Mowing equipment with obstacle avoidance function

Abstract

The invention discloses mowing equipment with an obstacle avoidance function, and relates to the technical field of mowing and obstacle avoidance, and the mowing equipment comprises a frame body mechanism, a mowing mechanism, a driving mechanism and a detection mechanism. According to the invention, firstly, when the equipment is used, a measuring assembly of the detection mechanism can sensitively sense a front solid obstacle, pressure is transmitted to the detection assembly through an internal structure, and the pressure is converted into a pressure signal and wirelessly transmitted to the controller; the controller intelligently controls the miniature air cylinder to adjust the height of the mowing blade according to the received pressure signal, the real-time monitoring capability enables the equipment to have the capability of early warning in advance and coping with obstacles, safe operation of the equipment in a complex grassland environment is guaranteed, collision between the mowing blade and the solid obstacles is effectively avoided, and the mowing efficiency is improved. According to the invention, the equipment damage risk and the maintenance cost are greatly reduced, the equipment can continuously and stably operate, the operation efficiency is improved, the manual intervention requirement is reduced, and the intelligent and automatic mowing operation process is realized.

Description

Technical Field

[0001] The invention relates to the technical field of grass cutting and obstacle avoidance, in particular to grass cutting equipment with an obstacle avoidance function. Background Art

[0002] Mowing equipment is a professional mechanical tool used to trim lawns and grass. It is designed to complete lawn maintenance tasks efficiently and conveniently, keep the lawn neat and beautiful, and promote the healthy growth of grass. The cut grass clippings are crushed by a special device, generally using the airflow generated by the high-speed rotation of the blade and an attached crushing mechanism to break the grass clippings into fine particles. These broken grass particles are then thrown back onto the lawn surface, gradually decomposed over time, and become natural fertilizer, providing nutrients to the lawn while reducing the workload of grass clipping cleaning.

[0003] In the prior art, such as the publication (announcement) number: CN106211911B, there is provided a lawn mowing device, including a frame, a transmission assembly arranged on the frame, and a cutting component connected to the transmission assembly; the cutting component of the lawn mower includes a first blade, a second blade and a third blade that are synchronously driven, and the three blades are respectively arranged in three cutting areas. Compared with the traditional lawn mower, the lawn mower under this structure has a larger cutting area and improved cutting efficiency; and the three cutting areas are independent of each other, and the arc-shaped partitions between the cutting areas limit them, so that the partition is limited within the cutting range of the blade. When the lawn mower is working, weeds will be gathered in the cutting area by the arc-shaped partitions, and the weeds in the area can be cut quickly and efficiently when the blades rotate, thereby improving the cutting ability of the lawn mower.

[0004] Although the above-mentioned equipment can improve the cutting ability of the lawn mower, it does not effectively mention how to avoid some solid obstacles in front during cutting, resulting in the equipment still having limitations when used; When cutting grass, if the blade contacts a stone, the blade will be subjected to a huge impact force when it collides with the hard stone. This impact force can easily cause the blade to wear, chip, or even break. Wear will make the blade blunt and reduce its cutting efficiency. Subsequent grass cutting will require greater power, thereby increasing energy consumption. Chipping or breaking will directly cause the blade to fail to work properly, requiring the machine to be shut down for blade replacement, which seriously affects the continuity of the mowing operation and increases the maintenance cost and downtime of the equipment. Secondly, the impact force generated by the contact between the blade and the stone will be transmitted upward along the transmission system, which may cause damage to components such as the drive rod, bearing seat, pulley and transmission belt. For example, the drive rod will bend and deform due to abnormal impact, affecting the smoothness and stability of its rotation; the bearing in the bearing seat will be damaged due to excessive impact, resulting in failure of its support and rotation function for the drive rod; the pulley and the transmission belt will slip due to the impact, affecting the efficiency and accuracy of power transmission, and may even cause the transmission belt to break, paralyzing the entire transmission system, further aggravating the complexity of equipment failure and the difficulty of maintenance. Furthermore, the vibration caused by the collision between the blade and the stone may also have an adverse effect on the overall structural stability of the equipment. Long-term or frequent vibrations of this kind may cause loose connections between the various components of the equipment. For example, problems such as loose screws and cracked welds may occur at the connection points of the fixed frame, linkage rod and other components, reducing the safety and reliability of the equipment. It may cause more serious failures or even safety accidents during subsequent use. Summary of the invention

[0005] The object of the present invention is to provide a lawn mowing device with an obstacle avoidance function to solve the problems raised by the above background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: A lawn mowing device with obstacle avoidance function, comprising: a frame mechanism, a lawn mowing mechanism, a driving mechanism and a detection mechanism; The frame mechanism is used to realize the connection between the mowing mechanism, the driving mechanism and the detection mechanism, and complete the direction control of the whole equipment under human drive; The mowing mechanism is located at the rear end of the moving direction of the frame mechanism. Driven by the cutting motor, it drives the three mowing blades to rotate quickly to cut the grass. In cooperation with the detection mechanism, it can adjust the distance between the mowing blades and the ground to prevent the mowing blades from contacting solid objects on the grass. The driving mechanism is used to drive the motor as a power source to push the device forward; The detection mechanism is arranged at the front end of the device to maintain rolling friction with the ground. When it comes into contact with a solid object, the force is transmitted to the inside of the detection component through the interaction of its internal components, thereby marking this position and adjusting the height of the mowing blade inside the mowing mechanism.

[0007] Preferably, the detection mechanism comprises a fixing frame; The interior of the fixed frame is rotatably connected with a linkage rod, the outer wall fixed sleeve of the linkage rod is provided with three measuring components, and a sealing rubber layer is fixedly connected between every two of the three built-in rollers; The three measuring components respectively include a set of first adjustment seats; The interiors of the three groups of the first adjustment seats are all preset with a driving groove, the interiors of the three groups of the driving grooves are all fixedly inserted with a first inner rod, the outer walls of the three groups of the first inner rods are all rotatably connected with a cross adjustment frame, the interiors of the three groups of the cross adjustment frames are all movably inserted with a second inner rod, the outer walls of the three groups of the second inner rods are all fixedly sleeved with a second adjustment seat, one side of the outer wall of the three groups of the second adjustment seats is fixedly connected with a contact plate, and the outer walls of the three groups of the first inner rods and the three groups of the second inner rods are all movably sleeved with a detection component. When the equipment is in normal operation, the linkage rod rotates inside the fixed frame, and at the same time drives the three measuring components to form rolling friction with the grass. If the front end encounters a solid object, such as a stone or a wooden stake, the measuring component will be subjected to downward pressure due to the top being crushed under the action of the equipment's own gravity. Under the coordinated cooperation of the first adjustment seat, the first inner rod, the second inner rod and the second adjustment seat, this pressure will be converted into squeezing of the middle cross adjustment frame. Since a spring steel resetter is cleverly set at the joint position of the cross adjustment frame, the resetter can be timely and effectively reset after the pressure disappears. The detection component is composed of an automatic telescopic rod and a pressure sensor. When the first inner rod and the second inner rod are close to each other in the squeezed state, the automatic telescopic rod will shorten its length accordingly, thereby effectively squeezing the pressure sensor inside it. Moreover, the larger the external solid object, the stronger the force generated by the measuring component after contacting it, the more intense the squeezing of the detection component, and the greater the detected pressure value. Subsequently, the pressure detection system inside the device will accurately convert the measured pressure value into an electrical signal. Then, advanced wireless transmission technology is used to modulate the digital signal into the Bluetooth frequency band and send it outward. After receiving the pressure signal, the matching controller will quickly carry out automatic adjustment according to the pre-set intelligent control strategy. The controller will accurately transmit the command to one of the three micro cylinders. Driven by the micro cylinder's own elasticity, the mowing blade fixed at its bottom can be telescoped and adjusted to adjust the distance from the ground.

[0008] Preferably, the three groups of contact plates are fixedly connected with a thermoplastic elastomer between each two, the outer walls of the three measuring components are fixedly connected with a group of fiber reinforced composite plates, and one side of the outer walls of the three groups of fiber reinforced composite plates are respectively fixedly contacted with the two sides of the outer walls of the contact plates; firstly, the thermoplastic elastomer and the fiber reinforced composite plate are flexible and can complete their own deformation and make effective adjustments as the various components inside the measuring component change.

[0009] Preferably, the mowing mechanism includes a protective frame, a motor frame is fixedly connected to one side of the outer wall of the protective frame, a cutting motor is fixedly inserted inside the motor frame, a first pulley is fixedly connected to the rotating end of the cutting motor, a transmission belt is movably sleeved on the inner surface wall of the first pulley, and the motor frame can effectively install the cutting motor on the top of the protective frame, thereby providing the prerequisite for the operation of the equipment.

[0010] Preferably, three bearing seats are fixedly inserted inside the protective frame, and the interiors of the three bearing seats are rotatably connected with drive rods, and the tops of the three drive rods are fixedly connected with second pulleys, and the outer wall of the transmission belt is transmission-connected to the interiors of the three second pulleys. When the mowing motor at the top of the mowing mechanism is energized, an electromagnetic effect is generated inside it, thereby driving the rotor to start rotating, and the bottom of the rotor is fixedly connected to the first pulley, and the first pulley will synchronously rotate at the same frequency. At the same time, the first pulley constructs a transmission link with the three second pulleys with the help of the transmission belt, and the three second pulleys are respectively fixedly installed on the tops of the drive rods. In addition, the three drive rods are all placed inside the bearing seat in a rotatable connection, successfully keeping the cutting motor started and maintaining the three drive rods to rotate inside the bearing seat. In the process of the drive rod continuing to rotate, the micro cylinder fixedly connected to its bottom and the mowing blade will also rotate at the same frequency. When the mowing blade rotates at high speed, once it comes into contact with the grass, the grass will be cut, thereby ensuring the smooth progress and completion of the mowing work.

[0011] Preferably, the bottoms of the three driving rods are fixedly connected with micro cylinders, and the telescopic ends of the three micro cylinders are fixedly connected with mowing blades. When the three micro cylinders are telescopic, they can effectively adjust the distance between the mowing blades and the ground, thereby effectively avoiding contact between the mowing blades and solid objects, thereby forming an effective protective treatment for the mowing blades.

[0012] Preferably, the driving mechanism comprises two gear boxes and two driving frames; One side of the outer wall of the two gear boxes is fixedly connected with a drive motor, and one side of the outer wall of the two drive motors is fixedly connected to one side of the outer wall of the two drive frames respectively. The two drive motors are started and run synchronously with the synchronizer, and they rotate at the same frequency and direction. The two gear boxes act as a transmission, and can effectively transmit the power source to the driving wheel, and the driving wheel and the driven wheel form a mutual transmission with the help of the track.

[0013] Preferably, a group of driven wheels are rotatably connected inside the two driving frames, a group of driving wheels are rotatably connected inside the two driving frames, and one side of the outer wall of one group of driving wheels is fixedly connected to the output end of the driving motor, and the outer walls of the two groups of driving wheels and the two groups of driven wheels are meshed with tracks. Under the action of the synchronizer, the two driving motors start to run and keep them rotating at the same frequency and in the same direction. Under the action of the two gear boxes, this power can be effectively transmitted to the driving wheels, and the driving wheels and the driven wheels are transmitted to each other through the tracks. Under this transmission, rolling friction can be maintained between the tracks and the ground, thereby effectively realizing the movement of the equipment. On the other side, the two rollers can also generate rolling friction with the ground, thereby better maintaining the stability of the movement of the equipment.

[0014] Preferably, the frame mechanism includes a fixed frame, and one side of the outer wall of the motor frame is fixedly connected to one side of the inner wall of the fixed frame, two handle rods are fixedly inserted on one side of the outer wall of the fixed frame, and the inner surface wall of the protective frame is fixedly connected to the outer surface wall of the fixed frame, the outer surfaces of the two handle rods are fixedly covered with anti-slip covers, one side of the outer wall of the fixed frame is fixedly connected with an extension plate, and the tops of the two drive frames are respectively fixedly connected to the bottom of the fixed frame, and one side of the outer walls of the two gear boxes are respectively fixedly connected to the outer surfaces of the fixed frame.

[0015] Preferably, two vibration-damping assemblies are fixedly connected to one side of the outer wall of the extension plate, and the vibration-damping ends of the two vibration-damping assemblies are fixedly connected to rollers, and one side of the outer wall of the fixing frame is fixedly connected to one side of the outer wall of the fixing frame. First, the vibration-damping assembly is installed between the extension plate and the roller, which can effectively reduce the impact of vibration on the operator, and with the cooperation of the roller, the optimal stability of the equipment itself can be maintained.

[0016] Compared with the prior art, the present invention has the following beneficial effects: In the present invention, firstly, when the equipment is in use, the measuring component of the detection mechanism can keenly sense the solid obstacle in front, transfer the pressure to the detection component through the internal structure, convert it into a pressure signal and transmit it wirelessly to the controller, and the controller intelligently controls the micro cylinder to adjust the height of the mowing blade according to the received pressure signal. This real-time monitoring capability enables the equipment to have the ability to give early warning and respond to obstacles, which not only ensures the safe operation of the equipment in complex grassland environments, effectively avoids the collision between the mowing blade and solid obstacles, greatly reduces the risk of equipment damage and maintenance costs, but also enables the equipment to operate continuously and stably, improves operating efficiency and reduces the need for manual intervention, and realizes an intelligent and automated mowing operation process.

[0017] In the present invention, the cutting motor accurately transmits power to the driving rod through the combination of the pulley and the transmission belt, so that the driving rod can rotate stably in the bearing seat, and drive the mowing blade to rotate at high speed to perform mowing operations. This transmission design ensures the consistency and accuracy of the mowing action, makes the mowing effect more uniform and neat, improves the mowing quality, and meets the requirements for lawn aesthetics in different scenes.

[0018] In the present invention, when the equipment is running, the precise transmission system reduces the energy loss in the power transmission process, improves the energy utilization efficiency, and reduces the equipment operation cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a main structural stereogram of a lawn mowing device with obstacle avoidance function of the present invention; Figure 2 It is a bottom-up structural stereogram of a lawn mowing device with obstacle avoidance function according to the present invention; Figure 3 It is a sectional stereoscopic diagram of a part of the structure of a lawn mowing device with obstacle avoidance function of the present invention; Figure 4 It is a front view of a partial mechanism of a mowing mechanism in a mowing device with obstacle avoidance function of the present invention; Figure 5 It is a three-dimensional exploded view of a driving mechanism in a lawn mowing device with obstacle avoidance function according to the present invention; Figure 6 It is a front view of a detection mechanism in a lawn mowing device with obstacle avoidance function according to the present invention; Figure 7 It is an internal plan view of a detection mechanism in a lawn mowing device with obstacle avoidance function according to the present invention; Figure 8 It is a three-dimensional exploded view of a detection mechanism part of a lawn mowing device with obstacle avoidance function according to the present invention; Fig. 9 This is a three-dimensional exploded view of the interior of a detection mechanism in a lawn mowing device with an obstacle avoidance function according to the present invention.

[0020] In the figure: 1, frame mechanism; 11, fixed frame; 12, handle bar; 121, anti-slip cover; 13, extension plate; 14, vibration reduction assembly; 141, roller; 2, mowing mechanism; 21, protection frame; 22, motor frame; 23, cutting motor; 231, first pulley; 232, transmission belt; 24, bearing seat; 241, driving rod; 242, second pulley; 25, micro cylinder; 251, mowing blade; 3, driving mechanism; 31, gear box; 311, driving motor; 32, Driving frame; 33, driven wheel; 34, driving wheel; 35, crawler track; 4, detection mechanism; 41, fixed frame; 42, linkage rod; 43, measuring assembly; 431, built-in roller; 432, first adjustment seat; 4321, driving groove; 433, first inner rod; 434, cross adjustment frame; 435, second inner rod; 436, second adjustment seat; 437, detection assembly; 438, contact plate; 4381, thermoplastic elastomer; 439, fiber reinforced composite material plate; 44, sealing rubber layer. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the implementation rules described 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. Embodiment 1, refer to Figure 1 - Fig. 9 As shown: The present invention provides a mowing device with obstacle avoidance function, comprising: a frame mechanism 1, a mowing mechanism 2, a driving mechanism 3 and a detection mechanism 4; The frame mechanism 1 is used to realize the connection between the mowing mechanism 2, the driving mechanism 3 and the detection mechanism 4, and complete the direction control of the whole equipment under human drive; The mowing mechanism 2 is located at the rear end of the moving direction of the frame mechanism 1. Under the drive of the cutting motor 23, the three mowing blades 251 are driven to rotate rapidly to cut the grass. In addition, the mowing mechanism 2 cooperates with the detection mechanism 4 to adjust the distance between the mowing blades 251 and the ground to prevent the mowing blades 251 from contacting solid objects on the grass. The driving mechanism 3 is used to drive the device forward by using the driving motor 311 as the power; The detection mechanism 4 is arranged at the front end of the device, and keeps rolling friction with the ground. When it contacts with a solid object, the detection mechanism 4 transmits force to the inside of the detection component 437 through the interaction of its internal components, thereby marking this position and adjusting the height of the mowing blade 251 inside the mowing mechanism 2. The detection mechanism 4 includes a fixing frame 41; The interior of the fixed frame 41 is rotatably connected with a linkage rod 42, and the outer wall of the linkage rod 42 is fixedly sleeved with three measuring components 43, and three built-in rollers 431, wherein a sealing rubber layer 44 is fixedly connected between every two of them; The three measuring components 43 respectively include a set of first adjustment seats 432; The three groups of first adjustment seats 432 are all preset with drive grooves 4321 inside, the three groups of drive grooves 4321 are all fixedly inserted with first inner rods 433, the outer walls of the three groups of first inner rods 433 are rotatably connected with cross adjustment frames 434, the three groups of cross adjustment frames 434 are all movably inserted with second inner rods 435, the outer walls of the three groups of second inner rods 435 are all fixedly sleeved with second adjustment seats 436, one side of the outer wall of the three groups of second adjustment seats 436 is fixedly connected with a contact plate 438, detection components 437 are movably sleeved between the outer walls of the three groups of first inner rods 433 and the three groups of second inner rods 435, and thermoplastic elastomers 4381 are fixedly connected between two of the three groups of contact plates 438, and a group of fiber reinforced composite material plates 439 are fixedly connected to the outer walls of the three measuring components 43, and one side of the outer walls of the three groups of fiber reinforced composite material plates 439 are respectively fixedly contacted with the two sides of the outer wall of the contact plate 438.

[0022] In this embodiment, when the device is moving, three measuring components 43 are arranged at the front end of the detection mechanism 4. When the device is in operation, the linkage rod 42 rotates inside the fixed frame 41 to cooperate with the three measuring components 43 and the grass to produce rolling friction. When a solid object (stone, stake, etc.) appears at the front end, the measuring component 43 will be crushed by its top. Under the action of the device's own gravity, a downward pressure will be formed on the inside of the measuring component 43, and through the cooperation of the first adjustment seat 432, the first inner rod 433, the second inner rod 435, and the second adjustment seat 436, the middle cross adjustment frame 434 will be squeezed. , because a spring steel resetter is provided at the joint position of the cross adjustment frame 434, the device after being squeezed can be effectively restored, and in this process, the detection component 437 can be squeezed. Since the detection component 437 is composed of an automatic telescopic rod and a pressure sensor, when the first inner rod 433 and the second inner rod 435 are close to each other, the automatic telescopic rod will shorten itself and effectively squeeze the pressure sensor inside it. Moreover, when the external solid object is larger, the measuring component 43 contacts it, and the force acting on it is greater, the squeezing of the detection component 437 is stronger, and the detected pressure value is greater; The measured pressure value is then converted into an electrical signal, and the digital signal is modulated into the Bluetooth frequency band and sent out by wireless transmission. After receiving the pressure signal, the controller will automatically adjust it according to the preset control strategy and transmit it to the inside of the controller, controlling it to transmit the command to one of the three micro cylinders 25. Driven by the three micro cylinders 25, the mowing blade 251 fixed at the bottom can be effectively adjusted in height.

[0023] Embodiment 2, according to Figure 1-Figure 4 as well as Figure 6-Figure 9 As shown, the mowing mechanism 2 includes a protective frame 21, a motor frame 22 is fixedly connected to one side of the outer wall of the protective frame 21, a cutting motor 23 is fixedly inserted inside the motor frame 22, a first pulley 231 is fixedly connected to the rotating end of the cutting motor 23, a transmission belt 232 is movably sleeved on the inner surface wall of the first pulley 231, three bearing seats 24 are fixedly inserted inside the protective frame 21, a driving rod 241 is rotatably connected to the inside of the three bearing seats 24, the tops of the three driving rods 241 are fixedly connected to the second pulleys 242, and the outer surface wall of the transmission belt 232 is transmission-connected to the inside of the three second pulleys 242, the bottoms of the three driving rods 241 are fixedly connected to micro cylinders 25, and the telescopic ends of the three micro cylinders 25 are fixedly connected to mowing blades 251; The detection mechanism 4 includes a fixing frame 41; The interior of the fixed frame 41 is rotatably connected with a linkage rod 42, and the outer wall of the linkage rod 42 is fixedly sleeved with three measuring components 43, and three built-in rollers 431, wherein a sealing rubber layer 44 is fixedly connected between every two of them; The three measuring components 43 respectively include a set of first adjustment seats 432; The three groups of first adjustment seats 432 are all preset with drive grooves 4321 inside, the three groups of drive grooves 4321 are all fixedly inserted with first inner rods 433, the outer walls of the three groups of first inner rods 433 are rotatably connected with cross adjustment frames 434, the three groups of cross adjustment frames 434 are all movably inserted with second inner rods 435, the outer walls of the three groups of second inner rods 435 are all fixedly sleeved with second adjustment seats 436, one side of the outer wall of the three groups of second adjustment seats 436 is fixedly connected with a contact plate 438, detection components 437 are movably sleeved between the outer walls of the three groups of first inner rods 433 and the three groups of second inner rods 435, and thermoplastic elastomers 4381 are fixedly connected between two of the three groups of contact plates 438, and a group of fiber reinforced composite material plates 439 are fixedly connected to the outer walls of the three measuring components 43, and one side of the outer walls of the three groups of fiber reinforced composite material plates 439 are respectively fixedly contacted with the two sides of the outer wall of the contact plate 438.

[0024] In this embodiment, when the equipment is moving, the cutting motor 23 arranged on the top of the mowing mechanism 2 is powered on, and an electromagnetic force is generated inside the mowing mechanism 2 to keep the rotor rotating, while the first pulley 231 fixed at the bottom of the rotor will rotate at the same frequency. In addition, because the first pulley 231 and the three second pulleys 242 are driven by a transmission belt 232, and the three second pulleys 242 are respectively fixed on the top of the driving rod 241, and the three driving rods 241 are rotatably connected to the inside of the bearing seat 24, through this transmission method, the transmission state between each other can be achieved, so that the cutting motor 23 finally realizes the purpose of the three driving rods 241 rotating inside the bearing seat 24. When the driving rod 241 rotates, the micro cylinder 25 and the mowing blade 251 fixed at the bottom rotate at the same frequency. When the mowing blade 251 rotates rapidly, it cuts the grass when it comes into contact with the grass.

[0025] Embodiment 3, according to Figure 1-Figure 3 as well as Figure 5-Figure 9 As shown, the driving mechanism 3 includes two gear boxes 31 and two driving frames 32; One side of the outer wall of the two gear boxes 31 is fixedly connected to a driving motor 311, and one side of the outer wall of the two driving motors 311 is fixedly connected to one side of the outer wall of the two driving frames 32 respectively, a group of driven wheels 33 are rotatably connected inside the two driving frames 32, a group of driving wheels 34 are rotatably connected inside the two driving frames 32, and one side of the outer wall of a group of driving wheels 34 is fixedly connected to the output end of the driving motor 311 respectively, and the outer walls of the two groups of driving wheels 34 and the two groups of driven wheels 33 are meshed with tracks 35 for transmission; The frame mechanism 1 includes a fixed frame 11, and one side of the outer wall of the motor frame 22 is fixedly connected to one side of the inner wall of the fixed frame 11, two handle rods 12 are fixedly inserted on one side of the outer wall of the fixed frame 11, and the inner wall of the protective frame 21 is fixedly connected to the outer wall of the fixed frame 11, and the outer walls of the two handle rods 12 are fixedly sleeved with anti-slip sleeves 121, one side of the outer wall of the fixed frame 11 is fixedly connected to an extension plate 13, and the tops of the two drive frames 32 are respectively fixedly connected to the bottom of the fixed frame 11, and one side of the outer walls of the two gear boxes 31 are respectively fixedly connected to the outer walls of the fixed frame 11, one side of the outer wall of the extension plate 13 is fixedly connected to two vibration damping assemblies 14, and the vibration damping ends of the two vibration damping assemblies 14 are fixedly connected to rollers 141, and one side of the outer wall of the fixed frame 41 is fixedly connected to one side of the outer wall of the fixed frame 11.

[0026] In this embodiment, when the device is in use, the two driving motors 311 start to run under the action of the synchronizer, and keep them rotating at the same frequency and in the same direction. Under the action of the two gear boxes 31, this power can be effectively transmitted to the driving wheel 34, and the driving wheel 34 and the driven wheel 33 are driven by the crawler 35. Under this transmission, rolling friction can be maintained between the crawler 35 and the ground, thereby effectively realizing the movement of the device. On the other side, the two rollers 141 can also generate rolling friction with the ground, so as to better maintain the stability of the movement of the device. During this process, the staff needs to hold their hands between the outer walls of the two anti-slip sleeves 121 to increase the friction between the user and the hand and maintain stability during the operation of the equipment.

[0027] The working principle of the whole mechanism is as follows: during the operation of the equipment, the two driving motors 311 start and run synchronously with the synchronizer, and they rotate at the same frequency and direction. The two gear boxes 31 act as a transmission, and can effectively transmit the power source to the driving wheel 34. The driving wheel 34 and the driven wheel 33 form a mutual transmission with the help of the crawler 35. In such a transmission mode, a stable rolling friction is generated between the crawler 35 and the ground, thereby pushing the equipment to move forward smoothly. At the same time, the two rollers 141 on the other side of the equipment also form rolling friction with the ground and form support for the equipment, which enhances the stability of the equipment during movement and enables the equipment to better adapt to various complex terrain environments. When the device is in a mobile state, after the cutting motor 23 equipped on the top of the mowing mechanism 2 is energized, an electromagnetic effect is generated inside it and the rotor starts to rotate. Since the bottom of the rotor is fixedly connected to the first pulley 231, the first pulley 231 also rotates at the same frequency. The first pulley 231 and the three second pulleys 242 are tightly transmitted through the transmission belt 232, and the three second pulleys 242 are firmly fixed on the top of the driving rod 241, and the three driving rods 241 are rotatably connected to the inside of the bearing seat 24. Through this transmission design, the transmission purpose of the cutting motor 23 to the three driving rods 241 to realize self-rotation inside the bearing seat 24 is achieved. During the continuous rotation of the driving rod 241 The micro cylinder 25 fixedly connected at the bottom and the mowing blade 251 also perform a rotational motion at the same frequency. When the mowing blade 251 rotates at a high speed, once it comes into contact with the grass, it will cut the grass with its sharp blade. During this period, three measuring components 43 are set at the front end of the detection mechanism 4. When the equipment is in normal operation, the linkage rod 42 rotates inside the fixed frame 41, and at the same time drives the three measuring components 43 to form rolling friction with the grass. If the front end encounters a solid object, such as a stone or a wooden stake, the measuring component 43 will be subjected to downward pressure due to the top being crushed under the action of the equipment's own gravity. With the cooperation of the first adjustment seat 432, the first inner rod 433, the second inner rod 435 and the second adjustment seat 436, the measuring component 43 will be subjected to downward pressure due to the top being crushed. Under the same cooperation, this pressure will be converted into squeezing of the middle cross adjustment frame 434. Since a spring steel resetter is cleverly set at the joint position of the cross adjustment frame 434, after the pressure disappears, the resetter can promptly and effectively restore the squeezed device to its original state. In this process, the detection component 437 will also be squeezed. The detection component 437 is composed of an automatic telescopic rod and a pressure sensor. When the first inner rod 433 and the second inner rod 435 are close to each other in the squeezed state, the automatic telescopic rod will shorten its own length accordingly, thereby effectively squeezing the pressure sensor inside it. In addition, the larger the external solid object, the stronger the force generated by the measurement component 43 after contacting it, and the more severe the squeezing of the detection component 437.The greater the pressure value detected, the greater the pressure value detected. Subsequently, the pressure detection system inside the device will accurately convert the measured pressure value into an electrical signal. Then, using advanced wireless transmission technology, the digital signal is modulated to the Bluetooth frequency band and sent out. After receiving the pressure signal, the matching controller will quickly carry out automatic adjustment according to the pre-set intelligent control strategy. The controller will accurately transmit the command to one of the three micro cylinders 25. Driven by the elasticity of the micro cylinder 25 itself, the mowing blade 251 fixed at the bottom can be adjusted to adjust the distance from the ground. In this way, the mowing blade 251 can be effectively prevented from colliding with solid obstacles, greatly improving the safety of the equipment and the efficiency of mowing operations, so that it can continue to operate stably in complex and changeable grassland environments and excellently complete mowing tasks. ,

[0028] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A lawn mowing device with an obstacle avoidance function, comprising: a frame mechanism (1), a lawn mowing mechanism (2), a driving mechanism (3) and a detection mechanism (4), characterized in that ； The frame mechanism (1) is used to realize the connection between the mowing mechanism (2), the driving mechanism (3) and the detection mechanism (4), and to complete the direction control of the entire device under human drive; The mowing mechanism (2) is located at the rear end of the moving direction of the frame mechanism (1), and is driven by a cutting motor (23) to drive three mowing blades (251) to rotate rapidly to cut the grass, and cooperates with the detection mechanism (4) to adjust the distance between the mowing blades (251) and the ground to prevent the mowing blades (251) from coming into contact with solid objects on the grass. The driving mechanism (3) is used to drive the device forward using the driving motor (311) as a driving force; The detection mechanism (4) is arranged at the front end of the device to maintain rolling friction with the ground. When it contacts a solid object, the detection mechanism (4) and its internal components interact to transmit force to the inside of the detection component (437), thereby marking the position and adjusting the height of the mowing blade (251) inside the mowing mechanism (2).

2. The lawn mowing device with obstacle avoidance function according to claim 1, characterized in that: The detection mechanism (4) comprises a fixing frame (41); The interior of the fixed frame (41) is rotatably connected to a linkage rod (42), the outer wall of the linkage rod (42) is fixedly sleeved with three measuring components (43), and a sealing rubber layer (44) is fixedly connected between every two of the three built-in rollers (431); The three measuring components (43) respectively include a group of first adjustment seats (432); The three groups of the first adjustment seats (432) are all preset with a driving groove (4321) inside, the three groups of the driving groove (4321) are all fixedly inserted with a first inner rod (433), the outer walls of the three groups of the first inner rods (433) are all rotatably connected with a cross adjustment frame (434), the three groups of the cross adjustment frame (434) are all movably inserted with a second inner rod (435), the outer walls of the three groups of the second inner rods (435) are all fixedly sleeved with a second adjustment seat (436), one side of the outer wall of the three groups of the second adjustment seats (436) is fixedly connected with a contact plate (438), and a detection component (437) is movably sleeved between the outer walls of the three groups of the first inner rods (433) and the three groups of the second inner rods (435).

3. The lawn mowing device with obstacle avoidance function according to claim 2, characterized in that: A thermoplastic elastomer (4381) is fixedly connected between two of the three groups of contact plates (438), and the outer walls of the three measurement components (43) are fixedly connected to a group of fiber-reinforced composite material plates (439), and one side of the outer wall of the three groups of fiber-reinforced composite material plates (439) is fixedly contacted with two sides of the outer wall of the contact plate (438).

4. The lawn mowing device with obstacle avoidance function according to claim 3, characterized in that: The mowing mechanism (2) comprises a protective frame (21), one side of the outer wall of the protective frame (21) is fixedly connected to a motor frame (22), a cutting motor (23) is fixedly inserted inside the motor frame (22), a rotating end of the cutting motor (23) is fixedly connected to a first belt pulley (231), and a transmission belt (232) is movably sleeved on the inner surface wall of the first belt pulley (231).

5. The lawn mowing device with obstacle avoidance function according to claim 4, characterized in that: Three bearing seats (24) are fixedly inserted inside the protective frame (21), the interior of the three bearing seats (24) are rotatably connected to driving rods (241), the tops of the three driving rods (241) are fixedly connected to second pulleys (242), and the outer wall of the transmission belt (232) is transmission-connected to the inside of the three second pulleys (242).

6. The lawn mowing device with obstacle avoidance function according to claim 5, characterized in that: The bottoms of the three rotating rods (241) are all fixedly connected to a micro cylinder (25), and the telescopic ends of the three micro cylinders (25) are all fixedly connected to a mowing blade (251).

7. The lawn mowing device with obstacle avoidance function according to claim 6, characterized in that: The driving mechanism (3) comprises two gear boxes (31) and two driving frames (32); One side of the outer wall of the two gear boxes (31) is fixedly connected to a driving motor (311), and one side of the outer wall of the two driving motors (311) is fixedly connected to one side of the outer wall of the two driving frames (32) respectively.

8. The lawn mowing device with obstacle avoidance function according to claim 7, characterized in that: A group of driven wheels (33) are rotatably connected inside the two drive frames (32), a group of driving wheels (34) are rotatably connected inside the two drive frames (32), and one side of the outer wall of a group of driving wheels (34) is fixedly connected to the output end of the drive motor (311), and tracks (35) are meshed and driven between the outer walls of the two groups of driving wheels (34) and the two groups of driven wheels (33).

9. The lawn mowing device with obstacle avoidance function according to claim 8, characterized in that: The frame mechanism (1) comprises a fixed frame (11), and one side of the outer wall of the motor frame (22) is fixedly connected to one side of the inner wall of the fixed frame (11), two handle bars (12) are fixedly inserted into one side of the outer wall of the fixed frame (11), and the inner wall of the protective frame (21) is fixedly connected to the outer wall of the fixed frame (11), the outer walls of the two handle bars (12) are fixedly sleeved with anti-slip sleeves (121), one side of the outer wall of the fixed frame (11) is fixedly connected to an extension plate (13), and the tops of the two drive frames (32) are respectively fixedly connected to the bottom of the fixed frame (11), and one side of the outer walls of the two gear boxes (31) are respectively fixedly connected to the outer wall of the fixed frame (11).

10. The lawn mowing equipment with obstacle avoidance function according to claim 9, characterized in that: One side of the outer wall of the extension plate (13) is fixedly connected to two vibration-damping components (14), vibration-damping ends of the two vibration-damping components (14) are fixedly connected to rollers (141), and one side of the outer wall of the fixing frame (41) is fixedly connected to one side of the outer wall of the fixing frame (11).

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