Agricultural machinery anti-collision mechanism and agricultural robot
Through the anti-collision mechanism composed of rear anti-collision beams, elastic mounting plates, stroke switches, etc., multi-layer buffer protection is provided, which solves the problem of irregular shapes and side collisions in complex environments, and improves equipment safety and flexibility.
Patent Information
- Application Number
- CN202423135895.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-19
- Publication Date
- 2025-07-25
- Estimated Expiration
- 2034-12-19
AI Technical Summary
The existing agricultural machinery anti-collision structure cannot be effectively protected in complex operating environments, especially lacking buffering for irregular shapes and side collisions, resulting in equipment damage and safety hazards.
The anti-collision mechanism consisting of rear anti-collision beam, elastic mounting plate, front anti-collision beam, stroke switch, trigger shaft, front balance spring, rotary shaft, etc. is provided with multi-layer buffering through the rubber front and side elastic bodies. The stroke switch is communicatively connected with the control system, and the sensitivity is adjustable to ensure safe shutdown.
It has achieved effective buffering for collisions in various shapes and directions, improving the safety and flexibility of equipment, adapting to complex operating environments, reducing equipment damage, and ensuring personnel safety.
Smart Images
Figure CN223148370U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of anti-collision structures of agricultural machinery, in particular to an anti-collision mechanism for agricultural machinery and an agricultural robot. Background Technique
[0002] With the rapid development of modern agricultural technology, agricultural machinery plays an increasingly important role in agricultural production. Unmanned automatic intelligent driving is gradually replacing manual labor, improving efficiency while also having higher requirements for safety. When agricultural machinery is operating in the field, due to factors such as complex terrain and blocked vision, collision accidents often occur, which may also pose a safety threat to relevant workers. In order to improve the safety and durability of agricultural machinery, various anti-collision measures have emerged, making the anti-collision structure an indispensable part of agricultural machinery.
[0003] The anti-collision structure of agricultural machinery is a protective device installed on the outer edge of agricultural machinery. Its main function is to absorb and disperse the impact force generated during a collision, and quickly and timely shut down the operation of the agricultural machinery, thereby protecting the agricultural machinery from damage, and at the same time reducing the harm caused by the collision to relevant personnel, crops and other objects.
[0004] At present, the anti-collision mechanisms of agricultural machinery are mainly divided into flip-type and vertical telescopic type according to the structure.
[0005] When the flip-type anti-collision strip is collided, the stressed part at the front of the anti-collision structure will flip, and the corresponding trigger switch will be triggered to achieve the purpose of shutting down the machine. Such anti-collision structures have certain requirements for the shape of the collided object and the direction of the collision force. For complex real working environments, the shape of the collided object is uncontrollable, and the direction of the collision force is uncontrollable. It is possible that the anti-collision structure does not flip during the collision. If the anti-collision structure does not flip, the shutdown switch cannot be triggered, which will lead to damage to agricultural machinery and dangerous situations.
[0006] When the vertical telescopic anti-collision structure is collided, the structure will contract. When the safety touch edge at the front of the anti-collision strip is squeezed and contracted to a certain extent, the internal switch will be triggered to achieve the purpose of shutting down the machine. Such anti-collision structures have certain requirements for the shape of the collided object and the impact force. Since the shape of the object collided during the operation of agricultural machinery is irregular or relatively sharp, the safety touch edge will be damaged. Some vehicles have a short buffer distance, and some non-frontal collisions may cause the anti-collision mechanism to be unbalanced in force, resulting in damage to the anti-collision structure or irreversible damage to the safety touch edge.
[0007] The rigid anti-collision structure generally has a large impact force during a collision. The anti-collision structure makes rigid contact with the collided object, which may cause plastic deformation of both sides. Such anti-collision structures need to be replaced relatively frequently after a collision. When the lawn mower is applicable to environments with many trees such as fruit forests, it is easy to cause certain damage to the tree trunks.
[0008] In addition, side collisions or external collisions may occur when agricultural machinery is turning. Currently, traditional anti-collision structures lack effective protection against side collisions, and there is no buffer protection for side collisions, resulting in insufficient comprehensive protection in complex working environments. Summary of the Invention
[0009] The purpose of the present utility model is to provide an anti-collision mechanism for agricultural machinery to solve the problems raised in the above-mentioned background technology.
[0010] To solve the above technical problems, the present utility model provides the following technical solutions:
[0011] An anti-collision mechanism for agricultural machinery includes a rear anti-collision beam, an elastic mounting plate, a front anti-collision beam, a travel switch, a trigger shaft, a front balance spring, and a rotating shaft;
[0012] The rear anti-collision beam, the elastic mounting plate, and the front anti-collision beam are arranged in parallel;
[0013] The center position in front of the rear anti-collision beam and the center position behind the elastic mounting plate are fixedly connected through the rotating shaft;
[0014] There are two trigger shafts symmetrically arranged on the left and right. The front part of the trigger shaft sequentially passes through the elastic mounting plate and the front balance spring and is fixed to the back of the front anti-collision beam; the tail of the trigger shaft is stuck behind the elastic mounting plate;
[0015] Two of the travel switches are symmetrically fixed on both sides behind the rear anti-collision beam; the trigger arm of the travel switch passes through the rear anti-collision beam to the back of the tail of the trigger shaft.
[0016] Preferably, the front anti-collision beam is covered with a front elastic body.
[0017] Preferably, the front elastic body is made of rubber.
[0018] Preferably, a shaft sleeve is provided at the position where the elastic mounting plate contacts the trigger shaft.
[0019] Preferably, the elastic mounting plate is made of manganese plate.
[0020] Preferably, backward extension parts are provided on both sides of the elastic mounting plate, and the surfaces of the backward extension parts are wrapped with side elastic bodies.
[0021] Preferably, the side elastic body is made of rubber.
[0022] Preferably, a pair of rear balance compression springs are symmetrically arranged between the rear anti-collision beam and the elastic mounting plate. One end of the rear balance compression spring is fixed to the front of the rear anti-collision beam, and the other end abuts against the back of the elastic mounting plate.
[0023] Preferably, a roller is provided at the end of the trigger arm.
[0024] An agricultural robot includes an agricultural machinery control system, and is characterized in that it is provided with the agricultural machinery anti-collision mechanism as described in any one of the foregoing, and the travel switch is communicatively connected to the agricultural machinery control system.
[0025] Compared with the prior art, the beneficial effects achieved by the present utility model are as follows:
[0026] 1. Suitable for installation on various agricultural machinery, especially for installation on a variety of small lawn mowers.
[0027] 2. The contact surface is covered with rubber to reduce the impact during collision.
[0028] 3. The triggering sensitivity is controllable. By adjusting the angle of the travel switch, the triggering sensitivity is set, which improves the flexibility of equipment application.
[0029] 4. Protected by two travel switches. The travel switch can be communicatively connected to the control system of the agricultural machinery. When the travel switch is squeezed and triggered, it transmits a signal to control the agricultural machinery to cut off power and stop running, thereby ensuring the safety of the agricultural machinery.
[0030] 5. An elastomer is added on the side. When the side is collided, the anti-collision strip will tilt around the pin axis towards the collided side, thereby triggering the travel switch on the collided side.
[0031] 6. The collision position is not limited, the collision shape is not limited, and the collision force direction is not limited.
[0032] 7. The frontal collision energy is absorbed in three layers. The front elastomer is the first layer, the front balance spring is the second layer, and the rear balance compression spring is the third layer. Different specifications of compression springs can be selected to adapt to the collision intensity in different working environments.
[0033] 8. The side collision energy is absorbed in three layers. The side elastomer is the first layer, the elastic mounting plate formed by sheet metal is the second layer, and the rear balance compression spring is the third layer. BRIEF DESCRIPTION OF THE DRAWINGS
[0034] The drawings are used to provide a further understanding of the present utility model and constitute a part of the specification. Together with the embodiments of the present utility model, they are used to explain the present utility model and do not constitute a limitation to the present utility model. In the drawings:
[0035] Figure 1 Isometric view of the embodiment of the present utility model;
[0036] Figure 2 Explosion diagram of the embodiment of the present utility model;
[0037] Figure 3 Stereogram of the embodiment of the present utility model;
[0038] Figure 4 For Figure 2 partial schematic diagram in;
[0039] In the figure: rear anti-collision beam 1, elastic mounting plate 2, front anti-collision beam 3, front elastic body 4, side elastic body 5, travel switch 6, trigger shaft 7, rear balance compression spring 8, front balance spring 9, rotating shaft 10. Specific implementation manner
[0040] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0041] Embodiment, please refer to Figures 1 to 4 , this embodiment provides an anti-collision structure that can be applied to the installation of various automatic navigation intelligent robot models and has an anti-collision function, mainly including a rear anti-collision beam, an elastic mounting plate, a front anti-collision beam, a front elastic body, a side elastic body, a travel switch, a trigger shaft, a rear balance compression spring, a front balance spring, and a rotating shaft. The front elastic body and the side elastic body can be made of rubber material.
[0042] A travel switch is installed on the side of the rear anti-collision beam close to the agricultural machinery. The rear anti-collision beam and the travel switch are connected by bolts, and the angle of the travel switch is adjustable to adjust the trigger sensitivity.
[0043] The rear anti-collision beam and the elastic mounting plate are connected by a pin shaft and can rotate relative to each other within a certain angle range.
[0044] The balance compression springs are two compression springs with the same specifications and self-contained bases and studs. One end of the bases and studs of the two balance compression springs passes through the reserved holes on both sides of the anti-collision beam, and then is fixed on the other side of the rear anti-collision beam with washers and nuts. The other ends of the two balance compression springs are pressed against the surface of the anti-collision strip close to the agricultural machinery. Since the two balance compression springs have the same specifications and models, the pressures on both sides of the anti-collision strip are the same, so that the anti-collision beam and the anti-collision strip are parallel to each other.
[0045] The trigger shaft passes through the elastic mounting plate, and then passes through the front balance spring. The front part of the trigger shaft has internal threads and is fixed on the front anti-collision beam by bolts. In addition, a shaft sleeve is welded at the position where the elastic mounting plate contacts the trigger shaft, and its function is to prevent the trigger shaft and the components outside the agricultural machinery from sagging due to gravity, and they may be damaged if the force is improper during collision. When triggered, the tail of the trigger shaft contacts the roller of the travel switch.
[0046] The front elastic body is connected to the front anti-collision beam by bolts.
[0047] The side elastomers and the elastic mounting plate are fixedly connected to both side surfaces by bolts.
[0048] Among them, the rear anti-collision beam is formed by sheet metal bending and welding, and is bolt-connected to the agricultural machinery through reserved slots, as Figure 1 shown. The travel switches on both sides of the rear anti-collision beam are bolt-connected to the rear anti-collision beam, and the trigger arms of the travel switches pass through the long reserved holes of the anti-collision beam, as Figure 4 shown. One end of the balance spring bases and studs of the same model and specification passes through the reserved holes on both sides of the anti-collision beam, and then is fixed on the other side of the rear anti-collision beam with gasket nuts. The other ends of the two balance springs are pressed against the elastic mounting plate. Since the two springs are of the same model and specification, the two ends of the elastic mounting plate are subjected to the same force, so that the rear anti-collision beam and the elastic mounting plate are parallel to each other. The elastic mounting plate is formed by stamping and welding manganese plates, and is connected to the rear anti-collision beam by a rotating shaft. Two trigger shafts pass through the elastic mounting plate, then pass through the front balance springs, and then pass through the front anti-collision beam. One end of the two front balance springs of the same model and specification is pressed against the elastic mounting plate, and the other end is pressed against the front anti-collision beam. Since the pressures of the two front balance springs on both ends of the front anti-collision beam are the same, the front anti-collision beam and the elastic mounting plate are parallel to each other. The front part of the trigger shaft has internal threads and is fixed by gasket bolts to prevent the trigger shaft from falling off the front anti-collision beam. The front elastomer and the front anti-collision beam are bolt-connected, and the side elastomer and the elastic mounting plate are bolt-connected and connected by the self-brought bayonet of the side elastomer, as Figure 2 shown. In addition, a shaft sleeve is welded at the position where the elastic mounting plate passes through the trigger shaft to increase the contact area between the trigger shaft and the elastic mounting plate, which prevents the front anti-collision beam and the front elastomer from sagging due to gravity and being damaged when the force is improper during collision.
[0049] In this embodiment, when the entire anti-collision structure takes effect, in the case of a frontal collision, the front elastomer is stressed and collided to play the first layer of buffering. The front elastomer and the front anti-collision beam move backward synchronously. The front anti-collision beam pushes the trigger shaft to move backward, and the front balance spring is stressed and compressed to play the second layer of buffering and move backward, so as to trigger the travel switch adjustment, so that the whole vehicle is powered off or braked. However, due to inertia, the vehicle will still move a certain distance. Due to the uncertainty of the collision point, any point outside the center of the structure of the collision point will cause the elastic mounting plate to rotate left and right around the rotating shaft, and the elastic mounting plate and related components move backward synchronously, so that the compression of the rear balance spring plays the third layer of buffering to varying degrees. When the collision point is strictly at the center of the structure or the collision area is very large, the front elastomer will absorb most of the kinetic energy. The structural strengths of the front anti-collision beam and the rear anti-collision beam are relatively large, so that they can withstand a large impact without damaging the structural parts and maintaining the integrity of the structure and long-term use.
[0050] If the collision point is at the center of the structure, the front anti-collision beam moves backward, driving the two trigger shafts to move backward synchronously, thereby triggering the travel switch. In the case of a side collision, the side elastomer is stressed and collides to provide the first layer of buffering. Since the elastic mounting plate is a structural member made of manganese plate, it has good elasticity and strength, providing the second layer of buffering. The side elastomer, elastic mounting plate and related parts move backward around the rotating shaft and compress the rear balance spring, providing the third layer of buffering. During the buffering process, the bottom of the trigger shaft triggers the travel switch, thus achieving the function of cutting off the vehicle power or braking. However, due to inertia, the vehicle will still move a certain distance. The elastic mounting plate has high elasticity and strength, enabling it to absorb a large impact without damaging the structural members and maintaining the integrity of the structure for long-term use.
[0051] After the collision ends, the force on the collision part disappears, and the rear balance spring and the front balance spring return to their lengths and force states before the collision. The entire anti-collision structure automatically returns to its state before the collision and can be put into work again without manual adjustment.
[0052] In addition, the actual working environment is complex and variable. During operation, the anti-collision mechanism will inevitably encounter other objects. Most small lawn mowers are used in orchards, and when working, hitting tree branches or hard weeds may cause small movements of the anti-collision structure. This is a normal situation and does not require triggering the travel switch. Therefore, it is necessary to adjust the trigger sensitivity of the travel switch to adapt to different working conditions. Specifically, in this embodiment, the trigger angle of the travel switch has an adjustment range, so that the distance between the trigger roller of the travel switch and the trigger shaft is adjustable, and thus the trigger sensitivity can be adjusted to trigger only when a certain collision intensity is reached.
[0053] The standard parts used in this application document can all be purchased from the market, and can also be customized according to the descriptions in the specification and drawings. The specific connection methods of each part all adopt conventional means such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts and equipment all adopt conventional models in the prior art.
[0054] Finally, it should be noted that the above are only the preferred embodiments of the present utility model and are not used to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.
Claims
1. An anti-collision mechanism for agricultural machinery, characterized in that, It includes a rear anti-collision beam, an elastic mounting plate, a front anti-collision beam, a travel switch, a trigger shaft, a front balance spring, and a rotating shaft; The rear anti-collision beam, the elastic mounting plate, and the front anti-collision beam are arranged in parallel; The center position in front of the rear anti-collision beam and the center position behind the elastic mounting plate are fixedly connected through the rotating shaft; There are two trigger shafts symmetrically arranged left and right. The front part of the trigger shaft sequentially passes through the elastic mounting plate and the front balance spring and is fixed to the back of the front anti-collision beam; the tail of the trigger shaft is stuck behind the elastic mounting plate; Two of the travel switches are symmetrically fixed on both sides behind the rear anti-collision beam; the trigger arm of the travel switch passes through the rear anti-collision beam to the back of the tail of the trigger shaft.
2. The anti-collision mechanism for an agricultural machine according to claim 1, wherein, The front anti-collision beam is covered with a front elastomer.
3. The anti-collision mechanism of an agricultural machine according to claim 2, characterized in that, The front elastomer is made of rubber.
4. The anti-collision mechanism of an agricultural machine according to claim 1, characterized in that, A bushing is provided at the position where the elastic mounting plate contacts the trigger shaft.
5. The anti-collision mechanism of an agricultural machine according to claim 1, characterized in that, The elastic mounting plate is made of manganese plate.
6. The anti-collision mechanism of an agricultural machine according to claim 1, characterized in that, Both sides of the elastic mounting plate are provided with rearward extension parts, and the surfaces of the rearward extension parts are wrapped with side elastomers.
7. The anti-collision mechanism of an agricultural machine according to claim 6, characterized in that, The side elastomer is made of rubber.
8. The anti-collision mechanism for an agricultural machine according to claim 1, characterized in that, A pair of rear balance compression springs are symmetrically arranged left and right between the rear anti-collision beam and the elastic mounting plate. One end of the rear balance compression spring is fixed to the front of the rear anti-collision beam, and the other end abuts against the back of the elastic mounting plate.
9. The anti-collision mechanism for an agricultural machine according to claim 1, characterized in that, A roller is provided at the end of the trigger arm.
10. An agricultural robot, comprising an agricultural machinery control system, characterized in that, An anti-collision mechanism for agricultural machinery as described in any one of claims 1 to 9 is provided, and the travel switch is communicatively connected to the control system of the agricultural machinery.