CN211831924U

CN211831924U - Omnidirectional mower

Info

Publication number: CN211831924U
Application number: CN202020126553.2U
Authority: CN
Inventors: 杨晨; 王亮亮; 陈思璘; 白黎明; 梁浩田; 张洋铭; 黄宇鹏; 温虓; 石文博
Original assignee: Xian University of Architecture and Technology
Current assignee: Xian University of Architecture and Technology
Priority date: 2020-01-19
Filing date: 2020-01-19
Publication date: 2020-11-03
Anticipated expiration: 2030-01-19

Abstract

The utility model discloses an omnidirectional mower, which comprises a mower body, wherein a bottom mowing disc is arranged at the bottom of the mower body and is used for mowing grass on a flat terrain; the two omnidirectional mowing discs are symmetrically arranged on two sides of the vehicle body, the two omnidirectional mowing discs are respectively connected with the vehicle body through a rotary connecting mechanism, and the omnidirectional mowing discs are used for circularly mowing grass near flat terrain or obstacles; the power device is fixedly arranged on the rear side of the vehicle body and used for providing power for the vehicle body, the bottom mowing disc and the omnidirectional mowing disc; the control unit is connected with the power device and is used for controlling the opening and closing of the mower; the utility model realizes the cutting of grass on the flat ground by arranging the bottom grass cutting disc at the bottom of the vehicle body; two qxcomm technology grass the dish under swivelling joint mechanism's drive, can adapt to different topography changes, when meetting the barrier, can enclose the barrier ring and cut away, has cleared away the work blind area of current lawn mower, has realized qxcomm technology and has mowed.

Description

Omnidirectional mower

Technical Field

The utility model belongs to the technical field of mechanical industry, in particular to omnidirectional mower.

Background

With the rapid development of economy, the living standard is continuously improved, people pursue life more from a material level to a mental level, and the word of 'fun' also becomes a key focus of people. The entertainment is pursued during work, the entertainment is pursued in leisure time, the environment facilities are small in size, can be used for greening in a residential area, can be used in a park square, can be used in a golf course and a tourist attraction, the pursuit of people for the entertainment is not reflected at all, the maintenance is needed when the environment facilities are used, the later maintenance of a greening section becomes a difficult problem, and therefore the mower is suitable for transportation.

Since the advent of lawn mowers, lawn mowers have been popular and appreciated in the market because of their advantages of reducing the difficulty of work and shortening the time required for work. At present, the mowers adopted in the market are mainly of a backpack type, a hand-push type and a riding type. The backpack type mower and the hand-push type mower are mostly applied to small-range greening, and are light, portable and simple to operate; the riding type mower is mainly used for large-scale greening, reduces the labor load of manpower and improves the working efficiency.

However, in the working process of the existing mower, a plurality of working holes still exist, such as rugged park greening and golf courses, the working points with complex terrains are often blind areas for the machine to work, and additional manpower is required for repairing if the low-lying or protruding zones are not completely trimmed; secondly, when an obstacle is encountered, the cutter head cannot be close to the obstacle, so that the periphery of the obstacle also becomes a working blind area, if the obstacle needs to be cut off, the cutter head needs to be accurately controlled, so that the 'girdling' damage to the obstacle can be avoided, and the existing mower always addresses the symptoms and does not address the root causes for the existing all-round weeding problem; meanwhile, in the current society with expanded material life, people more pursue experience feeling of use and desire to obtain achievement feeling from work, and the operation process of the existing mower is monotonous, repeated and tedious, so that the problem of more humanization such as user experience feeling is considered on the basis of ensuring the performance of equipment, and the monotonous work is full of fun while the work efficiency is improved.

SUMMERY OF THE UTILITY MODEL

To the technical problem who exists among the prior art, the utility model provides an omnidirectional mower to solve current lawn mower and can't realize omnidirectional mowing, it is big to the weeds clearance in near barrier and cut the process degree of difficulty, and is inefficient, cuts off the effect relatively poor.

In order to achieve the above purpose, the utility model adopts the technical scheme that:

the utility model provides a mower with an omnidirectional mowing cutter head, which comprises a mower body, a bottom mowing disc, two omnidirectional mowing discs, a rotary connecting mechanism, a power device, a control unit and an operating mechanism; the bottom mowing disc is arranged at the bottom of the vehicle body and used for cutting off weeds on the flat terrain; the two omnidirectional mowing discs are symmetrically arranged on two sides of the vehicle body, the two omnidirectional mowing discs are respectively connected with the vehicle body through a rotary connecting mechanism, and the omnidirectional mowing discs are used for circularly cutting off weeds near flat terrain or obstacles; the power device is fixedly arranged at the rear end of the vehicle body and is used for providing power for the vehicle body, the bottom mowing disc and the omnidirectional mowing disc; the control unit is connected with the power device and is used for controlling the opening and closing of the mower; the operating mechanism is arranged on the vehicle body and is used for controlling the running direction of the vehicle body and the opening and closing of the vehicle body, the mowing disc at the bottom and the omnidirectional mowing disc.

Furthermore, the system also comprises an all-terrain radar and a deviation rectifying mechanism; the all-terrain radar is arranged on one side of the front end of the vehicle body, the output end of the all-terrain radar is connected with the input end of the control unit, the deviation correcting mechanism is arranged between the bottom mowing disc and the omnidirectional mowing disc, one end of the deviation correcting mechanism is connected with the bottom mowing disc, and the other end of the deviation correcting mechanism is connected with the omnidirectional mowing disc;

the deviation correcting mechanism comprises a deviation correcting motor, a screw rod, a deviation correcting support plate and a deviation correcting connecting rod; the deviation correcting motor is arranged at the upper part of the mowing disc at the bottom, and the input end of the deviation correcting motor is connected with the output end of the control unit; the output end of the deviation correcting motor is connected with one end of a screw rod, and the other end of the screw rod is connected with a deviation correcting support plate; one end of the deviation-rectifying support plate is sleeved on the screw rod in a penetrating mode, and the other end of the deviation-rectifying support plate is connected with the omnidirectional mowing disc through the deviation-rectifying connecting rod.

Further, the control unit comprises a vehicle-mounted ECU, an A/D conversion unit, a D/A conversion unit and a tachogenerator;

the output end of the all-terrain radar is connected with the analog input end of the A/D conversion unit, the digital output end of the A/D conversion unit is connected with the digital input end of the vehicle-mounted ECU, the first output end of the vehicle-mounted ECU is connected with the digital input end of the D/A conversion unit, and the output end of the D/A conversion unit is connected with a power system of the vehicle body; the second output end of the vehicle-mounted ECU is connected with the power device; the tachogenerator is connected with a mechanical shaft of a power system of the vehicle body through a linkage mechanism, and a voltage output end of the tachogenerator is connected with an analog input end of the A/D conversion unit.

Further, the bottom mowing disc comprises a bottom mowing disc base, a bottom cutter motor, a bottom belt transmission mechanism, a bottom mowing disc rotating blade and a plurality of bottom mowing disc rollers;

the upper end of the bottom mowing disc base is connected with the bottom of the vehicle body, the bottom cutter motor is arranged on the bottom mowing disc base, the power supply end of the bottom cutter motor is connected with the output end of the power device, the output end of the bottom cutter motor is connected with the bottom mowing disc rotating blade through a bottom belt transmission mechanism, and the bottom mowing disc rotating blade is rotatably arranged on the bottom mowing disc base; a plurality of bottom mowing disc rollers are uniformly arranged on the bottom mowing disc base.

Furthermore, the number of the bottom mowing disc rotating blades is three, and the three bottom mowing disc rotating blades are distributed on the bottom mowing disc base in an isosceles triangle shape; one rotary blade of the bottom mowing disc is arranged close to the front end of the vehicle body, and the other rotary blades of the bottom mowing disc are arranged close to the middle of the vehicle body.

Furthermore, the omnidirectional mowing disc comprises an omnidirectional mowing disc base, an omnidirectional cutting knife motor, an omnidirectional belt transmission mechanism, an omnidirectional mowing disc rotating blade and a plurality of omnidirectional mowing disc rollers;

the upper end of the omnidirectional mowing disc base is connected with the lower end of the rotary connecting mechanism, the upper end of the rotary connecting mechanism is rotatably connected with the vehicle body, and the front end of the omnidirectional mowing disc base is provided with a U-shaped opening; the omnidirectional cutting knife motor is arranged on the omnidirectional mowing disc base, the power supply end of the omnidirectional cutting knife motor is connected with the output end of the power device, the output end of the omnidirectional cutting knife motor is connected with the omnidirectional mowing disc rotating blade through the omnidirectional belt transmission mechanism, and the omnidirectional mowing disc rotating blade is rotatably arranged on the omnidirectional mowing disc base; a plurality of omnidirectional mowing disc rollers are uniformly arranged on the omnidirectional mowing disc base.

Furthermore, the number of the omnidirectional mowing disc rotating blades is three, and the three omnidirectional mowing disc rotating blades are distributed on the omnidirectional mowing disc base in an isosceles triangle shape; wherein two omnidirectional mowing disc rotating blades are arranged at two sides of the U-shaped opening, and the other omnidirectional mowing disc rotating blade is arranged at the rear end of the U-shaped opening.

Furthermore, the rotary connecting mechanism comprises a connecting rod, a movable hanging weight and a ground spring; the upper end of the connecting rod is rotatably connected with the vehicle body through a rotating shaft, the lower end of the connecting rod is connected with one end of the movable hanging weight, the other end of the movable hanging weight is connected with one end of a floor spring, and the other end of the floor spring is connected with the omnidirectional mowing disc.

Further, the power device comprises a battery box and a storage battery; the battery box is fixedly arranged at the seat back of the vehicle body or at the bottom of the seat, the storage battery is arranged in the battery box and is used for providing power for the vehicle body, the bottom mowing disc and the omnidirectional mowing disc; the storage battery is connected with the control unit.

Furthermore, the solar energy power supply system is further included, the output end of the solar energy power supply system is connected with the storage battery, and the solar energy power supply system is arranged on the top of the vehicle body.

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

the utility model provides an omnidirectional mower, which realizes the cutting of grass on a flat ground by arranging a bottom mowing disc at the bottom of a vehicle body; the omnidirectional mowing discs are arranged on the two sides of the vehicle body, so that grass on the inclined ground or near obstacles can be mowed in a surrounding manner; the two omnidirectional mowing discs can be selectively started for mowing on the basis of starting the mowing disc at the bottom in a flat section according to the area size, the mowing disc at the bottom and the mowing disc at the omnidirectional are simultaneously started in a fluctuating section, the two omnidirectional mowing discs can adapt to different terrain changes under the driving of the rotary connecting mechanism, and can circumferentially cut around obstacles when the obstacles are encountered, so that the working blind area of the existing mower is swept, and omnidirectional mowing is realized; the operation mechanism is arranged on the mower body, so that the mower can be operated conveniently, and the operation method is simple.

Furthermore, the all-terrain radar and the deviation correcting mechanism are arranged, the all-terrain radar can detect the terrain to be mowed, and the deviation correcting mechanism adjusts the angle of the omnidirectional mowing disc on any side according to the detection result so as to adapt to mowing operation on different terrains; when the mower encounters an obstacle, the deviation correcting mechanism can automatically adjust the omnidirectional mowing disc to perform annular mowing operation around the obstacle according to the scanning result of the all-terrain radar to the obstacle, so that the working blind area of the mower is avoided, and the omnidirectional mowing operation is realized.

Furthermore, a vehicle-mounted ECU and a tachogenerator are arranged in the control unit, the tachogenerator is used for detecting the rotating speed of the vehicle body power system in real time and feeding the rotating speed back to the vehicle-mounted ECU, and the vehicle speed of the mower is prevented from being out of control by performing feedback adjustment on the vehicle body power system through the vehicle-mounted ECU.

Furthermore, the three isosceles rotating blades are arranged on the bottom or the omnidirectional mowing disc, so that the mowing range and the mowing efficiency are effectively improved, the mowing effect is good, and the bottom mowing disc or the omnidirectional mowing disc is prevented from being jammed.

Furthermore, the U-shaped opening is formed in the base of the omnidirectional mowing disc, surrounding mowing operation around the barrier is achieved by means of the U-shaped opening, a working blind area of the mower is eliminated, control of the surrounding mowing operation is simple, and efficiency is high; the U-shaped opening on the base of the omni-directional rotary mowing disc can be matched with the obstacle, the surrounding of the obstacle is accurately achieved, the surrounding mowing disc is jointly matched with the rotation characteristic of the inertia of the omni-directional mowing disc and the rotation connecting mechanism when the mower travels, and the surrounding of the obstacle is completely mowed.

Furthermore, the omnidirectional mowing disc is connected with the vehicle body through a connecting rod and the movable hanging weight, and adapts to different terrains through the up-and-down rotation of a rotating shaft at the upper end of the connecting rod and the rotation of the movable hanging weight at the lower end of the connecting rod; the omnidirectional mowing disc is forced to rebound to the position before working through the ground spring, so that the resetting of the omnidirectional mowing disc is realized; when the omni-directional mowing disc surrounding the obstacle rotates to 180 degrees around the obstacle along with the advancing of the mower, the omni-directional mowing disc is cut for 360 degrees around the obstacle once, the ground spring forces the omni-directional mowing disc to quickly and automatically rebound to the position before working, and the deviation correcting mechanism is matched with the position before working to adjust the rebound position of the mowing disc in the rebound process, so that the problems of overlarge inertia and excessive rebound are avoided, and the next normal working of the omni-directional mowing disc is ensured.

Furthermore, the storage battery in the battery box provides power in the driving transmission unit, so that the driving device is more environment-friendly, and the storage battery is connected with the corresponding motor through a wire, so that the accurate work of the omni-directional rotary mowing disc is realized.

Furthermore, the storage battery is charged by adopting a solar power supply system, and the effects of shading sun, sheltering rain and saving energy are realized above the vehicle body arranged by the solar power supply system.

The utility model discloses a dish, drive transmission, the control unit of mowing and the unit of rectifying closely cooperate, divide the worker clear and definite, each takes the duties of the own job, when guaranteeing the effect of mowing, comply with the development of times, the equipment maintenance and the update in the later stage of being convenient for still have very big advantage on future development prospect when sweeping away current lawn mower work blind area.

Drawings

Fig. 1 is a schematic view of the overall structure of an omnidirectional mower according to the present invention;

fig. 2 is a schematic view of a bottom mowing disc structure in the omnidirectional mower according to the present invention;

fig. 3 is a schematic structural view of an all-terrain radar in the omnidirectional mower according to the present invention;

fig. 4 is a schematic structural view of a deviation rectifying mechanism in the omnidirectional mower of the present invention;

fig. 5 is a schematic structural view of a movable hanger and a floor spring in the omnidirectional mower of the present invention;

fig. 6 is a schematic structural view of a bottom belt transmission mechanism in the omnidirectional mower according to the present invention;

fig. 7 is a schematic view of an omnidirectional mowing disc structure in the omnidirectional mower according to the present invention;

fig. 8 is a circuit diagram of a control unit in the omnidirectional mower according to the present invention;

fig. 9 is a structural block diagram of a control unit in the omnidirectional mower of the present invention.

The device comprises a vehicle body 1, a mowing disc at the bottom 2, an omnidirectional mowing disc 3, a rotary connecting mechanism 4, an all-terrain radar 5, a deviation correcting mechanism 6, a power device 7, a control unit 8 and an operating mechanism 9, wherein the vehicle body is connected with the mowing disc at the bottom 2; 21 a bottom mowing disc base, 22 a bottom cutting knife motor, 23 a bottom belt transmission mechanism, 24 a bottom mowing disc rotating blade and 25 a bottom mowing disc roller; a 31 omnidirectional mowing disc base, a 32 omnidirectional cutting knife motor, a 33 omnidirectional belt transmission mechanism, a 34 omnidirectional mowing disc rotating blade and 35 omnidirectional mowing disc rollers; 41 connecting rod, 42 movable hanging weight and 43 ground spring; 61, a deviation correcting motor, 62 a screw, 63 a deviation correcting support plate and 64 a deviation correcting connecting rod; 81 vehicle ECU, 82A/D conversion unit, 83D/A conversion unit, 84 tachogenerator; 91 operating the lever, 92 operating the button.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1-9, the utility model provides a lawn mower with disc mows of qxcomm technology, including automobile body 1, bottom disc 2 mows of qxcomm technology, two disc 3 mows of qxcomm technology, rotary connection mechanism 4, all topography radar 5, the mechanism of rectifying 6, power device 7, the control unit 8, operating device 9 and solar energy power supply system.

The vehicle body 1 comprises a rack, a seat, a traveling mechanism, a power system and a storage box, wherein the seat is arranged above the rack, the traveling mechanism is arranged below the rack, the power system is arranged on the rack, the output end of the power system is connected with the input end of the traveling mechanism, so that the vehicle body 1 can move, and the input end of the power system is connected with the output end of the control unit 8; the storage box is arranged on the frame 1 and is positioned at the front end below the seat; the storage box comprises two small-capacity storage boxes and a large-capacity storage box, the small-capacity storage boxes are used for storing articles in small capacity, and the articles can be easily stored and taken in the process that an operator uses the mower; the large-capacity storage box is used for placing some articles which are not commonly used but are indispensable, such as maintenance tools, replacement parts and the like, and improves the space utilization rate while not hindering an operator from using the mower.

The bottom mowing disc 2 is arranged at the bottom of the vehicle body 1, and the bottom mowing disc 2 is used for mowing grass on the flat ground; the two omnidirectional mowing discs 3 are symmetrically arranged on two sides of the vehicle body 1, the two omnidirectional mowing discs 3 are respectively connected with the vehicle body 1 through the rotary connecting mechanism 4, and the omnidirectional mowing discs 3 are used for cutting grass on the inclined ground or near obstacles in a surrounding manner; the power device 7 is fixedly arranged on the rear side of the vehicle body 1, and the power device 7 is used for providing power for the vehicle body 1, the bottom mowing disc 2 and the omnidirectional mowing disc 3; the control unit 8 is connected with the power device 7 and is used for controlling the opening and closing of the mower; the all-terrain radar 5 is arranged on one side of the front end of the vehicle body 1, the output end of the all-terrain radar 5 is connected with the input end of the control unit 8, the deviation correcting mechanism 6 is arranged between the bottom mowing disc 2 and the omnidirectional mowing disc 3, one end of the deviation correcting mechanism 6 is connected with the bottom mowing disc 2, the other end of the deviation correcting mechanism 6 is connected with the omnidirectional mowing disc 3, and the signal input end of the deviation correcting mechanism 6 is connected with the output end of the control unit 8.

The bottom mowing disc 2 comprises a bottom mowing disc base 21, a bottom cutter motor 22, a bottom belt transmission mechanism 23, a bottom mowing disc rotating blade 24 and a plurality of bottom mowing disc rollers 25; the upper end of a bottom mowing disc base 21 is connected with the bottom of the vehicle body 1, a bottom cutter motor 22 is installed on the bottom mowing disc base 21, the power supply end of the bottom cutter motor 22 is connected with the output end of the power device 7, the output end of the bottom cutter motor 22 is connected with a bottom mowing disc rotary blade 24 through a bottom belt transmission mechanism 23, and the bottom mowing disc rotary blade 24 is rotatably installed on the bottom mowing disc base 21; a plurality of bottom mower tray rollers 25 are uniformly mounted on bottom mower tray base 21.

The number of the bottom mowing disc rotating blades 24 is three, and the three bottom mowing disc rotating blades 24 are distributed on the bottom mowing disc base 21 in an isosceles triangle shape; one bottom mowing disc rotary blade 24 is arranged close to the front end of the vehicle body, and the other two bottom mowing disc rotary blades 24 are arranged close to the middle of the vehicle body; the rotary torque isolation belts are arranged among the rotary blades of the three bottom mowing discs, the position relations among the rotary blades of the bottom mowing discs are distributed on the bottom mowing discs in an isosceles triangle manner, and the situation that the bottom mowing discs are blocked can be avoided, so that the continuous operation of the mower is realized.

The omnidirectional mowing disc 3 comprises an omnidirectional mowing disc base 31, an omnidirectional cutting knife motor 32, an omnidirectional belt transmission mechanism 33, a bottom mowing disc rotating blade 34 and a plurality of omnidirectional mowing disc rollers 35; the upper end of the omnidirectional mowing disc base 31 is connected with the lower end of the rotary connecting mechanism 4, the upper end of the rotary connecting mechanism 4 is rotatably connected with the vehicle body 1, and the front end of the omnidirectional mowing disc base 31 is provided with a U-shaped opening; the omnidirectional cutting knife motor 32 is installed on the omnidirectional mowing disc base 31, the power supply end of the omnidirectional cutting knife motor 32 is connected with the output end of the power device 7, the output end of the omnidirectional cutting knife motor 32 is connected with the omnidirectional mowing disc rotary blade 34 through the omnidirectional belt transmission mechanism 33, and the omnidirectional mowing disc rotary blade 34 is rotatably installed on the omnidirectional mowing disc base 31; a plurality of omni-directional mowing disc rollers 35 are uniformly mounted on the omni-directional mowing disc base 31.

The number of the bottom mowing disc rotating blades 34 is three, and the three omnidirectional mowing disc rotating blades 34 are distributed on the omnidirectional mowing disc base 31 in an isosceles triangle shape; two omnidirectional mowing disc rotating blades 34 are arranged on two sides of the U-shaped opening, and the other omnidirectional mowing disc rotating blade 34 is arranged at the rear end of the U-shaped opening; the position relation between the rotating blades of the omnidirectional mowing disc is distributed on the omnidirectional mowing disc in an isosceles triangle shape, so that the situation of 'blocking' of the omnidirectional mowing disc is avoided, and the continuous operation of the mower is realized.

The rotary connecting mechanism 4 comprises a connecting rod 41, a movable hanging weight 42 and a ground spring 43; the upper end of the connecting rod 41 is rotatably connected with the vehicle body 1 through a rotating shaft, the lower end of the connecting rod 41 is connected with one end of the movable hanging weight 42, the other end of the movable hanging weight 42 is connected with one end of the ground spring 43, and the other end of the ground spring 43 is connected with the omnidirectional mowing disc 3.

The deviation correcting mechanism 6 comprises a deviation correcting motor 61, a screw 62, a deviation correcting support plate 63 and a deviation correcting connecting rod 64; the deviation rectifying motor 61 is arranged at the upper part of the bottom mowing disc 2, and the input end of the deviation rectifying motor 61 is connected with the output end of the control unit 8; the output end of the deviation rectifying motor 61 is connected with one end of a screw 62, and the other end of the screw 62 is connected with a deviation rectifying support plate 63; one end of the deviation correcting support plate 63 is sleeved on the screw rod 62 in a penetrating manner, and the other end of the deviation correcting support plate is connected with the omnidirectional mowing disc 3 through a deviation correcting connecting rod 64.

The power device 7 comprises a battery box and a storage battery; the battery box is fixedly arranged at the seat back of the vehicle body 1 or the bottom of the seat, the storage battery is arranged in the battery box and is used for providing power for the vehicle body 1, the bottom mowing disc 2 and the omnidirectional mowing disc 3; the battery is connected to the control unit 8.

The control unit 8 comprises a vehicle-mounted ECU81, an A/D conversion unit 82, a D/A conversion unit 83 and a tachogenerator 84; the output end of the all-terrain radar 5 is connected with the analog input end of the A/D conversion unit 82, the digital output end of the A/D conversion unit 82 is connected with the digital input end of the vehicle-mounted ECU81, the first output end of the vehicle-mounted ECU81 is connected with the digital input end of the D/A conversion unit 83, and the output end of the D/A conversion unit 83 is connected with the power system of the vehicle body 1; a second output end of the vehicle-mounted ECU81 is connected with the power device 7; the tachogenerator 84 is connected with the mechanical shaft of the power system of the vehicle body 1 through a linkage mechanism, and the voltage output end of the tachogenerator 84 is connected with the analog input end of the A/D conversion unit 82.

The operating mechanism 9 is arranged on the vehicle body 1, and the operating mechanism 9 is used for controlling the running direction of the vehicle body 1 and the opening and closing of the vehicle body 1, the bottom mowing disc 2 and the omnidirectional mowing disc 3; the operating mechanism 9 comprises two operating rods 91 and three control buttons 92, the two operating rods 91 are respectively and rotatably arranged on two sides of the vehicle body 1, and the lower ends of the operating rods 91 are connected with the running mechanism of the vehicle body 1 and used for controlling the running direction of the vehicle body 1; the first control button and the second control button are arranged on an operating rod on the left side of the vehicle body, the first control button is used for controlling the opening and closing of the mowing disc at the bottom, and the second control button is used for controlling the opening and closing of the omnidirectional mowing disc on the left side of the vehicle body; the third control button is arranged on the operating rod on the right side of the vehicle body and used for controlling the opening and closing of the omnidirectional mowing disc on the right side of the vehicle body.

The solar power supply system is arranged at the top of the vehicle body 1, and the output end of the solar power supply system is connected with the storage battery; the storage battery is charged by adopting a solar power supply system, and the effects of shading sun, sheltering rain and saving energy are realized above the vehicle body arranged by the solar power supply system.

The utility model discloses an omnidirectional mower, which realizes the cutting of weeds on a flat ground by arranging a bottom mowing disc at the bottom of a vehicle body; the omnidirectional mowing discs are arranged on the two sides of the vehicle body, so that weeds on the inclined ground or near obstacles can be cut around; the two omnidirectional mowing discs can be selectively started to mow on the basis of starting the mowing disc at the bottom in a flat section according to the area size, the mowing disc at the bottom and the mowing disc at the omnidirectional are simultaneously started in a fluctuating section, the two omnidirectional mowing discs can adapt to different terrain changes under the driving of the rotary connecting mechanism, and can circumferentially cut around obstacles when the obstacles are met, so that the working blind area of the existing mower is cleared, the omnidirectional mowing is realized, and the control method is simple.

In the utility model, a pair of omnidirectional mowing discs with deviation rectifying mechanisms and all-terrain radars matched with the omnidirectional mowing discs are arranged on two sides of the vehicle body; the running direction of the vehicle body is controlled through the operating rod, and the control buttons on the operating rod are matched to control the starting and the stopping of the bottom mowing disc and the two omnidirectional mowing discs; the left operating rod is provided with a control button for controlling the left omnidirectional mowing disc; the all-terrain radar and the deviation correcting mechanical device are started along with the starting of the omnidirectional mowing disc on any side.

Whether two omnidirectional mowing discs are started or not is selected on the basis of starting the mowing discs at the bottom in the flat section according to the area size; the bottom mowing disc and the two omnidirectional mowing discs are started simultaneously in the high and low fluctuating section so as to adapt to different terrain changes and better work; when the omnidirectional mower meets an obstacle, the omnidirectional mowing disc close to the obstacle side is preferentially started, the angle of the omnidirectional mowing disc is adjusted through the scanning judgment of the all-terrain radar, and the surrounding operation is carried out by utilizing the modeling advantage of the U-shaped opening on the omnidirectional mowing disc base, so that the working blind area of the existing mower is swept.

The middle-bottom mowing disc and the two omnidirectional mowing discs of the utility model are jointly responsible for large-area operation in open and flat areas; meanwhile, the two omnidirectional mowing discs adapt to different terrains through the up-and-down rotation of the rotating shaft at the upper end of the connecting rod and the rotation of the movable hanging weight at the lower end of the connecting rod; when the omnidirectional mowing disc meets an obstacle, the all-terrain radar accurately acquires road condition information, detects position information of the obstacle in real time, sends analyzed and processed action information to the deviation correcting mechanism, controls the deviation correcting motor on the corresponding side to adjust the position of the omnidirectional mowing disc, enables a U-shaped opening on a base of the omnidirectional mowing disc to be more accurately adaptive to the position and the size of the obstacle so as to surround the obstacle, and completes cutting of weeds around the obstacle through matching of advancing of the mower and rotation of the omnidirectional mowing disc; when the mower moves to the omnidirectional mowing disc and surrounds the obstacle by 180 degrees, the mowing disc surrounding the obstacle by 360 degrees is completed for one time, the omnidirectional mowing disc is forced to rebound to the position before working by the ground spring, and meanwhile, the deviation correcting mechanism ensures that the mowing disc does not rebound excessively, so that the next normal working of the equipment is ensured.

The all-terrain radar is installed on a supporting rod in front of a mower body, when the front side meets an obstacle, two omnidirectional mowing discs are started, the all-terrain radar is started simultaneously, and at the moment, the all-terrain radar emits laser beams to scan the terrain in front of the mower and transmits real-time information to the control unit. The control unit comprises a plurality of relays, a battery control panel, a vehicle-mounted ECU and an image processing engine, controls the charging and discharging process of the mower, and realizes the matching of the laser radar and the deviation rectifying mechanism.

The power device comprises a battery box and a large-capacity storage battery, is green and environment-friendly, and realizes road condition scanning of the all-terrain radar; the power device drives a bottom cutting knife motor, the bottom cutting knife motor drives a bottom belt transmission mechanism to rotate, and a bottom mowing disc rotating blade is driven to rotate by the rotation of a belt connecting bottom shaft sleeve; the two omnidirectional cutting knife motors are driven to rotate, the omnidirectional belt transmission mechanism is driven to rotate, and the omnidirectional mowing disc rotating blade is driven to rotate through the rotation of the belt connecting lateral shaft sleeve; the motor of rectifying on both sides is driven, and the motor drive lead screw of rectifying drives the extension board of rectifying again, realizes the accurate work of omnidirectional rotation mowing dish. The high-capacity storage battery can be charged in a wired mode and can also be powered by a solar power supply system; the solar power supply system needs to be additionally provided with a car shed above the mower armchair for realizing power supply, so that rain can be sheltered, and meanwhile, the solar power generation device is arranged above the car shed and connected with the storage battery, so that the aim of photovoltaic power generation is fulfilled in response to the national call for energy conservation and emission reduction.

The utility model relates to an omnidirectional mower, wherein a vehicle body adopts a multi-wheel drivable mowing vehicle, a bottom mowing disc is arranged at the bottom of the vehicle body, and two omnidirectional mowing discs are symmetrically arranged at the left side and the right side of the front part of the vehicle body; arranging an all-terrain radar on one side of the bottom mowing disc; the omnidirectional mowing disc is connected with the vehicle body through a rotary connecting mechanism and is provided with an operating rod, a seat back, a high-capacity storage battery box below the seat back and a storage battery.

When the operation terrain is flat, an operator can start the bottom mowing disc by controlling a first button on the operating rod, and respectively start the two omnidirectional mowing discs by controlling a second button and a third button; at the moment, the all-terrain radar is started together with the omnidirectional mowing discs, and the three mowing discs are matched to finish the operation at the same time.

When the operation terrain changes, the height and the inclination angle of the omnidirectional mowing discs on two sides are adjusted by the upward and downward rotation of the rotating shaft at the upper end of the connecting rod and the horizontal rotation of the movable hanging weight at the lower end of the connecting rod; and the bottom mowing disc roller and the omnidirectional mowing disc roller are in auxiliary adaptation to terrain change, so that the mowing disc is more attached to the ground, and active adaptation to most terrains is realized.

When an obstacle is encountered, the all-terrain radar device started along with the omnidirectional mowing discs on the two sides scans the terrain condition of a section of range in front of the mower in real time, the control unit judges the terrain condition according to the scanning information of the all-terrain radar, sends action information to the deviation correcting mechanism close to one side of the obstacle, further controls the deviation correcting motor to rotate forward or reversely to drive the screw rod to rotate, converts the rotating speed and the torque into force and displacement to be output, drives one end of the deviation correcting support plate to move inwards or outwards, and enables the omnidirectional mowing discs to deflect leftwards or rightwards and adjust the positions, so that the U-shaped openings on the omnidirectional mowing discs accurately surround the obstacle to perform surrounding cutting.

The utility model discloses an influence of full topography radar mounted position to its scanning range will be placed in the left scanning area of full topography radar of lawn mower and suitably rotate right, and specific rotation angle should be adjusted according to the actual value of full topography radar scanning range and lawn mower automobile body width of selecting to realize that the maximize of lawn mower place ahead scanning range is equal; and a plurality of all-terrain radars can be additionally arranged to control the mower to move, so that the manpower is thoroughly liberated, and the aim of unmanned driving is fulfilled.

The utility model realizes the surrounding cutting of the mower, and finishes the cutting of weeds in 360 degrees around the obstacle by means of the cooperation of the inertia of the omnidirectional mowing disc, the movable hanging weight and the rotatable characteristic of the ground spring when the mower moves forwards; the omnidirectional mowing disc is matched with the traveling rotation of the mower; when the omnidirectional mowing disc surrounds the obstacle by 180 degrees, the omnidirectional mowing disc is cut by 360 degrees around the obstacle, the omnidirectional mowing disc is forced to quickly and automatically rebound to the position before working by the ground spring, the deviation correcting mechanism drives the deviation correcting support plate through the deviation correcting motor in the rebounding process, and the rebounding position of the mowing disc is adjusted in a matching manner, so that overlarge inertia and excessive rebounding are avoided, and the next normal working of the omnidirectional rotating mowing disc is ensured.

The movable hanging weight mainly has the advantages that the rotation of the vertical plane of the omnidirectional mowing disc is achieved, the rotation of the horizontal plane of the omnidirectional mowing disc is achieved through the main effect of the ground spring, the cross sections of the two devices are welded, the axes of the ground spring are connected through shafts, the combination of the two devices is achieved, and the omnidirectional rotation is achieved functionally.

The power device drives a bottom cutting knife motor, the bottom cutting knife motor drives a bottom belt transmission mechanism to rotate, and a bottom mowing disc rotating blade is driven to rotate by the rotation of a belt connecting bottom shaft sleeve; the two omnidirectional cutting knife motors are driven to rotate, the omnidirectional belt transmission mechanism is driven to rotate, and the omnidirectional mowing disc rotating blade is driven to rotate through the rotation of the belt connecting lateral shaft sleeve; the motor of rectifying on both sides is driven, and the motor drive lead screw of rectifying drives the extension board of rectifying again, realizes the accurate work of omnidirectional rotation mowing dish.

The system control unit comprises a series of relays, a battery control panel, a vehicle-mounted ECU (electronic control unit) and an image processing engine, the storage battery feeds back the state of the storage battery to the battery control panel in a normal running state, when the battery control panel determines safety, a start permission signal is sent to the vehicle-mounted ECU, a discharge loop of the storage battery adopts a relay coil to be electrified, and the relay is attracted; in the attached figure 8, a switch a controls a left side vehicle body driving motor, a switch b controls a right side vehicle body driving motor, a switch c controls a bottom cutter motor, a switch d controls a left side cutter motor, a switch e controls a right side cutter motor, after the switch is jointed, a vehicle-mounted ECU receives an opening signal, corresponding relay coils are respectively electrified according to the system state, a relay is attracted, a circuit is connected, a battery flows to the motor, and the corresponding motor starts to work. The vehicle-mounted ECU analyzes the image information of the all-terrain radar processed by the image processing engine, analyzes the position of the deviation correcting mechanism according to the processed information, converts the position information into a motor working signal and transmits the motor working signal to the deviation correcting motor, converts an optical signal into an electric signal, and controls the deviation correcting motor to realize forward and reverse rotation according to the obstacle.

When the storage battery reaches a low-power state or a dangerous situation occurs, the storage battery feeds back a signal to the battery control board, a storage battery discharge loop is disconnected, the system stops working, meanwhile, the control board sends a signal to the vehicle-mounted ECU, and a corresponding indicator lamp is turned on; in a charging state, the charging pile is connected with a vehicle charging interface, the charging control panel determines the state of the battery to judge whether the charging is allowed or not, the discharging main loop switch is normally opened after the charging is confirmed, the storage battery is not discharged, and the vehicle-mounted ECU receives a signal of the battery control panel and does not perform any operation; after the storage battery is fully charged, the battery control board automatically disconnects the charging loop to avoid overcharging and ensure the safety of the battery.

The starting time of the omnidirectional radar is preset to be 10s earlier than that of a bottom mowing disc or an omnidirectional mowing disc, an analog quantity output end of the all-terrain radar is connected with an A/D conversion unit, a power supply end is connected with a storage battery through a lead, a digital output port of the A/D conversion unit is connected with a digital input port of a vehicle-mounted ECU (electronic control unit), the digital output port of the vehicle-mounted ECU is connected with the digital input port of the D/A conversion unit, the digital output port of the D/A conversion unit is connected with an input port of a retainer, the output port of the retainer is connected with a servo motor, a direct current tachogenerator is connected with a rotating shaft of the servo motor through a linkage mechanism, and a voltage output; the method comprises the steps that continuous analog quantity of an external environment is detected through an all-terrain radar, the detected continuous analog quantity is converted into discrete digital signals which can be identified by a vehicle-mounted ECU through an A/D conversion unit, the discrete digital signals are processed by the vehicle-mounted ECU, a control instruction is sent out by the vehicle-mounted ECU, and the control instruction is converted into continuous analog quantity such as control voltage and current signals through the D/A conversion unit and a retainer, so that the starting, stopping and speed regulation of a servo motor are controlled; in the feedback link, the direct current tachogenerator converts the detected speed signal into a voltage signal through detecting the rotating speed of the servo motor, the voltage signal is an analog quantity, the analog quantity is converted into a discrete digital quantity through the A/D conversion unit at the moment, the difference is made with positive given input through negative feedback, the difference result is input into the ECU, the system stability can be improved through the negative feedback link, the phenomenon of runaway of the servo motor is prevented, and the control precision is improved.

In consideration of the actual requirements of an operator, three storage boxes are arranged in front of the seat, wherein the storage boxes on two sides are used for storing articles with small capacity, and the articles can be easily stored and taken in the process that the operator uses the mower; the middle storage box is used for storing objects with large capacity, can be used for placing some objects which are not commonly used but are indispensable, such as maintenance tools, replacement parts and the like, and improves the space utilization rate while not hindering an operator to use the mower.

The above contents are only for explaining the technical idea of the present invention, and the protection scope of the present invention cannot be limited thereby, and any modification made on the basis of the technical solution according to the technical idea of the present invention all fall within the protection scope of the claims of the present invention.

Claims

1. An omnidirectional mower is characterized by comprising a mower body (1), a bottom mowing disc (2), two omnidirectional mowing discs (3), a rotary connecting mechanism (4), a power device (7), a control unit (8) and an operating mechanism (9); the bottom mowing disc (2) is arranged at the bottom of the vehicle body (1), and the bottom mowing disc (2) is used for cutting off weeds on flat terrain; the two omnidirectional mowing discs (3) are symmetrically arranged on two sides of the vehicle body (1), the two omnidirectional mowing discs (3) are respectively connected with the vehicle body (1) through a rotary connecting mechanism (4), and the omnidirectional mowing discs (3) are used for cutting weeds around the flat terrain or nearby obstacles; the power device (7) is fixedly arranged at the rear end of the vehicle body (1), and the power device (7) is used for providing power for the vehicle body (1), the bottom mowing disc (2) and the omnidirectional mowing disc (3); the control unit (8) is connected with the power device (7) and is used for controlling the opening and closing of the mower; the operating mechanism (9) is arranged on the vehicle body (1), and the operating mechanism (9) is used for controlling the running direction of the vehicle body (1) and the opening and closing of the vehicle body (1), the bottom mowing disc (2) and the omnidirectional mowing disc (3).

2. An omnidirectional mower according to claim 1, further comprising an all-terrain radar (5) and a deviation rectification mechanism (6); the all-terrain radar (5) is arranged on one side of the front end of the vehicle body (1), the output end of the all-terrain radar (5) is connected with the input end of the control unit (8), the deviation correcting mechanism (6) is arranged between the bottom mowing disc (2) and the omnidirectional mowing disc (3), one end of the deviation correcting mechanism (6) is connected with the bottom mowing disc (2), and the other end of the deviation correcting mechanism is connected with the omnidirectional mowing disc (3);

the deviation correcting mechanism (6) comprises a deviation correcting motor (61), a screw rod (62), a deviation correcting support plate (63) and a deviation correcting connecting rod (64); the deviation correcting motor (61) is arranged at the upper part of the bottom mowing disc (2), and the input end of the deviation correcting motor (61) is connected with the output end of the control unit (8); the output end of the deviation rectifying motor (61) is connected with one end of a screw rod (62), and the other end of the screw rod (62) is connected with a deviation rectifying support plate (63); one end of a deviation correcting support plate (63) is sleeved on the screw rod (62) in a penetrating way, and the other end of the deviation correcting support plate is connected with the omnidirectional mowing disc (3) through a deviation correcting connecting rod (64).

3. An omnidirectional mower according to claim 2, wherein the control unit (8) comprises an onboard ECU (81), an a/D conversion unit (82), a D/a conversion unit (83) and a tachogenerator (84);

the output end of the all-terrain radar (5) is connected with the analog input end of an A/D conversion unit (82), the digital output end of the A/D conversion unit (82) is connected with the digital input end of a vehicle-mounted ECU (81), the first output end of the vehicle-mounted ECU (81) is connected with the digital input end of a D/A conversion unit (83), and the output end of the D/A conversion unit (83) is connected with a power system of the vehicle body (1); a second output end of the vehicle-mounted ECU (81) is connected with the power device (7); the tachogenerator (84) is connected with a mechanical shaft of a power system of the vehicle body (1) through a linkage mechanism, and a voltage output end of the tachogenerator (84) is connected with an analog input end of the A/D conversion unit (82).

4. An omnidirectional mower according to claim 1, wherein the bottom mowing disc (2) comprises a bottom mowing disc base (21), a bottom cutter motor (22), a bottom belt drive (23), a bottom mowing disc rotary blade (24) and a plurality of bottom mowing disc rollers (25);

the upper end of a bottom mowing disc base (21) is connected with the bottom of the vehicle body (1), a bottom cutter motor (22) is installed on the bottom mowing disc base (21), the power supply end of the bottom cutter motor (22) is connected with the output end of the power device (7), the output end of the bottom cutter motor (22) is connected with a bottom mowing disc rotating blade (24) through a bottom belt transmission mechanism (23), and the bottom mowing disc rotating blade (24) is rotatably installed on the bottom mowing disc base (21); a plurality of bottom mowing disc rollers (25) are uniformly mounted on the bottom mowing disc base (21).

5. The omni-directional mower according to claim 4, wherein the number of the bottom mowing disc rotating blades (24) is three, and the three bottom mowing disc rotating blades (24) are distributed on the bottom mowing disc base (21) in an isosceles triangle shape; one bottom mowing disc rotary blade (24) is arranged close to the front end of the vehicle body, and the other two bottom mowing disc rotary blades (24) are arranged close to the middle of the vehicle body.

6. An omnidirectional mower according to claim 1, wherein the omnidirectional mowing disc (3) comprises an omnidirectional mowing disc base (31), an omnidirectional cutter motor (32), an omnidirectional tape drive (33), an omnidirectional mowing disc rotating blade (34) and a plurality of omnidirectional mowing disc rollers (35);

the upper end of the omnidirectional mowing disc base (31) is connected with the lower end of the rotary connecting mechanism (4), the upper end of the rotary connecting mechanism (4) is rotatably connected with the vehicle body (1), and the front end of the omnidirectional mowing disc base (31) is provided with a U-shaped opening; the omnidirectional cutting knife motor (32) is installed on the omnidirectional mowing disc base (31), the power supply end of the omnidirectional cutting knife motor (32) is connected with the output end of the power device (7), the output end of the omnidirectional cutting knife motor (32) is connected with the omnidirectional mowing disc rotary blade (34) through the omnidirectional belt transmission mechanism (33), and the omnidirectional mowing disc rotary blade (34) is rotatably installed on the omnidirectional mowing disc base (31); a plurality of omnidirectional mowing disc rollers (35) are uniformly arranged on the omnidirectional mowing disc base (31).

7. The omnidirectional mower according to claim 6, wherein the number of the omnidirectional mowing disc rotating blades (34) is three, and the three omnidirectional mowing disc rotating blades (34) are distributed on the omnidirectional mowing disc base (31) in an isosceles triangle shape; wherein two omnidirectional mowing disc rotating blades (34) are arranged at two sides of the U-shaped opening, and the other omnidirectional mowing disc rotating blade (34) is arranged at the rear end of the U-shaped opening.

8. An omnidirectional mower according to claim 1, wherein the rotary connecting mechanism (4) comprises a connecting rod (41), a movable hanger (42) and a ground spring (43); the upper end of the connecting rod (41) is rotatably connected with the vehicle body (1) through a rotating shaft, the lower end of the connecting rod (41) is connected with one end of the movable hanging weight (42), the other end of the movable hanging weight (42) is connected with one end of a floor spring (43), and the other end of the floor spring (43) is connected with the omnidirectional mowing disc (3).

9. An omnidirectional mower according to claim 1, wherein the power unit (7) comprises a battery box and an accumulator; the battery box is fixedly arranged at the seat back of the vehicle body (1) or at the bottom of the seat, the storage battery is arranged in the battery box and used for providing power for the vehicle body (1), the bottom mowing disc (2) and the omnidirectional mowing disc (3); the storage battery is connected with a control unit (8).

10. An omnidirectional mower according to claim 9, further comprising a solar power supply system, wherein an output end of the solar power supply system is connected with the storage battery, and the solar power supply system is arranged on the top of the mower body (1).