Avoidance grass mowing device

Abstract

The utility model provides an avoiding grass mowing device, which relates to the field of grass mowing equipment, comprises a working arm assembly, a grass mowing head and a working arm assembly connecting base, and is characterized in that a swing arm drive is connected between the working arm assembly and the base, a swing head drive is connected between the grass mowing head and the working arm assembly, and a touch rod is arranged on the front side of the grass mowing head; the avoiding control mechanism comprises a touch rod detection module and a swing arm detection module, and a controller of the swing head drive and a controller of the swing arm drive are electrically connected with the touch rod detection module and the swing arm detection module respectively and used for controlling the swing arm drive to rotate after receiving a rotating signal of the touch rod detection module. The control module is used for controlling the grass trimming head to swing relative to the working arm assembly and controlling the working arm assembly to swing relative to the base, and controlling the grass trimming head and the working arm assembly to swing back and reset after receiving a signal that the working arm assembly of the swing arm detection module swings to a preset angle relative to the base; the device is high in induction sensitivity and more accurate in avoidance control.

Description

TECHNICAL FIELD

[0001] The utility model relates to a grass cutting device technical field, specifically relates to a kind of avoiding grass cutting device. BACKGROUND

[0002] The grass cutter is common green equipment, to replace artificial mowing work, liberate hands, improve work efficiency.Mowing machine often encounters obstacles in the process of working, if not in time to avoid, it can cause damage to equipment, bring economic loss.For this, the patent document with announcement number 206196375U discloses a kind of avoiding obstacle crushing mowing accessory head, wherein obstacle sensing part includes mechanical reversing valve, mechanical reversing valve is located on the rear side of upper cover plate, and mechanical reversing valve is connected with sensing rod.

[0003] However, the above structure has the technical problems of poor sensing sensitivity and inaccurate avoidance control.In addition, if only relying on mechanical reversing valve to control mowing accessory head to implement obstacle avoidance, there can be the problem of large obstacle avoidance stroke, and when cooperating with walking vehicle to work, there is the problem of large grass cutting dead angle. UTILITY MODEL CONTENT

[0004] The utility model provides a kind of avoiding grass cutting device for the above problems existing in prior art, which is more accurate in control, and is beneficial to improve work sensitivity and work efficiency.

[0005] The technical scheme for solving the above technical problems is as follows: a kind of avoiding grass cutting device, including work arm assembly and the grass cutting head installed at the end of work arm assembly, work arm assembly is connected to base, and it is characterized in that,

[0006] The work arm assembly is connected with the base and has a swing arm drive, which is used to drive the work arm assembly to swing relative to the base, and the grass cutting head is connected with the work arm assembly and has a swing head drive, which is used to drive the grass cutting head to swing relative to the work arm assembly.

[0007] The front side of the grass cutting head is provided with a bump rod, one end of the bump rod is connected with the grass cutting head through a hinge shaft, and the bump rod is further connected with an elastic reset member for resetting the bump rod after it rotates relative to the grass cutting head.

[0008] The avoiding grass cutting device further includes an avoidance control mechanism, which includes:

[0009] A bump rod detection module is used to detect the signal generated by the bump rod rotating relative to the grass cutting head,

[0010] A swing arm detection module is used to detect the signal of the work arm assembly swinging relative to the base to a preset angle,

[0011] The controller of the swing head drive and the swing arm drive is electrically connected with the collision rod detection module, and is used for controlling the swing of the grass hitting head relative to the working arm assembly and controlling the swing of the working arm assembly relative to the base after receiving the rotation signal of the collision rod detection module; the controller of the swing head drive and the swing arm drive is electrically connected with the swing arm detection module, and is used for controlling the swing back of the grass hitting head and the working arm assembly to the original position after receiving the signal that the working arm assembly swings relative to the base to the preset angle.

[0012] Further, the working arm assembly comprises a slewing support, a one-section arm, a two-section arm and a slewing hanger, the slewing support is fixed with the base, the slewing support is rotationally connected with a first slewing shaft, the swing arm drive is connected between the first slewing shaft and the slewing support, one end of the one-section arm is fixed with the first slewing shaft, the other end of the one-section arm is connected with the two-section arm, the two-section arm is connected with the slewing hanger through a second slewing shaft, the swing head drive is connected between the slewing hanger and the two-section arm, and the slewing hanger is connected with the grass hitting head.

[0013] Still further, the slewing hanger is connected with the grass hitting head through a grass hitting head connecting frame, the grass hitting head connecting frame is fixed with the grass hitting head, the grass hitting head connecting frame is hingedly connected with the slewing hanger, and a horizontal adjustment drive for driving the grass hitting head connecting frame to rotate around the hinge shaft of the slewing hanger is connected between the slewing hanger and the grass hitting head connecting frame, and the horizontal adjustment drive is preferably a hydraulic oil cylinder.

[0014] Still further, the one-section arm comprises an arm mounting seat and two parallel single arms, the arm mounting seat is fixed with the first slewing shaft, the two ends of the single arms are hingedly connected with the arm mounting seat and the two-section arm respectively, the middle portions of the two single arms are connected through a connecting rod, the connecting rod is hingedly connected with the two single arms respectively, and a lifting drive for driving one end of the two-section arm to lift relative to the other end is connected between the connecting rod and the first slewing shaft, and the lifting drive is preferably a hydraulic oil cylinder.

[0015] Further, the collision rod detection module is a Hall rotation sensor or an encoder arranged at the hinge shaft.

[0016] Further, the swing arm detection module is a Hall rotation sensor or an encoder arranged at the connection position of the working arm assembly and the base, or the swing arm drive adopts a hydraulic oil cylinder, and the swing arm detection module is a displacement sensor arranged on the swing arm drive and connected with the telescopic rod of the swing arm drive.

[0017] The utility model discloses an advantageous effect is: the utility model discloses through setting up the collision rod detection module, swing arm detection module, and the both are electrically connected to swing arm drive and swing head drive's controller respectively, when the collision rod on the grass hitting head meets the obstacle and the deflection occurs, can trigger the swing of grass hitting head and working arm assembly, and triggers the swing back of grass hitting head and working arm assembly to the original position when working arm assembly swings to the angle of setting, and the sensing sensitivity is high, is more favorable to the accurate control of the dodge type grass hitting head, and improves the work efficiency.

[0018] In another aspect, the utility model discloses the linkage for the above-mentioned barrier avoidance of grass hitting head through swing arm drive and swing head drive, compared with prior art only rely on machine grass hitting head itself to carry out barrier avoidance, still have the advantages such as barrier avoidance quick, barrier avoidance stroke small, so when cooperating walking vehicle and carry out the operation, can reduce grass hitting dead angle, improve grass hitting work quality. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is the three-dimensional structure schematic diagram of embodiment 1 of the utility model;

[0020] Figure 2 It is the side view structure schematic diagram of embodiment 1 of the utility model;

[0021] Figure 3 It is Figure 2 A-A towards section view structure schematic diagram in the among;

[0022] Figure 4 It is the section view structure schematic diagram of swing arm drive of embodiment 2 of the utility model;

[0023] In the drawing: 1. base, 2. working arm assembly, 21. slewing bearing, 211. lifting drive, 22. one section arm, 221. arm mounting seat, 222. single arm, 223. connecting rod, 23. two section arm, 24. slewing hanger, 240. horizontal adjustment drive, 25. first slewing shaft, 26. second slewing shaft, 27. grass hitting head connecting frame, 3. grass hitting head, 31. hinged shaft, 4. swing arm drive, 5. swing head drive, 6. bump rod, 7. bump rod detection module, 8. swing arm detection module. DETAILED DESCRIPTION

[0024] The principle and features of the utility model will be described below, and the examples are only used to explain the utility model, and not used to limit the scope of the utility model.

[0025] Embodiment 1

[0026] As shown in Figures 1-3 The avoidance grass hitting device of the embodiment includes working arm assembly 2 and grass hitting head 3 installed at the end of working arm assembly 2, and working arm assembly 2 is connected to base 1;

[0027] Swing arm drive 4 is connected between working arm assembly 2 and base 1, for driving working arm assembly 2 to swing relative to base 1, and swing head drive 5 is connected between grass hitting head 3 and working arm assembly 2, for driving grass hitting head 3 to swing relative to working arm assembly 2;

[0028] The front side of the grass hitting head 3 is provided with a bump bar 6, one end of which is connected with the grass hitting head 3 through a hinge shaft 31, and the bump bar 6 is further connected with an elastic reset member (a torsion spring in the prior art) for resetting the bump bar 6 after it rotates relative to the grass hitting head 3;

[0029] The bumping-avoiding grass hitting device further comprises a bumping-avoiding control mechanism, which comprises:

[0030] a bump bar detection module 7 for detecting a signal of the bump bar 6 rotating relative to the grass hitting head 3,

[0031] an arm swing detection module 8 for detecting a signal of the working arm assembly 2 swinging relative to the base 1 to a preset angle,

[0032] the controllers of the head swinging drive 5 and the arm swinging drive 4 are electrically connected with the bump bar detection module 7, for controlling the grass hitting head 3 to swing relative to the working arm assembly 2 and controlling the working arm assembly 2 to swing relative to the base 1 after receiving the rotating signal of the bump bar detection module 7; the controllers of the head swinging drive 5 and the arm swinging drive 4 are electrically connected with the arm swing detection module 8, for controlling the grass hitting head 3 and the working arm assembly 2 to swing back to the original position after receiving the signal of the working arm assembly 2 swinging relative to the base 1 to the preset angle.

[0033] In the embodiment, the arm swinging drive 4 and the head swinging drive 5 are in the form of hydraulic oil cylinders, the bump bar detection module 7 is a Hall rotation sensor (prior art) arranged at the hinge shaft, for detecting a corresponding voltage change signal when the bump bar 6 rotates around the hinge shaft with the grass hitting head 3 after encountering an obstacle and transmitting the signal to the controllers of the arm swinging drive 4 and the head swinging drive 5; the arm swing detection module 8 is a Hall rotation sensor (prior art) arranged at the connection between the working arm assembly 2 and the base 1, for transmitting a signal to the controllers of the arm swinging drive 4 and the head swinging drive 5 to trigger the control of the arm swinging drive 4 and the head swinging drive 5 when the working arm assembly 2 swings to the preset angle. In other embodiments, the bump bar detection module 7 can also adopt an encoder or any other device capable of detecting a rotating signal, and the arm swing detection module 8 can also adopt an encoder or any other device capable of detecting a signal of swinging to a preset angle.

[0034] In the working state, the grass hitting head 3 hits grass when the machine moves forward. When the grass hitting head 3 encounters an obstacle such as a highway guardrail post or a tree stump, the impact rod 6 on the front side of the grass hitting head 3 impacts the obstacle and is deflected by rotating around the hinge shaft of the grass hitting head 3. At this time, the impact rod detection module 7 detects a signal that the impact rod 6 rotates relative to the grass hitting head 3 and transmits the signal to the controllers of the swing head drive 5 and the swing arm drive 4. The controllers control the swing of the grass hitting head 3 relative to the working arm assembly 2 and the swing of the working arm assembly 2 relative to the base 1, that is, the swing of the grass hitting head 3 backward and the swing of the working arm assembly 2 outward, so as to avoid the obstacle. When the swing arm detection module 8 detects a signal that the working arm assembly 2 swings relative to the base 1 to a preset angle, the signal is transmitted to the controllers of the swing head drive 5 and the swing arm drive 4. The controllers control the swing of the grass hitting head 3 and the working arm assembly 2 to return to the original working state. After avoiding the obstacle, the impact rod 6 returns to the original position. In this way, the grass hitting head 3 avoids the obstacle in cooperation with the movement of the machine and continues to hit grass.

[0035] Embodiment 2

[0036] The obstacle avoidance grass hitting device of the embodiment is basically the same as that of Embodiment 1, except that the swing arm detection module 8 of Embodiment 1 directly detects the swing angle of the working arm assembly 2, while the swing arm detection module 8 of the embodiment indirectly feeds back the swing angle of the working arm assembly 2 by detecting the displacement of the swing arm drive 4. The swing arm detection module 8 and the swing arm drive 4 can be a split structure, or they can be an integrated structure, for example, they can be combined into a structure of a pull wire sensor oil cylinder (see Figure 4 ). The swing arm detection module 8 indirectly obtains the swing angle of the working arm assembly 2 controlled by the swing arm drive 4 by detecting the displacement of the swing arm drive 4. When the working arm assembly 2 swings to a preset angle displacement, a signal is transmitted to the controllers of the swing arm drive 4 and the swing head drive 5. The controllers further control the swing arm drive 4 and the swing head drive 5 to return to the working state before the obstacle avoidance.

[0037] On the basis of the above-mentioned embodiments 1 and 2, in order to meet the requirement of adjusting the grass hitting head to a suitable position and angle by the working arm assembly, one of the embodiments of the working arm assembly 2 of the utility model is as follows:

[0038] The working arm assembly 2 comprises a slewing support 21, a one-section arm 22, a two-section arm 23, a slewing hanger 24, the slewing support 21 is fixed with the base 1, the slewing support 21 is rotationally connected with a vertical first slewing shaft 25, the first slewing shaft 25 is connected with the slewing support 21, and the swing arm drive 4 is connected between the first slewing shaft 25 and the slewing support 21; one end of the one-section arm 22 is fixed with the first slewing shaft 25, the other end is connected with the two-section arm 23, and the height of the two-section arm 23 is controlled; the two-section arm 23 is connected with the slewing hanger 24 through a second slewing shaft 26, the swing head drive 5 is connected between the slewing hanger 24 and the two-section arm 23, the slewing hanger 24 is connected with the grass hitting head 3 through a grass hitting head connecting frame 27, the grass hitting head connecting frame 27 is fixed with the grass hitting head 3, the grass hitting head connecting frame 27 is hingedly connected with the slewing hanger 24, and the horizontal adjustment drive 240 for driving the grass hitting head connecting frame 27 to rotate around the hinged shaft of the slewing hanger 24 and the grass hitting head connecting frame 27 is connected between the slewing hanger 24 and the grass hitting head connecting frame 27, and the horizontal adjustment drive 240 specifically adopts a hydraulic oil cylinder.

[0039] During work, the swing arm drive 4 is used to adjust the slewing degree of the working arm assembly 2 in the horizontal plane as a whole, the one-section arm 22 is used to adjust the height of the two-section arm 23 at the front end of the one-section arm 22, the swing head drive 5 is used to adjust the swing angle of the slewing hanger 24 carrying the grass hitting head 3, and the horizontal adjustment drive 240 is used to adjust the inclination angle of the grass hitting head 3 relative to the horizontal plane, until the grass hitting head 3 is adjusted to a suitable working position and angle.

[0040] Further, the one-section arm 22 comprises an arm mounting seat 221 and two parallel single arms 222, the arm mounting seat 221 is fixed with the first slewing shaft 25, the two ends of the single arms 222 are respectively hingedly connected with the arm mounting seat 221 and the two-section arm 23, the middle portions of the two single arms 222 are connected through a connecting rod 223, the connecting rod 223 is respectively hingedly connected with the two single arms 222, the lifting drive 211 for driving one end of the two-section arm 23 to lift relative to the other end is connected between the connecting rod 223 and the first slewing shaft 25, and the lifting drive 211 specifically adopts a hydraulic oil cylinder, the extension end of the hydraulic oil cylinder is hingedly connected with the end portion of the connecting rod 223, and the cylinder barrel of the hydraulic oil cylinder is hingedly connected with the first slewing shaft 25, the two single arms 222 are driven to rotate around the hinged shaft of the arm mounting seat 221 through the extension and retraction of the lifting drive 211 according to the principle of the parallelogram linkage, so that the two-section arm 23 at the front end of the one-section arm 22 is lifted, and the structure is simple and stable in operation.

[0041] The specific embodiment of the working arm assembly is only used as an explanation of the working arm assembly, and does not limit the protection scope of the utility model; in other words, on the basis of the above-mentioned embodiment of the utility model, the technical solutions formed by combining other structural forms of the working arm assembly capable of being used as the grass hitting head are all within the protection scope of the utility model.

Claims

1. A grass-cutting device for obstacle avoidance, comprising a working arm assembly (2) and a grass-cutting head (3) mounted on the end of the working arm assembly (2), the working arm assembly (2) being connected to a base (1), characterized in that, A swing arm drive (4) is connected between the working arm assembly (2) and the base (1) to drive the working arm assembly (2) to swing relative to the base (1). A head-swing drive (5) is connected between the grass-trimming head (3) and the working arm assembly (2) to drive the grass-trimming head (3) to swing relative to the working arm assembly (2). A contact rod (6) is provided on the front side of the grass-beating head (3). One end of the contact rod (6) is rotatably connected to the grass-beating head (3) through a hinge shaft. The contact rod (6) is also connected to an elastic reset member for resetting itself after rotating relative to the grass-beating head (3). The obstacle avoidance and hay cutting device also includes an obstacle avoidance control mechanism, which includes: The collision detection module (7) is used to detect the signal generated by the collision rod (6) rotating relative to the hay-beating head (3). The swing arm detection module (8) is used to detect the signal of the swing arm assembly (2) relative to the base (1) swinging to a preset angle. The controllers of the head-swing drive (5) and the arm-swing drive (4) are electrically connected to the rod-collision detection module (7) respectively. After receiving the rotation signal from the rod-collision detection module (7), the controllers control the grass-trimming head (3) to swing relative to the working arm assembly (2) and control the working arm assembly (2) to swing relative to the base (1). The controllers of the head-swing drive (5) and the arm-swing drive (4) are electrically connected to the arm-swing detection module (8) respectively. After receiving the signal from the arm-swing detection module (8) that the working arm assembly (2) has swung relative to the base (1) to a preset angle, the controllers control the grass-trimming head (3) and the working arm assembly (2) to swing back and reset.

2. The grass-cutting device according to claim 1, characterized in that, The working arm assembly (2) includes a slewing support (21), a first arm section (22), a second arm section (23), and a slewing hanger (24). The slewing support (21) is fixed to the base (1). The slewing support (21) is rotatably connected to a first slewing shaft (25). The first slewing shaft (25) and the slewing support (21) are connected to the swing arm drive (4). One end of the first arm section (22) is fixed to the first slewing shaft (25), and the other end is connected to the second arm section (23). The second arm section (23) is connected to the slewing hanger (24) through a second slewing shaft (26). The slewing hanger (24) and the second arm section (23) are connected to the swing head drive (5). The slewing hanger (24) is connected to the grass trimmer (3).

3. The grass-cutting device according to claim 2, characterized in that, The rotary hanger (24) is connected to the hay trimmer (3) via a hay trimmer head connecting frame (27). The hay trimmer head connecting frame (27) is fixed to the hay trimmer (3). The hay trimmer head connecting frame (27) is hinged to the rotary hanger (24). A horizontal adjustment drive (210) for driving the hay trimmer head connecting frame (27) to rotate around its hinge axis with the rotary hanger (24) is connected between the rotary hanger (24) and the hay trimmer head connecting frame (27).

4. The grass-cutting device according to claim 3, characterized in that, The horizontal adjustment drive (210) is a hydraulic cylinder.

5. The grass-cutting device according to claim 2, characterized in that, The first arm (22) includes an arm mounting base (221) and two parallel single arms (222). The arm mounting base (221) is fixed to the first rotating shaft (25). The two ends of the single arm (222) are respectively hinged to the arm mounting base (221) and the second arm (23). The middle parts of the two single arms (222) are connected by a connecting rod (223). The connecting rod (223) is respectively hinged to the two single arms (222). A lifting drive (211) for driving one end of the second arm (23) to rise and fall relative to the other end is connected between the connecting rod (223) and the first rotating shaft (25).

6. The grass-cutting device according to claim 5, characterized in that, The lifting drive (211) adopts a hydraulic cylinder.

7. The grass-cutting avoidance device according to claim 1, characterized in that, The collision detection module (7) is a Hall rotary sensor or encoder installed at the hinge shaft.

8. The grass-cutting avoidance device according to claim 1, characterized in that, The swing arm detection module (8) is a Hall rotary sensor or encoder located at the connection between the working arm assembly (2) and the base (1).

9. The grass-cutting device according to claim 1, characterized in that, The swing arm drive (4) uses a hydraulic cylinder, and the swing arm detection module (8) is a displacement sensor installed on the swing arm drive (4) and connected to its telescopic rod.

Images