An intelligent obstacle-avoiding cutting device suitable for multiple terrains

Abstract

The present invention relates to the technical field of garden weeding equipment, specifically to an intelligent obstacle avoidance cutting equipment suitable for multiple terrains, the cutting equipment comprising a casing, a cutting arm, a cutting disc, a forward wheel, and a power unit, the forward wheel being installed at the bottom of the casing, the power unit being arranged inside the casing, a plurality of cutting arms, the vertical axis of the cutting arm being hinged to the side of the casing, a cutting disc being arranged at one end of the cutting arm away from the casing, and the power unit providing rotational power for the forward wheel and the cutting disc. By arranging a plurality of cutting arms and cutting discs outside the casing, while having a large cutting range coverage on the forward path, the cutting structure may have a yield margin when encountering trees, large stones, etc., and the yield process does not affect the power unit transmitting torque to the cutting disc; a joint gear and a joint shaft are arranged at the connection position between the cutting arm and the casing, the joint shaft is rotationally connected to both the casing and the arm casing, while keeping the arm casing connected to the casing without affecting its own rotation, so that it can be used as a medium to transmit rotational motion.

Description

Technical Field

[0001] The invention relates to the technical field of garden weeding equipment, and in particular to an intelligent obstacle-avoiding cutting equipment suitable for multiple terrains. Background Art

[0002] In large-scale plant planting areas such as orchards and orchards, weeds will absorb soil nutrients, affect the growth of economic trees, and need to be removed regularly. A lawn mower, also known as a lawn mower, a lawn mower, or a trimmer, is an appliance used to mow lawns and vegetation, etc. It is generally composed of a blade, a motor, a running wheel, a handrail, and other basic components. Existing mowing equipment is a small hand-held device or a long mowing device towed by a tractor for covering weed cutting. The small hand-held device is only suitable for weed removal in a small area such as a courtyard, a lawn in a commercial park, etc. For the large-scale weed removal needs such as orchards and forest gardens, manual operation is very inefficient and time-consuming and labor-intensive. For a mowing structure towed by a tractor, in a densely treed area such as an orchard, one problem is that the tractor is often higher than the branches of the trees, and the action remains unchanged. Another problem is that the mowing equipment cannot easily adjust its posture when encountering a tree, and either it directly deviates from the original expectation and cannot return to the original weeding path, or it cannot move forward directly, or in order to reduce the probability of being blocked by trees, the coverage of the cutting equipment is deliberately reduced, so that multiple trips are required to remove weeds in a large area. Summary of the invention

[0003] The purpose of the present invention is to provide an intelligent obstacle avoidance cutting device suitable for multiple terrains to solve the problems raised in the above background technology.

[0004] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0005] An intelligent obstacle avoidance cutting device suitable for multiple terrains, the cutting device comprises a casing, a cutting arm, a cutting disc, a forward wheel, and a power unit. The forward wheel is installed at the bottom of the casing, the power unit is arranged inside the casing, there are several cutting arms, the vertical axis of the cutting arm is hinged on the side of the casing, the cutting disc is arranged at the end of the cutting arm away from the casing, and the power unit provides rotational power for the forward wheel and the cutting disc.

[0006] The forward wheels travel on the ground, with the casing as the center and several cutting arms distributed around the casing. The weeds on the path of the cutting disc are cut one by one, and the weeds can be collected later with a suction device. The cutting arms are hingedly mounted on the side of the casing. When encountering obstacles such as trees during the overall forward movement of the device, the cutting arms can retreat toward the side of the casing. After the device passes by the tree, the cutting arms are reset to their original positions for subsequent mowing operations. The mowing structure in the cutting disc requires power, and the power is collected from the power unit. There is no need to set up a separate rotation drive for each cutting structure away from the casing. In addition, the power for the forward wheels is also taken from the power unit. The forward wheels are provided with a speed matching module to adjust the forward speed of the device. It moves slowly in areas with a lot of weeds, allowing the cutting disc to stay longer to ensure sufficient mowing.

[0007] The housing includes a shell, a joint shaft, and a joint gear. The joint shaft is rotated on the side of the shell, and the joint gear is arranged in the middle of the joint shaft.

[0008] The cutting arm includes an arm shell, an arm spindle, and a relay gear. One end of the arm shell is rotatably mounted on the joint shaft. The arm spindle is rotatably arranged inside the arm shell along its length direction. The relay gear is arranged at one end of the arm spindle close to the housing.

[0009] The power unit comprises a power shaft and a power gear. The power shaft extends from the inside of the shell and extends to the side of the joint shaft. The power gear is arranged at the end of the power shaft. The joint gear is respectively meshed with the relay gear and the power gear.

[0010] The power shaft has active rotational motion, which is transmitted to the cutting disc according to the transmission path. The joint shaft and joint gear serve as the installation basis and transmission medium of the cutting arm. When in use, when the cutting disc at the end of the cutting arm or the cutting arm itself hits a tree, the cutting arm rotates around the joint shaft to avoid it, and the relay gear always keeps meshing with the joint gear. The rotation input to the joint gear by the power gear can be transmitted all the way to the cutting disc at the end of the cutting arm to drive the cutting parts to perform mowing operations. The structure of the joint gear is used to maintain the continuity of transmission. Compared with the universal coupling, the cutting arm can achieve a larger range of rotation and avoidance while the gear contact angle does not change. The invention relates to a method for cutting a tree. The invention relates to a method for cutting a tree. The invention relates to a method for cutting a tree. The invention relates to a method for cutting a tree. The invention relates to a method for cutting a tree. The invention relates to a method for cutting a tree. The invention relates to a method for cutting a tree. The invention relates to a method for cutting a tree. The invention relates to a method for cutting a tree. The invention relates to a method for cutting a tree. The invention relates to a method for cutting a tree. The invention relates to a method for cutting a tree. The invention relates to a method for cutting a tree. The invention relates to a method for cutting a tree. The invention relates to a method for cutting a tree. The invention relates to a method for cutting a tree. The invention relates to a method for cutting a tree. The invention relates to a method for cutting a tree. The invention relates to a method for cutting a tree. The invention relates to a method for cutting a tree. The invention relates to a method for cutting a tree. The invention relates to a method for cutting a tree.

[0011] The cutting disc includes a disc body, a central axis, and a cutting knife. The upper end of the disc body is ball-hinged with the end of the arm shell. The central axis is rotatably mounted on the disc body. The upper end of the central axis is transmission-connected with the arm core shaft. The lower end of the central axis is provided with a cutting knife. The outer edge of the disc body is turned downward and provided with a number of rollers.

[0012] The cutting arm also includes a plurality of pressing cylinders and a plurality of elastic bodies. The pressing cylinders extend from the arm shell and surround the connection position between the arm shell and the disc body. The elastic bodies are downwardly arranged in the pressing cylinders and press the upper surface of the disc body.

[0013] The cutting disc ball is hinged at the end of the arm shell, that is, the cutting disc can perform a small range of universal twisting to adapt to different local ground undulations. The elastic body presses the disc body to keep its position in a circle in contact with the ground. The roller prevents the disc body from sinking into the ground. The cutting knife is flush with the bottom edge of the disc body, and a gap can be set on the outer edge of the disc body to allow grass to enter the space where the cutting knife is located in a standing posture.

[0014] The disc body includes a disc body, a traction groove, a vertical sliding sleeve, and a ball hinge shell. The cutting disc also includes a traction round table, a transmission column, and a universal transmission.

[0015] An annular inward traction groove is arranged at the central position of the disk body, an upward vertical sliding sleeve is arranged on the central upper surface of the disk body, the ball hinge shell is slidably installed in the vertical sliding sleeve, a limiting structure is arranged between the ball hinge shell and the vertical sliding sleeve along the sliding direction, the upper end of the ball hinge shell is ball-hinged with the arm shell, the traction round table is fixed to the upper end of the central axis, a transmission hole is arranged in the central axis, the traction round table is rotatably arranged in the traction groove, the traction round table is limited in the traction groove along the central axis direction, the upper end of the transmission column is connected to the arm core shaft through a universal transmission, the lower end of the transmission column is inserted into the transmission hole and can slide along the transmission hole, and the transmission column is transmitted to the central axis.

[0016] The ball joint between the disc body and the arm shell realizes contour fit with the ground. However, in the position where the ground is sunken, no matter how the disc body is twisted in all directions, it is impossible to keep the lower edge in contact with the ground. Therefore, a lifting structure is configured for the disc body to keep it in contact with the ground in the vertical direction. When the disc body is lowered as a whole, the central axis and the cutting knife also need to be lowered together. Therefore, a traction groove is provided to cooperate with the traction round table so that when the disc body is lowered, the central axis and the cutting knife can also be pulled down together. The transmission column does not descend while maintaining the transmission with the central axis. The degree of descent that the disc body can have is based on the elastic stroke of the elastic body, which can meet the undulating height difference of the ground in a general orchard.

[0017] A pressing button is arranged at the lower end of the elastic body, and the lower surface of the pressing button is a spherical arc surface.

[0018] The elastic body around the hinged position of the disc body and the arm shell ball has different extension and contraction lengths during ground contouring. The pressing button maintains effective contact between the elastic body and the disc body, and the force direction of the elastic body on the disc body is perpendicular to the upper surface of the disc body.

[0019] The cutting device also includes an extension joint, which connects the arm shell and the side wall of the shell, and provides a restoring force for the cutting arm rotating toward the shell.

[0020] When a cutting arm is blocked by a tree and rotates back, the extension joint is compressed accordingly. After leaving the tree, the extension joint pushes the cutting arm back to the designed position to maintain the maximum mowing range.

[0021] The extension joint includes an arm connecting rod, a shell connecting rod, and an extension spring. The arm connecting rod and the shell connecting rod are embedded end to end. A sliding limit structure is provided at the maximum position where the arm connecting rod and the shell connecting rod are separated from each other. The maximum position where the arm connecting rod and the shell connecting rod are separated from each other corresponds to the design position where the cutting arm is distributed beside the shell.

[0022] An extension spring is arranged in the chamber of the arm connecting rod and the shell connecting rod in the fitting position to push the arm connecting rod and the shell connecting rod to separate from each other. One end of the arm connecting rod away from the shell connecting rod is hinged to the arm shell, and one end of the shell connecting rod away from the arm connecting rod is hinged to the shell body.

[0023] When the cutting arm is pushed to avoid, the extension spring is compressed. After leaving the tree, the extension spring pushes the arm link and the shell link to move away from each other to a maximum length state. At this time, the cutting arm is at a designed mowing position.

[0024] When the extension sections are all at their maximum length, the projections of all cutting discs on a vertical plane in the forward direction of the cutting device do not overlap with each other.

[0025] All cutting discs advance along mutually parallel paths in the advancing direction of the device without overlapping to prevent waste of cutting power resources. The optimal projection arrangement is continuous and non-overlapping.

[0026] The cutting device also includes a roller cutter, which is arranged at the bottom of the housing, and the axis of the roller cutter is parallel to the axis of the forward wheel.

[0027] The cutter is slightly embedded in the ground soil. During the forward movement of the cutting equipment, some stones and mud are prevented from entering under the forward wheels, causing the forward wheels to step unevenly and have a slight path deviation. The cutter is embedded in the ground, and all the forward wheels need to turn synchronously and maintain a certain period of time to complete the path modification process of the device.

[0028] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: by arranging a number of cutting arms and cutting discs outside the casing, the present invention has a larger cutting range coverage on the forward path, and the cutting structure may have a retreat margin when encountering trees, large stones, etc., and the retreat process does not affect the transmission of torque from the power unit to the cutting disc; joint gears and joint shafts are arranged at the connection position between the cutting arm and the casing, and the joint shaft is rotatably connected to the casing and the arm casing, while maintaining the connection between the arm casing and the casing without affecting its own rotation, thereby being able to serve as a medium to transmit rotational motion; the cutting disc is ball-hingedly installed at the end of the cutting arm, and is subjected to a circle of downward elastic pressure. In the case of ups and downs and local positions with slopes, the cutting knife can be kept approximately parallel to the ground, thereby ensuring the cutting effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0030] Figure 1 It is a front view schematic diagram of the overall structure of the present invention;

[0031] Figure 2 yes Figure 1 View A in

[0032] Figure 3 It is a schematic diagram of the structure of the cutting disc of the present invention;

[0033] Figure 4 yes Figure 3 View B in

[0034] Figure 5 It is a schematic diagram of the motion of the overall structure of the present invention from a top view;

[0035] Figure 6 yes Figure 5 View C in

[0036] In the figure: 1-casing, 11-housing, 12-joint shaft, 13-joint gear, 2-cutting arm, 21-arm shell, 22-arm spindle, 23-relay gear, 24-pressing cylinder, 25-elastic body, 26-pressing button, 3-cutting disk, 31-disc body, 311-disc body, 312-traction groove, 313-vertical sliding sleeve, 314-ball hinge shell, 32-central axis, 321-transmission hole, 33-cutting knife, 34-traction round table, 38-transmission column, 39-universal transmission, 4-extension joint, 41-arm connecting rod, 42-shell connecting rod, 43-extension spring, 5-forward wheel, 6-power unit, 61-power shaft, 62-power gear, 7-hob. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] An intelligent obstacle avoidance cutting device suitable for multiple terrains, the cutting device includes a casing 1, a cutting arm 2, a cutting disc 3, a forward wheel 5, and a power unit 6. The forward wheel 5 is installed at the bottom of the casing 1, the power unit 6 is arranged inside the casing 1, there are several cutting arms 2, the vertical axis of the cutting arm 2 is hinged on the side of the casing 1, the cutting disc 3 is arranged at the end of the cutting arm 2 away from the casing 1, and the power unit 6 provides rotational power for the forward wheel 5 and the cutting disc 3.

[0039] like Figure 1 , 5 As shown, the forward wheel 5 travels on the ground, the casing 1 serves as the hub, and a number of cutting arms 2 are distributed around the casing 1. The weeds on the path of the cutting disc 3 are cut one by one, and the weeds can be collected later by using a suction device. The cutting arm 2 is hingedly mounted on the side of the casing 1. When encountering obstacles such as trees during the overall forward movement of the device, the cutting arm 2 can retreat toward the side of the casing 1. After the device passes by the tree, the cutting arm 2 is reset to its original position for subsequent mowing operations. The mowing structure in the cutting disc 3 requires power, and the power is collected from the power unit 6. There is no need to set up a separate rotation drive for each cutting structure away from the casing 1. In addition, the power for the forward wheel 5 to move forward is also taken from the power unit 6. The forward wheel 5 is provided with a speed matching module to adjust the forward speed of the device. It moves slowly in areas with a lot of weeds, so that the cutting disc 3 can stay for more time to ensure sufficient mowing.

[0040] The housing 1 includes a shell 11, a joint shaft 12, and a joint gear 13. The joint shaft 12 is rotatably arranged on the side of the shell 11, and the joint gear 13 is arranged in the middle of the joint shaft 12.

[0041] The cutting arm 2 includes an arm housing 21, an arm spindle 22, and a relay gear 23. One end of the arm housing 21 is rotatably mounted on the joint shaft 12. The arm spindle 22 is rotatably arranged inside the arm housing 21 along its length direction. The relay gear 23 is arranged at one end of the arm spindle 22 close to the housing 1.

[0042] The power unit 6 includes a power shaft 61 and a power gear 62. The power shaft 61 extends from the inside of the housing 11 to the side of the joint shaft 12. The power gear 62 is arranged at the end of the power shaft 61. The joint gear 13 is meshed with the relay gear 23 and the power gear 62 respectively.

[0043] like Figure 1 , 2As shown, the power shaft 61 has active rotational motion, which is transmitted to the cutting disc 3 according to the transmission path. The joint shaft 12 and the joint gear 13 serve as the installation basis and transmission medium of the cutting arm 2. When in use, when the cutting disc 3 at the end of the cutting arm 2 or the cutting arm itself hits a tree, the cutting arm 2 rotates around the joint shaft 12 to avoid it, and the relay gear 23 always keeps meshing with the joint gear 13. The rotation input by the power gear 62 to the joint gear 13 can be transmitted all the way to the cutting disc 3 at the end of the cutting arm 2 to drive the cutting parts to perform mowing operations. The structure of the joint gear 13 is used to maintain the continuity of transmission. Compared with the universal coupling, the cutting arm 2 can be rotated and avoided in a larger range while the gear 23 can be kept in mesh with the joint gear 13. The wheel contact angle does not change, while the traditional universal coupling structure is not suitable for use in situations where the angle between the two rotating shafts is less than one hundred and twenty degrees. The present application expands the arrangement range of the cutting disc 3 through the cutting arm 2 while taking into account the avoidance of trees. The longer the cutting arm 2, the larger the range that the device can cover in one forward movement. Similarly, when encountering a tree, the angle between the arm shell 21 and the side of the shell 11 caused by the rotation of the cutting arm 2 to avoid will quickly approach zero degrees from the initial ninety degrees. Therefore, the angle between the arm core shaft 22 and the power shaft 61 will also decrease rapidly. In order to be able to use a longer cutting arm 2, a joint shaft 12 and a joint gear 13 are used instead of a universal coupling for transmission.

[0044] The cutting disc 3 includes a disc body 31, a central axis 32, and a cutting blade 33. The central upper end of the disc body 31 is ball-hinged with the end of the arm shell 21. The central axis 32 is rotatably mounted on the disc body 31. The upper end of the central axis 32 is transmission-connected with the arm core shaft 22. The cutting blade 33 is arranged at the lower end of the central axis 32. The outer edge of the disc body 31 is turned downward and a plurality of rollers are arranged.

[0045] The cutting arm 2 also includes a plurality of pressing cylinders 24 and a plurality of elastic bodies 25 . The pressing cylinders 24 extend from the arm shell 21 . The pressing cylinders 24 surround the connection position between the arm shell 21 and the disc body 31 . The elastic bodies 25 are downwardly arranged in the pressing cylinders 24 . The elastic bodies 25 squeeze the upper surface of the disc body 31 .

[0046] like Figure 1 , 3 As shown, the cutting disc 3 is ball-hinged at the end of the arm shell 21, that is, the cutting disc 3 can perform a small range of universal twisting to adapt to different local ground undulations. The elastic body 25 presses the disc body 31 to keep its position in a circle in contact with the ground. The roller prevents the disc body 31 from sinking into the ground. The cutting knife 33 is flush with the bottom edge of the disc body 31, and a gap can be provided on the outer edge of the disc body 31 to allow grass to enter the space where the cutting knife 33 is located in an upright posture.

[0047] The disc body 31 includes a disc body 311, a traction groove 312, a vertical sliding sleeve 313, and a ball hinge shell 314. The cutting disc 3 also includes a traction round table 34, a transmission column 38, and a universal transmission 39.

[0048] An annular inward traction groove 312 is provided at the central position of the disk body 311, an upward vertical sliding sleeve 313 is provided on the central upper surface of the disk body 311, a ball hinge shell 314 is slidably installed in the vertical sliding sleeve 313, a limiting structure is provided between the ball hinge shell 314 and the vertical sliding sleeve 313 along the sliding direction, the upper end of the ball hinge shell 314 is ball-hinged with the arm shell 21, the traction round table 34 is fixed to the upper end of the central axis 32, a transmission hole 321 is provided in the central axis 32, the traction round table 34 is rotatably provided in the traction groove 312, the traction round table 34 is limited in the traction groove 312 along the direction of the central axis 32, the upper end of the transmission column 38 is connected to the arm core shaft 22 through the universal transmission 39, the lower end of the transmission column 38 is inserted into the transmission hole 321 and can slide along the transmission hole 321, and the transmission column 38 is transmitted to the central axis 32.

[0049] like Figure 3 , 4 As shown, the ball hinge of the disc body 31 and the arm shell 21 realizes contour fit with the ground. However, at a position where the ground is sunken, no matter how the disc body 31 is twisted in all directions, it is impossible to keep the lower edge in contact with the ground. Therefore, a lifting structure is configured for the disc body 31 to keep it in contact with the ground in the vertical direction. When the disc body 31 is lowered as a whole, the central axis 32 and the cutting knife 33 also need to be lowered together. Therefore, a traction groove 312 is provided to cooperate with the traction round table 34 so that when the disc body 31 is lowered, the central axis 32 and the cutting knife 33 can also be pulled down together. The transmission column 38 does not descend while maintaining transmission with the central axis 32. The descent range that the disc body 31 can have is based on the elastic stroke of the elastic body 25, which can meet the undulating height difference of the ground in a general orchard.

[0050] A pressing button 26 is disposed at the lower end of the elastic body 25 , and the lower surface of the pressing button 26 is a spherical arc surface.

[0051] like Figure 3 As shown, the elastic body 25 around the ball hinge position of the disc body 31 and the arm shell 21 has different extension and contraction lengths during ground contouring. The push button 26 maintains effective contact between the elastic body 25 and the disc body 31, and the force direction of the elastic body 25 on the disc body 31 is perpendicular to the upper surface of the disc body 31.

[0052] The cutting device further comprises an extension joint 4 , which connects the arm housing 21 and the side wall of the housing 11 , and provides a restoring force for the cutting arm 2 rotating toward the housing 11 .

[0053] like Figure 5 As shown, when a cutting arm 2 is blocked by a tree and rotates and retreats, the extension joint 4 is also compressed accordingly. After leaving the tree, the extension joint 4 pushes the cutting arm 2 to return to the designed position to maintain the maximum mowing range.

[0054] The extension section 4 includes an arm link 41, a shell link 42, and an extension spring 43. The arm link 41 and the shell link 42 are embedded end to end. A sliding limit structure is provided at the maximum position where the arm link 41 and the shell link 42 are separated from each other. The maximum position where the arm link 41 and the shell link 42 are separated from each other corresponds to the design position where the cutting arm 2 is distributed beside the shell 11.

[0055] An extension spring 43 is arranged in the chamber of the mating position of the arm link 41 and the shell link 42 to push the arm link 41 and the shell link 42 to separate from each other. The end of the arm link 41 away from the shell link 42 is hinged to the arm shell 21, and the end of the shell link 42 away from the arm link 41 is hinged to the shell 11.

[0056] like Figure 5 , 6 As shown, when the cutting arm 2 is pushed to avoid, the extension spring 43 is compressed. After leaving the tree, the extension spring 43 pushes the arm link 41 and the shell link 42 to move away from each other to a maximum length state. At this time, the cutting arm 2 is in the designed mowing position.

[0057] When the extension sections 4 are all at their maximum length, the projections of all the cutting discs 2 on a plane vertical to the advancing direction of the cutting device do not overlap with each other.

[0058] like Figure 5 As shown, all cutting discs 3 advance along mutually parallel paths in the advancing direction of the device without overlapping to prevent waste of cutting power resources. The optimal projection arrangement is continuous and non-overlapping.

[0059] The cutting device further comprises a hob 7 , which is arranged at the bottom of the housing 1 , and the axis of the hob 7 is parallel to the axis of the forward wheel 5 .

[0060] like Figure 1 As shown, the cutter 7 is slightly embedded in the ground soil. During the forward movement of the cutting device, some stones and mud blocks are prevented from entering under the forward wheel 5, causing the forward wheel 5 to step unevenly and have a slight path deviation. The cutter 7 is embedded in the ground, and all the forward wheels 5 need to turn synchronously and maintain a certain period of time to complete the path modification process of the device.

[0061] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0062] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An intelligent obstacle avoidance cutting device suitable for multiple terrains, characterized by: The cutting device comprises a casing (1), a cutting arm (2), a cutting disc (3), a forward wheel (5), and a power unit (6); the forward wheel (5) is mounted at the bottom of the casing (1); the power unit (6) is arranged inside the casing (1); there are a plurality of cutting arms (2); the cutting arms (2) are vertically hinged to the side of the casing (1); the cutting disc (3) is arranged at one end of the cutting arm (2) away from the casing (1); and the power unit (6) provides rotational power for the forward wheel (5) and the cutting disc (3); The housing (1) comprises a housing (11), a joint shaft (12), and a joint gear (13); the joint shaft (12) is rotatably arranged on a side of the housing (11), and the joint gear (13) is arranged at a middle position of the joint shaft (12). The cutting arm (2) comprises an arm housing (21), an arm spindle (22), and a relay gear (23); one end of the arm housing (21) is rotatably mounted on the joint shaft (12); the arm spindle (22) is rotatably arranged inside the arm housing (21) along its length direction; and the relay gear (23) is arranged at one end of the arm spindle (22) close to the housing (1). The power unit (6) comprises a power shaft (61) and a power gear (62). The power shaft (61) extends from the inside of the housing (11) and to the side of the joint shaft (12). The power gear (62) is arranged at the end of the power shaft (61). The joint gear (13) is respectively meshed with the relay gear (23) and the power gear (62). The cutting device further comprises an extension joint (4), wherein the extension joint (4) is connected to the arm shell (21) and the side wall of the housing (11), and the extension joint (4) provides a restoring force for the cutting arm (2) rotating toward the housing (11); The cutting disc (3) comprises a disc body (31), a central shaft (32), and a cutting knife (33). The central upper end of the disc body (31) is ball-hinged with the end of the arm shell (21). The central shaft (32) is rotatably mounted on the disc body (31). The upper end of the central shaft (32) is transmission-connected with the arm core shaft (22). The cutting knife (33) is arranged at the lower end of the central shaft (32). The outer edge of the disc body (31) is turned downward and is provided with a plurality of rollers. The cutting arm (2) further comprises a plurality of pressing cylinders (24) and a plurality of elastic bodies (25), wherein the pressing cylinders (24) extend from the arm shell (21), surround the connection position between the arm shell (21) and the disc body (31), and the elastic bodies (25) are arranged downward in the pressing cylinders (24), and the elastic bodies (25) press the upper surface of the disc body (31); The disc body (31) comprises a disc body (311), a traction groove (312), a vertical sliding sleeve (313), and a ball hinge shell (314); the cutting disc (3) further comprises a traction round table (34), a transmission column (38), and a universal transmission (39). An annular inward traction groove (312) is provided at the central position of the disk body (311); an upward vertical sliding sleeve (313) is provided on the central upper surface of the disk body (311); the ball hinge shell (314) is slidably installed in the vertical sliding sleeve (313); a limiting structure is provided between the ball hinge shell (314) and the vertical sliding sleeve (313) along the sliding direction; the upper end of the ball hinge shell (314) is ball-hinged with the arm shell (21); the traction round table (34) is fixed to the upper end of the central shaft (32) A transmission hole (321) is arranged in the middle shaft (32), the traction round table (34) is rotatably arranged in the traction groove (312), the traction round table (34) is limited in the traction groove (312) along the direction of the middle shaft (32), the upper end of the transmission column (38) is connected to the arm core shaft (22) through a universal transmission (39), the lower end of the transmission column (38) is inserted into the transmission hole (321) and can slide along the transmission hole (321), and the transmission column (38) is transmitted to the middle shaft (32).

2. The intelligent obstacle avoidance cutting device suitable for multiple terrains according to claim 1, characterized in that: A pressing button (26) is provided at the lower end of the elastic body (25), and the lower surface of the pressing button (26) is a spherical arc surface.

3. The intelligent obstacle avoidance cutting device suitable for multiple terrains according to claim 1 is characterized in that: The extension joint (4) comprises an arm connecting rod (41), a shell connecting rod (42), and an extension spring (43); the arm connecting rod (41) and the shell connecting rod (42) are nested end to end; a sliding limit structure is provided at a position where the arm connecting rod (41) and the shell connecting rod (42) are at their maximum distance from each other; and the position where the arm connecting rod (41) and the shell connecting rod (42) are at their maximum distance from each other corresponds to a designed position where the cutting arm (2) is distributed beside the shell (11).

4. The intelligent obstacle avoidance cutting device suitable for multiple terrains according to claim 3 is characterized in that: The arm link (41) and the shell link (42) are provided with an extension spring (43) in the chamber of the mating position to push the arm link (41) and the shell link (42) to separate from each other; one end of the arm link (41) away from the shell link (42) is hinged to the arm shell (21); and one end of the shell link (42) away from the arm link (41) is hinged to the shell (11).

5. The intelligent obstacle avoidance cutting device suitable for multiple terrains according to claim 4, characterized in that: When the extension joints (4) are all in a state of maximum length, the projections of all the cutting discs (3) on a plane vertical to the forward direction of the cutting device do not overlap.

6. The intelligent obstacle avoidance cutting device suitable for multiple terrains according to claim 1, characterized in that: The cutting device also includes a roller cutter (7), wherein the roller cutter (7) is arranged at the bottom of the housing (1), and the axis of the roller cutter (7) is parallel to the axis of the forward wheel (5).

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