Intelligent mower with automatic tracking device

Abstract

The utility model discloses an intelligent mower with an automatic tracking device, and relates to the field of intelligent agricultural production, in particular to the field of intelligent weeding in orchards. The intelligent mower comprises a Slam automatic tracking control device, a cutter lifting control device, a driving device, a shell and a chassis. The Slam automatic tracking control device is installed on a mower chassis through a supporting frame. The cutter lifting control device is mounted at the front end of the mower chassis through a bolt, and the cutter lifting control device realizes height adjustment of a blade through movement of a lead screw mechanism; the driving device comprises four tires which are symmetrically installed on the two sides of the chassis. And the shell is connected to the chassis through a shell fixing piece. The intelligent mower can achieve the functions of path planning, automatic tracking and adjustment of the mowing stubble height. According to the technical scheme, the problems that the intelligent degree of orchard agricultural production is low, and an existing orchard mowing machine is low in efficiency and large in manpower consumption are solved.

Description

Technical Field

[0001] The utility model relates to the field of intelligent agricultural production, in particular to the field of intelligent weed removal in orchards, and specifically is an intelligent lawn mower provided with an automatic tracking device. Background Art

[0002] The degree of mechanization and mechanization penetration rate of orchards in my country are low, and the development of intelligent automation in orchards is slow. At present, the weeding machinery used in orchards is mainly traditional manual lawn mowers. Traditional manually controlled lawn mowers have problems such as limited application scenarios, low efficiency, high human resource consumption, and poor environmental performance. Intelligent lawn mowers have functions such as automatic obstacle avoidance, intelligent adjustment of stubble height, and intelligent alarm. They are suitable for modern production methods and can effectively improve mowing efficiency and reduce human resource consumption. Intelligent lawn mowers integrate traditional mowing machinery with intelligent control technology and automation technology to explore the possible development direction of agricultural machinery in the future.

[0003] Based on the above, it is necessary to design an intelligent lawn mower with an automatic tracking device that can automatically adjust the stubble height to solve the above technical problems. Utility Model Content

[0004] In view of this, the utility model provides a small intelligent lawn mower, which has the advantages of automatic tracking mowing and multi-function integration, automatic adjustment of stubble height, small size, low cost, etc., and can effectively solve the problems in the background technology.

[0005] The utility model discloses an intelligent lawn mower with an automatic tracking device, comprising a Slam automatic tracking control device, a tool lifting control device, a driving device, a shell and a chassis, characterized in that the Slam automatic tracking control device comprises three parts: a Slam control element, a support frame and a power control box, the Slam control element is centrally fixed on the support frame by screws, the support frame is buckled on the power control box, the power control box is centrally installed on the chassis by bolts, the Slam control element can realize a long-term independent automatic tracking control function by combining with a single-chip microcomputer and a power supply in the power control box, thereby reducing the consumption of human resources; the tool lifting control device comprises a tool support plate, a screw mechanism, a tool motor shell, a rake, a support frame, a power supply control box ... The intelligent lawn mower is composed of a rod, a support plate, an auxiliary support rod, a sliding bolt, a tool motor, a tool coupling, a driving pulley, a driving shaft, a 45° tool, a flat tool, a driven shaft, a passive pulley, a thrust bearing and a gasket. The tool lifting control device is vertically fixed to the front end of the chassis by bolts; the driving device includes five parts: a tire, a driving motor, a driving bearing, a driving coupling and a driving shaft. The driving device is symmetrically mounted on the chassis through a driving fixing plate; the shell is connected to the chassis through a shell fixing piece to protect the intelligent lawn mower from damage; compared with traditional lawn mowers, the intelligent lawn mower adds a Slam automatic tracking control device and a tool lifting control device, and the intelligent lawn mower can realize automatic tracking planning and intelligent mowing functions through functional modules.

[0006] Furthermore, the tire is coaxially fixed to the drive shaft by bolts, and a drive coupling, a drive bearing, and a drive motor are coaxially fixed to the drive shaft in sequence. The drive motor is fixed to a drive fixing plate by bolts, and the drive fixing plate is centrally installed on the chassis by bolts. The drive device can be combined with the single-chip control module in the power control box to achieve reasonable regulation of the drive system, and realize path planning and posture adjustment of the intelligent lawn mower. The drive motor can achieve long-term independent work through the power function in the power control box.

[0007] Furthermore, the tool support plate is vertically mounted on the chassis by bolts, the screw mechanism is vertically mounted on the chassis by bolts, the support rod is cooperatively connected with the tool support plate, the auxiliary support rod is fixed to the tool support plate in parallel with the support rod, the support plate is connected with the moving plate in the screw mechanism by bolts, the slide groove in the support rod and the support plate are coordinated by the sliding bolt slide groove movement, the tool motor housing is connected with the support rod and the auxiliary support rod by bolts, the tool motor housing is symmetrically installed between the two support rods, the support rod can support the mowing tool, the rake is fixed to the tool motor housing by two pins, the rake can realize the obstacle clearing function during the driving process of the lawn mower, and the screw mechanism drives the movement of the support rod to realize automatic adjustment of the mowing height, which can increase the ability of the intelligent lawn mower to adapt to the environment.

[0008] Furthermore, the tool motor is fixed inside the tool motor housing by screws, the driving shaft is coaxially connected to the tool motor output shaft through a tool coupling, the driving shaft is sequentially installed with a driving pulley, a 45° tool, and a flat knife from top to bottom, the driving pulley is coaxially connected to the tool coupling through a key, the 45° tool is coaxially connected to the tool coupling through a gasket, the flat knife is coaxially connected to the tool coupling through a nut, the thrust bearing is coaxially installed in the circular groove of the chassis, the driven shaft is sequentially installed with a passive pulley and a thrust bearing from top to bottom, the passive pulley is coaxially installed with the driven shaft through a key, the passive pulley is coaxially installed on the driven shaft with an interference fit, and the blade arrangement achieves comprehensive coverage of the mowing work area and improves the mowing quality and work efficiency.

[0009] On the basis of the above technical solution, compared with the prior art, the advantages of the utility model are:

[0010] (1) By designing the Slam automatic tracking device, the automatic tracking function of the smart lawn mower can be realized, which allows the smart lawn mower to automatically track and mow in a more complex environment, thereby improving the mower's ability to adapt to the environment, reducing labor costs, and improving mowing efficiency.

[0011] (2) By adding a screw mechanism, the stubble height can be automatically adjusted, and different stubble heights can be adjusted according to different weeds to meet the diverse needs of orchard farmers.

[0012] (3) By adjusting the motor speed, the effective cutting of various weeds can be achieved, thereby improving the ability of the smart lawn mower to adapt to various complex environments.

[0013] (4) The degree of electrification integration is high, the lawn mower can be used as long as it is fully charged, and the power supply capacity is large, which can meet the needs of long-term independent use. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The utility model is further described below in conjunction with the accompanying drawings and embodiments;

[0015] Figure 1 Schematic diagram of the smart lawn mower;

[0016] Figure 2 Schematic diagram of the internal design of the smart lawn mower;

[0017] Figure 3 Schematic diagram of the drive device;

[0018] Figure 4 Schematic diagram of tool lifting device;

[0019] Figure 5 Tool drive schematic diagram;

[0020] In the figure: 1. Slam automatic tracking control device; 2. tool lifting control device; 3. drive device; 4. housing; 5. Slam control element; 6. support frame; 7. power control box; 8. tool support plate; 9. screw mechanism; 10. tool motor housing; 11. rake; 12. support rod; 13. support plate; 14. sliding bolt; 15. chassis; 16. housing fixing; 17. tire; 18. drive motor; 19. drive fixing plate; 20. drive bearing; 21. drive coupling; 22. drive shaft; 23. auxiliary support rod; 24. tool motor; 25. tool coupling; 26. driving pulley; 27. driving shaft; 28. 45° tool; 29. ​​flat tool; 30. driven shaft; 31. driven pulley; 32. thrust bearing; 33. gasket. DETAILED DESCRIPTION

[0021] like Figures 1 to 5As shown, the utility model provides a technical solution: an intelligent lawn mower with an automatic tracking device, comprising a Slam automatic tracking control device (1), a tool lifting control device (2), a driving device (3), a housing (4) and a chassis (15), characterized in that: the Slam automatic tracking control device (1) comprises three parts: a Slam control element (5), a support frame (6) and a power control box (7), the Slam control element (5) is centrally fixed on the support frame (6) by screws, the support frame (6) is buckled on the power control box (7), and the power control box (7) is centrally installed on the chassis (15) by bolts; the tool lifting control device (2) comprises a tool support plate (8), a screw mechanism (9), a tool motor housing (10), a rake (11), a support rod (12), a support plate The invention relates to a smart lawn mower comprising a driving mechanism (13), an auxiliary support rod (23), a sliding bolt (14), a tool motor (24), a tool coupling (25), a driving pulley (26), a driving shaft (27), a 45° tool (28), a flat tool (29), a driven shaft (30), a passive pulley (31), a thrust bearing (32), and a gasket (33). The tool lifting control device (2) is vertically fixed to the front end of the chassis (15) by bolts; the driving device (3) comprises a tire (17), a driving motor (18), a driving bearing (20), a driving coupling (21), and a driving shaft (22); the driving device (3) is symmetrically mounted on the chassis (15) through a driving fixing plate (19); and the housing (4) is connected to the chassis (15) through a housing fixing member (16) to protect the smart lawn mower from damage. The intelligent lawn mower is provided with a Slam automatic tracking control device (1) and a cutter lifting control device (2). The intelligent lawn mower can realize automatic tracking planning and intelligent mowing functions through its functional modules.

[0022] In this embodiment, the tire (17) is coaxially fixed to the drive shaft (22) by bolts, and a drive coupling (21), a drive bearing (20), and a drive motor (18) are coaxially fixed to the drive shaft (22) in sequence. The drive motor (18) is fixed to a drive fixing plate (19) by bolts, and the drive fixing plate (19) is centrally mounted on the chassis (15) by bolts. The drive device (3) can be combined with a single-chip control module in a power control box (7) to achieve reasonable regulation of the drive system, and realize path planning and posture adjustment of the intelligent lawn mower. The drive motor (18) can achieve long-term independent operation through the power function in the power control box.

[0023] In this embodiment, the tool support plate (8) is vertically mounted on the chassis (15) by bolts, the screw mechanism (9) is vertically mounted on the chassis (15) by bolts, the support rod (12) is connected to the tool support plate (8), the auxiliary support rod (23) is fixed to the tool support plate (8) in parallel with the support rod (12), the support plate (13) is connected to the moving plate in the screw mechanism (9) by bolts, the slide groove in the support rod (12) and the support plate (13) are matched by the slide groove movement of the sliding bolt (14), and the tool electric The machine housing (10) is connected to a support rod (12) and an auxiliary support rod (23) by means of bolts; the tool motor housing (10) is symmetrically mounted between the two support rods (12); the support rod (12) can support a mowing tool; the rake (11) is fixed to the tool motor housing (10) by means of two pins; the rake (11) can clear obstacles during the driving of the mower; the screw mechanism (9) drives the movement of the support rod (12) to achieve automatic adjustment of the mowing height, thereby increasing the ability of the intelligent mower to adapt to the environment.

[0024] In this embodiment, the tool motor (24) is fixed inside the tool motor housing (10) by screws, the driving shaft (27) is coaxially connected to the output shaft of the tool motor (24) through a tool coupling (25), and the driving shaft (27) is sequentially installed with a driving pulley (26), a 45° tool (28), and a flat knife (29) from top to bottom, the driving pulley (26) is coaxially connected to the tool coupling (25) through a key, the 45° tool (28) is coaxially connected to the tool coupling (25) through a gasket (33), and the flat knife (29) is installed on the driving shaft (27) in sequence from top to bottom. 9) is coaxially connected with the tool coupling (25) through a nut, the thrust bearing (32) is coaxially installed in the circular groove of the chassis (15), the driven shaft (30) is sequentially installed with a passive pulley (31) and a thrust bearing (32) from top to bottom, the passive pulley (31) is coaxially installed with the driven shaft (30) through a key, the passive pulley (31) is coaxially installed on the driven shaft (30) with an interference fit, and the flat knife (29) adopts a three-blade symmetrical arrangement form, thereby achieving full coverage of the mowing work area and improving the mowing quality and work efficiency.

[0025] The implementation described above is only a description of the implementation method of the utility model, and does not limit the concept and scope of the utility model. Without departing from the design scheme of the utility model, the equivalent structure made by ordinary engineering and technical personnel in the field of this utility model and the direct or indirect application in related technical fields should be included in the protection scope of the utility model.

[0026] How it works

[0027] When using the intelligent lawn mower with an automatic tracking device, first, according to Figures 1 to 5 As shown, the intelligent lawn mower provided with the automatic tracking device can realize multiple behavioral features such as automatic tracking of the intelligent lawn mower, adjustment of the height of the cutter, independent driving of the intelligent lawn mower, protection of the cutter spindle, etc.; the power supply in the power control box (7) is used to provide power for the Slam automatic tracking device (1) to perform the automatic tracking function. Compared with the traditional lawn mower, this method realizes the automatic tracking function, overcomes the problems of poor scene adaptability, high labor cost and low mowing efficiency of the traditional lawn mower, and improves the intelligent automation level of the intelligent lawn mower;

[0028] In the actual mowing process, the power source carried by the screw mechanism (9) is used to provide power to the screw mechanism (9) to adjust the mowing stubble height. Compared with the traditional manual adjustment of the stubble height, this method of adjusting the stubble height realizes the combination of automation and traditional mechanical adjustment, overcomes the shortcomings of the traditional manual adjustment of the stubble height, such as poor flexibility and few functions, and improves the accuracy of the mowing stubble height and the work efficiency of mowing.

[0029] In the actual mowing process, the power supply in the power control box (9) is used to power the whole machine, and the control elements in the power control box (9) are used to coordinate and control the whole machine. Compared with the traditional mower, this method can realize the long-term independent working function of the intelligent mower, reduce the labor cost consumption, and improve the mowing work efficiency;

[0030] In the actual mowing process, the 45° cutter (28) is used to protect the driving shaft (27) and the driven shaft (30). The 45° cutter (28) can cut weeds that are easy to entangle the main shaft. Compared with the traditional lawn mower, this method realizes the protection of the main shaft, improves the efficiency and life of the electric mowing device, and reduces the maintenance cost of the intelligent lawn mower.

Claims

1. An intelligent lawn mower equipped with an automatic tracking device, comprising a Slam automatic tracking control device (1), a tool lifting control device (2), a driving device (3), a housing (4) and a chassis (15), characterized in that: The slam automatic tracking control device (1) comprises three parts: a slam control element (5), a support frame (6) and a power control box (7). The slam control element (5) is centrally fixed on the support frame (6) by screws, the support frame (6) is buckled on the power control box (7), and the power control box (7) is centrally mounted on a chassis (15) by bolts; the tool lifting control device (2) comprises a tool support plate (8), a screw mechanism (9), a tool motor housing (10), a rake (11), a support rod (12), a support plate (13), an auxiliary support rod (23), a sliding bolt (14), a tool motor (24), a tool coupling (25), a main The intelligent lawn mower is composed of a driven pulley (26), a driving shaft (27), a 45° cutter (28), a flat cutter (29), a driven shaft (30), a driven pulley (31), a thrust bearing (32) and a gasket (33); the cutter lifting control device (2) is vertically fixed to the front end of the chassis (15) by bolts; the driving device (3) includes a tire (17), a driving motor (18), a driving bearing (20), a driving coupling (21) and a driving shaft (22); the driving device (3) is symmetrically mounted on the chassis (15) through a driving fixing plate (19); the housing (4) is connected to the chassis (15) through a housing fixing member (16) to protect the intelligent lawn mower from damage.

2. The intelligent lawn mower with an automatic tracking device according to claim 1, characterized in that: The tire (17) is coaxially fixed to a drive shaft (22) by bolts, the drive shaft (22) is coaxially connected to a drive motor (18) by a drive coupling (21), the drive shaft (22) is supported by a drive bearing (20), the drive bearing (20) is vertically fixed to a chassis (15) by bolts, the motor (18) is fixed to a drive fixing plate (19) by bolts, and the drive fixing plate (19) is centrally mounted on the chassis (15) by bolts.

3. The intelligent lawn mower with an automatic tracking device according to claim 1, characterized in that: The tool support plate (8) is vertically mounted on the chassis (15) by bolts, the screw mechanism (9) is vertically mounted on the chassis (15) by bolts, the support rod (12) is connected to the tool support plate (8) in cooperation, the auxiliary support rod (23) is fixed to the tool support plate (8) in parallel with the support rod (12), the support plate (13) is connected to the moving plate in the screw mechanism (9) by bolts, the slide groove in the support rod (12) and the support plate (13) are matched in slide groove movement by sliding bolts (14), the tool motor housing (10) is connected to the support rod (12) and the auxiliary support rod (23) by bolts, the tool motor housing (10) is centrally mounted between the two support rods (12), and the rake (11) is fixed to the parallel tool motor housing (10) by two pins.

4. The intelligent lawn mower with an automatic tracking device according to claim 1, characterized in that: The tool motor (24) is fixed inside the tool motor housing (10) by screws. The driving shaft (27) is coaxially connected to the output shaft of the tool motor (24) through a tool coupling (25). The driving shaft (27) is sequentially installed with a driving pulley (26), a 45° tool (28), and a flat tool (29) from top to bottom. The driving pulley (26) is coaxially connected to the tool coupling (25) by a key. The 45° tool (28) is connected to the tool coupling (25) by a gasket (33). The flat knife (29) is coaxially connected to the tool coupling (25) through a nut, the thrust bearing (32) is coaxially installed in a circular groove of the chassis (15), the driven shaft (30) is sequentially installed with a passive pulley (31) and a thrust bearing (32) from top to bottom, the passive pulley (31) is coaxially installed with the driven shaft (30) through a key, and the passive pulley (31) is coaxially installed on the driven shaft (30) by interference fit.

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