Adaptive terrain mowing and gathering device

Abstract

The present application relates to a kind of self-adapting terrain mowing grass collecting device, including frame, storage box, grass collecting mechanism, positive pressure mechanism, profiling mechanism, hob type mowing grass mechanism, walking mechanism, terrain monitoring mechanism.The hob type mowing grass mechanism includes drum type cutter, right cutter connecting piece, connecting lug, hollow telescopic rod, hob shaft, first bearing, second bearing, cutter, motor base, third bearing, servo motor, coupling, connecting I-shaped piece, left cutter connecting piece;The grass collecting mechanism includes ball screw, push plate connecting piece, stepper motor, screw fixed frame, weighing meter, push plate, push plate fixing piece, short baffle, long baffle;Complete in large sample field or grassland heterogeneity strong sample field in mowing grass collecting task, realize the uniformity of stubble height after grass sample cutting, and timely obtain the data of vegetation collection in quadrat, provide scientific basis for scientific grazing and grassland recovery work.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ground profiling mowing and positive pressure blowing grass collecting, and particularly relates to a self-adaptive terrain mowing and collecting device. BACKGROUND

[0002] Grassland, as an important natural resource in the terrestrial ecosystem, plays a key role in maintaining ecological balance, protecting biodiversity, water conservation, and climate regulation. Grassland is not only an important ecological security barrier, but also the basic means of production for the survival and development of the vast number of farmers and herdsmen. However, due to the dual effects of climate change and human activities, especially overgrazing, grasslands in different regions have undergone varying degrees of degradation, affecting the productivity and ecological functions of grasslands, and further affecting the sustainable development of grassland animal husbandry.

[0003] To effectively evaluate the grassland environment, the method of accurately monitoring the grassland biomass can be used to provide scientific basis for scientific grazing and grassland restoration, and effectively guide the grassland ecological restoration project. The traditional biomass monitoring method is the artificial direct cutting method, which randomly frames an area of 1 square meter or 0.25 square meter in the sample plot, cuts the aboveground vegetation in the sample plot, collects the standing dead and litter, and then weighs them after being packed in bags. However, this method is easily affected by human factors, the stubble height of the grass sample in the sample plot cannot be kept consistent, there is a loss in the collection of vegetation, it takes a long time and is not efficient. For multiple frequency and high density sample collection, the artificial direct cutting method requires more manpower and material resources, and it is difficult to ensure the timeliness and accuracy of the sample data collection.

[0004] Therefore, in the face of large sample plots or sample plots with strong heterogeneity, how to quickly and efficiently cut the grass in the sample plot, ensure the uniformity of the stubble height after cutting the grass sample, reduce the loss rate of aboveground vegetation collection, and obtain the data of vegetation collection in the sample plot in a timely manner, is still a problem to be solved in the current technical development. SUMMARY

[0005] The present application aims to provide a self-adaptive terrain mowing and collecting device to solve the above-mentioned problems in the working scenario.

[0006] To achieve the above-mentioned purpose, the present application provides the following technical solution:

[0007] A self-adaptive terrain mowing and collecting device, comprising:

[0008] The vehicle frame comprises a frame, a storage box, a grass collecting mechanism, a positive pressure mechanism, a profiling mechanism, a reel-type mowing mechanism, a walking mechanism, and a terrain monitoring mechanism. The frame is constructed of aluminum profiles and is connected to the walking mechanism through multiple wheel forks. The middle and rear parts of the frame are respectively provided with a grass collecting mechanism and a storage box. The front part of the frame is provided with a positive pressure mechanism and a terrain monitoring mechanism. The bottom of the frame is connected to the reel-type mowing mechanism through a profiling mechanism.

[0009] The storage box is composed of aluminum profiles and multiple short side panels, long side panels, and a bottom panel, and is used to store components such as batteries and servo drives. The running mechanism is composed of a right front wheel, a left front wheel, a left rear wheel, and a right rear wheel. The wheels are all composed of a fork, a hub axle, and a tire. The right front wheel and the left front wheel are equipped with hub motors as driving wheels, the left rear wheel and the right rear wheel are driven wheels, and the rear wheels cooperate with the front wheels for differential steering.

[0010] The contouring mechanism consists of a right contouring arm and a left contouring arm. The right contouring arm and the left contouring arm have the same structure and are symmetrically arranged on the frame. They are both composed of a fixed lifting eye, a first steering gear, a rotating joint, and a second steering gear. The upper part of the fixed lifting eye is fixedly connected to the frame by a bolt, and the lower part is fixedly connected to the output shaft of the first steering gear. The rotating joint is fixedly connected to the first steering gear, and the second steering gear is fixedly arranged on the rotating joint. When the right contouring arm is working, the fixed lifting eye always remains stationary, and the rotating joint rotates around the output shaft of the first steering gear. Therefore, the right contouring arm remains in a vertical plane when working. Similarly, the left contouring arm also remains in a vertical plane when working.

[0011] The reel-type mowing mechanism consists of a roller-type cutter, a right fixed blade connector, a connecting lug, a hollow telescopic rod, a reel shaft, a first bearing, a second bearing, a fixed blade, a motor seat, a third bearing, a servo motor, a coupling, a connecting piece, and a left fixed blade connector. The output shaft of the servo motor is connected to the reel shaft through a coupling. The roller-type cutter is fixedly arranged on the reel shaft. The coupling is arranged inside the motor seat. The inner ring of the third bearing is arranged on the reel shaft. The right end of the motor seat is fixedly connected to the servo motor, and the center hole of the left end is arranged on the outer ring of the third bearing. The connecting piece The component is fixedly arranged on one side of the motor base, the inner rings of the first bearing and the second bearing are fixedly arranged on the hob shaft, the inner ring of the large diameter end of the hollow telescopic rod is fixedly arranged on the outer ring of the second bearing, and the inner ring of the small diameter end is slidably arranged on the outer ring of the first bearing, the inner ring of the connecting ear is fixedly arranged on the outer ring of the small diameter end of the hollow telescopic rod, the inner ring of the upper circular hole of the left fixed knife connecting component is arranged on the outer ring of the third bearing, and is fixedly connected to the motor base, and the lower part is fixedly connected to the fixed knife, the upper inner ring of the right fixed knife connecting component is fixedly arranged on the outer ring of the large diameter end of the hollow telescopic rod, and the lower part is fixedly connected to the fixed knife.

[0012] The lower part of the fixed blade is provided with comb-like teeth, which are used to shovel up dead grass and prevent grass samples from gathering and causing blockage. The connecting lugs and the connecting I-shaped parts are fixedly connected to the second servo output shafts in the right profiling arm and the left profiling arm respectively. The position state of the roller mowing mechanism is controlled by the profiling mechanism. When the grass sample is on a flat ground, the two symmetrically arranged first servos maintain the same angular displacement output, and the upper planes of the two rotating joints are always in the same plane, controlling the reel-type mowing mechanism to always move up and down parallel to the ground to work. When the grass sample is on an inclined ground, the reel-type mowing mechanism needs to be tilted at an angle to meet the requirement of working parallel to the ground. The following method is used to meet this condition: the symmetrically arranged first servos output different angular displacements, and the upper planes of the two rotating joints are not in the same plane. The hollow telescopic rod is extended to make the reel-type mowing mechanism axially extended, and the two second servos output angular displacements to make the connecting lugs and the connecting parts tilted according to the inclination angle of the reel-type mowing mechanism. Therefore, the profiling mechanism can control the reel-type mowing mechanism to profile the ground when it is working, and the left end face of the drum-type cutter of the reel-type mowing mechanism only has up and down displacement, and does not move left and right, and can be used as a reference end to better plan the mowing path.

[0013] The grass collecting mechanism consists of a ball screw, a push plate connecting piece, a stepping motor, a screw fixing frame, a weighing scale, a push plate, a push plate fixing piece, a short baffle and a long baffle. The stepping motor is fixedly connected to the ball screw, the ball screw is fixedly connected to the screw fixing frame, the screw fixing frame is fixedly connected to the frame, the push plate connecting piece is fixedly connected to the screw nut seat, the push plate connecting piece is fixedly connected to the push plate through the push plate fixing piece, the push plate is slidably arranged on the upper part of the weighing scale, the short baffle and the long baffle are fixedly connected to the aluminum profile, and together with the weighing scale form a grass collecting space.

[0014] The weighing meter is composed of multiple aluminum profiles, a carrying plate, a weighing sensor, and a sensor fixing seat. The sensor fixing seat is fixedly connected to the aluminum profile, the weighing sensor is fixedly set on the sensor fixing seat, and the carrying plate is fixedly set on the weighing sensor. The stepper motor output shaft is fixedly connected to the ball screw input shaft, so that the rotational motion of the stepper motor is converted into linear motion through the ball screw, thereby driving the push plate to move. Before the roller-type mowing mechanism works, the push plate is set on the side close to the short baffle. After the roller-type mowing mechanism works, the grass clippings are thrown into the grass collecting mechanism by the inertial force exerted by the rotation of the drum-type cutter. After the carrying plate is loaded, they are weighed in real time by the weighing sensor. After the grass sample in the sample is harvested, the grass clippings are collected by the grass collecting mechanism. Then the trolley arrives at the designated location and pushes the collected grass clippings out of the grass collecting mechanism through the push plate for unified management of the grass clippings.

[0015] The positive pressure mechanism is composed of a fan, an air supply pipe, a support base, and an air outlet pipe. The fan is arranged on the support base, the support base is fixedly connected to the frame, the air inlet of the air supply pipe is fixedly connected to the air outlet end of the fan, the air outlet of the air supply pipe is fixedly connected to the air inlet of the air outlet pipe, and the air outlet of the air outlet pipe is composed of multiple holes. The positive pressure mechanism and the roller-type mowing mechanism work simultaneously to prevent the grass clippings from being unable to fly to the grass collecting mechanism due to the inertia force applied by the rotation of the drum cutter being too small, and to prevent the grass clippings from rotating and flying in front of the device due to the inertia force applied by the rotation of the drum cutter, thereby reducing the grass collection loss rate.

[0016] The terrain monitoring mechanism consists of a camera and a bracket. The bracket is set on a support seat, and the camera is installed on the bracket. When the reel-type mowing mechanism is working, the camera collects ground information. The upper computer receives and processes the information and controls the servo drive to automatically adjust the profiling mechanism, thereby controlling the reel-type mowing mechanism to always work parallel to the ground and closer to the ground, so that the grass stubble after harvesting is more uniform and the stubble height is lower.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. Before the device reaches the plot location, the contouring mechanism controls the reel mower mechanism to rise to its maximum height to prevent it from hitting the ground and causing damage during travel. After the device reaches the plot location, the reel mower mechanism is lowered and the mowing path is planned, using the left end of the reel mower's drum cutter as a reference, to ensure mowing within the specified plot.

[0019] 2. After the reel-type mowing mechanism starts working, the terrain monitoring mechanism collects ground information. The upper computer receives and processes the information and controls the servo drive to automatically adjust the contour mechanism. The reel-type mowing mechanism is then controlled to always operate parallel to the ground and as low as possible from the ground to ensure that the grass stubble after harvest is more uniform and the stubble height is lower.

[0020] 3. The positive pressure mechanism works synchronously with the reel-type mowing mechanism. The grass clippings harvested by the reel-type mowing mechanism are thrown to the grass collecting mechanism by the inertial force exerted by the rotating drum cutter. At the same time, the positive pressure mechanism blows air toward the grass collecting mechanism to exert positive force on the grass clippings, thereby preventing the grass clippings from being unable to fly to the grass collecting mechanism due to the inertial force exerted by the rotating drum cutter being too small, and from rotating and flying in front of the device due to the inertial force exerted by the rotating drum cutter, thereby reducing the grass clipping loss rate.

[0021] 4. The front end of the fixed blade is equipped with a row of comb-like teeth to further collect dead and fallen matter, which is then fed into the grass collecting mechanism along with the grass clippings, ensuring the accuracy of biomass data collection. The grass collecting mechanism is equipped with a scale, which can weigh the collected samples in real time while working in the sample plot, and timely obtain and store the collected data within the sample plot.

[0022] 5. Before the grass collecting mechanism collects grass samples, a push plate is set on the side close to the short baffle. After the grass sample in a sample plot is harvested, the device raises the reel-type mowing mechanism to the maximum height, and then reaches the designated sample placement site. The collected grass clippings are pushed out of the grass collecting mechanism by the push plate, and are collected and sealed by the sampling bag placed at the outlet of the grass collecting mechanism for unified management of the grass clippings.

[0023] Advantages of additional aspects of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0025] Figure 1 Schematic diagram of the overall structure of an adaptive terrain mowing and collecting device in one embodiment of the present invention;

[0026] Figure 2 This is a structural diagram of a storage box in one embodiment of the present invention;

[0027] Figure 3 A schematic diagram of the structure of the traveling mechanism and its positional relationship with the vehicle frame and the contouring mechanism in one embodiment of the present invention;

[0028] Figure 4 A schematic diagram of the structure of the profiling mechanism and its positional relationship with the reel-type mowing mechanism in one embodiment of the present invention;

[0029] Figure 5 Schematic diagram of the exploded structure of a reel-type mowing mechanism according to one embodiment of the present invention;

[0030] Figure 6 This is a structural diagram of a grass collecting mechanism in one embodiment of the present invention;

[0031] Figure 7 A schematic structural diagram of a weighing meter according to an embodiment of the present invention;

[0032] Figure 8 A schematic structural diagram of a positive pressure mechanism and a terrain monitoring mechanism in one embodiment of the present invention;

[0033] The meaning of each reference numeral in the accompanying drawings:

[0034] 1-frame, 2-storage box, 3-grass collecting mechanism, 4-positive pressure mechanism, 5-profile mechanism, 6-reel mowing mechanism, 7-travel mechanism, 8-terrain monitoring mechanism;

[0035] 2-1 short side plank, 2-2 long side plank, 2-3 bottom plank;

[0036] 3-1 ball screw, 3-2 push plate connector, 3-3 stepper motor, 3-4 screw fixing bracket, 3-5 weighing scale, 3-6 push plate, 3-7 push plate fixing, 3-8 short baffle, 3-9 long baffle, 3-5-1 carrier plate, 3-5-2 weighing sensor, 3-5-3 sensor fixing base, screw nut base 3-1-1;

[0037] 4-1 fan, 4-2 air supply pipe, 4-3 support base, 4-4 air outlet pipe;

[0038] 5-1 Contour arm, 5-2 Left contour arm, 5-1-1 Fixed lifting eye, 5-1-2 First servo, 5-1-3 Rotating joint, 5-1-4 Second servo;

[0039] 6-1 Drum cutter, 6-2 Right fixed knife connector, 6-3 Connecting lug, 6-4 Hollow telescopic rod, 6-5 Hob cutter shaft, 6-6 First bearing, 6-7 Second bearing, 6-8 Fixed knife, 6-9 Motor base, 6-10 Third bearing, 6-11 Servo motor, 6-12 Coupling, 6-13 Connecting piece, 6-14 Left fixed knife connector;

[0040] 7-1 right front wheel, 7-2 left front wheel, 7-3 left rear wheel, 7-4 right rear wheel, 7-1-1 fork, 7-1-2 hub axle, 7-1-3 tire;

[0041] 8-1 camera, 8-2 bracket;

[0042] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0043] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present invention belongs.

[0044] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0045] In the absence of conflict, the embodiments of the present invention and the features thereof may be combined with each other.

[0046] The technical solutions of the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0047] An adaptive terrain mowing and collecting device, comprising a frame 1, a storage box 2, a collecting mechanism 3, a positive pressure mechanism 4, a profiling mechanism 5, a rolling cutter mowing mechanism 6, a walking mechanism 7, a terrain monitoring mechanism 8, the frame 1 is built by aluminum profiles, connected with the walking mechanism 7 through a plurality of wheel forks 7-1-1, the middle and rear parts of the frame 1 are respectively provided with the collecting mechanism 3 and the storage box 2, the front part of the frame 1 is provided with the positive pressure mechanism 4 and the terrain monitoring mechanism 8, and the bottom of the frame 1 is connected with the rolling cutter mowing mechanism 6 through the profiling mechanism 5.

[0048] The composition structure of the storage box 2 and the walking mechanism 7 of the adaptive terrain mowing and collecting device further comprises the following details:

[0049] The storage box 2 is composed of aluminum profiles and a plurality of short side plates 2-1, long side plates 2-2 and bottom plates 2-3, used for placing components such as batteries and rudder drivers, the walking mechanism 7 is composed of a right front wheel 7-1, a left front wheel 7-2, a left rear wheel 7-3 and a right rear wheel 7-4, each wheel is composed of a wheel fork 7-1-1, a hub shaft 7-1-2 and a tire 7-1-3, the right front wheel 7-1 and the left front wheel 7-2 are provided with a hub motor as a driving wheel, the left rear wheel 7-3 and the right rear wheel 7-4 are driven wheels, and the rear wheels cooperate with the front wheels to perform differential steering.

[0050] The composition structure of the profiling mechanism 5 of the adaptive terrain mowing and collecting device further comprises the following details:

[0051] The profiling mechanism 5 is composed of a right profiling arm 5-1 and a left profiling arm 5-2, the right profiling arm 5-1 and the left profiling arm 5-2 are the same structure and are symmetrically arranged on the frame 1, each is composed of a fixed lifting lug 5-1-1, a first rudder 5-1-2, a rotating joint 5-1-3 and a second rudder 5-1-4, the upper part of the fixed lifting lug 5-1-1 is fixedly connected to the frame 1 through a bolt, and the lower part is fixedly connected to the output shaft of the first rudder 5-1-2, the rotating joint 5-1-3 is fixedly connected to the first rudder 5-1-2, and the second rudder 5-1-4 is fixedly arranged on the rotating joint 5-1-3, when the right profiling arm 5-1 works, the fixed lifting lug 5-1-1 always remains stationary, and the rotating joint 5-1-3 rotates around the output shaft of the first rudder 5-1-2, therefore, the right profiling arm 5-1 works in a vertical plane, and by analogy, the left profiling arm 5-2 also works in a vertical plane.

[0052] The composition structure of the rolling cutter mowing mechanism 6 of the adaptive terrain mowing and collecting device further comprises the following details:

[0053] The roller-type mowing mechanism 6 consists of a roller-type cutter 6-1, a right fixed-knife connector 6-2, a connecting lug 6-3, a hollow telescopic rod 6-4, a roller shaft 6-5, a first bearing 6-6, a second bearing 6-7, a fixed knife 6-8, a motor seat 6-9, a third bearing 6-10, a servo motor 6-11, a coupling 6-12, a connecting piece 6-13, and a left fixed-knife connector 6-14. The output shaft of the servo motor 6-11 is connected to the roller shaft 6-5 through the coupling 6-12. The roller-type cutter 6-1 is fixedly arranged on the roller shaft 6-5. The coupling 6-12 is arranged inside the motor seat 6-9. The inner ring of the third bearing 6-10 is arranged on the roller shaft 6-5. The right end of the motor seat 6-9 is fixedly connected to the servo motor 6-11, and the center hole of the left end is arranged On the outer ring of the third bearing 6-10, the connecting I-shaped part 6-13 is fixedly set on one side of the motor seat 6-9, the inner rings of the first bearing 6-6 and the second bearing 6-7 are fixedly set on the hob shaft 6-5, the inner ring of the large diameter end of the hollow telescopic rod 6-4 is fixedly set on the outer ring of the second bearing 6-7, and the inner ring of the small diameter end is slidingly set on the outer ring of the first bearing 6-6, the inner ring of the connecting ear 6-3 is fixedly set on the outer ring of the small diameter end of the hollow telescopic rod 6-4, the inner ring of the upper circular hole of the left fixed knife connecting member 6-14 is set on the outer ring of the third bearing 6-10, and is fixedly connected to the motor seat 6-9, and the lower part is fixedly connected to the fixed knife 6-8, the upper inner ring of the right fixed knife connecting member 6-2 is fixedly set on the outer ring of the large diameter end of the hollow telescopic rod 6-4, and the lower part is fixedly connected to the fixed knife 6-7.

[0054] Furthermore, the structure and movement of the reel-type mowing mechanism 6 of the adaptive terrain mowing and collecting device are supplemented as follows:

[0055] The lower portion of the fixed blade 6-7 is provided with comb-like teeth, which are used to scoop up dead grass and prevent grass samples from accumulating and causing blockages. The connecting lug 6-3 and the connecting workpiece 6-13 are fixedly connected to the output shafts of the second servos 5-1-4 in the right profiling arm 5-1 and the left profiling arm 5-2, respectively. The position of the reel-type mowing mechanism 6 is controlled by the profiling mechanism 5. When the grass sample is located on a flat surface, the two symmetrically arranged first servos 5-1-2 maintain the same angular displacement output, and the upper planes of the two rotating joints 5-1-3 always lie in the same plane, controlling the reel-type mowing mechanism 6 to always move up and down parallel to the ground to operate. When the grass sample is located on an inclined surface, the reel-type mowing mechanism 6 needs to be tilted at an angle to meet the requirement of parallelism. The following method is used to meet this condition: the symmetrically arranged first servos 5-1-2 output different angular displacements, and the two rotating joints 5-1-3 always lie on the same plane. 3 are not in the same plane, the hollow telescopic rod 6-4 is extended, so that the reel-type mowing mechanism 6 is axially extended, and the two second servos 5-1-4 output angular displacement, so that the connecting lug 6-3 and the connecting I-shaped piece 6-13 are tilted according to the inclination angle of the reel-type mowing mechanism 6. Therefore, the profiling mechanism 5 can control the reel-type mowing mechanism 6 to profile the ground when it is working, and the left end face of the drum-type cutter 6-1 of the reel-type mowing mechanism 6 only has up and down displacement, and does not move left and right, and can be used as a reference end to better plan the mowing path.

[0056] The grass collecting mechanism 3 of the adaptive terrain mowing and collecting device also includes the following details:

[0057] The grass collecting mechanism 3 is composed of a ball screw 3-1, a push plate connecting member 3-2, a stepping motor 3-3, a screw fixing frame 3-4, a weighing scale 3-5, a push plate 3-6, a push plate fixing member 3-7, a short baffle 3-8, and a long baffle 3-9. The stepping motor 3-3 is fixedly connected to the ball screw 3-1, the ball screw 3-1 is fixedly connected to the screw fixing frame 3-4, the screw fixing frame 3-4 is fixedly connected to the frame, the push plate connecting member 3-2 is fixedly connected to the screw nut seat 3-1-1, the push plate connecting member 3-2 is fixedly connected to the push plate 3-6 through the push plate fixing member 3-7, the push plate 3-6 is slidably arranged on the upper part of the weighing scale 3-5, the short baffle 3-8 and the long baffle 3-9 are fixedly connected to the aluminum profile, and together with the weighing scale 3-5 form a grass collecting space.

[0058] Furthermore, the structure and movement of the grass collecting mechanism 3 of the adaptive terrain mowing and collecting device are supplemented as follows:

[0059] The weighing meter 3-5 is composed of multiple aluminum profiles, a carrier plate 3-5-1, a weighing sensor 3-5-2, and a sensor fixing seat 3-5-3. The sensor fixing seat 3-5-3 is fixedly connected to the aluminum profile. The weighing sensor 3-5-2 is fixedly set on the sensor fixing seat 3-5-3. The carrier plate 3-5-1 is fixedly set on the weighing sensor 3-5-2. The output shaft of the stepper motor 3-3 is fixedly connected to the input shaft of the ball screw 3-1, so that the rotational motion of the stepper motor 3-3 is converted into a linear motion through the ball screw 3-1. The grass is then moved by the push plate 3-6, which is arranged on the side close to the short baffle 3-8 before the reel-type mowing mechanism 6 starts working. After the reel-type mowing mechanism 6 starts working, the grass clippings are thrown into the grass collecting mechanism 3 by the inertial force exerted by the rotation of the drum-type cutter 6-1. After the carrying plate 3-5-1 carries the grass, it is weighed in real time by the weighing sensor 3-5-2. After the grass sample in the sample is harvested, the grass clippings are collected by the grass collecting mechanism 3. Then the trolley arrives at the designated location and pushes the collected grass clippings out of the grass collecting mechanism 3 through the push plate 3-6 for unified management of the grass clippings.

[0060] The positive pressure mechanism 4 of the adaptive terrain mowing and collecting device also includes the following details:

[0061] The positive pressure mechanism 4 is composed of a fan 4-1, an air supply pipe 4-2, a support base 4-3, and an air outlet pipe 4-4. The fan 4-1 is arranged on the support base 4-3, and the support base 4-3 is fixedly connected to the frame 1. The air inlet of the air supply pipe 4-2 is fixedly connected to the air outlet end of the fan 4-1, and the air outlet of the air supply pipe 4-2 is fixedly connected to the air inlet of the air outlet pipe 4-4. The air outlet of the air outlet pipe 4-4 is composed of a plurality of holes. The positive pressure mechanism 4 and the roller-type mowing mechanism 6 work simultaneously to prevent the grass clippings from being unable to fly to the grass collecting mechanism 3 due to the inertia force applied by the rotation of the drum cutter 6-1 being too small, and to prevent the grass clippings from rotating and flying in front of the device due to the inertia force applied by the rotation of the drum cutter 6-1, thereby reducing the grass collection loss rate.

[0062] The terrain monitoring mechanism 8 of the adaptive terrain mowing and collecting device also comprises the following details:

[0063] The terrain monitoring mechanism 8 is composed of a camera 8-1 and a bracket 8-2. The bracket 8-2 is set on the support base 4-3, and the camera 8-1 is installed on the bracket 8-2. When the reel-type mowing mechanism 6 is working, the camera 8-1 collects ground information. The upper computer receives and processes the information and controls the servo drive to automatically adjust the profiling mechanism 5, thereby controlling the reel-type mowing mechanism 6 to always work parallel to the ground and closer to the ground, so that the grass stubble after harvesting is more uniform and the stubble height is lower.

Claims

1. An adaptive terrain mowing and collecting device, characterized in that: include: A vehicle frame (1), a storage box (2), a grass collecting mechanism (3), a positive pressure mechanism (4), a profiling mechanism (5), a roller-type mowing mechanism (6), a walking mechanism (7), and a terrain monitoring mechanism (8); the vehicle frame (1) is connected to the walking mechanism (7) via a plurality of wheel forks (7-1-1); the middle and rear portions of the vehicle frame (1) are provided with a grass collecting mechanism (3) and a storage box (2); the front portion of the vehicle frame (1) is provided with a positive pressure mechanism (4) and a terrain monitoring mechanism (8); and the bottom portion of the vehicle frame (1) is connected to the roller-type mowing mechanism (6) via the profiling mechanism (5); The profiling mechanism (5) is composed of a right profiling arm (5-1) and a left profiling arm (5-2). The right profiling arm (5-1) and the left profiling arm (5-2) have the same structure and are symmetrically arranged on the vehicle frame (1). They are both composed of a fixed lifting lug (5-1-1), a first steering gear (5-1-2), a rotating joint (5-1-3), and a second steering gear (5-1-4). The upper part of the fixed lifting lug (5-1-1) is fixedly connected to the vehicle frame (1) by a bolt, and the lower part is fixedly connected to the output shaft of the first steering gear (5-1-2). The rotating joint (5-1-3) is fixedly connected to the first steering gear (5-1-2). The second steering gear (5-1-4) is fixedly arranged on the rotating joint (5-1-3). The right profiling arm (5-1) During operation, the fixed lifting lug (5-1-1) always remains stationary, and the rotating joint (5-1-3) rotates around the output shaft of the first steering gear (5-1-2), so that the right contour arm (5-1) can be kept working in a vertical plane. Similarly, the left contour arm (5-2) can also be kept working in a vertical plane, so that the roller-type mowing mechanism (6) can be controlled to always work parallel to the ground. The roller-type mowing mechanism (6) comprises a roller-type cutter (6-1), a right fixed blade connecting member (6-2), a connecting lifting lug (6-3), a hollow telescopic rod (6-4), a roller shaft (6-5), a first bearing (6-6), a second bearing (6-7), a fixed blade (6-8), a motor seat (6-9), a third bearing (6-10), a servo motor (6-11), and a plurality of other components. 11), a coupling (6-12), a connecting piece (6-13), and a left fixed knife connecting piece (6-14). The output shaft of the servo motor (6-11) is connected to the hob shaft (6-5) through the coupling (6-12). The drum cutter (6-1) is fixedly arranged on the hob shaft (6-5). The coupling (6-12) is arranged inside the motor base (6-9). The inner ring of the third bearing (6-10) is arranged on the hob shaft (6-5). The right end of the motor base (6-9) is fixedly connected to the servo motor (6-11), and the center hole of the left end is arranged on the outer ring of the third bearing (6-10). The connecting piece (6-13) is fixedly arranged on one side of the motor base (6-9). The first bearing (6- 6) The inner ring of the second bearing (6-7) is fixedly arranged on the hob shaft (6-5), the inner ring of the large diameter end of the hollow telescopic rod (6-4) is fixedly arranged on the outer ring of the second bearing (6-7), and the inner ring of the small diameter end is slidably arranged on the outer ring of the first bearing (6-6), the inner ring of the connecting lug (6-3) is fixedly arranged on the outer ring of the small diameter end of the hollow telescopic rod (6-4), the inner ring of the upper circular hole of the left fixed knife connecting piece (6-14) is arranged on the outer ring of the third bearing (6-10), and is fixedly connected to the motor base (6-9), and the lower part is fixedly connected to the fixed knife (6-8), the inner ring of the upper part of the right fixed knife connecting piece (6-2) is fixedly arranged on the outer ring of the large diameter end of the hollow telescopic rod (6-4), and the lower part is fixedly connected to the fixed knife (6-8);The lower part of the fixed blade (6-8) is provided with comb-shaped teeth for shoveling dry grass and preventing grass samples from gathering and causing blockage. The connecting lug (6-3) and the connecting workpiece (6-13) are fixedly connected to the output shafts of the second servos (5-1-4) in the right profiling arm (5-1) and the left profiling arm (5-2), respectively. The position state of the reel-type mowing mechanism (6) is controlled by the profiling mechanism (5). When the grass sample is located on a flat ground, the two symmetrically arranged first servos (5-1-2) maintain the same angular displacement output, and the upper planes of the two rotating joints (5-1-3) are always in the same plane, controlling the reel-type mowing mechanism (6) to always move up and down parallel to the ground to work. When the grass sample is located on an inclined ground, the position of the reel-type mowing mechanism (6) needs to be tilted at an angle to meet the parallelism. The following method is used to meet this condition: the symmetrically arranged first servos (5-1-2) output different angular displacements, the upper planes of the two rotating joints (5-1-3) are not in the same plane, the hollow telescopic rod (6-4) is extended, and the roller-type mowing mechanism (6) is axially extended. The two second servos (5-1-4) output angular displacements, so that the connecting lugs (6-3) and the connecting workpieces (6-13) are tilted in accordance with the tilt angle of the roller-type mowing mechanism (6). Therefore, the profiling mechanism (5) can control the roller-type mowing mechanism (6) to profile the ground when it is working, and the left end face of the roller-type cutter (6-1) of the roller-type mowing mechanism (6) only has up-down displacement and no left-right movement, and can be used as a reference end to better plan the mowing path.

2. The adaptive terrain mowing and collecting device according to claim 1, characterized in that: The grass collecting mechanism (3) is composed of a ball screw (3-1), a push plate connecting member (3-2), a stepping motor (3-3), a screw fixing frame (3-4), a weighing meter (3-5), a push plate (3-6), a push plate fixing member (3-7), a short baffle (3-8), and a long baffle (3-9). The stepping motor (3-3) is fixedly connected to the ball screw (3-1), the ball screw (3-1) is fixedly connected to the screw fixing frame (3-4), and the ball screw (3-1) is fixedly connected to the screw fixing frame (3-4). The bar fixing frame (3-4) is fixedly connected to the vehicle frame, the push plate connecting member (3-2) is fixedly connected to the screw nut seat (3-1-1), the push plate connecting member (3-2) is fixedly connected to the push plate (3-6) via the push plate fixing member (3-7), the push plate (3-6) is slidably arranged on the upper part of the weighing meter (3-5), and the short baffle (3-8) and the long baffle (3-9) are fixedly connected to the aluminum profile, and together with the weighing meter (3-5) form a grass collecting space.

3. The adaptive terrain mowing and collecting device according to claim 2, characterized in that: The weighing meter (3-5) is composed of a plurality of aluminum profiles, a bearing plate (3-5-1), a weighing sensor (3-5-2), and a sensor fixing seat (3-5-3). The sensor fixing seat (3-5-3) is fixedly connected to the aluminum profile. The weighing sensor (3-5-2) is fixedly arranged on the sensor fixing seat (3-5-3). The bearing plate (3-5-1) is fixedly arranged on the weighing sensor (3-5-2). The output shaft of the stepping motor (3-3) is fixedly connected to the input shaft of the ball screw (3-1), so that the rotational motion of the stepping motor (3-3) is converted into a rotational motion through the ball screw (3-1). The linear motion drives the push plate (3-6) to move. Before the reel-type mowing mechanism (6) works, the push plate (3-6) is set on the side close to the short baffle (3-8). After the reel-type mowing mechanism (6) works, the grass clippings are thrown into the grass collecting mechanism (3) by the inertial force applied by the rotation of the roller-type cutter (6-1). After the carrying plate (3-5-1) carries the grass clippings, the grass clippings are weighed in real time by the weighing sensor (3-5-2). After the grass sample in the sample is harvested, the grass clippings are collected by the grass collecting mechanism (3). Then, the trolley arrives at the designated location and pushes the collected grass clippings out of the grass collecting mechanism (3) through the push plate (3-6) for unified management of the grass clippings.

4. The adaptive terrain mowing and collecting device according to claim 1, characterized in that: The positive pressure mechanism (4) is composed of a fan (4-1), an air delivery pipe (4-2), a support seat (4-3), and an air outlet pipe (4-4). The fan (4-1) is arranged on the support seat (4-3). The support seat (4-3) is fixedly connected to the vehicle frame (1). The air inlet of the air delivery pipe (4-2) is fixedly connected to the air outlet end of the fan (4-1). The air outlet of the air delivery pipe (4-2) is fixedly connected to the air inlet of the air outlet pipe (4-4). The air outlet of the air outlet pipe (4-4) is composed of a plurality of holes. The positive pressure mechanism (4) and the roller-type mowing mechanism (6) work simultaneously, so as to prevent the grass clippings from being unable to fly to the grass collecting mechanism (3) due to the inertia force applied by the rotating roller-type mower (6-1) being too small, and to prevent the grass clippings from rotating and flying in front of the device due to the inertia force applied by the rotating roller-type mower (6-1), thereby reducing the grass collection loss rate.

5. The adaptive terrain mowing and collecting device according to claim 1, characterized in that: The terrain monitoring mechanism (8) is composed of a camera (8-1) and a bracket (8-2). The bracket (8-2) is arranged on a support seat (4-3). The camera (8-1) is mounted on the bracket (8-2). When the reel-type mowing mechanism (6) is working, the camera (8-1) collects ground information. The upper computer receives and processes the information and then controls the servo drive to automatically adjust the profiling mechanism (5). The reel-type mowing mechanism (6) is then controlled to always work parallel to the ground and closer to the ground, so that the grass sample stubble after harvesting is more even and the stubble height is lower.

6. The adaptive terrain mowing and collecting device according to claim 1, characterized in that: The storage box (2) is composed of an aluminum profile and a plurality of short side panels (2-1), a long side panel (2-2), and a bottom panel (2-3), and is used to store an induction battery and a steering gear driver. The walking mechanism (7) is composed of a right front wheel (7-1), a left front wheel (7-2), a left rear wheel (7-3), and a right rear wheel (7-4). The wheels are each composed of a wheel fork (7-1-1), a wheel hub shaft (7-1-2), and a tire (7-1-3). The right front wheel (7-1) and the left front wheel (7-2) are provided with wheel hub motors and are driving wheels, while the left rear wheel (7-3) and the right rear wheel (7-4) are driven wheels. The rear wheels cooperate with the front wheels to perform differential steering.

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