CN108323309A - Grass-removing robot - Google Patents
Grass-removing robot Download PDFInfo
- Publication number
- CN108323309A CN108323309A CN201710037418.3A CN201710037418A CN108323309A CN 108323309 A CN108323309 A CN 108323309A CN 201710037418 A CN201710037418 A CN 201710037418A CN 108323309 A CN108323309 A CN 108323309A
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- CN
- China
- Prior art keywords
- grass
- backplate
- removing robot
- fuselage
- cutting mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 238000005520 cutting process Methods 0.000 claims abstract description 78
- 230000007246 mechanism Effects 0.000 claims abstract description 73
- 230000001012 protector Effects 0.000 claims abstract description 51
- 230000000694 effects Effects 0.000 claims abstract description 6
- 230000001681 protective effect Effects 0.000 claims description 34
- 244000126211 Hericium coralloides Species 0.000 claims description 4
- 241000469816 Varus Species 0.000 claims description 3
- 235000008429 bread Nutrition 0.000 claims description 3
- 241001465754 Metazoa Species 0.000 abstract description 11
- 244000025254 Cannabis sativa Species 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000001360 synchronised effect Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 230000011514 reflex Effects 0.000 description 3
- 239000004575 stone Substances 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000009966 trimming Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 230000008260 defense mechanism Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000003534 oscillatory effect Effects 0.000 description 1
- 230000002633 protecting effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/64—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis mounted on a vehicle, e.g. a tractor, or drawn by an animal or a vehicle
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/82—Other details
- A01D34/828—Safety devices
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D75/00—Accessories for harvesters or mowers
- A01D75/20—Devices for protecting men or animals
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvester Elements (AREA)
Abstract
The present invention provides a kind of grass-removing robots, including：Fuselage, it is installed on the operational module of fuselage, walking module and control module for co-ordination module and walking module, the operational module includes the cutting mechanism for being set to underbelly, the walking module includes the traveling wheel group being mounted on fuselage and drives the running motor of the traveling wheel group, the grass-removing robot further includes the protector for being at least partly movably set in fuselage, the protector can at least partly separate in the space that cutting mechanism surrounding is connected to outside, distance sensing device is set between the protector and fuselage, the scope of activities of the protector is more than its preset value, trigger the distance sensing device, the control module receives trigger signal control grass-removing robot and shuts down.The grass-removing robot of the present invention when can prevent grass-removing robot from carrying out cutting operation, damages the people or animal that enter by mistake through cutting region by the way that distance sensing device is arranged.
Description
Technical field
The present invention relates to a kind of grass-removing robot more particularly to a kind of grass-removing robots with protective device.
Background technology
The features such as grass trimmer robot all has automatically walk, intelligent barrier avoiding, works in a certain range, meanwhile, have
Auto-returned charging, safety detection and battery capacity detection etc., have certain climbing capacity, are especially suitable for family garden, public
The turf-mown in the places such as greenery patches is safeguarded.Grass trimmer robot is generally by knots such as cutterhead, motor, blade, traveling wheel, control systems
Structure forms, and blade is mounted on cutterhead, and motor drives cutterhead to be rotated with cutting blade to realize the trimming to lawn, saves and removes
The activity duration of careless worker reduces a large amount of human resources.
The cutting mechanism below grass-removing robot fuselage is arranged when walking on meadow in the grass-removing robot of the prior art
May touching either animal and then people or animal are damaged in the people of meadow regional activity.
It is known that protection mechanism is arranged around the mowing blade of grass-removing robot.However, as animal, people or other are different
When object breaks through traditional defense mechanism, grass-removing robot can not provide further safeguard procedures.
Invention content
The purpose of the present invention is to provide a kind of grass-removing robots that protection is more comprehensive, safer.
For achieving the above object, the present invention provides a kind of grass-removing robots, including：Fuselage is installed on fuselage
Operational module, walking module and the control module for co-ordination module and walking module, the operational module include setting
It is placed in the cutting mechanism of underbelly, the walking module includes the traveling wheel group being mounted on fuselage and the driving traveling wheel
The running motor of group, the grass-removing robot further includes the protector for being at least partly movably set in fuselage, the protector energy
Enough spaces for being connected to cutting mechanism surrounding with outside at least partly separate, and distance perspective is arranged between the protector and fuselage and answers
The scope of activities of device, the protector is more than its preset value, triggers the distance sensing device, the control module receives
Trigger signal controls grass-removing robot and shuts down.
As being further improved for an embodiment of the present invention, the traveling wheel group includes front wheels and rear wheels, the protection
Part extends downward from space of the fuselage between the front wheels and rear wheels, and the distance on bottom to the ground of the protector is small
Distance in the bottom of the cutting mechanism to ground.
As being further improved for an embodiment of the present invention, the protector includes to the horizontal-extending cross in fuselage both sides
Plate and with the vertically disposed riser of transverse slat, the width of the riser lower part is more than the width on riser top, and the riser is unidirectional
It is articulated with the transverse slat, the initial position of the relatively described riser, the riser is allowed to rotate to the direction far from cutting mechanism,
And the riser is limited to be rotated to towards the direction of cutting mechanism, and the distance sensing device is arranged in the riser and machine
Between body.
As being further improved for an embodiment of the present invention, resetting spring is set between the transverse slat and riser, it is described
Resetting spring provides the elastic force that the riser is moved towards the direction of cutting mechanism.
As being further improved for an embodiment of the present invention, the protector includes the first shield for being connected to the fuselage
Plate and the second backplate for being connected to first backplate, the width of second backplate lower part are more than the width on the second backplate top
Degree.
As being further improved for an embodiment of the present invention, along the direction of advance of the grass-removing robot, described
End plate is arranged in the front and rear sides of one backplate, and the end plate is parallel to the section of the front-wheel or trailing wheel.
As being further improved for an embodiment of the present invention, first backplate includes closing on the inclined portion of fuselage and closing on
The straight portion of second backplate, the straight portion are concordant with the second backplate.
As being further improved for an embodiment of the present invention, first backplate is pivotally mounted to fuselage, and described second
Backplate is pivotally mounted to the first backplate.
As being further improved for an embodiment of the present invention, the initial bit of relatively described first backplate and the second backplate
Set, first backplate and the second backplate are allowed to rotate to towards the direction of cutting mechanism, and institute's first backplate and
Second backplate, which is limited to the direction far from cutting mechanism, to be rotated.
As being further improved for an embodiment of the present invention, the first bullet is equipped between first backplate and casing body
Spring, the first spring provide the first backplate to the elastic force moved far from casing direction, between first backplate and the second backplate
Equipped with second spring, the second spring provides the second backplate to the elastic force moved far from casing direction.
As being further improved for an embodiment of the present invention, first spring and the second spring are torsion bullet
Spring, and the rigidity of first spring is more than the rigidity of second spring.
As being further improved for an embodiment of the present invention, the distance sensing device is arranged in the first backplate and fuselage
Between, the amplitude of the second backplate rotation is more than its preset rotational angle, drives the rotation of the first backplate, first backplate
The amplitude of rotation is more than its preset rotational angle, triggers the distance sensing device.
As being further improved for an embodiment of the present invention, the protector is configured to be located in front of the cutting mechanism
Protective fence, the protective fence is pivotally connected to fuselage and is configured to paliform.
As being further improved for an embodiment of the present invention, the protective fence includes epimere along vertical direction under
Section, the epimere are pivotally connected to fuselage, and the hypomere is pivotally connected to the epimere.
As being further improved for an embodiment of the present invention, the distance sensing device be set to epimere and fuselage it
Between, the amplitude of the hypomere rotation is more than its preset rotational angle, and epimere is driven to rotate, and the amplitude of the epimere rotation is more than
Its preset rotational angle triggers distance sensing device.
As being further improved for an embodiment of the present invention, the grass-removing robot further includes being set on fuselage and position
Preceding guardrail before the protective fence, the preceding guardrail structure are paliform, and the comb tooth density of the preceding guardrail is less than described
The comb tooth density of protective fence, the width of each broach of the preceding guardrail are more than the width of each broach of the protective fence.
As being further improved for an embodiment of the present invention, the grass-removing robot further includes being located at the cutting mechanism
The preceding guardrail in front, the preceding guardrail are fixedly connected on fuselage and are configured to paliform.
As being further improved for an embodiment of the present invention, the distance sensing device includes switch and trigger member, institute
Switch is stated to be arranged on fuselage, the contact of switch is corresponding with the protector, the trigger member be arranged in the contact of switch and
Between protector, one end of the trigger member and the contact of switch or protector connect.
As being further improved for an embodiment of the present invention, the grass-removing robot further includes around the cutting mechanism
The anti-skid plate being arranged, along the direction of advance of the grass-removing robot, the anti-skid plate is from the both sides of the cutting mechanism
Face and below to cutting mechanism formed three bread enclose.
As being further improved for an embodiment of the present invention, the anti-skid plate includes turning over for lower both ends disposed thereon
Side and lower flange, the upper overturning is with respect to cutting mechanism towards turning up, and the lower flange is with respect to cutting mechanism towards varus, the protection
Plate washer is fixedly installed in fuselage lower surface by upper overturning.
As being further improved for an embodiment of the present invention, the anti-skid plate is installed on the cutting mechanism, described
Anti- skid plate can be adjusted relative to the position of fuselage together with cutting mechanism.
Compared with prior art, the beneficial effects of the present invention are：The grass-removing robot of the present invention is by being arranged distance perspective
Device is answered, when can prevent grass-removing robot from carrying out cutting operation, the people or animal that enter by mistake through cutting region are damaged.
Description of the drawings
Fig. 1 is the stereoscopic schematic diagram of grass-removing robot in currently preferred first embodiment；
Fig. 2 is the schematic cross-sectional view of the grass-removing robot in Fig. 1；
Fig. 3 is the sectional view along line A-A in Fig. 2, and traveling wheel is concealed in figure；
Fig. 4 is the stereogram of the side protector in Fig. 3；
Fig. 5 is the exploded side figure of the side protector in Fig. 4；
Fig. 6 is the stereoscopic schematic diagram of grass-removing robot in currently preferred second embodiment；
Fig. 7 is the schematic cross-sectional view of the grass-removing robot in Fig. 6；
Fig. 8 is the stereogram of the protector in Fig. 7；
Fig. 9 is schematic diagram of the grass-removing robot in Fig. 6 using another protector；
Figure 10 is the schematic cross-sectional view of the grass-removing robot in Fig. 9；
Figure 11 is the decomposition diagram of the grass-removing robot and protection mechanism in Fig. 9；
Figure 12 is the schematic diagram of grass-removing robot in currently preferred third embodiment；
Figure 13 is the stereogram of the protective fence in Figure 12；
Figure 14 is the stereogram for the protective fence that the grass-removing robot in Figure 12 uses another structure type；
Figure 15 is the schematic diagram of grass-removing robot in currently preferred 4th embodiment.
Specific implementation mode
Below with reference to specific implementation mode shown in the drawings, the present invention will be described in detail.But these embodiments are simultaneously
The present invention is not limited, structure that those skilled in the art are made according to these embodiments, method or functionally
Transformation is included within the scope of protection of the present invention.
Shown in Fig. 3, in the preferred embodiment of the invention, grass-removing robot is for automatically walk on the ground
And work, walking and work capacity, such as battery pack, solar panel are provided by using cordless power, also may be used certainly
Mains-supplied is connected using cable power.Grass-removing robot includes fuselage 10, is installed on the work for cutting the grass on a lawn of fuselage 10
Make module and walking module, for walking module for walking and turning to, operational module includes cutting motor 21 and cutting motor 21
The transmission shaft of connection and the cutting mechanism 22 being coupled with transmission shaft.In addition, grass-removing robot further includes control module, for assisting
Adjust operational module and walking module, control module that can make grass-removing robot in the case of left unguarded automatically in lawn uplink
It walks and mows.In the description of the present invention, unless otherwise noted, the direction term being related to, such as front, back, left, right, up and inferior,
All it is using the normal direction advanced when driving of the grass-removing robot as shown in Fig. 1 as reference.
As shown in Fig. 2, fuselage 10 includes positioned at the casing 11 on grass-removing robot top and positioned at grass-removing robot lower part
Chassis 12, chassis 12 is connected to casing 11, and the position of 12 lower surface approximate centre of chassis is equipped with a recess portion, recess portion approximate centre
Position is equipped with a through-hole.It is preferably cutting motor to cut motor 21, and cutting mechanism 22 is including blade support 221 and is mounted on knife
Blade 222 on plate rack.Cutting motor is fixed on 12 upper surface approximate centre position of chassis, opposite with the recess portion on chassis 12
It answers.The output shaft of cutting motor is passed down through the through-hole on recess portion, and blade support 221 is mounted on the recess portion of 12 lower surface of chassis,
With the output axis connection of cutting motor and rotate with it.Blade 222 is located at the periphery of blade support 221, is revolved with blade support 221
Turn.Certainly, cutting mechanism can also be the cutting blade directly driven by cutting motor, cutting line etc. can realize to lawn into
The cutting element of row trimming.The device that automatic or manual carries out mowing height adjusting can also be arranged in grass-removing robot, for adjusting
Save blade to ground distance, to control the height for the stubble left on lawn.
The walking module of grass-removing robot includes traveling wheel group and drives the running motor of traveling wheel group.Wherein, it walks
Wheel group is installed on chassis 12.In the present embodiment, traveling wheel group includes four traveling wheels 31a, 31b, 32a, 32b, is respectively set
Set fore-body both sides front walking wheel 31a, 31b and rear walking wheel 32a, 32b in fuselage afterbody both sides, Mei Gehang are set
Walking wheel has mutually independent wheel shaft.Along grass-removing robot or the direction of advance of walking mechanism, respectively front walking wheel
31a, 31b and rear walking wheel 32a, 32b, wherein running motor so that the traveling wheel positioned at the same side is realized by transmission mechanism
Synchronous Transmission, i.e., left front traveling wheel 31a is synchronous with left back traveling wheel 32a, and right front walking wheel 31b is synchronous with right rear walking wheel 32b.
Specifically, running motor includes two, two running motors are preposition or postposition, can also a preposition postposition, each
Running motor can drive the traveling wheel of the same side to realize Synchronous Transmission by way of V belt translation, can not so set turning machine
Structure is turned to using the speed discrepancy of left traveling wheel and right traveling wheel.It is of course also possible to be respectively driven using four running motors
Four traveling wheels.Traveling wheel group is preferred mode in the present embodiment, and those skilled in the art are readily able to expect, walking
Wheel can also use crawler type or other may be implemented walk by the way of.
Grass-removing robot determines the position of itself by navigation positioning system when walking work and into walking along the street
Diameter plans that navigation positioning system includes signal receiving/transmission device, turntable motor and signal reflex device, and signal reflex device is usual
It is pre-placed in the working region of robot, if signal reflex device can be several reflecting components, reflecting component is in grass-removing robot
The coordinate of working region is known, and signal receiving/transmission device is set in the fuselage of grass-removing robot, and signal receiving/transmission device can be with
It is light-beam transmitter and beam receiver, for grass-removing robot during traveling, turntable motor is with 360 ° certain of angular speed
The scanning light beam of drive signal R-T unit horizontal direction external emission rotation, when scanning light beam is inswept each preset reflecting component,
Reflecting component is formed in parallel with the reflected beams of scanning light beam.Beam receiver receives the reflected beams, while grass-removing robot has
Angular transducer can detect the angle on scanning light beam and robot navigation direction.During the control module of grass-removing robot includes
Central processor and preset navigation algorithm in memory, central processing unit can using known reflecting component coordinate and angle
Calculate coordinate of the current robot residing for working region.Centre is handled during being scanned with the navigation of robot and light beam
Device constantly recalculates the coordinate that robot is presently in.Central processing unit can be according to changing coordinates and being preset at storage simultaneously
The travel path of navigation algorithm control grass-removing robot in device, or perhaps control the moving direction and speed of grass-removing robot
Degree.
Above-mentioned navigation positioning system is only preferred mode in the present embodiment, and it is other fixed that grass-removing robot can also use
Position system, such as GPS positioning system, DGPS positioning systems etc..
In the present embodiment, grass-removing robot further includes having protection mechanism, and Fig. 1 to Fig. 5 shows the first reality of protection mechanism
Mode is applied, as shown in Figure 1, protection mechanism includes the protector 50 for being set to fuselage both sides, both sides here are referred to along cutting
The direction of advance of careless robot is located at the left and right sides of grass-removing robot, i.e. protector can be by cutting mechanism both sides and outside
The space of connection at least partly separates, that is to say, that protector can be plate, netted, lattice-shaped etc., not influence air stream
It is logical still to stop foreign matter.Specifically, protector 50 is arranged in 12 both sides of chassis, illustrated by taking left side as an example, protector
50 be the baffle extended generally downward by chassis 12 between the near front wheel 31a and left rear wheel 31b, protector 50 bottom to ground
Distance is less than 22 bottom of cutting mechanism to the distance on ground.
Further, protector 50 includes that the transverse slat 51 to link together and riser 52, wherein transverse slat 51 are configured to from a left side
By the approximate horizontal baffle extended to the left in chassis 12 between front-wheel 31a and off hind wheel 31b；Riser 52 is configured to from 51 left side of transverse slat
The roughly vertical baffle extended downwardly, the wherein width of 52 lower part of riser are more than the width on top, riser 52 bottom to ground
Distance is less than 22 bottom of cutting mechanism to the distance on ground.Preferably, it could be provided as unidirectionally cutting with scissors between transverse slat 51 and riser 52
It connects, i.e. the initial position with respect to riser 52, riser 52 may only be swung to the direction far from cutting mechanism 22, can not only be prevented
People, animal enter cutting mechanism 22 from side, and when side traveling wheel is by raised ground or stone, protector 50 can pass through
Outside side oscillation increases its underpart at a distance from ground, and then is smoothly through the protrusion ground or stone, will not be stuck.More
It is possible to further which resetting spring is arranged between transverse slat 51 and riser 52, resetting spring is supplied to riser 52 towards cutting machine
The elastic force that the direction of structure 22 is moved to initial position, in this way, being swung to the direction far from cutting mechanism 22 when riser, by multiple
More reliable reset may be implemented in the effect of position spring.
As shown in Fig. 2 to Fig. 5, for another structure shape of the protector in the protection mechanism of grass-removing robot of the present invention
Formula, protection mechanism include the protector 50a for being set to fuselage both sides, and wherein protector 50a includes the first shield to link together
Plate 53 and the second backplate 54.First backplate 53 includes side plate 530 and the end plate 531 for being set to side plate both ends, and side plate 530 is along machine
Body 10 extends downwardly, and side plate 530 is roughly parallel to the direction of advance of grass-removing robot, and end plate 531 is roughly parallel to traveling wheel
The rotation axis of section or traveling wheel.Wherein, side plate 530 includes closing on the inclined portion 532 of fuselage 10 and being relatively distant from fuselage
Straight portion 533, inclined portion 532 are pivotally mounted to chassis 12, and the second backplate 54 is pivotally mounted to straight portion 533, and straight portion 533 and the
Two backplates 54 are concordant.Specifically, being equipped with first axle 534 in 532 upper end of inclined portion, chassis 12 is equipped with the first axis hole 121, by first
Axis 534 is installed to the first axis hole 121 and first backplate 53 is rotated relative to chassis 12.533 lower end of straight portion is equipped with the second axis
535,54 upper end of the second backplate is equipped with the second axis hole 541, makes the second shield by the cooperation of the second axis 535 and the second axis hole 541
Plate 54 can be rotated relative to the first backplate 53.
By taking left side as an example, the first axis hole 121 is set to casing 11 or chassis 12 between the near front wheel 31a and left rear wheel 32a
Outer surface, the first axis hole 121 is equipped with width in lower section and is slightly less than the opening of 534 diameter of first axle, the left side wall of opening against
First backplate 53 limits it, and first axle 534 is mounted on by opening in the first axis hole 121.First backplate 53 and casing 11 or
The first spring 536 is equipped between chassis 12, the first spring 536 gives the power that the first backplate 53 is rotated to separate 11 direction of casing,
So that lower section extends the inclined portion 532 of the first backplate 53 to the left, straight portion 533 is roughly vertical to be extended downwardly.Second axis 535 is mounted on the
In two axis holes 541, second spring 546 is equipped between the first backplate 53 and the second backplate 54, second spring 546 gives the second backplate
54, against limit, make the second backplate to the power rotated far from 11 direction of casing, 53 bottom of the first backplate with 54 top of the second backplate
54 roughly vertical extend downwardly.When not by external force, i.e. initial position, the straight portion 533 of the first backplate 53 and the second backplate 54 with
The outer of traveling wheel is substantially concordant.
Further, the first spring 536 and second spring 546 are torsionspring, and the rigidity of the first spring 536 is more than
The rigidity of second spring 546, when hand/foot of people or animal seek entry into 22 region of cutting mechanism, the second backplate 54 is first inwardly
Rotation, the first backplate 53 rotate inward again.Due to there is spring, human or animal is set to feel resistance and abandon entering, simultaneously
External force can be buffered, reduce influence of the external force to grass-removing robot.
In addition, the inclined portion 532 of protector 50a close to top be equipped with distance sensing device 90, when protector 50a touch it is dynamic
When the object of object, people or other influences machine normal work, 54 amplitude of fluctuation of the second backplate is more than its preset swing angle, band
Dynamic first backplate 53 is swung, and then triggers distance sensing device 90, and control module control grass-removing robot makes shutdown.Distance perspective is answered
The setting of device makes grass-removing robot ensure not accidentally injure when safeguard structure is broken.Specifically, distance sensing device
Including switch and trigger member, wherein switch can be arranged on chassis 12, and the contact of switch is corresponding with the first backplate 53, touch
Outbox is arranged between the contact of switch and the first backplate 53, and one end of trigger member and the contact of switch or the first backplate 53 connect
It connects.Preferably, trigger member is configured to spring, switch can be protected not damaged by impact force using spring.Certainly, distance perspective should fill
Setting can also select close switch or other that can convert distance change to control module and can handle the device of signal.
It is the second embodiment of the protection mechanism of grass-removing robot of the present invention, present embodiment as shown in Fig. 6 to Figure 11
In, protection mechanism includes the protector for being set to underbelly, and protector is configured to carry out cutting mechanism three sides surrounded anti-
Guard 60 is not surrounded in the direction of advance of grass-removing robot.Protective baffle plate 60 is fixedly mounted on 12 lower surface of chassis, from both sides
Face and below circular cutting mechanism.Specifically, it is U-shaped baffle that protective baffle plate 60, which is configured to section, and protective baffle plate 60 includes upper
Towards turning up, upper overturning includes screw hole for flange 61 and lower flange 62, wherein upper overturning, is used for connecting with chassis 12；Lower flange court
Varus.Protective baffle plate 60 encloses 22 3 bread of cutting mechanism, to it is more strict prevent human or animal or other foreign matters from
Side and the working region for entering cutting mechanism 22 below, prevent from damaging or be damaged to grass-removing robot.
It is protector preferably another structure type, protection mechanism includes being set under fuselage as shown in Fig. 9 to Figure 11
The protective baffle plate 60a in portion, protective baffle plate 60a are also three sides surrounded protector, and the difference with above-mentioned protective baffle plate 60 is to protect
Baffle 60a is mounted on cutting mechanism 22, can up and down synchronous with cutting mechanism 22 as being mounted on blade support 221
Or it swings.It so, it is possible to ensure that cutting mechanism 22 will not be exposed to outside safeguard structure in up and down or swing, enhance
Protecting effect.
It is the third embodiment of the protection mechanism of grass-removing robot of the present invention, this embodiment party as shown in Figure 12 to Figure 14
In formula, protection mechanism further includes protective fence 70, and protective fence 70 is in substantially paliform, is arranged in the front of cutting mechanism 22, passes through
Third axis 701 is hinged on 12 front of chassis, can be swung around third axis 701 in the forward/backward direction of grass-removing robot, that is,
Say that protector can at least partly separate in the space being connected to outside on front side of cutting mechanism, the grass for neither influencing to be cut enters
Cutting region, and can effectively stop foreign matter.Further, it is equipped with distance sensing device on protective fence 70, works as protective fence
When swinging more than predetermined angle, control module makes grass-removing robot shut down.
Referring to Fig.1 4 and coordinate 10 shown in, another structure type of the protective fence of grass-removing robot of the present invention, protective fence
70a is divided into epimere 71 and hypomere 72 by upper segment frames and lower frame, and epimere 71 is hinged by the 4th axis 711 and chassis 12,
Hypomere 72 is hinged by the 5th axis 712 and epimere 71, and epimere 71 is equipped with distance sensing device 90, and hypomere 72 is equipped with full swing angle
Degree.When hypomere 72 does not trigger shutdown in the slight oscillatory under the action of grass trimmed；When protective fence 70a touches animal, people
Or other influences machine normal work object when, 72 amplitude of fluctuation of hypomere be more than its preset swing angle, drive epimere 71
It swings, and then triggers distance sensing device, automatic control system makes shutdown.The setting of distance sensing device makes grass-removing robot
Ensure not accidentally injure when traditional defense structure is broken.Front wing safeguard structure using hinged, can effectively prevent the tangling of grass,
It knots, also can effectively break away from the obstacles such as stone, ground out-of-flatness.
Specifically, distance sensing device includes switch and trigger member.Wherein, switch is arranged on chassis 12, and switch touches
Point is corresponding with the epimere 71 of protective fence 70a, and trigger member is arranged between the contact of switch and the epimere 71 of protective fence 70a, touches
The epimere 71 of one end of outbox and the contact of switch or protective fence 70a connect.Further, trigger member is configured to spring, can
Protection switch is not damaged by impact force.Certainly, distance sensing device can also select close to switch or other can will be apart from change
Change, which is converted into automatic control system, can handle the device of signal.
As shown in figure 15, it is the 4th embodiment of the protection mechanism of grass-removing robot of the present invention, in the present embodiment, anti-
Guardrail 80 before setting in front of guardrail 70a.Preceding guardrail 80 is fixedly mounted on 11 front end of chassis 12 or casing, or with chassis 12 or casing
11 are integrally formed.The broach of preceding guardrail 80 is thicker, more sparse than protective fence 70,70a, for the grass to robot direction of advance into
Row is preliminary to be combed, and is further prevented the winding of grass, is knotted.
In the above embodiment, each embodiment can be used alone or multiple embodiments are used in combination, if not
It can be combined with each other between isostructural side protector, the side protector of different structure can be between the protective fence of different structure
It is combined with each other, so that protection mechanism has multiple combinations.In addition, the purpose of above-mentioned distance sensing device setting is protection
People/animal does not contact cutting mechanism, and other range sensors or obstacle detection in addition to this can also in addition be arranged on fuselage
Sensor, as long as fuselage is apart from barrier certain distance, that is, trigger sensor.
It should be appreciated that although this specification is described in terms of embodiments, but not each embodiment only includes one
A independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should will say
As a whole, the technical solution in each embodiment may also be suitably combined to form those skilled in the art can for bright book
With the other embodiment of understanding.
The series of detailed descriptions listed above only for the present invention feasible embodiment specifically
Bright, they are all without departing from equivalent implementations made by technical spirit of the present invention not to limit the scope of the invention
Or change should all be included in the protection scope of the present invention.
Claims (21)
1. a kind of grass-removing robot, including：Fuselage（10）, it is installed on fuselage（10）Operational module, walking module and be used for
The control module of co-ordination module and walking module, the operational module include the cutting mechanism for being set to underbelly
（22）, the walking module includes being mounted on fuselage（10）On traveling wheel group and drive the running motor of the traveling wheel group,
It is characterized in that：The grass-removing robot further includes the protector for being at least partly movably set in fuselage, and the protector can
The space that cutting mechanism surrounding is connected to outside is at least partly separated, distance perspective is arranged between the protector and fuselage to be filled
It sets（90）, the scope of activities of the protector is more than its preset value, triggers the distance sensing device, and the control module receives
It is shut down to trigger signal control grass-removing robot.
2. grass-removing robot according to claim 1, which is characterized in that the traveling wheel group includes front wheels and rear wheels, institute
Protector is stated from the fuselage（10）Space between the front wheels and rear wheels extends downward, the protector（50、50a）'s
The distance on bottom to ground is less than the cutting mechanism（22）Bottom to ground distance.
3. grass-removing robot according to claim 2, which is characterized in that the protector includes prolonging to fuselage both sides level
The transverse slat stretched（51）And with the vertically disposed riser of transverse slat（52）, the riser（52）The width of lower part is more than riser（52）On
The width in portion, the riser（52）Unidirectionally it is articulated with the transverse slat（51）, the relatively described riser（52）Initial position, it is described perpendicular
Plate（52）It is allowed to far from cutting mechanism（22）Direction rotation, and the riser（52）It is limited to towards cutting mechanism
（22）Direction rotation, the distance sensing device is arranged between the riser and fuselage.
4. grass-removing robot according to claim 3, which is characterized in that the transverse slat（51）And riser（52）Between be arranged
Resetting spring, the resetting spring provide the riser towards cutting mechanism（22）Direction movement elastic force.
5. grass-removing robot according to claim 2, which is characterized in that the protector includes being connected to the fuselage
First backplate（53）And it is connected to first backplate（53）The second backplate（54）, second backplate（54）The width of lower part
Degree is more than the second backplate（54）The width on top.
6. grass-removing robot according to claim 5, which is characterized in that along the direction of advance of the grass-removing robot,
First backplate（53）Front and rear sides be arranged end plate（531）, the end plate（531）It is parallel to cutting for the front-wheel or trailing wheel
Face.
7. grass-removing robot according to claim 5, which is characterized in that first backplate（53）Including closing on fuselage
Inclined portion（532）With close on the second backplate（54）Straight portion（533）, the straight portion（533）With the second backplate（54）Concordantly.
8. grass-removing robot according to claim 5, which is characterized in that first backplate（53）It is pivotally mounted to machine
Body, second backplate（54）It is pivotally mounted to the first backplate（53）.
9. grass-removing robot according to claim 8, which is characterized in that relatively described first backplate（53）With the second backplate
（54）Initial position, first backplate（53）With the second backplate（54）It is allowed to towards cutting mechanism（22）Direction turn
It is dynamic, and institute's first backplate（53）With the second backplate（54）It is limited to far from cutting mechanism（22）Direction rotation.
10. grass-removing robot according to claim 8, which is characterized in that first backplate（53）Between casing body
Equipped with the first spring（536）, the first spring the first backplate of offer（53）The elastic force moved to separate casing direction, described first
Backplate（53）With the second backplate（54）Between be equipped with second spring（546）, the second backplate of the second spring offer（54）Xiang Yuan
It disembarks elastic force of the shell side to movement.
11. grass-removing robot according to claim 10, which is characterized in that first spring and the second spring are
Torsionspring, and first spring（536）Rigidity be more than second spring（546）Rigidity.
12. grass-removing robot according to claim 8, which is characterized in that the distance sensing device（90）Setting is the
One backplate（53）Between fuselage, second backplate（54）The amplitude of rotation is more than its preset rotational angle, drives first
Backplate（53）Rotation, first backplate（53）The amplitude of rotation is more than its preset rotational angle, triggers the distance perspective and answers
Device.
13. grass-removing robot according to claim 1, which is characterized in that the protector is configured to be located at the cutting
Protective fence in front of mechanism（70、70a）, the protective fence（70、70a）It is pivotally connected to fuselage（10）And it is configured to fence
Shape.
14. grass-removing robot according to claim 13, which is characterized in that the protective fence（70a）Along vertical direction
Including epimere（71）And hypomere（72）, the epimere（71）It is pivotally connected to fuselage, the hypomere（72）It is pivotally connected to described
Epimere（71）.
15. grass-removing robot according to claim 14, which is characterized in that the distance sensing device（90）It is set to
Section（71）And fuselage（10）Between, the hypomere（72）The amplitude of rotation is more than its preset rotational angle, drives epimere（71）
Rotation, the epimere（71）The amplitude of rotation is more than its preset rotational angle, triggers distance sensing device.
16. grass-removing robot according to claim 13, which is characterized in that the grass-removing robot further includes being set to machine
With it and it is located at the protective fence（70、70a）Preceding guardrail before（80）, the preceding guardrail（80）It is configured to paliform, it is described
Preceding guardrail（80）Comb tooth density be less than the protective fence（70、70a）Comb tooth density, the preceding guardrail（80）Each broach
Width be more than the protective fence（70、70a）Each broach width.
17. grass-removing robot according to claim 1, which is characterized in that the grass-removing robot further includes positioned at described
Preceding guardrail in front of cutting mechanism（80）, the preceding guardrail（80）It is fixedly connected on fuselage and is configured to paliform.
18. grass-removing robot according to claim 1, which is characterized in that the distance sensing device includes switch and touches
Outbox, the switch are arranged on fuselage, and the contact of switch is corresponding with the protector, and the trigger member is arranged in switch
Between contact and protector, one end of the trigger member and the contact of switch or protector connect.
19. grass-removing robot according to claim 1, which is characterized in that the grass-removing robot further includes around described
The anti-skid plate of cutting mechanism setting（60、60a）, along the direction of advance of the grass-removing robot, the anti-skid plate（60、
60a）From the cutting mechanism（22）Two sides and below to cutting mechanism formed three bread enclose.
20. grass-removing robot according to claim 19, which is characterized in that the anti-skid plate（60）Including disposed thereon
The upper overturning at lower both ends（61）And lower flange（62）, the upper overturning（61）Opposite cutting mechanism（22）Towards turning up, turned under described
Side（62）Opposite cutting mechanism（22）Towards varus, the anti-skid plate（60）Pass through upper overturning（61）It is fixedly installed in fuselage（10）
Lower surface.
21. grass-removing robot according to claim 19, which is characterized in that the anti-skid plate（60a）It is installed on described
Cutting mechanism（22）, the anti-skid plate（60a）It can be with cutting mechanism（22）Together relative to fuselage（10）Position into
Row adjustment.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710037418.3A CN108323309A (en) | 2017-01-19 | 2017-01-19 | Grass-removing robot |
| PCT/CN2018/072623 WO2018133758A1 (en) | 2017-01-19 | 2018-01-15 | Robotic lawn mower |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710037418.3A CN108323309A (en) | 2017-01-19 | 2017-01-19 | Grass-removing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108323309A true CN108323309A (en) | 2018-07-27 |
Family
ID=62922621
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710037418.3A Pending CN108323309A (en) | 2017-01-19 | 2017-01-19 | Grass-removing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108323309A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2020192127A1 (en) * | 2019-03-28 | 2020-10-01 | 苏州科瓴精密机械科技有限公司 | Method for reflector recognition, mobile robot positioning method and mobile robot system |
| WO2020211374A1 (en) * | 2019-04-16 | 2020-10-22 | 苏州科瓴精密机械科技有限公司 | Mowing robot |
| CN112400448A (en) * | 2019-08-20 | 2021-02-26 | 苏州科瓴精密机械科技有限公司 | Automatic walking robot and control method thereof |
| WO2021147494A1 (en) * | 2020-01-21 | 2021-07-29 | 苏州宝时得电动工具有限公司 | Automatic lawn mower |
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