CN207151193U - A kind of Intelligent unattended grass-cutting vehicle - Google Patents

Abstract

The utility model discloses a kind of Intelligent unattended grass-cutting vehicle, including vehicle body, it has first through hole, via and the second through hole, there are the first turning motors in first through hole, its output shaft is equipped with first round group, there are the second turning motors on second through hole, its output shaft is equipped with the second wheel group, there is connecting plate on via, there are four electric pushrods under connecting plate, rebound, first rotating shaft, big belt pulley, cutter component, second rotating shaft, small belt pulley, second bevel gear, belt pulley, motor, protective case and four bottom face monitoring cameras, there is control seat on connecting plate, worm gear shaft assembly, rotary electric machine, worm screw, lift electric cylinders, oscillating motor, solar panels, ray trace sensor and chargeable storage, there are avoidance sensor and monitoring camera on vehicle body.The utility model can float in different landform and mow in complicated landform downward driving, cutter component, reduce maintenance cost, can be with solar energy accumulation, can be with remote monitoring and control.

Description

A kind of Intelligent unattended grass-cutting vehicle

Technical field

Mowing field is the utility model is related to, specially a kind of Intelligent unattended grass-cutting vehicle.

Background technology

With the quickening of city process, increasing green lawn is appeared in our lives, and hay mover is made quick, high The garden instrument on rest and reorganization lawn is imitated, it is extensive in the applications such as urban afforestation and family's weeding.Conventional power-operated mower includes Cutting motor and the cutting tool on the circumgyration incision meadow directly driven by the cutting motor, by controlling turning for cutting motor Speed realizes the rotating speed of adjustment cutting tool；Current artificial hay mover needs manual operation, and operator will be reduced for a long time by mowing Mowing efficiency and mowing quality, it is necessary to use unmanned hay mover replace, existing unmanned hay mover, to simple landform adapt to Degree is preferable, but to the landform of fluctuating, it bad by property and mowing quality, and the adaptability of landform is limited.

Utility model content

The purpose of this utility model is to provide a kind of Intelligent unattended grass-cutting vehicle solve existing unmanned hay mover landform The problem of bad adaptability, possess remote monitoring, the function of remote control.

To achieve the above object, the utility model provides following technical scheme：A kind of Intelligent unattended grass-cutting vehicle, including car Body, the shape of the vehicle body is cuboid, and its material is engineering plastics, and the left end at the top of it has first through hole, logical first The first threaded mounting hole group is disposed with around hole, it has been evenly arranged four screwed holes, and there is a mistake centre at the top of it Hole, the via are rectangular through slot, and the right-hand member at the top of it has the second through hole, and the second screw thread is disposed with around the second through hole Mounting hole group, it has been evenly arranged four screwed holes, and the first threaded mounting hole group and the second threaded mounting hole group are identical , the first turning motors are installed above the first through hole at the top of vehicle body, the motor cabinet flange of first turning motors leads to Cross and be bolted to end face above first through hole, the quantity and position and the first screw thread of the bolt through-hole on motor cabinet flange Mounting hole group is identical, and the output shaft of the first turning motors passes through first through hole, and its output shaft top is flange arrangement, Its lower section is equipped with first round group, and the first round group includes runner, motor, left socle, jackshaft, rotating shaft and right branch Frame, the rotating shaft are Step Shafts, are step surfaces above it, it is connected with the output shaft of the first turning motors, under rotating shaft Square end face is fixed with jackshaft, and the jackshaft includes left end shaft part, middle shaft part and right-hand member shaft part, on its left end shaft part Equipped with left socle, the left socle is ∧ fonts, and its left hypotenuse lower end is fillet, there is the first revolver through hole, its right side above Hypotenuse lower end is fillet, there is the second revolver through hole above, also has left axle bearing bore on the end face that left hypotenuse and right hypotenuse cross, in The left end shaft part of countershaft passes through the left axle bearing bore of left socle, and two round nuts are connected in left end shaft part and locked left socle, in centre Right support is housed, the right support is ∧ fonts, and its left hypotenuse lower end is fillet, there is first right side above on the right-hand member shaft part of axle Through hole is taken turns, its right hypotenuse lower end is fillet, there is the second right wheel through hole above, on the end face that left hypotenuse and right hypotenuse cross also There is right axle bearing bore, the right-hand member shaft part of jackshaft passes through the right axle bearing bore of left socle, and two round nuts are connected on right-hand member shaft part and pinned Right support, motor is fixed with the right side of left socle the first revolver through hole, its output shaft leads to through the first revolver Hole, and being connected with runner, motor is fixed with the right side of left socle the second revolver through hole, and its output shaft is through the Two revolver through holes, and be connected with runner, motor is fixed with the left side of right support the first right wheel through hole, its output Axle passes through the first right wheel through hole, and is connected with runner, and motor is fixed with the left side of right support the second right wheel through hole, Its output shaft passes through the second right wheel through hole, and is connected with runner, and second turn is provided with above the second through hole at the top of vehicle body Curved motor, the motor cabinet flange of second turning motors are bolted on end face above the second through hole, motor cabinet flange On bolt through-hole quantity and position and the second threaded mounting hole group be identical, the output shaft of the second turning motors is worn The second through hole is crossed, its output shaft top is flange arrangement, and the second wheel group, the second wheel group and first are housed in its lower section Wheel group is identical, connecting plate is provided with above the via of vehicle body crown center, the connecting plate is rectangular slab, under it End face is disposed with four electric pushrods, is arranged in the upper left corner, the lower left corner, the upper right corner and the lower right corner, and described four electronic to push away The fixed seat of bar is connected with the lower surface of connecting plate, is connected at the top of their push rod with rebound, and be connected to rebound The upper left corner of upper surface, the lower left corner, the upper right corner and the lower right corner, the rebound are rectangular slabs, are disposed with its upper surface First axle bearing bore, it is a stepped hole, including the first hole and the first shoulder block hole, and the first hole is in the top in the first shoulder block hole, The diameter in one hole is more than the diameter in the first shoulder block hole, second bearing hole is there also is provided on the right of first axle bearing bore, it is also one Individual stepped hole, including the second hole and the second shoulder block hole, the second hole are less than second in the top in the second shoulder block hole, the diameter in the second hole The diameter in shoulder block hole, two taper roll bearings, their back-to-back peaces are housed from top to bottom in the first hole of first axle bearing bore Dress, between the two equipped with axle sleeve, bearing (ball) cover is fixed with the outer ring shaft shoulder of taper roll bearing above, below taper roller On the step surface in the first shoulder block of outer race shaft shoulder rest hole of bearing, first rotating shaft is also equipped with two taper roll bearings, it is described Big belt pulley and cutter component are housed in first rotating shaft, the first thrust is housed in the second hole upper surface in rebound second bearing hole Bearing, second thrust bearing is housed in the lower surface in the hole of second bearing hole second, in the first thrust bearing and the second thrust bearing Between deep groove ball bearing is housed, the second rotating shaft is housed on deep groove ball bearing, equipped with small belt pulley and the in second rotating shaft Two bevel gears, belt pulley is housed between big belt pulley and small belt pulley, motor, its horizontal output shaft are housed on rebound Upper that first bevel gear is housed, the first bevel gear is meshed with second bevel gear, and protective case is housed in the lower section of rebound, it Coaxial with first rotating shaft, four corners below rebound are also respectively equipped with a bottom face monitoring camera；At the top of vehicle body Worm gear shaft assembly is housed, rotary electric machine, institute are housed on its side equipped with control seat, the top of the control seat above connecting plate State and worm screw is fixed with the output shaft of rotary electric machine, the worm and wheel shaft assembly is meshed, fixed on worm gear shaft assembly There are lifting electric cylinders, the push rod of the lifting electric cylinders is fork-shaped journal stirrup, has hinge vias on its two sides, the one of fork-shaped journal stirrup Oscillating motor is housed, the output shaft of the oscillating motor is splined shaft, and it is fitted with solar panels, the solar energy on side There is journal stirrup the bottom surface of plate, and it has splined hole above, and its splined hole is connected with the splined shaft of oscillating motor, on solar panels Centre there also is provided ray trace sensor, control seat on the right of there also is provided chargeable storage, in vehicle body front side face One avoidance sensor is respectively housed with the centre of trailing flank, monitoring camera has been evenly arranged in vehicle body top left both sides, Right-hand member both sides have also been evenly arranged monitoring camera at the top of vehicle body.

Preferably, the middle shaft part of the jackshaft includes intervalve, left shrouding and right shrouding, and the intervalve is steel Pipe, the left shrouding and right shrouding are identicals, and they are plectanes, and the internal diameter of external diameter and intervalve matches, in being separately fixed at Between pipe left end and right-hand member, the left end shaft part of the jackshaft includes thread segment and light bar segment, and its light bar segment is welded on centre The left shrouding center of shaft part, left sliding bearing is also equipped with light bar segment, the right-hand member shaft part and left end shaft part of the jackshaft are phases With, its light bar segment is welded on the right shrouding center of middle shaft part, and right sliding bearing is also equipped with light bar segment.

Preferably, the electric pushrod is two-stage electric pushrod.

Preferably, the first rotating shaft is upper thread segment successively from top to bottom, big belt pulley construction section, the first shaft shoulder section, Bearing construction section, intermediate thread section, changeover portion, spline segment and lower thread segment, there is keyway on the big belt pulley construction section and fill There are flat key and big belt pulley, the upper thread segment is equipped with nut check big belt pulley, the bearing construction section and rebound first Two taper roll bearings in bearing hole match, and first shaft shoulder section leans against the inner ring shaft shoulder of taper roll bearing above, The inner ring shaft shoulder equipped with taper roll bearing below nut check in the intermediate thread section, the changeover portion is optical axis, described Cutter component is housed on spline segment, nut check cutter component is housed on the lower thread segment.

Preferably, second rotating shaft is upper thread segment successively from top to bottom, second bevel gear construction section, intermediate thread Section, small belt pulley construction section, shaft shoulder section, bearing construction section and lower thread segment, there is keyway simultaneously on the second bevel gear construction section Equipped with flat key and second bevel gear, the upper thread segment is equipped with the top of nut check second bevel gear, the intermediate thread section Lower section equipped with nut check second bevel gear, there is keyway on the small belt pulley construction section and flat key and small belt pulley be housed, The intermediate thread section is equipped with the top of nut check small belt pulley, and the lower section of small belt pulley is leaned against above the shaft shoulder section, Leaned against below shaft shoulder section on rebound second bearing hole in the collar of the first thrust bearing, its bearing construction section passes through first Thrust bearing, deep groove ball bearing and the second thrust bearing are tight equipped with the thrust bearing of nut check second on the lower thread segment Circle.

Preferably, there is installation through-hole at the big belt pulley center, the great Pi for having keyway, installation through-hole and first rotating shaft above Belt wheel construction section matches, and the keyway on installation through-hole aligns with the flat key on big belt pulley construction section keyway, the small belt pulley Also there is installation through-hole at center, also there is the small belt pulley construction section matching of keyway, installation through-hole and the second rotating shaft, installation through-hole above On keyway alignd with the flat key on small belt pulley construction section keyway.

Preferably, the cutter component includes disc cutterbar, and its shape is disc, and there is a splined hole at center, splined hole with The spline segment of first rotating shaft matches, and has circumferentially that equally distributed eight groups of installation screws, every group of installation screw have on its bottom surface Two screws, the first cutter is disposed with disc cutterbar, the second cutter, the 3rd cutter, the 4th cutter, the 5th cutter, the 6th cuts Knife, the 7th cutter and the 8th cutter, they are identicals, there is two vias on the afterbody of each cutter, they and disc cutterbar The arrangement of every group of installation screw is identical, and two vias of each cutter fill two bolts and every group of installation on disc cutterbar Screw is connected.

Preferably, the control seat includes guard box, processing module, communication module, power module and control circuit, described Guard box is cuboid, and material is engineering plastics, and the processing module includes collector, analyzer and controller, the collection Device and ray trace sensor, avoidance sensor, monitoring camera are connected with bottom face monitoring camera, collection light intensity letter Breath, ambient condition information and image information data, the analyzer be connected with collector, analyzes the data of collection, and to control Device sends action command, the controller and the first turning motors, the second turning motors, rotary electric machine, lifts electric cylinders, swings electricity Machine, electric pushrod, motor are connected with motor, drive each executing agency to act, and the communication module includes wifi communication moulds Block, d GPS locating module and 2G/3G/4G communication modules, it is connected with processing module, and it is also connected with cell phone APP, passes through Cell phone APP, remote control and the unmanned grass-cutting vehicle of monitoring intelligent, the power module include dc-dc, and exchange is straight Stream transformer, the dc-dc are connected with solar panels, and it is also connected with chargeable storage, and the AC DC turns Parallel operation is connected with external communication charging inlet, and it is also connected with chargeable storage.

Compared with prior art, the beneficial effects of the utility model are as follows：

1st, the left end shaft and left socle phase that the utility model is stretched out by jackshaft both sides in first round group or the second wheel group Even, right-hand member axle is connected with right support, grass-cutting vehicle can be made to enter the terrain of fluctuating, the ∧ fonts support of both sides can be any Rotate, by filling two runners and corresponding motor on the left socle before and after vehicle body and right support respectively, make grass-cutting vehicle It can also be always ensured that at least three wheels contact with ground in the landform of fluctuating, can be multiple compared with traditional mobile devices Miscellaneous landform downward driving, improve the fitness of device.

2nd, the utility model fills four bottom face monitoring cameras below body bottom rebound, is located by controlling in seat The collector of reason module can obtain the image information on lawn in real time, by controlling the analyzer of processing module in seat, Ke Yishi Shi Zidong calculates cutter component and the optimal mowing distance in lawn ground, by controlling the controller of processing module in seat to control electricity The lifting of dynamic push rod, cutter component can be made to be floated in different landform and mowed, compared with the fixation cutter head of traditional hay mover, The place of big rise and fall also can guarantee that mowing quality, avoids because topography variation, causes deep mixed situation of mowing.

3rd, the utility model equally distributed eight groups of installation screws on the circumference of disc cutterbar bottom surface, by being cut first Cloth on the afterbody of knife, the second cutter, the 3rd cutter, the 4th cutter, the 5th cutter, the 6th cutter, the 7th cutter and the 8th cutter Two vias are put, every group of installation screw of two vias of each cutter and disc cutterbar can be connected by bolt, it is and traditional Fixed cutterhead is compared, and each cutter can be dismantled individually, can be individually replaced after damage, it is not necessary to which cutterhead is overall more Change, reduce maintenance cost, while eight cutteves are compared with traditional two cutteves or four cutteves, the better quality of mowing.

4th, the utility model installs solar panels and ray trace sensor on the control seat of vehicle body, passes through ray trace Sensor is connected with the collector of processing module in control seat, can gather light intensity in real time, mould is handled in seat by controlling The analyzer of block, the best angle that solar panels obtain light can be calculated automatically in real time, by controlling processing module in seat Controller control lifting electric cylinders, oscillating motor and rotary electric machine, can obtain energy to greatest extent with adjust automatically solar panels angle Amount, compared with traditional hay mover, installation solar energy storage apparatus can obtain cleaning electric energy, saved the energy, improved and cut The time of careless car continuous firing.

5th, the utility model installs avoidance sensor, monitoring camera, by controlling processing module in seat after Chinese herbaceous peony car Collector, the environment and pictorial information of surrounding can be obtained in real time, be connected by communication module with the cell phone application of user, can So that when user's remote monitoring grass-cutting vehicle works lawn surrounding image information, user's remote operation hay mover can also be made, pressed Mowed according to specified path, compared with traditional unmanned hay mover, user can remotely the image information on real-time query lawn with The environmental information of surrounding, can approach the observation to object, reduce the installation of monitoring device.

Brief description of the drawings

Fig. 1 is the utility model structure diagram；

Fig. 2 is Fig. 1 I to partial enlarged drawing；

Fig. 3 is Fig. 2 A schematic diagrames；

Fig. 4 is the utility model left view；

Fig. 5 is the utility model first round group front view；

Fig. 6 is the utility model first round group left view；

In figure：1 vehicle body, 2 first turning motors, 3 connecting plates, 4 control seats, 5 solar panels, 6 worm gear shaft assemblies, 7 liftings Electric cylinders, 8 oscillating motors, 9 rotary electric machines, 10 worm screws, 11 chargeable storages, 12 second turning motors, 13 first round groups, 14 Two wheel groups, 15 cutter components, 16 protective cases, 17 rebounds, 18 electric pushrods, 19 big belt pulleys, 20 first rotating shafts, 21 belt laces Wheel, 22 second bevel gears, 23 motors, 24 second rotating shafts, 25 monitoring cameras, 26 avoidance sensors, 27 ray trace sensors, 28 bottom face monitoring cameras, 1301 runners, 1302 motors, 1303 left socles, 1304 rotating shafts, 1305 jackshafts, 1306 right sides Support, 1501 disc cutterbars, 1,502 first cutteves, 1,503 second cutteves, 1504 the 3rd cutteves, 1505 the 4th cutteves, 1506 the 5th Cutter, 1507 the 6th cutteves, 1508 the 7th cutteves, 1508 the 8th cutteves.

Embodiment

Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made The every other embodiment obtained, belong to the scope of the utility model protection.

Fig. 1-6, a kind of Intelligent unattended grass-cutting vehicle, including vehicle body 1 are referred to, its shape is cuboid, and material is engineering Plastics, the left end at the top of it have first through hole, the first threaded mounting hole group are disposed with around first through hole, it is evenly arranged There is the screwed hole of four, there is a via centre at the top of it, and it is rectangular through slot, and the right-hand member at the top of it has second to lead to Hole, the second threaded mounting hole group is disposed with around the second through hole, it is evenly arranged the screwed hole of four, the first screw thread peace It is identical to fill hole group and the second threaded mounting hole group, and the first turning motors are provided with above the first through hole at the top of vehicle body 1 2, its motor cabinet flange is bolted on end face above first through hole, the quantity of the bolt through-hole on motor cabinet flange with Position and the first threaded mounting hole group are identicals, and the output shaft of the first turning motors 2 passes through first through hole, its output Axle top is flange arrangement, first round group 13 is housed in its lower section, it includes runner 1301, motor 1302, left socle 1303, jackshaft 1305, rotating shaft 1304 and right support 1306, rotating shaft 1304 are Step Shafts, are step surfaces above it, and it is with the The output shaft of one turning motors 2 is connected, and jackshaft 1305 is fixed with the lower section end face of rotating shaft 1304, and it includes left end shaft part, Middle shaft part and right-hand member shaft part, middle shaft part include intervalve, left shrouding and right shrouding, and intervalve is steel pipe, left shrouding and the right side Shrouding is identical, and they are plectanes, and the internal diameter of external diameter and intervalve matches, and is separately fixed at the left end and right-hand member of intervalve, The left end shaft part of jackshaft 1305 includes thread segment and light bar segment, and its light bar segment is welded on the left shrouding center of middle shaft part, Left sliding bearing is also equipped with light bar segment, the right-hand member shaft part and left end shaft part of jackshaft 1305 are identicals, its light bar segment weldering The right shrouding center of middle shaft part is connected on, right sliding bearing is also equipped with light bar segment, left socle is housed on its left end shaft part 1303, it is ∧ fonts, and its left hypotenuse lower end is fillet, there is the first revolver through hole above, and its right hypotenuse lower end is fillet, There is the second revolver through hole above, also have left axle bearing bore, the left end of jackshaft 1305 on the end face that left hypotenuse and right hypotenuse cross Shaft part passes through the left axle bearing bore of left socle 1303, and two round nuts are connected in left end shaft part and locked left socle 1303, in jackshaft Right support 1306 is housed, it is ∧ fonts, and its left hypotenuse lower end is fillet, there is the first right wheel above on 1305 right-hand member shaft part Through hole, its right hypotenuse lower end is fillet, there is the second right wheel through hole above, is also had on the end face that left hypotenuse and right hypotenuse cross Right axle bearing bore, the right-hand member shaft part of jackshaft 1305 pass through the right axle bearing bore of left socle 1303, and two round nuts are connected in right-hand member shaft part Upper pinning right support 1306, is fixed with motor 1302, it defeated on the right side of the revolver through hole of left socle 1,303 first Shaft passes through the first revolver through hole, and is connected with runner 1301, fixed on the right side of the revolver through hole of left socle 1,303 second There is motor 1302, its output shaft passes through the second revolver through hole, and is connected with runner 1301, right in right support 1,306 first Take turns and be fixed with motor 1302 on the left side of through hole, its output shaft passes through the first right wheel through hole, and with the phase of runner 1301 Even, motor 1302 is fixed with the left side of the right wheel through hole of right support 1,306 second, its output shaft is right through second Through hole is taken turns, and is connected with runner 1301, second turning motors 12, its electricity are installed above second through hole at the top of vehicle body 1 Support flange is bolted on end face above the second through hole, the quantity and position of the bolt through-hole on motor cabinet flange It is identical with the second threaded mounting hole group, the output shaft of the second turning motors 12 passes through the second through hole, its output shaft top It is flange arrangement, the second wheel group 14 is housed in its lower section, it and first round group 13 is identical, in the crown center of vehicle body 1 Connecting plate 3 is installed above via, it is rectangular slab, and four electric pushrods 18 are disposed with its lower surface, and they are all two Level electric pushrod, is arranged in the upper left corner, the lower left corner, the upper right corner and the lower right corner, the fixed seat of four electric pushrods 18 and company The lower surface of fishplate bar 3 is connected, and is connected at the top of their push rod with rebound 17, and be connected to a left side for the upper surface of rebound 17 Upper angle, the lower left corner, the upper right corner and the lower right corner, rebound 17 are rectangular slabs, and first axle bearing bore is disposed with its upper surface, it It is a stepped hole, including the first hole and the first shoulder block hole, the first hole are more than in the top in the first shoulder block hole, the diameter in the first hole The diameter in the first shoulder block hole, there also is provided second bearing hole on the right of first axle bearing bore, and it is also a stepped hole, including the Two holes and the second shoulder block hole, in the top in the second shoulder block hole, the diameter in the second hole is less than the diameter in the second shoulder block hole in the second hole, Two taper roll bearings are housed from top to bottom in the first hole of first axle bearing bore, their back-to-back installations, are equipped between the two Axle sleeve, bearing (ball) cover is fixed with the outer ring shaft shoulder of taper roll bearing above, below taper roll bearing the outer ring shaft shoulder By on the step surface in the first shoulder block hole, first rotating shaft 20 is also equipped with two taper roll bearings, it is successively from top to bottom Upper thread segment, big belt pulley construction section, the first shaft shoulder section, bearing construction section, intermediate thread section, changeover portion, spline segment and lower spiral shell Line section, there is keyway on big belt pulley construction section and flat key and big belt pulley 19 are housed, upper thread segment is equipped with the big belt of nut check Wheel 19, bearing construction section match with two taper roll bearings in the first axle bearing bore of rebound 17, and the first shaft shoulder section leans against The inner ring shaft shoulder of face taper roll bearing, the inner ring shaft shoulder equipped with taper roll bearing below nut check in intermediate thread section, Changeover portion is optical axis, and cutter component 15 is housed on spline segment, nut check cutter component 15 is housed on lower thread segment, and it includes cutting Cutterhead 1501, its shape are discs, and there is splined hole at center, and splined hole and the spline segment of first rotating shaft 20 match, its bottom Have circumferentially that equally distributed eight groups of installation screws, every group of installation screw there are two screws, arranged on disc cutterbar 1501 on face There are the first cutter 1502, the second cutter 1503, the 3rd cutter 1504, the 4th cutter 1505, the 5th cutter 1506, the 6th cutter 1507, the 7th cutter 1508 and the 8th cutter 1509, they are identicals, there is two vias on the afterbody of each cutter, it With the arrangement of 1501 every groups of installation screws of disc cutterbar be identical, two vias of each cutter fill two bolts with cutting Every group of installation screw is connected on cutterhead 1501, and first thrust axis is housed in the second hole upper surface in the second bearing hole of rebound 17 Hold, second thrust bearing be housed in the lower surface in the hole of second bearing hole second, the first thrust bearing and the second thrust bearing it Between deep groove ball bearing is housed, the second rotating shaft 24 is housed on deep groove ball bearing, it is upper thread segment successively from top to bottom, the second cone Gear construction section, intermediate thread section, small belt pulley construction section, shaft shoulder section, bearing construction section and lower thread segment, second bevel gear peace There is keyway in dress section and flat key and second bevel gear 22 are housed, upper thread segment is equipped with the top of nut check second bevel gear 22, Intermediate thread section is equipped with the lower section of nut check second bevel gear 22, has keyway on small belt pulley construction section and equipped with flat key and small Belt pulley 21, intermediate thread section are equipped with the top of nut check small belt pulley 21, small belt pulley 21 are leaned against above shaft shoulder section Lower section, lean against on the second bearing hole of rebound 17 in the collar of first thrust bearing below shaft shoulder section, its bearing construction section Through the first thrust bearing, deep groove ball bearing and the second thrust bearing, the thrust bearing of nut check second is housed on lower thread segment Collar, belt pulley is housed between big belt pulley 19 and small belt pulley 21, motor 23, its level are housed on rebound 17 First bevel gear is housed on output shaft, it is meshed with second bevel gear 22, and protective case 16 is housed in the lower section of rebound 17, it Coaxial with first rotating shaft 20, four corners below rebound 17 are also respectively equipped with a bottom face monitoring camera 28；In vehicle body 1 The top of connecting plate 3 at top is equipped with worm gear shaft assembly 6, rotary electric machine 9 is housed on its side equipped with control seat 4, its top, Worm screw 10 is fixed with its output shaft, it is meshed with worm gear shaft assembly 6, and lifting electric cylinders are fixed with worm gear shaft assembly 6 7, its push rod is fork-shaped journal stirrup, has hinge vias on its two sides, and oscillating motor is housed on the one side of fork-shaped journal stirrup 8, its output shaft is splined shaft, is fitted with solar panels 5, and there is journal stirrup the bottom surface of solar panels 5, and it has splined hole above, Its splined hole is connected with the splined shaft of oscillating motor 8, and the centre on solar panels 5 there also is provided ray trace sensor 27, chargeable storage 11 is there also is provided on the right of control seat 4, it provides the energy to Intelligent unattended grass-cutting vehicle, before vehicle body 1 The centre of side and trailing flank is respectively equipped with an avoidance sensor 26, has been evenly arranged monitoring in the top left both sides of vehicle body 1 and has taken the photograph As first 25, monitoring camera 25 is also evenly arranged in the top right-hand member both sides of vehicle body 1, control seat 4 includes guard box, handles mould Block, communication module, power module and control circuit, guard box are cuboids, and material is engineering plastics, and processing module includes collection Device, analyzer and controller, collector and ray trace sensor 27, avoidance sensor 26, monitoring camera 25 and bottom surface prison Control camera 28 to be connected, gather light intensity information, ambient condition information and image information data, analyzer and collector phase Even, the data of collection are analyzed, and action command, controller and the first turning motors 2, the second turning motors are sent to controller 12, rotary electric machine 9, electric cylinders 7 are lifted, oscillating motor 8, electric pushrod 18, motor 23 is connected with motor 1302, drives and respectively holds Row mechanism action, communication module include wifi communication modules, d GPS locating module and 2G/3G/4G communication modules, and it is with handling mould Block is connected, and it is also connected with cell phone APP, by cell phone APP, remote control and the unmanned grass-cutting vehicle of monitoring intelligent, Power module includes dc-dc, AC-DC converter, and dc-dc is connected with solar panels 5, and it is also with that can fill Electrical storage cell 11 is connected, and AC-DC converter is connected with external communication charging inlet, and it is also connected with chargeable storage 11.

In use, the avoidance sensor 26 before and after vehicle body 1, monitoring camera 27 gathers surrounding enviroment letter in real time Breath, by controlling the collector of processing module in seat 4, the environment and pictorial information of surrounding is obtained in real time, is located by controlling in seat 4 The analyzer of module is managed, the automatic optimal path for calculating traveling, controls the controller of processing module in seat 4 to receive the life of analyzer After orders, the first turning motors 2, the second turning motors 12 and motor (1302) are controlled, realizes the advance or retrogressing of grass-cutting vehicle, Communication module in control seat 4 is connected with the cell phone application of user, lawn surrounding when user can be worked with remote monitoring grass-cutting vehicle Image information, can also remote operation hay mover, mowed according to specified path；Installed in the lower section of 1 bottom transition plate of vehicle body 17 Four bottom face monitoring cameras 28 gather lawn ground image in real time, control the collector of processing module in seat 4 to obtain in real time Image information, the analyzer of processing module calculates cutter component and the optimal mowing distance in lawn ground automatically, by controlling seat 4 The lifting of the controller control electric pushrod 18 of interior processing module, makes cutter component fluctuate automatically mowing；When cutter damages Afterwards, it is only necessary to back out the bolt on damage cutter, re-replace new cutter and be connected on disc cutterbar 1501；Grass-cutting vehicle is on lawn During mowing, the ray trace sensor on solar panels 5, light intensity can be gathered in real time, mould is handled in control seat 4 The collector of block is after intensity information is received, and by controlling the analyzer of processing module in seat 4, calculates solar panels 5 automatically The best angle of light is obtained, controls the controller control lifting electric cylinders 7 of processing module in seat, oscillating motor 8 and rotary electric machine 9, the angle of adjust automatically solar panels 5, energy is obtained to greatest extent.

In summary：The Intelligent unattended grass-cutting vehicle, pass through the both sides of jackshaft 1305 in the wheel group 14 of first round group 13 or second The left end shaft of stretching is connected with left socle 1303, and right-hand member axle is connected with right support 1306, and grass-cutting vehicle can be made to enter what is risen and fallen Terrain, the ∧ fonts support of both sides can be rotated arbitrarily, pass through on the left socle 1303 before and after vehicle body 1 and right support 1306 points Two runners 1301 and corresponding motor 1302 are not filled, grass-cutting vehicle is also always ensured that at least three in the landform of fluctuating Individual wheel contacts with ground, compared with traditional mobile devices, can improve the adaptation of device in the landform downward driving of complexity Degree；Four bottom face monitoring cameras 28 are filled in the lower section of the bottom transition plate 17 of vehicle body 1, by controlling adopting for processing module in seat 4 Storage can obtain the image information on lawn in real time, by controlling the analyzer of processing module in seat 4, can calculate automatically in real time Cutter component and the optimal mowing distance in lawn ground, by controlling the controller of processing module in seat 4 to control electric pushrod 18 Lifting, cutter component 15 can be made to be floated in different landform and mowed, compared with the fixation cutter head of traditional hay mover, risen and fallen Larger place also can guarantee that mowing quality, avoids because topography variation, causes deep mixed situation of mowing；In disc cutterbar Equally distributed eight groups of installation screws on the circumference of 1501 bottom surfaces, by the way that in the first cutter 1502, the second cutter 1503, the 3rd cuts The tail of knife 1504, the 4th cutter 1505, the 5th cutter 1506, the 6th cutter 1507, the 7th cutter 1508 and the 8th cutter 1509 Two vias are arranged in portion, can be by bolt by 1501 every groups of installation screw phases of two vias of each cutter and disc cutterbar Even, compared with traditional fixed cutterhead, each cutter can be dismantled individually, can be individually replaced after damage, it is not necessary to will Cutterhead integral replacing, reduces maintenance cost, while eight cutteves are compared with traditional two cutteves or four cutteves, mowing Better quality；Solar panels 5 and ray trace sensor 27 are installed on the control seat 4 of vehicle body 1, pass through ray trace sensor 27 are connected with the collector of processing module in control seat 4, light intensity can be gathered in real time, by controlling processing module in seat 4 Analyzer, can calculate automatically in real time solar panels 5 obtain light best angle, by controlling processing module in seat 4 Controller control lifting electric cylinders 7, oscillating motor 8 and rotary electric machine 9 can be with the angles of adjust automatically solar panels 5, to greatest extent Energy is obtained, compared with traditional hay mover, installation solar energy storage apparatus can obtain cleaning electric energy, saved the energy, carried The high time of grass-cutting vehicle continuous firing；Avoidance sensor 26, monitoring camera 25, by controlling seat 4 are installed after Chinese herbaceous peony car The collector of interior processing module, the environment and pictorial information of surrounding can be obtained in real time, passes through communication module and the mobile phone of user APP is connected, and the image information of lawn surrounding, can also make user's remote operation when user's remote monitoring grass-cutting vehicle is worked Hay mover, mowed according to specified path, compared with traditional unmanned hay mover, user can long-range real-time query lawn figure As information and the environmental information of surrounding, the observation to object can be approached, reduces the installation of monitoring device.

While there has been shown and described that embodiment of the present utility model, for the ordinary skill in the art, It is appreciated that these embodiments can be carried out with a variety of changes in the case where not departing from principle of the present utility model and spirit, repaiied Change, replace and modification, the scope of the utility model are defined by the appended claims and the equivalents thereof.

Claims (3)

1. a kind of Intelligent unattended grass-cutting vehicle, including vehicle body (1), it is characterised in that：The shape of the vehicle body (1) is cuboid, it Material be engineering plastics, the left end at the top of it has first through hole, and the first threaded mounting hole is disposed with around first through hole Group, it has been evenly arranged four screwed holes, and there is a via centre at the top of it, and the via is rectangular through slot, is pushed up at it The right-hand member in portion has the second through hole, and the second threaded mounting hole group is disposed with around the second through hole, and it has been evenly arranged four spiral shells Pit, the first threaded mounting hole group and the second threaded mounting hole group are identicals, in the first through hole at the top of vehicle body (1) Side is provided with the first turning motors (2), and the motor cabinet flange of first turning motors (2) is bolted on first through hole Top end face, quantity and the position and the first threaded mounting hole group of the bolt through-hole on motor cabinet flange are identicals, the The output shaft of one turning motors (2) passes through first through hole, and its output shaft top is flange arrangement, and at the top of vehicle body (1) The second turning motors (12) are installed above two through holes, the motor cabinet flange of second turning motors (12) is bolted The end face above the second through hole, the quantity of the bolt through-hole on motor cabinet flange are with position and the second threaded mounting hole group Identical, the output shaft of the second turning motors (12) pass through the second through hole, and its output shaft top is flange arrangement, under it Side is equipped with the second wheel group (14), and the second wheel group (14) and first round group (13) are identicals, in vehicle body (1) crown center Connecting plate (3) is installed above via, the connecting plate (3) is rectangular slab, and four electric pushrods are disposed with its lower surface (18) upper left corner, the lower left corner, the upper right corner and the lower right corner, the fixed seat of four electric pushrods (18) and company, are arranged in The lower surface of fishplate bar (3) is connected, and is connected at the top of their push rod with rebound (17), and be connected to rebound (17) upper end The upper left corner in face, the lower left corner, the upper right corner and the lower right corner.

A kind of 2. Intelligent unattended grass-cutting vehicle according to claim 1, it is characterised in that：The electric pushrod (18) is two-stage Electric pushrod, the first rotating shaft (20) are upper thread segment successively from top to bottom, big belt pulley construction section, the first shaft shoulder section, axle Construction section, intermediate thread section, changeover portion, spline segment and lower thread segment are held, has keyway on the big belt pulley construction section and is equipped with Flat key and big belt pulley (19), the upper thread segment are equipped with nut check big belt pulley (19), the bearing construction section and transition Two taper roll bearings in plate (17) first axle bearing bore match, and first shaft shoulder section leans against taper roll bearing above The inner ring shaft shoulder, the inner ring shaft shoulder equipped with taper roll bearing below nut check in the intermediate thread section, the changeover portion are Optical axis, cutter component (15) is housed on the spline segment, nut check cutter component (15) is housed on the lower thread segment.

A kind of 3. Intelligent unattended grass-cutting vehicle according to claim 1, it is characterised in that：Second rotating shaft (24) on to Under be upper thread segment successively, second bevel gear construction section, intermediate thread section, small belt pulley construction section, shaft shoulder section, bearing construction section With lower thread segment, there is keyway on the second bevel gear construction section and flat key and second bevel gear (22), the upper screw thread are housed Section is equipped with the top of nut check second bevel gear (22), and the intermediate thread section is equipped with nut check second bevel gear (22) Lower section, there is keyway on the small belt pulley construction section and flat key and small belt pulley (21) are housed, the intermediate thread section is equipped with spiral shell Mother locks the top of small belt pulley (21), and the lower section of small belt pulley (21), the lower section of shaft shoulder section are leaned against above the shaft shoulder section Lean against on rebound (17) second bearing hole in the collar of the first thrust bearing, its bearing construction section passes through the first thrust axis Hold, deep groove ball bearing and the second thrust bearing, the collar of the thrust bearing of nut check second is housed on the lower thread segment.