CN109258061A - A kind of intelligent grass-removing with autonomous function - Google Patents
A kind of intelligent grass-removing with autonomous function Download PDFInfo
- Publication number
- CN109258061A CN109258061A CN201811051868.9A CN201811051868A CN109258061A CN 109258061 A CN109258061 A CN 109258061A CN 201811051868 A CN201811051868 A CN 201811051868A CN 109258061 A CN109258061 A CN 109258061A
- Authority
- CN
- China
- Prior art keywords
- wall
- motor
- axially
- intelligent grass
- driving mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D69/00—Driving mechanisms or parts thereof for harvesters or mowers
- A01D69/02—Driving mechanisms or parts thereof for harvesters or mowers electric
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D69/00—Driving mechanisms or parts thereof for harvesters or mowers
- A01D69/06—Gearings
Abstract
The invention discloses a kind of intelligent grass-removings with autonomous function, including body, driving mechanism and speed adjusting gear, driving mechanism is fixedly installed on the inner wall of the body, the both ends of the driving mechanism are axially connected with driving wheel, the two sides of body are arranged in the driving wheel, the right end of the driving mechanism is axially connected with movable motor, the axial end of the movable motor is connected with mowing motor, the mowing motor is axially mounted on the inner wall of body, the front of the body is also axially connected with Steering Wheel, the drive end axle of the Steering Wheel is to being connected with speed adjusting gear, the speed adjusting gear is fixedly mounted on the inner wall of body, the driving mechanism that driving mechanism and Design of Steering Mechanism are integrated, robot ambulation speed control and steering can be achieved, whole device turning is very flexible, no-radius turning can be achieved, it is meeting Avoidance easy to accomplish when to barrier has more avoiding spaces so that intelligent grass-removing structure is more compact.
Description
Technical field
The present invention relates to intelligent grass-removing field, specially a kind of intelligent grass-removing with autonomous function.
Background technique
With the construction and development of Chinese Urbanization, it can all increase in urban afforestation largely put into every year, and lawn
Indispensable vegetable material the most in afforestation even more lives region in resident and urban afforestation region is taken on emphatically
The role wanted.But the lawn beauty that its own must keep it certain again while bringing green man-made environment and
Growing height, thus need to inject a large amount of man power and material and safeguard.In developed countries, the plantation on house lawn and
Maintenance is local legislative requirements, thus entire lawn maintenance is mechanical and industry development it is preferable, and China this just
Starting.For public lawn, often regularly safeguarded by the staff of environmental sanitation department, but for the courtyard of family, then need
It wants artificial to be safeguarded, as labor cost increasingly increases, will all become a no small spending for family, such as
Fruit family oneself buys traditional mowing machine equipment, and becomes a time-consuming and laborious job.Traditional mowing apparatus technology compared with
For backwardness, according to related data statistics, it is lagged behind the industries such as existing automobile, lathe 20 years or so, therefore needs a to substitute
The appearance of artificial and traditional grass trimmer, here it is intelligent grass-removing robots.
For example, patent name is a kind of grass-removing robot and intelligent grass-removing robot application No. is 201810151151.5
Patent of invention:
Its purpose is to provide a kind of grass-removing robot and intelligent grass-removing robots, to alleviate in the prior art due to walking
Power and mowing power increase manufacturing cost, increase the problem of energy consumption independently of each other.
But the existing intelligent grass-removing with autonomous function has the following deficiencies:
(1) current intelligent grass-removing, using three-wheel control mechanism, and Steering Wheel and driving wheel are that misfortune is closed, that is, are grasped
The steering of steering wheel is driven driving wheel control, in this way caused by towards error will be greater than driving wheel and Steering Wheel separation the case where, lead
Cause the position error of grass trimmer larger, mowing low efficiency；
(2) current intelligent grass-removing, steering mechanism and driving mechanism are to separate the design that begins, whole device structure ratio
More complex, volume is also huger, repairs more troublesome.
Summary of the invention
In order to overcome the shortcomings of that prior art, the present invention provide a kind of intelligence mowing with autonomous function
Machine can effectively solve the problem of background technique proposes.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of intelligent grass-removing with autonomous function, including body, driving mechanism and speed adjusting gear, the body
Inner wall on be fixedly installed with driving mechanism, the both ends of the driving mechanism are axially connected with driving wheel, the driving wheel setting
In the two sides of body, the right end of the driving mechanism is axially connected with movable motor, and the axial end of the movable motor is connected with
Mowing motor, the mowing motor are axially mounted on the inner wall of body, and the front of the body is also axially connected with Steering Wheel,
The drive end axle of the Steering Wheel is fixedly mounted on the inner wall of body to speed adjusting gear, the speed adjusting gear is connected with.
Further, the driving mechanism includes U-shaped frame, wheel shaft and bevel gear, and the wheel shaft, which runs through, is connected to U-shaped frame
On inner wall, the both ends of the wheel shaft and drive shaft are also axial on the outer wall of the wheel shaft to be connected with spur gear to connection, described
The right end of U-shaped frame is arranged in spur gear, and the middle part of the wheel shaft is also axially connected with bevel gear, and the bevel gear is arranged U-shaped
The inside of frame is axially connected with fixedly connected part by deep groove ball bearing on the inner wall of the U-shaped frame, the fixedly connected part
It is provided with rack connector on outer wall, it is ratcheting on the outer wall of the rack connector to be connected with rack gear, the other end of the rack gear
It is ratcheting to be connected on the outer wall of bevel gear.
Further, the lower part of the fixedly connected part is fixedly installed with support arm, in the upper inside walls of the support arm
It is fixedly installed with driving motor, the axial end of the driving motor is axially connect with fixedly connected part, the lower part of the support arm
It is fixedly installed with support frame, the lower part of support frame as described above is fixedly connected with body, and axially connection is organic for the right end of support frame as described above
Body connecting bolt.
Further, the lower part of support frame as described above is also fixedly installed with attitude regulation motor, the attitude regulation motor
Lower part is fixedly mounted on the inner wall of body, and the right end of the attitude regulation motor is axially connect by transmission shaft with support arm,
The right side of the attitude regulation motor is connected with reel by shaft axial end.
Further, the speed adjusting gear includes that price fixing, interior colored tooth, outer colored tooth and Moving plate, the price fixing are fixedly mounted on
On the inner wall of body, the right side of the price fixing, to Moving plate is connected with, passes through interior flower on the inner wall of the Moving plate by pitman shaft
Tooth shaft is axially connected with retarder to retarder drive shaft, the right side of the retarder drive shaft is connected with, and the retarder drives
By outer colored tooth and the ratcheting connection of Moving plate on the outer wall of moving axis, the right side of the retarder is axially connected with stepper motor.
Further, the outside of the stepper motor is fixedly installed with flange form axle sleeve, the flange form by motor cabinet
The top of axle sleeve is fixedly connected with body inner wall, and the motor cabinet is arranged on the inner wall of flange form axle sleeve.
Further, the right side of the retarder is fixedly installed with fastening rear cover by seal washer, after the fastening
The right side of lid is fixedly connected with body, is fixedly connected by pin shaft with price fixing inner wall on the inner wall of the body.
Further, the outer wall of the outer colored tooth is tightly connected by sealing O ring and Moving plate inner wall.
Compared with prior art, the beneficial effects of the present invention are:
(1) intelligent grass-removing with autonomous function of the invention is turned to using drag-line steering mechanism and bevel gear
The advantages of mechanism, designs that precision is higher, structure is more compact, driving mechanism and steering mechanism in conjunction with the characteristics of driving mechanism
Robot ambulation can be realized by the speed and Steering Wheel progress differential control to two driving wheels in the driving mechanism of one
Speed control and steering, whole device turning is very flexibly, it can be achieved that no-radius turning, easy to accomplish when encountering barrier to keep away
Barrier；
(2) intelligent grass-removing with autonomous function of the invention, whole device structure be effectively saved space and
The overall weight for alleviating intelligent grass-removing reduces the overall dimensions of intelligent grass-removing, so that intelligent grass-removing structure is more
It is compact, there are more avoiding spaces.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is driving mechanism structure schematic diagram of the invention；
Fig. 3 is speed adjusting gear structural schematic diagram of the invention；
Fig. 4 is flange form axle sleeve structure schematic diagram of the invention.
Figure label:
1- body；2- driving mechanism；3- driving wheel；4- movable motor；5- mowing motor；6- Steering Wheel；7- speed adjusting gear；
201-U type frame；202- wheel shaft；203- spur gear；204- bevel gear；205- fixedly connected part；The connection of 206- rack gear
Part；207- rack gear；208- support arm；209- driving motor；210- support frame；211- attitude regulation motor；212- shaft；213-
Reel；214- transmission shaft；215- body connecting bolt；216- deep groove ball bearing；
701- price fixing；702- Moving plate；Flower tooth in 703-；Flower tooth outside 704-；705- retarder drive shaft；706- retarder；
707- stepper motor；708- fastens rear cover；709- flange form axle sleeve；710- motor cabinet；711- seals O ring；712- seal washer；
713- pin shaft.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figures 1 to 4, the present invention provides a kind of intelligent grass-removings with autonomous function, including body
1, driving mechanism 2 and speed adjusting gear 7 are fixedly installed with driving mechanism 2 on the inner wall of body 1, and the both ends of driving mechanism 2 axially connect
It is connected to driving wheel 3, the two sides of body 1 are arranged in driving wheel 3, and the right end of driving mechanism 2 is axially connected with movable motor 4, walking
The axial end of motor 4 is connected with mowing motor 5, and mowing motor 5 is axially mounted on the inner wall of body 1, the front of body 1 also axis
To Steering Wheel 6 is connected with, the drive end axle of Steering Wheel 6 is fixedly mounted on body 1 to speed adjusting gear 7, speed adjusting gear 7 is connected with
On inner wall.
In the present embodiment, using three-wheel mechanism, front-wheel is Steering Wheel 6, and rear two-wheeled is driving wheel 3, the benefit of this structure
Be: control is easy to accomplish, and by the speed and the progress differential control of Steering Wheel 6 to two driving wheels 3, robot row can be realized
Speed control and steering are walked, whole device turning is very flexibly, it can be achieved that no-radius turning, easy to accomplish when encountering barrier
Avoidance.
In the present embodiment, the effectively save space of whole device structure energy and the overall weight for mitigating intelligent grass-removing reduce
The overall dimensions of intelligent grass-removing have more avoiding spaces so that intelligent grass-removing structure is more compact.
In the present embodiment, the advantages of using drag-line steering mechanism and bevel-type reversing gear, in conjunction with the characteristics of driving mechanism,
Design that precision is higher, structure is more compact, the driving mechanism 2 of driving mechanism and steering mechanism one.
Driving mechanism 2 includes U-shaped frame 201, wheel shaft 202 and bevel gear 204, and wheel shaft 202, which runs through, is connected to U-shaped frame 201
On inner wall, the both ends of wheel shaft 202 are axially connect with driving wheel 3, also axial on the outer wall of wheel shaft 202 to be connected with spur gear 203, directly
The right end of U-shaped frame 201 is arranged in gear 203, and the middle part of wheel shaft 202 is also axially connected with bevel gear 204, and bevel gear 204 is arranged
It is connected with fixedly connected part 205 by the way that deep groove ball bearing 216 is axial on the inside of U-shaped frame 201, the inner wall of U-shaped frame 201, Gu
Determine to be provided with rack connector 206 on the outer wall of connector 205, it is ratcheting on the outer wall of rack connector 206 to be connected with rack gear
207, on the ratcheting outer wall for being connected to bevel gear 204 of the other end of rack gear 207.
In the present embodiment, U-shaped 201 lower end of frame is provided with bearing hole, matches with bearing outer ring, enable U-shaped frame 201 around
Support arm 208 rotate, be internally provided with a pair of of cone tooth, 204, for changing transmission direction and transmitting torque.
The lower part of fixedly connected part 205 is fixedly installed with support arm 208, is fixedly mounted in the upper inside walls of support arm 208
There is driving motor 209, the axial end of driving motor 209 is axially connect with fixedly connected part 205, and the lower part of support arm 208 is fixed
Support frame 210 is installed, the lower part of support frame 210 is fixedly connected with body 1, and the right end of support frame 210 axially connects organism
Connecting bolt 215, the lower part of support frame 210 are also fixedly installed with attitude regulation motor 211, the lower part of attitude regulation motor 211
It is fixedly mounted on the inner wall of body 1, the right end of attitude regulation motor 211 is axially connected by transmission shaft 214 with support arm 208
It connects, the right side of attitude regulation motor 211 is connected with reel 213 by 212 axial end of shaft.
In the present embodiment, body connecting bolt 215 is designed with the cylindric of taper, bolt can be made in compressed spring
Under effect, it is easy to which ground is inserted into the bellmouth of rack connector 205, while will not generate gap, so that U-shaped frame 201 and rack gear
It will not be shaken between connector 205, guarantee the precision of attitude regulation and the robust motion of grass trimmer.
In the present embodiment, the working principle of steering mechanism:
(1) when intelligent grass-removing needs to adjust posture, attitude regulation motor 211 drives reel 213 to rotate, until rack gear
Connector 206 pulls rack gear 207 to stop when engaging with spur gear 203, and the bolt being fixed on rack gear 207 at this time is detached from lock shape
State；
(2) driving motor 209 operates, and entire U-shaped frame 201 revolves under the drive of bevel gear wheel 204 around support arm 208
Turn, when going to required angle (generally 90 degree), driving motor 209 stops；
(3) antiport attitude regulation motor 211 stops when bolt 215, which is inserted into, to be latched, and turns to and completes.
In the present embodiment, support arm 208 primarily serves the effect of fixed driving motor 209, and construction profile is according to drive
For the outer dimension of dynamic motor 209 come what is designed, 208 inner space of support arm is used for cloth centrally-mounted driving 209, upper end and fixed company
Fitting 205 is connected, and lower end is connected with body 1, and side is connected with spring.
In the present embodiment, lower part and 208 phase of support arm of fixedly connected part 205 are fixed, and pass through bearing and U-shaped frame above
201 are connected, and outer edge equally spacedly arranges that there are four the holes with certain taper concentric with bearing hole, by matching with bolt
It closes, to determine the steering angle of intelligent grass-removing driving wheel 3.
In the present embodiment, setting has driving mechanism in each support arm 208 there are four support arm 208 to the inside of body 1 altogether
And steering mechanism, wherein attitude regulation motor 211 is located in body 1, and each support arm 208 is supported by two groups of extension springs, and
And in order to contact robotically-driven wheel 3 always with ground, spring is all in tensional state.
Speed adjusting gear 7 includes that price fixing 701, interior colored tooth 703, outer colored tooth 704 and Moving plate 702, price fixing 701 are fixedly mounted on machine
On the inner wall of body 1, the right side of price fixing 701, to Moving plate 702 is connected with, passes through interior flower on the inner wall of Moving plate 702 by pitman shaft
Tooth 703 is axial to be connected with retarder drive shaft 705, and the right side of retarder drive shaft 705 is axially connected with retarder 706, slows down
By outer colored tooth 704 and the ratcheting connection of Moving plate 702 on the outer wall of device drive shaft 705, the outer wall of outer colored tooth 704 passes through sealing O ring
711 are tightly connected with 702 inner wall of Moving plate, and the right side of retarder 706 is axially connected with stepper motor 707.
In the present embodiment, stepper motor 707 is mainly used to using the decelerating step motor of model 42BYG-48-36GP14B
Control stepping angle, maximum static torque, the stop frequency etc. of Moving plate.
The outside of stepper motor 707 is fixedly installed with flange form axle sleeve 709 by motor cabinet 710, flange form axle sleeve 709
Top is fixedly connected with 1 inner wall of body, and motor cabinet 710 is arranged on the inner wall of flange form axle sleeve 709, the right side of retarder 706
Face is fixedly installed with fastening rear cover 708 by seal washer 712, and the right side of fastening rear cover 708 is fixedly connected with body 1, body 1
Inner wall on be fixedly connected by pin shaft 713 with 701 inner wall of price fixing.
In the present embodiment, speed adjusting gear 7 cooperates the speed regulating structure of 702 formula of Moving plate using price fixing 701, and Moving plate 702 uses pin
Axis is fixed on body 1, and easy for installation simple, Moving plate 702 is internally provided with the throttle orifice of pyramidal structure, Moving plate 702 and price fixing
701 orifice angles are consistent, played the effect of throttle grverning disk to greatest extent, and Moving plate 702 is driven using stepper motor 707
Dynamic, the pulse signal that can use the sending of mileage wheel when close to defective locations in this way makes stepper motor 707 turn over certain angle
Degree controls the position of Moving plate 702 and 701 throttle orifice of price fixing, and turning over appropriate angle can make between Moving plate 702 and price fixing 701
Flow throughput it is maximum, the sealing of retarder drive shaft 705 is sealed using sealing O ring 711,707 rear end of stepper motor peace
Dress part is sealed using seal washer cooperation rear end cap, and stepper motor 707 uses spiral shell by the motor cabinet 710 of gusseted
Nail is mounted among body 1, and gusseted can guarantee preferable concentricity, stepper motor 707 by inside and outside colored toothing come
The rotation for controlling Moving plate 702, to control the revolving speed of Steering Wheel 6.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (8)
1. a kind of intelligent grass-removing with autonomous function, including body (1), driving mechanism (2) and speed adjusting gear (7),
It is characterized by: being fixedly installed with driving mechanism (2) on the inner wall of the body (1), the both ends of the driving mechanism (2) are axial
It is connected with driving wheel (3), the driving wheel (3) is arranged in the two sides of body (1), and the right end of the driving mechanism (2) axially connects
It is connected to movable motor (4), the axial end of the movable motor (4) is connected with mowing motor (5), and the mowing motor (5) is axial
It is mounted on the inner wall of body (1), the front of the body (1) is also axially connected with Steering Wheel (6), the Steering Wheel (6)
To being connected with speed adjusting gear (7), the speed adjusting gear (7) is fixedly mounted on the inner wall of body (1) drive end axle.
2. a kind of intelligent grass-removing with autonomous function according to claim 1, it is characterised in that: the driving
Mechanism (2) includes U-shaped frame (201), wheel shaft (202) and bevel gear (204), and the wheel shaft (202), which is run through, is connected to U-shaped frame
(201) on inner wall, the both ends of the wheel shaft (202) are axially connect with driving wheel (3), on the outer wall of the wheel shaft (202) also
Axially be connected with spur gear (203), the spur gear (203) setting U-shaped frame (201) right end, in the wheel shaft (202)
Portion is also axially connected with bevel gear (204), and the bevel gear (204) is arranged in the inside of U-shaped frame (201), the U-shaped frame
(201) it is axially connected with fixedly connected part (205) on inner wall by deep groove ball bearing (216), the fixedly connected part (205)
Outer wall on be provided with rack connector (206), it is ratcheting on the outer wall of the rack connector (206) to be connected with rack gear (207),
On the ratcheting outer wall for being connected to bevel gear (204) of the other end of the rack gear (207).
3. a kind of intelligent grass-removing with autonomous function according to claim 2, it is characterised in that: the fixation
The lower part of connector (205) is fixedly installed with support arm (208), is fixedly installed in the upper inside walls of the support arm (208)
The axial end of driving motor (209), the driving motor (209) is axially connect with fixedly connected part (205), the support arm
(208) lower part is fixedly installed with support frame (210), and the lower part of support frame as described above (210) is fixedly connected with body (1), described
Axially connection organism connecting bolt (215) of the right end of support frame (210).
4. a kind of intelligent grass-removing with autonomous function according to claim 3, it is characterised in that: the support
The lower part of frame (210) is also fixedly installed with attitude regulation motor (211), the fixed peace in the lower part of the attitude regulation motor (211)
On the inner wall of body (1), the right end of the attitude regulation motor (211) passes through transmission shaft (214) and support arm (208) axis
To connection, the right side of the attitude regulation motor (211) is connected with reel (213) by shaft (212) axial end.
5. a kind of intelligent grass-removing with autonomous function according to claim 1, it is characterised in that: the speed regulation
Mechanism (7) includes price fixing (701), interior colored tooth (703), outer colored tooth (704) and Moving plate (702), and the price fixing (701) is fixedly mounted
On the inner wall of body (1), the right side of the price fixing (701) is by pitman shaft to being connected with Moving plate (702), the Moving plate
(702) it is axially connected with retarder drive shaft (705) on inner wall by interior colored tooth (703), the retarder drive shaft (705)
Right side be axially connected with retarder (706), by outer colored tooth (704) and dynamic on the outer wall of the retarder drive shaft (705)
The right side of disk (702) ratcheting connection, the retarder (706) is axially connected with stepper motor (707).
6. a kind of intelligent grass-removing with autonomous function according to claim 5, it is characterised in that: the stepping
The outside of motor (707) is fixedly installed with flange form axle sleeve (709) by motor cabinet (710), the flange form axle sleeve (709)
Top is fixedly connected with body (1) inner wall, and the motor cabinet (710) is arranged on the inner wall of flange form axle sleeve (709).
7. a kind of intelligent grass-removing with autonomous function according to claim 5, it is characterised in that: the deceleration
The right side of device (706) is fixedly installed with fastening rear cover (708), the right side of fastening rear cover (708) by seal washer (712)
Side is fixedly connected with body (1), is fixedly connected by pin shaft (713) with price fixing (701) inner wall on the inner wall of the body (1).
8. a kind of intelligent grass-removing with autonomous function according to claim 5, it is characterised in that: the outer flower
The outer wall of tooth (704) is tightly connected by sealing O ring (711) and Moving plate (702) inner wall.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811051868.9A CN109258061B (en) | 2018-09-10 | 2018-09-10 | Intelligent mower with autonomous walking function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811051868.9A CN109258061B (en) | 2018-09-10 | 2018-09-10 | Intelligent mower with autonomous walking function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109258061A true CN109258061A (en) | 2019-01-25 |
| CN109258061B CN109258061B (en) | 2020-09-08 |
Family
ID=65188464
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811051868.9A Active CN109258061B (en) | 2018-09-10 | 2018-09-10 | Intelligent mower with autonomous walking function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109258061B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021073587A1 (en) * | 2019-10-18 | 2021-04-22 | 南京德朔实业有限公司 | Autonomously moving lawn mowing system, autonomously moving lawn mower and outdoor autonomously moving device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB929500A (en) * | 1959-08-24 | 1963-06-26 | Sunbeam Corp | Self-propelled lawn mower |
| CN101100058A (en) * | 2006-07-07 | 2008-01-09 | 南京理工大学 | Intelligent grass-removing robot |
| CN103999627A (en) * | 2014-04-30 | 2014-08-27 | 福州大学 | Mechanical structure device of intelligent mowing robot |
| CN203934335U (en) * | 2014-06-30 | 2014-11-12 | 河北机电职业技术学院 | A kind of intelligent grass-removing |
| CN108401642A (en) * | 2018-03-02 | 2018-08-17 | 宁波大叶园林设备股份有限公司 | With the hay mower for driving double universal wheels in front of motorized speed reducer to the left and right |
-
2018
- 2018-09-10 CN CN201811051868.9A patent/CN109258061B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB929500A (en) * | 1959-08-24 | 1963-06-26 | Sunbeam Corp | Self-propelled lawn mower |
| CN101100058A (en) * | 2006-07-07 | 2008-01-09 | 南京理工大学 | Intelligent grass-removing robot |
| CN103999627A (en) * | 2014-04-30 | 2014-08-27 | 福州大学 | Mechanical structure device of intelligent mowing robot |
| CN203934335U (en) * | 2014-06-30 | 2014-11-12 | 河北机电职业技术学院 | A kind of intelligent grass-removing |
| CN108401642A (en) * | 2018-03-02 | 2018-08-17 | 宁波大叶园林设备股份有限公司 | With the hay mower for driving double universal wheels in front of motorized speed reducer to the left and right |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021073587A1 (en) * | 2019-10-18 | 2021-04-22 | 南京德朔实业有限公司 | Autonomously moving lawn mowing system, autonomously moving lawn mower and outdoor autonomously moving device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109258061B (en) | 2020-09-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208798406U (en) | A kind of landscape flowers cultivation box | |
| CN209403131U (en) | A kind of gardens vertical greening system | |
| CN109258061A (en) | A kind of intelligent grass-removing with autonomous function | |
| CN206296909U (en) | The wing motion and the robot with it of robot | |
| CN208207594U (en) | Numerical control Landscaping flower | |
| CN107814050A (en) | A kind of unmanned plane is used with the storage device for serving as launching platform function | |
| CN208652072U (en) | A kind of vertical advertising machine easy to remove | |
| CN107120300A (en) | It is a kind of can up and down and the flooring fan that swings | |
| CN201195145Y (en) | Stepper motor driven radial swinging nozzle | |
| CN106963189A (en) | A kind of competitive exhibition frame | |
| CN110000017A (en) | A kind of variable spray angle formula Irrigation shower head of reading intelligent agriculture self power generation | |
| CN208821788U (en) | Open-close type lotus moulding flowerpot exhibition booth | |
| CN216943500U (en) | Bionic jellyfish robot | |
| CN206937316U (en) | Modular construction robot | |
| CN203661720U (en) | Greenhouse ventilation device | |
| CN207469878U (en) | A kind of tent and its liftable support | |
| CN110303486A (en) | It is a kind of can multi-angle rotary mechanical arm | |
| CN206903550U (en) | A kind of intelligent opening shutter | |
| CN214016195U (en) | Petal opening and closing device | |
| CN110053758B (en) | Unmanned aerial vehicle horn folding mechanism and unmanned aerial vehicle thereof | |
| CN207212718U (en) | Fan head angle regulator and fan | |
| CN212971070U (en) | Afforestation spray set | |
| CN206072249U (en) | A kind of wound membrane machine | |
| CN211064492U (en) | Virescence field spraying device for landscaping engineering | |
| CN208462326U (en) | A kind of Chinese garden planting drilling device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230427 Address after: 241000 No. 73, beigeng natural village, yuewan administrative village, Hongyang Town, Wuhu County, Wuhu City, Anhui Province Patentee after: Chen Yaping Address before: 241000 building 37, standardized workshop, East District, Xinwu Economic Development Zone, Wuhu County, Wuhu City, Anhui Province Patentee before: ANHUI LINGXIANG INTELLIGENT ROBOT TECHNOLOGY Co.,Ltd. |
|
| TR01 | Transfer of patent right |