CN209882563U

CN209882563U - Mowing robot

Info

Publication number: CN209882563U
Application number: CN201920462388.5U
Authority: CN
Inventors: 宋黎明; 刘元坤; 李嘉训; 裴路凯
Original assignee: Luoyang Institute of Science and Technology
Current assignee: Luoyang Institute of Science and Technology
Priority date: 2019-04-08
Filing date: 2019-04-08
Publication date: 2020-01-03
Anticipated expiration: 2029-04-08

Abstract

The utility model provides a robot mower, which comprises a frame, the front end of frame is connected with two universal wheels on the advancing and retreating direction of robot, and the rear end of frame is connected with two driving motor, every driving motor drive is connected with a drive wheel, the frame is still the connecting pipe that hangs of a plurality of downwardly extending of fixedly connected with, hang the lower extreme fixedly connected with solid fixed cylinder of connecting pipe, gu fixed cylinder internal fixation is provided with the second motor, the output shaft of second motor stretches out solid fixed cylinder back fixedly connected with mount pad downwards, the straight steel cable of circumferencial direction evenly distributed is followed to a plurality of fixedly connected with on the mount pad, the fixed control mechanism that is provided with in top of frame, control mechanism includes the controller and the range finding sensor of electricity connection, the controller is connected with driving motor and the equal electricity of. The utility model provides a robot of mowing can mow automatically to it is effectual, environmental pollution is little, application scope is wide to mow.

Description

Mowing robot

Technical Field

The utility model relates to a garden machine field, specific robot mows that says so.

Background

Mowing is a very common maintenance means in the garden maintenance process, and the main purpose is to repair the lawn and make the lawn more tidy and beautiful. In the prior art, mowing is mainly performed by manually operating a mower, and the efficiency is low. Moreover, most of existing lawn mowers adopt a cutter head as a mowing tool, and the cutter head is arranged in the lawn mower after the bottom of the lawn mower is opened, so that the cutter head can generate a large amount of heat in the high-speed rotation process, grass juice is evaporated due to the heat to generate peculiar smell, adverse effects are caused to operators and the surrounding environment, and after mowing is finished, the cutter head is difficult to clean and dangerous.

SUMMERY OF THE UTILITY MODEL

In order to solve the deficiencies in the prior art, the utility model provides a robot mower can mow automatically to mow effectually, environmental pollution is little, application scope is wide.

In order to achieve the above object, the utility model discloses a concrete scheme does: the utility model provides a robot mower, which comprises a frame, the front end of frame is connected with two universal wheels on the advancing and retreating direction of robot, and the rear end of frame is connected with two driving motor, every driving motor drive is connected with a drive wheel, the frame is still the connecting pipe that hangs of a plurality of downwardly extending of fixedly connected with, hang the lower extreme fixedly connected with solid fixed cylinder of connecting pipe, gu fixed cylinder internal fixation is provided with the second motor, the output shaft of second motor stretches out solid fixed cylinder back fixedly connected with mount pad downwards, the straight steel cable of circumferencial direction evenly distributed is followed to a plurality of fixedly connected with on the mount pad, the fixed control mechanism that is provided with in top of frame, control mechanism includes the controller and the range finding sensor of electricity connection, the controller is connected with driving motor and the equal electricity of.

As a preferred scheme, the frame comprises two first connecting pipes which are parallel to each other, two second connecting pipes are connected between the two first connecting pipes, the two second connecting pipes are perpendicular to the first connecting pipes, and the first connecting pipes and the second connecting pipes are connected through a three-way pipe.

As a preferred scheme, two three-way pipes for connecting one of the first connecting pipes and the two second connecting pipes are respectively and fixedly connected with a second support rod extending downwards, the two universal wheels are respectively connected with the two second support rods, the middle part of the other first connecting pipe is also fixedly sleeved with a three-way pipe, the three-way pipe is fixedly connected with a first support rod extending downwards, and the two driving motors are both fixedly connected with the first support rod.

Preferably, the suspension connecting pipe is connected to the first connecting pipe or the second connecting pipe through a tee.

As a preferred scheme, the three-way pipe connected with the hanging connecting pipe is fixedly connected with an air inlet cylinder, the upper end of the air inlet cylinder is open, the lower end of the air inlet cylinder is closed, the upper end of the air inlet cylinder is fixedly provided with a filter screen, a fan is fixedly arranged in the air inlet cylinder, the lower end of the air inlet cylinder is communicated with a plurality of air guide pipes extending downwards, all the air guide pipes are uniformly distributed on the periphery of the hanging connecting pipe along the circumferential direction, the lower end of each air guide pipe is communicated with an air outlet pipe, and the lower end of each air outlet pipe is bent.

As a preferred scheme, the air inlet cylinder is fixedly connected with two fixed sleeves, and the two fixed sleeves are fixedly sleeved on the three-way pipe connected with the suspension connecting pipe.

As a preferred scheme, hang the intraductal fixed backup pad that is provided with of connecting, fixedly on the backup pad being provided with first motor, the output shaft of first motor has linked firmly the lead screw after passing the backup pad downwards, and the cooperation cover is equipped with the fly leaf on the lead screw, the fly leaf with solid fixed cylinder fixed connection, the side of fly leaf an organic whole is connected with a plurality of slider, hang and offer on the inner wall of connecting pipe with slider assorted spout.

As an optimal scheme, the mount pad is cylindricly, the upper end of mount pad with the output shaft fixed connection of second motor, screw and a plurality of blind hole have been seted up to the lower extreme of mount pad, and the blind hole is provided with the installation pole along circumferencial direction evenly distributed in the week side of screw in the blind hole, and the middle part movable sleeve of installation pole is equipped with the collar, straight steel cable one-to-one ground and collar fixed connection, the common fixedly connected with connecting plate of the lower extreme of all installation poles wear to be equipped with on the connecting plate with screw assorted bolt.

Preferably, one end of each of the straight steel cables, which is far away from the second motor, is fixedly connected with an outer ring steel cable.

Has the advantages that:

1. the utility model can automatically cut grass and reduce manpower consumption;

2. the utility model adopts the straight steel rope for cutting, and because the straight steel rope has small size and light weight, the noise is smaller during operation;

3. because the straight steel rope is directly exposed outside, the heating problem caused by high-speed rotation can be avoided, and the peculiar smell generated by the evaporation of the grass juice is further avoided;

4. after mowing, the straight steel rope can be directly washed by water without being detached, so that the cleaning is more convenient, and the straight steel rope is light, so that the cleaning agent can be easily cleaned;

5. the utility model can blow air to the straight steel rope in real time in the mowing process, quicken the heat dissipation of the straight steel rope and remove grass juice and grass scraps on the surface of the straight steel rope;

6. the utility model can adjust the height of the straight steel rope, and meet the cutting requirements of grass with different heights;

7. the utility model discloses can satisfy the cutting demand of different texture grasses.

Drawings

Fig. 1 is a schematic view a of the overall structure of the present invention;

fig. 2 is a schematic diagram B of the overall structure of the present invention;

fig. 3 is a schematic structural view of the present invention for adjusting the height of the straight steel cable;

fig. 4 is a schematic structural diagram of the mounting seat of the present invention;

fig. 5 is a schematic view of the setting mode of the fan of the present invention.

Reference numerals: 1-a first connecting pipe, 2-a three-way pipe, 3-a second connecting pipe, 4-a universal wheel, 5-a driving wheel, 6-a first supporting rod, 7-a driving motor, 8-an outer ring steel rope, 9-a straight steel rope, 10-a suspension connecting pipe, 11-a second supporting rod, 12-a fixed cylinder, 13-a first motor, 14-a supporting plate, 15-a screw rod, 16-a sliding chute, 17-a sliding block, 18-a movable plate, 19-a second motor, 20-a mounting seat, 21-a screw hole, 22-a blind hole, 23-a mounting rod, 24-a connecting plate, 25-a bolt, 26-a mounting ring, 27-a filter screen, 28-a cylinder, 29-a fan, 30-a fixed sleeve, 31-an air guide pipe and 32-an air outlet pipe.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1 to 5, a robot for mowing comprises a frame, wherein two universal wheels 4 are connected to the front end of the frame in the advancing and retreating direction of the robot, two driving motors 7 are connected to the rear end of the frame, each driving motor 7 is in driving connection with one driving wheel 5, the frame is further fixedly connected with a plurality of suspension connecting pipes 10 extending downwards, a fixing cylinder 12 is fixedly connected to the lower end of each suspension connecting pipe 10, a second motor 19 is fixedly arranged in the fixing cylinder 12, an output shaft of the second motor 19 extends downwards out of the fixing cylinder 12 and then is fixedly connected with a mounting seat 20, a plurality of straight steel ropes 9 uniformly distributed in the circumferential direction are fixedly connected to the mounting seat 20, a control mechanism is fixedly arranged above the frame and comprises a controller and a distance measuring sensor which are electrically connected, and the controller is electrically connected with the driving motors 7 and the second motors 19.

The utility model discloses when using, the controller is through the distance between range finding sensor induction robot and the place ahead barrier, if the distance is nearer, then control robot turns to and avoids, because two drive wheels 5 are by two driving motor 7 independent drives, so differential control can be carried out very easily to two drive wheels 5 to realize turning to of robot. The robot is at the removal in-process, and second motor 19 drive mount pad 20 rotates, drives the high-speed rotation of straight steel cable 9 by mount pad 20, and then cuts off the grass by straight steel cable 9, because the size of straight steel cable 9 is little, light in weight, so the noise is littleer when the operation to because straight steel cable 9 directly exposes externally, so can avoid the high-speed rotatory problem of generating heat that brings, and then avoid the grass juice evaporation to produce the peculiar smell. After mowing, the straight wire rope 9 can be directly washed with water without being detached, and the straight wire rope 9 itself is light, so that the cleaning agent can be easily cleaned.

In this embodiment, the controller adopts an STM32F103 single chip microcomputer, the second motor 19 adopts a permanent magnet high-speed motor, the rated voltage is 24v, the power is 25W, the rotating speed is 6000r/min, and the weight is about 207g, the driving motor 7 adopts a direct current speed reduction motor, the rated voltage is 24v, the power is 30W, the rotating speed is 10r/min, and the torque is 45.84kgf.cm, the driving motor 7 is connected with the driving wheel 5 through a coupler, the power supply adopts 2 12v lead storage batteries connected in series to supply power to the motor, and supplies power to the control mechanism through a conversion circuit, and the distance measuring sensor can adopt a laser distance measuring sensor or an ultrasonic distance measuring sensor, which is the prior art in the field and.

The specific structure of frame does: the frame includes two first connecting pipes 1 that are parallel to each other, is connected with two second connecting pipes 3 between two first connecting pipes 1, and two second connecting pipes 3 all are mutually perpendicular with first connecting pipe 1, are connected through three-way pipe 2 between first connecting pipe 1 and the second connecting pipe 3. In order to reinforce the strength of the frame, one or more first connecting pipes 1 may be connected between two second connecting pipes 3.

The setting mode of universal wheel 4 and driving motor 7 does: two tee pipes 2 used for connecting one of the first connecting pipes 1 and the two second connecting pipes 3 are respectively and fixedly connected with a second supporting rod 11 extending downwards, two universal wheels 4 are respectively connected with the two second supporting rods 11, the middle part of the other first connecting pipe 1 is also fixedly sleeved with one tee pipe 2, the tee pipe 2 is fixedly connected with a first supporting rod 6 extending downwards, and two driving motors 7 are fixedly connected with the first supporting rod 6.

The arrangement of the hanging connecting pipe 10 is as follows: the suspension connection pipe 10 is connected to the first connection pipe 1 or the second connection pipe 3 through the tee 2.

Further, the three-way pipe 2 connected with the hanging connecting pipe 10 is fixedly connected with an air inlet cylinder 28, the upper end of the air inlet cylinder 28 is open, the lower end of the air inlet cylinder 28 is closed, the upper end of the air inlet cylinder 28 is fixedly provided with a filter screen 27, a fan 29 is fixedly arranged in the air inlet cylinder 28, the lower end of the air inlet cylinder 28 is communicated with a plurality of air guide pipes 31 extending downwards, all the air guide pipes 31 are uniformly distributed on the periphery side of the hanging connecting pipe 10 along the circumferential direction, the lower end of each air guide pipe 31 is communicated with an air outlet pipe 32, and the lower end of each air outlet pipe.

In the process of mowing by the robot, the fan 29 sucks external air into the air inlet drum 28 to generate air flow, the air flow flows along the air guide pipe 31 and is finally sprayed out of the air outlet pipe 32, and the air outlet pipe 32 is bent towards the outer side of the suspension connecting pipe 10, so that the air flow sprayed out of the air outlet pipe 32 can be sprayed onto the straight steel rope 9, on one hand, the heat dissipation effect of the straight steel rope 9 can be enhanced, on the other hand, residual grass juice and grass scraps on the straight steel rope 9 can be blown off, the situation that the cutting capacity of the straight steel rope 9 is reduced due to excessive surface impurities is avoided, and finally, the situation that cut grass scraps cannot be upwards lifted. The filter screen 27 can prevent foreign matters from entering the air inlet drum 28 to cause the fan 29 to be blocked.

Further, the fixing mode of the air inlet cylinder 28 is as follows: the air inlet cylinder 28 is fixedly connected with two fixing sleeves 30, and the two fixing sleeves 30 are fixedly sleeved on the three-way pipe 2 connected with the suspension connecting pipe 10. Fixed cover 20 can adopt split type structure, and fixed cover 20 includes two monomers of dismantling the connection promptly, and two monomers enclose jointly and close out a circular via hole, and the business turn over end of two coaxial settings of three-way pipe 2 passes from two via holes respectively.

Consider the height difference of the grass in different lawns, the length that needs to cut also is different, consequently the utility model discloses a straight steel cable 9's height can be adjusted, and concrete structure is: the suspension connecting pipe 10 is internally and fixedly provided with a supporting plate 14, the supporting plate 14 is fixedly provided with a first motor 13, an output shaft of the first motor 13 penetrates through the supporting plate 14 downwards and is coaxially and fixedly connected with a screw rod 15, the screw rod 15 is matched and sleeved with a movable plate 18, the movable plate 18 is fixedly connected with the fixed cylinder 12, the side edge of the movable plate 18 is integrally connected with a plurality of sliding blocks 17, and the inner wall of the suspension connecting pipe 10 is provided with a sliding groove 16 matched with the sliding blocks 17. When the height of the straight steel ropes 9 needs to be adjusted, the first motor 13 drives the screw rod 15 to rotate, and because the movable plate 18 is matched with the screw rod 15 and is limited by the sliding block 17 and the sliding groove 16, the movable plate 18 can move along the screw rod 15 to drive the fixed cylinder 12 to move synchronously, and finally the second motor 19, the mounting seat 20 and all the straight steel ropes 9 are driven to move synchronously, so that the height of the straight steel ropes 9 is changed. It should be noted that the length of the fixed cylinder 12 is greater than the axial length of the second motor 19.

The cutting force required by different grass varieties is different, the cutting force required by harder grass is larger, and does not easily remain on the straight steel cord 9 after cutting, while grass with softer texture requires less cutting force, and leave the residue on straight steel cable 9 easily after the cutting, in order to satisfy the cutting demand of different kinds of grass, mount pad 20 is cylindricly, the upper end of mount pad 20 and the output shaft fixed connection of second motor 19, screw 21 and a plurality of blind hole 22 have been seted up to the lower extreme of mount pad 20, blind hole 22 is along circumferencial direction evenly distributed in the week side of screw 21, it is provided with installation pole 23 to slide in the blind hole 22, the middle part movable sleeve of installation pole 23 is equipped with collar 26, straight steel cable 9 one-to-one ground and collar 26 fixed connection, the common fixedly connected with connecting plate 24 of lower extreme of all collar 23, wear to be equipped with on the connecting plate 24 with screw 21 assorted bolt 25. When harder grass needs to be cut, the bolt 25 is moved into the screw hole 21 by rotating the bolt 25, and then the head of the bolt 25 pushes the connecting plate 24 and the mounting rod 23 to move towards the mounting seat 20, the distance between the connecting plate 24 and the mounting seat 20 is reduced, and the moving space of the mounting ring 26 is correspondingly reduced, until the mounting ring 26 is clamped by the connecting plate 24 and the mounting seat 20, the mounting ring 26 completely loses the moving space, at the moment, the amplitude of the straight steel rope 9 in the vertical direction in the rotating process is reduced, the component of the cutting force in the length direction of the grass is reduced, and the cutting capability of the grass is stronger; when the grass with softer texture needs to be cut, the bolt 25 is rotated reversely, the distance between the connecting plate 24 and the mounting seat 20 is larger than the thickness of the mounting ring 26, so that the mounting ring 26 has a certain moving space, at the moment, the limit of the straight steel rope 9 on the vertical direction in the rotating process is reduced, the amplitude in the vertical direction is increased, the component of the cutting force in the length direction of the grass is increased, the cutting capacity is weakened, but the cutting force required by the grass with softer texture is smaller, so that the cutting requirement can be met, and the grass scraps remained on the straight steel rope 9 can be vibrated by the vibration in the vertical direction, so that the continuous operation of the robot is facilitated.

Further, the straight steel cables 9 extend along the radial direction of the suspension connecting pipe 10, and one ends of all the straight steel cables 9 far away from the second motor 19 are fixedly connected with the outer ring steel cable 8 together. The outer steel cord 8 prevents the straight steel cord 9 from being deformed, and the outer steel cord 8 itself has cutting ability during high-speed rotation.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A robot lawnmower, comprising: comprises a frame, two universal wheels (4) are connected with the front end of the frame in the advancing and retreating direction of the robot, and the rear end of frame is connected with two driving motor (7), every driving motor (7) drive is connected with a drive wheel (5), frame still a plurality of downwardly extending's fixedly connected with hang connecting pipe (10), the lower extreme fixedly connected with solid fixed cylinder (12) that hangs connecting pipe (10), gu fixed cylinder (12) internal fixation is provided with second motor (19), the output shaft of second motor (19) stretches out solid fixed cylinder (12) back fixedly connected with mount pad (20) downwards, gu fixed connected with a plurality of is along the straight steel cable (9) of circumferencial direction evenly distributed on mount pad (20), the top of frame is fixed and is provided with control mechanism, control mechanism includes electrically connected controller and range finding sensor, the controller is connected with driving motor (7) and second motor (19) equal electricity.

2. A robot lawnmower according to claim 1, wherein: the frame comprises two first connecting pipes (1) which are parallel to each other, two second connecting pipes (3) are connected between the two first connecting pipes (1), the two second connecting pipes (3) are perpendicular to the first connecting pipes (1), and the first connecting pipes (1) and the second connecting pipes (3) are connected through three-way pipes (2).

3. A robot lawnmower according to claim 2, wherein: the two three-way pipes (2) used for connecting one of the first connecting pipes (1) and the two second connecting pipes (3) are respectively and fixedly connected with a second supporting rod (11) extending downwards, the two universal wheels (4) are respectively connected with the two second supporting rods (11), the middle part of the other first connecting pipe (1) is also fixedly sleeved with the three-way pipe (2), the three-way pipe (2) is fixedly connected with a first supporting rod (6) extending downwards, and the two driving motors (7) are fixedly connected with the first supporting rod (6).

4. A robot lawnmower according to claim 2, wherein: the suspension connecting pipe (10) is connected with the first connecting pipe (1) or the second connecting pipe (3) through a three-way pipe (2).

5. A robot lawnmower according to claim 4, wherein: the three-way pipe (2) is fixedly connected with an air inlet cylinder (28) connected with the suspension connecting pipe (10), the upper end of the air inlet cylinder (28) is open, the lower end of the air inlet cylinder is closed, a filter screen (27) is fixedly arranged at the upper end of the air inlet cylinder (28), a fan (29) is fixedly arranged in the air inlet cylinder (28), the lower end of the air inlet cylinder (28) is communicated with a plurality of air guide pipes (31) extending downwards, all the air guide pipes (31) are uniformly distributed on the periphery side of the suspension connecting pipe (10) along the circumferential direction, the lower end of each air guide pipe (31) is communicated with an air outlet pipe (32), and the lower end of each air outlet pipe (32) is.

6. A robot lawnmower according to claim 5, wherein: the air inlet cylinder (28) is fixedly connected with two fixing sleeves (30), and the two fixing sleeves (30) are fixedly sleeved on the three-way pipe (2) connected with the suspension connecting pipe (10).

7. A robot lawnmower according to claim 1, wherein: hang connecting pipe (10) internal fixation and be provided with backup pad (14), fixed being provided with first motor (13) on backup pad (14), the output shaft of first motor (13) passes backup pad (14) back coaxial and has linked firmly lead screw (15) downwards, and the cooperation cover is equipped with fly leaf (18) on lead screw (15), fly leaf (18) with gu fixed section of thick bamboo (12) fixed connection, a plurality of slider (17) are connected with to the side an organic whole on fly leaf (18), set up on the inner wall of hanging connecting pipe (10) with slider (17) assorted spout (16).

8. A robot lawnmower according to claim 1, wherein: mount pad (20) are cylindricly, the upper end of mount pad (20) with the output shaft fixed connection of second motor (19), screw (21) and a plurality of blind hole (22) have been seted up to the lower extreme of mount pad (20), and blind hole (22) slide in blind hole (22) and are provided with installation pole (23) in week side of screw (21) along circumferencial direction evenly distributed, and the middle part movable sleeve of installation pole (23) is equipped with collar (26), straight steel cable (9) one-to-one ground and collar (26) fixed connection, the common fixedly connected with connecting plate (24) of lower extreme of all installation poles (23), wear to be equipped with on connecting plate (24) with screw (21) assorted bolt (25).

9. A robot lawnmower according to claim 1, wherein: and one ends of all the straight steel ropes (9) far away from the second motor (19) are fixedly connected with an outer ring steel rope (8) together.