CN112400481A - Automatic mower - Google Patents
Automatic mower Download PDFInfo
- Publication number
- CN112400481A CN112400481A CN201910778209.3A CN201910778209A CN112400481A CN 112400481 A CN112400481 A CN 112400481A CN 201910778209 A CN201910778209 A CN 201910778209A CN 112400481 A CN112400481 A CN 112400481A
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- China
- Prior art keywords
- steering
- assembly
- robotic lawnmower
- travel
- drive
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D67/00—Undercarriages or frames specially adapted for harvesters or mowers; Mechanisms for adjusting the frame; Platforms
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D69/00—Driving mechanisms or parts thereof for harvesters or mowers
- A01D69/02—Driving mechanisms or parts thereof for harvesters or mowers electric
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D69/00—Driving mechanisms or parts thereof for harvesters or mowers
- A01D69/06—Gearings
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Guiding Agricultural Machines (AREA)
- Harvester Elements (AREA)
Abstract
The invention discloses an automatic mower, which comprises: the device comprises a chassis, a cutting mechanism, four travelling mechanisms, at least two steering assemblies, a steering detection assembly and a control module. The plurality of travelling mechanisms are distributed at intervals along the circumferential direction of the chassis and are connected with the chassis; the walking mechanism comprises a walking component and a driving component; the steering assembly comprises a steering motor and a transmission assembly respectively connected with the steering motor and the travelling mechanism; the steering detection assembly is used for detecting the steering state of the travelling mechanism or the steering assembly. From this, through cutting mechanism, running gear, turn to the subassembly, turn to detection subassembly and control module cooperation, can make the direction of turning to and the angle free control of automatic mower, can improve the ability of turning to of automatic mower to can improve automatic mower rotation flexibility, and, also can prevent automatic mower from grinding grass, thereby can promote automatic mower's the efficiency of mowing, and, also can prevent running gear from pressing grass.
Description
Technical Field
The invention relates to the field of vehicles, in particular to an automatic mower.
Background
In the related art, when the automatic mower adopts differential steering, the small-radius steering of the automatic mower can seriously grind grass, the large-radius steering effect of the automatic mower is poor, and if two wheels in front of or two wheels in rear of the automatic mower are driven to steer by a steering motor, the steering angle of the automatic mower is limited. Meanwhile, the chassis of the automatic mower is composed of two chassis, so that the appearance of the automatic mower is complex, the steering control difficulty is high, and the steering flexibility is not high.
Disclosure of Invention
The application provides an automatic mower, and this automatic mower can improve automatic mower and rotate the flexibility.
The automatic mower according to the present invention, which walks and works in a work area, comprises: a chassis; the cutting mechanism is arranged on the chassis and works to form a cutting area; the four traveling mechanisms are distributed at intervals along the circumferential direction of the chassis and are connected with the chassis so as to drive the chassis to travel; the walking mechanism comprises a walking assembly and a driving assembly, and the driving assembly is correspondingly connected with the walking assembly to drive the walking assembly; the steering assembly comprises a steering motor and a transmission assembly respectively connected with the steering motor and the travelling mechanism so as to drive the travelling mechanism to steer; the steering detection assembly is used for detecting the steering state of the travelling mechanism or the steering assembly; and the control module is used for controlling the travelling mechanism and the steering assembly, and the control module controls the steering angle of the steering assembly based on the steering state.
According to the automatic mower, the cutting mechanism, the travelling mechanism, the steering assembly, the steering detection assembly and the control module are matched, so that the steering direction and the steering angle of the automatic mower can be freely controlled, the steering capacity of the automatic mower can be improved, the rotation flexibility of the automatic mower can be improved, the automatic mower can be prevented from grinding grass, the grass cutting efficiency of the automatic mower can be improved, and the travelling assembly can be prevented from pressing grass.
In some examples of the invention, the number of the steering assemblies is four, and each steering assembly is connected with one walking mechanism respectively so as to drive one walking mechanism to steer respectively.
In some examples of the invention, the steering assembly drives the running gear to rotate omnidirectionally.
In some examples of the invention, the number of the steering assemblies is two, and each steering assembly is respectively connected with two walking mechanisms so as to respectively drive the two walking assemblies to steer.
In some examples of the invention, the number of the steering assemblies is two, and each steering assembly is connected with one running mechanism respectively so as to drive one running mechanism to steer respectively.
In some examples of the invention, the drive assembly is selectively disconnected from the travel mechanism to selectively drive or not drive the travel assembly.
In some examples of the invention, the walking assembly is a walking wheel, and the distance between two walking wheels at the front side of the main walking direction of the automatic mower is a first distance, the distance between two walking wheels at the rear side of the main walking direction of the automatic mower is a second distance, and the first distance and the second distance are approximately equal.
In some examples of the invention, the diameter of the road wheel is 100-250 mm.
In some examples of the invention, the running gear does not overlap with a projection of the cutting area in a main running direction of the lawnmower.
In some examples of the invention, the robotic lawnmower includes at least two main directions of travel.
In some examples of the invention, the transmission assembly comprises: the driving shaft of the driving assembly is connected with the fixing piece; and the transmission part is connected between the steering motor and the fixing part.
In some examples of the invention, the robotic lawnmower comprises: the motor fixing seat is connected with the steering motor to support the steering motor.
In some examples of the invention, the steering motor is a brushless worm gear reduction motor.
In some examples of the invention, the travel mechanism is removably coupled to the steering assembly.
In some examples of the invention, the chassis is a one-piece moulding.
Additional aspects and advantages of the invention will be set forth in part 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 above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a top view of an robotic lawnmower according to an embodiment of the present invention;
FIG. 2 is a side view of an robotic lawnmower according to an embodiment of the invention;
fig. 3 is a cross-sectional view at a-a in fig. 2.
Reference numerals:
an automatic lawn mower 10;
a chassis 1;
a traveling mechanism 2;
a walking assembly 21;
a steering assembly 22; a steering motor 221; a fixing member 222; a transmission member 223; a motor holder 224; a main body portion 225;
a drive assembly 3; a drive shaft 31;
a steering detection assembly 4; a magnetic member 41; an encoder 42;
a housing chamber 51; the first connection portion 52; and a second connecting portion 53.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
An embodiment of the robotic lawnmower 10 of the present invention is described below with reference to fig. 1-3.
As shown in fig. 1-3, an robotic lawnmower 10 according to an embodiment of the invention includes: a chassis 1, a cutting mechanism, a plurality of travelling mechanisms 2, at least two steering assemblies 22 and a control module. The cutting mechanism is mounted to the chassis 1 and operates to form a cutting zone. Running gear 2 can set up to four, and a plurality of running gear 2 are along 1 circumferential direction interval distribution on chassis, and every running gear 2 all can be connected with chassis 1, and every running gear 2 can drive 1 walking on chassis and turn to. The travelling mechanism 2 comprises a travelling assembly 21 and a driving assembly 3, the driving assembly 3 is correspondingly connected with the travelling assembly 21, the driving assembly 3 can drive the travelling assembly 21 to move, the projection of each travelling mechanism 2 and the projection of the cutting area in the main travelling direction of the automatic mower are not overlapped or the overlapping width is less than 10 millimeters, and when the automatic mower 10 mows, the travelling assembly 21 can be prevented from pressing grass. The steering assembly 22 includes a steering motor 221 and a transmission assembly respectively connecting the steering motor 221 and the traveling mechanism 2, so as to drive the traveling mechanism 2 to steer.
The steering assembly 22 is connected with the traveling mechanism 2, the steering assembly 22 can drive the traveling mechanism 2 to steer, and the control module is used for controlling the traveling mechanism 2 and the steering assembly 22 to work.
The robotic lawnmower 10 can further include: the steering detection assembly 4, the steering detection assembly 4 can be used for detecting the steering state of the walking mechanism 2 or the steering assembly 2, so that the steering of the automatic mower 10 can be better controlled.
The control module is used for controlling the travelling mechanism 2 and the steering assembly 22, and the control module controls the steering angle of the steering assembly 22 based on the steering state detected by the steering detection assembly 4, wherein when the control module receives the steering signal of the steering detection assembly 4, the control module controls the steering assembly 22 to drive the travelling mechanism 2 to steer.
When the automatic mower 10 mows, the steering detection assembly 4 detects the steering angle of the travelling mechanism 2, then the steering detection assembly 4 transmits a steering signal to the control module, the control module receives the steering signal of the steering detection assembly 4, and then the control module controls the steering assembly 22 to drive the travelling mechanism 2 to steer, the travelling mechanism 2 drives the chassis 1 to steer, meanwhile, the driving assembly 3 drives the travelling assembly 21 connected with the driving assembly to move, and finally, the travelling and steering of the automatic mower 10 are achieved. Through the cooperation of the driving assembly 3 and the traveling assembly 21, the automatic mower 10 can freely turn and travel in the front-back and left-right directions, the automatic mower 10 can freely turn and travel in the oblique direction, the automatic mower 10 can also turn on the spot, the turning direction and the angle of the automatic mower 10 can be freely controlled, the turning capacity of the automatic mower 10 can be improved, and the rotation flexibility of the automatic mower 10 can be improved.
Moreover, when the automatic mower 10 mows on a horizontal road surface, a road surface with a slope and an uneven road surface, the driving assembly 3 and the traveling assembly 21 work in a matching manner, so that the automatic mower 10 can be kept to have sufficient traction force, and the automatic mower 10 can be prevented from slipping when mowing, so that the automatic mower 10 can be prevented from grinding grass, and the mowing efficiency of the automatic mower 10 can be improved.
In some embodiments of the present invention, as shown in fig. 3, the walking assemblies 21 are connected with corresponding driving assemblies 3, and the driving assemblies 3 are adapted to drive the walking assemblies 21 to walk. The steering assembly 22 is connected to the corresponding running gear 2, and the steering assembly 22 is used for driving the running gear 2 to steer.
Specifically, when the automatic mower 10 mows, the steering detection assembly 4 detects the steering angle of the travelling mechanism 2, then the steering detection assembly 4 transmits a steering signal to the control module, then the control module controls the steering assembly 22 to work, after the steering assembly 22 receives the steering signal, the steering assembly 22 drives the driving assembly 3 to drive the travelling assembly 21 to steer, and meanwhile, the driving assembly 3 drives the travelling assembly 21 to travel, so that the travelling and steering of the automatic mower 10 can be finally realized.
In some embodiments of the present invention, the steering assembly 22 can drive the traveling mechanism 2 to rotate in all directions, and thus the automatic lawn mower 10 can be driven to steer in any direction.
In some embodiments of the present invention, as shown in FIG. 3, the steering assembly 22 may include: a fixed member 222 and a transmission member 223. The driving shaft 31 of the driving assembly 3 is connected to the fixed member 222, and the transmission member 223 is connected between the steering motor 221 and the fixed member 222. By arranging the fixing member 222 and the transmission member 223, the steering motor 221 can be connected with the driving assembly 3, and the rotating force of the steering motor 221 can be transmitted to the driving assembly 3, so that the function of driving the driving assembly 3 to steer by the steering motor 221 can be realized.
In some embodiments of the present invention, as shown in FIG. 3, the steering assembly 22 may further include: motor fixing base 224, motor fixing base 224 is connected with the steering motor 221, and simultaneously, motor fixing base 224 can also be connected with mounting 222, and motor fixing base 224 can support the steering motor 221 to can guarantee the positional stability who turns to motor 221, and then can reduce the vibration that turns to motor 221, and, also can make the steering motor 221 drive assembly 3 better turn to.
In some embodiments of the present invention, as shown in fig. 3, the fixing member 222 may include: a body portion 225, a first connection portion 52, and a second connection portion 53. The main body 225 may have a receiving cavity 51, and at least a portion of the driving assembly 3 is disposed in the receiving cavity 51, that is, the driving assembly 3 may be partially disposed in the receiving cavity 51, or may be disposed in the receiving cavity 51. The first connecting portion 52 is disposed outside the main body portion 225, and the first connecting portion 52 is connected to the transmission member 223. The second connecting portion 53 is disposed outside the main body portion 225, and the second connecting portion 53 is disposed spaced apart from the first connecting portion 52, and the second connecting portion 53 is connected to the driving shaft 31 of the driving assembly 3. So set up and to link together steering motor 221 and drive assembly 3 reliably, can avoid steering motor 221 and drive assembly 3 separation to can guarantee that steering motor 221 can drive assembly 3 and turn to, and then can make mounting 222 set up the structure more reasonable.
In some embodiments of the present invention, as shown in fig. 3, the steering motor 221 may be configured as a brushless worm gear reduction motor, wherein the brushless worm gear reduction motor has two output shafts, one output shaft of the brushless worm gear reduction motor is connected to the first connecting portion 52 through a transmission member 223, so that the rotating force of the steering motor 221 can be transmitted to the driving assembly 3, the other output shaft of the brushless worm gear reduction motor is connected to the steering detection assembly 4, and the steering detection assembly 4 can transmit the steering signal to the brushless worm gear reduction motor, so that the steering force of the brushless worm gear reduction motor can be controlled.
In some embodiments of the present invention, the control module can control the driving assembly 3 to move the forward walking assembly 21 or the backward walking assembly, so as to control the robotic lawnmower 10 to move forward and also to control the robotic lawnmower 10 to move backward.
In some embodiments of the present invention, as shown in fig. 1 and fig. 2, the traveling assembly 21 may be configured as a traveling wheel, and the diameter of the traveling wheel may be set to 100 plus 250mm, wherein when the automatic lawn mower 10 mows grass, the traveling wheel travels on a lawn, and by setting the diameter of the traveling wheel to 100 plus 250mm, the contact area between the traveling wheel and the road surface can be ensured, and the automatic lawn mower 10 can be further ensured not to slip, so that grass can be further prevented from being ground by the automatic lawn mower 10, the grass mowing efficiency of the automatic lawn mower 10 can be further improved, and the automatic lawn mower 10 can be prevented from rolling over, so that the automatic lawn mower 10 can be ensured to stably travel.
In some embodiments of the present invention, the distance between the two road wheels on the front side of the main direction of travel of the robotic lawnmower 10 is taken as a first distance, the distance between the two road wheels on the rear side of the main direction of travel of the robotic lawnmower 10 is taken as a second distance, and the first distance and the second distance are substantially equal, preferably the first distance and the second distance are equal. The main traveling direction of the robotic lawnmower 10 is the traveling direction of the robotic lawnmower 10 when performing the cutting operation. And the traveling distance of the robotic lawnmower 10 while performing cutting work is at least greater than 1 meter.
In some embodiments of the present disclosure, the traveling mechanism 2 is detachably connected to the steering assembly 22, wherein when the robotic lawnmower 10 needs to replace parts and maintain, the traveling mechanism 2 and the steering assembly 22 can be conveniently disassembled and assembled, and the traveling mechanism 2 and the steering assembly 22 can be conveniently replaced and maintained, so that the robotic lawnmower 10 can have maintainability, and the service life of the robotic lawnmower 10 can be prolonged.
In some embodiments of the present invention, as shown in fig. 3, the steering sensing assembly 4 comprises: a magnetic member 41 and an encoder 42. The magnetic member 41 may be disposed on another output shaft of the steering motor 221, the encoder 42 may be connected to the chassis 1, and the encoder 42 is in induction-fit with the magnetic member 41. Specifically, the steering motor 221 can be connected with the main control board through a communication interface, when the automatic mower 10 works, the encoder 42 and the magnetic part 41 are matched to work, the steering angle of the automatic mower 10 is measured, then the main control board controls the steering motor 221 to work according to the measured steering angle information, and therefore the purpose that the steering motor 221 controls the driving assembly 3 to steer can be achieved.
In some embodiments of the present invention, the number of the steering assemblies 22 is four, each steering assembly 22 is connected to one traveling mechanism 2, and the four steering assemblies 22 can drive one traveling mechanism 2 to steer, which can also be understood that the steering assemblies 22 are arranged in one-to-one correspondence with the traveling mechanisms 2, that is, the number of the traveling mechanisms 2 is the same as that of the steering assemblies 22, and one steering assembly 22 controls one traveling mechanism 2 to steer, so that each traveling mechanism 2 can steer and travel independently.
In some embodiments of the present invention, two steering assemblies 22 may be provided, each steering assembly 22 is connected to two traveling mechanisms 2, and each steering assembly 22 may drive two traveling assemblies 21 to steer, in other words, one steering assembly 22 controls two traveling assemblies 21 to steer at the same time, so that the purpose of controlling multiple traveling assemblies 21 to steer at the same time by one steering assembly 22 can be achieved, the number of the steering assemblies 22 can be reduced, and the structure of the robotic lawnmower 10 can be simplified.
In some embodiments of the present invention, two steering assemblies 22 may be provided, each steering assembly 22 is connected to one of the traveling mechanisms 2, and each steering assembly 22 may drive one of the traveling mechanisms to steer. In one embodiment, the steering assembly 22 is connected to the two rear running gears 2, respectively, and drives the two rear running gears to steer, respectively. In this embodiment, the two drive units 3 and the traveling unit 21 on the front side are selectively disconnected, i.e., the drive unit 3 stops driving the traveling unit 21. When the automatic mower 10 walks on a flat ground, the two driving assemblies 3 and the walking assembly 21 on the front side are disconnected, and the two walking mechanisms 2 on the rear side drive the automatic mower 10 to walk. When the automatic mower 10 walks on a complex road surface, such as a road surface with a large gradient, the two driving assemblies 3 and the walking assemblies 21 on the front side are restored to the connected state, and the four walking mechanisms 2 drive the automatic mower 10 to walk. In one embodiment, the two drive assemblies 21 on the front side comprise universal wheels.
In some embodiments of the present invention, drive assembly 3 is selectively disconnected from undercarriage 2 to selectively drive or not drive movement of undercarriage 21, and in particular, drive assembly 3 may drive movement of undercarriage 21 when drive assembly 3 is connected to undercarriage 2, and drive assembly 3 may not drive movement of undercarriage 21 when drive assembly 3 is disconnected from undercarriage 2.
In some embodiments of the present invention, the projections of the traveling mechanism 2 and the cutting area in the main traveling direction of the robotic lawnmower 10 do not overlap, so that the traveling mechanism 2 and the cutting mechanism are prevented from interfering with each other, thereby ensuring the operational reliability of the robotic lawnmower 10.
In some embodiments of the present disclosure, the robotic lawnmower 10 can include at least two main directions of travel, i.e., the robotic lawnmower 10 can include more than or equal to two main directions of travel, such that the robotic lawnmower 10 can be moved in multiple directions to increase the cutting range of the robotic lawnmower 10.
In some embodiments of the present invention, the chassis 1 may be configured as an integrally formed part, so that the chassis 1 is configured as a whole, and the configuration of the robotic lawnmower 10 may be simplified, thereby reducing the difficulty in steering control of the robotic lawnmower 10, further improving the flexibility in rotation of the robotic lawnmower 10, and also reducing the difficulty in producing the chassis 1, and reducing the development of grinding tools for producing the chassis 1, thereby reducing the production cost of the chassis 1.
In some embodiments of the present invention, when the robotic lawnmower 10 requires charging, the front-to-back direction of the robotic lawnmower 10 can be set as the charging direction, or the left-to-right direction of the robotic lawnmower 10 can be set as the charging direction.
In some embodiments of the present invention, the traveling mechanism 2 and the driving assemblies 3 may be four, two driving assemblies 3 located at the front side may be connected to the same steering motor 221, and two driving assemblies 3 located at the rear side may be connected to the same steering motor 221.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (15)
1. An automatic lawnmower that travels and works within a work area, comprising:
a chassis;
the cutting mechanism is arranged on the chassis and works to form a cutting area;
the four traveling mechanisms are distributed at intervals along the circumferential direction of the chassis and are connected with the chassis so as to drive the chassis to travel; the walking mechanism comprises a walking assembly and a driving assembly, and the driving assembly is correspondingly connected with the walking assembly to drive the walking assembly;
the steering assembly comprises a steering motor and a transmission assembly respectively connected with the steering motor and the travelling mechanism so as to drive the travelling mechanism to steer;
the steering detection assembly is used for detecting the steering state of the travelling mechanism or the steering assembly;
and the control module is used for controlling the travelling mechanism and the steering assembly, and the control module controls the steering angle of the steering assembly based on the steering state.
2. The robotic lawnmower according to claim 1, wherein the number of the steering assemblies is four, and each steering assembly is coupled to a respective one of the travel mechanisms for steering the respective one of the travel mechanisms.
3. The robotic lawnmower according to claim 2, wherein the steering assembly drives the travel mechanism to rotate omni-directionally.
4. The robotic lawnmower according to claim 1, wherein the number of the steering assemblies is two, and each of the steering assemblies is connected to two of the traveling mechanisms to drive the two traveling assemblies to steer, respectively.
5. The robotic lawnmower according to claim 1, wherein the number of the steering assemblies is two, and each steering assembly is coupled to a respective one of the travel mechanisms for steering the respective one of the travel mechanisms.
6. The robotic lawnmower according to claim 5, wherein the drive assembly is selectively disconnectable from the travel mechanism to selectively drive or not drive the travel assembly.
7. The robotic lawnmower of claim 1, wherein the travel assembly is a travel wheel, and wherein the first distance is a distance between two travel wheels on a front side of the main travel direction of the robotic lawnmower and the second distance is a distance between two travel wheels on a rear side of the main travel direction of the robotic lawnmower, the first distance and the second distance being substantially equal.
8. The robotic lawnmower of claim 7, wherein the road wheel has a diameter of 100 and 250 mm.
9. The robotic lawnmower of claim 1, wherein the travel mechanism does not overlap a projection of the cutting area in a main travel direction of the robotic lawnmower.
10. The robotic lawnmower of claim 1, wherein the robotic lawnmower comprises at least two main directions of travel.
11. The robotic lawnmower according to claim 1, wherein the transmission assembly comprises:
the driving shaft of the driving assembly is connected with the fixing piece;
and the transmission part is connected between the steering motor and the fixing part.
12. The robotic lawnmower according to claim 1, comprising: the motor fixing seat is connected with the steering motor to support the steering motor.
13. The robotic lawnmower according to claim 1, wherein the steering motor is a brushless worm gear reduction motor.
14. The robotic lawnmower according to claim 1, wherein the travel mechanism is removably coupled to the steering assembly.
15. The robotic lawnmower of claim 1, wherein the chassis is an integrally formed part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910778209.3A CN112400481A (en) | 2019-08-22 | 2019-08-22 | Automatic mower |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910778209.3A CN112400481A (en) | 2019-08-22 | 2019-08-22 | Automatic mower |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112400481A true CN112400481A (en) | 2021-02-26 |
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ID=74780301
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910778209.3A Pending CN112400481A (en) | 2019-08-22 | 2019-08-22 | Automatic mower |
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| Country | Link |
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| CN (1) | CN112400481A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115152433A (en) * | 2022-08-17 | 2022-10-11 | 松灵机器人(深圳)有限公司 | Running gear and harvester |
| CN115380695A (en) * | 2022-09-20 | 2022-11-25 | 临沂市金立机械有限公司 | 360-degree free walking device of mower in situ |
-
2019
- 2019-08-22 CN CN201910778209.3A patent/CN112400481A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115152433A (en) * | 2022-08-17 | 2022-10-11 | 松灵机器人(深圳)有限公司 | Running gear and harvester |
| CN115152433B (en) * | 2022-08-17 | 2024-01-23 | 松灵机器人(深圳)有限公司 | Walking device and harvester |
| CN115380695A (en) * | 2022-09-20 | 2022-11-25 | 临沂市金立机械有限公司 | 360-degree free walking device of mower in situ |
| CN115380695B (en) * | 2022-09-20 | 2023-06-09 | 临沂市金立机械有限公司 | In-situ 360-degree free walking device of mower |
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