CN110558032A - Device capable of automatically moving along road to trim lawn - Google Patents
Device capable of automatically moving along road to trim lawn Download PDFInfo
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- CN110558032A CN110558032A CN201910897685.7A CN201910897685A CN110558032A CN 110558032 A CN110558032 A CN 110558032A CN 201910897685 A CN201910897685 A CN 201910897685A CN 110558032 A CN110558032 A CN 110558032A
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- mechanical arm
- arm
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- box
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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
- A01D34/001—Accessories not otherwise provided for
-
- 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
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/835—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes
- A01D34/84—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes for edges of lawns or fields, e.g. for mowing close to trees or walls
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvester Elements (AREA)
Abstract
The invention discloses a device capable of automatically moving along a road to trim a lawn, which comprises a chassis, wherein driving wheel mechanisms and driven wheel mechanisms are respectively arranged on the left side and the right side of the chassis, a sensor navigation device, a power mechanism, a mechanical arm protection shell and a battery box are respectively arranged above the chassis, a mechanical arm main arm mechanism is arranged above the mechanical arm protection mechanism, a mechanical arm auxiliary arm mechanism is arranged above the mechanical arm main arm mechanism, and a central control box is respectively and electrically connected with a color sensor, a linear motor, a stepping motor, the battery box, a trimmer forward rotation hollow motor, a trimmer reverse rotation motor, the power mechanism, the sensor navigation device and a grating mechanism. The invention has the advantages of simple structure and strong practicability.
Description
Technical Field
The invention relates to the field of automatic gardens, in particular to a lawn trimming device capable of automatically moving along a road.
Background
For the garden trimming lawn, the biggest problem lies in the increase of unstable factors and labor cost of manual processing, the cost of the garden trimming lawn is greatly increased, the problems of large workload, dangerous operation of trimming equipment and the like are caused, and the waste of human resources and the danger of trimming personnel are greatly increased.
Disclosure of Invention
The invention aims to solve the problems and designs a lawn trimming device capable of automatically moving along a road.
The technical scheme of the invention is that the device capable of automatically moving along the road to trim the lawn comprises a chassis, wherein two driving wheel mechanisms are respectively arranged in front of the left side and the right side of the chassis, two driven wheel mechanisms are respectively arranged behind the left side and the right side of the chassis, a sensor navigation device, a power mechanism, a mechanical arm integral mechanism and a power supply mechanism are respectively arranged in front of and behind the chassis, the mechanical arm integral mechanism is composed of a mechanical arm base mechanism, a mechanical arm main arm mechanism, a mechanical arm auxiliary arm mechanism and a mechanical arm lower arm feeding mechanism, the mechanical arm base mechanism is fixedly connected with the upper portion of the chassis, the mechanical arm main shaft circular opening is formed in the center of the upper surface of the mechanical arm protective housing, the mechanical arm main, The mechanical arm main arm mechanism consists of a mechanical arm main arm which is positioned above the mechanical arm main stepping motor and fixedly connected with the mechanical arm main shaft, a grating disc which is positioned at the center above the mechanical arm main stepping motor and fixedly connected with the movable end of the mechanical arm main stepping motor, and a grating mechanism which is positioned on the side of the upper surface of the mechanical arm main stepping motor and corresponds to the grating disc in position, wherein the mechanical arm main arm mechanism consists of a mechanical arm main shaft which is positioned above the mechanical arm main stepping motor and fixedly connected with the mechanical arm main stepping motor and is inserted into the mechanical arm main shaft bearing, a mechanical arm main arm which is positioned outside the mechanical arm main shaft and fixedly connected with the mechanical arm main shaft bearing, a mechanical arm main arm movable end which is positioned above the mechanical arm main arm and fixedly connected with the mechanical arm main shaft, a linear motor main arm bearing which is positioned above the side surface of, The linear motor auxiliary arm mechanism comprises a linear motor main arm shaft inserted in a linear motor main arm bearing, a mechanical arm auxiliary arm bearing fixedly connected below the side surface of the movable end of the mechanical arm main arm and a mechanical arm auxiliary arm shaft inserted in the mechanical arm auxiliary arm bearing, wherein the mechanical arm auxiliary arm mechanism comprises a mechanical arm auxiliary arm positioned in front of the movable end of the mechanical arm main arm and connected with the mechanical arm auxiliary arm shaft, a linear motor auxiliary arm bearing fixedly connected above the side surface of the front end of the mechanical arm auxiliary arm, a linear motor auxiliary arm shaft inserted in the linear motor auxiliary arm bearing, a linear motor with one end connected with the linear motor auxiliary arm shaft and the other end connected with the linear motor main arm shaft and a stepping motor positioned on the side surface of the mechanical arm auxiliary arm and fixedly connected with the mechanical arm auxiliary arm, and the mechanical arm lower arm mechanism comprises a lower arm fixing box fixedly connected with the movable end of the stepping motor and positioned in front of, Two lower arm feeding motors which are positioned inside the lower arm feeding fixed box and fixedly connected with the surfaces of the left side and the right side of the lower arm feeding fixed box, a lower arm feeding gear which is positioned inside the lower arm feeding motor and fixedly connected with the movable end of the lower arm feeding motor, a lower arm feeding fixed slide rail which is positioned inside the lower arm feeding fixed box and fixedly connected with the lower arm feeding fixed box, a lower arm feeding which is positioned inside the lower arm feeding fixed box and movably connected with the lower arm feeding fixed slide rail, a gear groove guide rail which is positioned on the other side of the lower arm feeding and fixedly connected with the lower arm feeding gear and is engaged with the lower arm feeding gear, a trimmer motor box which is positioned below the lower arm feeding and movably connected with the lower arm feeding, a trimmer forward rotation hollow motor which is positioned above the trimmer motor box and fixedly connected with the trimmer motor box at the center of the bottom end and has a downward rotation end, a trimmer reverse rotation motor which is positioned above the trimmer forward rotation hollow motor and fixedly connected with the trimmer and has a rotation end inserted into the trimmer hollow rotation end of the forward rotation, The color sensor is characterized in that the trimmer forward rotation blade is fixedly connected with the rotating end of the trimmer forward rotation hollow motor and positioned below the trimmer motor box, the trimmer reverse rotation blade is fixedly connected with the rotating end of the trimmer reverse rotation motor and positioned above the outer side surface of the trimmer motor box, the color sensor is fixedly connected with the trimmer motor box and positioned above the trimmer motor box, the controller is arranged above the power supply mechanism, the signal receiving end of the controller is electrically connected with the color sensor, the sensor navigation device and the grating mechanism, and the power supply conveying end of the controller is electrically connected with the power mechanism, the mechanical arm main stepping motor, the linear motor, the stepping motor, the lower arm feeding motor, the grating mechanism, the trimmer reverse rotation motor and the trimmer forward rotation hollow motor.
The driving wheel mechanism is composed of driving shaft bearings fixedly connected with a support frame positioned in front of the left side and the right side of the chassis, a driving shaft inserted in the driving shaft bearings, a large chain gear fixedly connected with the inner side of the driving shaft and a driving wheel fixedly connected with the outer side of the driving shaft.
The driven wheel mechanism is composed of driven shaft bearings fixedly connected with supporting frames positioned behind the left side and the right side of the chassis, a driven shaft inserted in the driven shaft bearings and a driven wheel fixedly connected with the outer side of the driven shaft.
The power mechanism is composed of a power box fixedly connected above the chassis, two variable speed motors which are fixedly connected on the chassis and positioned on the left side and the right side of the inside of the power box, a small chain gear fixedly connected on the variable speed motors, and a transmission chain, one end of the transmission chain is connected on the small chain gear, the other end of the transmission chain is connected on the large chain gear, and the variable speed motors are electrically connected with the power output end of the controller.
The power supply mechanism is composed of a battery box located above the chassis, a lithium battery located inside the battery box and a charging interface located on the upper surface of the battery box, the charging interface is electrically connected with the lithium battery, and the lithium battery is electrically connected with a power supply access end of the controller.
The chassis is provided with two circular grooves corresponding to the sensor navigation device, the sensor navigation device is composed of a sensor navigation integration box fixedly connected above the chassis, two magnetic sensors fixedly connected with the circular grooves below the sensor navigation integration box and a human body infrared detector fixedly connected above the sensor navigation integration box, and the magnetic sensors, the human body infrared detector and the controller are electrically connected.
The grating mechanism is composed of a C-shaped grating block fixedly connected with the side of the upper surface of the main stepping motor of the mechanical arm, a laser receiver fixedly connected with the C-shaped grating block and positioned above the grating disc, and a laser transmitter which is fixedly connected with the C-shaped grating block and positioned below the grating disc and corresponds to the position of the laser receiver, wherein the laser receiver, the laser transmitter and the controller are electrically connected.
and a metal guide rail buried under the ground is arranged below the chassis along the central line direction.
The driving wheel and the driven wheel are sleeved with rubber tracks.
The grating disk is made of black light plastic.
the device which is manufactured by the technical scheme of the invention and can automatically move along the road to trim the lawn can effectively reduce the danger of trimming the lawn by personnel, can increase the workload of the personnel, and has practical and profound significance for people with deficient manpower resources today.
Drawings
FIG. 1 is a schematic view of an automatic lawn mowing device according to the present invention;
FIG. 2 is a block diagram of the drive wheel mechanism of the present invention;
FIG. 3 is a block diagram of the driven wheel mechanism of the present invention;
FIG. 4 is a block diagram of the power mechanism of the present invention;
FIG. 5 is a block diagram of the sensor navigation device of the present invention;
FIG. 6 is a block diagram of the grating mechanism of the present invention;
In the figure, 1, a chassis; 2. a mechanical arm protective shell; 3. a battery case; 4. a circular groove; 5. a metal guide rail; 6. an anti-wear cortical track; 7. a central control box; 8. a mechanical arm main stepping motor; 9. a circular opening of a main shaft of the mechanical arm; 10. a mechanical arm main shaft bearing; 11. a mechanical arm main shaft; 12. a grating disk; 13. a main arm of the mechanical arm; 14. a movable end of a main arm of the mechanical arm; 15. a mechanical arm main shaft pin; 16. an auxiliary arm bearing of the mechanical arm; 17. an auxiliary arm of the mechanical arm; 18. an auxiliary arm bearing of the linear motor; 19. a linear motor; 20. a stepping motor; 21. a lower arm bearing; 22. a linear motor main arm bearing; 23. a lower inlet arm fixing box; 24. a lower arm motor; 25. a lower arm gear; 26. the lower inlet arm fixes the slide rail; 27. a descending arm; 28. the lower feeding arm is engaged with the teeth; 29. a trimmer motor case; 30. a color sensor; 31. a hollow motor for forward rotation of the trimmer; 32. a trimmer reverse rotation motor; 33. the trimmer rotates the blade positively; 34. the trimmer reverses blade; 35. a drive shaft bearing; 36. a drive shaft; 37. a large chain gear; 38. a driving wheel; 39. a driven shaft bearing; 40. a driven shaft; 41. a driven wheel; 42. a power box; 43. a variable speed motor; 44. a small chain gear; 45. a drive chain; 46. a sensor navigation integration box; 47. a magnetic force sensor; 48. a human body infrared detector; 49. a C-shaped grating block; 50. a laser receiver; 51. a laser emitter.
Detailed Description
the following describes the present invention in detail with reference to the accompanying drawings, and as shown in fig. 1-6, a lawn mowing apparatus capable of automatically moving along a road includes a chassis 1, a driving wheel mechanism and a driven wheel mechanism are respectively disposed on the left and right sides of the chassis 1, a sensor navigation device, a power mechanism, a mechanical arm protection case 2 and a battery box 3 are respectively disposed above the chassis 1, a metal guide rail 5 is disposed below the chassis 1, the mechanical arm protection mechanism is composed of a battery box 3 fixedly connected to the side of the mechanical arm protection case 2, a central control box 7 fixedly connected to the mechanical arm protection case 2 and located above the battery box, a mechanical arm main stepping motor 8 fixedly connected to the chassis with its rotation end facing upward, a mechanical arm main shaft circular opening 9 opened at the center above the mechanical arm protection case 2, a mechanical arm main shaft bearing 10 fixedly connected to the, The mechanical arm protection mechanism comprises a grating mechanism fixedly connected above a main stepping motor 8 of the mechanical arm, a main shaft 11 of the mechanical arm and a grating disc 12, wherein the main shaft 11 of the mechanical arm is positioned above the main stepping motor 8 of the mechanical arm and is inserted into a main shaft bearing 10 of the mechanical arm, the grating disc 12 is positioned inside the grating mechanism and is fixedly connected with the side surface of the main shaft 11 of the mechanical arm, a main arm mechanism of the mechanical arm is arranged above the mechanical arm protection mechanism, the main arm mechanism of the mechanical arm comprises a main arm 13 of the mechanical arm, which is positioned outside the main shaft of the mechanical arm and is fixedly connected with the upper part of a protective housing 2 of the mechanical arm, and a movable end 14 of the main arm of the mechanical arm, which is positioned above the main arm mechanism of the mechanical arm, a sub-arm mechanism of the mechanical arm is arranged above the, The mechanical arm auxiliary arm mechanism comprises a mechanical arm auxiliary arm 17 with one end connected to a mechanical arm auxiliary arm bearing 16, linear motor auxiliary arm bearings 18 positioned at two sides of the mechanical arm auxiliary arm 17, linear motor main arm bearings 22 positioned at two sides of a movable end 14 of the mechanical arm main arm, and a linear motor 19 positioned above the mechanical arm auxiliary arm 17, wherein a fixed end of the linear motor main arm bearing 22 is connected with a fixed end of the linear motor main arm bearing 22, and a movable end of the linear motor auxiliary arm bearing 18 is connected with the linear motor 19 Two lower feeding arm fixed slide rails 26 which are positioned on the inner side of the lower feeding arm fixed box 23 and are respectively and fixedly connected with two lower feeding arm gears 25, two lower feeding arms 27 which are positioned on the slide way sides of the lower feeding arm fixed slide rails 26 and are movably connected, lower feeding arm meshing teeth 28 which are positioned on the side of the lower feeding arms 27 and are meshed with the lower feeding arm gears 25, a trimmer motor box 29 which is movably connected below the two lower feeding arms 27, color sensors 30 which are fixedly connected on the two sides of the trimmer motor box 29, a trimmer forward rotation hollow motor 31 which is fixedly connected in the trimmer motor box 29 and has a downward movable end, a trimmer reverse rotation motor 32 which is fixedly connected above the trimmer forward rotation hollow motor 31 and has a downward movable end positioned in the trimmer motor box 29, a trimmer forward rotation blade 33 which is fixedly connected below the movable end of the trimmer forward rotation hollow motor 31, and a trimmer reverse rotation blade 34 which is fixedly connected below the movable end of the trimmer reverse rotation motor 32, the central control box is respectively and electrically connected with the color sensor, the linear motor, the stepping motor, the battery box, the trimmer forward rotation hollow motor, the trimmer reverse rotation motor, the power mechanism, the sensor navigation device and the grating mechanism; the driving wheel mechanism is composed of a driving shaft bearing 35 fixedly connected with a support frame positioned in front of the left side and the right side of the chassis 1, a driving shaft 36 inserted in the driving shaft bearing 35, a large chain gear 37 fixedly connected with the inner side of the driving shaft 36, and a driving wheel 38 fixedly connected with the outer side of the driving shaft 36; the driven wheel mechanism is composed of a driven shaft bearing 39, a driven shaft 40 and a driven wheel 41, wherein the driven shaft bearing 39 is fixedly connected with a supporting frame positioned at the rear of the left side and the right side of the chassis 1; the power mechanism is composed of a power box 42 fixedly connected above the chassis 1, a variable speed motor 43 fixedly connected on the chassis 1 and positioned in the power box 42, a small chain gear 44 fixedly connected on the variable speed motor 43, and a transmission chain 45 with one end connected on the small chain gear 44 and the other end connected on the large chain gear, and the variable speed motor is electrically connected with the central control box; the sensor navigation device comprises a sensor navigation integration box 46 positioned above a chassis 1, two magnetic sensors 47 fixedly connected below the sensor navigation integration box 46 and corresponding to the two circular grooves 4, and a human body infrared detector 48 fixedly connected above the sensor navigation integration box 46, wherein the chassis is provided with the two circular grooves 4 positioned below the sensor navigation device, and the magnetic sensors and the human body infrared sensor are respectively and electrically connected with a central control box; the grating mechanism is composed of a C-shaped grating block 49 positioned above the mechanical arm main stepping motor 8, a laser receiver 50 positioned above the grating disk 12 and a laser emitter 51 positioned below the grating disk 12, and the mechanical arm main stepping motor, the laser receiver and the laser emitter are respectively and electrically connected with the central control box; the battery box 3 is formed by fixedly connecting a lithium battery, a lithium battery charging module, an electric quantity monitoring module and a mains supply interface in the battery box, the lithium battery is respectively and electrically connected with the charging module and the electric quantity monitoring module, the charging module is electrically connected with the mains supply interface, and the lithium battery is electrically connected with the central control box; the central control box 7 is internally provided with a controller, a communication protocol converter, a GPS, a wireless remote control receiver and a wireless signal transmitter which are jointly formed, the signal input end of the controller is respectively and electrically connected with the communication protocol converter, a human body infrared detector, a magnetic sensor, a laser receiver and a color sensor, the signal output end of the controller is respectively and electrically connected with a mechanical arm main stepping motor, a linear motor, a stepping motor, a variable speed motor and a laser transmitter, the power output end of the controller is respectively and electrically connected with the mechanical arm main stepping motor, the linear motor, the stepping motor, the variable speed motor, the laser transmitter, a trimmer forward rotation hollow motor and a trimmer reverse rotation motor, and the controller power input end is electrically connected with a battery box; the controller system is Linux; the grating disc is made of black light plastic.
The embodiment is characterized by comprising a chassis and is characterized in that driving wheel mechanisms and driven wheel mechanisms are respectively arranged on the left side and the right side of the chassis, a sensor navigation device is respectively arranged above the chassis, a power mechanism, a mechanical arm protection shell and a battery box are respectively arranged below the chassis, the mechanical arm protection mechanism comprises a battery box fixedly connected with the side of the mechanical arm protection shell, a central control box fixedly connected with the mechanical arm protection shell and positioned above the battery box, a mechanical arm main stepping motor fixedly connected onto the chassis and positioned in the mechanical arm protection shell with a rotating end facing upwards, a mechanical arm main shaft circular opening formed in the center of the upper part of the mechanical arm protection shell, a mechanical arm main shaft bearing fixedly connected into the mechanical arm main shaft circular opening, a grating mechanism fixedly connected above the mechanical arm main stepping motor, a mechanical arm main shaft positioned above the mechanical arm, The grating disk fixedly connected with the side surface of the main arm of the mechanical arm is positioned in the grating mechanism, a main arm mechanism of the mechanical arm is arranged above the mechanical arm protection mechanism, the main arm mechanism of the mechanical arm is composed of a main arm of the mechanical arm fixedly connected with the outer side of the main arm of the mechanical arm and the upper side of a protective shell of the mechanical arm, and a movable end of the main arm of the mechanical arm is connected with the movable end of the main arm of the mechanical arm, an auxiliary arm mechanism of the mechanical arm is arranged above the main arm mechanism, and the auxiliary arm mechanism of the mechanical arm is composed of a main arm pin of the mechanical arm fixedly connected with the side edge of the movable end of the main arm of the mechanical arm, an auxiliary arm bearing of the mechanical arm connected with the side end of the main arm of the mechanical arm, the linear motor is arranged above the auxiliary arm of the mechanical arm, the fixed end of the mechanical arm is connected with the main arm bearing of the linear motor, the movable end of the mechanical arm is connected with the auxiliary arm bearing of the linear motor, the lower arm feeding mechanism is arranged in front of the auxiliary arm mechanism of the mechanical arm and comprises two stepping motors fixedly connected with two sides of the auxiliary arm of the mechanical arm, a lower arm feeding bearing fixedly connected with the movable end of the stepping motor, a lower arm feeding fixing box fixedly connected with the outer parts of the two lower arm feeding bearings, two lower arm feeding motors fixedly connected with the lower parts of the left side and the right side of the lower arm feeding fixing box respectively, two lower arm feeding gears respectively connected with the movable shaft of the lower arm feeding motor, two lower arm feeding fixing slide rails fixedly connected with the two lower arm gears respectively and positioned on the inner side of the lower arm feeding fixing box, two lower arm feeding arms movably connected with the slide rail sides of the lower arm fixing slide rails, lower arm meshing teeth positioned on the lower arm feeding side and meshed with the lower arm gears, The central control box is respectively and electrically connected with the color sensor, the linear motor, the stepping motor, the battery box, the trimmer forward rotation hollow motor, the trimmer reverse rotation motor, the power mechanism, the sensor navigation device and the grating mechanism. The danger that the personnel pruned the lawn can be effectually reduced, personnel's work load can be increased again, and it is profound and profound to have reality today to the manpower resources deficient.
In the embodiment, the area and the path for removing the lawn are edited by using a computer, the battery is charged, the switch is turned on, the computer is used for issuing a starting instruction, the controller receives a signal, the mechanical arm is used for trimming the lawn on two sides of the road along the track, the human body infrared detector is used for avoiding people, the advancing direction is adjusted through asynchronism of the two tracks, the trimming angle is adjusted by using different descending distances of the two descending arms when the slope is met, and the lawn is returned to the storage bin along the track after the trimming is finished.
The technical solutions described above only represent the preferred technical solutions of the present invention, and some possible modifications to some parts of the technical solutions by those skilled in the art all represent the principles of the present invention, and fall within the protection scope of the present invention.
Claims (10)
1. The device capable of automatically moving along the road to trim the lawn comprises a chassis (1) and is characterized in that driving wheel mechanisms and driven wheel mechanisms are arranged on the left side and the right side of the chassis (1) respectively, a sensor navigation device, a power mechanism, a mechanical arm protection shell (2) and a battery box (3) are arranged above the chassis (1) respectively, a metal guide rail (5) is arranged below the chassis (1), and the mechanical arm protection mechanism comprises a battery box (3) fixedly connected with the side of the mechanical arm protection shell (2), a central control box (7) fixedly connected with the mechanical arm protection shell (2) and positioned above the battery box, a mechanical arm main stepping motor (8) fixedly connected onto the chassis with the rotating end upwards, a mechanical arm main shaft circular port (9) arranged at the center above the mechanical arm protection shell (2), and a mechanical arm, The mechanical arm protection mechanism is characterized in that a mechanical arm main shaft bearing (10) fixedly connected inside a circular opening (9) of a mechanical arm main shaft, a grating mechanism fixedly connected above the mechanical arm main stepping motor (8), a mechanical arm main shaft (11) positioned above the mechanical arm main stepping motor (8) and inserted into the mechanical arm main shaft bearing (10), and a grating disc (12) positioned inside the grating mechanism and fixedly connected with the side surface of the mechanical arm main shaft (11) are jointly formed, a mechanical arm main arm mechanism is arranged above a mechanical arm protection mechanism, the mechanical arm main arm mechanism is composed of a mechanical arm main arm (13) fixedly connected outside the mechanical arm main shaft and above a mechanical arm protection shell (2) and a mechanical arm main arm movable end (14) connected above the mechanical arm main arm (13), a mechanical arm auxiliary arm mechanism is arranged above the mechanical arm main arm mechanism and is inserted into the mechanical arm main shaft (11) and fixedly connected with the side edge of the mechanical arm The mechanical arm descending mechanism is characterized by comprising a main shaft pin (15) of the connected mechanical arm, an auxiliary arm bearing (16) of the mechanical arm, an auxiliary arm bearing (17) of the mechanical arm, an auxiliary arm bearing (18) of a linear motor, a main arm bearing (22) of the linear motor, a linear motor bearing (19) and a descending arm mechanism, wherein the auxiliary arm bearing (16) of the mechanical arm is connected to the movable end (14) of the main arm of the mechanical arm, one end of the auxiliary arm bearing (17) of the mechanical arm is connected to the auxiliary arm bearing (17), the fixed end of the auxiliary arm (17) of the mechanical arm is connected to the main arm bearing (22), the movable end of the linear motor bearing (18) is connected to the linear motor bearing (19), the descending arm mechanism is arranged in front of the auxiliary arm mechanism of the mechanical arm, and the descending arm mechanism consists of two stepping motors (20) fixedly connected to the two sides of the auxiliary arm (17) of, A lower feeding arm fixing box (23) fixedly connected with the outer parts of the two lower feeding arm bearings (21), two lower feeding arm motors (24) respectively fixedly connected with the lower parts of the left and right sides of the lower feeding arm fixing box (23), two lower feeding arm gears (25) respectively connected with the movable shafts of the lower feeding arm motors (24), two lower feeding arm fixing slide rails (26) respectively fixedly connected with the inner sides of the lower feeding arm fixing box (23) and the two lower feeding arm gears (25), two lower feeding arms (27) movably connected with the slide sides of the lower feeding arm fixing slide rails (26), lower feeding arm meshing teeth (28) positioned on the sides of the lower feeding arms (27) and meshed with the lower feeding arm gears (25), a trimmer motor box (29) movably connected below the two lower feeding arms (27), color sensors (30) fixedly connected with the two sides of the trimmer motor box (29), a trimmer hollow motor (31) fixedly connected with the inner parts of the trimmer motor box (29) and with the movable end downward, and a forward rotation motor (31), The trimmer comprises a trimmer reverse rotation motor (32) which is fixedly connected above a trimmer forward rotation hollow motor (31) and is positioned in a trimmer motor box (29) and has a downward movable end, a trimmer forward rotation blade (33) which is fixedly connected below the movable end of the trimmer forward rotation hollow motor (31), and a trimmer reverse rotation blade (34) which is fixedly connected below the movable end of the trimmer reverse rotation motor (32), wherein the central control box is respectively and electrically connected with a color sensor, a linear motor, a stepping motor, a battery box, the trimmer forward rotation hollow motor, the trimmer reverse rotation motor, a power mechanism, a sensor navigation device and a grating mechanism.
2. The device for automatically moving along the road to trim the lawn as claimed in claim 1, wherein the driving wheel mechanism is composed of a driving shaft bearing (35) fixedly connected with the supporting frame positioned in front of the left and right sides of the chassis (1), a driving shaft (36) inserted in the driving shaft bearing (35), a large chain gear (37) fixedly connected with the inner side of the driving shaft (36), and a driving wheel (38) fixedly connected with the outer side of the driving shaft (36).
3. the device for automatically trimming the lawn along the road as claimed in claim 1, wherein the driven wheel mechanism is composed of a driven shaft bearing (39) fixedly connected with the supporting frame positioned at the rear of the left and right sides of the chassis (1), a driven shaft (40) inserted into the driven shaft bearing (39), and a driven wheel (41) fixedly connected with the outer side of the driven shaft (40).
4. The device for automatically moving along the road to trim the lawn as claimed in claim 1, wherein the power mechanism is composed of a power box (42) fixedly connected above the chassis (1), a variable speed motor (43) fixedly connected on the chassis (1) and located inside the power box (42), a small chain gear (44) fixedly connected on the variable speed motor (43), and a transmission chain (45) with one end connected to the small chain gear (44) and the other end connected to the large chain gear, and the variable speed motor is electrically connected with the central control box.
5. The device for automatically trimming lawns along roads according to claim 1, wherein the sensor navigation device comprises a sensor navigation integration box (46) connected above the chassis (1), two magnetic sensors (47) fixedly connected below the sensor navigation integration box (46) and corresponding to the two circular grooves (4), and a human body infrared detector (48) fixedly connected above the sensor navigation integration box (46), the chassis is provided with two circular grooves (4) below the sensor navigation device, and the magnetic sensors and the human body infrared sensors are respectively electrically connected with the central control box.
6. The device for automatically trimming lawn along road as claimed in claim 1, wherein the grating mechanism is composed of a C-shaped grating block (49) located above the main stepping motor (8) of the mechanical arm, a laser receiver (50) located above the grating disk (12), and a laser emitter (51) located below the grating disk (12), and the main stepping motor of the mechanical arm, the laser receiver and the laser emitter are electrically connected with the central control box respectively.
7. The device for automatically trimming lawn along road as claimed in claim 1, wherein the battery box (3) is formed by fixedly connecting a lithium battery, a lithium battery charging module, a power monitoring module and a commercial power interface, the lithium battery is electrically connected with the charging module and the power monitoring module respectively, the charging module is electrically connected with the commercial power interface, and the lithium battery is electrically connected with the central control box.
8. The apparatus for automatically moving a lawn mowing apparatus according to claim 1, the central control box (7) is internally provided with a controller, a communication protocol converter, a GPS, a wireless remote control receiver and a wireless signal transmitter, the signal input end of the controller is respectively and electrically connected with the communication protocol converter, the human body infrared detector, the magnetic force sensor, the laser receiver and the color sensor, the signal output end of the controller is respectively and electrically connected with the mechanical arm main stepping motor, the linear motor, the stepping motor, the variable speed motor and the laser emitter, the power output end of the controller is electrically connected with the mechanical arm main stepping motor, the linear motor, the stepping motor, the variable speed motor, the laser emitter, the trimmer forward rotation hollow motor and the trimmer reverse rotation motor respectively, and the power input end of the controller is electrically connected with the battery box.
9. an automated lawn mowing apparatus according to claim 8, wherein the controller system is Linux.
10. the device of claim 6, wherein the grating disk is made of a black lightweight plastic.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910897685.7A CN110558032A (en) | 2019-09-23 | 2019-09-23 | Device capable of automatically moving along road to trim lawn |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910897685.7A CN110558032A (en) | 2019-09-23 | 2019-09-23 | Device capable of automatically moving along road to trim lawn |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110558032A true CN110558032A (en) | 2019-12-13 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910897685.7A Withdrawn CN110558032A (en) | 2019-09-23 | 2019-09-23 | Device capable of automatically moving along road to trim lawn |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110558032A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021139402A1 (en) * | 2020-01-09 | 2021-07-15 | 苏州宝时得电动工具有限公司 | Smart grass cutter |
-
2019
- 2019-09-23 CN CN201910897685.7A patent/CN110558032A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021139402A1 (en) * | 2020-01-09 | 2021-07-15 | 苏州宝时得电动工具有限公司 | Smart grass cutter |
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Application publication date: 20191213 |
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