CN113575093A - Mowing robot - Google Patents

Abstract

The invention relates to a mowing robot, comprising a walking frame, a cutting knife lifting mechanism and a control system, wherein the cutting knife lifting mechanism comprises a fixed frame and a lifting frame which are connected with two ends of two connecting rods which are arranged in a crossed manner, two ends of the two connecting rods are respectively connected in a fixed guide rail on the fixed frame and a movable guide rail on the lifting frame in a sliding manner, two ends of an electric push rod which is fixed on the fixed guide rail are respectively connected with the upper ends of the two connecting rods, and the lifting frame is lifted and descended by making the upper ends of the two connecting rods mutually far away and close along the fixed guide rails; the control system comprises a self-pilot navigation controller, an RTK module and a vehicle controller; the self-guided navigation controller acquires positioning information through the RTK module, controls the traveling route and the traveling speed of the traveling frame through the vehicle controller, and controls the electric push rod through the vehicle controller to adjust the height of the cutting knife.

Description

Mowing robot

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a mowing robot.

Background

The height adjustment of the cutting knife of the existing mower is not easy, and the mowing requirements of different grasslands or different positions of the same grassland can not be met. And the existing lawn mowers are divided into handheld lawn mowers and remote control lawn mowers, which can not be completely separated from workers, and can not completely liberate workers in the lawn mowing work, and the harsh grassland environment and noise generated during mowing can bring harm to the health of the workers.

Disclosure of Invention

In order to solve the problems, the invention provides a mowing robot with a novel structure, which not only can automatically walk to perform mowing operation, but also has a cutting knife position adjusting structure which is simple and easy to operate, and meets the use requirements.

The purpose of the invention and the technical problem to be solved are realized by adopting the following technical scheme. According to the invention, the mowing robot comprises a walking frame, a cutting knife lifting mechanism and a control system, wherein the cutting knife lifting mechanism is fixed on the walking frame, the cutting knife lifting mechanism comprises a fixed frame and a lifting frame which are connected to two ends of two connecting rods which are arranged in a crossed mode, the upper end and the lower end of each connecting rod are respectively connected in a fixed guide rail extending in the horizontal direction on the fixed frame and a movable guide rail extending in the horizontal direction on the lifting frame in a sliding mode, two ends of an electric push rod fixed on the fixed guide rails are respectively connected with the upper ends of the two connecting rods, the lifting frame is lifted and lowered by enabling the upper ends of the two connecting rods to be far away from and close to each other along the fixed guide rails, a gasoline engine fixed on the lifting frame drives a cutting knife mounting handle on an output shaft of the gasoline engine to rotate, and a cutting knife blade is mounted on the cutting knife mounting handle; the control system comprises a self-pilot navigation controller, an RTK module and a vehicle controller; the self-guided navigation controller acquires positioning information through the RTK module and controls a traveling route and a traveling speed of a traveling frame through the vehicle controller; the self-guiding navigation controller can also control the push-out stroke of the electric push rod through the vehicle controller, so that the height of the cutting knife can be adjusted.

The object of the present invention and the technical problems solved thereby can be further achieved by the following technical measures.

According to the mowing robot, the fixed frame is further provided with the sliding block guide rail extending in the vertical direction, the lifting frame is provided with the corresponding sliding block, and the lifting frame is lifted without deviation through the matching of the sliding block and the sliding block guide rail.

According to the mowing robot, one side of the sliding block guide rail is further provided with the graduated scale, and the sliding block is provided with the graduated pointer.

In the mowing robot, the two ends of the connecting rod are connected with the guide rail in a sliding mode through the pin shafts.

In the mowing robot, the crossing positions of the middle parts of the two connecting rods are connected through the pin shaft.

In the mowing robot, the traveling frame comprises a frame and traveling mechanisms fixed on two sides of the frame, and the traveling mechanisms are crawler traveling mechanisms.

In the mowing robot, the bottom of the lifting frame is also fixed with a dust board for preventing grass scraps from splashing, and the dust board is provided with a through hole for an output shaft of the gasoline engine to pass through.

According to the mowing robot, the two cutting blades are respectively arranged at the two ends of the cutting knife installation handle, and the cutting edges of the two cutting blades point to the same direction.

The mowing robot comprises a main control room, a remote control antenna fixed on a walking frame, a controller, a receiver and an autonomous navigation controller, wherein the controller is used for receiving a vehicle state data, the controller is used for receiving a remote control signal, and the autonomous navigation controller is used for transmitting the vehicle state data to the intelligent terminal in the main control room.

In the mowing robot, the control system further comprises a camera fixed on the walking frame, acquiring image information and transmitting the image information to the intelligent terminal.

Compared with the prior art, the invention has obvious advantages and beneficial effects. By means of the technical scheme, the invention can achieve considerable technical progress and practicability, has wide industrial utilization value and at least has the following advantages:

the mowing robot can realize autonomous operation through the unmanned function, can liberate manpower, unifies operation effect and improves working efficiency. The mowing robot can accurately adjust the position of the cutting knife through intelligent operation, and the cutting knife lifting device is simple in structure, stable and reliable. The mowing robot also has a remote control function, and the remote control is an auxiliary function, so that the mowing robot can be flexibly operated when a user moves to a place and enters a warehouse, and the robot is more convenient to use.

Drawings

FIG. 1 is a lawn mowing robot assembly of the present invention;

FIG. 2 is a view of the cutting blade lifting mechanism assembly of the mowing robot with the cutting blade lifted to the highest position;

FIG. 3 illustrates a cutting blade lift assembly of the robot lawnmower blade lowered to a lowermost position;

FIG. 4 is a rotated view of FIG. 3;

FIG. 5 is a first schematic diagram of an electric control of the mowing robot of the invention;

fig. 6 is a second electrical control schematic diagram of the mowing robot of the invention.

[ description of main element symbols ]

1-vehicle frame

2-rubber track

3-driving wheel

4-Electrical cabinet

5-scram switch

6-electric quantity display screen

7-switch button

8-remote control antenna

9-petrol engine

10-cutter lifting mechanism assembly

11-multi-satellite multi-frequency GNSS antenna

12-camera

13-Battery cabinet

14-fixed mount

15-connecting rod one

16-transition installation pipe

17-lifting frame

18-lifting guide rail

19-connecting rod two

20-dust board

21-graduated scale

22-slide guide

23-sliding block

24-slide block mounting plate

25-fixed guide rail

26-electric push rod

27-pin shaft I

28-pin shaft II

29-Pin shaft III

30-pin shaft four

31-pin shaft five

32-Scale pointer

33-shaft sleeve

34-cutter installation handle

35-cutting blade

36-thrust wheel

37-tensioning wheel

38-receiver

39-self-pilot navigation controller

40-data radio A2

41-Motor drive

42-drive motor

43-vehicle controller

44-data radio a1

45-data transmission antenna

46-remote controller

47-data radio station B

48-intelligent terminal

Detailed Description

To further illustrate the technical means and effects of the present invention adopted to achieve the predetermined objects, the following detailed description of the embodiments, structures, features and effects of the mowing robot according to the present invention will be made with reference to the accompanying drawings and preferred embodiments.

Please refer to fig. 1-6, which are schematic views of parts of the robot for mowing according to the present invention, the robot for mowing includes a frame 1, a traveling mechanism fixed on the frame 1, a cutter lifting mechanism 10, and a control system, wherein the traveling mechanism is fixedly mounted on two sides of the frame 1, and includes a driving motor 42 mounted on two sides of the frame 1, a driving wheel 3 connected to an output shaft of the driving motor 42, a crawler 2 engaged with the driving wheel 3, and a supporting wheel 36 and a tensioning wheel 37 supported on two sides of a bottom of the frame 1 for supporting and tensioning the crawler 2. The thrust wheel 36 and the tension wheel 37 are distributed along the traveling direction of the frame 1, and the driving wheel 3 drives the thrust wheel 36 and the tension wheel 37 to rotate through the track 2. In the embodiment of the present invention, the track 2 is arranged in a triangle supported by the driving wheel 3, the thrust wheel 36 and the tension wheel 37, and the triangle is not a right triangle. Preferably, the frame 1 is formed by welding carbon steel rectangular tubes serving as main components.

The cutting knife lifting mechanism 10 comprises a cutting knife rotating part and a lifting part, the lifting part comprises a fixed frame 14 fixed on the frame 1 and a lifting frame 17 connected on the fixed frame 14, wherein a fixed guide rail 25 extending along the horizontal direction and a slide block guide rail 22 extending along the vertical direction are arranged on the fixed frame 14. The fixed guide rail 25 is fixedly provided with an electric push rod 26, the pin column four 30 and the pin column five 31 are respectively assembled in mounting holes at two ends of the electric push rod 26, and the other ends of the pin column four 30 and the pin column five 31 penetrate through the fixed guide rail 25 and respectively rotatably penetrate through holes at the upper ends of the connecting rod two 19 and the connecting rod one 15. When the two ends of the electric push rod 26 are pushed outwards, the pin four 30 and the pin five 31 respectively drive the upper ends of the connecting rod two 19 and the connecting rod one 15 to move outwards and back to back along the fixed guide rail 25, and when the two ends of the electric push rod 26 contract inwards, the pin four 30 and the pin five 31 respectively drive the upper ends of the connecting rod two 19 and the connecting rod one 15 to move inwards and oppositely along the fixed guide rail 25.

The lifting frame 17 is fixed with a lifting guide rail 18 extending along the horizontal direction and a sliding block 23 fixed on one side of the lifting frame 17, wherein the sliding block 23 is assembled on a sliding block guide rail 22 on the fixed frame in a sliding manner, the lower ends of the first connecting rod 15 and the second connecting rod 19 are respectively connected with the lifting guide rail 18 in a sliding manner through a pin shaft two 28 and a pin shaft one 27, and the first connecting rod 15 and the second connecting rod 19 are arranged in a crossed manner, so that the fixed frame 14 and the lifting frame 17 can realize the adjustment of the height difference between the first connecting rod and the second connecting rod through the change of the angle between the first connecting rod and the second connecting rod (the change of the distance between the end parts). And the cooperation of the slide block 23 and the slide block guide rail 22 enables the lifting frame 17 to move along the vertical direction relative to the fixed frame 14, so as to prevent the lifting frame from horizontally swinging.

In the embodiment of the present invention, the first link 15 and the second link 19 intersect at the middle and are connected at the intersecting position by the third pin 29, and both the first link 15 and the second link 19 can flexibly rotate around the third pin, but is not limited thereto.

In the embodiment of the present invention, a graduated scale 21 for displaying the elevation height of the lifting frame 17 is further disposed on one side of the slider guide 22 on the fixed frame 14, and a graduated pointer 32 is mounted on the slider 23 and can indicate the scale on the graduated scale 21 to visually check the height of the cutting knife, but the present invention is not limited thereto.

In the embodiment of the present invention, the slider 23 is located on a fixed rod extending vertically on one side of the lifting frame 17, and when the lifting frame 17 is lowered to the lowest position, the slider 23 slides to the bottom of the slider guide 22, but is not limited thereto.

The rotary part is including the gasoline engine 9 of fixed assembly on crane 17, and the output shaft of this gasoline engine 9 extends crane 17 bottom and is connected with cutting knife installation handle 34 through axle sleeve 33, and both ends difference fixed mounting has a cutting blade 35 about this cutting knife installation handle 34, and the directional same that turns to of blade of cutting blade on this cutting knife installation handle 34. In the embodiment of the invention, the shaft sleeve 33 and the cutting knife mounting handle 34 are welded into a whole, and the shaft sleeve 33 is sleeved on the output shaft of the gasoline engine 9. The cutting blade 35 rotates along with the cutting blade mounting handle 34 under the driving of the gasoline engine, thereby achieving the purpose of mowing.

In the embodiment of the invention, the bottom of the lifting frame 17 is also fixed with a dust guard plate 22 for preventing weeds and the like from influencing the lifting performance of the lifting mechanism, and the dust guard plate can completely isolate the lifting frame 17 from the cutting blade and prevent cut grass from rising to enter the lifting frame. The dust guard plate 22 is provided with a through hole for the output shaft of the gasoline engine 9 to pass through.

The working principle of the cutting knife lifting mechanism assembly of the mowing robot is introduced as follows: when the electric push rod 26 is pushed out to the maximum stroke, the first connecting rod 15 and the second connecting rod 19 are maximum in forking around the third pin shaft 29, so that the lifting frame 17 is lifted to the highest position, and the cutting blade 35 is lifted to the highest position because the gasoline engine 9 provided with the cutting blade 35 is arranged on the lifting frame 17; when the electric push rod 26 retracts to the minimum stroke, the first connecting rod 15 and the second connecting rod 19 are minimum in forking around the third pin shaft 29, so that the lifting frame 17 is lowered to the lowest position, and the cutting blade 35 is lowered to the lowest position. In the lifting process, the slide block 23 slides up and down on the slide block guide rail 22 to play a role in guiding and stabilizing the lifting frame 17. The dust guard 20 is used for preventing grass scraps from splashing and is installed below the lifting frame 17 through the transition installation pipe 16 and the bolt.

In the embodiment of the invention, the fixing frame 14 and the lifting frame 17 are both welding parts, and the fixing frame 14 is used for mounting the whole mechanism on the frame 1 through bolts.

The control system is fixed on the vehicle frame 1 and comprises an electric appliance cabinet 4, a camera 12, a remote control antenna 8 for receiving a remote controller signal to realize a remote control function, a multi-satellite multi-frequency GNSS antenna 11 for positioning to realize an automatic driving function and a battery cabinet 13 for storing a lithium battery for supplying power, wherein a motor driver 41 for driving a driving motor 42 and a vehicle controller 43 for controlling the motor driver 41 and an electric push rod 26 are arranged in the electric appliance cabinet 4, an autonomous navigation controller 39, a receiver 38, an RTK module 49 and a digital transmission station A1 are further arranged in the electric appliance cabinet 4, wherein the receiver 38 can receive instruction information sent by a remote controller 46 through the remote control antenna 8 and send the information to the autonomous navigation controller, the autonomous navigation controller 39 controls the robot to move through the vehicle controller 43, and the autonomous navigation controller 39 can realize a walking route of the mowing robot through the vehicle controller 43, Control of the advancing direction, the advancing speed, the height of the cutter, and the like. The RTK module performs difference solving on the differential positioning data and the coordinate data received by the multi-satellite multi-frequency GNSS antenna to obtain positioning data of the robot and transmits the positioning data to the autonomous navigation controller 39. The self-pilot controller 39 transmits the state data of the mowing robot to the intelligent terminal 48 of the control room through the data transmission antenna 45 by the data transmission radio A1, and the intelligent terminal 48 receives the state data transmitted by the data transmission radio of the mowing robot end through the data transmission radio B47. And the intelligent terminal 48 can also design a working point for the robot and send out control data through the data transmission station B.

The camera 12 collects video data and transmits the video data to the data transmission radio station B through the data transmission radio station a2, and the data transmission radio station B transmits the adaptive data to the intelligent terminal, so that the driving condition can be further mastered in the automatic driving state, and the road condition can be mastered during remote control operation.

The control system also comprises an emergency stop switch 5 assembled on the frame 1, and the emergency stop switch 5 can be used for an emergency power-off device when the whole machine is out of control or in other accidents, and can also be powered off when the whole machine is stopped and stored and be communicated when the whole machine is in normal operation.

The control system also comprises an electric quantity display screen assembled on the frame 1, and the electric quantity display screen is used for displaying the electric quantity of the battery.

The control system also comprises a switch button 7 positioned on the frame 1, the switch button 7 comprises a power-on indicator light, under the condition that the emergency stop switch 5 is communicated, the switch button 7 is pressed, the power-on indicator light is turned on, the whole machine is powered on, the switch button 7 is pressed again, the power-on indicator light is turned off, and the whole machine is powered off.

When the mowing robot is used, the button switch 7 is turned on when the emergency stop switch 5 is in an electrified state, and the whole mowing robot is electrified. At the moment, the whole machine can be driven into an operation field through a remote control function, GPS data is obtained from RTK equipment, a fixed solution state is waited to enter, an operation scene and an operation waypoint are planned through the intelligent terminal, an operation task is executed, and a motion control instruction is executed.

Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (10)

1. A robot lawnmower, comprising: the cutting knife lifting mechanism comprises a fixed frame and a lifting frame which are connected at two ends of two connecting rods which are arranged in a crossed manner, the upper end and the lower end of each connecting rod are respectively connected in a fixed guide rail extending along the horizontal direction on the fixed frame and a movable guide rail extending along the horizontal direction on the lifting frame in a sliding manner, two ends of an electric push rod fixed on the fixed guide rail are respectively connected with the upper ends of the two connecting rods, the lifting frame is lifted and descended by making the upper ends of the two connecting rods mutually far away from and close to each other along the fixed guide rails, a gasoline engine fixed on the lifting frame drives a cutting knife mounting handle on an output shaft of the gasoline engine to rotate, and a cutting knife blade is mounted on the cutting knife mounting handle; the control system comprises a self-pilot navigation controller, an RTK module and a vehicle controller; the self-guided navigation controller acquires positioning information through the RTK module and controls a traveling route and a traveling speed of a traveling frame through the vehicle controller; the self-guiding navigation controller can also control the push-out stroke of the electric push rod through the vehicle controller, so that the height of the cutting knife can be adjusted.

2. The robot lawnmower of claim 1, wherein: the lifting frame is provided with a corresponding sliding block, and the lifting frame can realize non-offset lifting through the matching of the sliding block and the sliding block guide rail.

3. The robot lawnmower of claim 2, wherein: and a graduated scale is further arranged on one side of the slide block guide rail, and a graduated pointer is arranged on the slide block.

4. The robot lawnmower of claim 1, wherein: wherein, the two ends of the connecting rod are connected with the guide rail in a sliding way through pin shafts.

5. The robot lawnmower of claim 1, wherein: the crossing positions of the middle parts of the two connecting rods are connected through a pin shaft.

6. The robot lawnmower of claim 1, wherein: the walking frame comprises a frame and walking mechanisms fixed on two sides of the frame, and the walking mechanisms are crawler walking mechanisms.

7. The robot lawnmower of claim 1, wherein: wherein the bottom of the lifting frame is also fixed with a dust board for preventing grass scraps from splashing, and the dust board is provided with a through hole for an output shaft of the gasoline engine to pass through.

8. The robot lawnmower of claim 7, wherein: the two ends of the cutting knife installation handle are respectively provided with a cutting blade, and the cutting edges of the two cutting blades point to the same direction.

9. The robot lawnmower of claim 1, wherein: the control system also comprises a receiver for receiving signals of the remote controller through a remote control antenna fixed on the walking frame, the receiver transmits the received remote control signals to the self-guided navigation controller, and the self-guided navigation controller transmits vehicle state data to the intelligent terminal in the main control room.

10. The robot lawnmower of claim 9, wherein: the control system also comprises a camera which is fixed on the walking frame, collects image information and transmits the image information to the intelligent terminal.

Images