CN219087825U - Mowing robot with independent suspension mechanism - Google Patents

Abstract

The utility model relates to a mowing robot with an independent suspension mechanism; the mowing robot is mainly used for trimming lawns in various complex environments; the cradle head is provided with a lifting mechanism, so that the height of the camera can be adjusted, and the camera can be ensured to provide accurate images; the main control box realizes robot path planning and power supply; the lifting mowing device can control the height and the rotation speed of the blade; the four-wheel independent suspension damping mechanism has strong ground adaptability, can effectively damp, ensures that the vehicle body is kept stable, and is favorable for camera identification and stable operation during working.

Description

Mowing robot with independent suspension mechanism

Technical Field

The utility model relates to the field of robots, in particular to a mowing robot with an independent suspension mechanism.

Background

The intelligent mower belongs to an outdoor robot, and the outdoor robot generally has the functions of path planning, attitude control, information sensing, autonomous charging and the like and consists of a sensing module, a control module and a power module; the sensing module mainly uses a sensor to obtain external environment information; the control module is responsible for controlling the behavior of the mower by processing the information collected by the sensing module; the power module is used for mowing; however, the existing manually operated mower has the following problems:

(1) The manually operated mower needs manual operation, consumes a great deal of manpower and energy, and has low efficiency;

(2) The noise generated by the manual operation type mower during the working period is relatively large, so that great noise pollution is brought, and the manual operation type mower is not friendly to the environment;

(3) Lacking safety assurance, traditional mowers may scratch workers during operation, causing unnecessary injury.

Disclosure of Invention

In order to solve the technical problems, the utility model adopts the following scheme: a mowing robot with an independent suspension mechanism comprises a body, a suspension device, a moving device, a lifting mowing device, a cradle head device and a main control box; the robot body is an installation main body of the whole robot and consists of an upper layer and a lower layer, a main control box is arranged in the robot body, and a GPS receiver, an alarm, a Bluetooth module, a lithium battery and a main control board are arranged in the main control box, so that the functions of path planning, positioning, alarming, bluetooth control, power supply and the like can be realized; the lifting mowing device mainly comprises a mowing motor, a coupler, a transmission shaft and a blade; the transmission shaft is provided with a step, the lower end of the transmission shaft is provided with threads, the threads are fixed through nuts, and the transmission shaft is also provided with grooves which are matched with the blade teeth so as to complete the transmission of torque and complete the rotation movement; the transmission shaft is mainly connected with the coupler to complete rotation transmission; the lower part is provided with threads to fix the cutter, and the grooves of the threads are matched with teeth of the cutter so as to complete torque transmission; the lifting mowing device is a main working mechanism of the mowing robot, and the main working principle is that a cutter head is directly driven by a motor to rotate at a high speed, and weeds are cut by utilizing the cutting edge of the cutter head, so that the mowing purpose is achieved; the lifting mechanism consists of a lifting motor, a coupler, a screw rod, a section bar and a motor connecting plate, and the basic working principle is that the lifting motor drives the screw rod to rotate through the coupler so that a screw rod sliding block moves up and down to drive the motor connecting plate to move up and down, and thus the cutter head is lifted.

The device is characterized in that a holder device is arranged above the machine body, a depth camera and a sensor box are arranged on the holder device, an ultrasonic sensor is arranged in the sensor box, the holder is connected with the bottom through a compressible lifting rod, a holder rotating device is arranged at the bottom of a holder connecting rod, a direct-current servo motor is arranged inside the holder, the direct-current servo motor supplies power to the depth camera and the sensor box, the holder device is fixed with the machine body through the holder connecting rod and the holder rotating device, and the holder can be rotated as required, so that the depth camera and the ultrasonic sensor can mow the peripheral ring information of the robot.

A suspension device and a moving device are arranged below the machine body; the four-wheel independent suspension damping mechanism consists of a triangular connecting frame, a delta-shaped connecting frame, a damper base, a damper spring, a bidirectional spring telescopic rod damper, a long U-shaped support, a U-shaped connecting frame fixing shaft centering hole, a damper connecting shaft and a rotating shaft; the four-wheel independent suspension damping mechanism is connected with the mobile device through a triangular connecting frame and connected with the machine body through a U-shaped support; the moving device comprises four motors and four wheels which are arranged on two sides of the machine body, the motors are fixed on the hanging mechanism through triangular connecting frames and distributed on two sides of the machine body, and the wheels are connected with output shafts of the motors.

According to the technical scheme, the mowing robot is provided with the suspension device, has strong ground adaptability, can effectively absorb shock, has strong stability, and is beneficial to work of the mowing robot; the mowing robot completes positioning through a GPS so as to carry out path planning; bluetooth remote control can be performed through the Bluetooth module; observing the surrounding environment through a depth camera; obstacle avoidance is performed through an ultrasonic sensor; the height of the cutter is adjusted by lifting the mowing device so that lawns with different heights can be trimmed; when the mowing robot is damaged, an alarm signal is sent out through an alarm device; the mowing robot with the independent suspension mechanism enables mowing to be more stable, replaces manual work to finish lawn trimming, achieves intelligentization and automation of lawn trimming, and accordingly liberates agricultural labor force and reduces cost.

Drawings

Fig. 1 is a positive three-axis view of the present utility model.

Fig. 2 is a left side view of the present utility model.

Fig. 3 is a front view of the present utility model.

Fig. 4 is a positive three-axis view of the suspension of the present utility model.

Fig. 5 is a front three-axis view of the elevation mower of the present utility model.

Fig. 6 is a front three-axis view of the master control box of the present utility model.

In the figure: 1. the vehicle comprises wheels, a motor, a 3-four-wheel independent suspension mechanism, a 4.U-type support, a 5-long hole shaft, a 6-short hole shaft, a 7-telescopic tripod head connecting rod, a 8-tripod head rotating device, a 9-connecting device, a 10-tripod head, a 11-sensor box, a 12-depth camera, a 13-fuselage top layer, a 14-master control box, a 15-fuselage bottom layer, a 16-two-way spring telescopic rod shock absorber, a 17-diagonal rod, a 18-triangle connecting frame, a 19-delta connecting frame, a 20-shock absorber main body, a 21-U-type connecting frame, a 22-shock absorber spring, a 23-long U-type support, a 24-U-type connecting frame fixing shaft, a 25-U-type connecting frame fixing shaft centering hole, a 26-lifting motor, a 27-coupling, a 28-lead screw slider, a 29-lead screw, a 30-motor connecting plate, a 31-transmission shaft, a 32-cutter, a 33-alarm, a 34-Bluetooth module, a 35-master control plate, a 36-GPS receiver and a 37-lithium battery.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the utility model.

Examples: as shown in fig. 2 and 3, the left view and the front view of the mowing robot are that the machine body is an installation main body of the whole robot, and the mowing robot consists of a machine body top layer 13, a main control box 14 and a machine body bottom layer 15, wherein the machine body top layer 13 and the machine body bottom layer 15 are connected through a connecting device 9, so that the mowing robot is convenient to disassemble and maintain, the main control box 14 is fixed on the machine body bottom layer 15 through welding, and the welding is firm to play a role of protecting a core control device. The whole cradle head device above the cradle body consists of a cradle head 10, a sensor box 11, a depth camera 15, a cradle head lifting rod 10 and a cradle head rotating device 8, wherein the sensor box 11 and the depth camera 12 are fixed in the cradle head 10, the cradle head 10 is not only attached to the sensor box 11 and the depth camera 12 and can be stably fixed in size, but also can prevent foreign object collision and wind and rain, the effective protection and fixation effect can be achieved, the cradle head 10 is connected with the cradle head rotating device 8 through a telescopic cradle head connecting rod 7, the telescopic cradle head connecting rod 7 is matched with the cradle head 10 and the cradle head rotating device 8 through threaded hole shafts, the cradle head 10 is limited to move up and down and horizontally rotate, the shooting and sensing precision is improved, and the cradle head rotating device 8 is fixed on the top layer 13 of the cradle body.

As shown in fig. 1 and 3, in the suspension device below the machine body, a four-wheel independent suspension mechanism 3 is connected with a U-shaped groove in a bottom layer 15 of the machine body through a front U-shaped support 4 and a rear U-shaped support 4, the four-wheel independent suspension mechanism is fixed through a front short-hole shaft 6 and a rear short-hole shaft 6, threaded holes at two ends of the short-hole shaft 6 are connected through bolts, three degrees of freedom of x, y and z of relative movement of the bottom layer 15 of the machine body and the U-shaped support 4 are limited to rotate in two directions of x z, the last degree of freedom of y rotation is limited by two long U-shaped supports 23 and the U-shaped support 4 on the same plane, wherein the two long U-shaped supports 23 and the U-shaped support 4 are fixed on a U-shaped connecting frame 21 through a U-shaped connecting frame fixing shaft 24, the firm fixing between the whole four-wheel suspension mechanism 3 and the bottom layer 15 of the machine body is completed, and the whole stability and reliability are established; wheels 1 and motors 2 in the moving device below the machine body are arranged on two sides of the machine body, wherein the wheels 1 are connected with output shafts of the motors 2 to transmit torque, and the motors 2 are fixed with triangular connecting frames 18 in the four-wheel independent suspension mechanism 3 through bolt connection, so that the moving device is firmly connected with the suspension device.

The specific structure of the suspension device is shown in fig. 4, in terms of structure, one end of an inclined rod 17 is fixedly connected to a triangular connecting frame 18 through two groups of bolts, so that the end of the inclined rod 17 is firmly fixed and can not rotate, the other end of the inclined rod 17 is fixedly connected to a U-shaped connecting frame 21 through a short hole shaft 6, rotation can be realized, the triangular connecting frame 18 is connected with a delta-shaped connecting frame 19 through bolts, the delta-shaped connecting frame 19 is fixedly connected with a shock absorber main body 20 through the short hole shaft 6, a shock absorber spring 22 is fixedly arranged in the shock absorber main body 20, the shock absorber main body 20 is concentrically fixed on a long U-shaped support 23 through the short hole shaft 6, the U-shaped connecting frame 21 is firmly limited through a U-shaped connecting frame fixing shaft 24, and a function of checking whether a machine body and suspension deviate or not is realized by the U-shaped connecting frame fixing shaft centering hole 25, and a bidirectional spring telescopic rod shock absorber 16 is fixedly arranged on the inclined rod 17 through the short hole shaft 6; in terms of functions, when the wheel 1 encounters an uneven road surface or an obstacle, the load such as vibration and jolt is transmitted to the four-wheel independent suspension mechanism 3, the shock absorber spring 22 is elastically deformed, one end of the inclined rod 17 fixed on the U-shaped connecting frame 21 through the short hole shaft 6 is rotated, meanwhile, the bidirectional spring telescopic rod shock absorber 16 fixed on the inclined rod 17 through the short hole shaft 8 is also elastically deformed and then contracted or stretched, the four-wheel independent suspension mechanism 3 is acted when the wheel 1 encounters an uneven road surface or an obstacle and is subjected to vibration and jolt, the influence of the vibration and jolt on a machine body can be reduced or eliminated to a great extent, and compared with a rigid machine body without an independent suspension system, the four-wheel independent suspension mechanism 3 greatly improves the ground adaptability of the robot, can effectively damp and enables the machine body to be kept stable.

The lifting mowing device is shown in fig. 5, and consists of a lifting motor 26, a coupling 27, a screw rod sliding block 28, a screw rod 29 and a motor connecting plate 30, wherein the lifting motor 29 drives the screw rod 29 to rotate through the coupling 27 so as to enable the screw rod sliding block 28 to move up and down and drive the motor connecting plate 30 to move up and down, and therefore lifting of a cutter 32 is completed; the transmission shaft 31 is provided with a step, the lower end of the step is provided with threads, the step is fixed by nuts, the transmission shaft is also provided with grooves which are matched with the cutters 32, thereby completing the transmission of torque, the transmission shaft is enabled to complete the rotation, and the lifting mowing device is fixed on the frame by bolts.

The specific structure of the main control box 14 is shown in fig. 6, and the main control box 14 is fixedly arranged on the bottom layer 15 of the machine body; the alarm 33 is fixedly arranged in the main control box 15, and signals the control room when the electric quantity of the robot is insufficient or the robot fails; the Bluetooth module 34 is connected to the main control board 35 and can carry out Bluetooth remote control; the main control board 35 is fixed on the main control box 14 for overall control of the vehicle body; the GPS receiver 36 is fixed in the main control box 14 to provide accurate positioning information for the robot, and a mowing track of the robot can be planned before use, so that the robot mows according to the accurate track; the lithium battery 37 is fixedly arranged on the lower box body 12, and the lithium battery 37 provides energy for the mowing robot.

The above implementation is only for illustrating the technical idea of the present utility model, and the protection scope of the present patent is not limited by this, and any modification made on the basis of the technical scheme according to the technical idea proposed by the present patent falls within the protection scope of the present patent.

Claims (5)

1. The utility model provides a robot mowing with independent suspension mechanism, includes fuselage, mobile device, linkage, lift grass cutting device, cloud platform device, master control case, its characterized in that: a suspension device and a moving device are arranged below the machine body, and the suspension device is connected with the moving device; a lifting mowing device and a main control box are arranged in the middle of the machine body; a cradle head device is arranged above the machine body.

2. A robot lawnmower with independent suspension according to claim 1, wherein: the lifting mowing device is connected in the internal frame, the blade is connected below the lifting table, and the lifting mechanism is connected on the frame in the machine body; the transmission shaft is mainly connected with the coupler to complete rotation transmission; the lower part is provided with threads to fix the cutter, and the grooves of the lower part are matched with the teeth of the cutter so as to complete the transmission of torque.

3. A robot lawnmower with independent suspension according to claim 1, wherein: the four-wheel independent suspension damping mechanism is connected with the moving device through the triangular connecting frame, and is connected with the machine body through the U-shaped support.

4. A robot lawnmower with independent suspension according to claim 1, wherein: the robot comprises a robot body, and is characterized in that a cradle head device is arranged above the robot body, lifting rotation and the fixation of the robot body are realized through a cradle head connecting rod and a cradle head rotating base, a depth camera and a sensor box are arranged in the cradle head, an ultrasonic sensor is arranged in the sensor box, the cradle head rotating device is arranged at the bottom of the cradle head connecting rod, the cradle head can be rotated according to requirements, so that the depth camera and the ultrasonic sensor can acquire the circumferential information of the robot, a direct-current servo motor is arranged inside the cradle head, and the direct-current servo motor supplies power for the depth camera and the sensor box.

5. A robot lawnmower with independent suspension according to claim 1, wherein: the main control box is internally provided with a GPS receiver, an alarm, a Bluetooth module, a lithium battery and a main control board.

Images