Mower obstacle avoidance cutterhead and mower

Abstract

The present application relates to the technical field of lawn mower, and particularly relates to a lawn mower obstacle-avoiding cutter head and a lawn mower, the lawn mower obstacle-avoiding cutter head comprising: a fixing mechanism fixed on a vehicle body, a rotating mechanism, a connecting bracket and a cutter head mechanism, the four parts are rotatably connected through rotating shafts, the first rotating shaft enables the rotating mechanism to drive the cutter head mechanism to rotate horizontally in the opposite direction of the running direction of the lawn mower, under the action of an elastic avoiding element, the cutter head mechanism is reset after passing through an obstacle; the second rotating shaft enables the cutter head mechanism to move upward under the action of a floating elastic element when the cutter head mechanism collides with an obstacle, and the cutter head mechanism is reset after passing through the obstacle. The present application has simple structure, can not only realize obstacle avoidance of the obstacle-avoiding cutter head in different dimensions while keeping parallel with the ground, but also is suitable for complex terrain structures in different scenes.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of lawn mowers, in particular to a lawn mower obstacle avoidance cutter head and a lawn mower. BACKGROUND

[0002] A lawn mower is also known as a grass cutter, a grass trimmer, a lawn trimmer, etc. The lawn mower is a mechanical tool for trimming lawns, vegetation, etc. Its main structure is composed of a cutter head, an engine, wheels, a walking mechanism, a blade, a handrail, and a control part. The cutter head is mounted on the wheels, and the cutter head is provided with the engine. The output shaft of the engine is provided with the blade. The blade greatly improves the speed by using the high-speed rotation of the engine, saving the working time of the grass cutter and reducing a large amount of human resources.

[0003] The lawn mower is widely used and appears in different life scenes, such as courtyards, orchards, parks, playgrounds, airports, photovoltaic power stations, and reservoir dams.

[0004] However, in these life scenes, due to different terrain environments and other factors, the lawn mower may touch different obstacles during the mowing task. Since the lawn mower is mostly operated by humans, the work efficiency of the lawn mower is affected, and the precision of obstacle avoidance during manual operation cannot be guaranteed. Therefore, a series of lawn mowers that can avoid obstacles encountered during mowing have appeared on the market. They are roughly divided into active obstacle avoidance and passive obstacle avoidance. In the active obstacle avoidance, sensors are used to detect obstacles, and then a motor or other driving device is used to actively adjust the movement path of the cutter head to achieve obstacle avoidance. However, the active avoidance method relies on the sensitivity of the sensor and greatly increases the cost and failure rate of the equipment. In the passive obstacle avoidance, the cutter head changes the movement path passively after being affected by the force of the obstacle to achieve obstacle avoidance. Compared with the active obstacle avoidance method, the passive obstacle avoidance method has a simpler device structure and more controllable cost, and is therefore more widely used.

[0005] For example, Chinese patent document CN221329568U discloses a naturally floating obstacle avoidance grass cutting device and a lawn mower. The grass cutting device is provided with at least one rotatable connecting rod. The two ends of the connecting rod are rotatably connected with a driving module and a grass cutting module, respectively. The grass cutting module is provided with a cutter head body and a cutter head cover. The cutter head body is located inside the cutter head cover in the vertical direction. The double connecting rods arranged in parallel are used to realize the up-down floating of the cutter head, and the floating amplitude is large.

[0006] The obstacle avoidance structure of the utility model is arranged for the case where the ground is not flat. The cutter head cover is pushed by the obstacle and drives the grass cutting module to lift in the vertical direction, so that the cutter head floats to avoid obstacles.

[0007] For example, Chinese patent document CN221887192U discloses an obstacle-avoiding mower, which comprises a cutter head, a floating disc movably mounted above the cutter head, a rubber ring arranged on the outer side of the cutter head, an installation seat mounted on the upper surface of the floating disc, an installation frame mounted on the end of the adjusting pull rod away from the installation seat, a connecting frame movably mounted on one side of the installation frame, and an air spring connected between the installation frame and the connecting frame for retraction. The floating disc is installed above the cutter head, and the floating disc is controlled by the air spring. When the floating disc encounters fruit trees or obstacles, the spring is retracted, and the floating disc is retracted and rotated to avoid obstacles. After the floating disc passes over the obstacles, it returns to the working position under the push of the air spring. The floating disc increases the stress area, which is beneficial to better retract the cutter head. The air spring can be used to control the retraction and reset of the floating disc.

[0008] The utility model discloses a cutter head is provided with sensor and steering wheel, and the stone on the ground and the plant are actively avoided through the control steering wheel. The air spring is arranged, and the air spring is compressed in the horizontal direction when encountering obstacles, so that the fruit trees are avoided in the horizontal direction. Moreover, the air spring has large resistance, and the cutter head can be rotated only when large fruit trees or thick trees are encountered.

[0009] The mowers with obstacle-avoiding function disclosed in the above patent documents use different ways to avoid obstacles during weeding, but most of them only avoid obstacles in a single dimension (only in the horizontal or vertical direction). SUMMARY

[0010] The purpose of the present application is to provide a mower obstacle-avoiding cutter head and a mower, which partially solve or alleviate the above-mentioned deficiencies in the prior art. The structure is simple, which can not only realize obstacle avoidance of the cutter head in different dimensions, but also keep the cutter head parallel to the ground during obstacle avoidance. Moreover, it is suitable for complex terrain structures in different scenes, such as frequent or dense ground undulations.

[0011] In order to solve the above-mentioned technical problems, the present application specifically adopts the following technical solutions:

[0012] A mower obstacle-avoiding cutter head, comprising: a fixing mechanism that can be fixed on a vehicle body, a rotating mechanism that is rotationally connected with the fixing mechanism, a connecting bracket, and a cutter head mechanism, wherein the two ends of the connecting bracket are respectively rotationally connected with the rotating mechanism and the cutter head mechanism.

[0013] The rotating mechanism comprises: a first body that is rotationally connected with the fixing mechanism through a first rotating shaft, and an avoidance elastic member that is arranged between the first body and the fixing mechanism.

[0014] The rotating mechanism further comprises a second body connected with the first body, and the second body is rotatably connected with one end of the connecting support through a second rotating shaft, and the first rotating shaft and the second rotating shaft are perpendicular to each other.

[0015] The cutter disc mechanism comprises a cutter disc body, a cutter disc connecting piece connected with the cutter disc body, and the other end of the connecting support is rotatably connected with the cutter disc connecting piece through a third rotating shaft, and a first floating elastic piece is respectively connected between the end of the second body away from the first body and the cutter disc connecting piece, and a sliding groove is arranged on the cutter disc connecting piece, and the two first floating elastic pieces move in the sliding groove through a connecting shaft, and the second rotating shaft is parallel to the third rotating shaft.

[0016] The cutter disc mechanism further comprises a ground disc rotatably arranged at the bottom of the cutter disc body.

[0017] When the cutter disc mechanism contacts an obstacle in front of the driving path, the cutter disc mechanism drives the connecting support and the rotating mechanism to rotate around the first rotating shaft, and at the same time, the avoiding elastic piece is stretched, and after passing through the obstacle, the rotating mechanism drives the connecting support and the cutter disc mechanism to reset under the action of the avoiding elastic piece. and / or,

[0018] When the ground disc contacts an obstacle on the ground, the cutter disc mechanism is lifted and moves upward, so that the connecting support rotates upward around the second rotating shaft, and at the same time, the cutter disc connecting piece rotates around the third rotating shaft and compresses the first floating elastic piece, so that the end of the first floating elastic piece connected with the cutter disc connecting piece slides from the end of the sliding groove away from the cutter disc body to the end of the sliding groove close to the cutter disc body, so that the cutter disc body remains parallel to the ground during rotation; and after passing around the obstacle, the cutter disc mechanism falls and resets.

[0019] Further, the fixing mechanism comprises a first vehicle body connecting piece which can be fixed with the vehicle body, and a second vehicle body connecting piece which is perpendicularly connected with one end of the first vehicle body connecting piece, and a bumper is arranged at one end of the first vehicle body connecting piece.

[0020] One end of the avoiding elastic piece is fixedly connected with the first vehicle body connecting piece, the other end of the avoiding elastic piece is fixedly connected on the first body, and the first rotating shaft is located on the side of the avoiding elastic piece close to the vehicle body, so that the connecting points at both ends of the avoiding elastic piece and the first rotating shaft form a first triangle.

[0021] When the cutter disc mechanism rotates around the first rotating shaft towards the direction close to the bumper, the other end of the avoiding elastic piece rotates around the first rotating shaft with the connecting point on the first body, so that the first triangle is deformed.

[0022] When the buffer abuts against the second body of the rotating mechanism, the cutter disc mechanism stops rotating, at this time the avoiding elastic member is close to the first rotating shaft, so that the connecting points at both ends of the avoiding elastic member and the first rotating shaft form a second triangle. In the second triangle, the obtuse angle formed by the first rotating shaft and the two connecting points is greater than the obtuse angle formed by the first rotating shaft and the two connecting points in the first triangle. Alternatively, when the buffer abuts against the second body of the rotating mechanism, the cutter disc mechanism stops rotating, so that the connecting points at both ends of the avoiding elastic member and the first rotating shaft are located on the same straight line.

[0023] Further, the second body is provided with a limiting column below the second rotating shaft. When the cutter disc mechanism drives the connecting support to rotate downward around the second rotating shaft, the limiting column abuts against the connecting support to prevent the connecting support from moving downward.

[0024] Further, the cavities of the first body and the second body are both provided with damping pads. Alternatively, a damper or a buffer is arranged between the second body and the connecting support.

[0025] Further, the obstacle-avoiding cutter disc further comprises a second floating elastic member arranged between the top of the cutter disc connecting member and the second body.

[0026] 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 force of the second floating elastic member acting on the cutter disc connecting member is opposite to the direction of the horizontal component force of the first floating elastic member acting on the cutter disc connecting member, thereby making the cutter disc body keep parallel to the ground.

[0027] Further, the sliding groove is located on the lower side of the third rotating shaft, and the sliding groove is a strip-shaped hole opened along the width direction of the cutter disc connecting member.

[0028] Further, the first body and the second body are provided with first wire harness holes, one end of the connecting support connected with the second body is provided with a wire harness avoiding hole, and the cutter disc connecting member is provided with a second wire harness hole.

[0029] Further, the cutter disc body comprises: a rotatable cutter disc cover, the lower end of the motor shaft of the cutter disc body is provided with an adapter sleeve, and the grounding disc is rotationally connected with the adapter sleeve.

[0030] Further, the second vehicle body connecting member is provided with a limiting portion at the connecting position with the first body.

[0031] The mower comprises a vehicle body, a cutter disc set arranged at the front of the vehicle body for mowing, and a mower obstacle-avoiding cutter disc as claimed in any one of the preceding claims arranged at one side of the vehicle body.

[0032] When in normal working condition, the sum of the working radius of the obstacle-avoiding cutter disc and the working radius of the edge cutter disc in the cutter disc set is greater than the distance between the centers of the two cutter discs in the horizontal plane.

[0033] Advantages:

[0034] The application provides an obstacle-avoiding cutter disc structure, which comprises a fixing mechanism fixed to a vehicle body, a rotating mechanism, a connecting bracket and a cutter disc mechanism, the four parts are connected through 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 running direction of the mower, under the action of an obstacle-avoiding elastic member, the cutter disc mechanism is reset after passing through the obstacle; the second rotating shaft enables the cutter disc mechanism to move upward when it collides with an obstacle under the action of a floating elastic member, and the cutter disc mechanism is reset after passing through the obstacle.

[0035] In the application, the two ends of the connecting bracket are connected to the cutter disc mechanism and the rotating mechanism respectively, so that the cutter disc mechanism and the rotating mechanism are connected flexibly, which not only enables the cutter disc mechanism to avoid obstacles horizontally, but also enables the cutter disc mechanism to float up and down, and the floating up and down can be realized simultaneously during horizontal obstacle avoidance, which is especially suitable for complex terrain with undulating ground during horizontal obstacle avoidance. In the application, the rotating mechanism is arranged between the fixing mechanism and the connecting bracket, instead of directly connecting the connecting bracket to the fixing mechanism through the first rotating shaft, that is, the first rotating shaft is arranged on the perpendicular line of the second rotating shaft, instead of being arranged in the space between the axis of the second rotating shaft and the third rotating shaft, so that the rotation of the first rotating shaft is not limited by the second rotating shaft, and the horizontal rotation angle is limited. Because of such design, the rotation angle of the cutter disc mechanism is larger, so that when a larger obstacle or a larger turning angle is encountered in front of the running direction, the mower can completely turn to the rear side of the vehicle body through horizontal obstacle avoidance, so as to truly avoid obstacles.

[0036] Further, in the application, the connecting bracket rotates relative to the rotating bracket, and the reset of the rotating mechanism is realized through the obstacle-avoiding elastic member, instead of a torsional spring, which avoids the influence of the structure of the torsional spring on the rotation angle, and is easier to maintain and less likely to be damaged.

[0037] The application can realize simultaneous horizontal rotation and up-down floating obstacle avoidance, and through setting the second rotating shaft and the third rotating shaft at two ends of the connecting bracket, and setting the first floating elastic member and the second floating elastic member, the obstacle avoidance cutter head can keep parallel with the ground in the obstacle avoidance process, without manual adjustment of the angle between the cutter head and the ground.

[0038] On one hand, when facing different road conditions, the automatic obstacle avoidance of the cutter head is realized according to the ups and downs of the ground, and the corresponding buffer is also provided, the cooperation relationship between the buffer and the fixing mechanism and the connecting bracket enables the cutter head mechanism to rotate a large angle to avoid large obstacles or large turns, and also avoids that the first rotating shaft is located on the right side of the avoiding elastic member to cause the cutter head mechanism to be unable to reset only by the avoiding elastic member. Figure 13

[0039] The obstacle avoidance cutter head of the application, in cooperation with the connecting bracket and the floating elastic member, can avoid the problem that the cutter head mechanism cannot normally mow or is easily damaged when encountering complex terrain, such as high density of ups and downs of the ground or high density of ground obstacles, compared with the direct rigid connection of the connecting bracket and the cutter head mechanism. BRIEF DESCRIPTION OF DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. In all the drawings, similar elements or parts are generally identified by similar reference signs. In the drawings, each element or part is not necessarily drawn according to the actual proportion. Obviously, the drawings described below are some embodiments of the application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0041] Figure 1 Structure schematic diagram of the application installed on the vehicle body;

[0042] Figure 2 Another angle structure schematic diagram of the application installed on the vehicle body;

[0043] Figure 3 Overall structure schematic diagram of the obstacle avoidance cutter head of the application;

[0044] Figure 4 Another angle overall structure schematic diagram of the obstacle avoidance cutter head of the application;

[0045] Figure 5 Structure schematic diagram of the fixing mechanism of the application; ​

[0046] Figure 6 Structure diagram of the rotating mechanism of the present application;

[0047] Figure 7 Structure diagram of the rotating mechanism of the present application from another angle;

[0048] Figure 8 Structure diagram of the connecting bracket of the present application;

[0049] Figure 9 Structure diagram of the cutter disc mechanism of the present application;

[0050] Figure 10 Structure diagram of the cutter disc mechanism of the present application from another angle;

[0051] Figure 11 Bottom view of the cutter disc body of the present application;

[0052] Figure 12 Structure diagram of the internal structure of the cutter disc body of the present application;

[0053] Figure 13 Variation diagram of the present application when encountering obstacles in the moving direction;

[0054] Figure 14 Dynamic variation diagram of the present application when encountering obstacles under uneven ground conditions;

[0055] Figure 15 Structure diagram of the overall structure of the obstacle-avoiding cutter disc and the vehicle body of the present application;

[0056] Figure 16 Structure diagram of the rotating mechanism of the second embodiment of the present application;

[0057] Figure 17 Dynamic variation diagram of the present application when encountering obstacles under uneven ground conditions in the second embodiment of the present application.

[0058] Summary of the identification of reference signs:

[0059] 1 - fixing mechanism, 2 - rotating mechanism, 3 - cutter disc mechanism, 4 - connecting bracket, R1 - working radius of the obstacle-avoiding cutter disc, R2 - working radius of the edge cutter disc, L - spacing;

[0060] 101 - first rotating shaft, 102 - avoiding elastic member, 103 - buffer, 104 - first vehicle body connecting member, 105 - second vehicle body connecting member, 106 - fixing bolt, 109 - spacer, 110 - limiting portion, 111 - avoiding elastic member fixing bolt, 112 - vehicle body connecting plate;

[0061] 201-first body, 202-second body, 203-second rotating shaft, 204-limiting column, 205-floating elastic piece fixing bolt, 206-damping pad, 207-first wire harness hole, 208-fixing column, 209-second floating elastic piece;

[0062] 301-blade connecting piece, 302-blade body, 303-third rotating shaft, 304-slotted guide, 305-grounding disc, 306-second wire harness hole, 307-mowing rope, 308-adapting sleeve, 309-blade shield, 310-motor shaft;

[0063] 401-first floating elastic piece, 402-wire harness avoiding hole. DETAILED DESCRIPTION

[0064] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0065] Herein, the suffix such as "module", "part" or "unit" used to represent an element is only for the convenience of description of the present application, and has no specific meaning by itself. Therefore, "module", "part" or "unit" can be used mixedly.

[0066] Herein, the terms "upper", "lower", "inner", "outer", "front", "back", "one end", "the other end" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of description of the present application and simplification of the description, and do not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0067] Herein, unless otherwise explicitly specified and limited, the terms "mount", "provided with", "connected" and the like should be understood broadly, for example, "connected" can be fixedly connected, or detachably connected, or integrally connected; can be mechanically connected, can be directly connected, or indirectly connected through an intermediate medium, can be the communication inside two elements. For a person of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0068] Herein, "and / or" includes any and all combinations of one or more listed related items.

[0069] "plurality" means two or more, i.e., it includes both two, three, four, five, etc.

[0070] As used in this specification, the term "approximately" typically means + / - 5% of the value stated, more typically + / - 4% of the value stated, more typically + / - 3% of the value stated, more typically + / - 2% of the value stated, even more typically + / - 1% of the value stated, and even more typically + / - 0.5% of the value stated.

[0071] Embodiment One:

[0072] As shown in Figure 1 and Figure 2 , the embodiment provides a mower obstacle-avoiding cutterhead, comprising: a fixing mechanism 1 which can be fixed on a vehicle body, a rotating mechanism 2 which is rotationally connected with the fixing mechanism 1, and further comprising a connecting bracket 4 and a cutterhead mechanism 3, both ends of the connecting bracket 4 are rotationally connected with the rotating mechanism 2 and the cutterhead mechanism 3 respectively.

[0073] In particular, the rear or front of the vehicle body referred to in the present application is the front in the direction of travel of the mower.

[0074] As shown in Figure 15 , the obstacle-avoiding cutterhead proposed by the present application can be installed at the right rear of the vehicle body, or at the left rear or both sides. The obstacle-avoiding cutterhead installed at the rear of the vehicle body serves as a supplement to the mower mechanism installed at the front of the vehicle body, and its purpose is to expand the width of the mower. Specifically, the sum of the working radius R2 of the edge cutterhead among the plurality of cutterheads installed at the front of the vehicle body for mowing and the working radius R1 of the obstacle-avoiding cutterhead installed at the rear of the vehicle body is greater than the distance L between the center (or the center of the circle) of the obstacle-avoiding cutterhead and the center (or the center of the circle) of the edge cutterhead (the distance refers to the vertical distance L between the two parallel straight lines starting from the two centers and extending in the direction of travel in the normal working state, as shown in Figure 15 ), so that the projection of the mowing area of the obstacle-avoiding cutterhead and the mowing area of the edge cutterhead in the vertical plane (i.e., the plane in the direction of the height of the vehicle body) has an overlapping area. The purpose of such arrangement is to prevent the gap between the mowing ranges of the two from leaving weeds.

[0075] In particular, the obstacle-avoiding cutterhead installed at one side of the rear of the vehicle body proposed by the present application forms a certain angle with the center axis of the vehicle body in the working state. When encountering obstacles in the direction of travel, or when needing to turn or pass through a right angle or an acute angle, the obstacle-avoiding cutterhead rotates towards the rear of the vehicle body, avoiding the obstacles and not interfering with the operation of the wheels.

[0076] In some embodiments, as shown inFigure 4 As shown, the fixing mechanism 1 comprises a first vehicle body connecting piece 104 which can be fixed with the vehicle body, and a second vehicle body connecting piece 105 connected with one end of the first vehicle body connecting piece 104, one end of the first vehicle body connecting piece 104 is provided with a buffer 103, and the other end of the first vehicle body connecting piece 104 is provided with an avoiding elastic piece 102 (preferably, the avoiding elastic piece 102 can be a tension spring).

[0077] In some embodiments, the rotating mechanism 2 comprises a first body 201 which is rotationally connected with the fixing mechanism 1 through a first rotating shaft 101, as shown. Figure 3 Further comprising a second body 202 connected with the first body 201, the second body 202 is rotationally connected with one end of the connecting bracket 4 through a second rotating shaft 203, as shown. Figure 4 The first rotating shaft 101 and the second rotating shaft 203 are perpendicular to each other, the first rotating shaft 101 makes the rotating mechanism 2 rotate horizontally around the fixing mechanism 1, and the second rotating shaft 203 makes the connecting bracket 4 move up and down relative to the rotating mechanism 2.

[0078] In particular, one end of the avoiding elastic piece 102 is fixedly connected with the first vehicle body connecting piece 104, the other end of the avoiding elastic piece 102 is fixedly connected on the first body 201, and the first rotating shaft 101 is located on the side of the avoiding elastic piece 102 close to the vehicle body, so that the connection points (in particular, the connection points in this embodiment are the positions of the avoiding elastic piece fixing bolts 111) at both ends of the avoiding elastic piece 102 form a first triangle with the first rotating shaft 101, as shown. Figure 3 .

[0079] Further, in some embodiments, as shown in Figure 5 , the part of the first vehicle body connecting piece 104 connected with the vehicle body is provided with a protruding vehicle body connecting plate 112 which closely fits with the outer surface of the vehicle body, and a plurality of fixing bolts 106 are arranged on the vehicle body connecting plate 112, so that the obstacle-avoiding cutter structure of the present application is fixedly connected with the vehicle body, and is not prone to be separated from the vehicle body or to be connected unstably during the mowing process, thereby affecting the mowing effect of the mower.

[0080] In other embodiments, as shown in Figure 5 , the second vehicle body connecting piece 105 is provided with a limiting part 110 at the connection with the first body of the rotating mechanism, the limiting part 110 makes the rotating mechanism reset to the position when the obstacle-avoiding cutter is in the initial position (as shown in Figure 13 and Figure 15In the position shown, at this time, the working radius R1 of the obstacle-avoiding cutter head and the working radius R2 of the edge cutter head corresponding to the edge of the front side of the vehicle body are greater than the distance L between the centers of the two, so that the projection of the mowing area of the obstacle-avoiding cutter head and the mowing area of the edge cutter head in the vertical plane has an overlapping area.

[0081] In other embodiments, referring to Figure 5 , a spacer sleeve 109 and a bearing are arranged in the bearing hole of the second vehicle body connecting piece 105.

[0082] As shown in Figure 13 , in specific implementation, when the cutter head mechanism 3 rotates around the first rotating shaft 101 towards the direction close to the bumper 103 (which is the opposite direction of the vehicle body movement, i.e. the obstacle-avoiding direction when the cutter head mechanism encounters an obstacle), the connection point of the avoidance elastic member 102 connected with the first body 201 rotates around the first rotating shaft 101, so that the first triangle is deformed; and

[0083] When the bumper 103 abuts against the second body 202 of the rotating mechanism, the cutter head mechanism 3 stops rotating, at this time, the avoidance elastic member 102 is close to the first rotating shaft 101, so that the connection points at both ends of the avoidance elastic member 102 form a second triangle with the first rotating shaft 101. Among them, 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 bumper 103 abuts against the second body 202 of the rotating mechanism, the cutter head mechanism 3 stops rotating, so that the connection points at both ends of the avoidance elastic member 102 are (almost) located on the same straight line with the first rotating shaft 101.

[0084] The purpose of arranging the bumper 103 is to prevent the avoidance rotation angle from being too large (for example, so that the axis of the avoidance elastic member 102 exceeds the first rotating shaft 101), which causes the cutter head to continue to rotate in the obstacle-avoiding direction under the action of the avoidance elastic member 102 and collide with the vehicle body, thereby failing to or being difficult to reset; when reaching the limit range of the bumper 103, the continued rotation of the rotating mechanism is blocked.

[0085] Further, in other embodiments, the top edge position of the first vehicle body connecting piece 104 is provided with an avoidance elastic member fixing bolt 111 (as shown in Figure 5 ), one end of the avoidance elastic member 102 is connected with the first vehicle body connecting piece 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 in Figure 4 ).

[0086] Further, in other embodiments, referring to Figure 6The second body 202 is provided with a limiting post 204.

[0087] Preferably, the limiting post 204 is located obliquely below the second rotating shaft 203.

[0088] When the connecting bracket 4 rotates downward around the second rotating shaft 203 and comes into contact with the limiting post 204, the limiting post 204 stops the bottom of the connecting bracket 4, thereby preventing the connecting bracket 4 from continuing to move downward, that is, the angle of downward rotation of the connecting bracket 4 is limited by the limiting post 204, thereby preventing the obstacle-avoiding cutter head from falling too low under the action of gravity and affecting the mowing height, or preventing the cutter head from being damaged due to contact. When the connecting bracket 4 falls to a certain height, the limiting post 204 prevents it from continuing to fall, thereby determining the lowest mowing height of the mower.

[0089] Preferably, the cavities of the first body 201 and the second body 202 are each provided with a shock-absorbing pad 206. The two shock-absorbing pads 206 are arranged at different positions but have the same structure and function.

[0090] Referring to Figure 6 The purpose of the shock-absorbing pad 206 in the second body 202 is to absorb shock and limit the falling of the connecting bracket 4 to a certain extent.

[0091] In some embodiments, one end of the connecting bracket 4 is rotatably connected to the second body 202 through the second rotating shaft 203, and the other end is rotatably connected to the cutter head through the third rotating shaft 303 and the cutter head connecting piece 301.

[0092] Preferably, referring to Figure 7 The first body 201 and the second body 202 are each provided with a first wire harness hole 207; referring to Figure 8 One end of the connecting bracket 4 is provided with a wire harness avoiding hole 402; referring to Figure 10 The cutter head connecting piece is provided with a second wire harness hole 306.

[0093] The wire harness of the driving motor on the cutter head mechanism 3 passes through the second wire harness hole 306, enters the middle cavity of the connecting bracket 4, passes through the two first wire harness holes 207 from the wire harness avoiding hole 402, and is connected to the vehicle body, thereby ensuring the normal operation of the entire mechanism. By arranging these wire harness holes, the wire harness passes through several different mechanisms, and the wire harness is hidden inside the structure, thereby reducing the probability of wire harness entanglement or damage, thereby avoiding the stoppage of the cutter head mechanism.

[0094] In some embodiments, as Figure 12As shown, the cutter head mechanism comprises a cutter head body 302 connected with a cutter head connecting piece 301, the connecting support is rotationally connected with the cutter head connecting piece 301 through a third rotating shaft 303, and the bottom of the cutter head body 302 is further provided with a grounding disc 305 (in particular, in the normal working state, the grounding disc 305 is at a certain distance from the ground and does not directly contact the ground).

[0095] Further, referring to Figure 6 , two sides of the second body 202 are each provided with a floating elastic piece fixing bolt 205. Referring to Figure 9 , the cutter head connecting piece 301 is provided with a sliding groove 304. One end of two first floating elastic pieces 401 is connected to the floating elastic piece fixing bolt 205, and the other end is respectively connected to the sliding groove 304 of the cutter head connecting piece 301, and the first floating elastic piece 401 moves in the sliding groove 304 through a connecting shaft; and, as Figure 14 shown, the axis of the first floating elastic piece 401 and the axis of the connecting support form an included angle in the vertical plane, which is intended to assist the cutter head to be parallel to the horizontal plane.

[0096] Preferably, as Figure 14 shown, the sliding groove 304 is located on the lower side of the third rotating shaft 303, and the sliding groove 304 is a strip-shaped hole opened along the width direction of the cutter head connecting piece 301.

[0097] Preferably, the second rotating shaft 203 is parallel to the third rotating shaft 303, and the second rotating shaft 203 and the third rotating shaft 303 are both components for floating the cutter head mechanism 3 up and down. The cutter head mechanism moves upward around the second rotating shaft 203, and at the same time, the cutter head mechanism 3 rotates around the third rotating shaft 303 to make the cutter head mechanism parallel to the ground.

[0098] In some embodiments, as Figure 11 shown, the cutter head body 302 comprises a rotatable cutter head cover 309; the cutter head cover 309 can protect the grass cutting rope 307 (as Figure 12 shown) in the cutter head body 302 for weeding, and can rotate when the cutter head cover 309 hits an obstacle, thereby reducing damage to plants and the mower when cutting between the columns; preferably, a bumper pad can be further provided on the cutter head cover 309 to ensure that the equipment will not be damaged when the cutter head hits a hard obstacle.

[0099] 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 rotationally connected with the adapter sleeve 308, so that the grounding disc 305 can also rotate when it hits an obstacle and rises, referring to Figure 12 , thereby reducing damage to plants and the mower when cutting between the columns.

[0100] Preferably, the ground disc 305 and the cutter disc guard 309 are arranged to be rotatable, as the first component to contact the obstacle itself, to reduce the impact force with the obstacle by rotating to protect the safety of the equipment.

[0101] Working principle of the present application:

[0102] Horizontal obstacle avoidance: see Figure 13 When the cutter disc mechanism 3 contacts an obstacle in front of the path (for example, a tree trunk or a telegraph pole, etc.), the cutter disc mechanism 3 drives the connecting bracket 4 and the rotating mechanism 2 to rotate around the first rotation shaft 101, at this time the avoidance elastic member 102 is stretched, and 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 when passing through the obstacle; or in another case, such as when the vehicle needs to turn or pass through a right angle or a larger angle, the cutter disc mechanism 3 rotates around the first rotation shaft 101, at this time the bumper 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 bumper 103, when the bumper 103 is first contacted, the rotation speed of the cutter disc mechanism 3 is reduced, and when the bumper 103 reaches the limit range, the cutter disc mechanism 3 no longer rotates.

[0103] Up and down floating obstacle avoidance: see Figure 14 In the normal working state of the cutter disc mechanism 3, the cutter disc mechanism 3 is in a downward state due to its own gravity, the limiting column 204 limits the downward movement distance of the cutter disc mechanism, and the first floating elastic member 401 is in a stretched state due to the gravity of the cutter disc mechanism, at this time, one end of the first floating elastic member 401 connected with the cutter disc connecting piece 301 is located at the end of the sliding groove 304 close to the vehicle body, and the cutter disc body 302 works parallel to the ground.

[0104] When the ground disc 305 contacts an obstacle on the ground (for example, a ground with high and low undulations or stones, ditches, and bumps, etc.), the obstacle first contacts the ground disc 305, the cutter disc mechanism 3 is lifted upward, the first floating elastic member 401 is compressed, so that the connecting bracket 4 rotates upward around the second rotation shaft 203, and at the same time, the cutter disc connecting piece 301 rotates around the third rotation shaft 303, so that one end of the first floating elastic member 401 connected with the cutter disc connecting piece 301 gradually slides from the end of the sliding groove 304 away from the cutter disc body 302 to the end of the sliding groove 304 close to the cutter disc body 302, so that the cutter disc body 302 remains parallel to the ground during rotation; after passing through the obstacle, the cutter disc mechanism 3 resets; when encountering a larger obstacle, the cutter disc mechanism 3 moves upward, and when it moves to the highest position, the connecting bracket 4 is parallel to the ground, and after passing through the obstacle, the cutter disc mechanism 3 resets.

[0105] In other embodiments, the aforementioned shock-absorbing pad 206 may be omitted, and instead 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 it resets / springs back, thus avoiding damage to the machine from strong impacts.

[0106] In particular, in the working state of the present invention described above, the obstacle avoidance cutter head is not limited to horizontal rotation or vertical floating in a single dimension, but can rotate both horizontally and vertically simultaneously.

[0107] This invention not only enables simultaneous horizontal rotation and upward floating, but also, by setting a third rotating shaft and a floating elastic element, keeps the obstacle-avoiding cutterhead parallel to the ground, eliminating the need for manual adjustment of the angle between the cutterhead and the ground.

[0108] On the one hand, when facing different road conditions, the cutter head can automatically avoid obstacles according to the undulation of the ground, and at the same time, it is equipped with corresponding limit devices (such as limit posts and buffers) to make the elastic parts used for reset less likely to be damaged.

[0109] On the other hand, in complex application scenarios, its obstacle avoidance cutterhead can rotate to the rear of the vehicle body to accurately avoid obstacles that may be encountered in various scenarios (such as trees, utility poles, pipes, etc. in front).

[0110] In summary, the present invention has a simple structure, is suitable for large-area applications under various complex ground conditions, and is safe, efficient, and has high work efficiency.

[0111] Example 2:

[0112] In some more complex terrains, such as scenarios where the ground is not only densely undulating but also highly undulating, simply setting the first floating elastic element may still result in the problem that the cutter head mechanism cannot keep parallel to the ground. Therefore, in order to ensure that the cutter head mechanism always keeps parallel to the ground (or keeps it as parallel to the ground as possible) in scenarios where the ground is densely undulating and highly undulating, this application also provides another obstacle avoidance cutter head.

[0113] Specifically, the structure of the obstacle-avoiding cutterhead proposed in this embodiment two is the same as that of the obstacle-avoiding cutterhead in embodiment one, with the difference being:

[0114] In this embodiment, as Figure 17 As shown, the obstacle avoidance cutter head also includes a second floating elastic member 209, the two ends of which are movably connected to the top of the second body 202 and the top of the cutter head connector 301, respectively.

[0115] Specifically, such as Figure 16As shown, the second body of the rotating mechanism is provided with a fixed column 208 along its height direction, and specifically, a second floating elastic member 209 is connected between the fixed column 208 and the cutter disc connecting member 301. Figure 17 One end of the second floating elastic member 209 is rotationally connected to the top of the cutter disc connecting member 301, and the other end is movably connected to the fixed column 208.

[0116] The working state of the up-and-down floating obstacle avoidance of the cutter disc mechanism in the embodiment:

[0117] Referring to Figure 17 , in the normal working state of the cutter disc mechanism 3, 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 located in the sliding groove 304 away from the cutter disc connecting member 301, the end of the second floating elastic member 209 connected to the fixed column 208 is located at the top end of the fixed column 208 (in other embodiments, the fixed column 208 can also be set to be shorter to limit the end of the second floating elastic member 209, and correspondingly, 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.

[0118] When the cutter disc mechanism is floating upward to avoid obstacles, the cutter disc connecting member 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 upwardly inclined force, wherein the force generated by the second floating elastic member 209 generates a vertical component force and a horizontal component force, and the force generated by the first floating elastic member 401 also generates a vertical component force and a horizontal component force, 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, so that the cutter disc body 302 remains parallel to the ground.

[0119] The second floating elastic member 209 is provided on the basis of the original first floating elastic member 401 in the embodiment, and under the joint action of the two floating elastic members, it is ensured that the cutter disc body 302 always remains parallel to the ground.

[0120] In this paper, the cutter disc body 302 parallel to the ground 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, for example, the angle is <10°, it is considered to be parallel to the ground).

[0121] It is to be understood that the terms "including", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises a... " does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0122] The embodiments of the present application are described above with reference to the drawings, but the present application is not limited to the above-described specific embodiments, and the above-described specific embodiments are merely illustrative, not restrictive, and a person of ordinary skill in the art can make many forms under the inspiration of the present application without departing from the purpose of the present application and the scope of protection of the claims, which all belong to the protection of the present application.

[0123] Reference:

[0124] Design of multifunctional intelligent mower

[0125] Development status and prospect of orchard mower in China.

Claims

1. A mower obstacle avoidance cutterhead, characterized by, The utility model relates to a kind of rotary cutting mechanism, including: fixed mechanism (1) can be fixed on vehicle body, rotating mechanism (2) is rotatably connected with the fixed mechanism (1), further including connecting bracket (4) and cutter mechanism (3), both ends of the connecting bracket (4) are rotatably connected with the rotating mechanism (2) and the cutter mechanism (3) respectively; Wherein, the rotating mechanism (2) includes: first body (201), the first body (201) is rotatably connected with the fixed mechanism (1) by first rotation shaft (101), and the first body (201) is provided with avoiding elastic member (102) between the fixed mechanism (1); The rotating mechanism (2) further includes: second body (202) connected with the first body (201), the second body (202) is rotatably connected with one end of the connecting bracket (4) by second rotation shaft (203), the first rotation shaft (101) and the second rotation shaft (203) are perpendicular to each other, the first rotation shaft (101) is parallel to vertical direction, and second rotation shaft (203) is parallel to horizontal direction; The cutter mechanism (3) includes: cutter body (302), cutter connecting piece (301) connected with the cutter body (302), the other end of the connecting bracket (4) is rotatably connected with the cutter connecting piece (301) by third rotation shaft (303), the second body (202) is rotatably connected with the cutter connecting piece (301) between the other end away from the first body (201), and first floating elastic member (401) is connected between the second body (202) and the cutter connecting piece (301) respectively, the cutter connecting piece (301) is provided with sliding groove (304) extending along the width direction of the cutter connecting piece (301), and the sliding groove (304) is located on the lower side of the third rotation shaft (303);Two first floating elastic members (401) move in the sliding groove (304) by connecting shaft;The second rotation shaft (203) and the third rotation shaft (303) are parallel; The cutter mechanism (3) further includes: ground disc (305) rotatably arranged at the bottom of the cutter body (302); When the cutter mechanism (3) contacts the obstacle in front of the path, the cutter mechanism (3) drives the connecting bracket (4) and the rotating mechanism (2) to rotate around the first rotation shaft (101), and the avoiding elastic member (102) is stretched at the same time, and after passing through the obstacle, under the action of the avoiding elastic member (102), the rotating mechanism (2) drives the connecting bracket (4) and the cutter mechanism (3) to reset. ​ When the ground contact disc (305) contacts an obstacle on the ground, the cutter disc mechanism (3) is lifted and moves upward, so that the connecting bracket (4) rotates upward around the second rotating shaft (203), and the cutter disc connecting piece (301) rotates around the third rotating shaft (303) and compresses the first floating elastic piece (401), so that one end of the first floating elastic piece (401) connected with the cutter disc connecting piece (301) slides from one end of the sliding groove (304) away from the cutter disc body (302) to one end of the sliding groove (304) close to the cutter disc body (302), so that the cutter disc body (302) remains parallel to the ground during rotation; and when the obstacle is bypassed, the cutter disc mechanism (3) falls back to the original position.

2. The mower obstacle avoidance cutterhead of claim 1, wherein, The fixing mechanism (1) comprises a first vehicle body connecting piece (104) which can be fixed to the vehicle body, and a second vehicle body connecting piece (105) which is vertically connected to one end of the first vehicle body connecting piece (104), and a bumper (103) is arranged at one end of the first vehicle body connecting piece (104); One end of the avoidance elastic piece (102) is fixedly connected to the first vehicle body connecting piece (104), and the other end of the avoidance elastic piece (102) is fixedly connected to the first body (201), and the first rotating shaft (101) is located on the side of the avoidance elastic piece (102) close to the vehicle body, so that the two connection points of the avoidance elastic piece (102) form a first triangle with the first rotating shaft (101); When the cutter disc mechanism (3) rotates around the first rotating shaft (101) towards the bumper (103), the other end of the avoidance elastic piece (102) rotates around the first rotating shaft (101) with the connection point on the first body (201), so that the first triangle is deformed, and When the bumper (103) abuts against the second body (202) of the rotating mechanism (2), the cutter disc mechanism (3) stops rotating, at this time, the avoidance elastic piece (102) is close to the first rotating shaft (101), so that the two connection points of the avoidance elastic piece (102) form a second triangle with the first rotating shaft (101), wherein the obtuse angle formed by the first rotating shaft (101) and the two connection points in the second triangle is larger than the obtuse angle formed by the first rotating shaft (101) and the two connection points in the first triangle; or, when the bumper (103) abuts against the second body (202) of the rotating mechanism (2), the cutter disc mechanism (3) stops rotating, so that the two connection points of the avoidance elastic piece (102) are located on the same straight line with the first rotating shaft (101).

3. The mower obstacle avoidance cutterhead of claim 1, wherein, The second body (202) is provided with a limiting column (204) located below the second rotating shaft (203); wherein, When the cutter head mechanism (3) drives the connecting support (4) to rotate downward around the second rotating shaft (203), the limiting column (204) abuts against the connecting support (4), thereby preventing the connecting support (4) from moving downward.

4. The mower obstacle avoidance cutterhead of claim 1, wherein, The cavities of the first body (201) and the second body (202) are provided with damping pads (206); or, a damper or a buffer is arranged between the second body (202) and the connecting support (4).

5. The mower obstacle avoidance cutterhead of claim 1, wherein, Further comprising a second floating elastic member (209) arranged between the top of the cutter head connecting piece (301) and the second body (202); wherein, When the cutter head mechanism (3) is floating upward, the cutter head connecting piece (301) compresses the first floating elastic member (401) and the second floating elastic member (209), so that the horizontal component force of the second floating elastic member (209) acting on the cutter head connecting piece (301) is opposite to the direction of the horizontal component force of the first floating elastic member (401) acting on the cutter head connecting piece (301), thereby making the cutter head body (302) keep parallel to the ground.

6. The mower obstacle avoidance cutterhead of claim 1, wherein, The chute (304) is a strip-shaped hole opened along the width direction of the cutter head connecting piece (301).

7. The mower obstacle avoidance cutterhead of claim 1, wherein, The first body (201) and the second body (202) are provided with first wire harness holes (207), one end of the connecting support (4) connected with the second body (202) is provided with a wire harness avoiding hole (402), and the cutter head connecting piece (301) is provided with a second wire harness hole (306).

8. The mower obstacle avoidance cutterhead of claim 1, wherein, The cutter head body (302) comprises: a rotatable cutter head cover (309), a motor shaft (310) of the cutter head body (302) is provided with an adapter sleeve (308) at the lower end, and the grounding disc (305) is rotationally connected with the adapter sleeve (308).

9. The mower obstacle avoidance cutterhead of claim 2, wherein, The second vehicle body connecting piece (105) is provided with a limiting portion (110) at the connection with the first body (201).

10. A lawnmower characterised in that, Comprise: A vehicle body is provided with a cutter head group for mowing grass at the front, and a mower obstacle avoidance cutter head as claimed in any one of claims 1-9 is arranged on one side of the vehicle body. When in a normal working state, the sum of the working radius of the mower obstacle avoidance cutter head and the working radius of the edge cutter head in the cutter head group is greater than the distance between the centers of the mower obstacle avoidance cutter head and the edge cutter head in the horizontal plane.

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