WO2020098666A1 - Autonomous lawn mowing robot - Google Patents

Autonomous lawn mowing robot Download PDF

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Publication number
WO2020098666A1
WO2020098666A1 PCT/CN2019/117838 CN2019117838W WO2020098666A1 WO 2020098666 A1 WO2020098666 A1 WO 2020098666A1 CN 2019117838 W CN2019117838 W CN 2019117838W WO 2020098666 A1 WO2020098666 A1 WO 2020098666A1
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WO
WIPO (PCT)
Prior art keywords
guardrail
trigger
mowing robot
movable
fixed
Prior art date
Application number
PCT/CN2019/117838
Other languages
French (fr)
Chinese (zh)
Inventor
孔钊
韩奎
Original Assignee
苏州科瓴精密机械科技有限公司
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Publication date
Application filed by 苏州科瓴精密机械科技有限公司 filed Critical 苏州科瓴精密机械科技有限公司
Publication of WO2020098666A1 publication Critical patent/WO2020098666A1/en

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D75/00—Accessories for harvesters or mowers
    • A01D75/20—Devices for protecting men or animals

Definitions

  • the utility model relates to a mowing robot, in particular to a mowing robot with a protective device.
  • Mowing robots have the characteristics of automatic walking, intelligent obstacle avoidance, working within a certain range, etc. At the same time, they have automatic return charging, safety detection and battery power detection, etc., and have a certain climbing ability, especially suitable for home courtyards, public green spaces and other places Lawn mowing maintenance.
  • the lawnmower robot is generally composed of a cutter disc, a motor, a blade, a walking wheel, a control system, and the like.
  • the blade is installed on the cutter disc, and the motor drives the cutter disc to drive the blade to rotate to realize the lawn trimming, saving the work of the weeder. Time has reduced a lot of human resources.
  • the cutting mechanism provided under the body of the mowing robot may touch a person or animal moving in the grass area, thereby causing damage to the person or animal.
  • the machine may ride on the children or animals to cut people or small animals.
  • the purpose of the utility model is to provide a safer and more reliable mowing robot.
  • the utility model provides a mowing robot, including: a fuselage, a working module installed on the fuselage, a walking module, and a control module for coordinating the working module and the walking module, the working module It includes a cutting mechanism provided in the lower part of the fuselage, the walking module includes a walking wheel group mounted on the fuselage and a walking motor driving the walking wheel group, along the traveling direction of the mowing robot, the mowing The robot further includes a front guardrail located in front of the cutting mechanism.
  • the front guardrail includes a fixed guardrail and a movable guardrail that is movably provided with respect to the fixed guardrail, the fixed guardrail is fixedly connected to the fuselage, and the movable guardrail is disposed on the
  • the movement drives the trigger to send a trigger signal to the control module, and the control module receives the trigger signal to control the mowing robot to stop.
  • the projection of the second comb teeth along the traveling direction is within the projection of the first comb teeth along the traveling direction.
  • the movable guardrail is pivotally connected to the fixed guardrail, and the trigger is disposed between the fixed guardrail and the fuselage.
  • a trigger portion is provided on the movable guardrail, the trigger portion is configured as a cam surface, the movable guardrail rotates relative to the fixed guardrail, and the cam surface is The trigger member contacts and drives the trigger member to move upward or downward under the rotation of the movable guardrail to send a trigger signal to the control module.
  • a trigger sensor connected to the control module is provided inside the body, and the trigger moves upward to trigger the trigger sensor.
  • an elastic element is provided between the trigger sensor and the trigger member, and the elastic element applies an elastic force applied to the trigger member away from the trigger sensor.
  • the trigger is configured as a guide rod, and the guide rod is movably disposed in a through hole on the fuselage.
  • the guide rod includes a guide rod cap located inside the fuselage and a contact portion extending out of the through hole, the contact portion abuts on the movable guardrail, so
  • the through hole has a protruding edge protruding inwardly of the fuselage, and the guide rod cap is snapped on the protruding edge and at least partially overlaps the protruding edge along the longitudinal direction of the guide rod.
  • the fixed guardrail is provided with a first mounting hole at the rear
  • the movable guardrail is provided with a second mounting hole
  • a rotating shaft passes through the first mounting hole and The second mounting hole pivotally connects the movable guardrail to the fixed guardrail.
  • the fixed guardrail includes a comb portion located at the front and a mounting portion located at the rear.
  • the comb portion is provided with first comb teeth
  • the mounting portion is provided with the first A first tooth plate corresponding to the comb teeth
  • the first mounting hole is formed on the first tooth plate
  • the movable guardrail includes a second tooth plate that cooperates with the first tooth plate, and a In the comb tooth portion, the second mounting hole is formed on the second tooth plate.
  • a portion where the fixed guardrail cooperates with the movable guardrail is provided with an arc surface, and a portion where the movable guardrail cooperates with the fixed guardrail is provided with a flat surface, the The movable guardrail is restricted to rotate relative to the fixed guardrail to a position where the plane is tangent to the arc surface.
  • the movable guardrail pivots unidirectionally backward relative to the fixed guardrail.
  • the movable guardrail rotates relative to the fixed guardrail, a gear spring is connected to the fixed guardrail, and the front end surface of the movable guardrail abuts on the gear On the shrapnel to restrict it from pivoting forward.
  • an elastic element is provided between the movable guardrail and the fixed guardrail, the movable guardrail rotates backward to accumulate the elastic element, the The elastic coefficient is greater than the elastic coefficient of the elastic element.
  • the height of the movable guardrail from the ground is higher than or equal to the height of the fixed guardrail from the ground.
  • the walking wheel set includes two front walking wheels at the front and two rear walking wheels at the rear, and the movable guardrail is located between the two front walking wheels, and Located at the front of the position where the two front running wheels contact the ground, the end of the movable guardrail extends beyond the circumference of the two front running wheels.
  • the beneficial effect of the present invention lies in that: the mowing robot of the present invention is provided with a fixed guardrail at the front of the cutting mechanism, which can prevent the mowing robot from touching the blade or the person by mistake when performing the mowing operation. cause some damages. There is a trigger between the fixed guardrail and the fuselage to protect lying children or animals.
  • FIG. 1 is a perspective schematic view of a mowing robot in a preferred embodiment of the present invention
  • FIG. 2 is a schematic cross-sectional view of the mowing robot in FIG. 1, where the movable guardrail is in an initial state;
  • FIG. 3 is an enlarged schematic view of part a in FIG. 2;
  • FIG. 4 is a schematic cross-sectional view of the mowing robot in FIG. 1, wherein the movable guardrail is in a triggered state;
  • FIG. 5 is an enlarged schematic view of part b in FIG. 4;
  • FIG. 6 is a schematic diagram of the movable guardrail in FIG. 1 rotated to the maximum angle
  • FIG. 7 is an exploded schematic view of the fixed guardrail and movable guardrail in FIG. 1;
  • FIG. 8 is a perspective schematic view of one of the perspectives of FIG. 7 connecting the fixed guardrail and the movable guardrail;
  • FIG. 9 is a perspective schematic view of FIG. 7 from another perspective of the connection between the fixed guardrail and the movable guardrail.
  • a lawnmowing robot is used to automatically walk and work on the ground, and provides walking and working energy by using a cordless power source, such as a battery pack, a solar panel, etc.
  • a cordless power source such as a battery pack, a solar panel, etc.
  • the mowing robot includes a fuselage 10, a working module 20 for mowing the lawn mounted on the fuselage 10, and a walking module.
  • the walking module is used for walking and steering.
  • the working module 20 includes a cutting motor, a drive shaft connected to the cutting motor, and a Cutting mechanism with transmission shaft.
  • the mowing robot also includes a control module for coordinating the working module and the walking module.
  • the control module enables the mowing robot to automatically walk on the lawn and cut the grass without being guarded.
  • the related directional terms such as front, back, left, right, up and down, are all arrows F when the lawn mowing robot as shown in FIG. 1 moves forward normally For reference.
  • the body 10 includes a casing 11 located on the upper part of the mowing robot and a chassis 12 located on the lower part of the mowing robot.
  • the chassis 12 is connected to the casing 11 and the cutting mechanism is mounted on the chassis 12.
  • the cutting motor is preferably a cutting motor, and the cutting mechanism may be a cutter disc provided with blades.
  • the cutting mechanism may also be a cutting blade, a cutting line, etc. directly driven by the cutting motor, which can realize cutting elements for trimming the lawn.
  • the mowing robot can also be provided with a device for automatically or manually adjusting the height of the mowing, which is used to adjust the distance between the blade and the ground, thereby controlling the stubble height of the lawn.
  • the walking module of the mowing robot includes a walking wheel group and a walking motor driving the walking wheel group.
  • the walking wheel group is installed on the chassis 12.
  • the walking wheel group includes four walking wheels, which are a front walking wheel arranged on both sides of the front of the fuselage and a rear walking wheel arranged on both sides of the rear of the fuselage.
  • Each walking wheel has independent wheels.
  • the walking motor realizes the synchronous transmission of the walking wheels on the same side through the transmission mechanism, that is, the left front walking wheel is synchronized with the left rear walking wheel, and the right front walking wheel is synchronized with the right rear walking wheel.
  • the walking motor includes two, two walking motors are front or rear, or one front and one rear.
  • Each walking motor can drive the walking wheels on the same side to achieve synchronous transmission by means of belt transmission.
  • a steering mechanism is provided to perform steering by using the difference in rotation speed between the left and right running wheels.
  • four traveling motors can also be used to drive four traveling wheels respectively.
  • the walking wheel group is only the preferred mode in this embodiment, and those skilled in the art can easily imagine that the walking wheel can also adopt a crawler type or other ways to achieve walking.
  • the mowing robot further includes a protection mechanism, as shown in FIGS. 1 to 9, the protection mechanism includes a front guardrail located in front of the cutting mechanism, including a fixed guardrail 40 and a movable guardrail 50 movably provided relative to the fixed guardrail.
  • the fixed guardrail 40 is fixedly connected to the fuselage and can be constructed in a fence shape, including a comb portion 41 at the front and a mounting portion 42 at the rear, along the vertical direction, the height of the mounting portion 42 from the ground is greater than the distance of the comb portion 41 The height of the ground.
  • the comb part 41 includes first comb teeth arranged at intervals, and is used for preliminary combing the grass in the advancing direction of the mowing robot to prevent the grass from tangling and knotting.
  • a movable guardrail 50 is connected to the rear of the fixed guardrail 40.
  • the movable guardrail 50 is mounted on the mounting portion 42 and pivots unidirectionally backward relative to the fixed guardrail 40.
  • the mowing robot further includes a trigger.
  • the trigger can be disposed between the fixed guardrail 40 and the fuselage 10. The movement of the movable guardrail 50 relative to the fixed guardrail drives the trigger to send a trigger signal to the control module.
  • the control module receives the trigger The signal controls the mowing robot to stop.
  • the mounting portion 42 of the fixed guardrail 40 is provided with a first mounting hole 421
  • the movable guardrail 50 is provided with a second mounting hole 512
  • a rotating shaft 55 passes through the first mounting hole 421 and
  • the second mounting hole 512 pivotally connects the movable guardrail 50 to the fixed guardrail 40.
  • the mounting portion 42 may be provided as a first tooth plate corresponding to the first comb teeth of the comb portion, each first tooth plate is correspondingly provided with a first mounting hole 421, and the movable guardrail 50 is also provided with a A second tooth plate with one tooth plate interleaved with each other, each second tooth plate is correspondingly provided with a second mounting hole 512, the first tooth plate and the second tooth plate are superimposed so that the first mounting hole 421 and the second mounting hole Corresponding to 512, the rotating shaft 55 sequentially passes through the first and second tooth plates, thereby pivotally connecting the movable guardrail 50 to the mounting portion 42.
  • the movable guardrail 50 also includes a connecting portion 51 provided as a second tooth plate and a comb tooth portion 52 located at the lower portion of the connecting portion 51.
  • the comb tooth portion 52 includes second comb teeth arranged at intervals. The density of the second comb teeth may be The first comb teeth are the same or denser than the first comb teeth.
  • the movable guardrail 50 is hidden behind the fixed guardrail 40. From the front, the gap between the two first comb teeth of the fixed guardrail 40 cannot see the second comb teeth of the movable guardrail 50. That is to say, the projection of the second comb teeth along the traveling direction is within the projection of the first comb teeth along the traveling direction, so that the second comb teeth are hidden in the contour of the first comb teeth, which may be the first comb teeth and the second comb teeth
  • the teeth are in one-to-one correspondence, or the first comb teeth may be wider than the second comb teeth, and one first comb tooth may block a plurality of second comb teeth.
  • the movable guardrail 50 is provided with a trigger portion 511.
  • the trigger portion 511 may be provided on any tooth of the connecting portion 51.
  • the trigger portion 511 is configured as a cam surface, and the cam surface is in contact with the trigger And the rotation of the movable guardrail 50 drives the trigger to move upward or downward to send a trigger signal to the control module.
  • a trigger sensor connected to the control module is provided inside the body 10, and the trigger moves upward to trigger the trigger sensor.
  • the trigger sensor is configured as a micro switch 61
  • the trigger is moved upward by the movable guardrail 50 to trigger the micro switch 61
  • the micro switch 61 is installed inside the body 10
  • the trigger is configured to move up and down
  • the guide rod 60 extends into the inside of the body 10 to trigger the micro switch 61 without additional waterproof silicone sleeve.
  • the movable guardrail 50 is in a triggered state, and the child ’s arm is pressed against the bottom of the lawnmower.
  • the movable guardrail 50 rotates backward, and the trigger portion 511 of the movable guardrail 50 can be Push the guide rod 60 upward to trigger the micro switch 61.
  • the trigger sensor can also use a proximity switch or other device that can convert the distance change or contact action into a signal that can be processed by the control module.
  • the base 13 of the fuselage 10 is provided with a through hole 126, and the guide rod 60 is movably penetrated in the through hole 126.
  • the guide rod 60 includes a guide rod cap 602 located inside the fuselage 10 and protruding outside the through hole 126
  • the contact portion 601 contacts the connecting portion 51 of the movable guardrail 50 and extends into the first tooth plate of the mounting portion 42 so that the contact portion 601 and the trigger portion 511 of the movable guardrail 50 are more reliably in contact .
  • the through hole 126 has a protruding edge 127 protruding into the fuselage 10, and the guide rod cap 602 is engaged with the protruding edge 127 and at least partially overlaps the protruding edge 127 along the longitudinal direction of the guide rod 60.
  • the guide rod 60 and the base 12 form a labyrinth seal to solve the sensor sealing problem, so that it can be well waterproof and dustproof, and the structure is simple and reliable.
  • an elastic element 62 is provided between the trigger sensor and the trigger, and the elastic element 62 applies an elastic force to the trigger away from the trigger sensor.
  • the elastic element 62 is configured as a compression spring, and the compression spring is disposed between the guide rod 60 and the micro switch 61, which not only prevents the guide rod 60 from starting the micro switch 61 due to unexpected vibration rise, but also ensures the guide rod 60 can be reliably reset.
  • the comb portion 41 and the movable guardrail 50 are parallel to each other and perpendicular to the ground.
  • the sensor In order to ensure that when the child's arm is pressed by the machine, the sensor can be triggered smoothly, so that it is not cut by the cutter head, it is best that the movable guard 50 is separated from the comb part 41 by a preset distance, the preset distance can at least accommodate the A child's arm, as shown in Figure 4 and Figure 5 arm model M.
  • the second comb teeth of the movable guardrail 50 are hidden behind the first comb teeth of the fixed guardrail 40, and the height of the movable guardrail 50 from the ground is higher than or equal to the height of the comb portion 41 from the ground, that is, the height of the comb portion 41 The end is closer to the ground than the end of the movable guardrail 50, to prevent the movable guardrail 50 from being accidentally triggered by the grass hook, and the work is stable and reliable.
  • the lowest point of the movable guardrail 50 is beyond the range of the walking wheel, so that when the walking wheel is pressed against the arm, the movable guardrail 50 can contact the child's arm to trigger, that is, the movable guardrail 50 is roughly located on the two front walking wheels
  • the movable guardrail 50 is located between the two front running wheels and is located in front of the position where the two front running wheels contact the ground.
  • the end of the movable guardrail 50 extends beyond the circumference of the two front walking wheels, that is, beyond the circumference of the walking wheels, so that more comprehensive protection can be achieved.
  • a torsion spring 56 is sleeved on the rotating shaft 55, one end of the torsion spring 56 abuts on the mounting portion 42 of the fixed guardrail 40, and the other end abuts on the movable guardrail 50, when the movable guardrail 50 pivots backward
  • the torsion spring 56 stores energy to provide elastic force for the movable guardrail 50 to reset.
  • the mounting portion 42 may be provided with a limiting surface or a limiting rib, etc., to contact the front of the movable guardrail 50 to restrict the movable guardrail 50 from rotating forward.
  • a stopper spring 70 is provided between the mounting part 42 of the fixed guardrail 40 and the movable guardrail 50, and the stopper spring 70 is fixed in the accommodating space under the lower part of the installation 42, such as being fixed on the installation by screws ⁇ 42 ⁇ 42 on.
  • the blocking shrapnel 70 in front of the movable guardrail 50 can resist the movable guardrail 50 from rotating forward, and can keep the movable guardrail 50 vertical to the ground when it is not triggered.
  • the blocking elastic piece 70 has two elastic ends arranged at intervals, and the front end surface of the movable guardrail 50 abuts on the elastic end. The blocking elastic piece 70 makes the movable guardrail 50 only rotate backward.
  • the movable guardrail 50 When the movable guardrail 50 rotates forward, it is blocked by the blocking shrapnel 70. Even when the torsion force is too large, the blocking shrapnel 70 is deformed without damaging the movable guardrail 50.
  • the torsion spring 56 can reset the movable guardrail 50.
  • the elastic coefficient of the torsion spring 56 is much smaller than that of the stopper spring 70. Therefore, the movable guardrail 50 is easily triggered to rotate backward, and when the movable guardrail 50 is subjected to a strong reverse force, Under the protection of the shrapnel 70, it will not be damaged.
  • the movable guardrail 50 is limited to rotate backward within a preset angle range.
  • the maximum angle ⁇ that the movable guardrail 50 can rotate is 15 degrees.
  • the first tooth plate on the mounting portion 42 of the fixed guardrail 40 is tangent to the bottom surface of the second tooth plate on the movable guardrail 50 or the top surface of the second comb teeth, as shown in the cut plane P in the figure to limit
  • the movable guardrail 50 continues to rotate, that is, the side where the first tooth plate and the second tooth plate of the movable guardrail are inserted is set as an arc surface, and the bottom surface of the second tooth plate or the top surface of the second comb tooth is set as a flat surface.
  • the simple structure realizes the limitation of the rotation range of the movable guardrail 50, thereby simplifying the assembly and reducing the cost.
  • the grass entering the cutting mechanism can be combed, which does not affect the cut grass entering the cutting area, and can effectively block foreign objects.
  • the movable guardrail and corresponding triggers are used to protect lying children or animals.
  • other distance sensors or obstacle detection sensors can be additionally provided on the fuselage, as long as the fuselage is a certain distance away from the obstacle, the sensor is triggered.

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Harvester Elements (AREA)
  • Catching Or Destruction (AREA)

Abstract

An autonomous lawn mowing robot, comprising: a machine body (10), an operation module (20) installed on the machine body (10), a traveling module, and a control module used to coordinate the operation module (20) and the traveling module. The operation module (20) comprises a cutting mechanism disposed at a lower portion of the machine body (10). The traveling module comprises a traveling wheel set installed on the machine body (10) and a traveling motor driving the traveling wheel set. The robotic lawn mower further comprises a front guard located in front of the cutting mechanism. The front guard comprises a fixed guard (40), and a movable guard (50) movably disposed relative to the fixed guard (40). The fixed guard (40) is fixedly connected to the machine body (10). The movable guard (50) is disposed at a rear portion of the fixed guard (40). The fixed guard (40) has first teeth, and the movable guard (50) has second teeth and a trigger member (60). A movement of the movable guard (50) relative to the fixed guard (40) drives the trigger member (60) to send a trigger signal to the control module, and the control module controls, upon receiving the trigger signal, the robotic lawn mower to shut down.

Description

割草机器人Mowing robot 技术领域Technical field
本实用新型涉及一种割草机器人，尤其涉及一种具有防护装置的割草机器人。The utility model relates to a mowing robot, in particular to a mowing robot with a protective device.
背景技术Background technique
割草机器人均具有自动行走、智能避障、在一定范围内工作等特点，同时，具备自动返回充电、安全检测和电池电量检测等，具备一定爬坡能力，尤其适合家庭庭院、公共绿地等场所的草坪修剪维护。割草机机器人一般由刀盘、马达、刀片、行走轮、控制***等结构组成，刀片安装在刀盘上，马达驱动刀盘以带动刀片旋转以实现对草坪的修剪，节省了除草工人的作业时间，减少了大量的人力资源。Mowing robots have the characteristics of automatic walking, intelligent obstacle avoidance, working within a certain range, etc. At the same time, they have automatic return charging, safety detection and battery power detection, etc., and have a certain climbing ability, especially suitable for home courtyards, public green spaces and other places Lawn mowing maintenance. The lawnmower robot is generally composed of a cutter disc, a motor, a blade, a walking wheel, a control system, and the like. The blade is installed on the cutter disc, and the motor drives the cutter disc to drive the blade to rotate to realize the lawn trimming, saving the work of the weeder. Time has reduced a lot of human resources.
现有技术的割草机器人在草地上行走时，设置在割草机器人机身下方的切割机构可能触碰在草地区域活动的人或者动物，进而对人或者动物造成伤害。比如割草机器人在工作时，当地面有躺着的小孩或者小动物时；机器有可能骑压到小孩或者动物身上，将人或者小动物割伤。When the conventional mowing robot walks on the grass, the cutting mechanism provided under the body of the mowing robot may touch a person or animal moving in the grass area, thereby causing damage to the person or animal. For example, when the mowing robot is working, there are children or small animals lying on the ground; the machine may ride on the children or animals to cut people or small animals.
实用新型内容Utility model content
本实用新型的目的在于提供一种更安全、更可靠的割草机器人。The purpose of the utility model is to provide a safer and more reliable mowing robot.
为实现上述实用新型目的，本实用新型提供了一种割草机器人，包括：机身，安装于机身的工作模块、行走模块以及用于协调工作模块和行走模块的控制模块，所述工作模块包括设置于机身下部的切割机构，所述行走模块包括安装在机身上的行走轮组和驱动所述行走轮组的行走马达，沿着所述割 草机器人的行进方向，所述割草机器人还包括位于所述切割机构前方的前护栏，所述前护栏包括固定护栏以及相对于固定护栏活动设置的可动护栏，所述固定护栏固定连接于机身，所述可动护栏设置于所述固定护栏的后部，所述固定护栏具有第一梳齿，所述可动护栏具有第二梳齿，所述割草机器人还包括有触发件，所述可动护栏的相对于固定护栏的运动带动所述触发件以向所述控制模块发送触发信号，所述控制模块收到触发信号控制割草机器人停机。In order to achieve the above purpose of the utility model, the utility model provides a mowing robot, including: a fuselage, a working module installed on the fuselage, a walking module, and a control module for coordinating the working module and the walking module, the working module It includes a cutting mechanism provided in the lower part of the fuselage, the walking module includes a walking wheel group mounted on the fuselage and a walking motor driving the walking wheel group, along the traveling direction of the mowing robot, the mowing The robot further includes a front guardrail located in front of the cutting mechanism. The front guardrail includes a fixed guardrail and a movable guardrail that is movably provided with respect to the fixed guardrail, the fixed guardrail is fixedly connected to the fuselage, and the movable guardrail is disposed on the The rear part of the fixed guardrail, the fixed guardrail has a first comb tooth, the movable guardrail has a second comb tooth, the mowing robot further includes a trigger, and the movable guardrail is opposite to the fixed guardrail The movement drives the trigger to send a trigger signal to the control module, and the control module receives the trigger signal to control the mowing robot to stop.
作为本实用新型一实施方式的进一步改进，所述第二梳齿沿着行进方向的投影位于所述第一梳齿沿着行进方向的投影内。As a further improvement of an embodiment of the present invention, the projection of the second comb teeth along the traveling direction is within the projection of the first comb teeth along the traveling direction.
作为本实用新型一实施方式的进一步改进，所述可动护栏枢转连接于所述固定护栏上，所述触发件设置在固定护栏和机身之间。As a further improvement of an embodiment of the present invention, the movable guardrail is pivotally connected to the fixed guardrail, and the trigger is disposed between the fixed guardrail and the fuselage.
作为本实用新型一实施方式的进一步改进，所述可动护栏上设有触发部，所述触发部构造为凸轮面，所述可动护栏相对于所述固定护栏旋转，所述凸轮面与所述触发件接触并在所述可动护栏的旋转作用下带动所述触发件向上或者向下运动以向所述控制模块发送触发信号。As a further improvement of an embodiment of the present invention, a trigger portion is provided on the movable guardrail, the trigger portion is configured as a cam surface, the movable guardrail rotates relative to the fixed guardrail, and the cam surface is The trigger member contacts and drives the trigger member to move upward or downward under the rotation of the movable guardrail to send a trigger signal to the control module.
作为本实用新型一实施方式的进一步改进，所述机身内部设有连接所述控制模块的触发传感器，所述触发件向上运动以触发所述触发传感器。As a further improvement of an embodiment of the present invention, a trigger sensor connected to the control module is provided inside the body, and the trigger moves upward to trigger the trigger sensor.
作为本实用新型一实施方式的进一步改进，所述触发传感器和所述触发件之间设有弹性元件，所述弹性元件施加给所述触发件远离所述触发传感器的弹性力。As a further improvement of an embodiment of the present invention, an elastic element is provided between the trigger sensor and the trigger member, and the elastic element applies an elastic force applied to the trigger member away from the trigger sensor.
作为本实用新型一实施方式的进一步改进，所述触发件构造为导杆，所述导杆活动穿设于机身上的通孔内。As a further improvement of an embodiment of the present invention, the trigger is configured as a guide rod, and the guide rod is movably disposed in a through hole on the fuselage.
作为本实用新型一实施方式的进一步改进，所述导杆包括位于机身内部的导杆帽以及伸出所述通孔外的接触部，所述接触部抵接于所述可动护栏，所述通孔具有向机身内凸伸的凸沿，所述导杆帽卡接于所述凸沿并至少部分与所述凸沿沿导杆纵长方向叠合。As a further improvement of an embodiment of the present invention, the guide rod includes a guide rod cap located inside the fuselage and a contact portion extending out of the through hole, the contact portion abuts on the movable guardrail, so The through hole has a protruding edge protruding inwardly of the fuselage, and the guide rod cap is snapped on the protruding edge and at least partially overlaps the protruding edge along the longitudinal direction of the guide rod.
作为本实用新型一实施方式的进一步改进，所述固定护栏的后部设有第一安装孔，所述可动护栏上设有第二安装孔，一旋转轴穿过所述第一安装孔和第二安装孔将所述可动护栏枢转连接在所述固定护栏上。As a further improvement of an embodiment of the present invention, the fixed guardrail is provided with a first mounting hole at the rear, the movable guardrail is provided with a second mounting hole, and a rotating shaft passes through the first mounting hole and The second mounting hole pivotally connects the movable guardrail to the fixed guardrail.
作为本实用新型一实施方式的进一步改进，所述固定护栏包括位于前部的梳子部以及位于后部的安装部，所述梳子部设有第一梳齿，所述安装部设有与第一梳齿对应的第一齿片，所述第一安装孔形成于第一齿片上，所述可动护栏包括与所述第一齿片配合的第二齿片以及设置于第二齿片下部的梳齿部，所述第二安装孔形成于第二齿片上。As a further improvement of an embodiment of the present invention, the fixed guardrail includes a comb portion located at the front and a mounting portion located at the rear. The comb portion is provided with first comb teeth, and the mounting portion is provided with the first A first tooth plate corresponding to the comb teeth, the first mounting hole is formed on the first tooth plate, the movable guardrail includes a second tooth plate that cooperates with the first tooth plate, and a In the comb tooth portion, the second mounting hole is formed on the second tooth plate.
作为本实用新型一实施方式的进一步改进，所述固定护栏与所述可动护栏配合的部分设有圆弧面，所述可动护栏与所述固定护栏配合的部分设有平面，所述可动护栏被限制为相对所述固定护栏旋转到所述平面与所述圆弧面相切的位置。As a further improvement of an embodiment of the present invention, a portion where the fixed guardrail cooperates with the movable guardrail is provided with an arc surface, and a portion where the movable guardrail cooperates with the fixed guardrail is provided with a flat surface, the The movable guardrail is restricted to rotate relative to the fixed guardrail to a position where the plane is tangent to the arc surface.
作为本实用新型一实施方式的进一步改进，所述可动护栏相对于所述固定护栏向后单向枢转。As a further improvement of an embodiment of the present invention, the movable guardrail pivots unidirectionally backward relative to the fixed guardrail.
作为本实用新型一实施方式的进一步改进，所述可动护栏相对于所述固定护栏旋转，所述固定护栏上连接有挡位弹片，所述可动护栏的前端面抵接在所述挡位弹片上以限制其向前枢转。As a further improvement of an embodiment of the present invention, the movable guardrail rotates relative to the fixed guardrail, a gear spring is connected to the fixed guardrail, and the front end surface of the movable guardrail abuts on the gear On the shrapnel to restrict it from pivoting forward.
作为本实用新型一实施方式的进一步改进，所述可动护栏和所述固定护栏之间设置弹性元件，所述可动护栏向后旋转以使所述弹性元件蓄能，所述挡位弹片的弹性系数大于所述弹性元件的弹性系数。As a further improvement of an embodiment of the present invention, an elastic element is provided between the movable guardrail and the fixed guardrail, the movable guardrail rotates backward to accumulate the elastic element, the The elastic coefficient is greater than the elastic coefficient of the elastic element.
作为本实用新型一实施方式的进一步改进，所述可动护栏距离地面的高度高于或者等于固定护栏距离地面的高度。As a further improvement of an embodiment of the present invention, the height of the movable guardrail from the ground is higher than or equal to the height of the fixed guardrail from the ground.
作为本实用新型一实施方式的进一步改进，所述行走轮组包括在前的两个前行走轮和在后的两个后行走轮，所述可动护栏位于两个前行走轮之间，并且位于两个前行走轮接触地面的位置的前部，所述可动护栏的末端伸出所述两个前行走轮的圆周***。As a further improvement of an embodiment of the present invention, the walking wheel set includes two front walking wheels at the front and two rear walking wheels at the rear, and the movable guardrail is located between the two front walking wheels, and Located at the front of the position where the two front running wheels contact the ground, the end of the movable guardrail extends beyond the circumference of the two front running wheels.
与现有技术相比，本实用新型的有益效果在于：本实用新型的割草机器人在切割机构前部设置固定护栏，可以防止割草机器人进行割草作业时，对误接触刀片的人或者动物造成伤害。固定护栏和机身之间设有触发件，用来保护躺着的小孩或者动物。Compared with the prior art, the beneficial effect of the present invention lies in that: the mowing robot of the present invention is provided with a fixed guardrail at the front of the cutting mechanism, which can prevent the mowing robot from touching the blade or the person by mistake when performing the mowing operation. cause some damages. There is a trigger between the fixed guardrail and the fuselage to protect lying children or animals.
附图说明BRIEF DESCRIPTION
图1是本实用新型优选的实施方式中割草机器人的立体示意图；FIG. 1 is a perspective schematic view of a mowing robot in a preferred embodiment of the present invention;
图2是图1中的割草机器人的剖视示意图，其中可动护栏处于初始状态；FIG. 2 is a schematic cross-sectional view of the mowing robot in FIG. 1, where the movable guardrail is in an initial state;
图3是图2中a部分的放大示意图；FIG. 3 is an enlarged schematic view of part a in FIG. 2;
图4是图1中的割草机器人的剖视示意图，其中可动护栏处于触发状态；4 is a schematic cross-sectional view of the mowing robot in FIG. 1, wherein the movable guardrail is in a triggered state;
图5是图4中b部分的放大示意图；5 is an enlarged schematic view of part b in FIG. 4;
图6是图1中的可动护栏旋转到最大角度时的示意图；6 is a schematic diagram of the movable guardrail in FIG. 1 rotated to the maximum angle;
图7是图1中的固定护栏和可动护栏的分解示意图；7 is an exploded schematic view of the fixed guardrail and movable guardrail in FIG. 1;
图8是图7中固定护栏与可动护栏连接的其中一个视角的立体示意图；8 is a perspective schematic view of one of the perspectives of FIG. 7 connecting the fixed guardrail and the movable guardrail;
图9是图7中固定护栏与可动护栏连接的另一个视角的立体示意图。FIG. 9 is a perspective schematic view of FIG. 7 from another perspective of the connection between the fixed guardrail and the movable guardrail.
具体实施方式detailed description
以下将结合附图所示的具体实施方式对本实用新型进行详细描述。但这些实施方式并不限制本实用新型，本领域的普通技术人员根据这些实施方式所做出的结构、方法、或功能上的变换均包含在本实用新型的保护范围内。The present invention will be described in detail below with reference to the specific embodiments shown in the drawings. However, these embodiments do not limit the present invention, and structural, method, or functional transformations made by those of ordinary skill in the art according to these embodiments are included in the protection scope of the present invention.
参照图1到图3所示，本实用新型优选的实施例中，割草机器人用于在地面上自动行走和工作，通过使用无绳电源提供行走以及工作能量，如电池包、太阳能电池板等，当然也可使用有线电源连接市电供电。割草机器人包括机身10、安装于机身10的用于修剪草坪的工作模块20以及行走模块，行走模块用于行走和转向，工作模块20包括切割马达、与切割马达连接的传动轴以及与传动轴配接的切割机构。另外，割草机器人还包括控制模块， 用于协调工作模块和行走模块，控制模块能够使割草机器人在无人看守的情况下自动在草坪上行走并割草。在本实用新型的描述中，除非另外指出，涉及的方向术语，如前、后、左、右、上和下等，都是以如图1所示的割草机器人正常前进行驶时的箭头F的方向为参照。Referring to FIGS. 1 to 3, in a preferred embodiment of the present invention, a lawnmowing robot is used to automatically walk and work on the ground, and provides walking and working energy by using a cordless power source, such as a battery pack, a solar panel, etc. Of course, you can also use a wired power supply to connect to the mains supply. The mowing robot includes a fuselage 10, a working module 20 for mowing the lawn mounted on the fuselage 10, and a walking module. The walking module is used for walking and steering. The working module 20 includes a cutting motor, a drive shaft connected to the cutting motor, and a Cutting mechanism with transmission shaft. In addition, the mowing robot also includes a control module for coordinating the working module and the walking module. The control module enables the mowing robot to automatically walk on the lawn and cut the grass without being guarded. In the description of the present invention, unless otherwise noted, the related directional terms, such as front, back, left, right, up and down, are all arrows F when the lawn mowing robot as shown in FIG. 1 moves forward normally For reference.
如图2所示，机身10包括位于割草机器人上部的机壳11以及位于割草机器人下部的底盘12，底盘12连接于机壳11，切割机构安装于底盘12上。切割马达优选为切割电机，切割机构可以是设置刀片的刀盘，当然，切割机构也可以是直接由切割电机驱动的切割刀片、切割线等能够实现对草坪进行修剪的切割元件。割草机器人还可以设置自动或手动进行割草高度调节的装置，用于调节刀片到地面的距离，从而控制草坪的留茬高度。As shown in FIG. 2, the body 10 includes a casing 11 located on the upper part of the mowing robot and a chassis 12 located on the lower part of the mowing robot. The chassis 12 is connected to the casing 11 and the cutting mechanism is mounted on the chassis 12. The cutting motor is preferably a cutting motor, and the cutting mechanism may be a cutter disc provided with blades. Of course, the cutting mechanism may also be a cutting blade, a cutting line, etc. directly driven by the cutting motor, which can realize cutting elements for trimming the lawn. The mowing robot can also be provided with a device for automatically or manually adjusting the height of the mowing, which is used to adjust the distance between the blade and the ground, thereby controlling the stubble height of the lawn.
割草机器人的行走模块包括行走轮组以及驱动行走轮组的行走马达。其中，行走轮组安装于底盘12上。本实施例中，行走轮组包括四个行走轮，分别为设置在机身前部两侧的前行走轮和设置在机身后部两侧的后行走轮，每个行走轮具有相互独立的轮轴。行走马达通过传动机构使得位于同一侧的行走轮实现同步传动，即左前行走轮与左后行走轮同步，右前行走轮与右后行走轮同步。具体的，行走马达包括两个，两个行走马达前置或者后置，也可以一个前置一个后置，每个行走马达通过带传动的方式能够驱动同一侧的行走轮实现同步传动，如此可不设转向机构，利用左行走轮与右行走轮的转速差进行转向。当然，也可以使用四个行走马达分别驱动四个行走轮。行走轮组只是本实施例中优选的方式，本领域技术人员很容易能够想到，行走轮也可以采用履带式或者其他可以实现行走的方式。The walking module of the mowing robot includes a walking wheel group and a walking motor driving the walking wheel group. Among them, the walking wheel group is installed on the chassis 12. In this embodiment, the walking wheel group includes four walking wheels, which are a front walking wheel arranged on both sides of the front of the fuselage and a rear walking wheel arranged on both sides of the rear of the fuselage. Each walking wheel has independent wheels. axle. The walking motor realizes the synchronous transmission of the walking wheels on the same side through the transmission mechanism, that is, the left front walking wheel is synchronized with the left rear walking wheel, and the right front walking wheel is synchronized with the right rear walking wheel. Specifically, the walking motor includes two, two walking motors are front or rear, or one front and one rear. Each walking motor can drive the walking wheels on the same side to achieve synchronous transmission by means of belt transmission. A steering mechanism is provided to perform steering by using the difference in rotation speed between the left and right running wheels. Of course, four traveling motors can also be used to drive four traveling wheels respectively. The walking wheel group is only the preferred mode in this embodiment, and those skilled in the art can easily imagine that the walking wheel can also adopt a crawler type or other ways to achieve walking.
本实施例中，割草机器人还包括有防护机构，如图1到图9所示，防护机构包括位于切割机构前方的前护栏包括固定护栏40以及相对于固定护栏活动设置的可动护栏50，固定护栏40固定连接于机身并且可以构造为栅栏状，包括位于前部的梳子部41以及位于后部的安装部42，沿着竖直方向，安装部42距离地面的高度大于梳子部41距离地面的高度。梳子部41包括 有间隔排列的第一梳齿，用于对割草机器人前进方向的草进行初步梳理，防止草的缠绕、打结。固定护栏40的后部连接有可动护栏50，优选的，可动护栏50安装在安装部42上并且相对于固定护栏40向后单向枢转。割草机器人还包括有触发件，触发件可以设置在固定护栏40和机身10之间，可动护栏50相对于固定护栏的运动带动触发件以向控制模块发送触发信号，控制模块收到触发信号控制割草机器人停机。In this embodiment, the mowing robot further includes a protection mechanism, as shown in FIGS. 1 to 9, the protection mechanism includes a front guardrail located in front of the cutting mechanism, including a fixed guardrail 40 and a movable guardrail 50 movably provided relative to the fixed guardrail. The fixed guardrail 40 is fixedly connected to the fuselage and can be constructed in a fence shape, including a comb portion 41 at the front and a mounting portion 42 at the rear, along the vertical direction, the height of the mounting portion 42 from the ground is greater than the distance of the comb portion 41 The height of the ground. The comb part 41 includes first comb teeth arranged at intervals, and is used for preliminary combing the grass in the advancing direction of the mowing robot to prevent the grass from tangling and knotting. A movable guardrail 50 is connected to the rear of the fixed guardrail 40. Preferably, the movable guardrail 50 is mounted on the mounting portion 42 and pivots unidirectionally backward relative to the fixed guardrail 40. The mowing robot further includes a trigger. The trigger can be disposed between the fixed guardrail 40 and the fuselage 10. The movement of the movable guardrail 50 relative to the fixed guardrail drives the trigger to send a trigger signal to the control module. The control module receives the trigger The signal controls the mowing robot to stop.
配合参照图7所示，具体的，固定护栏40的安装部42设有第一安装孔421，可动护栏50上设有第二安装孔512，一旋转轴55穿过第一安装孔421和第二安装孔512将可动护栏50枢转连接在固定护栏40上。其中，安装部42可以设置为与梳子部的第一梳齿一一对应的第一齿片，每个第一齿片上都对应设置第一安装孔421，而可动护栏50也设置有与第一齿片一一交错配合的第二齿片，每个第二齿片上都对应设置第二安装孔512，将第一齿片和第二齿片叠加使得第一安装孔421和第二安装孔512对应，旋转轴55依次穿过第一齿片和第二齿片，从而将可动护栏50枢转连接于安装部42。可动护栏50也包括设置成第二齿片的连接部51以及位于连接部51下部的有梳齿部52，梳齿部52包括间隔排列的第二梳齿，第二梳齿的密度可以与第一梳齿相同，或者比第一梳齿更密集。Referring to FIG. 7, specifically, the mounting portion 42 of the fixed guardrail 40 is provided with a first mounting hole 421, the movable guardrail 50 is provided with a second mounting hole 512, and a rotating shaft 55 passes through the first mounting hole 421 and The second mounting hole 512 pivotally connects the movable guardrail 50 to the fixed guardrail 40. The mounting portion 42 may be provided as a first tooth plate corresponding to the first comb teeth of the comb portion, each first tooth plate is correspondingly provided with a first mounting hole 421, and the movable guardrail 50 is also provided with a A second tooth plate with one tooth plate interleaved with each other, each second tooth plate is correspondingly provided with a second mounting hole 512, the first tooth plate and the second tooth plate are superimposed so that the first mounting hole 421 and the second mounting hole Corresponding to 512, the rotating shaft 55 sequentially passes through the first and second tooth plates, thereby pivotally connecting the movable guardrail 50 to the mounting portion 42. The movable guardrail 50 also includes a connecting portion 51 provided as a second tooth plate and a comb tooth portion 52 located at the lower portion of the connecting portion 51. The comb tooth portion 52 includes second comb teeth arranged at intervals. The density of the second comb teeth may be The first comb teeth are the same or denser than the first comb teeth.
本实施例中，可动护栏50藏在固定护栏40的后面，从正前方看，固定护栏40的两两第一梳齿之间的空隙部分看不见可动护栏50的第二梳齿，也就是说第二梳齿沿着行进方向的投影位于第一梳齿沿着行进方向的投影内，这样第二梳齿隐藏于第一梳齿的轮廓内，可以是第一梳齿和第二梳齿一一对应，也可以是第一梳齿比第二梳齿宽，一个第一梳齿遮挡多个第二梳齿。In this embodiment, the movable guardrail 50 is hidden behind the fixed guardrail 40. From the front, the gap between the two first comb teeth of the fixed guardrail 40 cannot see the second comb teeth of the movable guardrail 50. That is to say, the projection of the second comb teeth along the traveling direction is within the projection of the first comb teeth along the traveling direction, so that the second comb teeth are hidden in the contour of the first comb teeth, which may be the first comb teeth and the second comb teeth The teeth are in one-to-one correspondence, or the first comb teeth may be wider than the second comb teeth, and one first comb tooth may block a plurality of second comb teeth.
继续参照图3和图5所示，可动护栏50上设有触发部511，触发部511可以设置在连接部51的任意一个齿片上，触发部511构造为凸轮面，凸轮面与触发件接触并在可动护栏50的旋转作用下带动触发件向上或者向下运动以向控制模块发送触发信号。其中，机身10内部设有连接控制模块的触 发传感器，触发件向上运动以触发该触发传感器。本实施例中优选的，触发传感器构造为微动开关61，触发件被可动护栏50带动向上运动以触发微动开关61，微动开关61安装在机身10内部，触发件构造为上下移动的导杆60，导杆60伸入到机身10内部以触发微动开关61，无需额外设置防水的硅胶套。如图4和图5所示，可动护栏50处于被触发状态，小孩手臂压到割草机底部，在割草机前进时可动护栏50向后转动，可动护栏50的触发部511可以推动导杆60向上运动，触发微动开关61。当然，触发传感器还可以选用接近开关或其他能够将距离变化或者接触动作转化为控制模块可处理信号的装置。Continuing to refer to FIGS. 3 and 5, the movable guardrail 50 is provided with a trigger portion 511. The trigger portion 511 may be provided on any tooth of the connecting portion 51. The trigger portion 511 is configured as a cam surface, and the cam surface is in contact with the trigger And the rotation of the movable guardrail 50 drives the trigger to move upward or downward to send a trigger signal to the control module. Among them, a trigger sensor connected to the control module is provided inside the body 10, and the trigger moves upward to trigger the trigger sensor. Preferably in this embodiment, the trigger sensor is configured as a micro switch 61, the trigger is moved upward by the movable guardrail 50 to trigger the micro switch 61, the micro switch 61 is installed inside the body 10, and the trigger is configured to move up and down The guide rod 60 extends into the inside of the body 10 to trigger the micro switch 61 without additional waterproof silicone sleeve. As shown in FIGS. 4 and 5, the movable guardrail 50 is in a triggered state, and the child ’s arm is pressed against the bottom of the lawnmower. When the lawnmower advances, the movable guardrail 50 rotates backward, and the trigger portion 511 of the movable guardrail 50 can be Push the guide rod 60 upward to trigger the micro switch 61. Of course, the trigger sensor can also use a proximity switch or other device that can convert the distance change or contact action into a signal that can be processed by the control module.
为了进一步增强触发传感器的防水密封，本实施例中优选的，在导杆60和机身10之间设置迷宫结构。具体的，机身10的底座13上设有一通孔126，导杆60活动穿设于通孔126内，导杆60包括位于机身10内部的导杆帽602以及伸出通孔126外的接触部601，接触部601抵接于可动护栏50的连接部51，并且伸入到安装部42的第一齿片内部，从而接触部601与可动护栏50的触发部511的接触更加可靠。通孔126具有向机身10内凸伸的凸沿127，导杆帽602卡接于凸沿127并至少部分与凸沿127沿导杆60纵长方向叠合。由此，使得外部的水无法从通孔126和导杆60之间的间隙直接进入机身10内部，从而防水性能更佳。通过将触发传感器装到机器内部，导杆60与底座12形成迷宫密封，解决传感器的密封问题，从而可以很好的防水防尘，并且结构简单可靠。In order to further enhance the waterproof seal of the trigger sensor, it is preferable to provide a labyrinth structure between the guide rod 60 and the body 10 in this embodiment. Specifically, the base 13 of the fuselage 10 is provided with a through hole 126, and the guide rod 60 is movably penetrated in the through hole 126. The guide rod 60 includes a guide rod cap 602 located inside the fuselage 10 and protruding outside the through hole 126 The contact portion 601 contacts the connecting portion 51 of the movable guardrail 50 and extends into the first tooth plate of the mounting portion 42 so that the contact portion 601 and the trigger portion 511 of the movable guardrail 50 are more reliably in contact . The through hole 126 has a protruding edge 127 protruding into the fuselage 10, and the guide rod cap 602 is engaged with the protruding edge 127 and at least partially overlaps the protruding edge 127 along the longitudinal direction of the guide rod 60. As a result, external water cannot directly enter the inside of the body 10 from the gap between the through hole 126 and the guide rod 60, so that the waterproof performance is better. By installing the trigger sensor inside the machine, the guide rod 60 and the base 12 form a labyrinth seal to solve the sensor sealing problem, so that it can be well waterproof and dustproof, and the structure is simple and reliable.
进一步的，触发传感器和触发件之间设有弹性元件62，弹性元件62施加给触发件远离触发传感器的弹性力。本实施例中，弹性元件62构造为压簧，压簧设置在导杆60和微动开关61之间，既防止导杆60因振动意外上升而出发微动开关61，同时也保证了导杆60能够可靠复位。Further, an elastic element 62 is provided between the trigger sensor and the trigger, and the elastic element 62 applies an elastic force to the trigger away from the trigger sensor. In this embodiment, the elastic element 62 is configured as a compression spring, and the compression spring is disposed between the guide rod 60 and the micro switch 61, which not only prevents the guide rod 60 from starting the micro switch 61 due to unexpected vibration rise, but also ensures the guide rod 60 can be reliably reset.
如图2到图5所示，可动护栏50在初始状态，梳子部41与可动护栏50相互平行且垂直于地面。为了保证当小孩手臂被机器压到时，能够顺利 触发传感器，使其不被刀盘割伤，最好是可动护栏50与梳子部41间隔有预设距离，该预设距离至少能够容纳下一个小孩的手臂，如图4和图5中的手臂模型M。另外，可动护栏50的第二梳齿藏在固定护栏40的第一梳齿的后面，可动护栏50距离地面的高度要高于或者等于梳子部41距离地面的高度，即梳子部41的末端相比可动护栏50的末端更接近地面，防止可动护栏50被草勾住误触发，工作稳定可靠。再者，可动护栏50最低点超出行走轮的范围，使得当行走轮压着手臂之前，可动护栏50能接触到小孩手臂触发，也就是说，可动护栏50大致位于两个前行走轮限定的范围之间，最好是可动护栏50位于两个前行走轮之间，并且位于两个前行走轮接触地面的位置的前部。可动护栏50的末端伸出两个前行走轮的圆周***，即超过行走轮的圆周范围，如此可以更加全面的防护。As shown in FIGS. 2 to 5, in the initial state of the movable guardrail 50, the comb portion 41 and the movable guardrail 50 are parallel to each other and perpendicular to the ground. In order to ensure that when the child's arm is pressed by the machine, the sensor can be triggered smoothly, so that it is not cut by the cutter head, it is best that the movable guard 50 is separated from the comb part 41 by a preset distance, the preset distance can at least accommodate the A child's arm, as shown in Figure 4 and Figure 5 arm model M. In addition, the second comb teeth of the movable guardrail 50 are hidden behind the first comb teeth of the fixed guardrail 40, and the height of the movable guardrail 50 from the ground is higher than or equal to the height of the comb portion 41 from the ground, that is, the height of the comb portion 41 The end is closer to the ground than the end of the movable guardrail 50, to prevent the movable guardrail 50 from being accidentally triggered by the grass hook, and the work is stable and reliable. Furthermore, the lowest point of the movable guardrail 50 is beyond the range of the walking wheel, so that when the walking wheel is pressed against the arm, the movable guardrail 50 can contact the child's arm to trigger, that is, the movable guardrail 50 is roughly located on the two front walking wheels Between the limited ranges, it is preferable that the movable guardrail 50 is located between the two front running wheels and is located in front of the position where the two front running wheels contact the ground. The end of the movable guardrail 50 extends beyond the circumference of the two front walking wheels, that is, beyond the circumference of the walking wheels, so that more comprehensive protection can be achieved.
另外，旋转轴55上套设有扭簧56，扭簧56的一端抵接在固定护栏40的安装部42，另一端抵接在可动护栏50上，当可动护栏50向后枢转时，扭簧56蓄能，以给可动护栏50复位提供弹性力。安装部42上可以设置限位面或者限位筋等与可动护栏50的前部抵接，以限制可动护栏50向前旋转。本实施例中优选的，在固定护栏40的安装部42和可动护栏50之间设置挡位弹片70，挡位弹片70固定于安装42部下部的容置空间内，如通过螺钉固定在安装部42上。可动护栏50前方的挡位弹片70可以抵挡可动护栏50向前转动，并且在未触发状态时可以保持可动护栏50垂直地面。挡位弹片70具有两个间隔设置的弹性末端，可动护栏50的前端面抵接在该弹性末端，挡位弹片70使得可动护栏50只能朝后旋转。当可动护栏50朝前旋转时，被挡位弹片70挡住，即使当扭力过大时，挡位弹片70变形而不会损害可动护栏50。另外扭簧56可以使可动护栏50复位，扭簧56的弹性系数远小于挡位弹片70，因此可动护栏50容易被触发向后旋转，并且当可动护栏50受到反向强力时，在挡位弹片70的保护下，不会被损坏。In addition, a torsion spring 56 is sleeved on the rotating shaft 55, one end of the torsion spring 56 abuts on the mounting portion 42 of the fixed guardrail 40, and the other end abuts on the movable guardrail 50, when the movable guardrail 50 pivots backward The torsion spring 56 stores energy to provide elastic force for the movable guardrail 50 to reset. The mounting portion 42 may be provided with a limiting surface or a limiting rib, etc., to contact the front of the movable guardrail 50 to restrict the movable guardrail 50 from rotating forward. In this embodiment, it is preferable that a stopper spring 70 is provided between the mounting part 42 of the fixed guardrail 40 and the movable guardrail 50, and the stopper spring 70 is fixed in the accommodating space under the lower part of the installation 42, such as being fixed on the installation by screws部 42 上。 42 on. The blocking shrapnel 70 in front of the movable guardrail 50 can resist the movable guardrail 50 from rotating forward, and can keep the movable guardrail 50 vertical to the ground when it is not triggered. The blocking elastic piece 70 has two elastic ends arranged at intervals, and the front end surface of the movable guardrail 50 abuts on the elastic end. The blocking elastic piece 70 makes the movable guardrail 50 only rotate backward. When the movable guardrail 50 rotates forward, it is blocked by the blocking shrapnel 70. Even when the torsion force is too large, the blocking shrapnel 70 is deformed without damaging the movable guardrail 50. In addition, the torsion spring 56 can reset the movable guardrail 50. The elastic coefficient of the torsion spring 56 is much smaller than that of the stopper spring 70. Therefore, the movable guardrail 50 is easily triggered to rotate backward, and when the movable guardrail 50 is subjected to a strong reverse force, Under the protection of the shrapnel 70, it will not be damaged.
配合参照图6所示，可动护栏50被限制在预设角度范围内向后旋转， 本实施例中，可动护栏50可旋转的最大角度α是15度。在最大旋转位置处，固定护栏40安装部42上的第一齿片与可动护栏50上的第二齿片的底面或第二梳齿的顶面相切，如图中切面P，以限制住可动护栏50继续转动，即第一齿片与可动护栏的第二齿片插接的一面设置为圆弧面，第二齿片的底面或者第二梳齿的顶面设置为平面，通过简单的结构实现可动护栏50旋转范围的限制，从而简化组装，减小成本。With reference to FIG. 6, the movable guardrail 50 is limited to rotate backward within a preset angle range. In this embodiment, the maximum angle α that the movable guardrail 50 can rotate is 15 degrees. At the maximum rotation position, the first tooth plate on the mounting portion 42 of the fixed guardrail 40 is tangent to the bottom surface of the second tooth plate on the movable guardrail 50 or the top surface of the second comb teeth, as shown in the cut plane P in the figure to limit The movable guardrail 50 continues to rotate, that is, the side where the first tooth plate and the second tooth plate of the movable guardrail are inserted is set as an arc surface, and the bottom surface of the second tooth plate or the top surface of the second comb tooth is set as a flat surface. The simple structure realizes the limitation of the rotation range of the movable guardrail 50, thereby simplifying the assembly and reducing the cost.
通过设置固定护栏能够将进入切割机构的草进行梳理，既不影响被切割的草进入切割区域，又能够有效的阻挡异物。而可动护栏和相应的触发件的设置用来保护躺着的小孩或者动物。除此之外，机身上还可以另外设置其它距离传感器或者障碍检测传感器，只要机身距离障碍物一定距离即触发传感器。By setting a fixed guardrail, the grass entering the cutting mechanism can be combed, which does not affect the cut grass entering the cutting area, and can effectively block foreign objects. The movable guardrail and corresponding triggers are used to protect lying children or animals. In addition, other distance sensors or obstacle detection sensors can be additionally provided on the fuselage, as long as the fuselage is a certain distance away from the obstacle, the sensor is triggered.
应当理解，虽然本说明书按照实施方式加以描述，但并非每个实施方式仅包含一个独立的技术方案，说明书的这种叙述方式仅仅是为清楚起见，本领域技术人员应当将说明书作为一个整体，各实施方式中的技术方案也可以经适当组合，形成本领域技术人员可以理解的其他实施方式。It should be understood that although this specification is described according to embodiments, not every embodiment only includes an independent technical solution. This description of the specification is for clarity only, and those skilled in the art should treat the specification as a whole, each The technical solutions in the embodiments may also be appropriately combined to form other embodiments that can be understood by those skilled in the art.
上文所列出的一系列的详细说明仅仅是针对本实用新型的可行性实施方式的具体说明，它们并非用以限制本实用新型的保护范围，凡未脱离本实用新型技艺精神所作的等效实施方式或变更均应包含在本实用新型的保护范围之内。The series of detailed descriptions listed above are only specific descriptions of feasible embodiments of the utility model, they are not intended to limit the scope of protection of the utility model, and equivalents made without departing from the technical spirit of the utility model Embodiments or changes should be included in the protection scope of the present invention.

Claims (16)

  1. 一种割草机器人，包括：机身，安装于机身的工作模块、行走模块以及用于协调工作模块和行走模块的控制模块，所述工作模块包括设置于机身下部的切割机构，所述行走模块包括安装在机身上的行走轮组和驱动所述行走轮组的行走马达，沿着所述割草机器人的行进方向，所述割草机器人还包括位于所述切割机构前方的前护栏，其特征在于：所述前护栏包括固定护栏以及相对于所述固定护栏活动设置的可动护栏，所述固定护栏固定连接于机身，所述可动护栏设置于所述固定护栏的后部，所述固定护栏具有第一梳齿，所述可动护栏具有第二梳齿，所述割草机器人还包括有触发件，所述可动护栏的相对于固定护栏的运动带动所述触发件以向所述控制模块发送触发信号，所述控制模块收到触发信号控制割草机器人停机。A lawn mowing robot includes: a fuselage, a working module installed on the fuselage, a walking module, and a control module for coordinating the working module and the walking module. The working module includes a cutting mechanism provided on the lower part of the fuselage. The walking module includes a walking wheel set mounted on the fuselage and a walking motor driving the walking wheel set, along the traveling direction of the mowing robot, the mowing robot also includes a front guardrail located in front of the cutting mechanism It is characterized in that the front guardrail includes a fixed guardrail and a movable guardrail movably provided with respect to the fixed guardrail, the fixed guardrail is fixedly connected to the fuselage, and the movable guardrail is provided at the rear of the fixed guardrail , The fixed guardrail has a first comb tooth, the movable guardrail has a second comb tooth, and the mowing robot further includes a trigger member, and the movement of the movable guardrail relative to the fixed guardrail drives the trigger member To send a trigger signal to the control module, the control module receives the trigger signal to control the mowing robot to stop.
  2. 根据权利要求1所述的割草机器人，其特征在于，所述第二梳齿沿着行进方向的投影位于所述第一梳齿沿着行进方向的投影内。The mowing robot according to claim 1, wherein the projection of the second comb teeth along the traveling direction is within the projection of the first comb teeth along the traveling direction.
  3. 根据权利要求1所述的割草机器人，其特征在于，所述可动护栏枢转连接于所述固定护栏上，所述触发件设置在固定护栏和机身之间。The mowing robot according to claim 1, wherein the movable guardrail is pivotally connected to the fixed guardrail, and the trigger is disposed between the fixed guardrail and the fuselage.
  4. 根据权利要求1或2所述的割草机器人，其特征在于，所述可动护栏上设有触发部，所述触发部构造为凸轮面，所述可动护栏相对于所述固定护栏旋转，所述凸轮面与所述触发件接触并在所述可动护栏的旋转作用下带动所述触发件向上或者向下运动以向所述控制模块发送触发信号。The mowing robot according to claim 1 or 2, wherein the movable guardrail is provided with a trigger portion, the trigger portion is configured as a cam surface, and the movable guardrail rotates relative to the fixed guardrail, The cam surface is in contact with the trigger and drives the trigger to move upward or downward under the rotation of the movable guardrail to send a trigger signal to the control module.
  5. 根据权利要求4所述的割草机器人，其特征在于，所述机身内部设有连接所述控制模块的触发传感器，所述触发件向上运动以触发所述触发传感器。The mowing robot according to claim 4, wherein a trigger sensor connected to the control module is provided inside the body, and the trigger moves upward to trigger the trigger sensor.
  6. 根据权利要求5所述的割草机器人，其特征在于，所述触发传感器和所述触发件之间设有弹性元件，所述弹性元件施加给所述触发件远离所述触发传感器的弹性力。The mowing robot according to claim 5, wherein an elastic element is provided between the trigger sensor and the trigger member, and the elastic element applies an elastic force applied to the trigger member away from the trigger sensor.
  7. 根据权利要求1所述的割草机器人，其特征在于，所述触发件构造 为导杆，所述导杆活动穿设于机身上的通孔内。The mowing robot according to claim 1, wherein the trigger is configured as a guide rod, and the guide rod is movably penetrated in a through hole on the fuselage.
  8. 根据权利要求7所述的割草机器人，其特征在于，所述导杆包括位于机身内部的导杆帽以及伸出所述通孔外的接触部，所述接触部抵接于所述可动护栏，所述通孔具有向机身内凸伸的凸沿，所述导杆帽卡接于所述凸沿并至少部分与所述凸沿沿导杆纵长方向叠合。The mowing robot according to claim 7, wherein the guide bar includes a guide bar cap located inside the fuselage and a contact part protruding outside the through hole, the contact part abutting the In the movable guardrail, the through hole has a convex edge protruding inwardly of the fuselage, and the guide rod cap is snapped on the convex edge and at least partially overlaps the convex edge along the longitudinal direction of the guide rod.
  9. 根据权利要求1所述的割草机器人，其特征在于，所述固定护栏的后部设有第一安装孔，所述可动护栏上设有第二安装孔，一旋转轴穿过所述第一安装孔和第二安装孔将所述可动护栏枢转连接在所述固定护栏上。The mowing robot according to claim 1, wherein a first mounting hole is provided at the rear of the fixed guardrail, a second mounting hole is provided on the movable guardrail, and a rotating shaft passes through the first A mounting hole and a second mounting hole pivotally connect the movable guardrail to the fixed guardrail.
  10. 根据权利要求9所述的割草机器人，其特征在于，所述固定护栏包括位于前部的梳子部以及位于后部的安装部，所述梳子部设有第一梳齿，所述安装部设有与第一梳齿对应的第一齿片，所述第一安装孔形成于第一齿片上，所述可动护栏包括与所述第一齿片配合的第二齿片以及设置于第二齿片下部的梳齿部，所述第二安装孔形成于第二齿片上。The mowing robot according to claim 9, characterized in that the fixed guardrail includes a comb part at the front and a mounting part at the rear, the comb part is provided with first comb teeth, and the mounting part is provided with There is a first tooth plate corresponding to the first comb tooth, the first mounting hole is formed on the first tooth plate, the movable guardrail includes a second tooth plate that cooperates with the first tooth plate and is provided on the second In the comb tooth portion of the lower portion of the tooth plate, the second mounting hole is formed on the second tooth plate.
  11. 根据权利要求1所述的割草机器人，其特征在于，所述固定护栏与所述可动护栏配合的部分设有圆弧面，所述可动护栏与所述固定护栏配合的部分设有平面，所述可动护栏被限制为相对所述固定护栏旋转到所述平面与所述圆弧面相切的位置。The mowing robot according to claim 1, characterized in that the portion where the fixed guardrail cooperates with the movable guardrail is provided with an arc surface, and the portion where the movable guardrail cooperates with the fixed guardrail is provided with a flat surface , The movable guardrail is restricted to rotate relative to the fixed guardrail to a position where the plane is tangent to the arc surface.
  12. 根据权利要求1所述的割草机器人，其特征在于，所述可动护栏相对于所述固定护栏向后单向枢转。The mowing robot according to claim 1, wherein the movable guardrail pivots unidirectionally backward relative to the fixed guardrail.
  13. 根据权利要求12所述的割草机器人，其特征在于，所述固定护栏上连接有挡位弹片，所述可动护栏的前端面抵接在所述挡位弹片上以限制其向前枢转。The mowing robot according to claim 12, wherein a stop shrapnel is connected to the fixed guardrail, and a front end surface of the movable guardrail abuts on the stop shrapnel to restrict its forward pivoting .
  14. 根据权利要求13所述的割草机器人，其特征在于，所述可动护栏和所述固定护栏之间设置弹性元件，所述可动护栏向后旋转以使所述弹性元件蓄能，所述挡位弹片的弹性系数大于所述弹性元件的弹性系数。The mowing robot according to claim 13, characterized in that an elastic element is provided between the movable guardrail and the fixed guardrail, and the movable guardrail rotates backward to accumulate the elastic element. The elastic coefficient of the stop elastic piece is greater than the elastic coefficient of the elastic element.
  15. 根据权利要求1所述的割草机器人，其特征在于，所述可动护栏距 离地面的高度高于或者等于固定护栏距离地面的高度。The mowing robot according to claim 1, wherein the height of the movable guardrail from the ground is higher than or equal to the height of the fixed guardrail from the ground.
  16. 根据权利要求1所述的割草机器人，其特征在于，所述行走轮组包括在前的两个前行走轮和在后的两个后行走轮，所述可动护栏位于两个前行走轮之间，并且位于两个前行走轮接触地面的位置的前部，所述可动护栏的末端伸出所述两个前行走轮的圆周***。The mowing robot according to claim 1, wherein the walking wheel group includes two front walking wheels in front and two rear walking wheels in rear, and the movable guardrail is located on the two front walking wheels And at the front of the position where the two front running wheels contact the ground, the end of the movable guardrail extends beyond the circumference of the two front running wheels.
PCT/CN2019/117838 2018-11-16 2019-11-13 Autonomous lawn mowing robot WO2020098666A1 (en)

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CN209105654U (en) * 2018-11-16 2019-07-16 苏州科瓴精密机械科技有限公司 Grass-removing robot
CN112400448B (en) * 2019-08-20 2024-03-08 苏州科瓴精密机械科技有限公司 Automatic walking robot and control method thereof
CN112400449B (en) * 2019-08-20 2024-02-27 苏州科瓴精密机械科技有限公司 Automatic walking robot and control method thereof
CN212696652U (en) * 2020-01-21 2021-03-16 苏州宝时得电动工具有限公司 Automatic mower

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