CN106612881B - A kind of intelligent drawing grass-removing robot - Google Patents
A kind of intelligent drawing grass-removing robot Download PDFInfo
- Publication number
- CN106612881B CN106612881B CN201610840377.7A CN201610840377A CN106612881B CN 106612881 B CN106612881 B CN 106612881B CN 201610840377 A CN201610840377 A CN 201610840377A CN 106612881 B CN106612881 B CN 106612881B
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- gear
- motor
- wheel
- car body
- movable blade
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- 230000007246 mechanism Effects 0.000 claims abstract description 86
- 230000000694 effects Effects 0.000 claims abstract description 6
- 238000009434 installation Methods 0.000 claims abstract description 3
- 239000000428 dust Substances 0.000 claims description 6
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 210000000515 tooth Anatomy 0.000 claims 2
- 244000025254 Cannabis sativa Species 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000003796 beauty Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D75/00—Accessories for harvesters or mowers
- A01D75/18—Safety devices for parts of the machines
- A01D75/185—Avoiding collisions with obstacles
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvester Elements (AREA)
Abstract
The invention discloses a kind of intelligent drawing grass-removing robots, including several groups movable blade group mechanism, bottom plate, power supply, car body, central control machine structure, information input mechanism, drive wheel mechanism and driven pulley mechanism；Movable blade group mechanism, central control machine structure and power supply are mounted on bottom plate, the information input mechanism installation is on the car body, movable blade group mechanism is fixed on vehicle shell by fixed mechanism, the drive wheel mechanism is mounted on the tail portion of car body, and the driven pulley mechanism is mounted on the front of car body.The present invention passes through the mutual cooperation between movable blade group mechanism and drive wheel mechanism, realize the upper and lower of blade, left and right, the space three-dimensional of front and back is mobile, passes through gear, rack gear, lead screw, the mechanisms such as screw are precisely controlled blade shift position, to cut out multi-level complex pattern on lawn, realize the effect for improving lawn ornamental value.
Description
Technical field
The present invention relates to a kind of intelligent drawing grass-removing robots, belong to robotic technology field.
Background technique
With the rapid development of modern science and technology, grass trimmer has reached increasingly automated level, but existing intelligent grass-removing
It is limited only to cut the grass on lawn into short, careless height and cut together, lawn cannot be made to realize very high appreciation effect.
Summary of the invention
The purpose of the present invention is to provide a kind of intelligent drawing grass-removing robots.The intelligent drawing grass-removing robot can be real
The drafting work of the existing multi-level complex figure in lawn, to greatly improve the appreciation effect on lawn.
The purpose of the present invention is achieved through the following technical solutions:
A kind of intelligent drawing grass-removing robot, including several groups movable blade group mechanism, bottom plate, power supply, car body, center control
Mechanism, information input mechanism, drive wheel mechanism and driven pulley mechanism；Movable blade group mechanism, central control machine structure and power supply
It is mounted on bottom plate, on the car body, movable blade group mechanism is fixed on by fixed mechanism for the information input mechanism installation
On vehicle shell, the drive wheel mechanism is mounted on the tail portion of car body, and the driven pulley mechanism is mounted on the front of car body；
Movable blade group mechanism is moved for making blade move up and down in conjunction with the front and back of robot and steering
It is dynamic, it realizes in lawn drawing function；
The information input mechanism is used to message command be imported required pictorial information typing into central control machine structure to；
The central control machine structure is moved along the path of program setting for commanding with mobile robot on the ground.
Above-mentioned movable blade group mechanism includes two feed screw nuts, two slide bars, lead screw, synchromesh gear, driven gear, drivings
Gear, driving gear motor, chain, rack gear, sliding motor and blade；
Two lead screws are set on described two feed screw nuts, two slide bars and tooth are set between described two feed screw nuts
Item, the sliding motor are mounted on slide bar, and two slide bars are each passed through sliding motor, and the blade is mounted on sliding motor
On；The driving gear connection driving gear motor, the driven gear are engaged with driving gear, the driven gear connection one
A lead screw is respectively provided with a synchromesh gear on described two lead screws, and the synchromesh gear is engaged with chain；
The driving gear motor drives the rotation of sliding tooth wheel, to drive turning for driven gear, synchromesh gear and lead screw
It is dynamic；The synchromesh gear at both ends realizes by chain and rotates synchronously that the feed screw nut at both ends is connect with lead screw, in synchromesh gear and chain
Under the drive of item, synchronization lifting is realized, so that blade can move up and down；The slide bar of front and back two pass through sliding motor, two
Root slide bar and rack gear are fixed on the feed screw nut at both ends, and sliding motor is intermeshed by its wheel and rack, are realized in cunning
Moving left and right on bar, while the rotation of its beneath blade is driven, to realize moving left and right for blade.
Above-mentioned drive wheel mechanism includes a pair of of rear wheel, a pair of of rear wheel driving motor, and is symmetrically arranged in car body two sides,
Central control machine structure commands rear wheel driving motor to drive rear wheel rotation, when the synchronous operation of two motors, it can be achieved that intelligence is drawn
The linear motion of figure grass-removing robot；When two motor unsynchronized revolutions, the steering of intelligent drawing grass-removing robot can be realized.
Protection mechanism is arranged in the front of movable blade group mechanism in above-mentioned car body front end.
Above-mentioned driven pulley mechanism is universal wheel.
Dust cover is arranged in above- mentioned information input mechanism top, for avoiding internal interface from being splashed into dust.
Above-mentioned center control mechanism includes primary processor, gyroscope, driver, a sensor data processor；It is described
Primary processor is connect with sensor data processor, three drivers, information input mechanism and power supply；The gyroscope and biography
The connection of sensor data processor；Three drivers are connect with driving wheel motor, driving gear motor, sliding motor respectively.
Advantageous effects of the invention:
1. the present invention for can intelligent drawing grass-removing robot, and can automatically on flat accessible lawn draw mow,
It can be accurately positioned in moving process, by the length height of grass on lawn, form the pattern of various beauties, improve lawn
Appreciative value.
2. the present invention realizes the full-automation mowed and drawn, it is not necessarily to artificial interference, saves a large amount of manpower.
3. the present invention has a wide range of application, applicable a variety of occasions for having lawn, there is good development prospect.
4. using gear in movable blade group mechanism of the invention, rack gear, lead screw, the structures such as screw substantially increase blade
Mobile levels of precision and the speed of blade movement, and the stability mowed also increases.
5. drive wheel mechanism of the invention, in such a way that a pair of of rear wheel driving motor respectively drives two rear wheels,
Two motors run simultaneously the straight line walking that robot can be achieved, and two motor differentials run the steering that robot can be achieved, save in this way
The steering engine steering structure for having removed front-wheel, simplifies structure, commander and programming convenient for central control machine structure.
6. Control system architecture of the invention is tight, the close fit between each controller and sensor can be realized.
7. the present invention uses protection mechanism at movable blade group mechanism, and has corresponding sensor, object is being touched
When body, blade can stop motion immediately, improve grass trimmer work when safety.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the structural schematic diagram of movable blade group mechanism；
Fig. 3 is the structural schematic diagram of drive wheel mechanism；
Fig. 4 is the system block diagram of central control machine structure.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.Following embodiment is only used for clearly illustrating the present invention
Technical solution, and not intended to limit the protection scope of the present invention.
As shown in Figure 1, a kind of intelligent drawing grass-removing robot, including several groups movable blade group mechanism 1, bottom plate 10, power supply
6, car body 3, central control machine structure 5, information input mechanism 8, drive wheel mechanism 9 and driven pulley mechanism 11；Movable blade group mechanism 1,
Central control machine structure 5 and power supply 6 are mounted on bottom plate 10, and information input mechanism 8 is mounted on car body 3, and movable blade group mechanism 1 is logical
It crosses fixed mechanism 4 to be fixed on vehicle shell, drive wheel mechanism 9 is mounted on the tail portion of car body 3, and driven pulley mechanism 11 is mounted on car body 3
Front；
Movable blade group mechanism 1 is for making blade move up and down, and front and back and steering movement in conjunction with robot are real
Present lawn drawing function；
Information input mechanism 8 is used to message command be imported required pictorial information typing into central control machine structure 5 to；
Central control machine structure 5 is moved along the path of program setting for commanding with mobile robot on the ground.
As shown in Fig. 2, above-mentioned movable blade group mechanism 1 include two feed screw nuts, 102, two slide bars 101, it is lead screw 103, same
Walk gear 104, driven gear 105, driving gear 106, driving gear motor 107, chain 108, rack gear 109, sliding motor 110
And blade 111；
Two lead screws 103 are set on two feed screw nuts 102, two 101 Hes of slide bar are set between two feed screw nuts 102
Rack gear 109, sliding motor 110 are mounted on slide bar 101, and two slide bars 101 are each passed through sliding motor 110, and blade 111 is installed
On sliding motor 110；The connection driving gear motor 107 of gear 106 is driven, driven gear 105 is engaged with driving gear 106,
Driven gear 105 connects a lead screw 103, is respectively provided with a synchromesh gear 104, synchromesh gear 104 and chain on two lead screws 103
Item 108 engages；
Drive gear motor 107 drive driving gear 106 rotate, thus drive driven gear 105, synchromesh gear 104 and
The rotation of lead screw 103；The synchromesh gear 104 at both ends realizes synchronous rotation, the feed screw nut 102 and silk at both ends by chain 108
Thick stick 103 connects, and under the drive of synchromesh gear 104 and chain 108, synchronization lifting is realized, so that blade 111 can be upper and lower
It is mobile；The slide bar 101 of front and back two passes through sliding motor 110, and two slide bars 101 and rack gear 109 are fixed on the feed screw nut at both ends
On 102, sliding motor 110 is intermeshed by its wheel and rack, is realized moving left and right on slide bar 101, is driven simultaneously
The rotation of its beneath blade 111, to realize moving left and right for blade 111.
As shown in figure 3, above-mentioned drive wheel mechanism includes a pair of of rear wheel 901, a pair of of rear wheel driving motor 902, and right
Title is arranged in 3 two sides of car body, and central control machine structure 5 commands rear wheel driving motor 902 to drive rear wheel rotation, when two motors are same
, it can be achieved that the linear motion of intelligent drawing grass-removing robot when step operation；When two motor unsynchronized revolutions, intelligence can be realized
The steering of drawing grass-removing robot.
Protection mechanism 2 is arranged in the front of movable blade group mechanism in above-mentioned 3 front end of car body.
Above-mentioned driven pulley mechanism 11 is universal wheel.
Dust cover 7 is arranged in 8 top of above- mentioned information input mechanism, for avoiding internal interface from being splashed into dust.
Above-mentioned center control mechanism 5 includes primary processor, gyroscope, driver, a sensor data processor；Main place
Reason device is connect with sensor data processor, three drivers, information input mechanism and power supply；Gyroscope and sensing data
Processor connection；Three drivers are connect with driving wheel motor 902, driving gear motor 107, sliding motor 110 respectively.
The operation principle of the present invention is that:
Graphical information is input to central control machine structure 5, central control machine structure 5 by the USB jack in information input mechanism 8
In primary processor start drive movable blade group mechanism 1 and drive wheel mechanism 9 movement.Gear motor 107 is driven to drive driving
Gear 106 rotates, to drive the rotation of driven gear 105, synchromesh gear 104 and lead screw 103；The synchromesh gear 104 at both ends
It is realized and is rotated synchronously by chain 108, the feed screw nut 102 at both ends is connect with lead screw 103, in synchromesh gear 104 and chain
Under 108 drive, synchronization lifting is realized, so that blade can move up and down；The slide bar 101 of front and back two passes through sliding motor
110, two slide bars 101 and rack gear 109 are fixed on the feed screw nut 102 at both ends, and sliding motor 110 passes through its gear and tooth
Item 109 is intermeshed, and moving left and right on slide bar 101 is realized, while driving the rotation of its beneath blade 111, to realize
Blade moves left and right.Two rear wheel driving motors 902 respectively drive rear wheel 901 and advance or rotate, thus with cutting blade
It is moved forward and backward.
The present invention realizes the upper and lower of blade by the mutual cooperation between movable blade group mechanism 1 and drive wheel mechanism 9,
Left and right, the space three-dimensional of front and back is mobile, and by gear, rack gear, lead screw, the mechanisms such as screw are precisely controlled blade shift position, from
And multi-level complex pattern is cut out on lawn, realize the effect for improving lawn ornamental value.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (6)
1. a kind of intelligent drawing grass-removing robot, it is characterised in that: including several groups movable blade group mechanism, bottom plate, power supply, vehicle
Body, central control machine structure, information input mechanism, drive wheel mechanism and driven pulley mechanism；Movable blade group mechanism, center control
Mechanism and power supply are mounted on bottom plate, and on the car body, movable blade group mechanism passes through fixation for the information input mechanism installation
Mechanism is fixed on vehicle shell, and the drive wheel mechanism is mounted on the tail portion of car body, before the driven pulley mechanism is mounted on car body
Portion；
Movable blade group mechanism is for making blade move up and down, and front and back and steering movement in conjunction with robot are real
Present lawn drawing function；
The information input mechanism is used to message command be imported required pictorial information typing into central control machine structure to；
The central control machine structure is moved along the path of program setting for commanding with mobile robot on the ground；
Movable blade group mechanism includes two feed screw nuts, two slide bars, lead screw, synchromesh gear, driven gear, sliding tooths
Wheel, driving gear motor, chain, rack gear, sliding motor and blade；
Two lead screws are set on described two feed screw nuts, two slide bars and rack gear, institute are set between described two feed screw nuts
It states sliding motor to be mounted on slide bar, two slide bars are each passed through sliding motor, and the blade is mounted on sliding motor；It is described
Gear connection driving gear motor is driven, the driven gear is engaged with driving gear, and the driven gear connects a lead screw,
A synchromesh gear is respectively provided on described two lead screws, the synchromesh gear is engaged with chain；
The driving gear motor drives the rotation of sliding tooth wheel, to drive the rotation of driven gear, synchromesh gear and lead screw；Two
The synchromesh gear at end realizes by chain and rotates synchronously that the feed screw nut at both ends connect with lead screw, in synchromesh gear and chain
Under drive, synchronization lifting is realized, so that blade can move up and down；The slide bar of front and back two passes through sliding motor, two cunnings
Bar and rack gear are fixed on the feed screw nut at both ends, and sliding motor is intermeshed by its wheel and rack, are realized on slide bar
Move left and right, while the rotation of its beneath blade is driven, to realize moving left and right for blade.
2. a kind of intelligent drawing grass-removing robot according to claim 1, it is characterised in that: the drive wheel mechanism includes
A pair of of rear wheel, a pair of of rear wheel driving motor, and car body two sides are symmetrically arranged in, central control machine structure commands rear car wheel drive
Motor drives rear wheel rotation, when the synchronous operation of two motors, it can be achieved that the linear motion of intelligent drawing grass-removing robot；When two
When motor unsynchronized revolution, the steering of intelligent drawing grass-removing robot can be realized.
3. a kind of intelligent drawing grass-removing robot according to claim 1, it is characterised in that: the car body front end is in activity
Protection mechanism is arranged in the front of Dao Zu mechanism.
4. a kind of intelligent drawing grass-removing robot according to claim 1, it is characterised in that: the driven pulley mechanism is ten thousand
To wheel.
5. a kind of intelligent drawing grass-removing robot according to claim 1, it is characterised in that: in the information input mechanism
Dust cover is arranged in portion, for avoiding internal interface from being splashed into dust.
6. a kind of intelligent drawing grass-removing robot according to claim 1, it is characterised in that: the central control machine structure packet
Include primary processor, gyroscope, driver, a sensor data processor；The primary processor and sensor data processor,
Three drivers, information input mechanism and power supply connection；The gyroscope is connect with sensor data processor；Described three
Driver is connect with driving wheel motor, driving gear motor, sliding motor respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610840377.7A CN106612881B (en) | 2016-09-21 | 2016-09-21 | A kind of intelligent drawing grass-removing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610840377.7A CN106612881B (en) | 2016-09-21 | 2016-09-21 | A kind of intelligent drawing grass-removing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106612881A CN106612881A (en) | 2017-05-10 |
| CN106612881B true CN106612881B (en) | 2019-05-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610840377.7A Expired - Fee Related CN106612881B (en) | 2016-09-21 | 2016-09-21 | A kind of intelligent drawing grass-removing robot |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107567802A (en) * | 2017-10-11 | 2018-01-12 | 河海大学常州校区 | A kind of solar energy intelligent drawing grass-removing robot |
| CN108633440B (en) * | 2018-05-16 | 2021-05-07 | 安徽工程大学 | Chain transmission type grass pressing and mowing machine |
| CN108464106B (en) * | 2018-05-31 | 2023-11-24 | 华南理工大学广州学院 | Lawn grass-cutting mechanism |
| CN110268858A (en) * | 2019-08-05 | 2019-09-24 | 兰州石化职业技术学院 | A kind of turf-mown and pattern modelling robot and its control system and control method |
| CN112518736A (en) * | 2019-09-19 | 2021-03-19 | 深圳市创客工场科技有限公司 | Pattern drawing control method and device and teaching robot |
| CN110754204B (en) * | 2019-09-27 | 2020-10-27 | 西安交通大学 | Lawn three-dimensional pattern trimming robot system and method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201758562U (en) * | 2010-09-07 | 2011-03-16 | 张连斌 | Waterborne mower |
| CN102369813A (en) * | 2010-08-26 | 2012-03-14 | 河南农业大学 | Tobacco harvesting machine with lead screw lifting device |
| CN203851480U (en) * | 2014-04-30 | 2014-10-01 | 福州大学 | Height coarse adjustment device for mowing robot |
| CN205408599U (en) * | 2016-03-22 | 2016-08-03 | 新都区新繁镇雅馨园艺场 | Healthy environment -friendly lawn mowing instrument |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101188891B1 (en) * | 2010-12-16 | 2012-10-09 | (주)마이크로인피니티 | Lawn mower for drawing images |
-
2016
- 2016-09-21 CN CN201610840377.7A patent/CN106612881B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102369813A (en) * | 2010-08-26 | 2012-03-14 | 河南农业大学 | Tobacco harvesting machine with lead screw lifting device |
| CN201758562U (en) * | 2010-09-07 | 2011-03-16 | 张连斌 | Waterborne mower |
| CN203851480U (en) * | 2014-04-30 | 2014-10-01 | 福州大学 | Height coarse adjustment device for mowing robot |
| CN205408599U (en) * | 2016-03-22 | 2016-08-03 | 新都区新繁镇雅馨园艺场 | Healthy environment -friendly lawn mowing instrument |
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| CN106612881A (en) | 2017-05-10 |
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Granted publication date: 20190503 |