electric hydraulic telescopic rod I 8 to adjust the ground clearance 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 II 22 to the microprocessor controller 33. The microprocessor controller 33 instructs the motor drive module VI 38-2 to start and control the telescopic degree of the electric hydraulic telescopic rod II 22 to control the operation range of the vertical mowing arm B.

[0087] ②Mowing work: Click the button on the remote control panel to start. Sensor 1 - 37 - 1 and Sensor 2 - 37 - 2 are in standby state. Start the driving instruction for the weeding and tilling robot. During the driving process, the micro - processing controller 33 will issue a start instruction to the Motor Drive Module 2 - 28 - 1 or Motor Drive Module 1 - 2 - 1 only when it receives the plant signal collected by Sensor 1 - 37 - 1 or Sensor 2 - 37 - 2. The Motor Drive Module 2 - 28 - 1 drives the Motor 2 - 28 to rotate, and the transmission cutter head shaft 28 - 2 rotates, causing the mowing cutter head 27 to rotate to complete the mowing work. The Motor Drive Module 1 - 2 - 1 drives the Motor 1 - 2 to rotate, and the transmission flail - knife rotating shaft 6 and the connected flail - knives 40 rotate to complete the mowing work. When the weeding and tilling robot is in a parked state, the micro - processing controller 33 instructs the Motor Drive Module 2 - 28 - 1 and the Motor Drive Module 1 - 2 - 1 to stop working.

[0088] ③Tilling and weeding work: This weeding and tilling robot can also be used for tilling and weeding work. Click the button on the remote control panel to send the tilling instruction of the Electric Hydraulic Telescopic Rod 1 - 8 to the micro - processing controller 33. The micro - processing controller 33 instructs the Motor Drive Module V - 38 - 1 to start and controls the telescopic degree of the Electric Hydraulic Telescopic Rod 1 - 8 to adjust the roller - type mowing and tilling device A to fall to the ground. At the same time, the micro - processing controller 33 instructs to turn off Sensor 1 - 37 - 1 and Sensor 2 - 37 - 2, and directly instructs the Motor Drive Module 1 - 2 - 1 to drive the Motor 1 - 2 to rotate, and the transmission flail - knife rotating shaft 6 and the connected flail - knives 40 rotate to complete the tilling and weeding work of the tiller.

[0089] This weeding and tilling robot adopts the design of front - and - rear weeding and servo drive. The heavy objects are fixed on both the front and rear sides of the main body C to ensure the walking stability of the weeding and tilling robot. It can capture obstacle and plant signals quickly and accurately, with a high degree of automation, sensitive and efficient response. This weeding and tilling robot has a high weeding efficiency and strong adaptability, and can also be widely used in tilling work.

Claims

1. The rolling mowing and tilling device of the weeding and tilling robot, characterized in that: The rotary mowing and tilling device of the weeding and tilling robot is arranged at the left end of the main machine (C). The rotary mowing and tilling device (A) consists of a housing (1) and a rotary mowing power system. The housing (1) is a support frame for the rotary mowing power system, and its structure is a cylindrical cavity structure with a closed upper part and an open lower part. The housing (1) is connected to the frame (14) in parallel through an electric hydraulic telescopic rod one (8) and two connecting rods (13). Among them, the left end of the electric hydraulic telescopic rod one (8) is movably connected to the housing (1) through a bolt one (9), and the right end of the electric hydraulic telescopic rod one (8) is fixedly connected to the frame (14). The left ends of the two connecting rods (13) are fixedly connected to the housing (1), and the right ends of the two connecting rods (13) are movably connected to the frame (14) through a bolt two (12). The rotary mowing power system consists of a motor one (2), a transmission shaft (2-2), a flail blade rotating shaft (6), a driving pulley (3), a belt (4), and a driven pulley (5). The driving pulley (3), the belt (4), and the driven pulley (5) are two sets of combined devices, which are installed on the front and rear sides of the housing (1). The flail blade rotating shaft (6) is fixedly connected to the housing (1) through two bearing seats one (7), and the flail blade rotating shaft (6) and the housing (1) are on the same central axis. The motor one (2) is fixed outside the housing (1), and the motor one (2) and the transmission shaft (2-2) are connected through gears and chains. Two driving pulleys (3) are fixed at both ends of the transmission shaft (2-2), and two driven pulleys (5) are fixed at both ends of the flail blade rotating shaft (6). The driving pulley (3) and the driven pulley (5) are connected through the belt (4).

2. The rolling mowing and tilling device of the weeding and tilling robot according to claim 1, characterized in that: The central axis of the rotary mowing and tilling device (A) is the same as the transverse central axis of the main machine (C).

3. The rolling mowing and tilling device of the weeding and tilling robot according to claim 1, characterized in that: On the flail blade rotating shaft (6), a drum (6-1) is fixedly arranged. The flail blade rotating shaft (6), the drum (6-1), and the housing (1) are on the same central axis, and the length of the drum (6-1) matches the length of the inner cavity of the housing (1). A certain number of flail blade supports (39) are arranged on the outer circle of the drum (6-1), and two flail blade supports (39) are arranged in a staggered manner as a group and fixed on the outer circle of the drum (6-1). Two flail blades (40) are installed on a group of flail blade supports (39).

4. The rolling mowing and tilling device of the weeding and tilling robot according to claim 3, characterized in that: The flail blade (40) has a double-edge structure at the lower end of an "L" shape. Two flail blades (40) are installed in an inverted "Y" shape in reverse through gaskets (41) and bolts four (42) as a set of tools on a group of flail blade supports (39), and the movement trajectory of the flail blade (40) during rotation matches the inner diameter of the housing (1).

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