CN212436379U

CN212436379U - Mower capable of automatically avoiding obstacles

Info

Publication number: CN212436379U
Application number: CN202021069108.3U
Authority: CN
Inventors: 王晓辉
Original assignee: Suzhou Ruidong Robot Co ltd
Current assignee: Suzhou Ruidong Robot Co ltd
Priority date: 2020-06-11
Filing date: 2020-06-11
Publication date: 2021-02-02
Anticipated expiration: 2030-06-11

Abstract

The utility model discloses a mower capable of automatically avoiding obstacles, wherein an obstacle detection device is arranged on a mower body; the obstacle detection device comprises a swinging part and an angle sensor; the swinging part is connected with the vehicle body and can swing back and forth along the advancing direction of the vehicle body; the angle sensor is connected with the swinging part and used for measuring the swinging angle of the swinging part; an elastic part for restoring the swinging part to the initial position from the swung position is connected between the swinging part and the vehicle body; a mowing device is arranged on the rear side of the vehicle body; the mowing device comprises a mowing assembly and a lifting device; the mowing assembly is connected with the lifting device; the lifting device is connected with the vehicle body and used for driving the mowing assembly to ascend or descend; the angle sensor and the lifting device are respectively electrically connected with the controller. The utility model discloses can the automated inspection barrier and cross the barrier, effectively improve the efficiency of mowing, and low in manufacturing cost uses reliable and stable.

Description

Mower capable of automatically avoiding obstacles

Technical Field

The utility model relates to a weeding equipment technical field especially relates to a lawn mower that can avoid the barrier automatically.

Background

Along with the process of urbanization, the greening area is larger and larger, the lawn area is also larger and larger, and the lawn mower (pushing by hand, self-walking and intelligent) is widely applied to lawn trimming and maintenance.

In the existing intelligent lawn mowers, the lawn mowers of the type are generally automatically driven according to a route preset by a program. If obstacles such as stones exist on the moving route of the mower, the mowing blade is blocked by the obstacles such as the stones, so that the mower is easy to stop in place and the actual mowing effect is poor. In addition, the blade is easily damaged when it hits a stone or other obstacle. Some intelligent lawn mowers exist in the prior art, obstacles in the traveling direction of the lawn mowers can be actively identified through various sensors, and the obstacles can be crossed through program setting. But has the defects of high equipment manufacturing cost, unstable use working condition and the like.

SUMMERY OF THE UTILITY MODEL

To the technical problem who exists above-mentioned, the utility model aims at: the mower capable of automatically avoiding the obstacle is provided, the obstacle can be automatically detected and can cross the obstacle, the mowing efficiency is effectively improved, the manufacturing cost is low, and the mower is stable and reliable to use.

The technical solution of the utility model is realized like this: a mower capable of automatically avoiding obstacles is provided, wherein an obstacle detection device is arranged on the front side of a mower body in the travelling direction of the mower body; the obstacle detection device includes a swing portion and an angle sensor; the swinging part is connected with the vehicle body and can swing back and forth along the advancing direction of the vehicle body; the angle sensor is connected with the swinging part and used for measuring the swinging angle of the swinging part; an elastic part used for enabling the swinging part to return to the initial position from the swung position is connected between the swinging part and the vehicle body; a mowing device is arranged on the rear side of the vehicle body in the advancing direction of the vehicle body; the mowing device comprises a mowing assembly and a lifting device; the mowing assembly is connected with the lifting device; the lifting device is connected with the vehicle body and used for driving the mowing assembly to ascend or descend; the angle sensor and the lifting device are respectively electrically connected with the controller.

Furthermore, the swinging part is of a plate body structure; the plate body structure is provided with a rotating shaft; and two ends of the rotating shaft are connected with the vehicle body through bearing seats.

Furthermore, the angle sensor is fixed on the vehicle body and connected with the rotating shaft.

Further, the elastic part is a spiral spring; one end of the spiral spring is connected with the vehicle body, and the other end of the spiral spring is connected with the plate body structure.

Furthermore, a first pull rope is arranged between the swinging part and the vehicle body

Further, the mowing assembly comprises a rotating motor, a cutter head and a blade; the cutter head is connected with a power output shaft of the rotating motor; the blades are arranged on the cutter head and are horizontally and rotatably connected with the cutter head; one end of the blade extends to the outside of the cutter head; and a return spring is connected between the blade and the cutter head.

Further, the lifting device comprises a driving motor and a swinging rod; the driving motor is fixed on the vehicle body; one end of the swinging rod is arranged on a power output shaft of the driving motor; the other end of the swinging rod is provided with a second pull rope; one end of the second pull rope, which is far away from the swinging rod, is connected with the rotating motor; the driving motor is electrically connected with the controller.

Further, the lifting device comprises a driving motor and a swinging rod; the driving motor is fixed on the vehicle body; one end of the swinging rod is arranged on a power output shaft of the driving motor; the other end of the swinging rod is provided with a pull rod; one end of the pull rod is rotatably connected with the swinging rod; one end of the pull rod, which is far away from the swinging rod, is rotationally connected with the rotating motor; the driving motor is electrically connected with the controller.

Furthermore, a guide mechanism is arranged between the vehicle body and the mowing assembly; the guide mechanism comprises a sleeve, a guide rod, a first spring, a pressing block, a limiting block and a second spring; the sleeve is vertically fixed on the vehicle body; the guide rod is arranged in the sleeve and is connected with the sleeve in a vertical sliding manner; the upper end and the lower end of the guide rod extend to the outside of the sleeve; the lower end of the guide rod is connected with a rotating motor; a first spring is arranged in the sleeve; the first spring is sleeved on the guide rod; a pressing block is arranged at an opening at the upper end of the sleeve; the lower end of the first spring is abutted against the bottom wall of the sleeve, and the upper end of the first spring is abutted against the pressing block; the limiting block is arranged at the top of the guide rod; and a second spring is arranged between the limiting block and the pressing block.

Further, a buffer material is arranged in the sleeve and surrounds the first spring.

Because of above-mentioned technical scheme's application, compared with the prior art, the utility model have the following advantage: the utility model discloses a cooperation of swing portion and angle sensor is used, can detect the existence of barrier on the route of marcing to it rises to drive the subassembly of mowing through elevating gear, so that the barrier can be crossed to the blade. The blade can not be blocked by the barrier, the mowing efficiency is effectively improved, the manufacturing cost is low, and the use is stable and reliable.

Drawings

The technical scheme of the utility model is further explained by combining the attached drawings as follows:

fig. 1 is a schematic front view structure diagram of a first embodiment of the present invention;

fig. 2 is a schematic right side view structure diagram of a first embodiment of the present invention;

FIG. 3 is an enlarged view taken at A in FIG. 2;

fig. 4 is a left side view structure diagram of the present invention;

fig. 5 is a schematic three-dimensional structure diagram of the cutter head and the cutter blades of the present invention;

wherein: 1. a vehicle body; 11. a bearing seat; 2. a swing portion; 21. a rotating shaft; 3. an angle sensor; 4. an elastic portion; 41. a first pull cord; 5. a rotating electric machine; 51. a cutter head; 52. a blade; 53. a return spring; 54. a motor tray; 55. a third pull cord; 6. a swing lever; 61. a second pull cord; 62. a drive motor; 7. a sleeve; 71. a guide bar; 72. a first spring; 73. a buffer material; 74. briquetting; 75. a limiting block; 76. a second spring; 8. and a controller.

Detailed Description

The following detailed description of the preferred embodiments of the present invention will be provided in conjunction with the accompanying drawings, so as to enable those skilled in the art to more easily understand the advantages and features of the present invention, and thereby define the scope of the invention more clearly and clearly.

Fig. 1-5 show a lawn mower capable of automatically avoiding obstacles according to the present invention, which includes a vehicle body 1 and a controller 8. The vehicle body 1 is formed by welding structural members, wheels are installed on the vehicle body 1, and a control mechanism for controlling the wheels to turn and advance is further installed on the vehicle body 1. The controller 8 is mounted on the vehicle body 1. An obstacle detection device is mounted on the vehicle body 1 at the front side in the traveling direction of the vehicle body 1. The obstacle detection device includes a swinging portion 2 and an angle sensor 3. The swing portion 2 is attached to the bottom of the vehicle body 1, connected to the vehicle body 1, and capable of swinging back and forth in the traveling direction of the vehicle body 1. Specifically, the swing portion 2 is preferably a plate structure having a high structural strength, and has a width substantially equal to the width of the space below the bottom of the vehicle body 1. The upper end of the plate body structure is provided with a rotating shaft 21. The rotating shaft 21 is fixedly connected with the plate body structure. The central axis of the rotating shaft 21 is perpendicular to the advancing direction of the vehicle body 1, and two ends of the rotating shaft 21 are connected with the vehicle body 1 through the bearing seat 11, so that the plate body structure can swing back and forth along the advancing direction of the vehicle body 1.

The angle sensor 3 is connected to the swing portion 2 and is configured to measure a swing angle of the swing portion 2 in real time. The specific installation mode is that the angle sensor 3 is fixed on the vehicle body 1 and is connected with the rotating shaft 21. The angle sensor 3 detects the rotation angle of the rotation shaft 21 to obtain the swing angle of the swing portion 2.

The swing portion 2 has a start position and a position after the swing at the time of the swing. An elastic portion 4 for returning the swinging portion 2 from the swung position to the initial position is connected between the swinging portion 2 and the vehicle body 3. The elastic portion 4 provides an elastic force so that the swing portion 2 returns to the initial position by the elastic force after swinging a certain angle. The resilient portion 4 is preferably a coil spring having one end connected to the body 1 and the other end connected to the plate structure. The length and the elasticity of coil spring can be selected according to actual installation needs to realize that the plate body structure after the certain angle of swing, better recovery is to the initial position. Further, by the pulling of the coil spring, the plate structure can be arranged obliquely toward the rear side in the traveling direction of the vehicle body 1 (as shown in fig. 1) at the initial position. In the starting position, the lower end of the pendulum 2 is at a distance from the ground.

A first rope 41 is connected between the swing portion 2 and the vehicle body 1. By pulling the first cord 41, the plate structure can be arranged obliquely toward the rear side in the traveling direction of the vehicle body 1 (as shown in fig. 1) at the initial position. Further, the swing of the swing portion 2 to the front side in the traveling direction of the vehicle body 1 can be restricted by pulling the first cord 41. The swing portion 2 can only swing back and forth between the home position and the rear side of the vehicle body 1 in the traveling direction, and the swing portion 2 can be quickly returned to the home position.

A mowing device is mounted on the vehicle body 1 at the rear side in the traveling direction of the vehicle body 1. The mowing device comprises a mowing assembly and a lifting device. The mowing assembly is used to cut weeds while the vehicle body 1 is traveling. The mowing assembly is connected with a lifting device, and the lifting device is connected with the vehicle body 1 and used for driving the mowing assembly to ascend or descend. The angle sensor 3 and the lifting device are respectively connected with the controller electric property 8. The controller 8 is used for receiving the signals collected by the angle sensor 3 and controlling the lifting device to move so as to drive the mowing assembly to ascend or descend.

Through the structural design, in the advancing process of the vehicle body 1, the swinging part 2 firstly contacts with an obstacle, the obstacle forces the swinging part 2 to swing towards one side, the swinging angle signal of the swinging arm 2 is collected by the angle sensor 3, and when the swinging angle of the swinging part 2 is larger than a set threshold value, the controller 8 outputs a signal to control the lifting device to execute the action, and the lifting device drives the mowing assembly to ascend. When the swing part 2 returns to the initial position, the swing angle of the swing part 2 is smaller than the set threshold, the controller 8 outputs a signal to control the lifting device to execute the action, and the lifting device drives the mowing assembly to descend.

As shown in fig. 5, the mowing assembly includes a rotary motor 5, a cutter head 51, and a cutter blade 52. The cutter disc 51 is circular, quasi-circular and the like. The rotary motor 5 is mounted on a motor tray 54. The center position of the cutter head 51 is fixedly connected with the power output shaft of the rotating motor 5. Sets of blades 52 are mounted on the cutter head 51. The blade 52 is machined with a cutting edge on one or both sides. The blade 52 is horizontally and rotatably connected with the cutter disc 51. Specifically, a through hole is formed in the cutter blade 52, and a pin is fixedly attached to the cutter head 51. The blade 52 is mounted on the pin through the through-hole so that the blade 52 can rotate about the pin. One end of the vane 52 extends outside the cutter disc 51. A return spring 53 is connected between the cutter blade 52 and the cutter disc 51. One end of the return spring 53 is rotatably connected to the cutter 52 by a pin, and the other end is rotatably connected to the cutter disc 51 by a pin. Through the above structural design, the rotating motor 5 is started, and then the cutter disc 51 can be driven to rotate on the horizontal plane, and the cutter disc 51 drives the blade 52 to rotate, so as to perform mowing operation. When the blade 52 collides with hard objects such as stones, the blade 52 can deflect a certain angle under the action of the elastic force provided by the return spring 53, so that the blade 52 can be prevented from rigidly colliding with the hard objects such as stones, the blade 52 is prevented from being damaged, and the blade is effectively protected.

The above-described lifting device includes the swing lever 6 and the drive motor 62. The driving motor 62 is mounted on the vehicle body 1, and one end of the swing lever 6 is fixed to the driving motor 62, so that the swing lever 6 can swing up and down by the forward and reverse rotation of the driving motor 62 within a certain angle range. The other end of the swing lever 6 is mounted with a second rope 61, and one end of the second rope 61 remote from the swing lever 6 is connected to the motor tray 54 of the rotating electric machine 5. The second rope 61 is preferably a wire rope. The driving motor 62 is electrically connected to the controller. Through the above structural design, the driving motor 62 drives one end of the swing rod 61 to swing up and down, and the rotating motor 5 and the blade 51 can be driven to integrally move up and down by the pulling of the second pull rope 61. A third rope 55 is connected between the rotating electric machine 5 and the vehicle body 1, and the third rope 55 is preferably a wire rope. When the rotating electrical machine 5 moves downward, the maximum distance that the rotating electrical machine 5 moves downward can be limited by the pulling of the third rope 55.

The second cord 61 described above may be replaced with a pull rod. The pull rod is of a rod-shaped structure. One end of the pull rod is rotatably connected with the swinging rod 6 through a pin shaft. One end of the pull rod, which is far away from the swing rod 6, is rotatably connected with the rotating motor 5 or the motor tray 54 through a pin shaft. The driving motor 62 drives one end of the swing rod 61 to swing up and down, and further drives the rotating motor 5 and the blade 51 to integrally move up and down through the linkage action of the pull rod.

The subassembly is whole comparatively stable reciprocating for realizing mowing. A guide mechanism is arranged on the vehicle body 1, one end of the guide mechanism is connected with the vehicle body 1, and the other end of the guide mechanism is connected with the mowing assembly. The guide mechanism is provided with at least two groups. The guide mechanism comprises a sleeve 7, a guide rod 71, a first spring 72, a pressing block 74, a limiting block 75 and a second spring 76. The sleeve 7 is a hollow structure with an opening at its upper end. All parts mounted inside the sleeve 7 enter the sleeve 7 through the opening. The sleeve 7 is vertically fixed on the vehicle body 1 by welding or bolting. The guide rod 71 is installed in the sleeve 7 and is connected with the sleeve 7 in a vertical sliding manner. The upper and lower ends of the guide rod 71 extend to the outside of the sleeve 7. The lower end of the guide bar 71 is connected to the motor tray 54 of the rotary motor 5. A first spring 72 is mounted in the sleeve 7. The first spring 72 is fitted over the guide rod 71. A pressing block 74 is arranged at the opening of the upper end of the sleeve 7. The pressing block 74 is used for covering the upper end opening of the sleeve 7, and a through hole for the guide rod 71 to pass through is processed on the pressing block 74. The pressing piece 74 is fixedly connected with the sleeve 7 in a detachable manner. The lower end of the first spring 72 abuts against the bottom wall of the sleeve 7, and the upper end of the first spring 72 abuts against the pressing piece 74, thereby fixing the first spring 72 in the sleeve 7. The stopper 75 is mounted on top of the guide bar 71. A second spring 76 is installed between the stopper 75 and the pressing piece 74. The second spring 76 is fitted around the outside of the guide rod 71. A buffer material 73 is mounted in the sleeve 7 around the second spring 76, the buffer material 73 is preferably made of a silicone material, and the buffer material 73 can be made into a hollow tubular structure. Through the above structural design, the guide rod 71 and the sleeve 7 are matched to slide, so that the rotating motor 5 is more stable when moving up and down. During normal mowing operation, the second spring 76 can play a role in damping and buffering, and can reduce vibration caused by the rotating electric machine 5 during mowing. The first spring 72 and the cushioning material 73 cooperate with each other to provide a certain guiding function to the guide rod 71.

When the guide mechanism is specifically installed, the guide rod 71 is inserted into the sleeve 7 from the upper end opening of the sleeve 7, the cushioning material 73 is inserted into the sleeve 7, the first spring 72 is inserted into the cushioning material 73, and then the pressing piece 74 is covered on the upper end opening of the sleeve 7. Next, the second spring 76 is fitted into the guide rod 71, and finally the stopper 75 is fitted to the guide rod 71.

When the vehicle body 1 is used specifically, when an obstacle such as a stone exists on a traveling path of the vehicle body 1, the swinging part 2 first contacts the obstacle, the obstacle forces the swinging part 2 to swing towards one side, a swinging angle signal of the swinging arm 2 is collected by the angle sensor 3, and the controller 8 collects the signal collected by the angle sensor 3 and performs analysis processing. When the swing angle of the swing part 2 is larger than the set threshold value, the controller 8 outputs a signal to control the lifting device to execute the action, and the lifting device drives the mowing assembly to ascend. As the vehicle body 1 continues to move, the swing portion 2 swings through a larger angle and can pass over an obstacle while the mowing assembly passes over the obstacle. After the obstacle is avoided, the swing portion 2 is restored to the original position by the elastic force of the elastic portion 4. At this time, the swing angle of the swing portion 2 is smaller than the set threshold value. The controller 8 outputs a signal again to control the lifting device to execute the action, the lifting device drives the mowing assembly to descend, and the mowing assembly can continue mowing.

The present embodiment can detect the existence of an obstacle on the traveling route by the cooperation of the swing portion 2 and the angle sensor 3, and drive the mowing assembly to ascend through the lifting device, so that the blade 51 can pass over the obstacle. The blade 51 can not be blocked by the barrier, the mowing efficiency is effectively improved, the manufacturing cost is low, and the use is stable and reliable. The blade 51 can deflect a certain angle when colliding with a hard object, and the blade 51 can be effectively protected.

The above only is the embodiment of the present invention, not limiting the patent scope of the present invention, all utilize the equivalent structure or equivalent flow transformation that the content of the specification does, or directly or indirectly use in other related technical fields, all including in the same way the patent protection scope of the present invention.

Claims

1. A mower capable of automatically avoiding obstacles comprises a mower body and a controller; the method is characterized in that: an obstacle detection device is arranged on the front side of the vehicle body in the advancing direction of the vehicle body; the obstacle detection device includes a swing portion and an angle sensor; the swinging part is connected with the vehicle body and can swing back and forth along the advancing direction of the vehicle body; the angle sensor is connected with the swinging part and used for measuring the swinging angle of the swinging part; an elastic part used for enabling the swinging part to return to the initial position from the swung position is connected between the swinging part and the vehicle body; a mowing device is arranged on the rear side of the vehicle body in the advancing direction of the vehicle body; the mowing device comprises a mowing assembly and a lifting device; the mowing assembly is connected with the lifting device; the lifting device is connected with the vehicle body and used for driving the mowing assembly to ascend or descend; the angle sensor and the lifting device are respectively electrically connected with the controller.

2. A lawnmower capable of automatically avoiding obstacles according to claim 1, wherein: the swinging part is of a plate body structure; the plate body structure is provided with a rotating shaft; and two ends of the rotating shaft are connected with the vehicle body through bearing seats.

3. A lawnmower capable of automatically avoiding obstacles according to claim 2, wherein: the angle sensor is fixed on the vehicle body and connected with the rotating shaft.

4. A lawnmower capable of automatically avoiding obstacles according to claim 1, wherein: the elastic part is a spiral spring; one end of the spiral spring is connected with the vehicle body, and the other end of the spiral spring is connected with the plate body structure.

5. A lawnmower capable of automatically avoiding obstacles according to claim 1, wherein: a first pull rope is arranged between the swinging part and the vehicle body.

6. A lawnmower capable of automatically avoiding obstacles according to claim 1, wherein: the mowing assembly comprises a rotating motor, a cutter head and a blade; the cutter head is connected with a power output shaft of the rotating motor; the blades are arranged on the cutter head and are horizontally and rotatably connected with the cutter head; one end of the blade extends to the outside of the cutter head; and a return spring is connected between the blade and the cutter head.

7. A lawnmower capable of automatically avoiding obstacles according to claim 1, wherein: the lifting device comprises a driving motor and a swinging rod; the driving motor is fixed on the vehicle body; one end of the swinging rod is arranged on a power output shaft of the driving motor; the other end of the swinging rod is provided with a second pull rope; one end of the second pull rope, which is far away from the swinging rod, is connected with the rotating motor; the driving motor is electrically connected with the controller.

8. A lawnmower capable of automatically avoiding obstacles according to claim 1, wherein: the lifting device comprises a driving motor and a swinging rod; the driving motor is fixed on the vehicle body; one end of the swinging rod is arranged on a power output shaft of the driving motor; the other end of the swinging rod is provided with a pull rod; one end of the pull rod is rotatably connected with the swinging rod; one end of the pull rod, which is far away from the swinging rod, is rotationally connected with the rotating motor; the driving motor is electrically connected with the controller.

9. A lawnmower capable of automatically avoiding obstacles according to claim 1, wherein: a guide mechanism is arranged between the vehicle body and the mowing assembly; the guide mechanism comprises a sleeve, a guide rod, a first spring, a pressing block, a limiting block and a second spring; the sleeve is vertically fixed on the vehicle body; the guide rod is arranged in the sleeve and is connected with the sleeve in a vertical sliding manner; the upper end and the lower end of the guide rod extend to the outside of the sleeve; the lower end of the guide rod is connected with a rotating motor; a first spring is arranged in the sleeve; the first spring is sleeved on the guide rod; a pressing block is arranged at an opening at the upper end of the sleeve; the lower end of the first spring is abutted against the bottom wall of the sleeve, and the upper end of the first spring is abutted against the pressing block; the limiting block is arranged at the top of the guide rod; and a second spring is arranged between the limiting block and the pressing block.

10. A lawnmower capable of automatically avoiding obstacles according to claim 9, wherein: a cushioning material is disposed in the sleeve around the first spring.