CN109348831A - A kind of automatic profiling grass trimmer suitable for orchard landform - Google Patents
A kind of automatic profiling grass trimmer suitable for orchard landform Download PDFInfo
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- CN109348831A CN109348831A CN201811020261.4A CN201811020261A CN109348831A CN 109348831 A CN109348831 A CN 109348831A CN 201811020261 A CN201811020261 A CN 201811020261A CN 109348831 A CN109348831 A CN 109348831A
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- connecting plate
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- rod electric
- motor
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/73—Cutting apparatus
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/76—Driving mechanisms for the cutters
- A01D34/78—Driving mechanisms for the cutters electric
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/82—Other details
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D75/00—Accessories for harvesters or mowers
Abstract
The invention belongs to agricultural machinery technological fields, are related to a kind of automatic profiling grass trimmer suitable for orchard landform.The grass trimmer ceding of Taiwan application flexibility mechanism carries out the flexible operation effectiveness for reaching angle adjustment and profiling and mowing by the active telescoping mechanism being equipped with inside the ceding of Taiwan.Using caterpillar chassis, there is good adaptability for orchard landform.The ceding of Taiwan, which is placed in front of carrier, carries out trifilar suspension connection, and ceding of Taiwan height can be adjusted according to the active telescoping mechanism for being placed in carrier.Telescoping mechanism is housed to adjust cutter angle and reach best sliding cutting angle equipped with compliant mechanism and both ends inside header device.It is built-in to divide standing grain device to guide weeds to enter cutter motion range, it reduces leakage and cuts raising mowing quality.Grain lifter is installed, standing grain is being helped to protect cutter while reducing cutter minimum critical revolving speed.Equipped with scanning laser radar to obtain real-time terrain information and then obtain best mowing path and cutting scheme.
Description
Technical field
The invention belongs to agricultural machinery technological fields, specifically, being related to a kind of automatic profiling suitable for orchard landform
Grass trimmer.
Technical background
Mechanical development speed of mowing both at home and abroad at present is swift and violent, but mowing mechanical applications are mostly herbage harvesting in agricultural, grass
Level ground is repaired, and with the rise of environment protective plant protecting, scythe gradually occurs.
It is mechanical that domestic and international scythe mostly uses riding type large size to mow, the disadvantage is that dissected topography out-of-flatness, fuel is not
Environmental protection, it is more serious that phenomenon is cut in leakage.
Existing Chinese invention patent, from engaging wing lawn mower, application number: 201010207441.0, which passes through power
The pulley of input axis connection carries out rotation driving for two or three cutteves, and the height of two states can be carried out by mechanical structure
Degree is adjusted and grain cutting width carries out limited adjusting.
Existing Chinese invention patent, a kind of obstacle avoidance apparatus and its barrier-avoiding method of hillside orchard mower knife, application number:
201710813466.7, the grass trimmer uses hand steered advance, and speed is difficult to control, using ultrasonic wave and infrared facility into
Row avoidance is to protect cutter and operating personnel's safety, mowing height that can be controlled to a certain extent.The patent of invention institute
It states that sensor limitation is excessive, there are problems that a large amount of dead angles are difficult to really solve the production in reality, mowing speed is difficult to control,
Mowing quality is manually controlled by operator, and difference in quality is big, and total quality is bad, and due to needing manpower to support for operator
Member's physical fitness requirement and consuming are larger.
Existing Chinese invention patent, self-propelled scythe of accompanying, application number: 201610732324.3, the mowing
Machine drives grass-mowing using internal combustion engine using artificial hand steered advance, and then carries out the excision of weeds.The grass trimmer
Mowing height is not adjustable, not can be carried out profiling mowing equally, for the protection of cutter not in any form.
Existing Chinese invention patent, a kind of amplitude modulation scythe, application number: 201710243832.X, the mowing
Machine vertically hung scroll can be adjusted, and cutter is whole to carry out trifilar suspension with tractor, can be carried out mowing height tune to a certain extent
Section.The grass-mowing structure is complex, is not easy to progress mechanism and integrally overhauls, overall mechanism quality is larger, required driving
The energy is larger, not can be carried out the protection of profiling cutting operation not to a certain extent for cutter.
Summary of the invention
In order to solve under different terrain conditions, orchard profiling is mowed demand automatically, and present invention design is a to be suitable for orchard
The automatic profiling grass trimmer of landform, compared to the large-scale grass trimmer that traditional internal combustion engine is power, this grass trimmer has efficient, section
Can environmental protection, cut that stubble is uniform, highly-safe and intelligentized feature.
The specific technical solution that the present invention uses is as follows:
Automatic profiling grass trimmer is mainly made of three parts: header part, carrier portion and chassis coupling part.
Most of present invention first is header part.The header part includes optical axis connection pedestal, lifting push-rod electric machine
Connect pedestal, upper junction plate, universal shaft, push-rod electric machine connecting plate, universal shaft connecting plate, pose adjustment push-rod electric machine, posture tune
Whole push-rod electric machine pedestal, heat sink, motor securing plate, spring retaining tab, connecting plate for electric motor, acceleration attitude transducer, direct current
Motor, cutter, flanged joint pedestal, helps standing grain support device, nearside divider, universal wheel and front and back shield at shaft coupling.
Unthreaded hole processed on the upper junction plate, to connect pedestal and optical axis connection bottom with universal shaft, lifting push-rod electric machine
Seat carries out bolt and nut connection；Lifting push-rod electric machine connection pedestal and two optical axis connection pedestals are mounted on table on upper junction plate
Face arranges that lifting push-rod electric machine connection pedestal is located parallel on the center line of upper junction plate short side in isosceles triangle；Two
Universal shaft is mounted on upper junction plate lower surface, is arranged symmetrically along the center line for being parallel to upper junction plate short side.
The optical axis connection pedestal upper section has gap, and two side internal screw thread of gap is convenient pre- to compress or unclamp optical axis
If adjusting ceding of Taiwan initial angle.
The universal shaft is made of cast iron using heavy universal shaft, and universal shaft upper end is rigidly connected with upper junction plate,
Universal shaft lower end and universal shaft connecting plate are rigidly connected, and universal shaft is able to carry out the swing on horizontal and vertical direction.
The push-rod electric machine connecting plate is located at universal shaft connecting plate left and right sides edge, on unthreaded hole processed to connect with universal shaft
Fishplate bar carries out bolt and nut connection；Push-rod electric machine connecting plate lower surface connects pose adjustment push-rod electric machine, pose adjustment push rod electricity
It is equipped with pose adjustment push-rod electric machine pedestal below machine, is equipped with universal wheel below pose adjustment push-rod electric machine pedestal；Heat sink is located at
Universal shaft connecting plate down either side, heat sink top are connected with universal shaft connecting plate the right and left；Motor is connected below heat sink
Connecting plate.
The universal shaft connecting plate and connecting plate for electric motor are divided into bilateral symmetry both ends, and gap between two ends width need to be greater than plate
Thickness, prevents from impacting mutually when in order to fold, and a boss, unthreaded hole processed on boss, to connect with spring are respectively formed in two end plates
Contact pin is connected.
The universal shaft connecting plate is subject to middle line, the symmetrical threaded hole of two sides, on described two universal shafts part with it is upper
Connecting plate carries out bolt and nut connection, and downside is threadedly coupled with the threaded hole of the symmetric position on universal shaft connecting plate.
The two push-rod electric machines connecting plate, which is connected through a screw thread, is respectively arranged in universal shaft connecting plate both sides of the edge.
The two motors securing plate is arranged symmetrically between universal shaft connecting plate and connecting plate for electric motor, is located at two direct currents
Between motor, to reinforce the stability of the ceding of Taiwan.
Two edges outside portion splits threaded hole before and after the universal shaft connecting plate, to respectively with front protection cover, rear shield into
Row is threadedly coupled.
The heat sink vertical direction plane is set there are four small unthreaded hole, a big unthreaded hole, and large through-hole is located at heat sink centre bit
It sets, depending on four small unthreaded hole positions are with radiator fan position of positioning hole, it is therefore an objective to radiator fan be installed and heat is facilitated to be discharged.
The motor securing plate vertical direction is equipped with through-hole, adjusts push-rod electric machine driver, direct current to Installation posture
Machine driver and lifting push-rod electric machine driver.
The motor securing plate spaced position is determined by the driver size installed.
The connecting plate for electric motor is made of stainless steel, and connecting plate for electric motor two end surfaces of bilateral symmetry respectively install an acceleration
Attitude transducer respectively makes a unthreaded hole on connecting plate for electric motor bilateral symmetry both ends to install direct current generator, below direct current generator
Shaft coupling, flanged joint pedestal and cutter are successively installed from top to bottom.
It is described to help standing grain support device by helping standing grain support device installation end and standing grain support device end being helped to form, help standing grain branch
Support arrangement installation end is mounted on connecting plate for electric motor front end, helps on standing grain support device installation end be evenly equipped with and helps standing grain support device
End；It helps standing grain support device installation end to be located at motor to reinforce between version and boss, standing grain support device installation end is helped to be divided into bilateral symmetry
Both ends, gap between two ends are greater than the thickness for helping standing grain support device installation end.
The header part both ends folding angles range is by the spring retaining tab installation dimension and the boss unthreaded hole
The vertical range of center and universal shaft connecting plate upper surface determines that formula is as follows:
Wherein
H: spring retaining tab mounting height；
L: spring retaining tab installation point connect sheet separation median perpendicular distance with universal shaft；
S: spring retaining tab installation length；
α: ceding of Taiwan both ends maximum folded angle.
Q: spring retaining tab installation point to universal shaft connects sheet separation median perpendicular distance and spring retaining tab mounting height
Product；
K: spring retaining tab mounting height numerical value square is connect in sheet separation with spring retaining tab installation point to universal shaft
The sum of line vertical range numerical valu square.
It is described that standing grain support device installation end is helped to connect with the connecting plate for electric motor using bolt and nut, help standing grain support device to pacify
Dress end connecting pin is fixed on connecting plate for electric motor, using threaded connection.Help standing grain support device installation end outermost that can not protrude
Other than cutter track, lodge in advance to avoid weeds.
The attitude regulation push-rod electric machine uses stepping push-rod electric machine, and each side front and back is symmetrically installed two, specifically
Position is according to selected by angle of regulation range.
Using heavy universal wheel, purposes is mainly limited depth for the universal wheel.
The direct current generator is according to formula: M=9550*P/N
M: motor torque；
P: power of motor；
N: motor speed；
Type selecting carried out for direct current generator, the matched driver need of selected motor can monitor in real time and regulate and control motor speed and
Emergency brake.
It is corresponding that the direct current generator bottom end flange base unthreaded hole is connected to motor plate unthreaded hole, and the two carries out bolt and nut company
It connects.
The cutter specification is according to formula:
Va≤2πnr/60000
Va: linear velocity (m/s) on the outside of the cutter；
N: cutter revolving speed；
R: cutter radius；
Wherein: by mowing velocity interval: 30m/s~80m/s takes Va=40m/s, revolving speed to take n=3000r/min.It calculates
It is 127mm that cutter blade least radius, which can be obtained, to guarantee that cutting effect the invention patent takes 130mm, to guarantee to cut best effective
Fruit take cutter entire length be 310mm, from cutter radius 130mm to cutter radius 155mm place be have sword end, blade angle is
30°.The acceleration attitude transducer is to be transmitted to main control for ceding of Taiwan angle and ceding of Taiwan forward speed and acceleration
Device carries out calculating analysis, and signal output will be calculated after calculating, adjusts the lifting push-rod electric machine and four by output signal
The retracted position of a attitude regulation push-rod electric machine and car body forward travel state is adjusted.
The front and back shield is also divided into two sections of bilateral symmetry, has certain interval between two sections of shield bilateral symmetry, gap is wanted
Greater than the gap between universal shaft connecting plate bilateral symmetry both ends, simultaneously greater than between connecting plate for electric motor bilateral symmetry both ends
Gap.
The front and back shield is connected with universal shaft connecting plate and connecting plate for electric motor up and down respectively, and connection type is screw thread
Connection, it is therefore an objective to which preventing grass juice factor dust and other impurities from entering influences motor and associated electronic components damage.
The nearside divider is installed on connecting plate for electric motor lower surface and is located on connecting plate for electric motor long side middle line, nearside divider front end
Away from connecting plate for electric motor front end 2cm.
The nearside divider is divided into left and right ends, and left and right ends front end is overlapped, and left and right ends backend space is greater than motor company
Fishplate bar thickness, in steady state, left and right ends nearside divider front end keeps overlapping.
Most of present invention second is carrier portion, by caterpillar chassis, laser radar, laser radar pedestal and master control
Device composition processed.
The crawler belt of the caterpillar chassis is made using rubber, it is therefore an objective to convenient for travelling on orchard mountain topography.Due to carrying out
Belt chassis height is lower, is conducive to the stabilization in orchard mountain topography traveling.
The laser radar is placed in the caterpillar chassis front end, is connected with laser radar pedestal, and by obtained signal
It is transmitted to master controller and carries out relevant calculation, data after resolving are sent to DC motor driver by master controller.
The laser radar pedestal is placed in caterpillar chassis upper surface, above sets threaded hole, with caterpillar chassis upper surface
It is threadedly coupled.
The laser radar height should be higher than that header part is in height when raising completely, and external environment is avoided to influence to swash
Optical radar scanning；
The master controller is installed on inside caterpillar chassis.
The acceleration attitude transducer the data obtained is carried out analytical calculation by the master controller, obtains best order side
Case, and then order is transferred to pose adjustment push-rod electric machine driver and lifting push-rod electric machine driver, order each motor to do
It moves out.
Third of the present invention is largely chassis bindiny mechanism, by lifting push-rod electric machine, goes up and down push-rod electric machine connecting rod, connecting rod
And support plate composition.
The lifting push-rod electric machine both ends are connected on caterpillar chassis and upper junction plate, are connected to crawler type bottom
One end of disk is connected with the lifting push-rod electric machine connecting rod, and connection type is pin connection；It is connected to one end of upper junction plate
It connect pedestal with the upper junction plate upper push-rod motor to be attached, connection type is pin connection.
The lifting push-rod electric machine, which is stretched, controls the header part, and then controls to mowing height
System.
The support plate is installed on caterpillar chassis upper surface, and there are four dresses, the support plate two be one group, two groups it
Between using caterpillar chassis direction of advance middle line as axis, axisymmetricly；
The support plate installation site should prevent the support plate from exposing caterpillar chassis front end；
Two group distance of support plate is equal with optical axis connection pedestal spacing；
Unthreaded hole is set in the support plate, unthreaded hole position should make the connecting rod not carry out with caterpillar chassis when swinging
It hits, the support plate unthreaded hole built-in bearing.
There are four the connecting rod is installed altogether, it is respectively arranged at left and right sides of the ceding of Taiwan, side two.The connecting rod front end and institute
It states optical axis connection pedestal to be attached, be attached between the two by optical axis, the connecting rod and the optical axis connect pedestal
It is interference fit with optical axis.The rod rear end and the support plate carry out pin connection.
The invention patent is with the prior art main distinction:
(1) the invention patent is used only two motors and carries out rotation driving to two cutteves respectively, it means that an electricity
Although machine damage impacts operation effectiveness but not stops operation completely, at the same time since the presence of nearside divider to leak
It cuts phenomenon to mitigate significantly, even can not generate leakage under academic conditions and cut.
(2) exist and help standing grain support device, so that theoretical cut required minimum speed reduction, reduce cutting energy loss, increase
Strong cut quality.
(3) overall mechanism quality is smaller, facilitates carrying and maintenance.
(4) ceding of Taiwan can carry out angular adjustment appropriate, to reach optimal sliding cutting angle, and then reach optimum Cutting effect
Fruit.
(5) ceding of Taiwan can be folded to a certain degree, can be carried out profiling mowing to clinoform and plane landform simultaneously and be made
Industry.
The invention patent is equipped with compliant mechanism (universal shaft), is made mutually by compliant mechanism and attitude regulation push-rod electric machine
With, allow grass trimmer more complicated orchard landform carry out ground profiling cutting operation and to weeds carry out sliding cutting cut
It cuts.Equipped with standing grain support device and nearside divider is helped, the generation of phenomenon is cut to reduce minimum linear velocity and leakage needed for cutting.With
This is equipped with the mature laser radar and acceleration attitude transducer of current technology simultaneously, passes through the obtained figure of laser radar
As and the obtained data of acceleration attitude transducer carry out discriminance analysis processing so that mechanical acquirement optimal path of mowing,
A series of indexs such as cutter revolving speed, carrier speed are simultaneously controlled by this index.
The invention patent has the beneficial effect that:
The automatic profiling grass trimmer can effectively cut current hillside orchard landform weeds, due to helping standing grain support device
In the presence of the mechanical loss for effectively reducing mow required energy consumption and reduction mowing cutter；Correlated parts are mostly that standard component is effectively reduced
Cost is convenient for large-scale promotion；Patent largely uses compliant mechanism that mechanical structure integrally obtains the adaptability of landform
To being greatly improved.The invention patent symmetrically installs four additional in Working mechanism two sides on the basis using compliant mechanism simultaneously
Pose adjustment push-rod electric machine embodies compliant mechanism effect greatly, also in that this can be perfect to carrying out for landform
Shape cutting and regulating cutting angle are to reach optimal cut state.The invention patent is equipped with a point standing grain device simultaneously, thus
The quantity for reducing generation and cutter that leakage is cut, improves working effect while saving the energy.The invention patent cutting part
Certain angle folding can be carried out by dividing, and effective shape cutting can be carried out for certain complicated topographic structure, especially to slope
Corner weeds are cut with positive effect.Since the invention patent uses DC power supply as the energy completely, for local environment
After-burning gaseous contamination is not will cause.
Detailed description of the invention
Fig. 1 is grass trimmer overall schematic.
Fig. 2 is flexible linking device schematic diagram.
Fig. 3 is ceding of Taiwan schematic diagram.
Fig. 4 is direct current generator, direct current generator and support grain lifter assembling schematic diagram.
Fig. 5 is universal shaft connecting plate, push-rod electric machine connecting plate and heat sink assembling schematic diagram.
Fig. 6 is nearside divider schematic diagram.
Fig. 7 is pose adjustment push-rod electric machine schematic diagram.
Fig. 8 is chassis attachment device schematic diagram.
Fig. 9 is direct current generator cutter assembling schematic diagram.
Each explanatory notes: 101 caterpillar chassis, 102 chassis coupling parts, 103 header parts, 104 laser radar pedestals,
105 laser radars, 106 crawler belts, 201 upper junction plates, 202 universal shafts, 203 push-rod electric machines connection pedestal, 204 optical axises connect bottom
Standing grain support device end, 305 are helped in seat, 301 push-rod electric machine connecting plates, 302 pose adjustment push-rod electric machines, 303 universal wheels, 304
Help standing grain support device installation end, 306 universal shaft connecting plates, 307 nearside dividers, 401 direct current generator ring flanges, 402 acceleration postures
Sensor, 403 connecting plate for electric motor, 404 motor securing plates, 406 spring retaining tabs, 407 connecting plate for electric motor boss, 501 heat sinks,
502 radiator fan fixation holes, 503 heat sink connection screw threads, 504 universal shaft connecting plate left ends, 505 universal shaft connecting plate right ends,
506 universal shaft connecting plate boss, 601 nearside divider left ends, 602 nearside divider upper ends, 603 nearside divider lower ends, 604 nearside divider right ends,
605 nearside divider threaded holes, 701 pose adjustment push-rod electric machine pedestals, 702 pose adjustment push-rod electric machine tops, 801 connecting rods, 802 axis
It holds, 803 support plates, 804 lifting push-rod electric machine connecting rods, 805 lifting push-rod electric machines, 901 direct current generators, 902 shaft couplings, 903
Flanged joint pedestal, 904 cutteves.
Specific embodiment
Although the invention patent practising way is easily converted into other implementations, the invention patent describes one kind
Specific embodiment.It should be understood that the invention patent is disclosed is a kind of for showing the example of working principle, not
The invention patent is defined in this patent and shows special example.
The invention patent mechanical part is broadly divided into three parts: header part 103, carrier portion and chassis interconnecting piece
Divide 102.
The carrier portion is by caterpillar chassis 101, laser radar 105, laser radar pedestal 104 and master controller group
At.
The header part 103 is by optical axis connection pedestal 204, push-rod electric machine connection pedestal 203, upper junction plate 201, universal
Axis 202, push-rod electric machine connecting plate 301, universal shaft connecting plate 505, pose adjustment push-rod electric machine 302, heat sink 502, motor add
Solid plate 404, spring retaining tab 406, connecting plate for electric motor 403, acceleration attitude transducer 402, direct current generator 901, shaft coupling
902, flanged joint pedestal 903, cutter 904, help standing grain support device, nearside divider 307, universal wheel 303 and front and back shield composition.
To guarantee that grass trimmer operation in the mountain topography of orchard is stablized, wherein the carrier portion main body is caterpillar chassis
101, specific size size carries out Selection and Design by real work situation, and DC power supply is installed inside caterpillar chassis, with for
Required energy is driven to caterpillar chassis 101 and header part 103.
Scanning laser radar 106 is installed in 101 upper surface of caterpillar chassis, to guarantee to scan effect, scanning laser radar 106
On laser radar pedestal 104, so that scanning surface height is higher than support plate 803, the ceding of Taiwan in work is avoided to block scanning model
It encloses.
Master controller, the feedback such as scanning laser radar 106, acceleration attitude transducer 402 are housed inside the chassis 101
Signal is directly inputted into master controller inside caterpillar chassis, calculate analysis for order output to master by master controller
Go up and down push-rod electric machine driver, pose adjustment push-rod electric machine driver and DC motor driver.
801 both ends of connecting rod are equipped with unthreaded hole, and the support plate 803 on 801 rear end of connecting rod and caterpillar chassis 101 carries out pin
The optical axis support base 204 of connection, 801 front end of connecting rod and header part is attached by the two and the interference fit of optical axis,
Allow connecting rod 801 with lifting 805 up and down direction of push-rod electric machine on swing so that realize ceding of Taiwan height adjusting and
Constrain ceding of Taiwan swing.
The underlying threaded hole of the support plate 803 with caterpillar chassis 101 to be threadedly coupled, axis built in the unthreaded hole of upper end
802 are held, pin connection is carried out between bearing 802 and connecting rod 801, is guaranteeing that connecting rod 801 is rotary while reducing unnecessary
Friction reduces energy loss.
805 telescopic end of lifting push-rod electric machine connect pedestal with push-rod electric machine and carries out pin connection, tail end and lifting push rod
Motor connecting rod 804 carries out pin connection；
The lifting push-rod electric machine connecting rod 804 connect pedestal with the lifting push-rod electric machine on a line, installation
On caterpillar chassis 101, the lifting push-rod electric machine connecting rod 804, should away from the 101 front end certain distance of caterpillar chassis
Distance makes lifting push-rod electric machine 805 not cause to hit with caterpillar chassis 101 in working range.
302 lower end of pose adjustment push-rod electric machine connects universal wheel 303, and universal wheel 303 can be very in the process of running
Good is rolled into chassis 101；
It is threadedly coupled between 302 lower end of pose adjustment push-rod electric machine and universal wheel 303, guarantees the firm of connection
Property；
The ceding of Taiwan 103 is equipped with compliant mechanism, ensure that the progress of profiling cutting operation.
Compliant mechanism uses Hooks coupling universal coupling 202 and spring retaining tab 406 in 103 inside of the ceding of Taiwan, when going up and down
When push-rod electric machine 805 locks, upper junction plate 201 is remained stationary, the connecting plate for electric motor 403 and universal shaft connecting plate 306 of lower layer
It is folded according to landform, direct current generator 901 drives cutter 904 to carry out shape cutting at the same time；
The side pose adjustment push-rod electric machine 302 carries out flexible adjustment ceding of Taiwan angle according to 105 the data obtained of laser radar
Degree, so that cutter 904 reaches optimal cutting angle
901 bottom end of direct current generator is equipped with direct current generator ring flange 401, sets unthreaded hole by ring flange and is connected to motor
Plate 403 carries out bolt and nut connection, and 901 output shaft of direct current generator is connected with 902 upper end of spring formula shaft coupling, spring formula shaft coupling 902
Lower end is connected with flanged joint seat 903, when motor rotates, drives cutter 904 to be rotated by 901 output shaft of direct current generator.
Described that standing grain support device is helped to be divided into left and right ends, there is certain interval at both ends, prevent from causing to impact when folding, described two
End helps standing grain support device to be divided into two parts, helps standing grain support device end 304 and helps standing grain support device installation end 305, helps standing grain
Support device installation end 305 is equipped with unthreaded hole, and plate 403 is connected to motor and carries out bolt and nut connection, support end 304 is evenly distributed on
Standing grain support device installation end is helped, carries out helping standing grain operation in cutting operation.
The nearside divider 307 divides for nearside divider left end 601 and nearside divider right end 604, has between certain distance between both ends
Gap prevents from causing to impact when folding；
The nearside divider left end 601 and 604 both ends upper surface of nearside divider right end are equipped with threaded hole 605, to electricity
Machine connecting plate 403 is threadedly coupled.Nearside divider 307 divides for upper and lower side simultaneously, and 602 width of upper end is larger, the reason is that far from cutting
The more high forage portion of 904 locus guiding of knife, lower end 603 is due to closer apart from 904 track of cutter, therefore width is smaller.
When grass trimmer is started to work, laser radar 105 is started to work first, and laser radar 105 will scan obtained number
According to the master controller being placed in inside caterpillar chassis 101 is transferred to, data obtained are carried out resolving analysis by master controller, rule
Suitable path, the forward speed of carrier are marked, and monitors path situation on the way in real time and carries out adjustment appropriate, the crawler type bottom
The crawler belt 106 that disk 101 uses can guarantee that grass trimmer integrally advances effect in the case where the muddy to a certain degree and gradient.Together
When 105 data acquired of laser radar through resolve analysis be transmitted to DC motor driver so that the ceding of Taiwan 103 reach mow speed
Degree and best sliding cutting angle.
403 upper end of connecting plate for electric motor is equipped with acceleration attitude transducer 402, when the obtained data of laser radar 105 determine
After best slip cutting angle, obtained slip cutting angle is set as preset value, master controller is written.With mowing topography variation, acceleration posture
Obtained attitude angle is input to master controller by sensor 402, and master controller is according to obtained current angular and preset value angle
Degree compares, and then corresponding pose adjustment push-rod electric machine 302 is driven to stretch, which will carry out always until institute
It states the obtained angle of acceleration attitude transducer 402 and meets the deviation range requirement of preset value, each pose adjustment push-rod electric machine
302 stop flexible and carry out self-locking；103 elevation information of header part is input to simultaneously with brief acceleration attitude transducer 402
Master controller drives corresponding lifting push-rod electric machine 805 by master controller, adjusts the height of header part 103 in real time.
When mowing starts to carry out, weeds, which first pass around, helps standing grain support device end 304 to carry out helping standing grain operation, it is therefore an objective to
Minimum linear velocity required when the cutter 904 rotation, and then revolving speed and torque needed for reduction direct current generator 901 are reduced, it is described
Support grain lifter support end 304 must not block and cutter 904 is hindered to rotate.
After helping standing grain support device end 304 to carry out that standing grain is helped to support described in passing through in weeds, to guarantee between two cutteves
Gap is reduced actual leakage and is cut, and nearside divider 307, which guides weeds, does one's assignment, i.e., guides weeds into the cutter 904, with
Reduction even completely avoids leakage and cuts.
While direct current generator 901 is started to work, placement radiator fan is started to work on the inside of heat sink 303.
When the identified scanning discovery working region of the laser radar 105 has cleaned out, lifting push-rod electric machine 805 is opened
Beginning is shunk, and header part 103 is risen to certain altitude, which needs that the scanning of laser radar 105 cannot be blocked and need to stay
Height is the easily loss component such as to overhaul cutter 904, support grain lifter, divide standing grain device 307 out.
When the laser radar 105 is blocked area to more than 60%, the grass trimmer direct current generator 901 is promptly stopped
Vehicle, it is therefore an objective to guarantee staff and lawn mower part safety.After grass cutting action, institute's caterpillar chassis 101 is according to sharp
The obtained data of optical radar 105 return to work starting point, and all motors stop working after reaching origin, keep locking state, keep away
Exempt from accidental injury when staff checks.
Claims (10)
1. a kind of automatic profiling grass trimmer suitable for orchard landform, which is characterized in that the automatic profiling grass trimmer is by the ceding of Taiwan
Partially, carrier portion and chassis coupling part three parts composition；
The header part includes optical axis connection pedestal, lifting push-rod electric machine connection pedestal, upper junction plate, universal shaft, push rod electricity
Machine connecting plate, universal shaft connecting plate, pose adjustment push-rod electric machine, pose adjustment push-rod electric machine pedestal, spring retaining tab, motor connect
Fishplate bar, direct current generator, shaft coupling, cutter, flanged joint pedestal, helps standing grain support device, nearside divider at acceleration attitude transducer；
Unthreaded hole processed on the upper junction plate, to universal shaft, lifting push-rod electric machine connect pedestal and optical axis connection pedestal into
The connection of row bolt and nut；Lifting push-rod electric machine connection pedestal and two optical axis connection pedestals are mounted on upper junction plate upper surface, are in
Isosceles triangle arrangement, lifting push-rod electric machine connection pedestal are located parallel on the center line of upper junction plate short side；Two universal
Axis is mounted on upper junction plate lower surface, is arranged symmetrically along the center line for being parallel to upper junction plate short side；
The universal shaft upper end is rigidly connected with upper junction plate, and universal shaft lower end and universal shaft connecting plate are rigidly connected, and ten thousand
The swing on horizontal and vertical direction is able to carry out to axis；
The push-rod electric machine connecting plate is located at universal shaft connecting plate left and right sides edge, on unthreaded hole processed to universal shaft connecting plate
Carry out bolt and nut connection；Push-rod electric machine connecting plate lower surface connects pose adjustment push-rod electric machine, under pose adjustment push-rod electric machine
Side is equipped with pose adjustment push-rod electric machine pedestal；
The universal shaft connecting plate and connecting plate for electric motor are divided into bilateral symmetry both ends, and gap between two ends width need to be greater than plate thickness, with
Convenient for preventing from impacting mutually when folding, be respectively formed with a boss in two end plates, unthreaded hole processed on boss, to spring retaining tab phase
Connection；
The connecting plate for electric motor is made of stainless steel, and connecting plate for electric motor two end surfaces of bilateral symmetry respectively install an acceleration posture
Sensor respectively makes a unthreaded hole on connecting plate for electric motor bilateral symmetry both ends to install direct current generator, from upper below direct current generator
Shaft coupling, flanged joint pedestal and cutter are successively installed under；
It is described to help standing grain support device by helping standing grain support device installation end and standing grain support device end being helped to form, help standing grain support dress
It sets installation end and is mounted on connecting plate for electric motor front end, help on standing grain support device installation end be evenly equipped with and help standing grain support device end；It helps
Standing grain support device installation end is divided into bilateral symmetry both ends, and gap between two ends are greater than the thickness for helping standing grain support device installation end；
The nearside divider is installed on connecting plate for electric motor lower surface and is located on connecting plate for electric motor long side middle line；The nearside divider is divided into
Left and right ends, left and right ends front end are overlapped, and left and right ends backend space is greater than connecting plate for electric motor thickness, in steady state,
Left and right ends nearside divider front end keeps overlapping；
Carrier portion is made of caterpillar chassis, laser radar, laser radar pedestal and master controller；
The laser radar is placed in the caterpillar chassis front end, is connected with laser radar pedestal, and obtained signal is transmitted
Relevant calculation is carried out to master controller, data after resolving are sent to DC motor driver by master controller；
The laser radar pedestal is placed in caterpillar chassis upper surface, above sets threaded hole, carries out with caterpillar chassis upper surface
It is threadedly coupled；
The laser radar height should be higher than that header part is in height when raising completely, and external environment is avoided to influence laser thunder
Up to scanning；
The master controller is installed on inside caterpillar chassis；
The acceleration attitude transducer the data obtained is carried out analytical calculation by the master controller, is obtained and is most preferably enabled scheme, into
And order is transferred to pose adjustment push-rod electric machine driver and lifting push-rod electric machine driver, order each motor to make fortune
It is dynamic；
Chassis bindiny mechanism goes up and down push-rod electric machine connecting rod, connecting rod and support plate composition by lifting push-rod electric machine；
The lifting push-rod electric machine both ends are connected on caterpillar chassis and upper junction plate, are connected to caterpillar chassis
One end is connected with the lifting push-rod electric machine connecting rod, and connection type is pin connection；It is connected to one end and the institute of upper junction plate
It states upper junction plate upper push-rod motor connection pedestal to be attached, connection type is pin connection；
The lifting push-rod electric machine, which is stretched, controls the header part, and then controls mowing height；
The support plate is installed on caterpillar chassis upper surface, and there are four dresses, the support plate two between one group, two groups with
Caterpillar chassis direction of advance middle line is axis, axisymmetricly；
The support plate installation site should prevent the support plate from exposing caterpillar chassis front end；
Two group distance of support plate is equal with optical axis connection pedestal spacing；
Unthreaded hole is set in the support plate, unthreaded hole position should make the connecting rod not hit with caterpillar chassis when swinging
It hits, the support plate unthreaded hole built-in bearing；
There are four the connecting rod is installed altogether, it is respectively arranged at left and right sides of the ceding of Taiwan, side two；The connecting rod front end and the light
Axis connection pedestal is attached, and is attached between the two by optical axis, and the connecting rod and the optical axis connect pedestal and light
Axis is interference fit, and the rod rear end and the support plate carry out pin connection.
2. a kind of automatic profiling grass trimmer suitable for orchard landform as described in claim 1, which is characterized in that the optical axis
Connection pedestal upper section has gap, two side internal screw thread of gap, to compress or unclamp optical axis, convenient default adjusting ceding of Taiwan initial angle
Degree；The universal shaft is made of cast iron using heavy universal shaft；It is equipped with universal wheel below pose adjustment push-rod electric machine pedestal, ten thousand
To wheel using heavy universal wheel, purposes is mainly limited depth.
3. a kind of automatic profiling grass trimmer suitable for orchard landform as described in claim 1, which is characterized in that automatic profiling
Grass trimmer is additionally provided with heat sink, and heat sink is located at universal shaft connecting plate down either side, and heat sink top and universal shaft connecting plate are left
Right both sides are connected；Connecting plate for electric motor is connected below heat sink；The heat sink vertical direction plane is set there are four small unthreaded hole, and one is big
Unthreaded hole, large through-hole is located at heat sink center, depending on four small unthreaded hole positions are with radiator fan position of positioning hole, it is therefore an objective to install
Radiator fan and heat is facilitated to be discharged；Automatic profiling grass trimmer is additionally provided with front and back shield, the front and back shield respectively up and down with
Universal shaft connecting plate and connecting plate for electric motor are connected, and connection type is to be threadedly coupled, it is therefore an objective to prevent grass juice factor dust and other impurities
Into influence motor and associated electronic components damage；The front and back shield is also divided into two sections of bilateral symmetry, shield bilateral symmetry
There is certain interval between two sections, gap is greater than the gap between universal shaft connecting plate bilateral symmetry both ends, simultaneously greater than described
Gap between connecting plate for electric motor bilateral symmetry both ends；Automatic profiling grass trimmer is additionally provided with two motor securing plates, described two
Motor securing plate is arranged symmetrically between universal shaft connecting plate and connecting plate for electric motor, between two direct current generators, to add
Gu the stability of the ceding of Taiwan；The motor securing plate vertical direction is equipped with through-hole, adjusts push-rod electric machine driver to Installation posture,
DC motor driver and lifting push-rod electric machine driver；The motor securing plate spaced position is by the driver size installed
It determines；It helps standing grain support device installation end to be located at motor to reinforce between version and boss.
4. a kind of automatic profiling grass trimmer suitable for orchard landform as described in claim 1, which is characterized in that described universal
Axis connection plate is subject to middle line, the symmetrical threaded hole of two sides, and part and upper junction plate carry out bolt and nut company on two universal shafts
It connects, downside is threadedly coupled with the threaded hole of the symmetric position on universal shaft connecting plate；The two push-rod electric machines connecting plate is logical
It crosses threaded connection and is respectively arranged in universal shaft connecting plate both sides of the edge.
5. a kind of automatic profiling grass trimmer suitable for orchard landform as described in claim 1, which is characterized in that the ceding of Taiwan
Part both ends folding angles range is by the spring retaining tab installation dimension and boss unthreaded hole center and universal axis connection
The vertical range of plate upper surface determines that formula is as follows:
Wherein
H: spring retaining tab mounting height；
L: spring retaining tab installation point connect sheet separation median perpendicular distance with universal shaft；
S: spring retaining tab installation length；
α: ceding of Taiwan both ends maximum folded angle；
Q: product of the spring retaining tab installation point to universal shaft connection sheet separation median perpendicular distance and spring retaining tab mounting height；
K: the sheet separation middle line that square connect with spring retaining tab installation point to universal shaft of spring retaining tab mounting height numerical value hangs down
The sum of straight distance values square；
The direct current generator is according to formula: M=9550*P/N；
M: motor torque；
P: power of motor；
N: motor speed；
Type selecting carried out for direct current generator, match the driver need of selected motor can monitor and regulate and control motor speed and promptly in real time
Brake；
It is corresponding that the direct current generator bottom end flange base unthreaded hole is connected to motor plate unthreaded hole, and the two carries out bolt and nut connection；
The cutter specification is selected according to formula:
Va≤2πnr/60000
Va: linear velocity (m/s) on the outside of the cutter；
N: cutter revolving speed；
R: cutter radius；
Wherein: by mowing velocity interval: 30m/s~80m/s takes Va=40m/s, revolving speed to take n=3000r/min；It can be calculated
Cutter blade least radius is 127mm, to guarantee that cutting effect the invention patent takes 130mm, to guarantee that cutting optimum efficiency takes
Cutter entire length is 310mm, and to the place cutter radius 155mm to there is a sword end from cutter radius 130mm, blade angle is 30 °.
6. a kind of automatic profiling grass trimmer suitable for orchard landform as described in claim 1, which is characterized in that described to help standing grain
Support device installation end is connect with the connecting plate for electric motor using bolt and nut, and standing grain support device installation end connecting pin is helped to be fixed on
On connecting plate for electric motor, using threaded connection；Help standing grain support device installation end outermost that can not protrude from other than cutter track, with
Weeds are avoided to lodge in advance.
7. a kind of automatic profiling grass trimmer suitable for orchard landform as described in claim 1, which is characterized in that the posture
It adjusts push-rod electric machine and uses stepping push-rod electric machine, each side front and back is symmetrically installed two.
8. a kind of automatic profiling grass trimmer suitable for orchard landform as described in claim 1, which is characterized in that the acceleration
Degree attitude transducer divides ceding of Taiwan angle and ceding of Taiwan forward speed and acceleration to be transmitted to master controller and calculate
Analysis will calculate signal output, and adjust the lifting push-rod electric machine by output signal and four attitude regulations push away after calculating
The retracted position of bar motor and car body forward travel state is adjusted.
9. a kind of automatic profiling grass trimmer suitable for orchard landform as described in claim 1, which is characterized in that described to divide standing grain
Device front end is away from connecting plate for electric motor front end 2cm；The crawler belt of the caterpillar chassis is made using rubber.
10. a kind of automatic profiling grass trimmer suitable for orchard landform as described in claim 1, which is characterized in that work as mowing
When machine is started to work, laser radar is started to work first, and the obtained data of scanning are transferred to and are placed in crawler type bottom by laser radar
Data obtained are carried out resolving analysis by the master controller inside disk, master controller, cook up suitable path, forward speed,
And it monitors path situation on the way in real time and carries out adjustment appropriate；Laser radar data acquired is transmitted to directly through resolving analysis simultaneously
Motor driver is flowed, so that the ceding of Taiwan reaches mowing speed and best sliding cutting angle；
Connecting plate for electric motor upper end is equipped with acceleration attitude transducer, after the obtained data of laser radar determine best slip cutting angle,
Obtained sliding cutting angle is set as preset value, master controller is written；With mowing topography variation, acceleration attitude transducer will be obtained
It obtains attitude angle and is input to master controller, master controller is compared according to obtained current angular and preset value angle, in turn
Corresponding pose adjustment push-rod electric machine is driven to stretch, which will carry out always until the acceleration attitude transducer
Obtained angle and the deviation range requirement for meeting preset value, each pose adjustment push-rod electric machine stop flexible and carry out self-locking；Together
Header part elevation information is input to master controller simultaneously by brief acceleration attitude transducer, is driven by master controller corresponding
Push-rod electric machine is gone up and down, adjusts the height of header part in real time；
When mowing starts to carry out, weeds, which first pass around, helps standing grain support device end to carry out helping standing grain operation, it is therefore an objective to reduce institute
State minimum linear velocity required when cutter rotation, and then revolving speed and torque needed for reduction direct current generator, the support grain lifter
Support end must not block and cutter is hindered to rotate；
After helping standing grain support device end to carry out that standing grain is helped to support described in passing through in weeds, to guarantee that gap is reduced between two cutteves
Actual leakage is cut, and nearside divider guides weeds and does one's assignment, i.e., guides weeds into the cutter, is even kept away completely with reducing
Exempt from leakage to cut；
While direct current generator is started to work, placement radiator fan is started to work on the inside of heat sink；
When the identified scanning discovery working region of the laser radar has cleaned out, lifting push-rod electric machine starts to be received
Contracting, rises to certain altitude for header part, which needs that laser radar scanning cannot be blocked and need to reserve height to overhaul
Cutter supports grain lifter, divides standing grain device that component is easily lost；
When the laser radar is blocked area to more than 60%, the grass trimmer direct current generator carries out emergency brake, it is therefore an objective to
Guarantee staff and lawn mower part safety；After grass cutting action, institute's caterpillar chassis is obtained according to laser radar
Data return to work starting point, and all motors stop working after reaching origin, locking state are kept, when staff being avoided to check
It accidentally injures.
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| CN111226569A (en) * | 2020-03-18 | 2020-06-05 | 福建省云宇机电有限公司 | Crawler-type automatic mower |
| CN111713245A (en) * | 2020-05-11 | 2020-09-29 | 江苏大学 | Mountain orchard profiling autonomous obstacle avoidance mower and control method thereof |
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| WO2023221430A1 (en) * | 2022-05-17 | 2023-11-23 | 重庆文理学院 | Adaptive terrain unmanned weeding robot for orchard in mountainous region |
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