CN206413414U

CN206413414U - Grass-removing robot

Info

Publication number: CN206413414U
Application number: CN201720061577.2U
Authority: CN
Inventors: 孔钊; 郭宁
Original assignee: Suzhou Cleva Precision Machinery and Technology Co Ltd
Current assignee: Suzhou Cleva Precision Machinery and Technology Co Ltd
Priority date: 2017-01-19
Filing date: 2017-01-19
Publication date: 2017-08-18
Anticipated expiration: 2027-01-19

Abstract

The utility model provides a kind of grass-removing robot, including：Fuselage, it is installed on the operational module of fuselage, walking module and for co-ordination module and the control module of walking module, the operational module includes the cutting mechanism for being arranged at underbelly, the walking module includes the road wheel group being arranged on fuselage and the running motor for driving the road wheel group, the grass-removing robot also includes the protector for being installed on side-of-body, the protector includes the first protector and the second protector for being pivotally connected to fuselage, and second protector is pivotally connected with the first protector.Grass-removing robot of the present utility model sets pivotable protector in body, both it can prevent that human or animal damaged into cutting zone when grass-removing robot from carrying out cutting operation, the distance of its underpart and ground can be increased by pivoting again, and then raised ground or stone are smoothly through, it will not be stuck.

Description

Grass-removing robot

Technical field

The utility model is related to a kind of grass-removing robot, more particularly to a kind of grass-removing robot with protector.

Background technology

The features such as hay mover robot is respectively provided with automatically walk, intelligent barrier avoiding, worked within the specific limits, meanwhile, possess Auto-returned charging, safety detection and battery electric quantity detection etc., possess certain climbing capacity, are especially suitable for family garden, public The turf-mown in the places such as greenery patches is safeguarded.Hay mover robot is general to be tied by cutterhead, motor, blade, road wheel, control system etc. Structure is constituted, and blade is arranged on cutterhead, and motor drives cutterhead, to realize the trimming to lawn, to save and remove with cutting blade rotation The activity duration of careless workman, reduce substantial amounts of human resources.

When the grass-removing robot of prior art is walked on meadow, the cutting mechanism below grass-removing robot fuselage is arranged on People or the animal in meadow regional activity may be touched, and then people or animal are damaged.

Protection mechanism is set to be known around the mowing blade of grass-removing robot.However, as animal, people or other are different When thing breaks through traditional defense mechanism, grass-removing robot can not provide further safeguard procedures.

The content of the invention

The purpose of this utility model is to provide a kind of protection more comprehensive, safer grass-removing robot.

To realize above-mentioned utility model purpose, the utility model provides a kind of grass-removing robot, including：Fuselage, is installed In the operational module of fuselage, walking module and for co-ordination module and the control module of walking module, the Working mould Block includes the cutting mechanism for being arranged at underbelly, and the walking module includes the road wheel group being arranged on fuselage and driving institute The running motor of road wheel group is stated, the grass-removing robot also includes the protector for being installed on side-of-body, the protector bag The first protector and the second protector for being pivotally connected to fuselage are included, second protector and the first protector, which are pivoted, to be connected Connect.

As the further improvement of the embodiment of the utility model one, relatively described first protector and the second protector Initial position, first protector and the second protector are allowed to rotate to towards the direction of cutting mechanism, and described the One protector and the second protector are limited and rotated to the direction away from cutting mechanism.

As the further improvement of the embodiment of the utility model one, first is provided between first protector and fuselage Spring, first spring provides the elastic force that the first protector is moved to the direction away from cutting mechanism, first protection Second spring is provided between part and the second protector, the second spring provides the second protector to the direction away from cutting mechanism The elastic force of motion.

As the further improvement of the embodiment of the utility model one, first spring and the second spring are torsion Spring, and rigidity of the rigidity more than second spring of first spring.

As the further improvement of the embodiment of the utility model one, distance is set between first protector and fuselage Induction installation, the angle that second protector is rotated exceedes its default rotational angle, drives the first protector to rotate, described The angle that first protector is rotated exceedes its default rotational angle, triggers the distance sensing device, and the control module connects Trigger signal control grass-removing robot is received to shut down.

As the further improvement of the embodiment of the utility model one, the distance sensing device includes switch and triggered Part, the switch is arranged on fuselage, and the contact of switch is corresponding with the first protector, and the trigger member is arranged on touching for switch Between point and the first protector, one end of the trigger member is connected with the contact switched or the first protector.

As the further improvement of the embodiment of the utility model one, first protector is configured to be connected to the machine First backplate of body both sides, second protector is configured to be connected to the second backplate of first backplate, second shield The width of plate bottom is more than the width on the second backplate top.

As the further improvement of the embodiment of the utility model one, along the direction of advance of the grass-removing robot, institute The front and rear sides for stating the first backplate set end plate, tangent plane of the end plate parallel to road wheel.

As the further improvement of the embodiment of the utility model one, first backplate include close on fuselage inclined portion and Close on the straight portion of the second backplate, the straight portion is concordant with the second backplate and end face parallel to road wheel.

As the further improvement of the embodiment of the utility model one, the road wheel group includes front wheels and rear wheels, described Space of second backplate between the front wheels and rear wheels extends down, and the distance on bottom to the ground of second backplate is less than Distance of the bottom of the cutting mechanism to ground.

As the further improvement of the embodiment of the utility model one, the outer rim of second backplate and the outer rim of road wheel Concordantly.

As the further improvement of the embodiment of the utility model one, first protector is configured to be connected to the machine Epimere guard rail on front side of body, second protector is configured to be connected to the hypomere guard rail of the epimere guard rail, described Epimere guard rail and hypomere guard rail are configured to paliform.

As the further improvement of the embodiment of the utility model one, the grass-removing robot also includes being arranged on fuselage And the preceding guardrail before the epimere guard rail and hypomere guard rail, the preceding guardrail structure is paliform, the preceding shield The comb tooth density on column is less than the comb tooth density of the hypomere guard rail, the width of each broach of the preceding guardrail be more than it is described under The width of each broach of section guard rail.

As the further improvement of the embodiment of the utility model one, the grass-removing robot also includes being located at the cutting Preceding guardrail in front of mechanism, the preceding guardrail is fixedly connected on fuselage and is configured to paliform.

As the further improvement of the embodiment of the utility model one, the grass-removing robot is also included around the cutting The anti-skid plate that mechanism is set, along the direction of advance of the grass-removing robot, the anti-skid plate is from the cutting mechanism Two sides and below to cutting mechanism formation three bread enclose.

As the further improvement of the embodiment of the utility model one, the anti-skid plate includes lower two ends disposed thereon Upper overturning and lower flange, the upper overturning with respect to cutting mechanism towards turning up, the lower flange with respect to cutting mechanism towards varus, it is described Anti- skid plate is fixedly installed in fuselage lower surface by upper overturning.

As the further improvement of the embodiment of the utility model one, the anti-skid plate is installed on the cutting mechanism, The anti-skid plate can be with cutting mechanism together relative to fuselage position be adjusted.

Compared with prior art, the beneficial effects of the utility model are：Grass-removing robot of the present utility model is in cutting Protection mechanism is set around mechanism, when can prevent that grass-removing robot from carrying out cutting operation, the people or dynamic to contacing blade by mistake Thing is damaged.The protector of protection mechanism middle fuselage both sides can be by the distance for swinging increase its underpart and ground, entering And raised ground or stone are smoothly through, it will not be stuck.Protective baffle plate in protection mechanism encloses the bread of cutting mechanism three, So as to which tighter prevents human or animal or other foreign matters from, from side and below into the working region of cutting mechanism, preventing Damage or grass-removing robot is caused to damage.The anterior guard rail of protection mechanism middle fuselage is arranged to can be in grass cutter People's direction of advance and/or direction of retreat carry out the swing of predetermined angle, can effectively break away from the winding of barrier, especially for The grass on lawn is broken away to knot on guardrail, wind and cause hay mover to break down.

Brief description of the drawings

Fig. 1 is the schematic perspective view of grass-removing robot in the preferred first embodiment of the utility model；

Fig. 2 is the schematic cross-sectional view of the grass-removing robot in Fig. 1；

Fig. 3 is to conceal road wheel in the sectional view along line A-A, figure in Fig. 2；

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 schematic perspective view of grass-removing robot in the preferred second embodiment of the utility model；

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 the schematic diagram that grass-removing robot in Fig. 6 uses another protector；

Figure 10 is the schematic cross-sectional view of the grass-removing robot in Fig. 9；

Figure 11 is the decomposing schematic representation of grass-removing robot in Fig. 9 and protection mechanism；

Figure 12 is the schematic diagram of grass-removing robot in the 3rd preferred embodiment of the utility model；

Figure 13 is the stereogram of the guard rail in Figure 12；

Figure 14 is stereogram of the grass-removing robot in Figure 12 using the guard rail of another structure type；

Figure 15 is the schematic diagram of grass-removing robot in the 4th preferred embodiment of the utility model.

Embodiment

The utility model is described in detail below with reference to embodiment shown in the drawings.But these embodiment party Formula is not intended to limit the utility model, structure that one of ordinary skill in the art is made according to these embodiments, method or Conversion functionally is all contained in protection domain of the present utility model.

Referring to figs. 1 to shown in Fig. 3, in the utility model preferred embodiment, grass-removing robot is used for automatic on the ground Walking and work, are provided by using cordless power and walked and work capacity, such as battery bag, solar panel, certainly Cable power can also be used to connect mains-supplied.Grass-removing robot include fuselage 10, be installed on fuselage 10 be used for cut the grass on a lawn Operational module and walking module, walking module be used for walk and turn to, operational module include cutting motor 21, with cutting horse Up to the power transmission shaft of 21 connections and the cutting mechanism 22 being coupled with power transmission shaft.In addition, grass-removing robot also includes control module, use In co-ordination module and walking module, control module can make grass-removing robot automatic on lawn in the case of left unguarded Upper walking is simultaneously mowed.In description of the present utility model, unless otherwise noted, the direction term being related to, such as front, rear, left and right, It is upper and lower etc., be all using the grass-removing robot as shown in Fig. 1 normally advance traveling when direction as reference.

As shown in Fig. 2 fuselage 10 is included positioned at the casing 11 on grass-removing robot top and positioned at grass-removing robot bottom Chassis 12, chassis 12 is connected to casing 11, and the position of the lower surface approximate centre of chassis 12 is provided with a recess, recess approximate centre Position is provided with a through hole.It is preferably cutting motor to cut motor 21, and cutting mechanism 22 includes blade support 221 and installed in knife Blade 222 on plate rack.Cutting motor is fixed on the upper surface approximate centre position of chassis 12, relative with the recess on chassis 12 Should.The output shaft of cutting motor is passed down through the through hole on recess, and blade support 221 is arranged on the recess of the lower surface of chassis 12, It is connected and rotates with it with the output shaft of cutting motor.Blade 222 is located at the periphery of blade support 221, is revolved with blade support 221 Turn.Certainly, cutting mechanism can also be that direct cutting blade, line of cut driven by cutting motor etc. can be realized to enter lawn The cutting element of row trimming.Grass-removing robot can also set the device of automatic or manual progress mowing height regulation, for adjusting Blade is saved to the distance on ground, so as to control the height for the stubble left on lawn.

The walking module of grass-removing robot includes road wheel group and drives the running motor of road wheel group.Wherein, walk Wheel group is installed on chassis 12.In the present embodiment, road wheel group includes four road wheels 31a, 31b, 32a, 32b, respectively sets Put fore-body both sides front walking wheel 31a, 31b and be arranged on rear walking wheel 32a, 32b, Mei Gehang of fuselage afterbody both sides Walking wheel has separate 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 make it that the road wheel positioned at the same side is realized by transmission mechanism Synchronous Transmission, i.e., left front road wheel 31a is synchronous with left back road wheel 32a, and right front walking wheel 31b is synchronous with right rear walking wheel 32b. Specifically, running motor include two, two running motors are preposition or rearmounted, can also one preposition one it is rearmounted, each Running motor can drive the road wheel of the same side to realize Synchronous Transmission by way of V belt translation, can not so set steering machine Structure, is turned to using the speed discrepancy of left road wheel and right road wheel.It is of course also possible to be driven respectively using four running motors Four road wheels.Road wheel group is preferred mode in the present embodiment, and those skilled in the art are readily able to expect, is walked Wheel can also be using crawler type or by the way of other can realize walking.

Grass-removing robot is determined the position of itself by navigation positioning system when work is walked and enters walking along the street Footpath 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, such as signal reflex device can be some reflecting components, and reflecting component is in grass-removing robot The coordinate of working region is known, and signal receiving/transmission device is arranged in the fuselage of grass-removing robot, and signal receiving/transmission device can be with It is light-beam transmitter and beam receiver, grass-removing robot is during traveling, and turntable motor is with 360 ° certain of angular speed When the scanning light beam of drive signal R-T unit horizontally outward portion's transmitting rotation, 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 Current robot is calculated in the coordinate residing for working region.Centre is handled during navigation and light beam scanning with robot 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 Navigation algorithm in device controls the travel path of grass-removing robot, or perhaps the moving direction and speed of control 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 be used Position system, such as GPS positioning system, DGPS alignment systems etc..

In the present embodiment, grass-removing robot also includes 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 being arranged at the protectors 50 of fuselage both sides, both sides here are referred to along cutting The direction of advance of careless robot, can be by cutting mechanism both sides and outside positioned at the left and right sides of grass-removing robot, i.e. protector The space of connection is separated, that is to say, that protector can be tabular, netted, lattice-shaped etc., does not influence air circulation still can To stop foreign matter.Specifically, protector 50 is arranged on the both sides of chassis 12, illustrated by taking left side as an example, protector 50 is from a left side The baffle plate extended generally downward between front-wheel 31a and left rear wheel 31b by chassis 12, the distance of the bottom of protector 50 to ground is less than Distance of the bottom of cutting mechanism 22 to ground.

Further, protector 50 includes the transverse slat 51 and riser 52 linked together, and wherein transverse slat 51 is configured to from a left side By the approximate horizontal baffle plate extended to the left in chassis 12 between front-wheel 31a and off hind wheel 31b；Riser 52 is configured to from the left side of transverse slat 51 The baffle plate that general vertical is extended downwardly, the wherein width of the bottom of riser 52 are more than the width on top, the bottom of riser 52 to ground Distance is less than the bottom of cutting mechanism 22 to the distance on ground.It is preferred that, unidirectional hinge is could be arranged between transverse slat 51 and riser 52 Connect, i.e. the initial position with respect to riser 52, riser 52 may only be swung to the direction away from cutting mechanism 22, can not only be prevented People, animal enter cutting mechanism 22 from side, and when side road wheel is by raised ground or stone, protector 50 can pass through Outside side oscillation increases the distance on its underpart and ground, and then is smoothly through the raised ground or stone, will not be stuck.More It is possible to further set back-moving spring between transverse slat 51 and riser 52, back-moving spring is supplied to riser 52 towards cutting machine The elastic force that the direction of structure 22 is moved to initial position, so, swings when riser to the direction away from cutting mechanism 22, by multiple The effect of position spring can realize more reliable reset.

As shown in Fig. 2 to Fig. 5, be the utility model grass-removing robot protection mechanism in protector another structure Form, protection mechanism includes the protector 50a for being arranged at fuselage both sides, and wherein protector 50a includes first linked together The backplate 54 of backplate 53 and second.First backplate 53 includes side plate 530 and is arranged at the end plate 531 at side plate two ends, side plate 530 along Fuselage 10 is extended 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 road wheel Tangent plane or road wheel rotation axis.Wherein, side plate 530 includes closing on the inclined portion 532 of fuselage 10 and is relatively distant from fuselage Straight portion 533, inclined portion 532 is pivotally mounted to chassis 12, and the second backplate 54 is pivotally mounted to straight portion 533, and straight portion 533 with Second backplate 54 is concordant.Specifically, being provided with first axle 534 in the upper end of inclined portion 532, chassis 12 is provided with the first axis hole 121, by the One axle 534 is installed to the first axis hole 121 and first backplate 53 is rotated relative to chassis 12.Straight portion 533 lower end is provided with second Axle 535, the upper end of the second backplate 54 is provided with the second axis hole 541, causes second by the cooperation of the second axle 535 and the second axis hole 541 Backplate 54 can rotate relative to the first backplate 53.

By taking left side as an example, the first axis hole 121 is arranged at casing 11 or chassis 12 between the near front wheel 31a and left rear wheel 32a Outer surface, the first axis hole 121 is slightly less than the opening of the diameter of first axle 534 in lower section provided with width, the left side wall of opening against First backplate 53 is spacing to its, and first axle 534 is arranged in the first axis hole 121 by opening.First backplate 53 and casing 11 or The first spring 536 is provided between chassis 12, the first spring 536 gives power of first backplate 53 to being rotated away from the direction of casing 11, So that lower section extends the inclined portion 532 of the first backplate 53 to the left, the straight general vertical of portion 533 is extended downwardly.Second axle 535 is arranged on the In two axis holes 541, second spring 546 is provided between the first backplate 53 and the second backplate 54, second spring 546 gives the second backplate 54, against spacing, make the second backplate to the power rotated away from the direction of casing 11, the bottom of the first backplate 53 with the top of the second backplate 54 54 general verticals are extended downwardly.When not by external force, i.e. initial position, the backplate 54 of straight portion 533 and second of the first backplate 53 with The outer of road 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/pin of people or animal seek entry into 22 region of cutting mechanism, the second backplate 54 is first inwardly Rotation, the inwardly rotation again of the first backplate 53.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, protector 50a inclined portion 532 close to top be provided with distance sensing device 90, when protector 50a touch it is dynamic During the object of thing, people or other influences machine normal work, the amplitude of fluctuation of the second backplate 54 exceedes its default 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 should The setting of device causes grass-removing robot to 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, touched Outbox is arranged between the contact of switch and the first backplate 53, and one end of trigger member connects with the contact switched or the first backplate 53 Connect.It is preferred that, trigger member is configured to spring, can not damaged using spring with protection switch by impulsive force.Certainly, distance perspective should be filled Put can also from proximity switch or other distance change can be converted into control module can process signal device.

It is the second embodiment of the protection mechanism of the utility model grass-removing robot, this implementation as shown in Fig. 6 to Figure 11 In mode, protection mechanism includes the protector for being arranged at underbelly, and protector is configured to enclose cutting mechanism three bread of progress Protective baffle plate 60, do not surrounded in the direction of advance of grass-removing robot.Protective baffle plate 60 is fixedly mounted on the lower surface of chassis 12, from Two sides and below circular cutting mechanism.Specifically, protective baffle plate 60 is configured to section for U-shaped baffle plate, and protective baffle plate 60 is wrapped Upper overturning 61 and lower flange 62 are included, wherein upper overturning is towards turning up, and upper overturning includes screw hole, for being connected with chassis 12；Under turn over While towards varus.Protective baffle plate 60 encloses the bread of cutting mechanism 22 3, so that tighter prevents human or animal or other different Thing enters the working region of cutting mechanism 22 from side and below, prevents from damaging or grass-removing robot is caused to damage.

It is the preferred another structure type of protector as shown in Fig. 9 to Figure 11, protection mechanism includes being arranged under fuselage 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 plate 60a is arranged on cutting mechanism 22, is such as arranged on blade support 221, synchronous with cutting mechanism 22 can be risen, is declined Or swing.It so, it is possible to ensure that cutting mechanism 22 will not be exposed to outside safeguard structure when rising, declining or swinging, strengthen Protecting effect.

It is the 3rd embodiment of the protection mechanism of the utility model grass-removing robot, this reality as shown in Figure 12 to Figure 14 Apply in mode, protection mechanism also includes guard rail 70, guard rail 70 is in substantially paliform, is arranged on the front of cutting mechanism 22, The front portion of chassis 12 is hinged on by the 3rd axle 701, can be swung in the forward/backward direction of grass-removing robot around the 3rd axle 701, That is protector can at least partly separate in the space on front side of cutting mechanism with ft connection, cut grass is neither influenceed Into cutting zone, foreign matter can be effectively stopped again.Further, distance sensing device is provided with guard rail 70, when anti- When guardrail is swung more than predetermined angle, control module shuts down grass-removing robot.

Reference picture 14 simultaneously coordinates shown in 10, and another structure type of the guard rail of the utility model grass-removing robot is prevented Guardrail 70a is divided into epimere 71 and hypomere 72 by upper segment frames and lower frame, and epimere 71 is cut with scissors by the 4th axle 711 and chassis 12 Connect, hypomere 72 is hinged by the 5th axle 712 and epimere 71, epimere 71 is provided with distance sensing device 90, hypomere 72 is provided with and most put on Dynamic angle.Shutdown is not triggered when hypomere 72 is in the slight oscillatory in the presence of the grass trimmed；When guard rail 70a touch it is dynamic During the object of thing, people or other influences machine normal work, the amplitude of fluctuation of hypomere 72 exceedes in its default swing angle, drive Section 71 is swung, and then triggers distance sensing device, and automatic control system makes shutdown.The setting of distance sensing device causes hay mover Device people ensures not accidentally injure when traditional defense structure is broken.Front wing safeguard structure can effectively prevent grass using being hinged Tangle, knot, 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 be arranged on chassis 12, switch touch Point is corresponding with guard rail 70a epimere 71, and trigger member is arranged between the contact of switch and guard rail 70a epimere 71, touches One end of outbox is connected with the contact switched or guard rail 70a epimere 71.Further, trigger member is configured to spring, can Protection switch is not damaged by impulsive force.Certainly, distance sensing device can also from proximity switch or other can be by apart from change Change be converted into automatic control system can process signal device.

As shown in figure 15, be the utility model grass-removing robot protection mechanism the 4th embodiment, in the present embodiment, Guardrail 80 before being set in front of guard rail 70a.Preceding guardrail 80 is fixedly mounted on chassis 12 or the front end of casing 11, or with chassis 12 or Casing 11 is integrally formed.The broach of preceding guardrail 80 is thicker, more sparse than guard rail 70,70a, for robot direction of advance Grass is tentatively combed, and is further prevented the winding of grass, is knotted.

In above-mentioned 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 guard rail of different structure It is combined with each other, so that protection mechanism has multiple combinations.In addition, the purpose that above-mentioned distance sensing device is set is protection People/animal does not contact cutting mechanism, in addition can also set other range sensors or obstacle detection on fuselage in addition Sensor, as long as fuselage is trigger sensor apart from barrier certain distance.

It should be understood that, although the present specification is described in terms of embodiments, but not each embodiment only includes one Individual independent technical scheme, this narrating mode of specification is only that for clarity, those skilled in the art will should say Bright book is as an entirety, and the technical scheme in each embodiment may also be suitably combined to form those skilled in the art can With the other embodiment of understanding.

The a series of tool described in detail only for feasibility embodiment of the present utility model of those listed above Body illustrates that they are simultaneously not used to limit protection domain of the present utility model, all to be made without departing from the utility model skill spirit Equivalent implementations or change should be included within protection domain of the present utility model.

Claims

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 includes the cutting mechanism for being arranged at underbelly （22）, the walking module is including being arranged on fuselage（10）On road wheel group and drive the running motor of the road wheel group, It is characterized in that：The grass-removing robot also includes the protector for being installed on side-of-body, and the protector includes being pivotally connected In the first protector and the second protector of fuselage, second protector is pivotally connected with the first protector.

2. grass-removing robot according to claim 1, it is characterised in that relatively described first protector and the second protector Initial position, first protector and the second protector are allowed to towards cutting mechanism（22）Direction rotate, and First protector and the second protector are limited to away from cutting mechanism（22）Direction rotate.

3. grass-removing robot according to claim 2, it is characterised in that provided with the between first protector and fuselage One spring, first spring provides the first protector to away from cutting mechanism（22）Direction motion elastic force, described the Second spring is provided between one protector and the second protector, the second spring provides the second protector to away from cutting mechanism （22）Direction motion elastic force.

4. grass-removing robot according to claim 3, it is characterised in that first spring and the second spring are torsion Turn spring, and rigidity of the rigidity more than second spring of first spring.

5. grass-removing robot according to claim 1, it is characterised in that set between first protector and fuselage away from From induction installation（90）, the angle that second protector is rotated is more than its default rotational angle, drive the first protector turn Dynamic, the angle that first protector is rotated exceedes its default rotational angle, triggers the distance sensing device, the control Module receives trigger signal control grass-removing robot and shut down.

6. grass-removing robot according to claim 5, it is characterised in that the distance sensing device includes switch and triggered Part, the switch is arranged on fuselage, and the contact of switch is corresponding with the first protector, and the trigger member is arranged on touching for switch Between point and the first protector, one end of the trigger member is connected with the contact switched or the first protector.

7. grass-removing robot according to claim 1, it is characterised in that first protector is configured to be connected to described First backplate of fuselage both sides（53）, second protector is configured to be connected to first backplate（53）The second backplate （54）, second backplate（54）The width of bottom is more than the second backplate（54）The width on top.

8. grass-removing robot according to claim 7, it is characterised in that along the direction of advance of the grass-removing robot, First backplate（53）Front and rear sides set end plate（531）, the end plate（531）Parallel to the tangent plane of road wheel.

9. grass-removing robot according to claim 7, it is characterised 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）It is concordant and parallel In the end face of road wheel.

10. grass-removing robot according to claim 7, it is characterised in that the road wheel group includes front wheels and rear wheels, institute State the second backplate（54）Space between the front wheels and rear wheels extends down, second backplate（54）Bottom to ground Distance be less than the cutting mechanism（22）Bottom to ground distance.

11. grass-removing robot according to claim 7, it is characterised in that the outer rim of second backplate and road wheel Outer rim is concordant.

12. grass-removing robot according to claim 1, it is characterised in that first protector is configured to be connected to institute The epimere guard rail on front side of fuselage is stated, second protector is configured to be connected to the hypomere guard rail of the epimere guard rail, The epimere guard rail and hypomere guard rail are configured to paliform.

13. grass-removing robot according to claim 12, it is characterised in that the grass-removing robot also includes being arranged at machine With it and the preceding guardrail before the epimere guard rail and hypomere guard rail（80）, the preceding guardrail（80）It is configured to fence Shape, the preceding guardrail（80）Comb tooth density be less than the hypomere guard rail comb tooth density, the preceding guardrail（80）It is each The width of broach is more than the width of each broach of the hypomere guard rail.

14. grass-removing robot according to claim 1, it is characterised in that the grass-removing robot is also included 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.

15. grass-removing robot according to claim 1, it is characterised in that the grass-removing robot is also included around described The anti-skid plate that cutting mechanism is set（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 formation three bread enclose.

16. grass-removing robot according to claim 15, it is characterised in that the anti-skid plate（60）Including disposed thereon The upper overturning at lower two ends（61）With lower flange（62）, the upper overturning（61）With respect to cutting mechanism（22）Towards turning up, it is described under turn over Side（62）With respect to cutting mechanism（22）Towards varus, the anti-skid plate（60）Pass through upper overturning（61）It is fixedly installed in fuselage（10） Lower surface.

17. grass-removing robot according to claim 15, it is characterised in that the anti-skid plate（60a）It is installed on described Cutting mechanism（22）, the anti-skid plate（60a）Can be with cutting mechanism（22）Together relative to fuselage（10）Position enter Row adjustment.