Obstacle-avoiding cutter head of lawn mower and lawn mower

Abstract

The invention relates to the technical field of mowers, in particular to an obstacle avoidance cutter head of a mower and the mower.The obstacle avoidance cutter head of the mower comprises a fixing mechanism, a rotating mechanism, a connecting support and a cutter head mechanism which are fixed to a vehicle body and rotationally connected through rotating shafts; the first rotating shaft enables the rotating mechanism to drive the cutterhead mechanism to horizontally rotate along the reverse direction of the travel path of the mower, and the cutterhead mechanism is reset after the mower passes through an obstacle under the action of the avoiding elastic piece; the second rotating shaft enables the cutter head mechanism to move upwards under the action of the floating elastic piece when the cutter head mechanism encounters an obstacle, and the cutter head mechanism resets after passing through the obstacle. The obstacle avoidance cutter head is simple in structure, the obstacle avoidance cutter head can keep parallel to the ground while avoiding obstacles in different dimensions, and the obstacle avoidance cutter head is suitable for complex terrain structures in different scenes.

Description

Technical Field

[0001] The present invention relates to the technical field of lawn mowers, and in particular to an obstacle avoidance cutter disc for a lawn mower and a lawn mower. Background Art

[0002] A lawn mower, also known as a weed cutter, lawn mower, or lawn trimmer, is a mechanical tool used to trim lawns and vegetation. Its main structure consists of a cutterhead, engine, running wheels, a running mechanism, blades, handrails, and a control unit. The cutterhead is mounted on the running wheels, which in turn is equipped with an engine. The blades are mounted on the engine's output shaft. The high-speed rotation of the engine significantly increases the blade's speed, saving workers time and manpower.

[0003] Lawn mowers are widely used and can be found in different life scenarios, such as courtyards, orchards, parks, stadiums, airports, photovoltaics, reservoir dams, etc.

[0004] However, in these everyday situations, due to various factors, such as the terrain, lawn mowers may encounter various obstacles while mowing. Furthermore, since most lawn mowers rely on manual operation, this not only affects their efficiency but also makes accurate obstacle avoidance difficult to guarantee. Consequently, a range of lawn mowers have emerged on the market that can avoid obstacles encountered during mowing. These are broadly categorized as active and passive. Active obstacle avoidance uses sensors to detect obstacles and then uses motors and other drive devices to proactively adjust the cutterhead's path to avoid them. However, active obstacle avoidance relies on sensor sensitivity and significantly increases equipment cost and failure rate. Passive obstacle avoidance, on the other hand, involves the cutterhead passively changing its path in response to the force exerted by the obstacle. Compared to active obstacle avoidance, this device offers a simpler structure and more manageable costs, making it more widely used.

[0005] For example, Chinese patent document CN221329568U discloses a mowing device and lawn mower capable of natural floating and obstacle avoidance. The mowing device comprises at least one rotatable connecting rod, with a drive module and a mowing module rotatably connected at each end. The mowing module comprises a cutter disc and a cutter disc guard, with the cutter disc vertically positioned within the cutter disc guard. The cutter disc's vertical floating motion is achieved through a pair of parallel connecting rods, with a large range of movement.

[0006] The obstacle avoidance structure provided in the utility model is designed so that when the ground is uneven, the cutter disc guard is pushed by the obstacle and drives the mowing module to rise in the vertical direction, thereby making the cutter disc float and avoid obstacles.

[0007] For example, Chinese patent document CN221887192U discloses an obstacle avoidance lawn mower, comprising: a cutter disc, a floating disc movably mounted above the cutter disc, a rubber ring disposed on the outside of the cutter disc, a mounting seat mounted in the middle of the upper surface of the floating disc, and a mounting frame mounted on the end of the adjustment rod away from the mounting seat, a connecting frame movably mounted on one side of the mounting frame, and a gas spring for retraction connected between the mounting frame and the connecting frame. A floating disc is mounted above the cutter disc, and the floating disc is controlled by a gas spring. When the floating disc encounters a fruit tree or an obstacle, it pushes the spring to retract, and the floating disc retracts and rotates to avoid the obstacle. After the floating disc passes over the obstacle, it returns to the working position under the push of the gas spring. The floating disc increases the force-bearing area, which is conducive to better driving the cutter disc to retract. The gas spring can be used to control the floating disc to retract and reset.

[0008] This utility model features a sensor and steering wheel on the cutterhead, which actively avoids rocks and plants on the ground. A gas spring is installed, which compresses horizontally when encountering an obstacle, thereby achieving horizontal avoidance of fruit trees. However, the gas spring approach has high resistance, requiring large or sturdy fruit trees to enable the cutterhead to rotate.

[0009] The lawn mowers with obstacle avoidance functions proposed in the above patent documents adopt different methods to avoid obstacles during the weeding process, but most of them only avoid obstacles in a single dimension (only in the horizontal or vertical direction). Summary of the Invention

[0010] The purpose of the present invention is to provide a lawn mower obstacle avoidance cutter disc and a lawn mower, which partially solve or alleviate the above-mentioned deficiencies in the prior art. The structure is simple, which not only enables the obstacle avoidance cutter disc to avoid obstacles in different dimensions, but also keeps the cutter disc parallel to the ground during the obstacle avoidance process. Moreover, the lawn mower is suitable for complex terrain structures in different scenarios, for example, scenarios with frequent or dense ground undulations.

[0011] In order to solve the above-mentioned technical problems, the present invention specifically adopts the following technical solutions: A lawn mower obstacle avoidance cutter disc comprises: a fixing mechanism fixable on a vehicle body, a rotating mechanism rotatably connected to the fixing mechanism, a connecting bracket and a cutter disc mechanism, wherein both ends of the connecting bracket are rotatably connected to the rotating mechanism and the cutter disc mechanism respectively.

[0012] The rotating mechanism includes a first body, the first body is rotatably connected to the fixing mechanism via a first rotating shaft, and an avoidance elastic member is provided between the first body and the fixing mechanism.

[0013] The rotating mechanism further includes: a second body connected to the first body, the second body being rotatably connected to one end of the connecting bracket via a second rotating shaft, and the first rotating shaft and the second rotating shaft being perpendicular to each other.

[0014] The cutter disc mechanism includes: a cutter disc body, a cutter disc connecting member connected to the cutter disc body, the other end of the connecting bracket is rotatably connected to the cutter disc connecting member through a third rotating shaft, a first floating elastic member is respectively connected between the end of the second body away from the first body and the cutter disc connecting member, a sliding groove is provided on the cutter disc connecting member, and the two first floating elastic members move in the sliding groove through the connecting shaft; the second rotating shaft is parallel to the third rotating shaft.

[0015] The cutter disc mechanism further comprises: a grounding disc rotatably arranged at the bottom of the cutter disc body.

[0016] When the cutter disc mechanism contacts an obstacle in front of it, it drives the connecting bracket and the rotating mechanism to rotate around the first rotating axis, and the avoidance elastic member is stretched. After passing the obstacle, the rotating mechanism drives the connecting bracket and the cutter disc mechanism to return to their original position under the action of the avoidance elastic member. And / or, When the grounding disc contacts an obstacle on the ground, the cutter disc mechanism is lifted up and moves upward, causing the connecting bracket to rotate upward around the second rotating axis. At the same time, the cutter disc connecting member rotates around the third rotating axis and compresses the first floating elastic member, so that the end of the first floating elastic member connected to the cutter disc connecting member slides from the end of the slide groove away from the cutter disc body to the end of the slide groove close to the cutter disc body, thereby keeping the cutter disc body parallel to the ground during rotation; and after bypassing the obstacle, the cutter disc mechanism falls and resets.

[0017] Furthermore, the fixing mechanism includes: a first vehicle body connector that can be fixed to the vehicle body, and a second vehicle body connector vertically connected to one end of the first vehicle body connector, and a buffer is provided at one end of the first vehicle body connector.

[0018] One end of the avoidance elastic member is fixedly connected to the first vehicle body connecting member, and the other end of the avoidance elastic member is fixedly connected to the first body, and the first rotating shaft is located on the side of the avoidance elastic member close to the vehicle body, so that the connection points at both ends of the avoidance elastic member and the first rotating shaft form a first triangle.

[0019] When the cutter disc mechanism rotates around the first rotation axis toward the buffer, the other end of the avoidance elastic member and the connection point on the first body rotate around the first rotation axis, causing the first triangle to deform.

[0020] When the buffer presses against the second body of the rotating mechanism, the cutterhead mechanism stops rotating. At this point, the retractable elastic member approaches the first rotating shaft, such that the connection points at both ends of the retractable elastic member and the first rotating shaft form a second triangle. The obtuse angle formed by the first rotating shaft and the two connection points in the second triangle is greater than the obtuse angle formed by the first rotating shaft and the two connection points in the first triangle. Alternatively, when the buffer presses against the second body of the rotating mechanism, the cutterhead mechanism stops rotating, such that the connection points at both ends of the retractable elastic member and the first rotating shaft are aligned.

[0021] Furthermore, a limiting column is provided on the second body and is located below the second rotating shaft. When the cutter head mechanism drives the connecting bracket to rotate downward around the second rotating shaft, the limiting column supports the connecting bracket to prevent the connecting bracket from moving downward.

[0022] Furthermore, shock-absorbing pads are provided in the cavities of the first body and the second body. Alternatively, a damper or buffer is provided between the second body and the connecting bracket.

[0023] Furthermore, the obstacle avoiding cutter disc also includes a second floating elastic member arranged between the top of the cutter disc connecting member and the second body.

[0024] When the cutter disc mechanism floats upward, the cutter disc connecting member compresses the first floating elastic member and the second floating elastic member, so that the horizontal component of the force exerted on the cutter disc connecting member by the second floating elastic member is opposite in direction to the horizontal component of the force exerted on the cutter disc connecting member by the first floating elastic member, thereby keeping the cutter disc body parallel to the ground.

[0025] Furthermore, the slide groove is located on the lower side of the third rotating shaft, and the slide groove is a strip-shaped hole opened along the width direction of the cutter disc connecting member.

[0026] Furthermore, a first harness hole is provided on the first body and the second body, a harness avoidance hole is provided on one end of the connecting bracket connected to the second body, and a second harness hole is provided on the cutter head connector.

[0027] Furthermore, the cutter head body includes: a rotatable cutter head shield; a switching sleeve is provided at the lower end of the motor shaft of the cutter head body; and the grounding disc is rotatably connected to the switching sleeve.

[0028] Furthermore, a limiting portion is provided at the connection between the second vehicle body connecting member and the first body.

[0029] A lawn mower comprises a vehicle body, a cutter disc assembly for mowing grass is arranged in front of the vehicle body, and an obstacle avoidance cutter disc of the lawn mower as described above is arranged on one side of the vehicle body.

[0030] When in normal working condition, the sum of the working radius of the obstacle avoidance cutter disc and the working radius of the edge cutter disc in the cutter disc group is greater than the distance between the center of the obstacle avoidance cutter disc and the center of the edge cutter disc in the horizontal plane.

[0031] Beneficial effects: The present invention provides an obstacle avoidance cutter disc structure, comprising a fixing mechanism fixed to a vehicle body, a rotating mechanism, a connecting bracket and a cutter disc mechanism, wherein the four parts are rotatably connected via rotating shafts. The first rotating shaft enables the rotating mechanism to drive the cutter disc mechanism to rotate horizontally in the opposite direction of the path of the lawn mower. Under the action of an avoidance elastic member, the cutter disc mechanism resets after passing through an obstacle. The second rotating shaft enables the cutter disc mechanism to move upward under the action of a floating elastic member when encountering an obstacle, and resets after passing through the obstacle.

[0032] In the present application, the two ends of the connecting bracket are respectively rotatably connected to the cutterhead mechanism and the rotating mechanism, thereby achieving a "flexible connection" between the cutterhead mechanism and the rotating mechanism. This not only enables horizontal obstacle avoidance, but also allows for up and down floating. Furthermore, the ability to simultaneously float up and down during horizontal obstacle avoidance makes it particularly suitable for complex terrain with undulating ground during horizontal obstacle avoidance. Furthermore, in the present application, a rotating mechanism is provided between the fixed mechanism and the connecting bracket, rather than directly utilizing a first rotating shaft to rotationally connect the connecting bracket to the fixed mechanism. Specifically, the first rotating shaft is provided on a vertical line perpendicular to the second rotating shaft, rather than in the space between the axes of the second and third rotating shafts. This avoids the rotation of the first rotating shaft being restricted by the second rotating shaft, resulting in a limited horizontal rotation angle. This design allows the cutterhead mechanism to have a large rotation angle, enabling it to completely circle to the rear of the vehicle body through horizontal obstacle avoidance when encountering a large obstacle or a large turning angle ahead, thereby truly achieving obstacle avoidance.

[0033] Furthermore, in the present application, a connecting bracket is used to rotate relative to the rotating bracket, and the resetting of the rotating mechanism is achieved by setting an avoidance elastic member, rather than setting a torsion spring or the like to achieve the resetting of the first rotating shaft. On the one hand, it avoids the influence of the structural limitations of the torsion spring component itself on the rotation angle, and on the other hand, it is easier to maintain and less prone to damage.

[0034] The present invention can not only realize simultaneous horizontal rotation and up and down floating to avoid obstacles, but also by respectively arranging a second rotating shaft and a third rotating shaft at both ends of the connecting bracket, and also arranging a first floating elastic member and a second floating elastic member, under the coordinated action of the two floating elastic members, the obstacle avoidance cutter disc remains parallel to the ground during the obstacle avoidance process, and there is no need to manually adjust the angle between the cutter disc and the ground.

[0035] On the one hand, when facing different road conditions, the cutter head can automatically avoid obstacles according to the undulations of the ground. At the same time, a corresponding buffer is provided. The cooperation relationship between the buffer, the fixing mechanism and the connecting bracket enables the cutter head mechanism to rotate at a larger angle to avoid larger obstacles or larger turns. At the same time, it can also avoid the first rotating shaft being located at a certain position due to the connecting bracket rotating at an excessive angle. Figure 13 The right side of the avoidance elastic member makes it impossible to reset the cutter disc mechanism by relying solely on the avoidance elastic member.

[0036] The obstacle avoidance cutter disc of the present application, with the cooperation of the connecting bracket and the floating elastic member, can avoid the problem of the cutter disc mechanism being unable to weed normally or even easily damaged due to the dense undulations or obstacles when encountering complex terrain, such as when the ground is highly undulating or there are dense obstacles on the ground, compared with the direct rigid connection between the connecting bracket and the cutter disc mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for the embodiments or the description of the prior art. In all drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the various elements or parts are not necessarily drawn according to the actual scale. Obviously, the drawings described below are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without inventive work.

[0038] Figure 1 This is a schematic diagram of the structure of the present invention installed on a vehicle body; Figure 2 This is a schematic diagram of the structure of the present invention installed on a vehicle body from another angle; Figure 3 Schematic diagram of the overall structure of the obstacle avoidance cutterhead of the present invention; Figure 4 This is a schematic diagram of the overall structure of the obstacle avoidance cutter disc of the present invention from another angle; Figure 5 It is a structural schematic diagram of the fixing mechanism of the present invention; Figure 6 It is a structural schematic diagram of the rotating mechanism of the present invention; Figure 7 It is a structural schematic diagram of the rotating mechanism of the present invention from another angle; Figure 8 It is a structural schematic diagram of the connecting bracket of the present invention; Figure 9 It is a structural schematic diagram of the cutter head mechanism of the present invention; Figure 10 It is a structural schematic diagram of the cutter disc mechanism of the present invention from another angle; Figure 11 Schematic diagram of the bottom of the cutter head body of the present invention; Figure 12 Schematic diagram of the internal structure of the cutter head body of the present invention; Figure 13 This is a diagram showing changes in the present invention when encountering obstacles in the direction of travel; Figure 14 This is a dynamic diagram of the present invention encountering obstacles on uneven ground; Figure 15 This is a schematic diagram of the installation of the obstacle avoidance cutter head of the present invention and the overall structure of the vehicle body; Figure 16 Schematic diagram of the structure of the rotating mechanism in the second embodiment of the present invention; Figure 17 This is a dynamic diagram of obstacles encountered on uneven ground in Example 2 of the present invention.

[0039] Summary of reference numerals: 1-Fixed mechanism, 2-Rotation mechanism, 3-Cutter mechanism, 4-Connecting bracket, R1-Operating radius of obstacle avoidance cutter disc, R2-Operating radius of edge cutter disc, L-Spacing; 101 - first rotating shaft, 102 - avoidance elastic member, 103 - buffer, 104 - first vehicle body connecting member, 105 - second vehicle body connecting member, 106 - fixing bolt, 109 - spacer, 110 - limiter, 111 - avoidance elastic member fixing bolt, 112 - vehicle body connecting plate; 201 - first body, 202 - second body, 203 - second rotating shaft, 204 - limiting column, 205 - fixing bolt of floating elastic member, 206 - shock-absorbing pad, 207 - first wiring harness hole, 208 - fixing column, 209 - second floating elastic member; 301 - cutterhead connector, 302 - cutterhead body, 303 - third rotating shaft, 304 - slide, 305 - grounding disc, 306 - second harness hole, 307 - mowing rope, 308 - adapter sleeve, 309 - cutterhead guard, 310 - motor shaft; 401-first floating elastic member, 402-wire harness avoidance hole. DETAILED DESCRIPTION

[0040] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings 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 making creative efforts are within the scope of protection of the present invention.

[0041] Herein, suffixes such as "module," "component," or "unit" used to represent elements are only used to facilitate description of the present invention and have no specific meaning. Therefore, "module," "component," or "unit" may be used interchangeably.

[0042] As used herein, terms such as "upper," "lower," "inner," "outer," "front," "back," "one end," and "the other end" indicate positions or locations based on those shown in the accompanying drawings. These terms are intended solely to facilitate and simplify the description of the present invention and are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0043] As used herein, unless otherwise expressly specified or limited, the terms "installed," "provided with," and "connected" should be understood broadly. For example, "connected" may refer to a fixed connection, a detachable connection, or an integral connection; it may refer to a mechanical connection, a direct connection, an indirect connection via an intermediate medium, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention on a case-by-case basis.

[0044] As used herein, "and / or" includes any and all combinations of one or more of the associated listed items.

[0045] Herein, "plurality" means two or more than two, ie, it includes two, three, four, five, etc.

[0046] As used in this specification, the term "about" typically means + / - 5% of the stated value, more typically + / - 4% of the stated value, more typically + / - 3% of the stated value, more typically + / - 2% of the stated value, even more typically + / - 1% of the stated value, and even more typically + / - 0.5% of the stated value.

[0047] Example 1: like Figure 1 and Figure 2As shown, this embodiment provides a lawn mower obstacle avoidance cutter disc, including: a fixing mechanism 1 that can be fixed on the vehicle body, a rotating mechanism 2 rotatably connected to the fixing mechanism 1, and also includes a connecting bracket 4 and a cutter disc mechanism 3, and the two ends of the connecting bracket 4 are rotatably connected to the rotating mechanism 2 and the cutter disc mechanism 3 respectively.

[0048] In particular, the rear or front of the vehicle body referred to in the present invention refers to the direction of travel of the lawn mower as the front.

[0049] like Figure 15 As shown, the obstacle avoidance cutter disc proposed by the present invention can be installed at the right rear of the vehicle body, or at the left rear, or on both sides. The obstacle avoidance cutter disc installed at the rear of the vehicle body of the present invention serves as a supplement to the mowing mechanism installed at the front of the vehicle body, and its purpose is to expand the weeding width of the lawn mower. Specifically, the sum of the working radius R2 of the edge cutter disc among the multiple cutter discs installed at the front of the vehicle body for mowing operations and the working radius R1 of the obstacle avoidance cutter disc installed at the rear of the vehicle body is greater than the distance L between the center (or center of the circle) of the obstacle avoidance cutter disc and the center (or center of the circle) of the edge cutter disc (the distance refers to the vertical distance L between two parallel straight lines extending along the travel direction with the two circle centers as starting points under normal working conditions, as shown in FIG. Figure 15 ), so that the projections of the obstacle avoidance disc's cutting area and the edge disc's cutting area on the vertical plane (i.e., the plane at the vehicle's height) overlap. This setting prevents weeds from being left behind in the gap between the two cutting areas.

[0050] In particular, the obstacle avoidance blade installed at the rear of one side of the vehicle body proposed by the present invention, when in working state, the overall structure of the obstacle avoidance blade forms a certain angle with the central axis of the vehicle body. When encountering obstacles in the direction of travel, or when turning or passing through right angles or acute angles, the obstacle avoidance blade rotates toward the rear of the vehicle body, avoiding the obstacles without interfering with the operation of the wheels.

[0051] In some embodiments, as Figure 4 As shown, the fixing mechanism 1 includes: a first vehicle body connector 104 that can be fixed to the vehicle body, and a second vehicle body connector 105 connected to one end of the first vehicle body connector 104, a buffer 103 is provided at one end of the first vehicle body connector 104, and an avoidance elastic member 102 is provided at the other end of the first vehicle body connector 104 (preferably, the avoidance elastic member 102 can be a tension spring).

[0052] In some embodiments, the rotating mechanism 2 includes: a first body 201, the first body 201 is rotatably connected to the fixing mechanism 1 through a first rotating shaft 101, such as Figure 3Also includes: a second body 202 connected to the first body 201, the second body 202 is rotatably connected to one end of the connecting bracket 4 via a second shaft 203, as shown Figure 4 As shown; the first rotating shaft 101 and the second rotating shaft 203 are perpendicular to each other, the first rotating shaft 101 enables the rotating mechanism 2 to rotate horizontally around the fixing mechanism 1, and the second rotating shaft 203 enables the connecting bracket 4 to move up and down relative to the rotating mechanism 2.

[0053] In particular, one end of the avoidance elastic member 102 is fixedly connected to the first vehicle body connecting member 104, and the other end of the avoidance elastic member 102 is fixedly connected to the first body 201, and the first rotating shaft 101 is located on the side of the avoidance elastic member 102 close to the vehicle body, so that the connection points at both ends of the avoidance elastic member 102 (particularly, the connection points in this embodiment are the locations of the avoidance elastic member fixing bolts 111) and the first rotating shaft 101 form a first triangle, see Figure 3 .

[0054] Further, in some embodiments, see Figure 5 The part of the first body connecting member 104 that is connected to the body is provided with a raised body connecting plate 112, which is tightly fitted with the outer surface of the body, and a plurality of fixing bolts 106 are provided on the body connecting plate 112, so that the obstacle avoidance cutter disc structure of the present invention is fixedly connected to the body, so that it will not be separated from the body or the connection is unstable during the weeding process, thereby affecting the weeding effect of the lawn mower.

[0055] In other embodiments, see Figure 5 A limiting portion 110 is provided at the connection between the second vehicle body connecting member 105 and the first body of the rotating mechanism. The limiting portion 110 is provided so that when the rotating mechanism is reset to its original position, the obstacle avoidance cutter head is in the initial position (see Figure 13 Middle left picture and Figure 15 In the position shown, at this time, the sum of the working radius R1 of the obstacle avoidance cutter disc and the working radius R2 of the edge cutter disc at the corresponding side edge in front of the vehicle body is greater than the distance L between the centers of the two circles, so that the mowing area of ​​the obstacle avoidance cutter disc and the mowing area of ​​the edge cutter disc have an overlapping area when projected in the vertical plane).

[0056] In other embodiments, see Figure 5 A spacer sleeve 109 and a bearing are provided in the bearing hole of the second vehicle body connecting member 105 .

[0057] like Figure 13As shown, in a specific implementation, when the cutter head mechanism 3 rotates around the first rotating shaft 101 toward the buffer 103 (this direction is the opposite direction of the vehicle body's travel, that is, the obstacle avoidance direction when the cutter head mechanism encounters an obstacle), the connection point where the avoidance elastic member 102 is connected to the first body 201 rotates around the first rotating shaft 101, causing the first triangle to deform; and When the buffer 103 presses against the second body 202 of the rotating mechanism, the cutterhead mechanism 3 stops rotating. At this point, the retractable elastic member 102 approaches the first rotating shaft 101, causing the connection points at both ends of the retractable elastic member 102 to form a second triangle with the first rotating shaft 101. The obtuse angle formed between the first rotating shaft 101 and the two connection points in the second triangle is greater than the obtuse angle formed between the first rotating shaft 101 and the two connection points in the first triangle. Alternatively, when the buffer 103 presses against the second body 202 of the rotating mechanism, the cutterhead mechanism 3 stops rotating, causing the connection points at both ends of the retractable elastic member 102 to be (almost) aligned with the first rotating shaft 101.

[0058] The purpose of providing the buffer 103 is to prevent the avoidance rotation angle from being too large (for example, causing the axis of the avoidance elastic member 102 to exceed the first rotation axis 101), which causes the cutter disc to continue to rotate in the obstacle avoidance direction under the action of the avoidance elastic member 102 and collide with the vehicle body, making it impossible or difficult to reset; when the limit range of the buffer 103 is reached, the further rotation of the rotating mechanism is blocked.

[0059] Furthermore, in some other embodiments, a fixing bolt 111 (such as a bolt 112 for avoiding an elastic member) is provided at the top edge of the first vehicle body connecting member 104. Figure 5 As shown), one end of the avoidance elastic member 102 is connected to the first vehicle body connecting member 104 through the avoidance elastic member fixing bolt 111, and the other end of the avoidance elastic member 102 is connected to the avoidance elastic member fixing bolt 111 of the first body 201 (as shown Figure 4 ).

[0060] Furthermore, in some other embodiments, see Figure 6 , a limiting column 204 is set on the second body 202.

[0061] Preferably, the limiting post 204 is located obliquely below the second rotating shaft 203 .

[0062] When the connecting bracket 4 rotates downward about the second rotating shaft 203 and contacts the limiting post 204, the limiting post 204 presses against the bottom of the connecting bracket 4, thereby preventing the connecting bracket from moving further downward. In other words, the limiting post 204 is provided to limit the downward rotation angle of the connecting bracket 4, thereby preventing the obstacle avoidance cutterhead from descending too low due to gravity and affecting the cutting height, or avoiding damage caused by contact with the cutterhead. When the connecting bracket 4 falls to a certain height, the limiting post 204 stops it from falling further, determining the minimum cutting height of the lawn mower.

[0063] Preferably, a shock-absorbing pad 206 is provided in the cavity of the first body 201 and the second body 202. The two shock-absorbing pads 206 are provided in different positions, but have the same structure and function.

[0064] See also Figure 6 The purpose of providing the shock-absorbing pad 206 in the second body 202 is to reduce shock while limiting the falling of the connecting bracket 4 to a certain extent.

[0065] In some embodiments, one end of the connecting bracket 4 is rotatably connected to the second body 202 via the second rotating shaft 203 , and the other end is rotatably connected to the cutter head connector 301 via the third rotating shaft 303 .

[0066] Preferably, see Figure 7 , the first body 201 and the second body 202 are both provided with a first harness hole 207; see Figure 8 , one end of the connecting bracket 4 is provided with a harness avoidance hole 402; see Figure 10 A second wiring harness hole 306 is provided on the cutter head connector.

[0067] The wiring harness for the drive motor on the cutterhead mechanism 3 passes through the second wiring harness hole 306, then into the central cavity of the connecting bracket 4, through the wiring harness avoidance hole 402, and then through the two first wiring harness holes 207, and then connects to the vehicle body, ensuring the normal operation of the entire mechanism. By providing these wiring harness holes, the wiring harness from several different mechanisms is passed through them and the wiring harness is hidden within the structure, reducing the possibility of wiring harness entanglement or damage, thereby preventing the cutterhead mechanism from stopping.

[0068] In some embodiments, as Figure 12 As shown, the cutter disc mechanism includes: a cutter disc body 302, the cutter disc body 302 is connected to the cutter disc connector 301, the connecting bracket is rotatably connected to the cutter disc connector 301 via a third rotating shaft 303, and a grounding disc 305 is also provided at the bottom of the cutter disc body 302 (in particular, under normal working conditions, there is a certain distance between the grounding disc 305 and the ground and it is not in direct contact with the ground).

[0069] Further, see Figure 6 , a floating elastic member fixing bolt 205 is provided on each side of the second body 202. Figure 9 The cutterhead connecting member 301 is provided with a slide groove 304. One end of the two first floating elastic members 401 is connected to the floating elastic member fixing bolt 205, and the other end is connected to the slide groove 304 of the cutterhead connecting member 301. The first floating elastic members 401 move in the slide groove 304 through the connecting shaft; and Figure 14 As shown, the axis of the first floating elastic member 401 and the axis of the connecting bracket form an angle in the vertical plane, which is intended to assist the cutter head to be parallel to the horizontal plane.

[0070] Preferably, if Figure 14 As shown, the slide groove 304 is located at the lower side of the third rotating shaft 303 , and the slide groove 304 is a strip-shaped hole opened along the width direction of the cutter head connector 301 .

[0071] Preferably, the second rotating shaft 203 is parallel to the third rotating shaft 303. The second rotating shaft 203 and the third rotating shaft 303 are both components that make the cutter disc mechanism 3 float up and down. The cutter disc mechanism moves upward around the second rotating shaft 203, and at the same time, the cutter disc mechanism 3 rotates around the third rotating shaft 303 so that the cutter disc mechanism is parallel to the ground.

[0072] In some embodiments, as Figure 11 As shown, the cutter head body 302 includes a rotatable cutter head guard 309; the cutter head guard 309 can protect the mowing rope 307 (such as Figure 12 As shown), when the blade guard 309 encounters an obstacle, it can rotate, thereby reducing damage to plants and the mower when mowing between columns; preferably, an anti-collision pad can also be provided on the blade guard 309 to ensure that the equipment will not be damaged when the blade encounters a hard obstacle.

[0073] In some embodiments, the lower end of the motor shaft 310 of the cutter head body 302 is provided with an adapter sleeve 308, and the grounding disc 305 is rotatably connected to the adapter sleeve 308, so that the grounding disc 305 can also rotate while rising when encountering an obstacle. Figure 12 , thereby reducing damage to plants and mowers when mowing between columns.

[0074] Preferably, the grounding disc 305 and the cutter head guard 309 are configured to be rotatable. As the components that first come into contact with the obstacle itself, they rotate to reduce the collision force with the obstacle, thereby protecting the safety of the equipment.

[0075] Working principle of the present invention: Horizontal obstacle avoidance: see Figure 13When the cutter disc mechanism 3 contacts an obstacle in front of the path (for example, a tree trunk or a telephone pole), the cutter disc mechanism 3 drives the connecting bracket 4 and the rotating mechanism 2 to rotate around the first rotating shaft 101. At this time, the avoidance elastic member 102 is stretched. When passing through the obstacle, under the action of the avoidance elastic member 102, the rotating mechanism 2 drives the connecting bracket 4 and the cutter disc mechanism 3 to reset; or in another case, such as when the vehicle needs to turn or pass through a right angle or a larger angle scene, the cutter disc mechanism 3 rotates around the first rotating shaft 101. At this time, the buffer 103 contacts one side of the second body 202 of the rotating mechanism to block the rotation of the cutter disc mechanism 3. According to the buffer range of the buffer 103 itself, when the buffer 103 is first contacted, the rotation rate of the cutter disc mechanism 3 decreases. When the limit range of the buffer 103 is reached, the cutter disc mechanism 3 no longer rotates.

[0076] Up and down floating obstacle avoidance: see Figure 14 When the cutter disc mechanism 3 is in normal working condition, the cutter disc mechanism 3 is in a downward state due to its own gravity, and the limit column 204 limits the downward movement distance of the cutter disc mechanism. The first floating elastic member 401 is in a stretched state due to the cutter disc mechanism's own gravity. At this time, the end of the first floating elastic member 401 connected to the cutter disc connector 301 is located at the end of the slide groove 304 close to the vehicle body, and the cutter disc body 302 works parallel to the ground.

[0077] When the grounding disc 305 contacts an obstacle on the ground (for example, an undulating ground or one with stones, ditches, or bumps), the obstacle first contacts the grounding disc 305, the cutter head mechanism 3 is pushed upward, and the first floating elastic member 401 is compressed, so the connecting bracket 4 rotates upward around the second rotating shaft 203, and at the same time, the cutter head connecting member 301 rotates around the third rotating shaft 303, so that the end of the first floating elastic member 401 connected to the cutter head connecting member 301 gradually slides from the end in the slide groove 304 away from the cutter head body 302 to the end of the slide groove 304 close to the cutter head body 302, so that the cutter head body 302 remains parallel to the ground during the rotation process; after bypassing the obstacle, the cutter head mechanism 3 is reset; when the obstacle encountered is relatively large, the cutter head mechanism 3 moves upward, and when it moves to the highest position, the connecting bracket 4 is parallel to the ground, and after bypassing the obstacle, the cutter head mechanism 3 is reset.

[0078] In other embodiments, the shock-absorbing pad 206 may not be provided, but a damper or buffer may be provided to connect the connecting bracket 4 and the second body 202, so that the connecting bracket 4 can slowly return to its original position when resetting / rebounding, thereby avoiding damage to the machine caused by strong impact.

[0079] In particular, in the working state of the present invention described above, the obstacle avoidance cutter disc is not limited to horizontal rotation or up and down floating in a single dimension, but can simultaneously rotate horizontally and up and down.

[0080] The present invention can not only realize simultaneous horizontal rotation and upward floating, but also, by providing a third rotating shaft and a floating elastic member, the obstacle avoidance cutter disc is kept parallel to the ground, without the need to manually adjust the angle between the cutter disc and the ground.

[0081] On the one hand, when facing different road conditions, the cutter disc can automatically avoid obstacles according to the undulations of the ground, and corresponding limiting devices (such as limiting columns and buffers) are also provided to prevent the elastic parts used for resetting from being damaged.

[0082] On the other hand, in complex application scenarios, its obstacle avoidance cutter head can be rotated to the rear of the vehicle to accurately avoid obstacles that may be encountered in various scenarios (such as trees, electric poles, pipes, etc. in front).

[0083] In summary, the present invention has a simple structure, is suitable for large-area applications under different complex ground conditions, and is safe, efficient, and has high working efficiency.

[0084] Example 2: In some more complex terrains, such as scenarios where the ground undulations are not only dense but also high, setting only the first floating elastic member may still result in the problem that the cutter disc mechanism cannot remain parallel to the ground. Therefore, in order to ensure that the cutter disc mechanism always remains parallel to the ground (or as parallel to the ground as possible) in scenarios where the ground undulations are dense and high, the present application also provides another obstacle avoidance cutter disc.

[0085] Specifically, the structure of the obstacle avoidance cutterhead proposed in the second embodiment is consistent with that of the first embodiment, except that: In this embodiment, Figure 17 As shown, the obstacle avoidance cutter disc further includes a second floating elastic member 209 , both ends of which are movably connected to the top of the second body 202 and the top of the cutter disc connector 301 .

[0086] Specifically, if Figure 16 As shown, the second body of the rotating mechanism is provided with a fixed column 208 along its height direction. Specifically, a second floating elastic member 209 is connected between the fixed column 208 and the cutter head connecting member 301. Figure 17 One end of the second floating elastic member 209 is rotatably connected to the top of the cutter head connector 301 , and the other end is movably connected to the fixing post 208 .

[0087] The working state of the cutter head mechanism in this embodiment floating up and down to avoid obstacles: See also Figure 17When the cutter disc mechanism 3 is in normal working state, the first floating elastic member 401 and the second floating elastic member 209 are in a stretched state due to the self-gravity of the cutter disc mechanism 3. At this time, the end of the first floating elastic member 401 connected to the cutter disc connecting member 301 is in the slide groove 304 away from the end of the cutter disc connecting member 301, and the end of the second floating elastic member 209 connected to the fixed column 208 is located at the top of the fixed column 208 (in other embodiments, the fixed column 208 can also be set shorter to limit one end of the second floating elastic member 209. Accordingly, the end of the second floating elastic member 209 connected to the fixed column 208 is located at the bottom end of the fixed column 208), and the cutter disc body 302 works parallel to the ground.

[0088] When the cutter disc mechanism floats upward to avoid obstacles, the cutter disc connector 301 compresses the first floating elastic member 401 and the second floating elastic member 209, so that the first floating elastic member 401 and the second floating elastic member 209 both generate an upward oblique force, wherein the force generated by the second floating elastic member 209 generates components in the vertical and horizontal directions respectively. Similarly, the force generated by the first floating elastic member 401 also generates components in the vertical and horizontal directions respectively, but the horizontal component force generated by the first floating elastic member 401 is opposite to the horizontal component force generated by the second floating elastic member 209, thereby keeping the cutter disc body 302 parallel to the ground.

[0089] In this embodiment, a second floating elastic member 209 is provided on the basis of the original first floating elastic member 401. Under the joint action of the two floating elastic members, it is ensured that the cutter head body 302 always remains parallel to the ground.

[0090] Herein, the cutter disc body 302 is parallel to the ground, which means that the width direction of the cutter disc body 302 is completely parallel to the ground, or almost parallel (for example, even if the width direction of the cutter disc body has a small angle with the ground, such as the angle is less than 10°, it is considered to be parallel to the ground).

[0091] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0092] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are protected by the present invention.

[0093] References: Design of a Multifunctional Intelligent Lawn Mower "Current Status and Prospects of Orchard Mower Development in my country".

Claims

1. A lawn mower obstacle avoidance cutter disc, characterized in that: include: A fixing mechanism (1) that can be fixed to a vehicle body, a rotating mechanism (2) rotatably connected to the fixing mechanism (1), and further comprising a connecting bracket (4) and a cutter disc mechanism (3), wherein both ends of the connecting bracket (4) are rotatably connected to the rotating mechanism (2) and the cutter disc mechanism (3); The rotating mechanism (2) comprises: a first body (201), the first body (201) being rotatably connected to the fixing mechanism (1) via a first rotating shaft (101), and an avoidance elastic member (102) being provided between the first body (201) and the fixing mechanism (1); The rotating mechanism (2) further comprises: a second body (202) connected to the first body (201), the second body (202) being rotatably connected to one end of the connecting bracket (4) via a second rotating shaft (203), the first rotating shaft (101) and the second rotating shaft (203) being perpendicular to each other, the first rotating shaft (101) being parallel to the vertical direction, and the second rotating shaft (203) being parallel to the horizontal direction; The cutter disc mechanism (3) comprises: a cutter disc body (302), a cutter disc connecting member (301) connected to the cutter disc body (302), the other end of the connecting bracket (4) being rotatably connected to the cutter disc connecting member (301) via a third rotating shaft (303), a first floating elastic member (401) being respectively connected between one end of the second body (202) away from the first body (201) and the cutter disc connecting member (301), a sliding groove (304) extending along the width direction of the cutter disc connecting member (301) being provided on the cutter disc connecting member (301), the sliding groove (304) being located on the lower side of the third rotating shaft (303); the two first floating elastic members (401) moving in the sliding groove (304) via the connecting shaft; the second rotating shaft (203) is parallel to the third rotating shaft (303); The cutter disc mechanism (3) further comprises: a grounding disc (305) rotatably arranged at the bottom of the cutter disc body (302); When the cutter disc mechanism (3) contacts an obstacle in front of the path, the cutter disc mechanism (3) drives the connecting bracket (4) and the rotating mechanism (2) to rotate around the first rotating shaft (101), and at the same time the avoidance elastic member (102) is stretched. After passing the obstacle, under the action of the avoidance elastic member (102), the rotating mechanism (2) drives the connecting bracket (4) and the cutter disc mechanism (3) to reset; and / or, When the grounding disc (305) contacts an obstacle on the ground, the cutter disc mechanism (3) is lifted up and moves upward, causing the connecting bracket (4) to rotate upward around the second rotating shaft (203). At the same time, the cutter disc connecting member (301) rotates around the third rotating shaft (303) and compresses the first floating elastic member (401), so that the end of the first floating elastic member (401) connected to the cutter disc connecting member (301) slides from the end of the slide groove (304) away from the cutter disc body (302) to the end of the slide groove (304) close to the cutter disc body (302), so that the cutter disc body (302) remains parallel to the ground during the rotation process; and after bypassing the obstacle, the cutter disc mechanism (3) falls and resets.

2. The lawn mower obstacle avoidance cutter disc according to claim 1, characterized in that: The fixing mechanism (1) comprises: a first vehicle body connector (104) that can be fixed to the vehicle body, and a second vehicle body connector (105) vertically connected to one end of the first vehicle body connector (104), wherein a buffer (103) is provided at one end of the first vehicle body connector (104); One end of the avoidance elastic member (102) is fixedly connected to the first vehicle body connecting member (104), and the other end of the avoidance elastic member (102) is fixedly connected to the first body (201), and the first rotating shaft (101) is located on a side of the avoidance elastic member (102) close to the vehicle body, so that the connection points at both ends of the avoidance elastic member (102) and the first rotating shaft (101) form a first triangle; When the cutter disc mechanism (3) rotates around the first rotating shaft (101) toward the buffer (103), the other end of the avoidance elastic member (102) and the connection point on the first body (201) rotate around the first rotating shaft (101), causing the first triangle to deform, and When the buffer (103) presses against the second body (202) of the rotating mechanism (2), the cutter disc mechanism (3) stops rotating, and at this time the avoidance elastic member (102) approaches the first rotating shaft (101), so that the connection points at both ends of the avoidance elastic member (102) and the first rotating shaft (101) form a second triangle, wherein the obtuse angle formed by the first rotating shaft (101) and the two connection points in the second triangle is greater than the obtuse angle formed by the first rotating shaft (101) and the two connection points in the first triangle; or, when the buffer (103) presses against the second body (202) of the rotating mechanism (2), the cutter disc mechanism (3) stops rotating, so that the connection points at both ends of the avoidance elastic member (102) and the first rotating shaft (101) are located on the same straight line.

3. The obstacle avoidance cutter disc for a lawn mower according to claim 1, characterized in that: The second body (202) is provided with a limiting column (204) located below the second rotating shaft (203); wherein, When the cutter disc mechanism (3) drives the connecting bracket (4) to rotate downward around the second rotating shaft (203), the limiting column (204) supports the connecting bracket (4), thereby preventing the connecting bracket (4) from moving downward.

4. The obstacle avoidance cutter disc for a lawn mower according to claim 1, characterized in that: Shock-absorbing pads (206) are provided in the cavities of the first body (201) and the second body (202); or a damper or buffer is provided between the second body (202) and the connecting bracket (4).

5. The obstacle avoidance cutter disc for a lawn mower according to claim 1, characterized in that: It also includes a second floating elastic member (209) arranged between the top of the cutter head connecting member (301) and the second body (202); wherein, When the cutter disc mechanism (3) floats upward, the cutter disc connecting member (301) compresses the first floating elastic member (401) and the second floating elastic member (209), so that the horizontal component of the force exerted by the second floating elastic member (209) on the cutter disc connecting member (301) is in the opposite direction to the horizontal component of the force exerted by the first floating elastic member (401) on the cutter disc connecting member (301), thereby keeping the cutter disc body (302) parallel to the ground.

6. The lawn mower obstacle avoidance cutter disc according to claim 1, characterized in that: The sliding groove (304) is a strip-shaped hole opened along the width direction of the cutter head connecting member (301).

7. The obstacle avoidance cutter disc for a lawn mower according to claim 1, characterized in that: A first harness hole (207) is provided on the first body (201) and the second body (202), a harness avoidance hole (402) is provided on one end of the connecting bracket (4) connected to the second body (202), and a second harness hole (306) is provided on the cutter head connecting member (301).

8. The obstacle avoidance cutter disc for a lawn mower according to claim 1, characterized in that: The cutter disc body (302) comprises a rotatable cutter disc shield (309); an adapter sleeve (308) is provided at the lower end of the motor shaft (310) of the cutter disc body (302); and the grounding disc (305) is rotatably connected to the adapter sleeve (308).

9. The obstacle avoidance cutter disc for a lawn mower according to claim 2, characterized in that: A limiting portion (110) is provided at the connection between the second vehicle body connecting member (105) and the first body (201).

10. A lawn mower, characterized in that: include: A vehicle body, wherein a cutter disc assembly for mowing grass is provided in front of the vehicle body, and an obstacle avoidance cutter disc of a lawn mower according to any one of claims 1 to 9 is provided on one side of the vehicle body; When in normal working condition, the sum of the working radius of the obstacle avoidance cutter disc of the lawn mower and the working radius of the edge cutter disc in the cutter disc group is greater than the distance between the center of the obstacle avoidance cutter disc of the lawn mower and the center of the edge cutter disc in the horizontal plane.

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