Suspension structure and mower

Abstract

The invention discloses a suspension structure and a mower, and relates to the technical field of agricultural machinery, the suspension structure comprises a suspension frame, a profiling support and a cutter; the right side part of the suspension bracket is hinged to a first hinge point on the rear side of the tractor through a first spherical hinge; the rear end of the profiling support is hinged to the left side portion of the suspension frame around a first axis, and the first axis extends in the left-right direction. The front end of the profiling support is hinged to a second hinge point on the rear side of the tractor through a second spherical hinge, and a first preset distance exists between the second hinge point and the first hinge point in the left-right direction. The cutter is arranged on the right side of the suspension frame and connected with the suspension frame; in the upward or downward movement process of the cutter, the cutter is used for driving the suspension frame to rotate around the first hinge point, and the cutter is used for driving the profiling support to rotate around the second hinge point through the suspension frame. According to the scheme, the problem that a profiling mechanism of an existing mower mostly adopts simple mechanical connection or a single-degree-of-freedom adjusting structure and is difficult to accurately adapt to complex rugged terrains can be solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of agricultural machinery, in particular to a suspension structure and a mower. BACKGROUND

[0002] In agricultural production, forage harvesting is an important link to ensure the development of animal husbandry. As the key equipment for forage harvesting, the operation performance of the mower directly affects the harvesting efficiency and forage quality. Unlike flat planting environments such as farmland, artificial grasslands and natural grasslands are mostly distributed in complex terrain hilly areas. These areas have large undulating ground and many stones, which puts higher requirements on the terrain self-adaptive ability and ground contouring function of the mower. In order to ensure uniform forage cutting height and reduce missed cutting and over-cutting, the mower needs to adjust the attitude of the cutting part in real time according to the terrain changes, so that the cutter always works in close contact with the ground, thereby improving the harvesting effect and reducing equipment damage.

[0003] The contouring mechanism of the existing mower is mostly connected by simple mechanical connection or single degree of freedom adjustment structure when working in complex terrain, which is difficult to realize precise adaptation to undulating terrain. Especially under complex terrain conditions such as slopes, depressions or protrusions, problems such as contouring lag and insufficient swing angle often occur, which leads to poor close contact of the cutter with the ground, affecting the harvesting quality and possibly causing damage to the equipment parts due to terrain impact. Therefore, it is an urgent problem in the field of forage harvesting machinery to develop a contouring technology that can realize terrain self-adaptation, optimize the design of spatial linkage mechanism, and improve the contouring precision and stability of the mower in complex terrain. SUMMARY

[0004] The main purpose of the present application is to provide a suspension structure, which aims to solve the technical problem that the contouring mechanism of the existing mower is mostly connected by simple mechanical connection or single degree of freedom adjustment structure, which is difficult to realize precise adaptation to undulating terrain, thereby affecting the harvesting quality.

[0005] To achieve the above purpose, the suspension structure provided by the present application comprises:

[0006] The right side of the suspension frame is hinged to the first hinge point on the rear side of the tractor through a first spherical hinge;

[0007] The rear end of the contouring support is hinged to the left side of the suspension frame about a first axis, and the first axis extends in the left-right direction; the front end of the contouring support is hinged to the second hinge point on the rear side of the tractor through a second spherical hinge, and the second hinge point has a first preset distance from the first hinge point in the left-right direction;

[0008] A cutter is arranged on the right side of the hanger and connected with the hanger; during upward or downward movement of the cutter, the cutter drives the hanger to rotate around the first hinge point, and the cutter drives the profiling support to rotate around the second hinge point through the hanger.

[0009] In an embodiment, the hanger structure further comprises a profiling spring, one end of the profiling spring being connected with the profiling support, and the other end of the profiling spring being connected with the hanger; the profiling spring is used to hinder rotation of the profiling support relative to the hanger through elastic force.

[0010] In an embodiment, the left side of the hanger is provided with an actuating seat, the actuating seat being provided with an avoiding through hole penetrating in the vertical direction;

[0011] The profiling spring comprises a spring body, a connecting rod and a spring gland; the connecting rod extends in the vertical direction, the lower end of the connecting rod is hinged to the middle part of the profiling support around a second axis line, the second axis line is parallel to the first axis line, the middle part of the connecting rod is arranged in the avoiding through hole, the spring gland is arranged at the upper end of the connecting rod, the spring body is sleeved on the connecting rod, the lower end of the spring body is connected with the actuating seat, and the upper end of the spring body is connected with the spring gland.

[0012] In an embodiment, the rear end of the profiling support is hinged to the left side of the hanger through a first joint bearing.

[0013] In an embodiment, the lower end of the connecting rod is hinged to the middle part of the profiling support through a second joint bearing.

[0014] In an embodiment, the deformation amount of the spring body satisfies the following relationship:

[0015] ΔL=PQsinβ

[0016] Wherein, ΔL is the deformation amount of the spring body, P is the second hinge point, Q is the hinge point between the lower end of the connecting rod and the middle part of the profiling support, β is the rotation angle of D relative to the second hinge point, and D is the hinge point between the left side of the hanger and the rear end of the profiling support.

[0017] In an embodiment, the deformation amount ΔL of the spring body and the displacement amount of the cutter in the vertical direction satisfy the following relationship:

[0018]

[0019] Wherein, Δz Ais the displacement amount of the cutter in the vertical direction, O is the first hinge point, A is the connecting point between the cutter and the hanger, is the shortest straight line distance between P and Q, is the shortest straight line distance between O and D, is the shortest straight line distance between O and A, is the shortest straight line distance between P and D.

[0020] In an embodiment, the suspension structure further comprises a first connecting arm and a first telescopic hydraulic cylinder; a left end of the first connecting arm is rotatably connected to a right side of the hanger about a third axis, a right end of the first connecting arm is connected to the cutter; one end of the first telescopic hydraulic cylinder is rotatably connected to the hanger about a fourth axis, the other end of the first telescopic hydraulic cylinder is rotatably connected to the first connecting arm about a fifth axis; the third axis, the fourth axis and the fifth axis all extend in the vertical direction.

[0021] In an embodiment, the suspension structure further comprises a second connecting arm and a second telescopic hydraulic cylinder; a left end of the second connecting arm is rotatably connected to the right end of the first connecting arm about a sixth axis, a right end of the second connecting arm is rotatably connected to a middle part of the cutter about a seventh axis, one end of the second telescopic hydraulic cylinder is rotatably connected to the right end of the second connecting arm about an eighth axis, the other end of the second telescopic hydraulic cylinder is rotatably connected to the first connecting arm about a ninth axis;

[0022] The sixth axis, the seventh axis, the eighth axis and the ninth axis are all arranged horizontally in the front-rear direction, the eighth axis is above the seventh axis, and the ninth axis is above the sixth axis.

[0023] In an embodiment, the suspension structure further comprises a joint bearing pull rod; a rear end of the joint bearing pull rod is hingedly connected to a middle part of the hanger, a front end of the joint bearing pull rod is hingedly connected to a third hinge point at the rear side of the tractor, the third hinge point is between the first hinge point and the second hinge point in the left-right direction, and the third hinge point is above the first hinge point and the second hinge point.

[0024] The present application also provides a mower, which comprises a tractor and the suspension structure as described above.

[0025] The suspension structure provided by the application has the first spherical hinge and the second spherical hinge for limiting the suspension frame, when the cutter connected to the suspension frame moves upward or downward along with the terrain in the process of traveling, the suspension frame can be driven to rotate around the first hinge point and the second hinge point at the same time, so that the suspension frame can make stable spatial rotary motion relative to the tractor along the preset arc-shaped motion track, that is, the cutter can complete adaptive position adjustment action in at least two degrees of freedom; by means of the adaptive position adjustment action of the suspension frame, the cutter can smoothly move up and down relative to the tractor to be attached to the concave ground or the convex ground, so that the cutter can better adapt to and smoothly pass through the ground with ups and downs, thereby realizing the adaptive profiling function of the suspension structure under complex terrain, improving the attachment tightness of the cutter and the ground, improving the harvesting quality, and reducing the damage of the equipment caused by terrain impact. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained according to the structures shown in the drawings without creative labor.

[0027] Figure 1 The first perspective overall structure schematic diagram of an embodiment of the suspension structure provided by the present application;

[0028] Figure 2 The second perspective overall structure schematic diagram of an embodiment of the suspension structure provided by the present application;

[0029] Figure 3 The partial structure schematic diagram of an embodiment of the suspension structure provided by the present application;

[0030] Figure 4 The overall action schematic diagram of an embodiment of the suspension structure provided by the present application;

[0031] Figure 5 The partial action schematic diagram of an embodiment of the suspension structure provided by the present application;

[0032] Figure 6 The internal structure schematic diagram of an embodiment of the suspension structure provided by the present application.

[0033] Explanation of the reference signs:

[0034] 1, tractor; 101, rear suspension seat body;

[0035] 2, suspension frame; 201, actuating seat; 2011, avoiding through hole;

[0036] 3. First ball hinge; 4. Contour bracket; 5. Second ball hinge; 6. Cutter;

[0037] 7. Contour spring; 701. Spring body; 702. Connecting rod; 703. Spring gland;

[0038] 8. First joint bearing; 9. Second joint bearing; 10. First connecting arm; 11. Second connecting arm; 12. Second telescopic hydraulic cylinder; 13. Joint bearing pull rod.

[0039] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0040] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 any creative efforts shall fall within the scope of protection of the present invention.

[0041] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0042] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of such features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0043] In agricultural production, the harvesting of forage grass is an important link to ensure the development of animal husbandry. As the key equipment for forage grass harvesting, the working performance of the mower directly affects the harvesting efficiency and the quality of forage grass. Unlike the flat planting environment of farmland, artificial grasslands and natural grasslands are mostly distributed in complex terrain hilly areas. These areas have large undulating ground and many stones, which puts higher requirements on the terrain self-adaptive ability and ground contouring function of the mower. In order to ensure the uniformity of the cutting height of forage grass and reduce the phenomenon of missed cutting and excessive cutting, the mower needs to adjust the posture of the cutting part in real time according to the terrain changes, so that the cutter always works in close contact with the ground, thereby improving the harvesting effect and reducing the equipment damage.

[0044] The contouring mechanism of the existing mower is mostly connected mechanically or adjusted by a single degree of freedom when working in complex terrain, which is difficult to achieve precise adaptation to undulating terrain. Especially under complex terrain conditions such as slopes, depressions or protrusions, problems such as contouring lag and insufficient swing angle often occur, which leads to the cutter not closely adhering to the ground, affecting the harvesting quality, and may cause damage to the equipment parts due to terrain impact. Therefore, developing a contouring technology that can realize terrain self-adaptation, optimizing the design of the spatial linkage mechanism, and improving the contouring precision and stability of the mower in complex terrain have become urgent problems in the field of forage grass harvesting machinery.

[0045] In order to solve the above problems, the present application provides a suspension structure, the suspension frame is hinged on the left and right two hinge points of the tractor through two spherical hinges, and when the cutter connected to the suspension frame moves up or down with the terrain in the process of traveling, the suspension frame can be driven to rotate along the preset arc-shaped motion trajectory relative to the tractor, so that the cutter can complete the adaptive adjustment action in at least two degrees of freedom, realizing the adaptive contouring function of the suspension structure in complex terrain, thereby improving the close adhesion of the cutter to the ground, improving the harvesting quality, and reducing the damage to the equipment caused by terrain impact.

[0046] Please refer to Figures 1 to 3 The suspension structure provided by the present application comprises:

[0047] The right side of the suspension frame 2 is hinged to the first hinge point on the rear side of the tractor 1 through the first spherical hinge 3;

[0048] The rear end of the contouring support 4 is hinged to the left side of the suspension frame 2 about the first axis L1, and the first axis L1 extends in the left-right direction; the front end of the contouring support 4 is hinged to the second hinge point on the rear side of the tractor 1 through the second spherical hinge 5, and the second hinge point has a first preset distance from the first hinge point in the left-right direction;

[0049] The cutter 6 is arranged on the right side of the hanger 2 and connected with the hanger 2; during the upward movement or the downward movement of the cutter 6, the cutter 6 is used to drive the hanger 2 to rotate around the first hinge point, and the cutter 6 is used to drive the profiling support 4 to rotate around the second hinge point through the hanger 2.

[0050] In the embodiment, two rear hanger seat bodies 101 are arranged on the rear side of the tractor 1 in the left-right direction, the two rear hanger seat bodies 101 are fixedly connected with the tractor 1, the first hinge point is formed on the right rear hanger seat body 101, and the second hinge point is formed on the left rear hanger seat body 101. The instantaneous center of movement of the hanger 2 is located at the first hinge point, and the instantaneous center of movement of the profiling support 4 is located at the second hinge point.

[0051] During the forward movement of the tractor 1 dragging the hanger 2 and the cutter 6, when the cutter 6 passes through the depressed ground, the cutter 6 with a large mass will move downward under the action of gravity and generate a vertical downward pulling force on the right side of the hanger 2, so as to drive the hanger 2 to make a reverse spatial rotation movement around the first hinge point, so that the left side of the hanger 2 has a tendency to move upward, and at this time, the left side of the hanger 2 drives the profiling support 4 to rotate upward around the second hinge point; in this process, the limiting action of the first spherical hinge 3 and the second spherical hinge 5 on the hanger 2 can ensure that the hanger 2 can stably rotate in reverse in space along the preset path, and adaptive position adjustment of the hanger 2 in at least two degrees of freedom is realized; based on the adaptive position adjustment action of the hanger 2, the cutter 6 can move downward relative to the tractor 1 and be attached to the depressed ground, so as to adapt to and smoothly pass through the depressed ground.

[0052] Similarly, during the forward movement of the tractor 1 dragging the hanger 2 and the cutter 6, when the cutter 6 passes through the convex ground, under the supporting force of the convex ground, the cutter 6 will move upward and generate a vertical upward pulling force on the right side of the hanger 2, so as to drive the hanger 2 to make a forward spatial rotation movement around the first hinge point, so that the left side of the hanger 2 has a tendency to move downward, and at this time, the left side of the hanger 2 drives the profiling support 4 to rotate downward around the second hinge point; in this process, the limiting action of the first spherical hinge 3 and the second spherical hinge 5 on the hanger 2 can ensure that the hanger 2 can stably rotate in the forward direction in space along the preset path, and adaptive position adjustment of the hanger 2 in at least two degrees of freedom is realized; based on the adaptive position adjustment action of the hanger 2, the cutter 6 can move upward relative to the tractor 1 and be attached to the convex ground, so as to adapt to and smoothly pass through the convex ground.

[0053] Regarding the specific movement trajectory of the hanger 2, as shown in Figure 4 and Figure 5As shown, a coordinate system XYZ is established, in which the X axis represents the front-rear direction (the positive direction of the X axis is the front direction, and the reverse direction of the X axis is the rear direction), the Y axis represents the left-right direction (the positive direction of the Y axis is the left direction, and the reverse direction of the Y axis is the right direction), and the Z axis represents the up-down direction (vertical direction). Subsequent references to coordinate directions follow this setting and will not be repeated here. The coordinates of the first hinge point O are (0, 0, 0), and the coordinates of the second hinge point P are (0, p, 0), where p is the first preset distance between the first hinge point O and the second hinge point P in the left-right direction. Taking the D point as an example (the D point is the hinge point between the left side of the suspension frame 2 and the rear end of the profiling support 4), the coordinates of the D point are (m, n, 0). When the cutter 6 travels on the ground with ups and downs and drives the entire suspension frame 2 to rotate around the first hinge point O, the motion trajectory of the D point is located on a first sphere with the first hinge point O as the center. Assuming that the corresponding first sphere equation (1) is as follows:

[0054] x 2 +y 2 +z 2 =m 2 +n 2

[0055] During the rotation of the suspension frame 2 around the first hinge point O, the left side of the suspension frame 2 also drives the profiling support 4 to rotate around the second hinge point P, that is, the motion trajectory of the D point is also located on a second sphere with the second hinge point P as the center. The corresponding second sphere equation (2) is as follows:

[0056] x 2 +(y-p) 2 +z 2 =m 2 +(n-p) 2

[0057] It can be seen that the arc formed by the intersection of the first sphere and the second sphere is the motion trajectory of the D point. By simultaneously solving the above first sphere equation (1) and the second sphere equation (2), the motion trajectory equation of the D point can be obtained. The motion trajectories of other positions on the suspension frame 2 can also be deduced in the same way, and details are not repeated here.

[0058] Therefore, through the limiting effect of the first spherical hinge 3 and the second spherical hinge 5 on the hanger 2, when the cutter 6 connected to the hanger 2 moves upward or downward along with the terrain during the travel, the hanger 2 can be driven to rotate around the first hinge point and the second hinge point at the same time, so that the hanger 2 can stably rotate relative to the tractor 1 along the preset arc-shaped movement track, that is, the cutter 6 can complete the adaptive position adjustment action in at least two degrees of freedom; through the adaptive position adjustment action of the hanger 2, the cutter 6 can smoothly move up and down relative to the tractor 1 to fit the concave ground or the convex ground, so that the cutter 6 can better adapt to and smoothly pass through the ground with ups and downs, thereby realizing the adaptive profiling function of the suspension structure in complex terrain, improving the fitting tightness of the cutter 6 and the ground, improving the harvesting quality, and reducing the damage of the equipment caused by terrain impact.

[0059] In an embodiment, referring to Figures 1 to 3 , the suspension structure further comprises a profiling spring 7, one end of the profiling spring 7 is connected with the profiling support 4, and the other end of the profiling spring 7 is connected with the hanger 2; the profiling spring 7 is used to hinder the rotation of the profiling support 4 relative to the hanger 2 through elastic force.

[0060] Specifically, when the cutter 6 moves downward on the concave ground or moves upward on the convex ground, the hanger 2 will drive the profiling support 4 to rotate upward or downward around the second hinge point in the process of rotating around the first hinge point, at this time, the profiling spring 7 will be compressed or stretched, and the elastic force generated by the profiling spring 7 in the compression or stretching process will hinder the relative movement between the profiling support 4 and the hanger 2; with the increase of the compression amount or the stretching amount, the elastic force of the profiling spring 7 will gradually increase until the external force (including the gravity of the cutter 6 or the support force of the ground on the cutter 6) and the driving force of the hanger 2 on the profiling support 4 reach a balance state.

[0061] Based on the elastic constraint provided by the profiling spring 7 in the embodiment, the relative movement between the hanger 2 and the profiling support 4 can be buffered, the rigid impact caused by terrain mutation can be reduced, the stability of the movement of the cutter 6 is improved, and the profiling effect and the action stability of the suspension structure are enhanced; and after the cutter 6 passes through the terrain mutation area, the profiling support 4 can be provided with a reset force, so that the profiling support 4 and the hanger 2 quickly recover to the initial relative position state.

[0062] In an embodiment, referring to Figure 3 , the left side of the hanger 2 is provided with an actuating seat 201, and the actuating seat 201 is provided with an avoiding through hole 2011 penetrating in the vertical direction;

[0063] The profiled spring 7 comprises a spring body 701, a connecting rod 702 and a spring gland 703; the connecting rod 702 extends in the vertical direction, the lower end of the connecting rod 702 is hinged to the middle part of the profiled support 4 about the second axis L2 which is parallel to the first axis L1, the middle part of the connecting rod 702 is arranged in the avoiding through hole 2011, the spring gland 703 is arranged at the upper end of the connecting rod 702, the spring body 701 is sleeved on the connecting rod 702, the lower end of the spring body 701 is connected with the actuating seat 201, and the upper end of the spring body 701 is connected with the spring gland 703.

[0064] In the embodiment, when the profiled support 4 moves downward relative to the left side of the suspension frame 2, the spring gland 703 will squeeze the spring body 701 downward, so that the spring body 701 is in the compressed state; when the profiled support 4 moves upward relative to the left side of the suspension frame 2, the spring gland 703 will pull the spring body 701 upward, so that the spring body 701 is in the stretched state.

[0065] In actual application, when the cutter 6 passes through the concave ground, the cutter 6 with large mass will move downward under the action of gravity and generate a vertical downward pulling force on the suspension frame 2 at the right side of the suspension frame 2, so as to drive the suspension frame 2 to make a reverse spatial rotation movement about the first hinge point, so that the left side of the suspension frame 2 has a tendency to move upward, at this time, the left side of the suspension frame 2 drives the profiled support 4 to rotate upward about the second hinge point; in this process, the profiled support 4 moves downward relative to the left side of the suspension frame 2, the spring gland 703 squeezes the spring body 701 downward, the compressed spring body 701 can hinder the profiled support 4 from continuously moving downward relative to the left side of the suspension frame 2 based on the elastic force, until the balance state between the gravity of the cutter 6 and the driving force of the suspension frame 2 on the profiled support 4 is reached.

[0066] Similarly, when the cutter 6 passes through the convex ground, under the supporting force of the convex ground, the cutter 6 will move upward and generate a vertical upward pulling force on the suspension frame 2 at the right side of the suspension frame 2, so as to drive the suspension frame 2 to make a forward spatial rotation movement about the first hinge point, so that the left side of the suspension frame 2 has a tendency to move downward, at this time, the left side of the suspension frame 2 drives the profiled support 4 to rotate downward about the second hinge point; in this process, the profiled support 4 moves upward relative to the left side of the suspension frame 2, the spring gland 703 pulls the spring body 701 upward, the stretched spring body 701 can hinder the profiled support 4 from continuously moving upward relative to the left side of the suspension frame 2 based on the elastic force, until the balance state between the supporting force of the ground on the cutter 6 and the driving force of the suspension frame 2 on the profiled support 4 is reached.

[0067] Based on the above structure of the profiled spring 7, the elastic constraint between the profiled support 4 and the suspension frame 2 can be realized in the case of reasonable space layout, and the self-adaptive movement of the cutter 6 and the suspension frame 2 under the high and low terrain relative to the tractor 1 is buffered through the elastic constraint between the profiled support 4 and the suspension frame 2, which can reduce the rigid impact caused by the terrain mutation, improve the stability of the movement, and enhance the profiled effect and the action stability of the suspension structure; and after the cutter 6 passes through the terrain mutation area, the reset force can be provided in time, so that the profiled support 4 and the suspension frame 2 quickly recover to the initial relative position state.

[0068] Preferably, the upper end of the connecting rod 702 is provided with a threaded structure, and the spring gland 703 is connected to the upper end of the connecting rod 702 in a threaded connection manner; by screwing the spring gland 703, the height position of the spring gland 703 on the connecting rod 702 can be adjusted, so that the pre-compression amount of the spring body 701 can be conveniently adjusted to adapt to the profiled needs of cutters 6 of different weights or different terrains, and to ensure that the spring body 701 can always provide appropriate elastic force; when the pre-compression amount of the spring body 701 is adjusted, another threaded connecting piece can be screwed onto the threaded structure of the connecting rod 702 and abut against the side of the spring gland 703 away from the spring body 701, so as to realize the fixation of the spring gland 703 on the connecting rod 702 in cooperation with the elastic force of the spring body 701.

[0069] In an embodiment, referring to Figure 3 and Figure 6 , the rear end of the profiled support 4 is hinged to the left side of the suspension frame 2 through the first joint bearing 8.

[0070] In this embodiment, the use of the first joint bearing 8 makes up for the angle limitation of the rigid hinging mode in spatial movement, allowing the profiled support 4 and the suspension frame 2 to relatively tilt within a certain angle range, reducing the wear and stress concentration at the hinge point; especially during complex terrain operation, the smoothness of the mechanism movement can be significantly improved, ensuring the accurate implementation of the profiled action.

[0071] In an embodiment, referring to Figure 3 and Figure 6 , the lower end of the connecting rod 702 is hinged to the middle part of the profiled support 4 through the second joint bearing 9.

[0072] In this embodiment, the use of the second joint bearing 9 makes up for the angle limitation of the rigid hinging mode in spatial movement, allowing the connecting rod 702 and the profiled support 4 to relatively tilt within a certain angle range, reducing the wear and stress concentration at the hinge point; especially during complex terrain operation, the smoothness of the mechanism movement can be significantly improved, ensuring the accurate implementation of the profiled action.

[0073] In an embodiment, referring to Figures 3 to 5 , the deformation amount of the spring body 701 satisfies the following relationship:

[0074] ΔL = PQsinβ

[0075] wherein ΔL is the deformation amount of the spring body 701, P is the second hinge point, Q is the hinge point between the lower end of the connecting rod 702 and the middle part of the profiling bracket 4, β is the rotation angle of D relative to the second hinge point, and D is the hinge point between the left side of the suspension bracket 2 and the rear end of the profiling bracket 4.

[0076] The relationship formula proposed in this embodiment establishes a quantitative relationship between the rotation angle of the profiling bracket 4 and the deformation amount of the spring body 701 through spatial geometric relationships, providing a basis for subsequent force analysis and parameter design, and can be used to guide the design and selection of the spring body 701 to meet the profiling needs under different terrain conditions. When the rotation angle of the profiling bracket 4 and the deformation amount of the spring body 701 satisfy the above relationship formula, the elastic constraint relationship between the profiling bracket 4 and the suspension bracket 2 can reach an optimal state, which can avoid the situation that the elastic force is too small to effectively play a buffering role, and also avoid the situation that the elastic force is too large to cause the rotation of the profiling bracket 4 and the suspension bracket 2 to be blocked, thereby adversely affecting the profiling effect.

[0077] In an embodiment, referring to Figures 3 to 5 , the deformation amount ΔL of the spring body 701 and the displacement amount of the cutter 6 in the vertical direction satisfy the following relationship:

[0078]

[0079] wherein Δz A is the displacement amount of the cutter 6 in the vertical direction, O is the first hinge point, A is the connecting point between the cutter 6 and the suspension bracket 2, is the shortest straight line distance between P and Q, is the shortest straight line distance between O and D, is the shortest straight line distance between O and A, is the shortest straight line distance between P and D.

[0080] Specifically, as shown in Figure 4 and Figure 5 , when the cutter 6 moves downward or upward by a certain distance on the ground with ups and downs, the D point moves to the D0 point. Assuming that the rotation angle of the D point relative to the first hinge point O is α, and the rotation angle of the D point relative to the second hinge point P is β, at this time the displacement amount Δz D of the D point in the vertical direction (i.e., the Z axis shown in the figure) can be represented by the following formula:

[0081] ΔzD = OD sin a (1)

[0082] Δz D = PD sin b (2)

[0083] A point in the vertical direction (i.e. the Z axis shown in the figure) on the displacement amount Δz A It can be represented by the following formula:

[0084] Δz A = OA sin a (3)

[0085] In combination with the calculation formula of the deformation amount ΔL of the spring body 701 in the previous embodiment:

[0086] ΔL = PQ sin (4)

[0087] Together with the above formula (1) ~ (4), the deformation amount ΔL of the spring body 701 and the displacement amount Δz A of the cutter 6 in the vertical direction (i.e. the Z axis shown in the figure) satisfy the following relationship:

[0088]

[0089] The embodiment is based on the spatial geometric relationship, and establishes the quantitative relationship between the vertical displacement of the cutter 6 and the deformation amount of the spring body 701, which provides a basis for subsequent stress analysis and parameter design, and can be used to guide the design selection of the spring body 701 and the determination of the positions of each hinge point in the suspension structure, in order to meet the profiling requirements under different terrain conditions. Specifically, after the value of the displacement amount Δz A of the cutter 6 in the vertical direction is determined, the deformation amount of the spring body 701 and the size of each device, the relative position between each hinge point, etc. can be calculated by substituting the above relationship, and accordingly the spring body 701 with appropriate stiffness can be selected and the appropriate spatial layout can be determined, to ensure that the elastic force provided by the spring body 701 can be effectively used to balance the related forces, so that the profiling function of the suspension structure can be smoothly realized.

[0090] In an embodiment, the suspension structure further comprises an auxiliary spring (not shown in the figure), which is sleeved on the connecting rod 702 and located in the surrounding area of the spring body 701, and the lower end of the auxiliary spring is connected with the actuating seat 201; when the profiling support 4 moves downward relative to the left side of the suspension frame 2 to a preset position, the upper end of the auxiliary spring is used to abut against the spring gland 703 to prevent the profiling support 4 from continuing to move downward relative to the left side of the suspension frame 2.

[0091] Based on the scheme of the above embodiment, the researchers found in practical application that the change of the extrusion force on the spring body 701 during the downward movement of the profiling support 4 relative to the left side of the suspension frame 2 presents a nonlinear characteristic, specifically, the extrusion force on the spring body 701 is small in the early stage of relative movement, and sharply increases when the relative movement reaches a certain angle or position. In view of this situation, an auxiliary spring is arranged in the spring body 701 in this embodiment, the lower end of the auxiliary spring is connected with the actuating seat 201, and there is a preset distance between the upper end of the auxiliary spring and the spring gland 703; in this way, in the early stage of the movement of the profiling support 4 relative to the suspension frame 2, the auxiliary spring does not contact the spring gland 703 and does not generate elastic resistance to the relative movement, at this time, it can be ensured that the profiling support 4 moves smoothly relative to the suspension frame 2 under the small elastic resistance provided by the spring body 701, and the normal profiling operation is ensured; in the later stage of the movement of the profiling support 4 relative to the suspension frame 2, the auxiliary spring contacts the spring gland 703, at this time, the elastic resistance is jointly generated by the auxiliary spring and the spring body 701, and due to the intervention of the auxiliary spring, the elastic resistance sharply increases in a short time, so that the nonlinear change of the extrusion force on the profiling spring 7 in the later stage can be better resisted, and to some extent, the problem that the device is damaged due to the sharp increase of the external force beyond the critical value, resulting in the loss of control of the profiling action, can be avoided.

[0092] In an embodiment, with reference to Figure 1 and Figure 2 , the suspension structure further comprises a first connecting arm 10 and a first telescopic hydraulic cylinder (not shown in the figure); the left end of the first connecting arm 10 is rotatably connected to the right side of the suspension frame 2 about a third axis L3, and the right end of the first connecting arm 10 is connected with the cutter 6; one end of the first telescopic hydraulic cylinder is rotatably connected to the suspension frame 2 about a fourth axis L4, and the other end of the first telescopic hydraulic cylinder is rotatably connected to the first connecting arm 10 about a fifth axis L5; the third axis L3, the fourth axis L4 and the fifth axis L5 all extend in the vertical direction.

[0093] Specifically, when the cutter 6 is hindered during forward movement, it will drive the first connecting arm 10 to swing backward in the horizontal direction about the third axis L3 relative to the suspension frame 2, at this time, the first telescopic hydraulic cylinder will be compressed to provide a buffering force for the first connecting arm 10, which can ensure that the cutter 6 on the first connecting arm 10 rotates smoothly backward relative to the suspension frame 2 to adapt to the current terrain, and can resist the rigid impact caused by the terrain hindrance; after the cutter 6 passes through the terrain without being hindered, the first telescopic hydraulic cylinder will be extended again and drive the first connecting arm 10 to rotate forward relative to the suspension frame 2 about the third axis L3, thereby automatically resetting the cutter 6 on the first connecting arm 10.

[0094] In an embodiment, with reference toFigure 1 and Figure 2 The suspension structure further comprises a second connecting arm 11 and a second telescopic hydraulic cylinder 12, the left end of the second connecting arm 11 is rotatably connected to the right end of the first connecting arm 10 about a sixth axis L6, the right end of the second connecting arm 11 is rotatably connected to the middle part of the cutter 6 about a seventh axis L7, one end of the second telescopic hydraulic cylinder 12 is rotatably connected to the right end of the second connecting arm 11 about an eighth axis L8, the other end of the second telescopic hydraulic cylinder 12 is rotatably connected to the first connecting arm 10 about a ninth axis L9;

[0095] The sixth axis L6, the seventh axis L7, the eighth axis L8 and the ninth axis L9 are all horizontally arranged along the front-rear direction, the eighth axis L8 is above the seventh axis L7, and the ninth axis L9 is above the sixth axis L6.

[0096] In this embodiment, when the cutter 6 passes through the concave ground, the cutter 6 drives the suspension frame 2 and the profiling support 4 to rotate reversely in space about the first and second hinge points, and at the same time, the cutter 6 also drives the second connecting arm 11 to rotate downward about the sixth axis L6 relative to the first connecting arm 10, at this time, the second telescopic hydraulic cylinder 12 will be stretched to provide a buffering force for the rotation of the second connecting arm 11, so as to ensure that the cutter 6 on the second connecting arm 11 rotates stably downward relative to the first connecting arm 10 to adapt to the concave ground; after the cutter 6 passes through the concave ground, the suspension frame 2 and the profiling support 4 will be reset under the elastic force of the spring body 701, and at the same time, the second telescopic hydraulic cylinder 12 will be retracted to drive the second connecting arm 11 to rotate upward about the sixth axis L6 relative to the first connecting arm 10, thereby driving the cutter 6 on the second connecting arm 11 to reset automatically.

[0097] Similarly, when the cutter 6 passes through the convex ground, the cutter 6 drives the suspension frame 2 and the profiling support 4 to rotate forward in space about the first and second hinge points, and at the same time, the cutter 6 also drives the second connecting arm 11 to rotate upward about the sixth axis L6 relative to the first connecting arm 10, at this time, the second telescopic hydraulic cylinder 12 will be compressed to provide a buffering force for the rotation of the second connecting arm 11, so as to ensure that the cutter 6 on the second connecting arm 11 rotates stably upward relative to the first connecting arm 10 to adapt to the convex ground; after the cutter 6 passes through the convex ground, the suspension frame 2 and the profiling support 4 will be reset under the elastic force of the spring body 701, and at the same time, the second telescopic hydraulic cylinder 12 will be retracted to drive the second connecting arm 11 to rotate downward about the sixth axis L6 relative to the first connecting arm 10, thereby driving the cutter 6 on the second connecting arm 11 to reset automatically.

[0098] When encountering a slope terrain with height difference in Y axis (i.e. left high right low or left low right high slope), the cutter 6 can rotate around the seventh axis L7 relative to the second connecting arm 11, so that the cutter 6 can work on the slope.

[0099] Based on the above settings, the suspension frame 2, the profiling support 4, the first connecting arm 10, the second connecting arm 11 and the cutter 6 can jointly constitute a spatial linkage mechanism with multiple degrees of freedom, so that the adaptive adjustment of the cutter 6 in multiple degrees of freedom can be realized through the linkage of the components in the spatial linkage mechanism, so that the working terrain with height difference in different directions can be better adapted, and the profiling accuracy and stability of the mower in complex terrain are further improved.

[0100] In an embodiment, referring to Figure 1 , Figure 2 , Figure 6 , the suspension structure further comprises a joint bearing pull rod 13, the rear end of the joint bearing pull rod 13 is hinged to the middle part of the suspension frame 2, and the front end of the joint bearing pull rod 13 is hinged to a third hinge point on the rear side of the tractor 1, the third hinge point is located between the first hinge point and the second hinge point in the left-right direction, and the third hinge point is located above the first hinge point and the second hinge point.

[0101] The embodiment further connects the suspension frame 2 and the tractor 1 through the joint bearing pull rod 13 based on the first ball hinge 3 and the second ball hinge 5, so that three-point suspension connection between the suspension frame 2 and the tractor 1 can be realized.

[0102] Based on the above settings, the excessive swing of the suspension frame 2 in the corresponding direction can be better limited, and the cutting track of the cutter 6 is stable; the joint bearing pull rod 13 can share part of the weight of the suspension frame 2, reduce the stress of the first ball hinge 3 and the second ball hinge 5, and prolong the service life thereof.

[0103] The joint bearing pull rod 13 can be adjusted in length to meet the distance requirement between the suspension frame 2 and the tractor 1 in the corresponding position; and the joint bearings at the two ends of the joint bearing pull rod 13 allow the suspension frame 2 to produce a certain angular inclination at the hinge points at the two ends of the joint bearing pull rod 13 when rotating relative to the tractor 1, avoiding the motion interference caused by rigid connection.

[0104] The embodiment of the application further provides a mower, please refer to Figures 1 to 6 , the mower comprises the tractor 1 and the suspension structure in any of the above embodiments.

[0105] In the embodiment, the tractor 1 can drag the suspension structure to move forward, so that the cutter 6 of the suspension structure can complete the grass harvesting operation.

[0106] The specific structure of the suspension structure can refer to the above-mentioned embodiments. Since the mower of the present embodiment adopts all the technical solutions of the above-mentioned embodiments, it at least has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, that is, through the limiting effect of the first ball hinge 3 and the second ball hinge 5 on the suspension bracket 2, when the cutter 6 connected to the suspension bracket 2 moves upward or downward with the terrain during travel, the suspension bracket 2 can be driven to rotate around the first hinge point and the second hinge point at the same time, so that the suspension bracket 2 can make stable spatial rotary motion relative to the tractor 1 along the preset arc-shaped motion track, that is, the cutter 6 can complete the adaptive position adjustment action in at least two degrees of freedom; with the adaptive position adjustment action of the suspension bracket 2, the cutter 6 can smoothly move up and down relative to the tractor 1 to fit the concave ground or convex ground, so as to better adapt to and smoothly pass through the ground with ups and downs, thereby realizing the adaptive profiling function of the suspension structure under complex terrain, improving the close-fitting degree of the cutter 6 and the ground, improving the harvesting quality, and reducing the damage of the equipment caused by terrain impact.

[0107] It should be noted that other contents of the suspension structure and the mower disclosed by the present application can refer to the prior art, which will not be described here.

[0108] The above-mentioned is only an exemplary embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structural transformation made by referring to the content of the present application specification and drawings, or direct / indirect application in other related technical fields is included in the patent protection scope of the present application.

Claims

1. A suspension structure, characterized in that: The suspension structure comprises: a suspension frame, wherein the right side of the suspension frame is hinged to a first hinge point on the rear side of the tractor through a first ball hinge; a contour bracket, wherein a rear end of the contour bracket is hinged to a left side of the suspension bracket about a first axis, the first axis extending in a left-right direction; a front end of the contour bracket is hinged to a second hinge point at the rear side of the tractor via a second ball hinge, the second hinge point being spaced a first preset distance from the first hinge point in the left-right direction; A cutter is arranged on the right side of the hanger and connected to the hanger; during the upward or downward movement of the cutter, the cutter is used to drive the hanger to rotate around the first hinge point, and the cutter is used to drive the contoured bracket to rotate around the second hinge point through the hanger.

2. The suspension structure according to claim 1, wherein: The suspension structure further comprises a contour spring, one end of which is connected to the contour bracket, and the other end of which is connected to the suspension bracket; the contour spring is used to hinder the contour bracket from rotating relative to the suspension bracket through elastic force.

3. The suspension structure according to claim 2, wherein: An actuating seat is provided on the left side of the suspension frame, and an avoidance through-hole is provided on the actuating seat and passes through the actuating seat in a vertical direction; The contour spring includes a spring body, a connecting rod and a spring pressure cover; the connecting rod extends in a vertical direction, the lower end of the connecting rod is hinged to the middle part of the contour bracket around a second axis, the second axis is parallel to the first axis, the middle part of the connecting rod is passed through the avoidance through hole, the spring pressure cover is arranged at the upper end of the connecting rod, the spring body is sleeved on the connecting rod, the lower end of the spring body is connected to the actuating seat, and the upper end of the spring body is connected to the spring pressure cover.

4. The suspension structure according to claim 3, wherein: The rear end of the contoured bracket is hinged to the left side of the suspension bracket through a first joint bearing; And / or, the lower end of the connecting rod is hinged to the middle part of the contoured bracket through a second joint bearing.

5. The suspension structure according to claim 3, wherein: The deformation of the spring body satisfies the following relationship: ΔL=PQsinβ Among them, ΔL is the deformation of the spring body, P is the second hinge point, Q is the hinge point between the lower end of the connecting rod and the middle part of the contoured bracket, β is the rotation angle of D relative to the second hinge point, and D is the hinge point between the left side of the suspension bracket and the rear end of the contoured bracket.

6. The suspension structure according to claim 5, wherein: The deformation amount ΔL of the spring body and the displacement amount of the cutter in the vertical direction satisfy the following relationship: Where Δz A is the displacement of the cutter in the vertical direction, O is the first hinge point, A is the connection point between the cutter and the suspension bracket, is the shortest straight-line distance between P and Q, is the shortest straight-line distance between O and D, is the shortest straight-line distance between O and A, is the shortest straight-line distance between P and D.

7. The suspension structure according to claim 1, wherein: The suspension structure also includes a first connecting arm and a first telescopic hydraulic cylinder; the left end of the first connecting arm is rotatably connected to the right side of the suspension frame around a third axis, and the right end of the first connecting arm is connected to the cutter; one end of the first telescopic hydraulic cylinder is rotatably connected to the suspension frame around a fourth axis, and the other end of the first telescopic hydraulic cylinder is rotatably connected to the first connecting arm around a fifth axis; the third axis, the fourth axis, and the fifth axis all extend in the vertical direction.

8. The suspension structure according to claim 7, wherein: The suspension structure further includes a second connecting arm and a second telescopic hydraulic cylinder, wherein the left end of the second connecting arm is rotatably connected to the right end of the first connecting arm around a sixth axis, the right end of the second connecting arm is rotatably connected to the middle portion of the cutter around a seventh axis, one end of the second telescopic hydraulic cylinder is rotatably connected to the right end of the second connecting arm around an eighth axis, and the other end of the second telescopic hydraulic cylinder is rotatably connected to the first connecting arm around a ninth axis; The sixth axis, the seventh axis, the eighth axis, and the ninth axis are all arranged horizontally along the front-to-back direction, the eighth axis is located above the seventh axis, and the ninth axis is located above the sixth axis.

9. The suspension structure according to any one of claims 1 to 8, characterized in that: The suspension structure also includes a joint bearing pull rod, the rear end of the joint bearing pull rod is hinged to the middle part of the suspension frame, and the front end of the joint bearing pull rod is hinged to the third hinge point on the rear side of the tractor. The third hinge point is located between the first hinge point and the second hinge point in the left and right directions, and the third hinge point is located above the first hinge point and the second hinge point.

10. A lawn mower, characterized in that: The lawn mower comprises a tractor and a suspension structure according to any one of claims 1 to 9.

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