CN116420496B - Intelligent obstacle avoidance type cutting equipment based on ground profiling - Google Patents
Intelligent obstacle avoidance type cutting equipment based on ground profiling Download PDFInfo
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- CN116420496B CN116420496B CN202310647392.XA CN202310647392A CN116420496B CN 116420496 B CN116420496 B CN 116420496B CN 202310647392 A CN202310647392 A CN 202310647392A CN 116420496 B CN116420496 B CN 116420496B
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- 238000005520 cutting process Methods 0.000 title claims abstract description 47
- 230000005540 biological transmission Effects 0.000 claims abstract description 43
- 230000000903 blocking effect Effects 0.000 claims description 14
- 238000001514 detection method Methods 0.000 claims description 14
- 238000003825 pressing Methods 0.000 claims description 13
- 239000000463 material Substances 0.000 claims description 5
- 238000000034 method Methods 0.000 abstract description 26
- 230000008569 process Effects 0.000 abstract description 24
- 230000007246 mechanism Effects 0.000 abstract description 6
- 241001494496 Leersia Species 0.000 abstract 1
- 244000025254 Cannabis sativa Species 0.000 description 48
- 238000006073 displacement reaction Methods 0.000 description 14
- 238000005452 bending Methods 0.000 description 10
- 230000009471 action Effects 0.000 description 9
- 230000004888 barrier function Effects 0.000 description 6
- 230000006698 induction Effects 0.000 description 6
- 239000002023 wood Substances 0.000 description 5
- 239000011120 plywood Substances 0.000 description 4
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000009333 weeding Methods 0.000 description 1
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
- A01D34/64—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 mounted on a vehicle, e.g. a tractor, or drawn by an animal or a vehicle
- A01D34/66—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 mounted on a vehicle, e.g. a tractor, or drawn by an animal or a vehicle with two or more cutters
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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
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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
- A01D34/006—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
- A01D34/01—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
- A01D34/74—Cutting-height adjustment
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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
- 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
- A01D34/828—Safety devices
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D43/00—Mowers combined with apparatus performing additional operations while mowing
- A01D43/06—Mowers combined with apparatus performing additional operations while mowing with means for collecting, gathering or loading mown material
- A01D43/07—Mowers combined with apparatus performing additional operations while mowing with means for collecting, gathering or loading mown material in or into a trailer
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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
- A01D75/18—Safety devices for parts of the machines
- A01D75/185—Avoiding collisions with obstacles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvester Elements (AREA)
Abstract
The invention discloses intelligent obstacle avoidance type cutting equipment based on ground profiling, which comprises a self-propelled vehicle, a mowing device, an obstacle avoidance device and a leveling device, wherein the self-propelled vehicle is connected with the mowing device, the mowing device is connected with the obstacle avoidance device, the obstacle avoidance device is connected with the self-propelled vehicle, the self-propelled vehicle comprises a chassis and a carriage, the chassis is in transmission connection with the carriage, a driving mechanism is arranged in the self-propelled vehicle, the mowing device is driven to move when mowing, automatic mowing is facilitated, mowing efficiency is improved, obstacles encountered in the advancing process of the mowing device are avoided by the obstacle avoidance device, a cutter is prevented from being damaged, the service life is ensured, the ground is automatically profiled by the leveling device, the stubble cutting height is ensured, a mowing plane is kept flat, the driving mechanism is positioned on the chassis, the carriage is driven to move by the chassis, and the cut grass is loaded in the carriage by the mowing device, and the automatic stock is stored, so that the continuous mowing efficiency is improved.
Description
Technical Field
The invention relates to the technical field of intelligent obstacle avoidance type cutting equipment, in particular to intelligent obstacle avoidance type cutting equipment based on ground profiling.
Background
Along with the continuous enhancement of environmental awareness, more and more residents begin to pay attention to living environments, and requirements on surrounding greening environments are also higher and higher, so that various greening companies begin to appear to meet greening requirements, and the market greening requirements are met through artificial grasslands.
The manual grassland needs to be cleaned regularly, the stubble height needs to be ensured when weeding, and the manual cleaning cost is high, so that the mowing efficiency can be greatly improved by adopting intelligent cutting equipment to mow. However, the lawn is not necessarily a horizontal surface in the maintenance process, and when the conventional mowing equipment is used for mowing grass and meets uneven surfaces, the conventional mowing equipment can cut the ground, so that roots of the grass and the trees are injured, and the restoration quality of the subsequent lawn is affected.
In addition, in order to guarantee mowing efficiency, when mowing, a multi-blade combined design is adopted, and overlapping mowing areas exist among blades, so that the blades are not distributed at the same height, the stubble retaining heights are inconsistent, and the stubble retaining quality is affected.
Disclosure of Invention
The invention aims to provide intelligent obstacle avoidance type cutting equipment based on ground profiling, so as to solve the problems in the background technology.
In order to solve the technical problems, the invention provides the following technical scheme:
the utility model provides an obstacle-avoiding type cutting equipment of intelligence based on ground profile modeling, includes from walking car, grass cutting device, keeps away barrier device and levelling device, and from walking car and grass cutting device to be connected, grass cutting device and keep away the barrier device to be connected, keep away the barrier device and be connected with from walking car, keep away barrier device and levelling device to be connected, from walking car includes chassis and carriage, chassis and carriage transmission are connected.
The self-propelled vehicle is used as a main carrier for installing other devices, a driving mechanism is arranged in the self-propelled vehicle, when mowing is carried out, the mowing device is driven to move, automatic mowing is convenient to carry out, mowing efficiency is improved, obstacle avoidance is carried out on obstacles encountered by the obstacle avoidance device in the advancing process of the mowing device, a cutter is prevented from being damaged, service life is guaranteed, automatic profiling is carried out on the ground through the leveling device, stubble cutting height is guaranteed, a mowing plane is kept flat, the driving mechanism is located on a chassis, the chassis drives a carriage to move, vegetation cut by the mowing device is loaded in the carriage, automatic stock is carried out, and continuous mowing efficiency is improved.
Further, the grass cutting device comprises a mounting table and a blade, the mounting table is in transmission connection with the blade, the mounting table is connected with the chassis through a barrier avoiding device, the barrier avoiding device comprises a rotary cylinder, a rotary table, a vertical frame and a supporting seat, the rotary table is in rotary connection with the chassis, a cylinder body of the rotary cylinder is in hinged connection with the chassis, an output end of the rotary cylinder is hinged with the rotary table, the supporting seat is in rotary connection with the chassis, an inner tooth surface is arranged on the rotary table, a gear is arranged at the lower end of the supporting seat, the inner tooth surface is meshed with the gear tooth surface, the rotary table is in transmission connection with the supporting seat through the gear, and the vertical frame is in rotary connection with the supporting seat.
The mounting table is used for mounting the blade and driving the blade to move, the mounting table is driven by the obstacle avoidance device to rotate by a fixed shaft, so that the obstacle avoidance is automatically performed, the turntable can rotate by the fixed shaft along the chassis, an inner tooth surface is arranged in the turntable, the turntable is driven by the rotary cylinder to rotate, the supporting seat rotates by the fixed shaft along the chassis, the supporting seat is meshed with the inner tooth surface and the gear, the supporting seat rotates by the fixed shaft, when an obstacle is encountered in the mowing process, the supporting seat is rotationally driven, and the stand can drive the mounting table to automatically avoid the obstacle due to the eccentric arrangement of the mounting table, so that the cutter is prevented from being damaged.
Further, the vertical frame is in transmission connection with the mounting table through the leveling device, the leveling device comprises a side deflection cylinder, a lifting frame, a lifting cylinder, a leveling frame, a first flat cylinder and a second flat cylinder, the side deflection cylinder body is hinged with the vertical frame, the output end of the side deflection cylinder is hinged with the supporting seat, the lifting frame is in rotation connection with the vertical frame, the rotation axis of the lifting frame is parallel to the rotation axis of the vertical frame, two ends of the lifting cylinder are respectively hinged with the vertical frame and the lifting frame, the leveling frame is in rotation connection with the lifting frame, the rotation axis of the leveling frame is parallel to the rotation axis of the lifting frame, two ends of the first flat cylinder are respectively hinged with the lifting frame and the leveling frame, the mounting table is in rotation connection with the two ends of the leveling cylinder, and the second flat cylinder is respectively hinged with the leveling frame and the mounting table, and the output end of the second flat cylinder is eccentrically arranged with the rotation axis of the mounting table.
The blade is subjected to three-coordinate adjustment through the leveling device, so that profile cutting is performed according to different heights and flatness of the ground, the stubble cutting height is guaranteed, one side of the lateral deflection cylinder is hinged to the vertical frame, the other end of the lateral deflection cylinder is hinged to one side of the supporting seat, the lateral deflection degree of the vertical frame is adjusted when the lateral deflection cylinder outputs displacement through inclined arrangement, the height of the blade is adjusted, the lifting cylinder is hinged to two ends to drive the lifting frame to rotate, the lateral deflection cylinder and the lifting cylinder are oppositely arranged, the angle inclination generated in the blade height adjustment process is automatically compensated, the blade is horizontally adjusted, the profile precision is improved, when the deflection angle perpendicular to the travelling direction of the self-propelled vehicle is generated in the ground horizontal direction, the angle adjustment is performed through the first flat cylinder hinged to two ends, and the second flat cylinder arranged eccentrically drives the mounting table to rotate to fix the shaft when the deflection angle of the self-propelled vehicle is generated along the travelling direction of the ground, the blade deflection angle is compensated, and the profile cutting quality is improved through three-coordinate compensation, and the stubble cutting height is conveniently guaranteed.
Further, the mowing device further comprises a feeding assembly, a mowing motor, a main belt pulley and an auxiliary belt pulley, a transmission cavity is formed in the mounting table, the mowing motor is arranged in the transmission cavity, the output end of the mowing motor is in transmission connection with the main belt pulley, the main belt pulley and the auxiliary belt pulley are respectively arranged in the transmission cavity, the main belt pulley and the auxiliary belt pulley are in transmission through belts, the main belt pulley is positioned in the middle of the transmission cavity, the height of a blade layer below the main belt pulley is higher than that of a blade layer below the auxiliary belt pulley, and the feeding assembly is in transmission connection with the mounting table;
the feeding subassembly includes feeding board, the clamp plate, the sideboard, feeding board one end is connected with the mount table transmission, the feeding board is located the blade side, the feeding board includes middle plywood and sideboard, the middle plywood is located between the adjacent blade, the sideboard is located the outside of outermost blade, be equipped with the plane of mowing of overlapping between the adjacent blade, the clamp plate is located between the middle plywood, the clamp plate is located the blade downside, the sideboard is located blade advancing direction front end, sideboard and sideboard rotate to be connected, sideboard one side is equipped with pretension spring, pretension spring keeps away from sideboard one end and middle plywood fastening connection, clamp plate and sideboard are located different layer heights, be equipped with the grass clearance of rolling over between clamp plate and the sideboard.
The grass cutting machine is characterized in that the feeding assembly is installed through the transmission cavity, the grass cutting motor is fixed in the transmission cavity, torque is output, the main belt pulley is driven to rotate, the auxiliary belt pulleys on two sides are driven to rotate through belt transmission, blades on the lower sides of the main belt pulley and the auxiliary belt pulleys rotate simultaneously, automatic cutting is conducted on grass and wood, the grass cutting quality is improved through an overlapped grass cutting plane between adjacent blades, leakage is prevented, the height of the blades on the lower end of the main belt pulley is lower than that of the adjacent blades, the feeding plate is used for guiding the grass, the middle layer plate is arranged in the middle, the side plate is used for cutting grass in equal intervals, when grass cutting is conducted, the height of the grass and wood is fixed by the height of the layer where the outer blades are located, grass and wood are stacked on the baffle plate in the forward moving process of the installation platform, the baffle plate is pushed to overcome the spring force of pretension, the grass and wood is extruded by the pressing plate in the forward moving process, the grass and wood is partially bent, the front portion is supported through the baffle plate, grass cutting gaps are formed according to the difference between the height of the layers of the blades and the blades are adjusted, and the grass cutting gaps are not bent, and therefore the grass cutting heights are adjusted when grass cutting gaps are formed.
Further, the number of blades is three. Through setting up three blade, when mowing, the blade layer height in middle part is compared with the blade layer height of both sides and is less, is convenient for when mowing, carries out the profile modeling cutting to the ground that produces the recess locally.
Further, the mowing device further comprises a height adjusting component, the feeding plate is provided with a detection cavity, the height adjusting component comprises a counterweight wheel, a support and a coil, the counterweight wheel is rotationally connected with the support, the coil is arranged in the detection cavity, the support extends upwards to be provided with a push rod, the upper end of the push rod penetrates through the detection cavity, and the push rod is made of a magnet material.
The feeding plate is mounted on the coil through the detection cavity, the counterweight wheels roll along the ground under the action of dead weight, double-end support is carried out through the support, the support can drive the ejector rod to slide along the detection cavity in the up-down movement process, the coil is made to conduct cutting magnetic induction line movement, when the ground generates grooves, the counterweight wheels generate downward displacement under the action of dead weight, the distance is larger, the coil is cut more magnetic induction lines, and the generated current quantity is larger, so that the ground flatness is detected in real time.
Further, the height-adjusting assembly further comprises a telescopic cylinder, the telescopic cylinder is located between the main belt wheel and the middle blade, a main shaft is arranged at the output end of the telescopic cylinder, a sliding groove is formed in the main belt wheel, the main shaft is in sliding connection with the sliding groove, and the middle coil is electrically connected with the telescopic cylinder.
According to the magnitude of the induced current generated on the coil, the power supply is controlled to output current, the telescopic cylinder is driven to output displacement, the telescopic cylinder drives the main shaft to move downwards along with the rotation of the main belt wheel through the output displacement, the outer side of the main shaft is provided with a bulge, and the inside of the chute is provided with a corresponding groove, so that the main belt wheel can move along with the main shaft, and therefore, the automatic profiling is carried out according to the ground, and the mowing quality is improved.
Preferably, the side coils are electrically connected to the rotary cylinder. When induced current is generated on the coils at the two sides, the rotary cylinder is driven to extend or retract according to the circuit conduction signal, so that the mounting table rotates along the fixed axis of the horizontal plane, the blade in the middle moves towards the original mowing plane of the blades at the two sides to mow, the partially sunken ground is cut, the height of the blades at the two sides is prevented from being adjusted, and the blades collide with the blade in the downward moving process.
Compared with the prior art, the invention has the following beneficial effects: according to the invention, the lateral deflection cylinder and the lifting cylinder are oppositely arranged, so that the angle inclination generated in the blade height adjusting process is automatically compensated, the blade is horizontally adjusted, the profiling precision is improved, when the deflection angle perpendicular to the travelling direction of the self-propelled vehicle is generated in the horizontal direction of the ground, the angle adjustment is performed through the first parallel cylinder hinged at two ends, when the deflection angle along the travelling direction of the self-propelled vehicle is generated on the ground, the mounting table is driven to rotate by the second parallel cylinder eccentrically arranged, the deflection angle of the blade is compensated, and the profiling quality of the ground is improved through three-coordinate compensation, so that the stubble cutting height is conveniently ensured; when mowing, the height of the stubble is fixed by the height of the layer where the external blade is positioned, the grass is piled on the baffle plate in the forward moving process of the mounting table, the baffle plate is pushed to rotate inwards along with the increase of the quantity of the grass, the pressing plate extrudes the rootstock of the grass close to the ground in the forward moving process, the grass is partially bent, the front part is supported by the baffle plate, a grass folding gap is formed by bending, the grass folding gap is set according to the difference of the layer height spacing between the middle blade and the side blade, and the grass folding gap is adjusted by adjusting the bending length of the grass, so that the blades with different heights form equal height stubble height when mowing; when the ground generates a groove, the counterweight wheel generates downward displacement under the action of dead weight, the larger the distance is, the more magnetic induction lines are cut by the coil, the larger the generated current amount is, so that the ground flatness is detected in real time; according to the magnitude of the induced current generated on the coil, the power supply is controlled to output current, the telescopic cylinder is driven to output displacement, the telescopic cylinder drives the main shaft to move downwards along with the rotation of the main belt wheel through the output displacement, the outer side of the main shaft is provided with a bulge, and the inside of the chute is provided with a corresponding groove, so that the main belt wheel can move along with the main shaft, and therefore, the automatic profiling is carried out according to the ground, and the mowing quality is improved.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a schematic general construction of the present invention;
FIG. 2 is a schematic view of the overall profiling structure of the ground of the present invention;
FIG. 3 is an enlarged view of part A of the view of FIG. 2;
FIG. 4 is an enlarged view of part B of the view of FIG. 1;
FIG. 5 is a schematic view of the blade arrangement of the present invention;
FIG. 6 is a schematic view of a blade stage drive configuration of the present invention;
FIG. 7 is a H-H cross-sectional view of the view of FIG. 5;
FIG. 8 is an enlarged view of part C of the view of FIG. 7;
in the figure: 1-self-propelled vehicle, 11-chassis, 12-carriage, 2-mowing device, 21-mounting table, 211-transmission cavity, 22-feeding assembly, 221-feeding plate, 2211-middle plate, 2212-side plate, 2213-detection cavity, 222-pressing plate, 223-baffle, 224-pretension spring, 23-height adjusting assembly, 231-counterweight wheel, 232-bracket, 233-coil, 234-ejector pin, 235-telescopic cylinder, 24-mowing motor, 25-main belt pulley, 251-chute, 26-auxiliary belt pulley, 27-blade, 3-obstacle avoidance device, 31-rotary cylinder, 32-turntable, 33-stand, 34-supporting seat, 4-leveling device, 41-side offset cylinder, 42-lifting frame, 43-lifting cylinder, 44-leveling frame, 45-first flat cylinder, 46-second flat cylinder.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention provides the technical scheme that:
as shown in fig. 1-8, the intelligent obstacle avoidance type cutting equipment based on ground profiling comprises a self-propelled vehicle 1, a mowing device 2, an obstacle avoidance device 3 and a leveling device 4, wherein the self-propelled vehicle 1 is connected with the mowing device 2, the mowing device 2 is connected with the obstacle avoidance device 3, the obstacle avoidance device 3 is connected with the self-propelled vehicle 1, the obstacle avoidance device 3 is connected with the leveling device 4, the self-propelled vehicle 1 comprises a chassis 11 and a carriage 12, and the chassis 11 is in transmission connection with the carriage 12.
The self-propelled vehicle 1 is used as a main carrier for installing other devices, a driving mechanism is arranged in the self-propelled vehicle, when mowing is carried out, the mowing device 2 is driven to move, automatic mowing is facilitated, mowing efficiency is improved, obstacle avoidance is carried out on obstacles encountered by the mowing device 2 in the advancing process through the obstacle avoidance device 3, a cutter is prevented from being damaged, service life is guaranteed, the ground is automatically contoured through the leveling device 4, stubble cutting height is guaranteed, a mowing plane is kept smooth, the driving mechanism is positioned on the chassis 11, the carriage 12 is driven to move through the chassis 11, the vegetation cut by the mowing device 2 is loaded in the carriage 12, automatic stock is carried out, and continuous mowing efficiency is improved.
Further, the mowing device 2 comprises a mounting table 21 and a blade 27, the mounting table 21 is in transmission connection with the blade 27, the mounting table 21 is connected with the chassis 11 through the obstacle avoidance device 3, the obstacle avoidance device 3 comprises a rotary cylinder 31, a rotary table 32, a vertical frame 33 and a supporting seat 34, the rotary table 32 is in rotation connection with the chassis 11, a cylinder body of the rotary cylinder 31 is in hinged connection with the chassis 11, an output end of the rotary cylinder 31 is hinged with the rotary table 32, the supporting seat 34 is in rotation connection with the chassis 11, an inner tooth surface is arranged on the rotary table 32, a gear is arranged at the lower end of the supporting seat 34, the inner tooth surface is meshed with the gear tooth surface, the rotary table 32 is in transmission connection with the supporting seat 34 through the gear, and the vertical frame 33 is in rotation connection with the supporting seat 34.
The mounting table 21 is used for mounting the blade 27 and driving the blade 27 to move, the mounting table 21 is driven to rotate in a fixed shaft through the obstacle avoidance device 3 so as to automatically avoid the obstacle, the turntable 32 can rotate in a fixed shaft along the chassis 11, an inner tooth surface is arranged in the turntable, the turntable 32 is driven to rotate through the rotary cylinder 31, the supporting seat 34 rotates in a fixed shaft along the chassis 11, the supporting seat 34 rotates in a fixed shaft through the meshing of the inner tooth surface and the gear, and when an obstacle is met in the mowing process, the supporting seat 34 rotates and drives, because the mounting table 21 is eccentrically arranged, the stand 33 can drive the mounting table 21 to automatically avoid the obstacle, and the damage to a cutter is prevented.
Further, the vertical frame 33 is in transmission connection with the mounting table 21 through the leveling device 4, the leveling device 4 comprises a lateral deflection cylinder 41, a lifting frame 42, a lifting cylinder 43, a leveling frame 44, a first flat cylinder 45 and a second flat cylinder 46, the cylinder body of the lateral deflection cylinder 41 is hinged with the vertical frame 33, the output end of the lateral deflection cylinder 41 is hinged with the supporting seat 34, the lifting frame 42 is in rotary connection with the vertical frame 33, the rotation axis of the lifting frame 42 is parallel to the rotation axis of the vertical frame 33, the two ends of the lifting cylinder 43 are respectively hinged with the lifting frame 33 and the lifting frame 42, the leveling frame 44 is in rotary connection with the lifting frame 42, the rotation axis of the leveling frame 44 is in a parallel state, the two ends of the first flat cylinder 45 are respectively hinged with the lifting frame 42 and the leveling frame 44, the two ends of the second flat cylinder 46 are respectively hinged with the leveling frame 44 and the mounting table 21, and the output end of the second flat cylinder 46 is eccentrically arranged with the rotation axis of the mounting table 21.
The blade 27 is subjected to three-coordinate adjustment through the leveling device 4, thereby carrying out profile modeling cutting according to different heights and flatness of the ground, ensuring the stubble cutting height, one side of the side deflection cylinder 41 is hinged on the stand 33, the other end of the side deflection cylinder is hinged on one side of the supporting seat 34, the side deflection degree of the stand 33 is adjusted when the side deflection cylinder 41 outputs displacement through inclined arrangement, the height of the blade 27 is adjusted, the lifting cylinder 43 is hinged at two ends to drive the lifting frame 42 to rotate, the side deflection cylinder 41 and the lifting cylinder 43 are oppositely arranged, the angle inclination generated in the height adjustment process of the blade 27 is automatically compensated, thereby carrying out horizontal adjustment on the blade 27, improving the profile modeling precision, carrying out angle adjustment through the first flat cylinder 45 hinged at two ends when the deflection angle vertical to the travelling direction of the self-propelled vehicle 1 is generated in the horizontal direction of the ground, carrying out fixed-axis rotation of the mounting table 21 through the second flat cylinder 46 arranged at two ends when the deflection angle along the travelling direction of the self-propelled vehicle 1 is generated on the ground, compensating the deflection angle of the blade 27, and improving the ground quality, and ensuring the profile modeling height through three-coordinate compensation.
Further, the mowing device 2 further comprises a feeding assembly 22, a mowing motor 24, a main belt pulley 25 and an auxiliary belt pulley 26, a transmission cavity 211 is formed in the mounting table 21, the mowing motor 24 is arranged in the transmission cavity 211, the output end of the mowing motor 24 is in transmission connection with the main belt pulley 25, the main belt pulley 25 and the auxiliary belt pulley 26 are respectively arranged in the transmission cavity 211, the main belt pulley 25 and the auxiliary belt pulley 26 are in transmission through belts, the main belt pulley 25 is positioned in the middle of the transmission cavity 211, the height of a blade 27 layer below the main belt pulley 25 is higher than that of a blade 27 layer below the auxiliary belt pulley 26, and the feeding assembly 22 is in transmission connection with the mounting table 21;
the feeding assembly 22 comprises a feeding plate 221, a pressing plate 222 and a blocking plate 223, wherein one end of the feeding plate 221 is in transmission connection with the mounting table 21, the feeding plate 221 is positioned on the side edge of the blade 27, the feeding plate 221 comprises a middle layer 2211 and a side plate 2212, the middle layer 2211 is positioned between adjacent blades 27, the side plate 2212 is positioned on the outer side of the outermost blade 27, an overlapped mowing plane is arranged between the adjacent blades 27, the pressing plate 222 is positioned between the middle layer 2211, the pressing plate 222 is positioned on the lower side of the blade 27, the blocking plate 223 is positioned at the front end of the advancing direction of the blade 27, the blocking plate 223 is in rotary connection with the middle layer 2211, one side of the blocking plate 223 is provided with a pre-tightening spring 224, one end of the pre-tightening spring 224, which is far away from the blocking plate 223, is in fastening connection with the middle layer 2211, the pressing plate 222 and the blocking plate 223 are positioned at different layer heights, and a grass folding gap is arranged between the pressing plate 222 and the blocking plate 223.
The feeding assembly 22 is installed through the transmission cavity 211, the mowing motor 24 is fixed in the transmission cavity 211, torque is output, the main belt pulley 25 is driven to rotate, in the process of rotating the main belt pulley 25, the auxiliary belt pulleys 26 on two sides are driven to rotate through belt transmission, blades 27 on the lower sides of the main belt pulley 25 and the auxiliary belt pulleys 26 are enabled to rotate simultaneously, automatic cutting is carried out on grass and trees, through overlapping mowing planes between adjacent blades 27, mowing quality is improved, material leakage is prevented, the height of the blades 27 on the lower end of the main belt pulley 25 is lower than that of the adjacent blades 27, material guiding is carried out through the feeding plate 221, the middle plate 2211 is arranged in the middle, the side plate 2212 is arranged on the outer side, equal-interval mowing is carried out, when mowing is carried out, the height of the grass and trees are fixed by the layer height of the outer blades 27, in the advancing process of the mounting table 21, the grass and trees are piled on the baffle 223, the baffle 223 is pushed to overcome by the elasticity of the baffle 223, the front side plates are pushed to rotate inwards, the front plates 222 are pushed to press the roots and the grass and the trees close to the ground, the grass and the front side plates form bending gap is formed by bending plates, and the grass bending gap is adjusted by bending gap between the blades 27, and the grass bending gap is not adjusted when the grass bending gap is equal.
Further, the number of blades 27 is three. By arranging the three blades 27, when mowing is carried out, the height of the blade 27 layer in the middle is higher than that of the blade 27 layers on the two sides, so that the cutting machine is convenient for carrying out profile modeling cutting on the ground with grooves locally when mowing is carried out.
Further, the mowing device 2 further comprises a height adjusting component 23, the feeding plate 221 is provided with a detection cavity 2213, the height adjusting component 23 comprises a weight wheel 231, a support 232 and a coil 233, the weight wheel 231 is rotationally connected with the support 232, the coil 233 is arranged in the detection cavity 2213, the support 232 extends upwards to be provided with a push rod 234, the upper end of the push rod 234 penetrates through the detection cavity 2213, and the push rod 234 is made of a magnet material.
The ground local flatness is detected in real time through the height adjusting component 23, the feeding plate 221 is used for installing the coil 233 through the detection cavity 2213, the counterweight wheel 231 rolls along the ground under the action of dead weight, double-end support is carried out through the support 232, the support 232 can drive the ejector rod 234 to slide along the detection cavity 2213 in the up-and-down moving process, the coil 233 is made to perform cutting magnetic induction line movement, when the ground generates a groove, the counterweight wheel 231 generates downward displacement under the action of dead weight, the larger the distance is, the more magnetic induction lines are cut by the coil 233, and the generated current amount is larger, so that the ground flatness is detected in real time.
Further, the height adjusting component 23 further comprises a telescopic cylinder 235, the telescopic cylinder 235 is located between the main belt wheel 25 and the middle blade 27, a main shaft is arranged at the output end of the telescopic cylinder 235, a sliding groove 251 is arranged on the main belt wheel 25, the main shaft is slidably connected with the sliding groove 251, and the middle coil 233 is electrically connected with the telescopic cylinder 235.
According to the magnitude of the induced current generated on the coil 233, the power supply is controlled to output current, the telescopic cylinder 235 is driven to output displacement, the telescopic cylinder 235 rotates along with the main belt wheel 25, the main shaft is driven to move downwards through the output displacement, the outer side of the main shaft is provided with a bulge, the inside of the sliding groove 251 is provided with a corresponding groove, so that the main belt wheel 25 can move along with the main shaft, automatic profiling is performed according to the ground, and mowing quality is improved.
Preferably, the lateral coil 233 is electrically connected to the rotary cylinder 31. When induced current is generated on the coils 233 on the two sides, the rotary cylinder 31 is driven to extend or retract according to the circuit conduction signal, so that the mounting table 21 rotates along the horizontal plane fixed axis, the blade 27 in the middle moves to the original mowing plane of the blades 27 on the two sides to mow, the partially recessed ground is cut, the height of the blades 27 on the two sides is prevented from being adjusted, and the blades 27 collide with the blades in the downward moving process.
The working principle of the invention is as follows: the side deflection cylinder 41 and the lifting cylinder 43 are oppositely arranged, so that the angle inclination generated in the height adjustment process of the blade 27 is automatically compensated, the blade 27 is horizontally heightened, the profiling precision is improved, when the deflection angle perpendicular to the travelling direction of the self-propelled vehicle 1 is generated in the horizontal direction of the ground, the angle adjustment is performed through the first flat cylinder 45 hinged at two ends, when the deflection angle along the travelling direction of the self-propelled vehicle 1 is generated on the ground, the mounting table 21 is driven to rotate in a fixed shaft through the second flat cylinder 46 arranged eccentrically, the deflection angle of the blade 27 is compensated, the ground profiling quality is improved through three-coordinate compensation, and the stubble cutting height is convenient to guarantee; when mowing is carried out, the height of the stubble is fixed by the layer height of the external blade 27, the grass is piled on the baffle 223 in the forward moving process of the mounting table 21, the baffle 223 is pushed to rotate inwards against the elasticity of the pre-tightening spring 224 along with the increase of the quantity of the grass, the pressing plate 222 presses the rootstock of the grass close to the ground in the forward moving process, the grass is partially bent, the front part is supported by the baffle 223, a grass folding gap is formed by bending, the grass folding gap is set according to the layer height difference between the middle blade 27 and the side blade 27, and the grass folding gap is adjusted by adjusting the bending length of the grass, so that the blades 27 with different heights form the stubble height with equal height when mowing; when the ground generates a groove, the counterweight wheel 231 generates downward displacement under the action of dead weight, the larger the distance is, the more magnetic induction lines are cut by the coil 233, the larger the generated current amount is, so that the ground flatness is detected in real time; according to the magnitude of the induced current generated on the coil 233, the power supply is controlled to output current, the telescopic cylinder 235 is driven to output displacement, the telescopic cylinder 235 rotates along with the main belt wheel 25, the main shaft is driven to move downwards through the output displacement, the outer side of the main shaft is provided with a bulge, the inside of the sliding groove 251 is provided with a corresponding groove, so that the main belt wheel 25 can move along with the main shaft, automatic profiling is performed according to the ground, and mowing quality is improved.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. Intelligent obstacle avoidance type cutting equipment based on ground profiling, and is characterized in that: the intelligent obstacle avoidance type cutting equipment comprises a self-propelled vehicle (1), a mowing device (2), an obstacle avoidance device (3) and a leveling device (4), wherein the self-propelled vehicle (1) is connected with the mowing device (2), the mowing device (2) is connected with the obstacle avoidance device (3), the obstacle avoidance device (3) is connected with the self-propelled vehicle (1), the obstacle avoidance device (3) is connected with the leveling device (4), the self-propelled vehicle (1) comprises a chassis (11) and a carriage (12), and the chassis (11) is in transmission connection with the carriage (12);
the mowing device (2) comprises a mounting table (21) and a blade (27), the mounting table (21) is in transmission connection with the blade (27), the mounting table (21) is connected with a chassis (11) through an obstacle avoidance device (3), the obstacle avoidance device (3) comprises a rotary cylinder (31), a rotary table (32), a vertical frame (33) and a supporting seat (34), the rotary table (32) is in rotation connection with the chassis (11), a cylinder body of the rotary cylinder (31) is in hinged connection with the chassis (11), the output end of the rotary cylinder (31) is hinged with the rotary table (32), the supporting seat (34) is in rotation connection with the chassis (11), an inner tooth surface is arranged on the rotary table (32), a gear is arranged at the lower end of the supporting seat (34), the inner tooth surface is meshed with the gear tooth surface, the rotary table (32) is in transmission connection with the supporting seat (34) through the gear, and the vertical frame (33) is in rotation connection with the supporting seat (34).
The vertical frame (33) is in transmission connection with the mounting table (21) through a leveling device (4), the leveling device (4) comprises a side deflection cylinder (41), a lifting frame (42), a lifting cylinder (43), a leveling frame (44), a first flat cylinder (45) and a second flat cylinder (46), the cylinder body of the side deflection cylinder (41) is hinged with the vertical frame (33), the output end of the side deflection cylinder (41) is hinged with the supporting seat (34), the lifting frame (42) is in rotary connection with the vertical frame (33), the rotation axis of the lifting frame (42) is parallel to the rotation axis of the vertical frame (33), two ends of the lifting cylinder (43) are respectively hinged with the vertical frame (33) and the lifting frame (42), the rotation axis of the leveling frame (44) is in a parallel state with the rotation axis of the lifting frame (42), two ends of the first flat cylinder (45) are respectively hinged with the lifting frame (42) and the leveling frame (44), the mounting table (21) is in rotary connection with the leveling frame (44), and two ends of the second flat cylinder (46) are respectively hinged with the two ends of the lifting frame (21) and the eccentric mounting table (46);
the mowing device (2) further comprises a feeding assembly (22), a mowing motor (24), a main belt pulley (25) and an auxiliary belt pulley (26), a transmission cavity (211) is formed in the mounting table (21), the mowing motor (24) is arranged in the transmission cavity (211), the output end of the mowing motor (24) is in transmission connection with the main belt pulley (25), the main belt pulley (25) and the auxiliary belt pulley (26) are respectively arranged in the transmission cavity (211), the main belt pulley (25) and the auxiliary belt pulley (26) are in transmission through a belt, the main belt pulley (25) is located in the middle of the transmission cavity (211), and the layer height of a blade (27) below the main belt pulley (25) is higher than that of a blade (27) below the auxiliary belt pulley (26), and the feeding assembly (22) is in transmission connection with the mounting table (21).
The feeding assembly (22) comprises a feeding plate (221), a pressing plate (222) and a blocking plate (223), wherein one end of the feeding plate (221) is connected with the mounting table (21) in a transmission mode, the feeding plate (221) is located at the front end of the advancing direction of the blade (27), the feeding plate (221) comprises a middle layer plate (2211) and a side plate (2212), the middle layer plate (2211) is located between adjacent blades (27), the side plate (2212) is located at the outer side of the outermost layer of the blade (27), overlapping mowing planes are arranged between the adjacent blades (27), the pressing plate (222) is located between the middle layer plate (2211), the pressing plate (222) is located at the lower side of the blade (27), the blocking plate (223) is located at the front end of the advancing direction of the blade (27), the blocking plate (223) is connected with the middle layer plate (2211) in a rotating mode, the blocking plate (223) is provided with a pre-tightening spring (224), one end of the blocking plate (223) is located away from the blocking plate (2211) in a fastening mode, and the pressing plate (222) is located between the middle layer (223) and the different blocking plates (223) are located between the middle layer (223) and the high-folded layers.
2. The intelligent obstacle avoidance cutting device based on ground profiling as claimed in claim 1, wherein: the number of blades (27) is three.
3. The intelligent obstacle avoidance cutting device based on ground profiling as claimed in claim 2, wherein: the mowing device (2) further comprises a height adjusting component (23), a detection cavity (2213) is formed in the feeding plate (221), the height adjusting component (23) comprises a counterweight wheel (231), a support (232) and a coil (233), the counterweight wheel (231) and the support (232) are rotationally connected, the coil (233) is arranged in the detection cavity (2213), the support (232) is upwardly extended and provided with a push rod (234), the upper end of the push rod (234) penetrates through the detection cavity (2213), and the push rod (234) is made of a magnet material.
4. A ground profiling-based intelligent obstacle avoidance cutting device as claimed in claim 3 wherein: the height adjusting assembly (23) further comprises a telescopic cylinder (235), the telescopic cylinder (235) is located between the main belt wheel (25) and the middle blade (27), a main shaft is arranged at the output end of the telescopic cylinder (235), a sliding groove (251) is formed in the main belt wheel (25), the main shaft is in sliding connection with the sliding groove (251), and the middle coil (233) is electrically connected with the telescopic cylinder (235).
5. The intelligent obstacle avoidance cutting device based on ground profiling as defined in claim 4 wherein: the coil (233) on the side is electrically connected to the rotary cylinder (31).
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| CN202310647392.XA CN116420496B (en) | 2023-06-02 | 2023-06-02 | Intelligent obstacle avoidance type cutting equipment based on ground profiling |
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| CN202310647392.XA CN116420496B (en) | 2023-06-02 | 2023-06-02 | Intelligent obstacle avoidance type cutting equipment based on ground profiling |
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| CN116420496B true CN116420496B (en) | 2023-11-10 |
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|---|---|---|---|---|
| GB840794A (en) * | 1955-03-19 | 1960-07-13 | Silorators Ltd | Improvements in or relating to machines for cutting grass |
| CN106961914A (en) * | 2017-01-20 | 2017-07-21 | 西北农林科技大学 | A kind of three disc type orchard avoidance mowing-apparatus |
| CN110800452A (en) * | 2019-12-14 | 2020-02-18 | 山东科技大学 | Orchard grass-mowing alfalfa harvesting mechanical device |
| CN112970419A (en) * | 2021-02-03 | 2021-06-18 | 江苏大学 | Multifunctional operation machine integrating orchard profiling spraying, obstacle avoidance and mowing and operation method |
| WO2022161326A1 (en) * | 2021-01-26 | 2022-08-04 | Globe (jiangsu) Co., Ltd. | Lawn mower |
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2023
- 2023-06-02 CN CN202310647392.XA patent/CN116420496B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB840794A (en) * | 1955-03-19 | 1960-07-13 | Silorators Ltd | Improvements in or relating to machines for cutting grass |
| CN106961914A (en) * | 2017-01-20 | 2017-07-21 | 西北农林科技大学 | A kind of three disc type orchard avoidance mowing-apparatus |
| CN110800452A (en) * | 2019-12-14 | 2020-02-18 | 山东科技大学 | Orchard grass-mowing alfalfa harvesting mechanical device |
| WO2022161326A1 (en) * | 2021-01-26 | 2022-08-04 | Globe (jiangsu) Co., Ltd. | Lawn mower |
| CN112970419A (en) * | 2021-02-03 | 2021-06-18 | 江苏大学 | Multifunctional operation machine integrating orchard profiling spraying, obstacle avoidance and mowing and operation method |
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