A hybrid crawler self-propelled obstacle-avoiding lawn mower

Abstract

The present invention discloses a hybrid crawler self-propelled obstacle avoidance mower, comprising a hybrid crawler self-propelled chassis (100), an inter-row mowing mechanism (200), and an inter-plant obstacle avoidance mowing mechanism (300); the inter-row mowing mechanism (200) and the inter-plant obstacle avoidance mowing mechanism (300) are mounted on the hybrid crawler self-propelled chassis (100). The hybrid crawler self-propelled chassis and remote control are used, making the machine smaller than a ride-on mower and adaptable to orchard environments in hilly and mountainous areas. The inter-row mowing mechanism and the inter-plant obstacle avoidance mowing mechanism are used, and the machine can mow grass not only between rows but also between plants, thereby greatly reducing labor intensity and improving work efficiency.

Description

Technical Field

[0001] The present invention relates to the field of agricultural machinery, and in particular to a hybrid oil-electric crawler self-propelled obstacle-avoiding lawn mower. Background Art

[0002] Weeding is a tedious task in daily orchard management. Currently, there are two main methods for weeding: chemical weeding and green weeding. Green weeding is currently primarily mechanical. Chemical weeding is highly efficient, but it pollutes the environment and reduces fruit quality. Mechanical weeding has many advantages. The cut grass improves soil moisture retention, and the decayed grass becomes natural organic fertilizer, thereby increasing fruit yield and quality while reducing the use of chemical fertilizers and pesticides.

[0003] Fruit trees in southern China are generally planted in hilly and mountainous areas. The complex terrain of these areas presents significant challenges for mechanical weed control. Currently, backpack mowers are widely used, but they rely on manual labor, resulting in high labor intensity and low efficiency. Riding mowers, on the other hand, are generally large and unsuitable for hilly and mountainous environments. Remote-controlled self-propelled mowers lack obstacle avoidance mechanisms and cannot automatically avoid fruit trees to cut weeds between them. The market urgently needs a weeder with automatic obstacle avoidance and mowing capabilities that can adapt to the working environment of hilly and mountainous orchards, reducing labor intensity and improving efficiency. Summary of the Invention

[0004] In view of this, the present invention proposes a hybrid crawler self-propelled obstacle avoidance lawn mower suitable for orchards in hilly and mountainous areas. It adopts a hybrid crawler self-propelled chassis and remote control. Compared with a ride-on lawn mower, the whole machine is smaller and can adapt to the orchard environment in hilly and mountainous areas. It adopts an inter-row mowing mechanism and an inter-plant obstacle avoidance mowing mechanism, which can not only mow grass between rows, but also mow grass between plants, greatly reducing labor intensity and improving work efficiency.

[0005] On the one hand, the present invention provides a hybrid crawler self-propelled obstacle avoidance lawn mower, including a hybrid crawler self-propelled chassis and an inter-row mowing mechanism and an inter-plant obstacle avoidance mowing mechanism; the inter-row mowing mechanism and the inter-plant obstacle avoidance mowing mechanism are installed on the hybrid crawler self-propelled chassis.

[0006] In a further technical solution, the hybrid crawler self-propelled chassis includes a range-extending generator, a controller, a battery, a travel motor, a speed reducer, a crawler assembly, and a crawler drive wheel mounted on a frame;

[0007] The travel motor is connected to the crawler drive wheel through a speed reducer, and the crawler drive wheel is installed on the crawler assembly; the range-extending generator supplies power to the battery and the travel motor, and the battery supplies power to the travel motor. The controller controls the rotation of the travel motor, which in turn drives the hybrid crawler self-propelled chassis through the speed reducer, crawler drive wheel, and crawler assembly.

[0008] The hybrid tracked self-propelled chassis includes a pure electric mode and an extended-range mode. When the pure electric mode is turned on, the battery supplies power to the travel motor; when the battery is in a low-power state, the extended-range mode is turned on, and the extended-range generator starts to generate power to the battery and travel motor.

[0009] In a further technical solution, it includes a signal receiver and a remote control; the signal receiver is installed on a hybrid crawler self-propelled chassis, the signal receiver is connected to the controller, the remote control sends a command signal, the signal receiver receives the signal, and transmits it to the controller, and the controller sends a command to control the operation of the walking motor and the inter-row mowing mechanism and the inter-plant obstacle avoidance mowing mechanism.

[0010] In a further technical solution, the inter-row mowing mechanism includes a parallelogram mechanism, a first electric cylinder, and an inter-row mowing profiling mechanism; the two ends of the parallelogram mechanism are respectively connected to the frame and the inter-row mowing profiling mechanism, and the two ends of the first electric cylinder are respectively connected to the frame and the parallelogram mechanism, and the controller controls the extension and retraction of the first electric cylinder.

[0011] In a further technical solution, the inter-row mowing and profiling mechanism includes a first shaft, a first anti-drop nut, a first spring, and a first cutting platform; the first shaft is installed in the bracket hole of the parallelogram mechanism through the first anti-drop nut, and the first shaft is equipped with a first spring, and the first shaft can slide in the bracket hole of the parallelogram mechanism; the first cutting platform is connected to the inter-row mowing and profiling mechanism through a pin shaft; the first mowing motor, the first profiling wheel and the protective curtain are installed on the first cutting platform; the first mowing rope is installed on the first mowing motor, and the controller controls the rotation of the first mowing motor.

[0012] In a further technical solution, the inter-row obstacle avoidance mowing mechanism includes a lifting arm, a swing arm, an inter-row obstacle avoidance profiling mechanism, a second electric cylinder, and a third electric cylinder; the two ends of the lifting arm are respectively connected to the frame and the swing arm, the two ends of the second electric cylinder are respectively connected to the frame and the lifting arm, the two ends of the third electric cylinder are respectively connected to the frame and the swing arm, and the inter-row obstacle avoidance profiling mechanism is installed at the end of the swing arm; a controller controls the extension and retraction of the second electric cylinder and the third electric cylinder (303).

[0013] In a further technical solution, the inter-row obstacle avoidance and profiling mechanism includes a second cutting platform, a slider and a slide rail; the slider is installed at the end of the swing arm, the slider is located in the slide rail, the slider can slide in the slide rail, the second cutting platform is connected to the slide rail through a ball hinge, and the second cutting platform can rotate around the ball hinge connection.

[0014] In a further technical solution, a second mowing motor and a second contour wheel are installed on the second cutting platform, a second mowing rope is installed on the second mowing motor, and a controller controls the rotation of the second mowing motor.

[0015] The present invention provides a hybrid crawler self-propelled obstacle avoidance lawn mower with advantages over the prior art in that:

[0016] 1. The present invention is a hybrid crawler self-propelled obstacle-avoiding lawn mower suitable for use in orchards in hilly and mountainous areas. It adopts a hybrid crawler self-propelled chassis and remote control. Compared with a ride-on lawn mower, the entire machine is smaller and can adapt to orchard environments in hilly and mountainous areas. It adopts an inter-row mowing mechanism and an inter-plant obstacle-avoiding mowing mechanism, which can mow grass not only between rows but also between plants, greatly reducing labor intensity and improving work efficiency.

[0017] 2. The inter-row mowing mechanism and the inter-row obstacle avoidance mowing mechanism are equipped with a contouring mechanism that automatically adjusts to the complex terrain of hilly orchards, ensuring a consistent cutting height. This also prevents damage to the machine from impacting uneven surfaces, improving machine reliability. When obstacle avoidance is not required, the inter-row obstacle avoidance mowing mechanism can be removed, allowing the machine to serve multiple purposes while reducing power consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings, which constitute part of the present invention, are provided to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are provided to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0019] Figure 1 This is a structural schematic diagram of the hybrid crawler self-propelled obstacle avoidance lawn mower of the present invention;

[0020] Figure 2 This is a structural schematic diagram of the hybrid crawler self-propelled obstacle avoidance lawn mower of the present invention;

[0021] Figure 3 for Figure 1 and Figure 2 A top view of

[0022] Figure 4 for Figure 1 and Figure 2 A top view of

[0023] Figure 5 for Figure 2 A schematic diagram of the first mowing motor structure;

[0024] Figure 6 for Figure 2 Schematic diagram of the inter-row obstacle avoidance and contour-profiling mechanism. DETAILED DESCRIPTION

[0025] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0026] like Figure 1As shown, the present invention preferably adopts a hybrid crawler self-propelled obstacle avoidance lawn mower, which is mainly composed of a hybrid crawler self-propelled chassis 100, an inter-row obstacle avoidance mowing mechanism 300, and an inter-row mowing mechanism 200.

[0027] like Figure 2 As shown, the hybrid crawler self-propelled chassis 100 primarily consists of a track assembly 108, a frame 106, a range-extending generator 101, a battery 104, a signal receiver 102, a controller 103, a travel motor 105, and a remote control (not shown). The frame 106 serves as a connecting and fixing mechanism. The travel motor 105 is connected to a track drive wheel 109 via a speed reducer 107, which in turn is connected to the track assembly 108. The left and right track drive wheels 109 and the track assembly 108 are each connected by two parallel travel motors 105. Each travel motor 105 drives a separate track drive wheel 109. Each travel motor 105 is independently controlled, facilitating U-turns and cornering for the hybrid crawler self-propelled chassis 100.

[0028] The hybrid tracked self-propelled chassis 100 has two operating modes: pure electric mode and extended-range mode. In pure electric mode, the battery 104 becomes the primary energy source. When the battery 104 is low on power, the extended-range mode is activated, where the range-extending generator 101 starts generating power as the primary energy source while also charging the battery 104, extending operating time.

[0029] During operation, the remote controller sends a command signal, the signal receiver 102 receives the signal and transmits it to the controller 103, and the controller 103 sends a command to control the operation of the hybrid crawler self-propelled chassis 100, the inter-row obstacle avoidance mowing mechanism 300, and the inter-row mowing mechanism 200.

[0030] like Figure 1 、 Figure 2 、 Figure 5As shown, the inter-row mowing mechanism 200 primarily consists of a parallelogram mechanism 201, a first electric cylinder 202, and an inter-row mowing and profiling mechanism 203. The inter-row mowing mechanism 200 comprises two parallelogram mechanisms 201 mounted on the frame 106 of the hybrid crawler self-propelled chassis 100, ensuring that the inter-row mowing and profiling mechanism 203 remains fixed to the frame 106. One end of the first electric cylinder 202 is connected to the hybrid crawler self-propelled chassis 100, and the other end is connected to the parallelogram mechanism 201. The inter-row mowing and profiling mechanism 203 is connected to the parallelogram mechanism 201 via a first shaft 205 and a first anti-drop nut 208. A first spring 207 is mounted on the first shaft 205, allowing the first shaft 205 of the inter-row mowing and profiling mechanism 203 to slide within a hole in the bracket 212 of the parallelogram mechanism 201. The first cutting platform 204 is connected to the profiling mechanism 203 via a pin 209. A first mowing motor 211, a first profiling wheel 206, and a protective curtain 210 are bolted to the first cutting platform 204. A first mowing rope 214 is mounted on the first mowing motor 211 via a sleeve 213. The first cutting platform 204 is provided with a plurality of first mowing motors 211 and two first profiling wheels 206.

[0031] When in a non-working state, the first electric cylinder 202 is driven to lift the first cutting platform 204 so that the first contour wheel 206 maintains a certain height from the ground for easy walking.

[0032] When in operation, the first electric cylinder 202 is driven to lower the first cutting platform 204 and compress the first spring 207, creating a certain pressure between the first contoured wheel 206 and the ground. The first motor 211 is then powered, causing the first mowing rope 214 to rotate. The hybrid crawler self-propelled chassis 100 then moves forward, and mowing begins. The first protective curtain 210 protects the first mowing rope 214 from flying debris or dirt during high-speed rotation, potentially injuring anyone.

[0033] When the inter-row mowing mechanism 200 hits a pit and the first contour wheel 206 is about to be suspended in the air, the first cutting platform 204 falls downward under the action of the first spring 207 and its own weight, causing the first contour wheel 206 to continue to touch the ground; when the inter-row mowing mechanism 200 hits a boss, the boss lifts the first contour wheel 206, causing the first cutting platform 204 to further compress the first spring 207, thereby lifting the first cutting platform 204 to achieve the contouring purpose.

[0034] like Figure 2 and Figure 3As shown, the inter-row obstacle avoidance mowing mechanism 300 is composed of a lifting arm 302, a swing arm 305, an inter-row obstacle avoidance profiling mechanism 310, a second electric cylinder 301, and a third electric cylinder

[303] . The lifting arm 302 is connected to the frame 106 via a shaft 315. The second electric cylinder 301 is connected to the lifting arm 302 at one end and to the frame 106 at the other end. When the second electric cylinder 301 is extended or shortened, the lifting arm 302 can be lowered or raised around the shaft 315. The swing arm 305 is connected to the lifting arm 302 via a shaft 316. The second electric cylinder 301 is connected to the swing arm 305 at one end and to the frame 106 at the other end. When the second electric cylinder 303 is extended or shortened, the swing arm 305 can be swung left or right around the shaft.

[0035] like Figure 2 As shown, the inter-row obstacle avoidance and profiling mechanism 310 includes a second cutting platform 312, a slider 307, and a slide rail 309. The slider 307 is mounted on the end of the swing arm 305 via bolts 306 and is located within the slide rail 309. The slider 307 is slidable within the slide rail 309. The second cutting platform 312 is connected to the slider 307 via a ball hinge 311, and the second cutting platform 312 can rotate about the ball hinge 311. A second mowing motor 313 and a second profiling wheel 314 are bolted to the second cutting platform 312. The second profiling wheel 314 is a universal wheel that can rotate 360 degrees. A second mowing rope (not shown) is mounted on the second mowing motor 312. The second mowing rope is identical to the first mowing rope 214. The controller 103 controls the rotation of the second mowing motor 313.

[0036] like Figure 2 As shown, when in the non-operating state, the second electric cylinder 301 is driven to raise the second cutting platform 312, keeping the second contouring wheel 314 at a certain height above the ground for easy walking. When in the operating state, the second electric cylinder 301 is driven to lower the second cutting platform 312, allowing the second contouring wheel 314 to touch the ground. Simultaneously, the slider 307 is positioned in the middle of the slide rail 309. If the fruit tree is to the left of the inter-row obstacle avoidance contouring mechanism 310, the third electric cylinder 303 is driven to swing the second cutting platform 312 to the left. If the fruit tree is to the right of the inter-row obstacle avoidance contouring mechanism 310, the third electric cylinder 303 is driven to swing the second cutting platform 312 to the right. The second mowing motor 313 is energized, causing the second mowing rope to rotate, and the hybrid crawler self-propelled chassis 100 then moves forward, thus beginning mowing.

[0037] like Figure 6As shown, when the second cutting platform 312 encounters a fruit tree while advancing, it rotates around the ball hinge 311 under the thrust, automatically avoiding the tree and achieving obstacle avoidance. During operation, the slider 307 is in the middle of the slide rail 309. When the inter-row obstacle avoidance and profiling mechanism 310 encounters a pit and the second profiling wheel 314 is about to become suspended in the air, the second cutting platform 312, under its own weight, drives the slide rail 309 downward, allowing the second profiling wheel 314 to remain on the ground. When the inter-row obstacle avoidance and profiling mechanism 310 encounters a boss, the boss lifts the second profiling wheel 314, driving the second cutting platform 312 and the slide rail 309 upward, achieving the profiling function. When obstacle avoidance is not required, the inter-row mowing mechanism 300 can be removed, achieving multi-purpose functionality and reducing power consumption.

[0038] The above-mentioned technologies are common knowledge to those skilled in the art. The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of protection of the present invention.

Claims

1. A hybrid crawler self-propelled obstacle avoidance lawn mower, characterized in that: The invention comprises a hybrid crawler self-propelled chassis (100), an inter-row mowing mechanism (200), and an inter-row obstacle avoidance mowing mechanism (300); the inter-row mowing mechanism (200) and the inter-row obstacle avoidance mowing mechanism (300) are installed on the hybrid crawler self-propelled chassis (100); The inter-row mowing mechanism (200) comprises a parallelogram mechanism (201), a first electric cylinder (202), and an inter-row mowing profiling mechanism (203); two ends of the parallelogram mechanism (201) are respectively connected to the frame (106) and the inter-row mowing profiling mechanism (203); two ends of the first electric cylinder (202) are respectively connected to the frame (106) and the parallelogram mechanism (201); and a controller (103) controls the extension and retraction of the first electric cylinder (202); The inter-row mowing and profiling mechanism (203) comprises a first shaft (205), a first anti-drop nut (208), a first spring (207), and a first cutting platform (204); the first shaft (205) is installed in a hole of a bracket (212) of a parallelogram mechanism (201) through the first anti-drop nut (208); the first shaft (205) is equipped with a first spring (207); the first shaft (205) can slide in the hole of the bracket (212) of the parallelogram mechanism (201); the first cutting platform (204) is connected to the inter-row mowing and profiling mechanism (203) through a pin shaft; a first mowing motor (211), a first profiling wheel (206), and a protective curtain (210) are installed on the first cutting platform (204); a first mowing rope (214) is installed on the first mowing motor (211); and a controller (103) controls the rotation of the first mowing motor (211); The inter-row obstacle avoidance mowing mechanism (300) comprises a lifting arm (302), a swing arm (305), an inter-row obstacle avoidance profiling mechanism (310), a second electric cylinder (301), and a third electric cylinder (303); the lifting arm (302) has two ends connected to the frame (106) and the swing arm (305), the second electric cylinder (301) has two ends connected to the frame (106) and the lifting arm (302), the third electric cylinder (303) has two ends connected to the frame (106) and the swing arm (305), and the inter-row obstacle avoidance profiling mechanism (310) is mounted at the end of the swing arm (305); and the controller (103) controls the extension and retraction of the second electric cylinder (301) and the third electric cylinder (303). The inter-row obstacle avoidance and profiling mechanism (310) comprises a second cutting platform (312), a slider (307), and a slide rail (309); the slider (307) is mounted at the end of a swing arm (305), the slider (307) is located in the slide rail (309), the slider (307) can slide in the slide rail (309), the second cutting platform (312) is connected to the slide rail (309) via a ball hinge, and the second cutting platform (312) can rotate around the ball hinge; a second mowing motor (313) and a second profiling wheel (314) are mounted on the second cutting platform (312), a second mowing rope is mounted on the second mowing motor (313), and a controller (103) controls the rotation of the second mowing motor (313).

2. The hybrid crawler self-propelled obstacle avoidance lawn mower according to claim 1, characterized in that: The hybrid crawler self-propelled chassis (100) includes a range-extending generator (101) mounted on a frame (106), a controller (103), a battery (104), a travel motor (105), a speed reducer (107), a crawler assembly (108), and a crawler drive wheel (109); The travel motor (105) is connected to the crawler drive wheel (109) through the speed reducer (107), and the crawler drive wheel (109) is installed on the crawler assembly (108); the range extender generator (101) supplies power to the battery (104) and the travel motor (105), the battery (104) supplies power to the travel motor (105), the controller (103) controls the travel motor (105) to rotate, and the travel motor (105) drives the hybrid crawler self-propelled chassis (100) to travel through the speed reducer (107), the crawler drive wheel (109), and the crawler assembly (108) in sequence; The hybrid crawler self-propelled chassis (100) includes a pure electric mode and an extended range mode. When the pure electric mode is turned on, the battery (104) supplies power to the travel motor (105); when the battery (104) is in a low-power state, the extended range mode is turned on, and the extended range generator (101) starts to generate power to the battery (104) and the travel motor (105).

3. The hybrid crawler self-propelled obstacle avoidance lawn mower according to claim 2, characterized in that: The invention comprises a signal receiver (102) and a remote controller; the signal receiver (102) is mounted on a hybrid crawler self-propelled chassis (100); the signal receiver (102) is connected to a controller (103); the remote controller sends a command signal, the signal receiver (102) receives the signal, and transmits the signal to the controller (103); the controller (103) sends a command to control the operation of the travel motor (105), the inter-row mowing mechanism (200), and the inter-row obstacle avoidance mowing mechanism (300).

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