CN110920776A - Front wheel lifting detection device for self-walking equipment and self-walking equipment - Google Patents
Front wheel lifting detection device for self-walking equipment and self-walking equipment Download PDFInfo
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- CN110920776A CN110920776A CN201911388423.4A CN201911388423A CN110920776A CN 110920776 A CN110920776 A CN 110920776A CN 201911388423 A CN201911388423 A CN 201911388423A CN 110920776 A CN110920776 A CN 110920776A
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- 238000001514 detection method Methods 0.000 title claims abstract description 38
- 238000006073 displacement reaction Methods 0.000 claims abstract description 30
- 230000006698 induction Effects 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 230000001960 triggered effect Effects 0.000 abstract description 4
- 230000000694 effects Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 208000012260 Accidental injury Diseases 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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Abstract
A front wheel lift-up detection device for a self-propelled apparatus and a self-propelled apparatus, comprising: the apparatus includes a rotating member having one end rotatably mounted on a casing of the self-propelled device, a displacement sensing device provided on the rotating member and the casing, and a front wheel assembly having a tip end provided at the other end of the rotating member. The rotating part drives one of the triggering part or the sensing part in the displacement sensing device to rotate relative to the machine shell along with the up-and-down movement of the front wheel assembly, and the other one is triggered by the rotation of the triggering part or the sensing part in the displacement sensing device to generate an electric signal to be output to the control unit, so that the self-walking equipment is protected. The front wheel lifting detection device provided by the invention can more easily meet the displacement stroke required by lifting the front wheel through the rotation of the rotating component.
Description
Technical Field
The invention relates to the field of garden tools, in particular to a front wheel lifting detection device for self-walking equipment and the self-walking equipment.
Background
From walking equipment, for example from walking equipment, belong to garden instrument field, including the casing, be provided with the blade below the casing, the blade is driven its rotation by the motor and is realized mowing. The motor can be driven by the control unit through the motor driving circuit, and rotation speed or brake control is achieved. In order to facilitate the self-walking equipment to move on the grassland, a wheel shaft is arranged below the shell of the self-walking equipment, and a walking wheel is arranged at the lower end of the wheel shaft.
To ensure the safety of the user, the self-propelled device needs to be arranged to stop the drive to the blade when it is detected that the machine is lifted, in order to avoid accidental injury of the user by the blade. Or, in order to avoid the motor from idling, the motor driving circuit needs to be closed in time when the travelling wheel of the self-travelling equipment falls into the pit and cannot drive the self-travelling equipment to move, so that the motor is prevented from idling for a long time and further being damaged when the self-travelling equipment falls into the pit.
The existing scheme for detecting the position of the wheel shaft of the self-walking equipment generally utilizes trigger elements such as infrared rays, a magnetic field and the like to detect the displacement of the wheel shaft of the self-walking equipment relative to a reference point when the self-walking equipment falls off or the equipment is wholly lifted. Through the detection to this displacement, realize the detection to the self-walking equipment shaft position. The length of the displacement stroke of the wheel axle can influence the sensitivity of the self-walking equipment for detecting the lifting.
Considering that the lawn is always provided with various small hollow spaces, if the displacement travel is set to be too small, the situation that false alarm is raised frequently occurs in self-walking equipment. In order to solve the problems, the displacement stroke needs to be increased, and when the existing structure realizes a larger displacement stroke, the problems of poor sliding of the wheel shaft or blocking of the wheel shaft and the like often occur, which directly results in serious defects of lifting, detection failure and the like.
Disclosure of Invention
The invention provides a front wheel lifting detection device for self-walking equipment and the self-walking equipment aiming at the defects of the prior art. The invention specifically adopts the following technical scheme.
To achieve the above object, there is provided a front wheel lift detection apparatus for a self-propelled device, including: a rotating member having one end rotatably mounted on a case of the self-traveling apparatus; a displacement sensing device having a trigger member and a sensing member, one of the trigger member and the sensing member being provided on the rotating member, and the other of the trigger member and the sensing member being provided on a casing of the self-propelled apparatus; and the top end of the front wheel assembly is arranged at the other end of the rotating component.
Optionally, the front wheel lift detection device for the self-walking apparatus as described in any one of the above, wherein the rotating component includes a swing link, one end of the swing link is provided with a first rotating connecting piece, and the first rotating connecting piece is rotatably connected to the casing along a first direction; and a second rotating connecting piece is arranged at the other end of the oscillating bar and is rotatably connected with the top end of the front wheel assembly along a second direction.
Alternatively, the front wheel lift detection apparatus for a self-propelled device as recited in any of the above, wherein the first direction and the second direction are perpendicular to each other.
Optionally, the front wheel lift detection device for the self-walking apparatus as described in any one of the above, wherein the first rotating link is a rotating shaft protruding from a side surface of the swing link; a shaft groove is formed in the shell along the horizontal direction; at least the lower part of the rotating shaft is arranged in the shaft groove and rotates in the shaft groove.
Optionally, the front wheel lift detection device for self-walking equipment as described in any one of the above, wherein the second rotating connecting member is a fixing hole vertically penetrating through the swing link; the top of the front wheel assembly is provided with a front wheel assembly upper rotating shaft, and the front wheel assembly upper rotating shaft penetrates through the fixing hole and is rotatably connected with the swing rod.
Optionally, the front wheel lift detection device for the self-walking apparatus as described in any one of the above, wherein a bushing is further sleeved between the rotating shaft and the fixing hole on the front wheel assembly.
Alternatively, the front wheel lift detection apparatus for a self-propelled device as described in any of the above, wherein the rotating member drives one of the triggering member or the sensing member to rotate relative to the housing as the front wheel assembly moves up and down.
Optionally, the front wheel lifting detection device for the self-walking apparatus as described in any one of the above, wherein a groove is provided on the housing, and the swing link is rotatably disposed in the groove through the first rotating link; the trigger part comprises a magnetic body which is arranged in a concave pit on the end surface of the swing rod close to one side of the second rotating connecting piece; the sensing part comprises a Hall element which is arranged on the surface of the groove of the shell.
Optionally, the front wheel lift detection device for the self-walking apparatus as described in any of the above, wherein the axle slot is disposed at an upper portion of one side of the groove, an end cap is further disposed at a position of a lower portion of the groove close to the axle slot, the first rotating connection member at the end of the swing link is disposed in the axle slot, and the swing link rotates between the axle slot and the end cap.
Meanwhile, the invention also provides self-walking equipment which comprises the front wheel lifting detection device.
Advantageous effects
The invention forms a front wheel lifting detection device by a rotating component with one end rotatably arranged on a shell of the self-walking device, a displacement sensing device arranged on the rotating component and the shell, and a front wheel component with the top end arranged at the other end of the rotating component. The self-walking equipment is protected by driving one of a trigger component or a sensing component in the displacement sensing device to move up and down along with the front wheel component to rotate relative to the machine shell by utilizing the rotating component, and triggering the other to generate an electric signal to be output to the control unit by rotating the trigger component or the sensing component in the displacement sensing device. The invention provides a front wheel lifting detection device, which is formed by rotating a rotating component. Compared with the prior art in which the rotating shaft is movably connected with the fixed hole, the wheel body displacement stroke is realized by the relative movement of the rotating shaft along the axial direction, in the scheme, the wheel body rotates along with the oscillating bar, the wheel body has displacement in the vertical direction, and the wheel body also has displacement in the horizontal direction. Therefore, the distance between the triggering component and the sensing component is larger than that of the existing scheme, so that the scheme of the invention can more easily meet the displacement stroke required by the lifting of the front wheel.
The shell is provided with a groove for mounting the swing rod. When the swing rod rotates for a certain angle in the swinging process, in order to prevent foreign matters from entering the groove, in the swinging range of the swing rod, the upper edge of the side wall of the swing rod is always positioned in the range of the groove, and the side wall of the swing rod and the side wall of the groove are staggered to form a simple labyrinth, so that the swing rod can be coated, and the foreign matters are prevented from entering the groove.
Particularly, the rotating part in the invention adopts a structure which can rotate and swing like a swing rod, and large displacement is easier to realize. And the length of the swinging rod can enlarge the torque of the downward rotation of the front wheel assembly, so that the wheels can fall freely more easily. Compared with the scheme that the rotating shaft is movably connected with the fixing hole and moves relatively along the axial direction in the prior art, the scheme that the rotating shaft moves relatively along the axial direction is adopted, the axial position of the rotating shaft is relatively fixed, and the rotating shaft does not need to move, so that compared with the prior technical scheme, the requirements on the matching precision and the self-lubricating property of the rotating shaft on the shaft sleeve and the front wheel assembly in the structure are lower, and the manufacturing difficulty and the manufacturing cost can be reduced.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic view of the overall configuration of the self-propelled apparatus of the present invention;
FIG. 2 is a partial cross-sectional view of the front wheel portion of the self-propelled apparatus of the present invention;
FIG. 3 is an exploded view of the front wheel lift detection arrangement of the self-propelled device of the present invention;
FIG. 4 is a schematic view of the front wheel assembly of the self-propelled device of the present invention;
FIG. 5 is a schematic structural view of a swing link in the front wheel lift detection apparatus of the self-propelled device of the present invention;
FIG. 6 is a schematic view of a recess in which the front wheel lift detection means of the self-propelled device of the present invention is mounted;
FIG. 7 is a schematic view showing a positional relationship between components when the front wheel lift detecting device of the self-propelled apparatus of the present invention is not lifted;
FIG. 8 is a schematic view of the positional relationship between the components of the self-propelled apparatus when the front wheel lift detection device is raised;
in the figure, 1 is a self-walking device, 2 is a machine shell, 3 is a swing rod, 4 is a front wheel component, 5 is an end cover, 6 is a shaft sleeve, 7 is a Hall element, 8 is a magnetic body, 9 is a rotating shaft, 10 is a pit, 11 is a fixing hole, 12 is a flat pad, 13 is a clamping ring, 14 is an upper rotating shaft of the front wheel component, 15 is a groove, and 16 is a shaft groove. .
Detailed Description
In order to make the purpose and technical solution of the embodiments of the present invention clearer, the technical solution of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The meaning of "and/or" in the present invention means that the respective single or both of them exist individually or in combination.
The meaning of the 'inside and outside' in the invention means that the direction from the machine shell to the inside of the self-walking equipment is inside, and vice versa, relative to the self-walking equipment per se; and not as a specific limitation on the mechanism of the device of the present invention.
The term "connected" as used herein may mean either a direct connection between the components or an indirect connection between the components via other components.
The term "up and down" as used herein means that the direction from the bottom surface to the self-propelled device is up when the user is facing the self-propelled device during operation, and vice versa is down, not specifically limited to the mechanism of the apparatus of the present invention.
The present invention provides a front wheel lift detection device for a self-propelled apparatus, which is provided on a front wheel assembly of the self-propelled apparatus shown in fig. 1 and 2. This structure can set up in the casing, realizes the control to front wheel whereabouts scope, and corresponding output signal of telecommunication to the control unit, the suggestion falls into the pit from the traveling equipment front wheel or is lifted up unable normal operating by whole from the traveling equipment.
Specifically, the front wheel lift detection device according to the present invention includes, as shown in fig. 3: a rotating member having one end rotatably mounted on the casing 2 of the self-traveling apparatus;
a displacement sensing device having a trigger member and a sensing member, one of the trigger member and the sensing member being provided on the rotating member, and the other of the trigger member and the sensing member being provided on the casing 2 of the self-propelled apparatus;
and a front wheel assembly 4, the top end of which is mounted on the other end of the rotating component.
Therefore, the self-walking equipment provided by the invention has the advantages that the rotating component is arranged on the self-walking equipment main body, and when the front wheel is lifted or falls into a pit, the rotating component is driven by the front wheel component arranged on the rotating component to vertically rotate around the shaft under the action of gravity, so that the vertical movement of the front wheel can be converted into the rotation of the rotating component, the magnetic body rotates along with the rotating component, the wheel body forms displacement in the vertical direction, and meanwhile, the wheel body is also displaced in the horizontal direction in a rotating mode. Therefore, the displacement amount in two dimensions obtained by the rotation mode can enable the distance of relative movement between the trigger component and the induction component to be larger than that of the existing scheme, and therefore the requirement of the lifting displacement stroke is easier to achieve.
In a more specific implementation. This front wheel lifts up detection device includes: the mower comprises a swing rod arranged on a mower body, a shaft sleeve fixed on the swing rod, an end cover arranged on the swing rod, a front wheel assembly arranged on the shaft sleeve, a magnetic body arranged on the swing rod, and a Hall element arranged in a casing. The magnetic gold and the Hall element are respectively used as a trigger component and an induction component, and the positions of the trigger component and the induction component can be exchanged.
The rotating part comprises a swing rod 3 shown in fig. 5, one end of the swing rod 3 is provided with a first rotating connecting piece, and the first rotating connecting piece is rotatably connected with the machine shell 2 along a first direction; and a second rotating connecting piece is arranged at the other end of the oscillating bar 3 and is rotatably connected with the top end of the front wheel assembly 4 along a second direction. The first direction and the second direction are perpendicular to each other. For example, in the implementation shown in fig. 3, the first direction may be set to rotate along the horizontal rotation axis, and may be used as the rotation direction of the swing link; the second direction may be arranged to rotate about a vertical axis of rotation and may be the direction of rotation in which the front wheel assembly effects steering from the walking device.
Furthermore, the end of the rocker has a shaft projection, which in particular forms a first pivot connection, forming a pivot 9 projecting laterally from the rocker 3. A shaft groove 16 is formed in the housing along the horizontal direction, the shaft portion is installed in the groove, or at least the lower portion of the rotating shaft 9 is disposed in the shaft groove 16, and the rotating shaft 9 is disposed to rotate in the groove.
In order to match the structure of the front wheel assembly 4 shown in fig. 4, the second rotating connecting piece can be arranged to be a fixing hole 11 vertically penetrating through the swing rod 3; an upper rotating shaft 14 of the front wheel assembly arranged at the top of the front wheel assembly 4 in the figure 4 penetrates through the fixing hole 11 and is rotatably connected with the swing rod 3, so that the free steering of the front wheel assembly is realized.
In order to avoid the excessive friction of the rotating shaft 14 on the front wheel assembly in the fixing hole 11, the invention can further sleeve a shaft sleeve 6 between the rotating shaft 14 on the front wheel assembly and the fixing hole 11, and the rotating shaft 14 is installed in the shaft sleeve 6 and can freely rotate around the shaft center of the shaft sleeve. Therefore, the rotating component can drive one of the triggering component or the sensing component to rotate relative to the shell 2 along with the smooth up-and-down movement of the front wheel component 4 in the shaft sleeve 6, so that the detection of the displacement distance of the front wheel is realized, and the self-walking equipment is correspondingly controlled to stop the cutting operation head to avoid accidental injury or idle running.
Further, in some implementations, an end surface of the swing link on a side close to the second rotary connector may be specifically provided with a recess 10 for mounting the magnetic body 8 or the hall element 7. Accordingly, a mounting member for fixing the hall element or the magnetic body may be provided correspondingly inside the casing, for example, on the surface of the recess 15 for mounting the swing lever 3 on the casing. The swing rod is rotatably arranged in the groove 15 through the first rotating connecting piece to drive the Hall element or the magnetic body to move relative to the pit 10, a corresponding signal is triggered to reflect the falling distance of the front wheel, and the self-walking equipment is triggered to close an operation device, so that the safety is ensured.
Referring to fig. 3, the shaft may further include a ring groove, and the shaft portion is installed in the shaft sleeve and can rotate.
Further, the shaft part groove is used for installing a clamping ring 13 for limiting the front wheel assembly to fall off from the swing rod shaft hole.
Furthermore, the groove arranged on the casing is provided with the swing rod, when the swing rod rotates for a certain angle, in order to prevent foreign matters from entering the groove 15, the groove can still coat the swing rod, the upper edge of the side wall of the swing rod is always positioned in the range of the groove, the side wall of the swing rod and the side wall of the groove are staggered to form a simple labyrinth, and the foreign matters are prevented from entering the groove 15, so that the labyrinth protection effect is realized.
As shown in fig. 6, a rectangular groove 15 is designed on the housing 2 and is used for accommodating the swing rod 3, the shaft groove 16 is arranged at the upper part of one side of the groove 15, an end cover 5 shown in fig. 7 and 8 is further arranged at the position, close to the shaft groove 16, of the lower part of the groove 15, a first rotating connecting piece at the end part of the swing rod is arranged in the shaft groove 16, and the swing rod rotates between the shaft groove 16 and the end cover 5. In the in-service use process, the turned angle of pendulum rod is restricted by end cover 5 in the originated 90 of horizontal position, avoids lifting up the back at the robot, and when the too big pendulum rod turned angle leads to transferring the robot, the problem that can't independently reset to the recess in the pendulum rod probably appears. Compared with the prior art that the rotating shaft is movably connected with the fixed hole, the rotating shaft can move relatively along the axial direction, and the wheel body displacement stroke is the wheel body axial movement stroke, specifically the vertical direction stroke; in the scheme, the wheel body rotates along with the swing rod, so that the wheel body has displacement in the vertical direction, and the wheel body also has displacement in the horizontal direction. Therefore, the distance between the triggering component and the sensing component is larger than that of the existing scheme, so that the scheme of the invention can more easily meet the displacement stroke required by the lifting of the front wheel.
As described above, the collar 13 and the flat pad 12 are respectively mounted on the rotary shaft 14 for fixing the front wheel assembly.
As shown in fig. 7 and 2, the lifting assembly is in a normal state, the hall element 7 and the magnetic body 8 keep a certain relative position, and the magnetic body 8 does not trigger the hall element.
As shown in fig. 8, the lifting assembly is in a lifting state, the front wheel assembly 4 drives the swing rod 2 to rotate around the rotating shaft 9, the swing rod rotates for a certain angle, and the magnetic body 8 rotates along with the swing rod to a position where the magnetic body is opposite to the hall element, so that the hall element is triggered to generate a signal.
The invention adopts a swing rod structure, the front wheel assembly is fixed through the tail end of the swing rod structure, the swing rod is driven to rotate through the dead weight of the front wheel assembly, and a larger displacement stroke can be obtained through a rotating mode, so that the front wheel assembly is easier to lift or reset. Because the rotating shaft does not move relatively between other parts, compared with the prior art, the invention has lower requirements on the matching precision and the self-lubricating property of the shaft sleeve and the rotating shaft on the front wheel component, can effectively reduce the manufacturing precision and provide the structural functional reliability.
The above are merely embodiments of the present invention, which are described in detail and with particularity, and therefore should not be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the spirit of the present invention, and these changes and modifications are within the scope of the present invention.
Claims (10)
1. A front wheel lift detection device for a self-propelled apparatus, comprising:
a rotating member, one end of which is rotatably mounted on a casing (2) of the self-propelled apparatus;
a displacement sensing device having a trigger member and a sensing member, one of the trigger member and the sensing member being provided on the rotating member, the other of the trigger member and the sensing member being provided on a casing (2) of the self-propelled apparatus;
and a front wheel assembly (4) with the top end thereof mounted on the other end of the rotating component.
2. The front wheel lift detection device for a self-propelled apparatus according to claim 1, wherein the rotating member comprises a swing link (3), one end of the swing link (3) being provided with a first rotational connection, the first rotational connection being in rotational connection with the housing (2) in a first direction; the other end of the swing rod (3) is provided with a second rotating connecting piece, and the second rotating connecting piece is rotatably connected with the top end of the front wheel assembly (4) along a second direction.
3. The front wheel lift detection device for a self-propelled apparatus of claim 2, wherein the first direction and the second direction are perpendicular to each other.
4. The front wheel lift detection device for a self-propelled apparatus according to claims 2-3, wherein the first rotational connection member is a rotating shaft (9) protruding from a side surface of the swing lever (3);
a shaft groove (16) is formed in the shell (2) along the horizontal direction;
at least the lower part of the rotating shaft (9) is arranged in the shaft groove (16) and rotates in the shaft groove (16).
5. The front wheel lift detection device for a self-propelled apparatus according to claims 2-4, wherein the second rotational connection member is a fixing hole (11) vertically penetrating the swing lever (3);
the top of the front wheel assembly (4) is provided with a front wheel assembly upper rotating shaft (14), and the front wheel assembly upper rotating shaft (14) penetrates through the fixing hole (11) and is rotatably connected with the swing rod (3).
6. The front wheel lift detecting device for a self-propelled apparatus according to claim 5, wherein a boss (6) is further fitted between the rotating shaft (14) and the fixing hole (11) of the front wheel assembly.
7. The front wheel lift detection device for a self-propelled apparatus of claims 1-6, wherein the rotating member rotates one of the triggering member and the sensing member with respect to the housing (2) as the front wheel assembly (4) moves up and down.
8. The front wheel lift detection device for a self-propelled apparatus according to claim 2, wherein a recess (15) is provided in the housing (2), and the swing lever is rotatably provided in the recess (15) through the first rotational coupling member;
the trigger part comprises a magnetic body (8) which is arranged in a concave pit (10) on the end surface of the swing rod close to one side of the second rotating connecting piece;
the induction component comprises a Hall element (7) which is arranged on the surface of a groove (15) of the shell (2).
9. The front wheel lift detection device for a self-propelled apparatus according to claim 8, wherein the axle groove (16) is provided at an upper portion of one side of the recess (15), an end cap (5) is further provided at a lower portion of the recess (15) near the axle groove (16), the first rotational connection of the end portion of the swing link is provided in the axle groove (16), and the swing link rotates between the axle groove (16) and the end cap (5).
10. A self-propelled apparatus comprising a front wheel lift detection device as claimed in claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911388423.4A CN110920776A (en) | 2019-12-30 | 2019-12-30 | Front wheel lifting detection device for self-walking equipment and self-walking equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911388423.4A CN110920776A (en) | 2019-12-30 | 2019-12-30 | Front wheel lifting detection device for self-walking equipment and self-walking equipment |
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| Publication Number | Publication Date |
|---|---|
| CN110920776A true CN110920776A (en) | 2020-03-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911388423.4A Pending CN110920776A (en) | 2019-12-30 | 2019-12-30 | Front wheel lifting detection device for self-walking equipment and self-walking equipment |
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| CN (1) | CN110920776A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201248261Y (en) * | 2008-05-04 | 2009-06-03 | 上海创绘机器人科技有限公司 | Intelligent lawn maintenance robot |
| JP2016195546A (en) * | 2013-09-30 | 2016-11-24 | 日立工機株式会社 | Self-propelled mower |
| CN206611779U (en) * | 2017-02-15 | 2017-11-07 | 苏州宝时得电动工具有限公司 | One kind lifts testing agency and its hay mover |
| CN107548676A (en) * | 2016-06-30 | 2018-01-09 | 罗伯特·博世有限公司 | Ground processing apparatus |
| EP3342267A1 (en) * | 2017-01-02 | 2018-07-04 | LG Electronics Inc. | Lawn mower robot |
| CN211642416U (en) * | 2019-12-30 | 2020-10-09 | 南京苏美达智能技术有限公司 | Front wheel lifting detection device for self-walking equipment and self-walking equipment |
-
2019
- 2019-12-30 CN CN201911388423.4A patent/CN110920776A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201248261Y (en) * | 2008-05-04 | 2009-06-03 | 上海创绘机器人科技有限公司 | Intelligent lawn maintenance robot |
| JP2016195546A (en) * | 2013-09-30 | 2016-11-24 | 日立工機株式会社 | Self-propelled mower |
| CN107548676A (en) * | 2016-06-30 | 2018-01-09 | 罗伯特·博世有限公司 | Ground processing apparatus |
| EP3342267A1 (en) * | 2017-01-02 | 2018-07-04 | LG Electronics Inc. | Lawn mower robot |
| CN206611779U (en) * | 2017-02-15 | 2017-11-07 | 苏州宝时得电动工具有限公司 | One kind lifts testing agency and its hay mover |
| CN211642416U (en) * | 2019-12-30 | 2020-10-09 | 南京苏美达智能技术有限公司 | Front wheel lifting detection device for self-walking equipment and self-walking equipment |
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