Lawnmower equipment

Description

Lawnmower equipment DESCRIPTION The present invention relates to a lawn mowing equipment applicable to a self-propelled vehicle. 5 It is known that the proliferation of fungal, bacterial and parasitic species in genus is also directly related to the presence of weeds. Controlling the above mentioned parasites requires maintaining conditions controlled in the inter-row lanes. This control is exercised either with chemical herbicides and pesticides (some of which are highly toxic and 10 harmful to the environment anyway) or preferably with a frequent cutting of the grass along the lanes between the rows. In this second type of control action, which is purely mechanical, It is important to minimize the work path of the machinery used. This makes it necessary to pass through each lane only once, working the 15 center of the lane and at the same time both rows of it flank the two sides. Recently, vehicles have appeared on the market self-driving vehicles (so-called rovers) capable of carrying out agricultural work without any operator physically on board them. These vehicles are particularly appreciated for carrying out those highly specialized processes 20 repetitive operations such as, for example, inter-row work in vineyards, orchards and similar row crops. Among the great advantages of such equipment are It is the fact of being able to work continuously and even during night hours. It is important, however, that the equipment mounted on these rovers allow a high degree of safety both for people and 25 animals both towards the treated crops. It is imperative that means of immediate stopping and / or regulation must be provided functionality of the equipment and the rover on which they are installed. The technical problem underlying this invention is that of to build a lawnmower equipment structurally and functionally 5 designed to optimize grass cutting in the inter-row lanes of crops agricultural and forestry. In this context, an important goal is of the invention to design such equipment capable of a complete cut in a single pass in the inter-row lanes. Another important purpose of the invention is to create an equipment suitable for 10 equipping self-driving vehicles. One purpose of this invention is also to provide a lawn mower equipment that allows for adequate movement capacity of cutting equipment in a compact solution. This problem is solved and these goals are achieved, at least in part, 15 from the invention in a first aspect by means of a lawn mower equipment applicable to a self-propelled vehicle. Preferably the lawn mower equipment comprises a main frame and means of connection to said self-propelled vehicle for movement of the equipment along a direction of travel. 20 Preferably the lawnmower equipment includes cutting means and at least one cutting assembly configured to support said cutting means in a working position. Preferably called at least one cutting group It is mounted on the main frame in a translatable manner along one direction of translation transverse to the direction of travel. 25 Preferably the lawn mowing equipment includes means of movement of said at least one cutting group along the direction of translation. It is preferred that the means of movement include a linear actuator. It is further preferred that the means of movement include a 5 linear actuator stroke multiplier interposed between the actuator linear and the corresponding cutting group. Advantageously the stroke multiplier allows for greater stroke in relation to the overall dimensions of the handling system and at the same time it can also increase the speed of movement 10 of the cutting group. This results in a movement mechanism simple and compact that optimizes grass cutting in the inter-row lanes. Furthermore, thanks to the presence of the stroke multiplier, the linear actuator may have a smaller longitudinal extension and therefore a smaller exposure to dust raised from the ground during construction operations 15 mowing. Thanks to its compactness, the lawnmower equipment is particularly suitable for equipping self-driving vehicles. To this end In this regard, it is specified that, in a second aspect, the present invention is refers to a self-propelled, autonomous vehicle to which it is applied 20 lawn mower equipment. More specifically, lawn mower equipment can be applied to lifting means of the self-propelled guided vehicle autonomous. The present invention in at least one of the above aspects may also exhibit one or more of the following preferred characteristics in addition to 25 of those previously mentioned. Preferably the stroke multiplier comprises a lever mechanism connected to the corresponding at least one cutting group, to a fulcrum on the main frame and the linear actuator in such a way as to move the said at least one cutting group along the translation direction. These 5 features allow you to create the stroke multiplier in a way simple, thus ensuring high reliability. Preferably said lever forms a lever of the second or third type with called linear actuator. These types are particularly advantageous in allowing a compact mechanism. 10 It is preferred that the lever is hinged to the main frame at of one of its first ends and is tied to said at least one group of cut at its second end. Further It is preferred that the linear actuator is connected to the lever at of an intermediate position of the said lever. In this way it is possible 15 make the lawnmower equipment and the related mechanism movement through a simple and rational structure. Preferably the lever is connected to said at least one cutting group through a pin and slot system, in which the pin is engaged in a sliding in said slot. In embodiments the lever carries the slot and 20 said at least one cutting group carries the pin or vice versa. These features allow you to further increase the distance that the The actuator stroke allows the cutting unit to perform the cutting operation. Preferably each cutting group is mounted on at least one guide via a respective cursor. More specifically, for each cutting group 25 a pair of guides and relative sliders is provided. In this way the predisposition for the translation of the constraint between the lever and the cutting group It is made in a simple and particularly resistant way. Preferably there are at least two cutting groups, at least one of which movable. Even more preferably the cutting groups are operated by 5 respective linear actuators independently. In this way, not only the cutting unit stroke is multiplied with respect to the available stroke via the actuator, but an independent actuation of the two cutting groups both in lateral extension and in recall towards the centre of the equipment. 10 Preferably each cutting group includes a sensor lateral extension of protection in case of collision during opening said equipment. Preferably each cutting group includes at least one motor operating a respective rotor carrying a respective knife. Even more 15 preferably each cutting group comprises a plurality of rotors connected to said at least one motor and carrying respective knives. Preferably said at least one motor is connected in cascade with said plurality of rotors. Even more preferably the last rotor of said The waterfall is equipped with a sensor that controls its rotation speed. 20 In this way, with just one sensor it is possible to detect anomalies (e.g. breakage belt or grass jam) on the entire train of rotors that are connected in waterfall. Preferably, a driven shaft is provided for each of the said rotors. and a scraper mounted tangentially to said shaft. 25 Advantageously, the scraper prevents excessively long grass from growing. can be collected by the rotor and wound onto the corresponding shaft. Preferably the lawn mower equipment includes one or more wheels ground support connected to the main frame. In this way the height of The cut can be precisely defined using the support wheels. 5 Preferably the lawn mowing equipment also includes means of detection configured to detect the contact of said wheels with the ground. This feature allows you to close a control circuit when the wheels are placed on the ground in the appropriate working position and open the circuit causing an immediate stop of the cutting groups 10 as soon as the wheels are off the ground. Preferably the wheels are connected to the main frame in such a way adjustable by means of adjustment configured to adjust the height of said wheels with respect to the plane of the cutting means. Preferably the means of connection to the self-propelled vehicle are connected 15 to the main frame on the opposite side to said wheels. This layout makes it easier to tow the equipment. Preferably the means of connection comprise a three-point hitch, preferably of the carried or semi-carried type. Advantageously, the attack of the carried type allows the equipment to transmit the entire 20 own weight on the ground through the vehicle to which the equipment is attached. Conversely, the semi-mounted type attack allows you to transmit partially its weight on the ground through one or more equipping wheels the equipment itself. Further preferred aspects are also defined in the appended claims. 25 as well as the following description. The features and advantages of the invention will be better apparent from the detailed description that follows of a favorite example of his but not exclusive illustrated, for indicative and non-limiting purposes, with reference to the united drawings in which: 5 - Fig. 1 is a side view of a self-propelled vehicle to which is applied the lawn mowing equipment according to one embodiment of the present invention; - fig. 2 is a side view of the lawn mower equipment according to a embodiment of the present invention; 10 - Figs. 3 and 4 are top perspective views of the equipment lawnmower in figure 2 in two different working positions; - Fig. 5 is a bottom perspective view of the lawn mower equipment in the working position of figure 3 where some parts have been removed to show others that are not normally visible; 15 - fig. 6 is a bottom perspective view of the lawn mower equipment in the working position of figure 4; - fig. 7 is a side section view of a particular of the lawnmower equipment in figure 2; - fig. 8 is a bottom perspective view of a particular 20 of the lawnmower equipment in figure 2. In the figures, 1 indicates a lawnmower as a whole. applicable to a self-propelled vehicle 2 such as, preferably, a self-propelled vehicle autonomous driving preferably equipped with lifting equipment 3 comprising lifting arms 31 for the transport and towing of 25 agricultural equipment. With particular reference to the examples in figures 1 and 2, equipment 1 comprises a main frame 5 equipped with a three-point hitch 4 with where the equipment 1 is connected to the lifting arms 31 and to a strut 6 for the third point in a conventional way. Attack 4 constitutes 5 means of connection 60 to the vehicle 2. With particular reference to the examples in figures 3 to 6, the frame main 5 preferably comprises a pair of side members 8 and a secondary frame 9, for example with an essentially rectangular plan, to on the opposite side of which to the attachment 4 a supporting stern castle 10 is fixed 10 a pair of wheels 11 preferably pivoting. The wheels 11 serve for adjust the working height H of the equipment 1 in the manner explained further after you. Preferably a first and a second are fixed to the secondary frame 9 second pair of guides 12, 13 preferably linear, for example 15 made from cylindrical rods 15 on which they are slidably mounted sliders 16, for example and preferably of the recirculating ball type. For greater clarity of the above figures, the cylindrical rods 15 and the cursors 16 are indicated only in correspondence with a guide of the first pair of guides 12. 20 Preferably by means of such sliders 16, on the guides 12, 13 are mounted respectively a first and a second cutting group 17, 18, on each of which are in turn mounted 19 engines possibly electric or, more preferably, hydraulic, which are used to operate in rotation of cutting means 20 such as bar knives 20a or similar rotating around 25 to a vertical axis. It is understood that the same motor 19 will be able to operate one or more of such knives 20a. In the example illustrated, a single motor 19 drives respective motors in cascade rotors 21, each carrying a respective knife 20a. Also in this case, the reference numbers of the knives 20a and the rotors 21 are indicated 5 in the figures only corresponding to one of them. The cascade connection means that motor 19 of one of the cutting groups 17, 18 operate, in addition to the respective rotor 21, also the rotor 21 adjacent via a transmission, for example, belt and pulley 22, 23. And so on: the second rotor 21 drives the third, and the third 10 drives the fourth through respective transmissions 22, 23. The last rotor 21 of the waterfall, in addition to being operated by the previous one, is also equipped with a speed sensor 25 that controls its rotation speed. In this way, if any of the previous 21 rotors in the cascade connection is slowed down, for example due to excessive power absorption, 15 the slowdown is transmitted to all rotors 21 in cascade and is detected by the speed sensor 25. With particular reference to the example in figure 8, a scraper organ 26 is applied at a shaft 27 of each rotor. The scraper 26 is used to prevent excessively long grass from being cut 20 be collected by one or more rotors 21 and wound onto the corresponding shaft 27. This is one of the most frequent causes of excessive power draw which can cause rotors to slow down 21. The effect is prevented by the scraper 26, as it prevents such wrapping of grass by cutting the fibers at the bud. Preferably, the 25 scraper 26 is positioned close to the shaft 27 without however touching it. Still referring to the examples in figures 3 to 6, it is preferred that each cutting group 17, 18 carries an extension sensor on the side lateral 28, for example comprising a hinged band 29 oscillating on the corresponding cutting group 17, 18 and such as to act on 5 a push button switch 30 when the band comes into contact with a any obstacle, such as a vine stump, a pole or similar. This solution prevents the lawnmower attachment 1 from getting stuck between two strains. Alternatively, another type of extension sensor is provided. lateral 28, for example a sensor of the multi-elastic element type 10 contact, typically comprising an elastomeric band whose even localized crushing causes the closure of a circuit signaling. In all cases, it is preferred that the lateral extension sensor 28 pilots as better clarified below the lateral scrolling of the respective cutting groups 17, 18 to vary the operating width 15 of the equipment 1 depending on, for example, the inter-row dimensions of the lane that runs between two adjacent rows of crops. The sliding of the cutting groups 17, 18 is preferably made by means of two independent actuators 39 (preferably linear) so that each group is moved away from or closer to the center of the equipment 1 20 independently. To allow for a reduction in stroke extension of the actuator 39 with respect to the actual stroke of the cutting group 17, 18 a 35 stroke multiplier is used, preferably of the lever type 36; the latter is hinged roughly at the centre of the equipment 1 on the main frame 5 via a fulcrum 37 and is configured to achieve a 25 lever 36 preferably of the second or third kind, for example by connecting a movable rod 38 of the actuator 39 in an intermediate position between the fulcrum 37 and a force application point on the cutting group 17, 18 corresponding. The point of application of the force is constituted for example from a pin 50, defined on each of the cutting groups 17, 18, engaged 5 in a slot 40 defined instead at the end of the lever opposite the fulcrum 37. In this way, not only is the stroke of the cutting group 17, 18 multiplied compared to the stroke available through the actuator 39, but it is also obtained an independent operation of the two cutting groups 17, 18 both in 10 lateral extension that recalls towards the center of the machine. The wheels 11 are connected to the main frame 5 in an adjustable manner via adjustment means 62, configured to adjust the height H of the wheels 11 with respect to the plane of arrangement of cutting groups 17, 18. More specifically, the adjustment of the grass cutting height H is 15 made in the following way. Both wheels 11 are tilting both around its vertical axis 41, to allow free orientation, either around a horizontal axis 42 spaced from the vertical axis 41 by an arm 51 which is angularly oscillatable around the axis 42 limited in both directions by the presence of two stop pins 44. With 20 the terms “vertical” and “horizontal” refer to the configuration of use of the equipment 1 lawnmower and, more specifically, to directions substantially orthogonal and parallel to the ground. The cutting height H is adjusted by moving the blade vertically. a wheel support 53 with respect to the main frame 5 and constraining it by means of 25 the insertion of a pin (not shown) into one of the holes of a drilling at step 46. A safety sensor 47 such as a switch button, a proximity sensor or similar is mounted via a plate 48 on the main frame 5 so as to close a control circuit when the wheels are resting on the ground in the appropriate position 5 work but the circuit is open causing an immediate shutdown of the groups cutting as soon as the wheels are lifted off the ground. In embodiments the equipment 1 comprises at least one button 70 manually operated emergency stop to stop cutting groups immediately in case of emergency. Preferably it is 10 an emergency stop button 70 is provided positioned nearby of each wheel 11. During operation, equipment 1 is connected to a vehicle self-propelled 2 by means of the attachment 4 and is set in motion along a predetermined direction of advance A. 15 The simultaneous or independent operation of the actuators 39 allows to move the cutting groups 17 and / or 18 apart in a transverse direction T until the desired positioning is achieved depending on the width, for example, of a row spacing between adjacent rows. The coupling of the mobile rod 38 with the stroke multiplier 35 allows to obtain 20 a lever 36 capable of increasing the stroke of each of the cutting groups 17, 18 in the face of a relatively short stroke of the actuator 39. The operation of one or more motors 19 mounted on the first and / or second cutting group 17 and / or 18 operates the plurality of rotors 21 in cascade, kinematically associated with each other and with a respective plurality of means of 25 cutting 20, i.e. the knives 20a, each of which operates obtaining a cutting of the grass depending on the height H of the wheels 11 with respect to the ground arrangement of cutting groups 17, 18. At the end of the cutting operation, each of said groups 17, 18 is retracted and brought back into configuration closed, for example to store equipment 1 once the 5 work. Once closed, the equipment 1 can be lifted by means of the 3 lifting arms for easy transport. The invention thus achieves the intended purposes, creating an equipment 1 lawnmower that allows you to optimize the cutting of the grass in the lanes inter-rows of agricultural and forestry crops.

Claims

1. Lawn mower equipment (1) applicable to a self-propelled vehicle (2), comprising: - a main frame (5); - connection means (60) to said self-propelled vehicle (2) for moving said equipment (1) along a direction of travel (A); - cutting means (20); - at least one cutting group (17, 18) configured to support said cutting means (20) in a working position, said at least one cutting group (17, 18) being mounted on said main frame (5) in a manner movable along a direction of travel (T) transverse to said direction of travel (A); - means for moving (61) said at least one cutting group (17, 18) along said translation direction (T), said means for moving (61) comprising a linear actuator (39) and a stroke multiplier (35) of said linear actuator (39) interposed between said linear actuator (39) and the corresponding cutting group (17, 18).

2. Equipment (1) according to claim 1, wherein said stroke multiplier (35) comprises a lever mechanism (36) connected to the corresponding at least one cutting group (17, 18), to a fulcrum (37) on the main frame (5) and to said linear actuator (39) in such a way as to move said at least one cutting group (17, 18) along said translation direction (T), preferably wherein said lever (36) forms a lever of the second or third type with said linear actuator (39).

3. Equipment (1) according to claim 2, wherein said lever (36) is hinged to said main frame (5) at a first end thereof and is constrained to said at least one cutting group (17, 18) at a second end thereof, said linear actuator (39) being connected to said lever (36) at an intermediate position of said lever.

4. Equipment (1) according to claim 2 or 3, wherein said lever (36) is constrained to said at least one cutting group (17, 18) by means of a slot (40) and pin (50) system slidably engaged in said slot (40), preferably wherein said lever (36) carries said slot (40) and said at least one cutting group (17, 18) carries said pin (50) or vice versa.

5. Equipment (1) according to one or more of the preceding claims, wherein each cutting group (17, 18) is mounted on at least one guide (12, 13) via a respective cursor (16), preferably wherein for each cutting group (17, 18) a pair of guides (12, 13) and related cursors (16) are provided.

6. Equipment (1) according to one or more of the preceding claims, wherein the cutting groups (17, 18) are at least two, at least one of which is movable.

7. Equipment (1) according to claim 6, wherein the cutting groups (17, 18) are operated by respective linear actuators (39) independently.

8. Equipment (1) according to one or more of the preceding claims, wherein each cutting group (17, 18) comprises a lateral extension sensor (28) for protection in the event of a collision during the opening of said equipment (1).

9. Equipment (1) according to one or more of the preceding claims, wherein each cutting group (17, 18) comprises at least one motor (19) driving a respective rotor (21) carrying a respective knife (20a), preferably wherein each cutting group (17, 18) comprises a plurality of rotors (21) connected to said at least one motor (19) and carrying respective knives (20a).

10. Equipment (1) according to claim 9, wherein said at least one motor (19) is connected in cascade with said plurality of rotors (21).

11. Equipment (1) according to claim 10, wherein the last rotor (21) of said cascade is equipped with a sensor (25) which controls its rotation speed.

12. Equipment (1) according to one or more of claims 9 to 11, wherein for each of said rotors (21) a driven shaft (27) and a scraper (26) mounted tangentially to said shaft (27) are provided.

13. Equipment (1) according to one or more of the preceding claims, comprising one or more ground support wheels (11) connected to said main frame (5).

14. Equipment (1) according to claim 13, comprising detection means configured to detect the contact of said wheels (11) with the ground.

15. Equipment (1) according to claim 13 or 14, wherein said wheels (11) are connected to said main frame (5) in an adjustable manner by means of adjustment means (62) configured to adjust the height (H) of said wheels (11) with respect to the plane of arrangement of said cutting means (17, 18).

16. Equipment (1) according to one or more of claims 13 to 15, wherein said connecting means (60) are connected to said main frame (5) on the opposite side to said wheels (11).

17. Equipment (1) according to one or more of the preceding claims, 10 wherein said connection means (60) comprise a three-point hitch (4), preferably of the mounted or semi-mounted type.

18. Self-propelled vehicle (2) with autonomous driving comprising lifting means (3) to which the lawnmower equipment (1) according to one or more of the previous claims is applied.