Weeding robot

Abstract

The utility model provides a kind of weeding robot, including fuselage, multiple leg components, first weeding component, leg component is rotatably connected with fuselage;Along height direction, first weeding component is movably connected with leg component, first weeding component has the first weeding piece for weeding, when leg component acts, drive first weeding component synchronous action, to adjust the height of first weeding piece.The utility model solves the problem of lower weeding efficiency of weeding robot in prior art.

Description

Technical Field

[0001] This utility model relates to the field of agricultural intelligent equipment technology, and more specifically, to a weeding robot. Background Technology

[0002] Common mechanical weeding devices include rotary cutter discs, reciprocating blades, and shovel-type mechanisms. Among them, rotary cutter discs are widely used in farmland and orchards due to their fast cutting speed, uniform coverage, and high energy efficiency. However, existing rotary cutter disc weeders are generally installed on wheeled or tracked platforms, and the depth and angle of the cutter disc's penetration into the soil are poorly controlled, relying heavily on manual or mechanical limit adjustments, making them difficult to adapt to uneven terrain. Utility Model Content

[0003] The main objective of this invention is to provide a weeding robot to solve the problem of low weeding efficiency in existing weeding robots.

[0004] To achieve the above objectives, according to one aspect of the present invention, a weeding robot is provided, including a body, multiple leg components, and a first weeding component, wherein the leg components are rotatably connected to the body; the first weeding component and the leg components are movably connected along the height direction, the first weeding component having a first weeding element for weeding, and when the leg components move, they drive the first weeding component to move synchronously to adjust the height of the first weeding element.

[0005] Furthermore, the leg assembly includes an upper rotating arm and a lower rotating arm that are rotatably connected to each other. The upper rotating arm is rotatably connected to the machine body, and the first weeding component is rotatably connected to the lower rotating arm. The first weeding component and the lower rotating arm are laterally spaced apart.

[0006] Furthermore, the horizontal distance between the center of the first weeding component and the bottom of the lower rotating arm is 20-50mm.

[0007] Furthermore, the multiple leg components include a pair of front leg components and a pair of rear leg components, which are arranged sequentially along the walking direction. The first weeding component is movably connected to the front leg components and is located on the side of the front leg components closer to the rear leg components.

[0008] Furthermore, the weeding robot also includes a second weeding component, which is movably connected to the body and has a second weeding part for weeding.

[0009] Furthermore, the first weeding assembly and / or the second weeding assembly includes an adjusting rod, a cutter head assembly, and a drive unit. The adjusting rod is rotatably connected to the machine body and / or the leg assembly. The cutter head assembly has a first weeding component or a second weeding component, and the cutter head assembly is rotatably connected to the adjusting rod. The drive unit is drivenly connected to the adjusting rod and is capable of driving the adjusting rod to rotate relative to the machine body to adjust the soil entry angle of the first weeding component or the second weeding component.

[0010] Furthermore, the cutter head assembly also includes a spindle, on which a first weeding component or a second weeding component is mounted. The spindle is rotatably configured to drive the first weeding component or the second weeding component to rotate.

[0011] Furthermore, the first weeding component is detachably connected to the main shaft, and the first weeding component is one of a rotary blade, an impact weeder, or a plow weeder; and / or the second weeding component is detachably connected to the main shaft, and the second weeding component is one of a rotary blade, an impact weeder, or a plow weeder.

[0012] Furthermore, the cutter head assembly also includes a protective cover, which is connected to the spindle and covers the first weeding component and / or the second weeding component.

[0013] Furthermore, the weeding robot also includes a pressure detection device, a distance detection device, a shock absorber for vibration reduction, and a vision sensing device. The pressure detection device is located between the cutter head assembly and the adjusting rod, and is used to detect the contact force between the cutter head assembly and the adjusting rod. The distance detection device is connected to the first weeding component and / or the distance detection device is connected to the second weeding component, and is capable of detecting the distance between the first weeding component and the ground and / or the distance between the second weeding component and the ground. The shock absorber is located on the cutter head assembly and / or the adjusting rod. The vision sensing device is connected to the body and is used to identify the terrain.

[0014] By applying the technical solution of this utility model, the height of the first weeding component can be effectively adjusted by rotatably connecting the first weeding component and the leg component. This allows the first weeding component to maintain a constant depth of penetration into the soil even when the terrain changes, enabling it to adapt to terrain variations and effectively remove weeds. This eliminates the need for manual adjustment of the height of the first weeding component, thereby improving weeding efficiency. Specifically, when the weeding robot walks, the walking motion of the leg component drives the first weeding component to move synchronously. Therefore, when facing uneven terrain, the landing height of the leg component determines the height of the first weeding component. By utilizing the leg component's ability to adapt to changes in terrain height, the first weeding component adapts to these changes in height, allowing it to maintain a relatively constant distance from the ground under the movement of the leg component, thus improving the stability and efficiency of the weeding operation. The first weeding component, through synchronized movement with the leg component, enables it to dynamically respond to changes in terrain, avoiding poor weeding results caused by uneven soil penetration depth. It also reduces the additional load on the robot's joints and improves energy efficiency. This provides key technical support for high-precision physical weeding in unstructured farmland environments, significantly enhancing the robot's operational capabilities and adaptability. Attached Figure Description

[0015] The accompanying drawings, which form part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an undue limitation of the present invention. In the drawings:

[0016] Figure 1 A schematic diagram of the structure of the weeding robot of this utility model is shown;

[0017] Figure 2 The front view of the weeding robot of this utility model is shown.

[0018] The above figures include the following reference numerals:

[0019] 10. Body; 20. Leg assembly; 21. Front leg assembly; 211. Upper rotating arm; 212. Lower rotating arm; 22. Rear leg assembly; 30. First weeding assembly; 31. Adjusting rod; 321. First weeding component; 322. Main shaft; 33. Drive unit; 40. Second weeding assembly; 41. Second weeding component; 50. Vision sensing component. Detailed Implementation

[0020] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0021] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0022] In this utility model, unless otherwise stated, directional terms such as "upper," "lower," "top," and "bottom" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction of the component itself; similarly, for ease of understanding and description, "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not used to limit this utility model.

[0023] To address the problem of low weeding efficiency in existing weeding robots, this invention provides a weeding robot.

[0024] like Figure 1 , Figure 2 The illustrated weeding robot includes a body 10, multiple leg components 20, and a first weeding component 30. The leg components 20 are rotatably connected to the body 10. Along the height direction, the first weeding component 30 is movably connected to the leg components 20. The first weeding component 30 has a first weeding element 321 for weeding. When the leg components 20 move, they drive the first weeding component 30 to move synchronously, thereby adjusting the height of the first weeding element 321.

[0025] This embodiment achieves effective height adjustment of the first weeding component 321 by rotatably connecting the first weeding component 30 and the leg component 20. This allows the first weeding component 321 to maintain a constant depth of penetration even when the terrain changes, enabling it to adapt to terrain variations and effectively remove weeds. This eliminates the need for manual height adjustment, thus improving weeding efficiency. Specifically, when the weeding robot moves, the leg component 20 moves the first weeding component 30 synchronously. Therefore, when facing uneven terrain, the landing height of the leg component 20 determines the height of the first weeding component 30. By utilizing the adaptability of the leg component 20 to terrain changes, the first weeding component 30 adapts to these changes in height, allowing the first weeding component 321 to maintain a relatively constant distance from the ground under the influence of the leg component 20, thereby improving the stability and efficiency of the weeding operation. The first weeding component 30, through synchronized movement with the leg component 20, enables the first weeding component 30 to dynamically respond to changes in terrain, avoiding poor weeding effect caused by uneven soil penetration depth. At the same time, it can also reduce the additional load on the robot joints and improve energy utilization efficiency. This provides key technical support for high-precision physical weeding of weeding robots in unstructured farmland environments, significantly enhancing the operation capability and adaptability of weeding robots.

[0026] It should be noted that the height of the first weeding component 321 mentioned in this embodiment is the distance between the first weeding component 321 and the ground, including the depth of the first weeding component 321 when weeding. Preferably, the depth of the first weeding component 321 in this embodiment is maintained at 1-3cm.

[0027] In this embodiment, the leg assembly 20 includes an upper rotating arm 211 and a lower rotating arm 212 rotatably connected to each other. The upper rotating arm 211 is rotatably connected to the body 10, and the first weeding assembly 30 is rotatably connected to the lower rotating arm 212. The first weeding component 321 and the lower rotating arm 212 are laterally spaced apart, thereby ensuring the weeding robot's ability to flexibly adjust its posture in complex terrain. Specifically, the connection between the first weeding assembly 30 and the lower rotating arm 212 allows the working position of the first weeding component 321 to be close to the landing position of the leg assembly 20, thus making the working position of the first weeding component 321 similar to the terrain of the landing position of the leg assembly 20, avoiding situations where the first weeding component 321 is too close or too far from the ground. Furthermore, the rotatable connection between the first weeding component 30 and the lower rotating arm 212 allows the first weeding component 321 to move independently of the lower rotating arm 212 during operation. This enables the first weeding component 321 to adapt to terrain undulations and posture changes when its tilt angle relative to the ground changes during the movement of the lower rotating arm 212, achieving real-time posture compensation. This allows the weeding robot to maintain a more stable entry angle and depth, improving the accuracy and efficiency of weeding operations. It also reduces vibration transmission to the robot's joints, extending the robot's lifespan and enabling high-precision, low-energy physical weeding operations on uneven terrain. In practical applications, a posture control method coupled with quadrupedal gait phase coupling can synchronize the first weeding component 30 with the robot's movement, ensuring continuous cutting or shoveling actions and achieving continuous and efficient weeding operations. Furthermore, by integrating a depth detection module and an intelligent power management module, the weeding robot can adaptively adjust the posture of the first weeding component 321 and the output of the drive component 33 according to the real-time load, thereby further improving the stability of the operation and the efficiency of energy consumption management. As a result, it exhibits excellent terrain adaptability during field weeding, significantly reduces the fluctuation range of the posture of the first weeding component 321, improves the success rate of weeding, reduces damage to crops, and effectively reduces the energy consumption of the weeding robot.

[0028] In this embodiment, the horizontal distance between the center of the first weeding component 321 and the bottom of the lower rotating arm 212 is 20-50mm, thereby ensuring that the first weeding component 321 has sufficient movement space when rotating relative to the lower rotating arm 212, avoiding interference between the first weeding component 30 and the lower rotating arm 212, and at the same time avoiding the excessive distance between the bottom of the first weeding component 321 and the lower rotating arm 212, which would result in an excessive height difference between the corresponding ground surfaces.

[0029] In this embodiment, the multiple leg components 20 include a pair of front leg components 21 and a pair of rear leg components 22. Along the walking direction, the front leg components 21 and rear leg components 22 are arranged sequentially. The first weeding component 30 is movably connected to the front leg components 21 and is located on the side of the front leg components 21 closer to the rear leg components 22, thereby ensuring the stability of the weeding robot during walking and weeding. Specifically, the weeding robot in this embodiment is a quadruped robot, that is, the weeding robot in this embodiment includes two symmetrically arranged front leg components 21 and two symmetrically arranged rear leg components 22. Along the walking direction of the weeding robot, the two front leg components 21 are in front, and the two rear leg components 22 are behind. A rectangular area is formed between the four leg components 20, and the first weeding component 30 is located within the rectangular area to improve the balance and stability of the weeding robot.

[0030] In this embodiment, multiple first weeding components 30 are provided. Specifically, each front leg component 21's lower rotating arm 212 can be movably connected to a first weeding component 30, thereby further improving the weeding efficiency of the weeding robot, while also improving the robot's balance and stability.

[0031] In this embodiment, the weeding robot also includes a second weeding component 40, which is movably connected to the body 10. The second weeding component 40 has a second weeding part 41 for weeding, allowing it to cooperate with the first weeding component 30 to further improve weeding efficiency. Specifically, along the width direction of the weeding robot, that is, laterally perpendicular to its walking direction, the second weeding component 40 is located between the two first weeding components 30, thus covering the blind spots of the first weeding components 30 and ensuring thorough weed removal. Furthermore, the second weeding component 40 is directly and movably connected to the body 10, giving it a larger range of motion. This embodiment has multiple second weeding components 40, specifically two, symmetrically arranged at the head and tail of the body 10, to cooperate with the first weeding component 30 and achieve thorough weed removal.

[0032] In this embodiment, the first weeding component 30 and / or the second weeding component 40 include an adjusting rod 31, a blade assembly, and a driving member 33. The adjusting rod 31 is rotatably connected to the machine body 10 and / or the leg assembly 20, thereby adjusting the soil entry angle of the first weeding component 30. The blade assembly has a first weeding element 321 or a second weeding element 41, and the blade assembly is rotatably connected to the adjusting rod 31, thereby enabling weeding by rotating the blade assembly. The driving member 33 is drivenly connected to the adjusting rod 31 and can drive the adjusting rod 31 to rotate relative to the machine body 10 to adjust the soil entry angle of the first weeding element 321 or the second weeding element 41, thereby achieving automatic adjustment of the soil entry angle of the first weeding element 321 or the second weeding element 41. Specifically, the structures of the first weeding component 30 and the second weeding component 40 in this embodiment are basically the same, both including an adjusting rod 31, a blade assembly, and a driving member 33. The only difference between the first weeding assembly 30 and the second weeding assembly 40 is that their connection positions are different, which results in different shapes of the adjusting rod 31 and different installation positions of the driving component 33.

[0033] Regarding the structure of the first weeding component 30, the adjusting rod 31 of the first weeding component 30 is hinged to the lower rotating arm 212 of the front leg component 21, and the driving component 33 is mounted on the lower rotating arm 212, so that when the front leg component 21 moves, it can drive the entire first weeding component 30 to move synchronously. The adjusting rod 31 has a certain length along the walking direction of the weeding robot to ensure the lateral distance between the cutter head component and the lower rotating arm 212. The length direction of the adjusting rod 31 forms a certain angle with the axial direction of the cutter head component, so that the first weeding component 321 can tilt to the ground and enter the soil, thereby ensuring effective removal of weeds. One end of the adjusting rod 31 is hinged to the lower rotating arm 212 of the front leg assembly 21, and the other end is connected to the cutter head assembly. The driving member 33 is hinged to the adjusting rod 31, and the connection point between the driving member 33 and the adjusting rod 31 is located between the two ends of the adjusting rod 31. When the driving member 33 drives the adjusting rod 31, the cutter head assembly can rotate relative to the leg assembly 20, thereby allowing the cutter head assembly to make small adjustments to its height and soil entry angle relative to the ground. In this way, the coordinated adjustment of the leg assembly 20 and the driving member 33 can ensure that the first weeding member 321 always effectively weeds with a basically constant soil entry depth and soil entry angle.

[0034] Regarding the structure of the second weeding component 40, the structure of the cutter head assembly of the second weeding component 40 is the same as that of the first weeding component 30. The adjusting rod 31 of the second weeding component 40 is set as an L-shaped structure. One end of the adjusting rod 31 is rotatably connected to the machine body 10, and the other end of the adjusting rod 31 is connected to the cutter head. The driving component 33 is set on the machine body 10. The connection point between the driving end of the driving component 33 and the adjusting rod 31 is located between the two ends of the adjusting rod 31. In this way, when the driving component 33 drives the adjusting rod 31 to rotate relative to the machine body 10, the adjusting rod 31 drives the cutter head assembly to adjust its height and angle, so that the second weeding component 40 can adapt to the changes in terrain and adjust accordingly to ensure the soil penetration depth and soil penetration angle of the second weeding component 41.

[0035] In this embodiment, the cutter head assembly also includes a main shaft 322. A first weeding component 321 or a second weeding component 41 is mounted on the main shaft 322. The main shaft 322 is rotatable to drive the first weeding component 321 or the second weeding component 41 to rotate, thereby achieving rapid weed cutting. The main shaft 322 is configured as a columnar structure, with both ends connected to an adjusting rod 31 and the first weeding component 321, or both ends connected to an adjusting rod 31 and the second weeding component 41, respectively, thus ensuring the stability of the cutter head assembly structure. The cutter head assembly also includes a drive motor, which is driven by the main shaft 322 and drives the first weeding component 321 or the second weeding component 41 to rotate. Optionally, the drive motor can be a 24V brushless DC motor with a maximum speed of 5000 rpm and a rated power of 100W, and can be driven by the main shaft 322 through a planetary reducer with a reduction ratio of 1:5, thereby achieving high torque and low vibration output. The weeding robot may also include an intelligent power management module, which can adaptively adjust the current output according to the load of the first weeding component 321 or the second weeding component 41, thereby reducing energy consumption and preventing motor overload.

[0036] In this embodiment, the first weeding component 321 is detachably connected to the main shaft 322, thereby facilitating the replacement and maintenance of the first weeding component 321, and allowing for quick replacement of different types of the first weeding component 321 according to different operating environments and needs. The first weeding component can be configured as one of a rotary blade, an impact weeder, or a plow-type weeder. Figure 1 As shown, this embodiment provides two first weeding components 30 and correspondingly two first weeding parts 321. These two first weeding parts 321 can be the same or different. For example, both first weeding parts 321 can be set as rotating blades, or one can be set as a rotating blade and the other as an impact weeder.

[0037] Specifically, rotating blades penetrate the soil to a shallow depth, resulting in better removal of ground weeds; impact weeders use impact force to remove weeds, physically striking the weeds directly at their roots or stems through high-speed movement or sudden release of components, thus effectively removing them; plow-type weeders use a plow-like tool to remove weeds from the field, inserting plow blades into the soil to continuously turn over the soil, uprooting or cutting the weed roots, thereby using mechanical force to pull the weeds up by the roots or destroy their growth structure, achieving the purpose of weed control. The first weeding component 321 can be selected from rotating blades, impact weeders, and plow-type weeders according to the actual situation. Figure 1 This explanation will be based on the example where both first weeding components 321 are configured as rotating blades. Figure 1 The rotating blade is designed as a disc with serrated edges, and is coaxially mounted with the main shaft 322 for rapid weed removal driven by the main shaft 322. Optionally, the rotating blade can be made of high-strength aluminum alloy or carbon steel, with a diameter of 80-120mm and a thickness of 2-3mm to ensure structural strength. The structure of the rotating blade can be flexibly configured according to actual needs; for example, it can be set as a straight blade, serrated blade, etc., to effectively handle various weed hardness and growth stages. The first weeding component 321 and the main shaft 322 can be connected by various methods such as snap-fit, bolt connection, quick-release interface connection, and magnetic connection to ensure the stability of the connection between the first weeding component 321 and the main shaft 322.

[0038] In this embodiment, the second weeding component 41 is detachably connected to the main shaft 322. The second weeding component 41 is configured as one of a rotary blade, an impact weeder, or a plow weeder. This embodiment has two second weeding assemblies 40, and therefore two corresponding second weeding components 41. Similar to the configuration of the first weeding component 321, the two second weeding components 41 can be the same or different. For example, both second weeding components 41 can be impact weeders, or one can be an impact weeder and the other a plow weeder.

[0039] Preferably, a second weeding component 41 near the front leg assembly 21 is either a rotating blade or an impact weeder, a second weeding component 41 near the rear leg assembly 22 is a plow-type weeder, and two first weeding components 321 are either rotating blades or impact weeders. The two first weeding components 321 can be the same or different, thereby ensuring the thorough removal of weeds.

[0040] In this embodiment, the cutter head assembly also includes a protective cover. The protective cover is connected to the main shaft 322 and covers the first weeding component 321 and / or the second weeding component 41, thereby preventing soil clods and weed fragments from splashing during weeding operations. This protects surrounding crops and other parts of the weeding robot from damage and also reduces wind resistance during operation, improving the efficiency and stability of the rotation of the first weeding component 321 and / or the second weeding component 41. Optionally, the protective cover can be bottle cap shaped, forming a semi-closed chamber with an open bottom, covering the first weeding component 321 and / or the second weeding component 41 to prevent soil clods and weeds from splashing. Depending on the actual situation, the protective cover can also be a chamber with an open front end and a closed bottom, covering the top and rear of the first weeding component 321 and / or the second weeding component 41.

[0041] In this embodiment, the weeding robot also includes a pressure detection component, a distance detection component, a shock absorber for vibration reduction, and a visual sensing component 50. The pressure detection component is located between the cutter head assembly and the adjusting rod 31 and is used to detect the contact force between the cutter head assembly and the adjusting rod 31, thereby helping to control the soil penetration depth of the first weeding component 321 or the second weeding component 41 and prevent overload. Optionally, the pressure detection component can be set as a pressure sensor, etc.

[0042] In this embodiment, the distance detection device is connected to the first weeding component 321 and can detect the distance between the first weeding component 321 and the ground. This allows for timely judgment of the distance between the first weeding component 321 and the ground based on changes in terrain, thus adjusting the height of the first weeding component 321 in a timely manner to ensure a constant penetration depth for effective weed removal. Optionally, the distance detection device can be an ultrasonic sensor, a depth detection module, etc., capable of effectively detecting the distance between the first weeding component 321 and the ground and outputting a real-time height signal to ensure the correct penetration depth of the first weeding component 321.

[0043] The distance detection device in this embodiment can also be connected to the second weeding device 41 and used to detect the distance between the second weeding device 41 and the ground. This allows the distance between the second weeding device 41 and the ground to be determined in a timely manner according to changes in terrain, thereby adjusting the height of the second weeding device 41 in a timely manner to ensure that the second weeding device 41 has a constant soil penetration depth for effective weed removal.

[0044] In this embodiment, the shock absorber is located on the cutter head assembly and / or the adjusting rod 31, thereby reducing the impact transmission when the first weeding component 321 and / or the second weeding component 41 directly contacts the ground, ensuring the stability of the weeding robot. Optionally, the shock absorber can be an elastic shock-absorbing pad.

[0045] In this embodiment, the visual sensing element 50 is connected to the body 10 and can be disposed at the head of the body 10 for terrain recognition. Optionally, the visual sensing element 50 can be a camera or the like.

[0046] The weeding robot in this embodiment is also equipped with a control unit, which is connected to the body 10 and electrically connected to the vision sensing unit 50, pressure detection unit, distance detection unit, etc., so as to perform real-time posture compensation and speed control of the first weeding unit 321 and the second weeding unit 41 for the weeding robot.

[0047] It should be noted that "multiple" in the above embodiments refers to at least two.

[0048] As can be seen from the above description, the embodiments of this utility model achieve the following technical effects:

[0049] 1. To solve the problem of low weeding efficiency in existing weeding robots;

[0050] 2. By setting the first weeding component and the leg component to be rotatably connected, the height of the first weeding component can be effectively adjusted. This allows the first weeding component to maintain a constant soil penetration depth even when the terrain is constantly changing. As a result, the first weeding component can adapt to changes in terrain and effectively weed, thus eliminating the need for manual adjustment of the height of the first weeding component and improving weeding efficiency.

[0051] 3. When the weeding robot walks, the walking motion of the leg components drives the first weeding component to move synchronously. Therefore, when facing uneven terrain, the height at which the leg components land determines the height of the first weeding component. By utilizing the characteristic of the leg components to adapt to changes in terrain height, the first weeding component adapts to changes in terrain height, so that the first weeding component can maintain a relatively constant distance from the ground under the action of the leg components, thereby improving the stability and efficiency of weeding operations.

[0052] Obviously, the embodiments described above are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of this utility model.

[0053] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0054] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in sequences other than those illustrated or described herein.

[0055] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A weeding robot, characterized in that, include: fuselage (10); Multiple leg components (20) are rotatably connected to the body (10); The first weeding component (30) is movably connected to the leg component (20) along the height direction. The first weeding component (30) has a first weeding element (321) for weeding. When the leg component (20) moves, it drives the first weeding component (30) to move synchronously to adjust the height of the first weeding element (321).

2. The weeding robot according to claim 1, characterized in that, The leg assembly (20) includes an upper rotating arm (211) and a lower rotating arm (212) rotatably connected to each other. The upper rotating arm (211) is rotatably connected to the body (10), the first weeding assembly (30) is rotatably connected to the lower rotating arm (212), and the first weeding component (321) and the lower rotating arm (212) are laterally spaced apart.

3. The weeding robot according to claim 2, characterized in that, The horizontal distance between the center of the first weeding component (321) and the bottom of the lower rotating arm (212) is 20-50 mm.

4. The weeding robot according to claim 1, characterized in that, The multiple leg components (20) include a pair of front leg components (21) and a pair of rear leg components (22), which are arranged sequentially along the walking direction. The first weeding component (30) is movably connected to the front leg components (21) and is located on the side of the front leg components (21) closer to the rear leg components (22).

5. The weeding robot according to claim 1, characterized in that, The weeding robot also includes a second weeding component (40), which is movably connected to the body (10), and the second weeding component (40) has a second weeding part (41) for weeding.

6. The weeding robot according to claim 5, characterized in that, The first weeding component (30) and / or the second weeding component (40) include: An adjusting rod (31) is rotatably connected to the body (10) and / or the leg assembly (20); A blade assembly having a first weeding component (321) or a second weeding component (41), the blade assembly being rotatably connected to the adjusting rod (31); The driving component (33) is driven to be connected to the adjusting rod (31) and can drive the adjusting rod (31) to rotate relative to the machine body (10) to adjust the soil entry angle of the first weeding component (321) or the second weeding component (41).

7. The weeding robot according to claim 6, characterized in that, The cutter head assembly also includes a spindle (322), on which the first weeding component (321) or the second weeding component (41) is mounted. The spindle (322) is rotatably configured to drive the first weeding component (321) or the second weeding component (41) to rotate.

8. The weeding robot according to claim 7, characterized in that, The first weeding component (321) is detachably connected to the main shaft (322), and the first weeding component (321) is configured as one of a rotary blade, an impact weeder, or a plow weeder; and / or The second weeding component (41) is detachably connected to the main shaft (322), and the second weeding component (41) is configured as one of the rotating blade, the impact weeder, and the plow weeder.

9. The weeding robot according to claim 7, characterized in that, The cutter head assembly also includes a protective cover, which is connected to the main shaft (322) and covers the first weeding component (321) and / or the second weeding component (41).

10. The weeding robot according to claim 6, characterized in that, The weeding robot also includes: A pressure detection element is located between the cutter head assembly and the adjusting rod (31) and is used to detect the contact force between the cutter head assembly and the adjusting rod (31); A distance detection device, which is connected to the first weeding device (321) and / or the distance detection device is connected to the second weeding device (41), and is capable of detecting the distance between the first weeding device (321) and the ground and / or the distance between the second weeding device (41) and the ground; A damping element for vibration reduction, the damping element being located on the cutter head assembly and / or the adjusting rod (31); A visual sensing element (50) is connected to the fuselage (10) and is used to identify the terrain.

Images