CN103999627B - The mechanical structure device of intelligent grass-removing robot - Google Patents
The mechanical structure device of intelligent grass-removing robot Download PDFInfo
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- CN103999627B CN103999627B CN201410179764.1A CN201410179764A CN103999627B CN 103999627 B CN103999627 B CN 103999627B CN 201410179764 A CN201410179764 A CN 201410179764A CN 103999627 B CN103999627 B CN 103999627B
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- universal wheel
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Abstract
The mechanical structure device of intelligent grass-removing robot of the present invention, is characterized in that: comprise grass-removing robot chassis, be located at travel driving unit on chassis and cutting height-adjustment device of grass; Described travel driving unit comprises two drive motors, the decelerator be connected with motor respectively, two walk trailing wheel and one that are connected with decelerator are respectively positioned at the universal front-wheel of front portion, chassis; Described universal front-wheel comprises universal wheel inner cap and the universal wheel enclosing cover that Horizontal U-shaped universal wheel wheel shaft, universal wheel tire and lid are located at universal wheel tire both sides; Grass-removing robot chassis of the present invention envisaged underneath has annular disk, energy available protecting cutterhead and mowing blade, also can prevent because mowing blade breaks by the hard thing such as stone, brick, metal derby.
Description
technical field:
The present invention relates to the mechanical structure device of a kind of intelligent grass-removing robot, particularly grass-removing robot, this grass-removing robot is applicable to the places, greenery patches such as family, park, golf course.
background technology:
Along with the growth of economy, urban construction paces are accelerated gradually, have also driven the prosperity and development of greening industry thereupon.Lawn has dust suction, noise reduction, moisturizing, short construction period and the plurality of advantages such as to conserve water and soil, and is widely applied in various afforestation project and family's garden.At present, lawn had become a kind of emerging pollution-free industry already.
In order to ensure the lawn high unity in the places such as family garden, park, greenery patches, hotel, regularly pruning is a very important task.Turf-mown must be more even, smooth, more seems attractive in appearance.Lawn after pruning, both can improve lawn quality and suppress weed growth, and can improve again aesthetic property and the availability on lawn.Usually, the stubble height on lawn will control between 4-15cm.So, for grass-removing robot, develop a kind of mowing height-regulating device and be necessary, to control lawn stubble height better.
Traditional grass-removing robot on market needs manually to operate, and cutter are by the output shaft Direct driver of motor or gasoline machine.The grass-removing robot of traditional structure can not realize intelligentized autonomous operation, and power consumption is high, noise large, is unfavorable for economize energy and reduces labor intensive.
At present, this area has developed the device that some can change grass-removing robot height, and wherein Intellectual Property in China CN200820082236.4 utility model patent discloses a kind of grass-removing robot being regulated mowing height by road wheel.This device regulates the mode of height not only to need to consider in road wheel, how bull wheel realizes nested problem with steamboat, and it only has two highly can regulate, scope of heightening can be made like this to receive limit to greatly, too increase the complexity of road wheel simultaneously.CN200820058006.4 utility model patent relate to cutterhead lifting device, makes to promote driving member and moves both vertically, and realize the change of mowing height with the rising of movable knife disc connecting axle or decline by rotating handles.This patent just describes mechanism simply and how to work, but does not illustrate and how to promote and what transmission mechanism is.These two patents of USPO US20120023880 and EUROPEAN PATENT OFFICE EP2412220 are all grass-removing robot arrangement for adjusting height, these two patents to be meshed with outside spiral by internal helicoid circulation thread to carry out highly regulating, but these two design of part complexity, difficulty of processing is very big.
Mostly traditional universal wheel is to adopt upper and lower two panels all relatively to close up with the sheet metal of ball orbit, is fixed in orbit by ball, realizes 360 degree of rotations.This technical pattern is simple, make and production cost lower, be the first-selection of a lot of removable facility.But because this product relies on two metal sheets to close up to fix ball, its week, along not fitting together perfectly, needs for ball runs leaving space.Therefore, very easily cause the object injections in small, broken bits such as dust, sealing is poor, sheet metal and ball even can be made to accelerate to damage, shorten the service life of universal wheel.
summary of the invention:
The invention provides a kind of mechanical structure device of intelligent grass-removing robot, the mechanical structure device structure of this intelligent grass-removing robot is simple, reasonable in design, and its walking flexibly, mowing is convenient and be conducive to improving mowing efficiency.
For achieving the above object, the present invention adopts following technical scheme:
The mechanical structure device of intelligent grass-removing robot of the present invention, is characterized in that: comprise grass-removing robot chassis 33, be located at travel driving unit on chassis 33 and cutting height-adjustment device of grass; Described travel driving unit comprises two drive motors 11, the decelerator 10 be connected with motor respectively, two walk trailing wheel and one that are connected with decelerator are respectively positioned at the universal front-wheel of front portion, chassis; Described universal front-wheel comprises universal wheel inner cap 22 and the universal wheel enclosing cover 26 that Horizontal U-shaped universal wheel wheel shaft 18, universal wheel tire 23 and lid are located at universal wheel tire both sides, described Horizontal U-shaped universal wheel wheel shaft 18 top is provided with the vertical axles 36 be connected with chassis, and the dead eye covered in Horizontal U-shaped universal wheel wheel shaft lower horizontal axostylus axostyle 37 and universal wheel and the axle hole of universal wheel enclosing cover inside are connected; Described cutting height-adjustment device of grass comprises the gripper shoe 2 of the drive lead screw 7 and upper and lower reciprocal lifting in relative chassis of rotating relative to original place, chassis, described drive lead screw 7 coordinates with screw 9 transmission be fixedly mounted in the middle part of gripper shoe, gripper shoe shape triangular in shape, the all sidepieces of gripper shoe are provided with three groups of mowing motors 6, mowing motor lower end is connected with and rotates mowing blade 14, gripper shoe week, side was provided with guide pin bushing 1, and guide pin bushing 1 is placed on and is fixed on the guide pillar 35 on chassis.Due to gripper shoe shape triangular in shape, be provided with three groups of mowing motors 6 on the supporting plate and rotate mowing blade 14, making to mow more comprehensive, thorough.
Above-mentioned universal wheel enclosing cover inner wheel axis hole and universal wheel inner cap dead eye concentric, six square shaft cover 24 and short sleeves 25 are equipped with at universal wheel wheel shaft lower horizontal shaft rod upper sleeve, six square shaft covers are nested with in the endoporus of universal wheel tire, universal wheel inner cap and universal wheel enclosing cover are fixedly located at the both sides of universal wheel tire, short sleeve side and six square shafts overlap fits, and opposite side is at the flexible back-up ring of horizontal shaft rod upper sleeve.
Above-mentioned Horizontal U-shaped universal wheel wheel shaft vertical axles is provided with a pair projection; projection is provided with snap ring 20; described snap ring 20 is provided with thrust thrust bearing 21 above, and above thrust thrust bearing, installation sleeve has spring base 17 and spring 16, and spring 16 is equipped with the major axis cover 9 of protection vertical axles above.Described thrust bearing, spring base, spring and major axis cover is all enclosed within the vertical axles of Horizontal U-shaped universal wheel wheel shaft upper end.
Above-mentioned chassis lower surface is provided with the annular disk 38 being positioned at and rotating mowing blade periphery, and the periphery of described annular disk is laid with perforation 39.
Above-mentioned universal wheel surface of tyre is provided with lateral wheel line 41, and to increase the frictional force with ground, described universal wheel surface of tyre is densely covered with stud 42.
Operation principle of the present invention: above-mentioned drive motors is connected with decelerator, be horizontally fixed on grass-removing robot chassis, decelerator is connected with walking trailing wheel, by the rotation of drive motors, drive decelerator rotates, and the output shaft of decelerator drives walking trailing wheel to move, achieve the motion of this grass-removing robot.Universal front-wheel and grass-removing robot chassis are anterior to be universally connected, and achieves the universal of grass-removing robot to turn to.Cutting height-adjustment device of grass can pass through turn screw mandrel, have adjusted the upper and lower lifting of gripper shoe, also just achieves the upper and lower lifting of mowing motor and mowing rotating blade, thus realize the adjustment of mowing height.
the present invention compared with prior art,
having useful effect is:
1. grass-removing robot chassis envisaged underneath has annular disk, energy available protecting cutterhead and mowing blade, also can prevent because mowing blade breaks by the hard thing such as stone, brick, metal derby;
2. drive motors, decelerator and walking trailing wheel are arranged on rear side of grass-removing robot chassis, and chassis installed in front has universal wheel, are rear wheel drive, can reduce the resistance that grass-removing robot is suffered in turning process;
3. the spring Main Function in Universal wheel structure is: can reduce the vibrations because ground out-of-flatness brings to whole grass-removing robot; This universal wheel can realize the rotation of on horizontal and vertical direction 360 degree;
4. cutting height-adjustment device of grass is manually control handle, and leading screw is rotated, thus drives screw to do linear reciprocating motion, and promotes gripper shoe and also do linear reciprocating motion.In addition, mowing motor drives the mowing blade on cutterhead to mow.
accompanying drawing illustrates:
Fig. 1 is the structural representation of grass-removing robot;
Fig. 2 is the three-dimensional installation diagram of grass-removing robot;
Fig. 3 is the stereogram of cutting height-adjustment device of grass;
Fig. 4 is the stereogram of universal front-wheel;
in figure:
1. the guide pin bushing of guide pillar
2. gripper shoe
3. circlip
4. knob
5. the guide pin bushing of leading screw
6. mowing motor
7. leading screw
8. screw
9. major axis cover
10. decelerator
11. drive motors
12. cutterheads
13. holding screws
14. hex screws
15. mowing blades
16. springs
17. spring bases
18. universal wheel wheel shafts
19. trapezoidal covers
20. snap rings
21. thrust thrust bearings
22. universal wheel inner caps
23. universal wheel tires
24. 6 square shaft covers
25. short sleeves
26. universal wheel enclosing covers
27. walking rear-wheel hubs
28. walking trailing wheel enclosing covers
29. 6 side's snap rings
30. walking trailing wheel inner caps
31. flange
32. pads
33. grass-removing robot chassis
The bearing of 34. guide pillars
35. guide pillars
36. vertical axles
37. horizontal axostylus axostyles
38. annular disks
39. perforation
40. lateral wheel lines
41. studs
embodiment:
Below in conjunction with Fig. 1,2 and embodiment patent of the present invention is further illustrated.
The mechanical structure device of intelligent grass-removing robot of the present invention, comprises grass-removing robot chassis, travel driving unit, cutting height-adjustment device of grass.
Travel driving unit comprises two drive motors, 11, two decelerators 10, two walking trailing wheel and a universal front-wheel.Described cutting height-adjustment device of grass comprises screw-nut mechanism, gripper shoe 2, three each and every one guide pillar 35, three guide column sleeves 1 and three mowing subsystems and formed.Described mowing subsystem is made up of three mowing motors, 6, three cutterheads 12 and three mowing blades 14.
The travel driving unit of intelligent grass-removing robot, comprises two drive motors, 11, two decelerators, 10, two pads, 32, two flange 31, two walking trailing wheel.Drive motors 11 is connected with decelerator 10, then is connected with walking trailing wheel with flange 31 by pad 32 by decelerator 10, namely by the rotation of drive motors 11, drive decelerator 10 to rotate, and the output shaft of decelerator 10 drives walking trailing wheel to move.The mounting structure of described travel driving unit is: described drive motors and decelerator are horizontally fixed on grass-removing robot chassis 33.
The universal wheel of this intelligent grass-removing robot, comprises the structures such as universal wheel tire 23, universal wheel inner cap 22, universal wheel enclosing cover 26, universal wheel wheel shaft 18, fixing universal wheel wheel shaft.Universal wheel wheel shaft 18 plays the fixing effect of horizontal axis by six square shaft covers 24, short sleeve 25 and circlip 3 acting in conjunction; Universal wheel wheel shaft 18 has 2 to projection, its effect be used to locate; On the vertical direction of universal wheel wheel shaft 18, be stuck in snap ring 20 in the projection of universal wheel wheel shaft 18, prevent from falling due to Action of Gravity Field; On snap ring 20, there is thrust thrust bearing 21, its objective is to bear axial force; Spring base 17 is housed on thrust thrust bearing 21 be used for blocking spring 16, its effect is in order to vibration damping; Increase a major axis cover 9 and can play location and protection axle; Universal wheel wheel shaft 18 arranges groove, fixes the movement of vertical direction with circlip 3.The mounting structure of described universal wheel is: be fixed on grass-removing robot chassis 33 by trapezoidal cover 19.
The cutting height-adjustment device of grass of this intelligent grass-removing robot, comprises screw-nut body, gripper shoe 2, three guide pillars 35, three guide column sleeves 1 and three grass-mowings and formed.Three mowing motors 11 are in gripper shoe 2, and screw 9 is bottom gripper shoe 2, and manually control handle 4, makes leading screw 7 rotate, thus drive screw 9 to do linear reciprocating motion.Meanwhile, also can promote gripper shoe 2 and do linear reciprocating motion.In addition, three mowing motors 11 drive cutterhead 12 and mowing blade 14 both can do linear reciprocating motion, can do high-speed rotation again, thus reach the object regulating mowing blade 14 terrain clearance and mowing.The mounting structure of described cutting height-adjustment device of grass is: whole mowing regulates height devices to be fixed on grass-removing robot chassis 33.
this example has following architectural feature:
1., in the travel driving unit of intelligent grass-removing robot, walking trailing wheel overlaps 24 by walking trailing wheel enclosing cover 28, rear-wheel hub 27, six square shaft, trailing wheel inner cap 30 of walking formed.Be connected with the output shaft of decelerator 10 with six square shaft covers 24, and the output shaft of decelerator 10 is designed to six square shafts, can prevent axial rotation like this.
2., in the universal wheel of intelligent grass-removing robot, universal wheel enclosing cover 26 embeds universal wheel tire 23.When dismounting, with the screw at the lower tiger's jaw place of screwdriver sled, so just can disassemble.The material of universal wheel tire 23 adopts plastic material, and this structure creates by Sheet Metal Forming Technology.Universal wheel tire 23 is designed with wheel line above, can be conducive to increasing the frictional force with ground like this, also plays the effect reducing tire and make an uproar to a certain extent.On universal wheel wheel shaft 18 vertical direction, have 1 to projection, fix with snap ring 20, can prevent structure above from falling due to Action of Gravity Field.
3., in the cutting height-adjustment device of grass of intelligent grass-removing robot, transmit motion and power by the engagement of leading screw 7 and screw 9.Screw-nut mechanism itself has auto-lock function, can prevent screw 9 free-falling due to Action of Gravity Field like this, thus causes the adjustment failure of height.
4., in the cutting height-adjustment device of grass of intelligent grass-removing robot, leading screw 7 and the type selecting of screw 9, all select 30 degree of trapezoidal screws 7 of MiSUMi company.The compact two sides of 30 degree of trapezoidal screw nuts 9 adopts the flange cutting into diapsid.The length of leading screw 7 can make further change according to the altitude range heightened.
5., in the cutting height-adjustment device of grass of intelligent grass-removing robot, leading screw 7 needs specific customization.In order to make knob 4 that leading screw 7 can be driven to rotate, so when designing leading screw 7, need, in the junction of leading screw 7 with knob 4, leading screw 7 to be milled out two flat positions.Meanwhile, when designing knob 4, also needing to mill out two flat positions, to prevent it, radial rotating occurring.
6. in the cutting height-adjustment device of grass of intelligent grass-removing robot, the material of knob 4 is plastics, selects engineering plastics ABS material, and it has the features such as easy processing, product size is stable, lustrous surface is good.Need by Mould Machining, according to Mould Machining feature, specially requiring its design thickness should uniformity as much as possible.At the more weak place of intensity, floor or reinforcing plate structure can be increased, to improve intensity.
7., in the cutting height-adjustment device of grass of intelligent grass-removing robot, gripper shoe 2 plays the effect supporting grass-mowing.For this reason, higher requirement should be had to the design strength of gripper shoe 2, rigidity and selection.In gripper shoe 2, the effect of stiffened panel is: the strength and stiffness improving gripper shoe 2.In order to Fixed Nut 9, below gripper shoe 2, be designed with boss location, to prevent the rotation of screw 9, screw 9 can only be kept to do linear reciprocating motion.
8., in the cutting height-adjustment device of grass of intelligent grass-removing robot, design guide pillar 35 is to support gripper shoe 2 better; Guide pillar with guide pin bushing 1 be make gripper shoe 2 can realize better being connected with guide pillar 35.When process support plate 2, the guide pin bushing 1 of guide pillar is directly embedded in gripper shoe 2.Guide pillar 35 has groove structure, check ring 3 is arranged on the fluted shaft of guide pillar 35, be used for fixing guide pillar 35, and make it axially move.
9., in the cutting height-adjustment device of grass of intelligent grass-removing robot, design guide pin bushing 1 is to protect guide pillar 35, to prevent the Fast Wearing of guide pillar 35.During use, only need change guide pin bushing 1, can be greatly cost-saving.
10., in the cutting height-adjustment device of grass of intelligent grass-removing robot, when design screw set 5 is to make knob 4 be screwed into extreme higher position, whole height-regulating device can not be made to move upward again, and what this ensures that there height-regulating device heightens scope.
11. in the cutting height-adjustment device of grass of intelligent grass-removing robot, design leading screw with guide pin bushing 5 be to make leading screw 7 have better connection with grass-removing robot chassis 33, simultaneously also prevent mowing chip from directly entering into grass-removing robot inside, thus affect it and normally work.
12. in the cutting height-adjustment device of grass of intelligent grass-removing robot, and mowing motor 6 is fixed by bolts in gripper shoe 2.Cutterhead 12 and mowing blade 14 are in bottom, grass-removing robot chassis 33.Grass-removing robot chassis 33 is equipped with 5 boss, respectively: two for the connection of the guide pin bushing 1 in guide pillar with chassis 33, one for leading screw with the connecting of guide pin bushing 5 and chassis 33, two protections for cutterhead 12.For this reason, also need on the boss of protection chassis cutterhead 12, to be added with sealing ring, with the inside preventing grass bits from directly entering grass-removing robot.
13. in the cutting height-adjustment device of grass of intelligent grass-removing robot, needs to bore an aperture, with holding screw 13 fixation cutter head 12, do radial motion to prevent cutterhead 12 at the output shaft of mowing motor 6 and the junction of cutterhead 12.Cutterhead 12 has fixedly come with hex bolts 15 with mowing blade 14, does axially-movable to prevent cutterhead 12.
Claims (5)
1. a mechanical structure device for intelligent grass-removing robot, is characterized in that: comprise grass-removing robot chassis, be located at travel driving unit on chassis and cutting height-adjustment device of grass; Described travel driving unit comprises two drive motors, the decelerator be connected with motor respectively, two walk trailing wheel and one that are connected with decelerator are respectively positioned at the universal front-wheel of front portion, chassis; Described universal front-wheel comprises universal wheel inner cap and the universal wheel enclosing cover that Horizontal U-shaped universal wheel wheel shaft, universal wheel tire and lid are located at universal wheel tire both sides; Described Horizontal U-shaped universal wheel wheel shaft top is provided with the vertical axles be connected with chassis, and the dead eye covered in Horizontal U-shaped universal wheel wheel shaft lower horizontal axostylus axostyle and universal wheel and the axle hole of universal wheel enclosing cover inside are connected; Described cutting height-adjustment device of grass comprises the gripper shoe of drive lead screw and the upper and lower reciprocal lifting in relative chassis of rotating relative to original place, chassis, described drive lead screw coordinates with the screw transmission be fixedly mounted in the middle part of gripper shoe, the all sidepieces of gripper shoe are provided with three groups of mowing motors, mowing motor lower end is connected with rotation mowing blade, gripper shoe week, side was provided with guide pin bushing, and guide pin bushing is placed on and is fixed on the guide pillar on chassis.
2. the mechanical structure device of intelligent grass-removing robot according to claim 1, it is characterized in that: described universal wheel enclosing cover inner wheel axis hole and universal wheel inner cap dead eye concentric, six square shaft cover and short sleeves are equipped with at universal wheel wheel shaft lower horizontal shaft rod upper sleeve, six square shaft covers are nested with in the endoporus of universal wheel tire, universal wheel inner cap and universal wheel enclosing cover are fixedly located at the both sides of universal wheel tire, short sleeve side and six square shafts overlap fits, and opposite side is at the flexible back-up ring of horizontal shaft rod upper sleeve.
3. the mechanical structure device of intelligent grass-removing robot according to claim 1; it is characterized in that: described Horizontal U-shaped universal wheel wheel shaft vertical axles is provided with a pair projection; projection is provided with snap ring; thrust thrust bearing is provided with above described snap ring; above thrust thrust bearing, installation sleeve has spring base and spring; the major axis cover of protection vertical axles is housed above spring, and described thrust bearing, spring base, spring and major axis cover is all enclosed within the vertical axles of Horizontal U-shaped universal wheel wheel shaft upper end.
4. the mechanical structure device of intelligent grass-removing robot according to claim 1, is characterized in that: described chassis lower surface is provided with the annular disk being positioned at and rotating mowing blade periphery, and the periphery of described annular disk is laid with perforation.
5. the mechanical structure device of intelligent grass-removing robot according to claim 1, it is characterized in that: described universal wheel surface of tyre is provided with lateral wheel line, to increase the frictional force with ground, described universal wheel surface of tyre is densely covered with stud.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410179764.1A CN103999627B (en) | 2014-04-30 | 2014-04-30 | The mechanical structure device of intelligent grass-removing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410179764.1A CN103999627B (en) | 2014-04-30 | 2014-04-30 | The mechanical structure device of intelligent grass-removing robot |
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| CN103999627A CN103999627A (en) | 2014-08-27 |
| CN103999627B true CN103999627B (en) | 2015-09-09 |
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| CN201410179764.1A Expired - Fee Related CN103999627B (en) | 2014-04-30 | 2014-04-30 | The mechanical structure device of intelligent grass-removing robot |
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| CN107278496A (en) * | 2016-04-01 | 2017-10-24 | 苏州宝时得电动工具有限公司 | Grass-mowing machine |
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| CN106342469B (en) * | 2016-10-28 | 2019-03-22 | 洛阳理工学院 | A kind of intelligent grass-removing |
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| CN108391501B (en) * | 2018-01-26 | 2020-05-29 | 江苏科技大学 | Automatic lifting device for cutting knife of riding type mower |
| CN108973527A (en) * | 2018-07-26 | 2018-12-11 | 芜湖市越泽机器人科技有限公司 | A kind of robotically-driven caster device of wear-resisting type |
| CN109258061B (en) * | 2018-09-10 | 2020-09-08 | 安徽灵翔智能机器人技术有限公司 | Intelligent mower with autonomous walking function |
| CN112673798B (en) * | 2020-12-20 | 2022-03-08 | 梅里科技(广州)有限公司 | Novel mower |
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| CN103999627A (en) | 2014-08-27 |
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