CN117769963A - Side-mounted profiling obstacle-avoiding orchard mowing device and mowing machine - Google Patents
Side-mounted profiling obstacle-avoiding orchard mowing device and mowing machine Download PDFInfo
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- CN117769963A CN117769963A CN202311813345.4A CN202311813345A CN117769963A CN 117769963 A CN117769963 A CN 117769963A CN 202311813345 A CN202311813345 A CN 202311813345A CN 117769963 A CN117769963 A CN 117769963A
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Abstract
The invention discloses a side-mounted profiling obstacle avoidance orchard mowing device and a mowing machine, wherein the side-mounted profiling obstacle avoidance orchard mowing device comprises a bottom plate, a first mowing device and a travelling device; the walking device comprises a walking frame and walking wheels, and the walking frame is arranged on the bottom plate; the first mowing device comprises a first mowing knife and a first mowing driving mechanism; the second mowing device is arranged on the left side or/and the right side of the bottom plate, and the second mowing device is connected with the bottom plate through a multi-degree-of-freedom mechanical arm; the second mowing device comprises a frame, a moving mechanism and a mowing mechanism; the mowing mechanism comprises a second mowing knife and a second mowing driving mechanism. The side-mounted profiling obstacle avoidance orchard mowing device has the functions of passive obstacle avoidance and terrain imitation, so that weeds on the periphery of a fruit tree and uneven terrains such as ridges and furrows are effectively cleared, and the side-mounted profiling obstacle avoidance orchard mowing device has the advantages of being simple in structure and convenient to operate.
Description
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to a side-mounted profiling obstacle avoidance orchard mowing device and a mowing machine.
Background
The damage of orchard weeds to fruit trees is very big, can directly or indirectly influence the output of orchard fruit, therefore regularly clear up weeds in the orchard is an important maintenance work, but current lawn mower is to the small-size orchard that plants closely to exist spacing between rows little, weeds grow closely scheduling problem, and the operation degree of difficulty is big, and work efficiency is low, and is difficult to adapt to the hillside orchard operational environment of topography complicacy. Therefore, it is necessary to develop an obstacle avoidance profiling mower suitable for different orchards, which can realize obstacle avoidance and profiling functions so as to reduce the missed cutting phenomenon of the mower in the working process, realize profiling and obstacle avoidance on uneven ground and improve the mowing efficiency.
Disclosure of Invention
The invention provides a side-mounted profiling obstacle avoidance orchard mowing device which has the functions of passive obstacle avoidance and terrain imitation, so that weeds on the periphery of a fruit tree and uneven terrains such as ridges and furrows can be effectively cleared, and the side-mounted profiling obstacle avoidance orchard mowing device has the advantages of simple structure and convenience in operation.
The second aim of the invention is to disclose a mower applying the side-mounted profiling obstacle avoidance orchard mowing device.
The technical scheme for solving the technical problems is as follows:
the side-mounted profiling obstacle avoidance orchard mowing device comprises a bottom plate, a first mowing device and a traveling device, wherein the first mowing device and the traveling device are arranged on the bottom plate, the traveling device comprises a traveling frame and traveling wheels arranged on the traveling frame, the traveling frame is arranged on the bottom plate, and the traveling frame is arranged on a power vehicle through a traction mechanism; the first mowing device comprises a first mowing knife and a first mowing driving mechanism for driving the first mowing knife to rotate; the first mowing knife is positioned below the bottom plate;
the second mowing device is arranged on the left side or/and the right side of the bottom plate, the second mowing device is connected with the bottom plate through a multi-degree-of-freedom mechanical arm, and the multi-degree-of-freedom mechanical arm is used for enabling the second mowing device to swing along an X axis, a Y axis and a Z axis; the second mowing device comprises a frame, a moving mechanism and a mowing mechanism, wherein the moving mechanism and the mowing mechanism are arranged on the frame, and the mowing mechanism comprises a second mowing knife and a second mowing driving mechanism for driving the second mowing knife to rotate; the second mowing knife is positioned below the frame.
Preferably, an anti-collision wheel is arranged at the upper end of the frame, and the anti-collision wheel is rotationally connected to the frame.
Preferably, the first mowing devices are two groups, and the two groups of first mowing devices are arranged in parallel.
Preferably, along the advancing direction of the power vehicle, the front side of the bottom plate is provided with a plurality of groups of grain lifting rods, and the plurality of groups of grain lifting rods are equidistantly arranged along the width direction of the bottom plate.
Preferably, the middle positions of the plurality of groups of seedling-holding sticks are provided with seedling-dividing sheets.
Preferably, each group of stalk-holding sticks is made of flexible materials, deformation sensors are arranged on the stalk-holding sticks, when a ground hard object contacts the stalk-holding sticks, the stalk-holding sticks deform, and the deformation sensors detect deformation and then feed back to an upper computer to judge the hard object.
Preferably, a height adjusting device for adjusting the height of the bottom plate is further arranged between the bottom plate and the walking frame, the two groups of height adjusting devices are symmetrically arranged on two sides of the bottom plate and the walking frame; each group of height adjusting device comprises a lifting mechanism and a lifting driving mechanism for driving the lifting mechanism to lift, wherein the lifting mechanism comprises a first lifting connecting rod and a second lifting connecting rod which are arranged in a crossing way, and the central positions of the first lifting connecting rod and the second lifting connecting rod are hinged; the upper end of the first lifting connecting rod is hinged with the walking frame, and the lower end of the first lifting connecting rod is connected with the driving end of the lifting driving mechanism; the lower end of the second lifting connecting rod is hinged with the bottom plate, and the upper end of the second lifting connecting rod is propped against the walking frame; the lifting driving mechanism is used for driving the lower end of the first lifting connecting rod to do linear motion so as to drive the first lifting connecting rod and the second lifting connecting rod to open and close.
Preferably, the first mowing driving mechanism comprises a first mowing motor, the first mowing motor is mounted on the bottom plate, and a main shaft of the first mowing motor is connected with the first mowing knife; the second mowing driving mechanism comprises a second mowing motor, the second mowing motor is arranged on the frame, and a main shaft of the second mowing motor is connected with the second mowing knife; the first mowing knife and the second mowing knife are consistent in structure and comprise a depth limiting disc and a blade arranged on the depth limiting disc, wherein the depth limiting disc is positioned below the blade.
Preferably, the multi-degree-of-freedom mechanical arm comprises a connecting arm, a first rotating seat and a second rotating seat, wherein the first rotating seat and the second rotating seat are arranged at two ends of the connecting arm, the first rotating seat is rotationally connected to the bottom plate through a first vertical rotating shaft, and the first vertical rotating shaft is used for promoting the first rotating seat to rotate around a Z axis; one end of the connecting arm is rotationally connected to the first rotating seat through a first horizontal rotating shaft, and the first horizontal rotating shaft is used for enabling the connecting arm to rotate around a Y axis; the second rotating seat is arranged at the other end of the connecting arm and is rotationally connected to the connecting arm through a second vertical rotating shaft, and the second vertical rotating shaft is used for promoting the second rotating seat to rotate around the Z axis; the rack is provided with an installation seat, and the installation seat is connected with the second rotating seat through a connecting piece; the connecting piece comprises a first connecting rod and a second connecting rod which are vertically and crosswise arranged, wherein two ends of the first connecting rod are respectively hinged to the mounting seat, and two ends of the second connecting rod are respectively hinged to the second rotating seat.
Preferably, the traction mechanism comprises a connecting frame, one end of the connecting frame is connected with the power vehicle, and the other end of the connecting frame is hinged with the walking frame.
A mower comprises a side-mounted profiling obstacle avoidance orchard mowing device and a power vehicle for driving the side-mounted profiling obstacle avoidance orchard mowing device to move.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the side-mounted profiling obstacle avoidance orchard mowing device is provided with the first mowing device and the second mowing device, weeds in the advancing direction of the side-mounted profiling obstacle avoidance orchard mowing device are cleared through the first mowing device, weeds at two sides of the side-mounted profiling obstacle avoidance orchard mowing device are cleared through the second mowing device, the clearing area is larger, and the clearing efficiency is higher.
2. The second mowing device in the side-mounted profiling obstacle avoidance orchard mowing device is arranged on the bottom plate through the multi-degree-of-freedom mechanical arm, and the multi-degree-of-freedom mechanical arm can enable the second mowing device to swing along the X axis, the Y axis and the Z axis, so that the side-mounted profiling obstacle avoidance orchard mowing device is suitable for orchards with different terrains, and weeds in uneven terrains such as ridges and furrows are effectively cleared; meanwhile, in the mowing process, the multi-degree-of-freedom mechanical arm can also promote the second mowing device to passively avoid the trunk after contacting the trunk, so that the obstacle avoidance function of the second mowing device is realized.
3. The side-mounted profiling obstacle avoidance orchard mowing device has the functions of passive obstacle avoidance and terrain imitation, so that weeds around fruit trees can be effectively cleared, and the side-mounted profiling obstacle avoidance orchard mowing device has the advantages of being simple in structure and convenient to operate.
4. The side-mounted profiling obstacle avoidance orchard mower provided by the invention has the function of avoiding hard objects on the road surface, and the deformation sensor on the grain lifting rod is utilized to identify the sundries such as stones, bricks and the like, so that the hard objects are sensed in advance and the active avoidance action is executed, and the damage of the hard objects to the cutter can be avoided.
Drawings
Fig. 1-4 are schematic perspective views of four different view angles of the side profiling obstacle avoidance orchard mowing device.
Fig. 5-7 are schematic perspective views of the first mowing device from three different perspectives.
Fig. 8-11 are schematic perspective views of the second mowing device from four different perspectives.
Fig. 12 is a partial enlarged view at a in fig. 9.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but embodiments of the present invention are not limited thereto.
Example 1
Referring to fig. 1-12, the side profiling obstacle avoidance orchard mowing device comprises a bottom plate 9, a first mowing device 1 and a traveling device, wherein the first mowing device 1 and the traveling device are arranged on the bottom plate 9, the traveling device comprises a traveling frame 3 and traveling wheels 8 arranged on the traveling frame 3, the traveling frame 3 is arranged on the bottom plate 9, two groups of traveling wheels 8 are arranged, a shock absorber 22 is arranged between the two groups of traveling wheels 8 and the traveling frame 3, the upper end of the shock absorber 22 is arranged on the traveling frame 3, and the lower end of the shock absorber 22 is arranged on the traveling wheels 8; the shock absorber 22 can play a role in shock absorption; the walking frame 3 is arranged on a power vehicle through a traction mechanism, and the side-mounted profiling obstacle avoidance orchard mowing device is driven to move through the power vehicle (such as a tractor), so that mowing of an orchard is realized; the first mowing devices 1 are two groups, the two groups of first mowing devices 1 are arranged in parallel, and each group of first mowing devices 1 comprises a first mowing knife 13 and a first mowing driving mechanism 7 for driving the first mowing knife 13 to rotate; wherein the first grass cutter 13 is located below the bottom plate 9.
Referring to fig. 1-12, the side profiling obstacle avoidance orchard mowing device further comprises a second mowing device 2 arranged on the left side or/and the right side of the bottom plate 9, wherein the second mowing device 2 is connected with the bottom plate 9 through a multi-degree-of-freedom mechanical arm, and the multi-degree-of-freedom mechanical arm is used for enabling the second mowing device 2 to swing along an X axis, a Y axis and a Z axis; the second mowing device 2 comprises a frame 11, a moving mechanism 12 and a mowing mechanism, wherein the moving mechanism 12 and the mowing mechanism are arranged on the frame 11, and the mowing mechanism comprises a second mowing knife 14 and a second mowing driving mechanism 19 for driving the second mowing knife 14 to rotate; the second mower blade 14 is located below the frame 11.
Referring to fig. 1-12, an anti-collision wheel 18 is arranged at the upper end of the frame 11, and the anti-collision wheel 18 is rotatably connected to the frame 11; when the anti-collision wheel 18 hits the trunk, the second mowing device 2 can rotate and swing around the Z-axis direction to avoid the trunk; in this embodiment, the frame 11 is circular, the anti-collision wheel 18 and the frame 11 are coaxially arranged, and the outer diameter of the anti-collision wheel 18 is greater than or equal to the outer diameter of the frame 11; when the second mowing device 2 collides with the trunk, the crashproof wheel 18 is firstly contacted with the trunk and drives the second mowing device 2 to horizontally swing so as to avoid the trunk.
Referring to fig. 1-12, along the advancing direction of the power vehicle, the front side of the bottom plate 9 is provided with a plurality of groups of grain lifting sticks 5, and the plurality of groups of grain lifting sticks 5 are equidistantly arranged along the width direction of the bottom plate 9; each group of stalk-holding sticks 5 is made of flexible materials, deformation sensors are arranged on the stalk-holding sticks 5, when hard objects on the ground contact the stalk-holding sticks 5, the stalk-holding sticks 5 deform, the deformation sensors detect deformation and then feed back to an upper computer, and the upper computer judges the hard objects.
Referring to fig. 1-12, a seedling dividing plate 4 is arranged at the middle position of the plurality of groups of seedling supporting rods 5, and the mowing effect is improved by arranging the seedling dividing plate 4.
Referring to fig. 1-12, a height adjusting device for adjusting the height of the bottom plate 9 is further arranged between the bottom plate 9 and the walking frame 3, the height adjusting devices are two groups, and the two groups of height adjusting devices are symmetrically arranged on two sides of the bottom plate 9 and the walking frame 3; each group of height adjusting devices comprises a lifting mechanism and a lifting driving mechanism 601 for driving the lifting mechanism to lift, wherein the lifting mechanism comprises a first lifting connecting rod 603 and a second lifting connecting rod 602 which are arranged in a crossing way, and the central positions of the first lifting connecting rod 603 and the second lifting connecting rod 602 are hinged; the upper end of the first lifting connecting rod 603 is hinged with the walking frame 3, and the lower end of the first lifting connecting rod is connected with the driving end of the lifting driving mechanism 601; the lower end of the second lifting connecting rod 602 is hinged with the bottom plate 9, and the upper end of the second lifting connecting rod is propped against the walking frame 3; the lifting driving mechanism 601 is configured to drive the lower end of the first lifting link 603 to perform a linear motion, so as to drive the first lifting link 603 and the second lifting link 602 to open and close, when the first lifting link 603 and the second lifting link 602 are closed, the walking frame 3 is lifted (with the bottom plate 9 as a reference object), so as to drive the walking wheel 8 to move upwards, and further reduce the distance between the bottom plate 9 (and the first mowing knife 13 on the bottom plate 9) and the ground; when the first lifting link 603 and the second lifting link 602 are opened, the walking frame 3 drops (with the bottom plate 9 as a reference), so as to drive the walking wheel 8 to move downwards, and further increase the distance between the bottom plate 9 (and the first mowing knife 13 on the bottom plate 9) and the ground.
In this embodiment, the lifting driving mechanism 601 uses an air cylinder, a hydraulic cylinder, or an electric push rod to drive the lower end of the first lifting link 603 to move linearly.
Referring to fig. 1-12, the first mowing drive mechanism 7 comprises a first mowing motor mounted on the soleplate 9, and the main shaft of which is connected with the first mowing knife 13; the second mowing driving mechanism 19 comprises a second mowing motor which is arranged on the frame 11, and the main shaft of the second mowing motor is connected with the second mowing knife 14; the first mowing knife 13 and the second mowing knife 14 have the same structure and comprise a depth limiting disc 15 and a blade 16 arranged on the depth limiting disc 15, wherein the depth limiting disc 15 is positioned below the blade 16; by providing the depth limiting disc 15, the distance between the blade 16 and the ground can be limited, thereby preventing the blade 16 from riding on the ground.
Referring to fig. 1-12, the multi-degree-of-freedom mechanical arm includes a connecting arm 20, a first rotating seat 10 and a second rotating seat 23 disposed at two ends of the connecting arm 20, wherein the first rotating seat 10 is rotatably connected to the bottom plate 9 through a first vertical rotating shaft, and the first vertical rotating shaft is used for promoting the first rotating seat 10 to rotate around a Z axis; one end of the connecting arm 20 is rotatably connected to the first rotating base 10 through a first horizontal rotating shaft, and the first horizontal rotating shaft is used for promoting the connecting arm 20 to rotate around the Y axis; the second rotating seat 23 is disposed at the other end of the connecting arm 20 and is rotatably connected to the connecting arm 20 through a second vertical rotating shaft, and the second vertical rotating shaft is used for promoting the second rotating seat 23 to rotate around the Z axis; the frame 11 is provided with a mounting seat 26, and the mounting seat 26 is connected with the second rotating seat 23 through a connecting piece; the connecting piece comprises a first connecting rod 25 and a second connecting rod 24 which are vertically and crosswise arranged, wherein two ends of the first connecting rod 25 are respectively hinged to the mounting seat 26, and two ends of the second connecting rod 24 are respectively hinged to the second rotating seat 23. Through the arrangement, the second mowing device 2 can swing around the X axis, the Y axis and the Z axis, so that the device can be passively adapted to orchards with different terrains and realize passive obstacle avoidance; in addition, torsion springs 21 can be disposed on the first vertical rotating shaft, the second vertical rotating shaft, the first horizontal rotating shaft, the second horizontal rotating shaft, the first connecting rod 25 and the second connecting rod 24, and automatic reset of each mechanism is achieved through the torsion springs 21.
Referring to fig. 1-12, the traction mechanism comprises a connecting frame 17, one end of the connecting frame 17 is connected with the power vehicle, and the other end is hinged with the walking frame 3; because the side-mounted profiling obstacle avoidance orchard mowing device is a rear traction type, namely, the walking frame 3 is pulled by a front power vehicle to drive the side-mounted profiling obstacle avoidance orchard mowing device to run, the whole weight is loaded by contacting the ground through the walking wheel 8.
Referring to fig. 1-12, the moving mechanism 12 includes three sets of universal wheels disposed at the lower end of the frame 11, and the three sets of universal wheels are mounted on the frame 11 through wheel seats; likewise, the travelling wheel 8 adopts a universal wheel structure.
Referring to fig. 1-12, the working principle of the side profiling obstacle avoidance orchard mowing device of the invention is as follows:
when the device works, the side-mounted profiling obstacle avoidance orchard mowing device walks under the traction of the power vehicle, and meanwhile, in the walking process, the first mowing motor drives the first mowing blade 13 to rotate, and the second mowing motor drives the second mowing blade 14 to rotate, so that the weeds on the ground are cleaned;
in the above process, when the standing grain rod 5 arranged on the bottom plate 9 touches a hard object on the ground, the standing grain rod 5 is flexibly deformed, after the sensor arranged on the standing grain rod 5 detects the deformation of the standing grain rod 5, the deformation data is uploaded to the upper computer, the upper computer calculates the size specification of the hard object, and then the height of the bottom plate 9 is adjusted through the height adjusting mechanism, and the specific adjusting mode is as follows: (1) The first lifting connecting rod 603 and the second lifting connecting rod 602 are driven to be closed by the lifting driving mechanism 601, so that the walking frame 3 is lifted, the walking wheel 8 is driven to move upwards, and the distance between the bottom plate 9 (and the first grass cutter 13 on the bottom plate 9) and the ground is reduced; (2) The lifting driving mechanism 601 drives the first lifting connecting rod 603 and the second lifting connecting rod 602 to open, so that the walking frame 3 falls, the walking wheel 8 is driven to move downwards, and the distance between the bottom plate 9 (and the first mowing knife 13 on the bottom plate 9) and the ground is increased. The distance between the bottom plate 9 and the ground is adjusted in the adjusting mode, so that hard objects on the ground are avoided;
the second mowing device 2 can swing along the X axis, the Y axis and the Z axis under the action of the mechanical arm with multiple degrees of freedom, so as to avoid trunks and profile uneven terrains such as ridges and furrows on two sides of a vehicle body, for example, after the second mowing device 2 touches the trunks, an anti-collision wheel 18 arranged on the frame 11 can rotate after touching the trunks, meanwhile, a second rotating seat 23 on the connecting arm 20 can rotate, and the first rotating seat 10 can also rotate, so that the connecting arm 20 can rotate around the first rotating seat 10 (namely the first vertical rotating shaft), and the second mowing device 2 swings towards the direction of the first mowing device 1, so as to avoid trunks; when the second mowing device 2 passes over the trunk, the second mowing device 2 swings reversely under the action of the torsion spring 21 to realize reset.
Example 2
The mower provided by the invention comprises the side-mounted profiling obstacle avoidance orchard mowing device and a power vehicle for driving the side-mounted profiling obstacle avoidance orchard mowing device to move, wherein the power vehicle can be a tractor.
The foregoing is illustrative of the present invention and is not to be construed as limiting thereof, but rather as various changes, modifications, substitutions, combinations, and simplifications which may be made therein without departing from the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (10)
1. The side-mounted profiling obstacle avoidance orchard mowing device comprises a bottom plate, a first mowing device and a traveling device, wherein the first mowing device and the traveling device are arranged on the bottom plate, the traveling device comprises a traveling frame and traveling wheels arranged on the traveling frame, the traveling frame is arranged on the bottom plate, and the traveling frame is arranged on a power vehicle through a traction mechanism; the first mowing device comprises a first mowing knife and a first mowing driving mechanism for driving the first mowing knife to rotate; the first mowing knife is positioned below the bottom plate;
the device is characterized by further comprising a second mowing device arranged on the left side or/and the right side of the bottom plate, wherein the second mowing device is connected with the bottom plate through a multi-degree-of-freedom mechanical arm, and the multi-degree-of-freedom mechanical arm is used for promoting the second mowing device to swing along an X axis, a Y axis and a Z axis; the second mowing device comprises a frame, a moving mechanism and a mowing mechanism, wherein the moving mechanism and the mowing mechanism are arranged on the frame, and the mowing mechanism comprises a second mowing knife and a second mowing driving mechanism for driving the second mowing knife to rotate; the second mowing knife is positioned below the frame.
2. The side profiling obstacle avoidance orchard mowing device according to claim 1, wherein an anti-collision wheel is arranged at the upper end of the frame, and the anti-collision wheel is rotatably connected to the frame.
3. The side profiling obstacle avoidance orchard mowing device according to claim 1, wherein the first mowing devices are arranged in two groups, and the two groups of first mowing devices are arranged in parallel.
4. The side profiling obstacle avoidance orchard mowing device according to claim 1, wherein a plurality of groups of grain lifting sticks are arranged on the front side of the bottom plate along the advancing direction of the power vehicle, and the plurality of groups of grain lifting sticks are equidistantly arranged along the width direction of the bottom plate.
5. The side profiling obstacle avoidance orchard mowing device according to claim 4, wherein a seedling dividing sheet is arranged at the middle position of the plurality of groups of seedling supporting rods.
6. The side profiling obstacle avoidance orchard mowing device according to claim 4, wherein each group of the seedling-holding sticks is made of flexible materials, deformation sensors are arranged on the seedling-holding sticks, when a ground hard object contacts with the seedling-holding sticks, the seedling-holding sticks deform, and the deformation sensors detect deformation and feed back to the upper computer.
7. The side-mounted profiling obstacle avoidance orchard mowing device according to claim 1, wherein a height adjusting device for adjusting the height of the bottom plate is further arranged between the bottom plate and the walking frame, the height adjusting devices are two groups, and the two groups of height adjusting devices are symmetrically arranged on two sides of the bottom plate and the walking frame; each group of height adjusting device comprises a lifting mechanism and a lifting driving mechanism for driving the lifting mechanism to lift, wherein the lifting mechanism comprises a first lifting connecting rod and a second lifting connecting rod which are arranged in a crossing way, and the central positions of the first lifting connecting rod and the second lifting connecting rod are hinged; the upper end of the first lifting connecting rod is hinged with the walking frame, and the lower end of the first lifting connecting rod is connected with the driving end of the lifting driving mechanism; the lower end of the second lifting connecting rod is hinged with the bottom plate, and the upper end of the second lifting connecting rod is propped against the walking frame; the lifting driving mechanism is used for driving the lower end of the first lifting connecting rod to do linear motion so as to drive the first lifting connecting rod and the second lifting connecting rod to open and close.
8. The side profiling obstacle avoidance orchard mowing device according to claim 1, wherein the first mowing drive mechanism comprises a first mowing motor, the first mowing motor is mounted on the base plate, and a main shaft of the first mowing motor is connected with the first mowing knife; the second mowing driving mechanism comprises a second mowing motor, the second mowing motor is arranged on the frame, and a main shaft of the second mowing motor is connected with the second mowing knife; the first mowing knife and the second mowing knife are consistent in structure and comprise a depth limiting disc and a blade arranged on the depth limiting disc, wherein the depth limiting disc is positioned below the blade.
9. The side-mounted profiling obstacle avoidance orchard mowing device according to claim 4, wherein the multi-degree-of-freedom mechanical arm comprises a connecting arm, a first rotating seat and a second rotating seat, wherein the first rotating seat is rotatably connected to the bottom plate through a first vertical rotating shaft, and the first vertical rotating shaft is used for enabling the first rotating seat to rotate around a Z axis; one end of the connecting arm is rotationally connected to the first rotating seat through a first horizontal rotating shaft, and the first horizontal rotating shaft is used for enabling the connecting arm to rotate around a Y axis; the second rotating seat is arranged at the other end of the connecting arm and is rotationally connected to the connecting arm through a second vertical rotating shaft, and the second vertical rotating shaft is used for promoting the second rotating seat to rotate around the Z axis; the rack is provided with an installation seat, and the installation seat is connected with the second rotating seat through a connecting piece; the connecting piece comprises a first connecting rod and a second connecting rod which are vertically and crosswise arranged, wherein two ends of the first connecting rod are respectively hinged to the mounting seat, and two ends of the second connecting rod are respectively hinged to the second rotating seat.
10. A mower comprising a side-mounted contoured obstacle avoidance orchard mowing device as claimed in any one of claims 1 to 9 and a powered vehicle for driving the side-mounted contoured obstacle avoidance orchard mowing device in motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311813345.4A CN117769963A (en) | 2023-12-27 | 2023-12-27 | Side-mounted profiling obstacle-avoiding orchard mowing device and mowing machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311813345.4A CN117769963A (en) | 2023-12-27 | 2023-12-27 | Side-mounted profiling obstacle-avoiding orchard mowing device and mowing machine |
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| Publication Number | Publication Date |
|---|---|
| CN117769963A true CN117769963A (en) | 2024-03-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311813345.4A Pending CN117769963A (en) | 2023-12-27 | 2023-12-27 | Side-mounted profiling obstacle-avoiding orchard mowing device and mowing machine |
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| Country | Link |
|---|---|
| CN (1) | CN117769963A (en) |
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2023
- 2023-12-27 CN CN202311813345.4A patent/CN117769963A/en active Pending
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