CN102100143A - Grass cutter - Google Patents

Grass cutter Download PDF

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Publication number
CN102100143A
CN102100143A CN 201010548637 CN201010548637A CN102100143A CN 102100143 A CN102100143 A CN 102100143A CN 201010548637 CN201010548637 CN 201010548637 CN 201010548637 A CN201010548637 A CN 201010548637A CN 102100143 A CN102100143 A CN 102100143A
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motor
cutting
device
grass
blade
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CN 201010548637
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Chinese (zh)
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CN102100143B (en )
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强尼·鲍瑞那图
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苏州宝时得电动工具有限公司
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Abstract

The invention discloses a grass cutter which comprises a shell, a motor, a blade, a power providing device and a control device, wherein the motor is connected to the shell and provided with a motor shaft; the blade is used for cutting grass, connected to the motor shaft, and provided with at least one cutting blade; the power providing device provides energy for the motor when the grass cutter works so as to drive the blade to rotate at a cutting speed; and the control device is used for fixing the cutting speed at at least one preset constant rotating speed.

Description

割草机 Lawn mower

技术领域 FIELD

[0001] 本发明涉及一种电动的割草机,尤其是一种切割速度能够恒定的电动割草机。 [0001] The present invention relates to an electric lawn mower, in particular a cutting speed can be constant electric lawn mower. 背景技术 Background technique

[0002] 作为适于快速高效的修整草坪的工具,割草机在城市绿化和家庭除草等场合应用广泛。 [0002] as a tool suitable for fast and efficient trimming lawn mower is widely used in urban greening and family weeding and other occasions. 出于降低空气污染的考虑,电动割草机较之汽动割草机更为受到欢迎,而直流无绳割草机由于其移动的自由性更受用户的青睐,并且,直流电机具有良好的调速性能,如可实现无级调速、调速范围宽、低速性能好、高起动转矩、高效率等。 Consider for reducing air pollution, compared with steam-driven electric lawn mower mower are more popular, due to the DC cordless lawn mower freedom of movement is more favored by the users, and, having a good DC tone speed performance, such as the stepless speed regulation, wide speed range, low-speed performance, high starting torque and high efficiency.

[0003] 然而,各种割草机都依然给城市环境带来严重的噪声污染。 [0003] However, various mowers are still serious noise pollution to the urban environment.

[0004] 割草机的噪声主要由电机和刀片的高速转动所产生,通常可达到90分贝以上,而人在50分贝以上的噪音环境中就会感到明显的不适,所以割草机在工作时会严重影响周围的居民的正常生活。 [0004] The main noise of the lawn mower blades and high-speed motor caused by the rotation, usually above 90 decibels significant discomfort people will feel more than 50 dB noise environment, the mower at work It will seriously affect the normal life of the residents of the surrounding.

[0005] 割草机的切割刀片的转速通常在3000-4000转之间,这一速度具有非常优异的切割效果。 [0005] The rotational speed of the mower cutting blades usually between 3000-4000 rpm, the cutting speed has a very excellent effect. 但另一方面,切割刀片的转速在降低到低于3000转时,依然可以良好的切割较低的草。 On the other hand, the cutting blade rotational speed falls below 3,000 rpm, still less good cutting grass. 并且,降低割草机的工作转速,可以有效地降低割草机产生的噪声,但这同时也会带来割较高的草时的效率的下降。 And reduce the operating speed of the mower, the mower can effectively reduce the noise generated, but it will also bring down the efficiency when cutting high grass. 因此,选择合适的转速,在割草效率和噪声之间取得一个平衡是较难的,而且,这将使得割草机仅能割除较浅的草,从而限制了割草机的使用范围。 Thus, selecting the appropriate rotation speed, achieve a balance between efficiency and noise mowing more difficult, and this will cut off such that only shallow grass mower, thereby limiting the scope of the lawn mower.

发明内容 SUMMARY

[0006] 本发明的目的在于提供一种低噪音的割草机。 [0006] The object of the present invention is to provide a low-noise mower.

[0007] 为实现上述目的,本发明的技术方案是:一种割草机,包括:壳体;连接在壳体上的电机,所述电机具有电机轴;用于割草的刀片,所述刀片连接在所述电机轴上,并具有至少一个切削刃;动力提供装置,所述动力提供装置在割草机工作时为电机提供能量,从而驱动刀片以一个切割速度旋转;速度控制装置,速度控制装置将所述切割速度固定在至少一个预设恒定转速。 [0007] To achieve the above object, the technical solution of the present invention is: A lawn mower, comprising: a housing; a motor connected to the housing, said motor having a motor shaft; blade for cutting grass, the the blades are attached to the motor shaft, and having at least one cutting edge; power providing means, said power providing means provides energy when lawn mower motor, to drive the blade at a cutting speed of rotation; speed control means, speed control means the cutting speed is fixed at at least one predetermined constant speed.

[0008] 优选的,所述的至少一个预设恒定转速位于每分钟2000转至每分钟3800转之间。 [0008] Preferably, said at least one predetermined constant rotational speed is 2000 per minute go between 3800 revolutions per minute.

[0009] 优选的,所述的至少一个预设恒定转速位于每分钟2000转至每分钟3000转之间。 [0009] Preferably, said at least one predetermined constant rotational speed is between 3000 and transferred per minute 2000 rpm.

[0010] 优选的,所述速度控制装置包括速度传感器,用于检测刀片当前的切割速度;比较元件,用于确定当前的切割速度与所述预设恒定转速的偏差;能量控制元件,用于调整自电池提供给直流电机的能量,以使所述偏差趋近于零,切割速度变为与所述预设恒定转速相寸。 [0010] Preferably, said speed control means includes a speed sensor for detecting the current speed of the cutting blade; Comparative element, for determining a current cutting speed deviation with said preset constant rotational speed; energy control element, for adjusting the DC motor from the battery is supplied to the energy, so that the deviation is close to zero, the cutting speed becomes the preset constant speed phase inches.

[0011] 优选的,所述预设恒定转速为每分钟2500转。 [0011] Preferably, the predetermined constant speed of 2500 revolutions per minute.

[0012] 优选的,所述预设恒定转速为每分钟3000转。 [0012] Preferably, the predetermined constant speed of 3000 revolutions per minute.

[0013] 优选的,包括速度选择机构,所述速度选择机构连接所述速度控制装置,用于设定所述速度控制装置,使速度控制装置可选择将刀片的切割速度固定在多个预设恒定转速中的一个。 [0013] Preferably, the speed selector mechanism comprises a speed selector connected to said speed control means for setting said speed control means, so that the speed control means selectively secured to the cutting speed of the blade in a plurality of predetermined a constant rotational speed of the. [0014] 优选的,所述速度选择机构可选择的将刀片的切割速度固定在2500转每分的预设恒定转速和3000转每分的预设恒定转速中的一个。 [0014] Preferably, the speed selection means selectively cutting speed of the blade is fixed at 2500 rpm and a preset constant rotational speed 3000 revolutions per minute of a preset constant rotational speed of the.

[0015] 优选的,所述刀片的长度为460毫米。 [0015] Preferably, the blade length of 460 mm.

[0016] 优选的,所述速度传感器为霍尔传感器或光电传感器。 [0016] Preferably, the speed sensor is a Hall sensor or a photosensor.

[0017] 优选的,所述比较元件为微处理器。 [0017] Preferably, the comparison element is a microprocessor.

[0018] 优选的,所述能量控制元件为MOS场效应管。 [0018] Preferably, the power control element a MOS FET.

[0019] 优选的,所述比较元件为可执行比例积分微分算法的微处理器,所述微处理器接受速度传感器的转速信号,用于计算并输出脉冲宽度频宽比信号到MOS场效应管,以控制MOS场效应管的导通关断时间。 [0019] Preferably, the microprocessor can execute the comparison element is a proportional integral derivative algorithm, the microprocessor receiving the speed signal of the speed sensor, for calculating and outputting the pulse width of the duty cycle signal to the MOS FET to control MOS FET turn-off time.

[0020] 优选的,所述比较元件还用于比较切割速度与一个预设的堵转速度的大小,若切割速度小于预设的堵转速度一个预定的时间,所述能量控制元件中止电池向直流电机提供言旨量 [0020] Preferably, the comparing element is further configured to compare the size of the cutting speed and a preset stall speed, if the cutting speed is less than a predetermined stall speed for a predetermined time, the battery to the power control element abort DC aims to provide the amount of words

[0021] 优选的,所述动力提供装置为安装在壳体中的电池,所述电机为直流电机。 [0021] Preferably, said power means providing a battery mounted in the housing, the motor is a DC motor.

[0022] 优选的,所述动力提供装置为交流电接入机构,所述电机为交流电机。 [0022] Preferably, said power means to provide access to AC power mechanism, said motor is a AC motor.

[0023] 本技术方案的有益效果是:割草机在保证切割效率的同时,具有较低的噪声,从而具有较小的环境污染和较佳的操作体验。 [0023] Advantageous effects of the present technical solution is: to ensure the mower while cutting efficiency, it has lower noise, and thus has less environmental pollution and operating experience preferred.

附图说明 BRIEF DESCRIPTION

[0024] 图1为本发明的割草机的立体示意图; Perspective view [0024] FIG mower 1 of the present invention;

[0025] 图2为本发明的割草机的速度控制装置的结构框图; [0025] The block diagram of the apparatus of FIG. 2 lawnmower speed control of the present invention;

[0026] 图3为本发明的割草机的速度控制装置的电路框图; A circuit block diagram of a speed of the lawn mower [0026] FIG. 3 of the present invention is a control;

[0027] 图4为本发明的割草机的恒速控制流程图; Mower [0027] FIG 4 is a flowchart of the invention constant speed control;

[0028]其中: [0028] wherein:

[0029] 1割草机14速度控制装置28速度选择机构 [0029] 1 14 mower speed control means 28 speed selector mechanism

[0030] 3壳体16速度传感器η 当前转速 [0030] Sensor housing 316 speed current speed η

[0031] 4 电机18比较元件 η*预设恒定转速 [0031] Motor 4 18 Comparative preset constant rotational speed element η *

[0032] 6 电机轴20能量控制元件Δη转速偏差 [0032] 6 Energy Δη motor shaft 20 speed deviation element

[0033] 8刀片 22凹槽 30主开关 [0033] 8 main switch blade 22 recess 30

[0034] 10切割刃24内部凹陷区域32变压电路 [0034] 10 cutting edge 24 inside the recessed region 32 a transformer circuit

[0035] 12电池26刀片腔体 34变压电路 [0035] 12 battery 26 insert cavity 34 transforming circuit

具体实施方式 detailed description

[0036] 以下结合附图说明本发明的具体实施方式。 [0036] DETAILED DESCRIPTION OF THE DRAWINGS The following embodiment of the present invention.

[0037] 本发明的割草机可以是任意类型的,如,割草机可选的可以为交流割草机或直流割草机,可以为旋转式割草机、气浮和筒式割草机,也可以为手推式割草机、自驱割草机或全自动智能割草机,割草机的具体类型并不影响本发明的实施。 [0037] The mower according to the present invention may be of any type, e.g., mower mower may alternatively AC or DC mower, rotary mower may, flotation and mowing drum machine, as may be hand-pushed mower, self-propelled lawn mower or automatic intelligent mower, the mower does not influence the particular type of embodiment of the present invention. 割草机具有动力提供装置, 若具体为具有交流电机的割草机,则其动力提供装置相应为交流电接入装置,若具体为具有直流电机的割草机,则其动力提供装置相应为安装在壳体中的电池。 Mower provided with a power means, in particular if the lawn mower having an AC motor, it provides power to a respective alternating current device access means, in particular if the mower having a DC motor, it provides power to the respective mounting means a battery in the housing.

[0038] 图1所示为本发明的具体实施方式的具有速度控制装置的、具有直流电机的割草机1。 DETAILED has a velocity of [0038] Figure 1 shows the embodiment of the present invention, a control apparatus, the mower having a DC motor. 割草机1包括壳体3,壳体3上设置有凹槽22,凹槽22用于安放电池12,该电池12 为割草机1的各种功能提供能源。 Lawn mower 1 comprises a housing 3, is provided with a groove 22, a groove 22 for mounting the housing 12 of the battery 3, various functions of the mower battery 12 to provide energy to 1. 优选的,本实施例中采用额定电压36伏、额定电流12安的可充电电池,然而,其他型号的电池也是可用的,例如,额定电压24伏、额定电流17安的可充电电池。 Preferably, in the present embodiment, the rated voltage of 36 volts, 12 amps rated current of the rechargeable battery, however, other types of batteries are available, for example, a rated voltage of 24 volts, rated current of 17 amps rechargeable batteries. 害IJ草机1的壳体3上连接并延伸出供操作者握持以及推动割草机1行走的手柄,手柄上设置有割草机的功能控制部件,如开关和割草机的自驱速度调节元件。 IJ connecting harm grass housing 1 and the upper 3 extending for the operator to push the handle grip and walking mower 1 is provided with a function control means on the handle of the lawn mower, such as switches and a self-propelled lawn mowers speed adjustment member.

[0039] 图2为本发明的速度控制装置14的结构框图,进一步参照图2,割草机1还包括用于提供旋转输出以驱动刀片8割草的电机4,电机4具有一个输出旋转运动的电机轴6。 [0039] 14 means a block diagram showing a speed control of the present invention in FIG. 2, with further reference to FIG. 2, further comprising a mower 4, the motor 4 has an output for providing rotary motion to the rotary output drive motor mowing blade 8 the motor shaft 6. 本实施例中,电机4为直流电机, 具体可以为直流永磁电机或者直流无刷电机;割草机1的壳体3在下方向割草机1的内部凹进,形成一个刀片腔体26,刀片腔体26内容纳有用于切割修整草皮的刀片8,刀片8和割草电机4的电机轴6直接连接,中间不设任何减速齿轮系统。 Embodiment, the motor 4 is a DC motor of the present embodiment, it may be a particularly DC permanent magnet motor or brushless DC motor; 3 lower direction of the housing interior of the mower 1 mower 1 is recessed to form a cavity insert 26, sodium content blade 26 for cutting the cavity dressing turf blades 8, the blade 8 and mowing motor shaft 6 of the motor 4 is directly connected without intermediate reduction gear system provided any. 刀片8的两端的一个侧边分别形成切削刃10,切割刃10为弧形凸起形状,且刀片8具有一个内部凹陷区域24,用于抬高切割下的碎草。 8 a side of both ends of the blade cutting edges 10 are formed, the cutting edge 10 is an arcuate convex shape, and the blade 8 has an inner recessed area 24, for raising the cut grass clippings. 然而,刀片结构并不局限于上述的方式, 例如,刀片可以整体成型为S状,也可以大致呈直线,刀片的具体形式并不影响本发明的实施。 However, the blade configuration is not limited the above-described manner, for example, the blade may be integrally formed into an S-shape may be substantially linear, it does not affect the specific form of embodiment of the blade of the present invention. 本实施例还包括用于沿着需要修整的草坪驱动割草机1的电动的驱动电机(图未示), 该驱动电机可操作地与电池12连接。 The present embodiment further includes means for driving the lawn mower need to be trimmed along the electric drive motor 1 (not shown), the driving motor 12 is operatively connected to the battery.

[0040] 电池12和电机4之间设有速度控制装置14,速度控制装置14包括设置的临靠电机4的速度传感器16,速度传感器16用于监测电机4的当前转速n,并将监测到的当前转速η发送到比较元件18。 4 is provided between [0040] the battery 12 and the motor speed control means 14, speed control means 14 includes a temporary speed of motor 4 by sensor 16, speed sensors 16 for monitoring the motor current rotational speed n 4, and monitored η current rotation speed is sent to the comparing element 18. 比较元件18可选择的具有或不具有预设恒定转速η*。 Alternatively the comparing element 18 with or without a preset constant rotational speed η *. 当比较元件18具有预设恒定转速η*时,速度控制装置14处于恒速控制状态。 When comparing element 18 has a predetermined constant speed η *, the speed control means 14 is constant speed control state. 比较元件18将速度传感器16传送的电机4的当前转速η与预设恒定转速η*进行比较,用当前转速η减去预设恒定转速η*,得出转速偏差Δη,并将与Δη相关的信号输出传递给能量控制元件20。 Comparing the velocity sensor element 18 of the motor 4 and the current rotation speed [eta] [eta] a preset constant rotational speed of transmission 16 * compared with the current rotational speed of [eta] [eta] * by subtracting a predetermined constant speed, the rotation speed deviation derived Delta] [eta, and the related Delta] [eta signal is output to the power control element 20. 能量控制元件20根据比较元件18输出的信号,调整自电池12提供给电机4的能量。 Energy control signal output element 20 of the comparing element 18, to adjust the energy from the battery 12 is supplied to the motor 4. 具体为,当当前转速η大于预设恒定转速η*,转速偏差△ η大于0时,能量控制元件20减少电池12提供给电机4的能量,使当前转速η降低,偏差Δη降低以趋近于0 ;当当前转速η小于预设恒定转速η*,转速偏差Δ η小于0时,能量控制元件20增加电池12提供给电机4的能量,使当前转速η增加,转速偏差Δη增加以趋近于0,速度控制装置14不断的根据转速偏差Δ η调节电池12提供给电机4的能量,以保证电机4的转速保持为预设恒定转速η*。 Specifically, when a current greater than a predetermined constant rotation speed [eta] η *, the rotation speed deviation △ η is greater than 0, the control element 20 to reduce the energy battery 12 to provide energy to the motor 4, [eta] so that the current speed decreases to close to reduce the deviation Δη 0; [eta] when the current speed is less than a preset constant rotational speed η *, the rotation speed deviation Δ η is less than 0, the control element 20 to increase the energy battery 12 to provide energy to the motor 4, [eta] so that the current speed increases to increase the speed deviation tends to Δη 0, the constant speed control device 14 regulating the rotational speed deviation Δ [eta] 12 battery energy supplied to the motor 4, to ensure that the speed of the motor 4 is maintained at a predetermined constant speed η *. 当比较元件18不具有预设恒定转速η*时,速度控制装置14不对电机的转速进行限制,速度控制装置14处于全速控制状态。 When comparing element 18 does not have a preset constant rotational speed η *, 14 are not the rotational speed of the motor speed control limit, the speed control means 14 is in full control. 需要指出的是,由于电机4的电机轴6和刀片8直接连接,所以,刀片的切割速度等于电机的当前转速η。 It should be noted that, since the motor shaft 6 and the motor 4 is directly connected to the blade 8, so that the cutting speed of the blade is equal to the current speed of the motor η.

[0041] 比较元件18的预设恒定转速η*是可选择的,操作者可以根据工作需要选择。 [0041] Comparative element 18 preset constant rotational speed η * is selectable, the operator can be selected according to the work. 预设恒定转速η*可以采用无极调速方式或者档位调节方式进行设定。 A preset constant rotational speed η * can be used stepless manner or the adjusting mode is set. 本实施例中的速度控制装置14具有两档可调节的预设的恒定速度值η*,分别为2500转每分和3000转每分。 This embodiment of the speed control device 14 embodiment has two steps adjustable preset constant speed value η *, respectively 2500 rpm and 3000 rpm.

[0042] 图3所示为本发明的速度控制装置14的电路框图,该电路包括主开关30,主开关30用于控制整个电路的打开和关断;比较元件18,具体形式为微控制器(MCU),速度传感器16,具体形式为霍尔传感器(Hall Sensor)或光电传感器,能量控制元件20,具体形式为MOS场效应管(MOSfet)。 14 is a block diagram of the circuit device of the present invention shown in the speed [0042] FIG 3 the control, the circuit comprising a main switch 30, a main switch 30 for controlling the entire circuit opening and off; Comparative element 18, specifically in the form of a microcontroller (the MCU), a speed sensor 16, particularly in the form of a Hall sensor (Hall sensor) or a photosensor, the energy control element 20, particularly in the form of a MOS field effect transistor (MOSFET). 如业界人士容易知悉的,这些元件的具体形式的选择是多样的,不限于本电路框图中的具体形式,例如,比较元件18也可以为模拟比较电路,速度传感器16 可以为任何类型的转速度传感器。 The industry readily known to the specific forms of these elements selected are diverse, not limited to the circuit block diagram in the specific form, e.g., comparison element 18 may be an analog comparison circuit, the speed sensor 16 may be any type of rotation speed sensor. [0043] 微控制器为本实施例的割草机1的主控芯片,其用于监控割草机1的特定工作参数的信号,根据信号计算发出相应的工作指令。 [0043] The microcontroller control chip mower embodiment 1 of the present embodiment, a signal for monitoring operating parameters of a particular mower 1, in accordance with an instruction issued by the respective operating signal calculation. 例如,主控芯片在割草机1发生堵转时,发出停机的指令;在操作者将刀片转速设定为2500转每分时,控制电机驱动刀片以基本上2500转每分恒速转动。 For example, the master chip 1 when the mower stall occurred, issues an instruction of shutdown; operator to set the blade speed 2500 revolutions per min, controls the motor driver to rotate the blade substantially constant speed 2500 rpm. 在工业上,刀片的转速允许有上下5%的误差,即基本上2500转每分是指刀片转速在2500转每分上下浮动,但位于每分钟2375至每分钟2625转之间。 In industry, the rotational speed of the blade allows the upper and lower error of 5%, i.e. substantially 2500 rpm blade speed refers to fluctuate at 2500 revolutions per minute, but is located between 2375 to 2625 revolutions per minute.

[0044] 该电路还包括电源,即可充电的电池12。 [0044] The circuit further includes a power source, the battery 12 can be charged. 电池12通过主开关30以及第一个变压电路32,第二个变压电路34与微控制器相连,给微控制器提供稳压5伏电源。 30 and the battery 12 a transformer circuit 32, a second transformer circuit coupled to the microcontroller 34 through the main switch, provides a regulated 5 volt supply to the microcontroller.

[0045] 该电路中还包括具体为直流永磁电机的电机4。 [0045] The circuit further comprises a DC permanent magnet motor in particular a motor 4. 电机4与具体为MOS管的能量控制元件20 —起,与电池12及主开关30串联。 Motor 4 and in particular an energy control MOS transistor element 20-- cases, the battery 12 and a main switch 30 connected in series.

[0046] 该电路包括电机转速监测部分。 [0046] The circuit includes a motor speed monitoring portion. 如前所述的,可以采用各种转速表传感器直接监测电机4的转速,也可以通过监测电机4的电压或者电流间接计算出电机4的转速,其具体形式不在此赘述。 As described above, various speed tachometer sensor to monitor the motor 4, the motor may be monitored by a voltage or current 4 indirectly calculated speed of the motor 4, which in this specific form is not repeated herein. 在本实施例中,采用霍尔传感器检测电机的当前转速n,其实现方式为: 在电机轴6上套设4对极磁环,在贴近极磁环的位置设置霍尔感应部件,这样,电机轴每转动一周,霍尔感应部件输出四个电压方波信号,并输出到微控制器的转速信号输入端。 In the present embodiment, the motor is detected using Hall sensor current speed n, which is the implementation: motor shaft 6 provided on the sleeve 4 pairs of magnetic poles, the Hall sensor member disposed proximate the magnetic pole position so that, each revolution of the motor shaft, the Hall voltage sensing means outputs four square wave signal, and outputs the signal to the speed input of the microcontroller. 微控制器通过单位时间内采集的电压方波信号的数量,即可换算得出电机的当前转速η。 The number of acquisitions by the microcontroller unit time of the voltage square wave signal, the motor current can be obtained in terms of speed η. 如前所述的,电机4和刀片8之间不具有任何减速机构,即电机4的当前转速η与割草机1的刀片8的切割速度相等,然而,电机4和刀片8之间也可以设置减速机构。 As described above, the motor 4 do not have any blades and between the reduction mechanism 8, i.e., the current rotational speed is equal to η mower blades with cutting speed of the motor 8 1 4, however, between the motor 4 and the blade 8 may be the speed reduction mechanism.

[0047] 该电路还包括具体为MOS场效应管的能量控制元件20。 [0047] The circuit further comprises a control element 20 for the specific energy of the MOS FET. MOS场效应管具有根据接收到的脉冲宽度频宽比,迅速的导通、关断。 MOS FET having a pulse width according to the received duty cycle, quickly turned off. 在本实施例中,微控制器以2000ΗΖ的频率输出脉冲宽度频宽比信号,即脉冲宽度频宽比信号具有周期T = 0. 5毫秒。 In the present embodiment, the micro-controller of the output pulse width than the signal bandwidth 2000ΗΖ, i.e., the pulse width of the signal bandwidth than having a period T = 0. 5 ms. 该脉冲宽度频宽比信号经MOS场效应管驱动电路放大,由5伏变为12伏,以驱动MOS场效应管导通关断。 The pulse width of the signal bandwidth than the MOS FET driving circuit amplifies by 12 volts becomes 5 volts to drive the MOS FET is turned off. 在周期T内,脉冲信号具有一个高电平和一个低电平,高电平和低电平在周期T内持续时间长度的比值即为可变化的脉冲宽度频宽比。 In the period T, a pulse signal having a high level and a low level in the cycle T is the duration of the ratio of the length of the variable bandwidth high and low pulse width ratio. 其中,在脉冲信号为高电平时,MOS场效应管处于导通的状态,此时电池12的电压可以通过MOS场效应管施加到电机4上;在脉冲信号为低电平时,MOS场效应管处于关闭的状态,此时电池12的电压无法通过MOS场效应管施加到电机4上(但可以通过二极管续流)。 Wherein, when the pulse signal is high, MOS FET in a conductive state, when the voltage of the battery 12 may be applied to the motor 4 through the MOS FET; pulse signal is low, MOS FET in the closed state, when the voltage of the battery 12 through the MOS FET is not applied to the motor 4 (but by wheeling diode). 这样,通过调节MOS场效应管的脉冲宽度频宽比,即可以调节周期T内电压有效的施加到电机4上的时间,即可以调节周期T内电池12传输给电机4的能量,以及在宏观上一定时间内电池12两端的电压。 Thus, by adjusting the duty cycle of the pulse width of the MOS FET, i.e., the voltage may be adjusted within the period T is applied to the effective time of the motor 4, i.e., the transmission period T may be adjusted to the energy battery 12 to the motor 4, and the macro a certain time voltage across the battery 12. 由于周期T持续时间短,在操作者可感知的时间上电机4始终是被驱动的。 Since the period T for a short time, the operator can perceive the time the motor 4 is always driven.

[0048] 该电路还包括速度选择机构28,该速度选择机构28连接微控制器的端子,通过电平高低的变化设定比较元件18 (即微处理器)及割草机1的速度控制装置4的状态,供操作者操作选择电机4及刀片8转动速度的控制方式。 [0048] The circuit further includes a speed selector mechanism 28, the speed selection terminal connecting mechanism microcontroller 28, by setting the level change in the level comparing element 18 (i.e., a microprocessor) and a speed control device of the lawn mower state 4, the selection operation for the operator to control the rotational speed of the motor 4 and 8 blades. 在本实施例中,速度选择机构28可以选择三种速度模式,分别为恒速2500转每分、恒速3000转每分、全速转动。 In the present embodiment, the speed selector 28 can select three speed modes, respectively, constant speed 2500 rpm, 3000 rpm constant speed, full speed. 速度选择机构28具体可以为旋钮式的速度切换钮、或按压式的速度切换按钮(可以具有多个按钮分别对应不同的速度)、或滑移式的速度切换钮、或杆式的速度切换杆,在此不再一一列举。 Speed ​​speed selector mechanism 28 can be switched to a particular speed knob button switch or push speed button (may have a plurality of buttons corresponding to different speeds), or the slip speed switching button type, or switching lever rod , which will not be enumerated.

[0049] 图4为本发明的恒速调节流程图。 [0049] FIG 4 is a flowchart of the invention a constant rate adjustment.

[0050] 如图4,主开关30打开时,控制电路通电,微控制器被预置,预置包括微控制器内的寄存器初始化,以及定时器复位调整。 [0050] As shown in FIG 4, when the main switch 30 is opened, the control circuit is energized, the microcontroller is initialized, including the preset register is initialized within a microcontroller, a timer is reset and adjustment. 在本阶段,微控制器会读取速度设定部分输入的信号,设定预设恒定转速η*。 At this stage, the microcontroller reads the signal input portion of the speed setting, speed setting preset constant η *. [0051] 微控制器预置后,进入堵转判断阶段。 [0051] After the microcontroller preset into the stall judgment stage.

[0052] 在某些环境中,例如由于刀片8撞击到物体,或者割草机1进入非常深的草时,割草机1的刀片8会急剧减速,这时电机4发出的电流会骤增至一个非常高的数值,为了保护电机4和驱动电路,这时应该关断割草机1。 When [0052] In certain environments, for example due to a blade 8 hits the object, a lawn mower or very deep into the grass, the mower blades 1 will tumble 8, then the motor current will surge emitted 4 to a very high value, in order to protect the motor driving circuit 4 and, when the lawn mower 1 should be switched off.

[0053] 微控制器接收霍尔传感器发送的电压方波信号,并通过单位时间内的方波信号数量换算得出微控制器可识别的电机4及刀片8的当前转速η。 [0053] The microcontroller receives a square wave voltage signal transmitted from the Hall sensor, and by the number of square wave signal within a unit time is obtained in terms of the microcontroller can identify the current speed of the motor η 4 and 8 of the blade. 然后,将换算得出的电机4的当前转速η与预设堵转转速nd相比较,若电机4当前转速η高于预设堵转转速nd,则判定割草机1未堵转,程序进入下一阶段;若电机4的当前转速η低于预设堵转转速nd,则开始计时,若在预设堵转时间td内,当前转速η上升至高于预设堵转转速nd,则判定割草机1未堵转,程序进入下一阶段;若电机4当前转速η在预设堵转时间td内始终低于预设堵转转速! Then, the resulting converted current motor 4 with a preset speed η nd stall speed compared to the current rotation speed if the motor 4 is higher than the preset η nd stall speed, it is determined that the mower is not a stall, the routine proceeds the next stage; if the current speed of the motor 4 is lower than a preset stall speed η nd, the start time, if a preset stall time td, the current rises above a predetermined speed η stall speed nd, it is determined cutting 1 mower not stall, the routine proceeds to the next stage; if the current motor speed η 4 within a preset stall time td is always lower than a preset stall speed! ^,则判定割草机1处于堵转状态,微控制器关断电机4,割草机1停机。 ^, It is determined that the mower 1 in the stall state, the microcontroller 4 will be cut off, the lawn mower 1 is stopped. 在实践上,将预设堵转转速设定在100至400转之间,将预设堵转时间设定在2至5秒之间是合适的,本实施例中,优选的,预设堵转转速nd设定为200转每分,预设堵转时间td设定为3秒。 In practice, the preset stall speed is set between 100 to 400 rpm, the predetermined time is set stall between 2-5 seconds is suitable, embodiment, the present preferred embodiment, the predetermined block nd rotation speed set to 200 rpm, the predetermined time td stall set to 3 seconds.

[0054] 若在堵转判断阶段判定割草机1未堵转,程序进入转速调节阶段。 [0054] If it is determined in the stall determining step mower 1 is not stall, the routine proceeds to stage speed regulation.

[0055] 如前所述的,转速调节的原理为,在恒速控制的状态下,微控制器内预置有预设恒定转速n*,微控制器调节输出的脉冲宽度频宽比信号的频宽比,从而变化MOS场效应管的导通时间,在MOS场效应管导通时,电机4的两端才会受到直流电池12的电压,在不导通时,电机4的两端没有受到电压,这样,通过调节脉冲宽度频宽比信号的频宽比,可以调节一定时间周期内施加给电机4有效电压的时间比例,进而调节在宏观上一定时间内施加到电机4两端的电压,以及电池12输出的能量,进而调节当前转速η。 [0055] As described above, the rotational speed control principle, in a state of constant speed control, the microcontroller has a preset predetermined constant rotational speed n *, the pulse width of the microcontroller adjusts the output bandwidth than the signal duty cycle, and thus change the oN time of the MOS FET, while the MOS field effect tube is turned on, the motor 4 will be subject to both ends of the voltage of the DC battery 12, when non-conducting, both ends of the motor 4 is not by voltage, so that, by adjusting the duty cycle of the pulse width of the duty cycle signal, the ratio may be adjusted within a certain time period of time for applying the effective voltage to the motor 4, thereby regulating the voltage across the motor 4 is applied to a macroscopic certain time, and energy output from the battery 12, thereby regulating the current speed η. 当电机4的当前转速η 低于预设恒定转速η*时,微控制器调节降低脉冲宽度频宽比信号的频宽比,电机4两端的电压以及接受的能量增加,电机4的当前转速η得到提高,使之接近于预设恒定转速η* ;当电机4的当前转速η高于预设恒定转速η*时,微控制器调节提高脉冲宽度频宽比信号的频宽比,电机4两端的电压以及接受的能量减少,电机4的当前转速η降低,使之接近于预设恒定转速η*。 When the motor 4 is [eta] current rotation speed lower than a preset constant rotational speed η *, the microcontroller adjusting the pulse width to reduce bandwidth increases the duty cycle ratio, the voltage across the motor 4 and the energy of the received signal, the current rotational speed of the motor 4 [eta] is improved, so that close to a preset constant rotational speed η *; 4 when the motor current above a predetermined constant rotation speed [eta] η *, the microcontroller adjusting the pulse width of the duty cycle to improve the ratio of signal bandwidth, two motors 4 voltage and the energy receiving end is reduced, the current rotational speed of the motor 4 decreases [eta], approximated to a preset constant rotational speed η *.

[0056] 具体的,微控制器将电机1的当前转速η和预设恒定转速η*比较,得出转速的偏差Δ η,微控制器根据偏差Δ η计算得出当前为达到预设恒定转速η*应输出脉冲宽度频宽比信号,脉冲宽度频宽比信号经MOS场效应管驱动电路放大并传递到MOS场效应管,以控制电池12特定时间内输送给电机4的能量,达到预设恒定转速η*。 [0056] Specifically, the microcontroller current speed of the motor 1 and [eta] η * preset constant rotational speed comparison, the speed deviation Δ η, microcontrollers currently obtained reaches a preset constant rotational speed is calculated based on the deviation Δ η η * to be output pulse width of the duty cycle signal, the pulse width of the duty cycle signal amplifying MOS FET driving circuit and transmitted to the MOS FET, to control the delivery time of the battery 12 to the specific energy of the motor 4 reaches a preset constant speed η *.

[0057] 在本实施例中,微控制器采用比例积分微分(PID)算法计算其输出的脉冲信号频宽比。 [0057] In the present embodiment, the microcontroller calculates the duty cycle of its output pulse signal using a proportional integral derivative (PID) algorithm. 比例-积分-微分(PID)算法是工业上常见的控制算法。 Proportional - integral - derivative (PID) algorithm is a common industrial control algorithms. 在PID控制里,这个算法会计算比例,积分,微分的响应和这三者的和,以此来计算真实的输出。 In the PID control, the algorithm calculates response proportional, integral, differential, and these three and, in order to calculate the true output.

[0058] 进一步的,本实施例采用增量式PID算法。 [0058] Further, the present embodiment employs incremental PID algorithm. 在调节过程中,微处理器每50毫秒对电机转速进行取样计算,并将其存储,微处理器根据当前转速、前次转速,再前次转速进行比例积分微分计算,得出输出脉冲宽度频宽比信号。 During adjustment, the microprocessor every 50 milliseconds sampled motor speed calculation, and stored, the microprocessor according to the current speed, the previous speed, rotational speed and then the previous PID calculation, the frequency of the output pulse width wider than the signal.

[0059] 具体的,脉冲宽度调制信号的频宽比可根据以下的方法计算来获得: [0059] Specifically, the pulse width modulated signal is the bandwidth ratio can be calculated according to the following methods to obtain:

[0060] 第一、霍尔传感器测量电机4的当前转速η,输出电压方波信号到微控制器。 [0060] First, a Hall current sensor measures the motor speed [eta] 4, the output voltage of the square wave signal to the microcontroller.

[0061] 第二、微控制器记录当前电机4当前转速η、前次电机转速nl、再前次电机转速η2, 并计算它们的偏差。 [0061] Second, the microcontroller 4 records the current motor current speed [eta], the previous motor speed NL, then the previous motor rotation speed [eta] 2, and calculate their deviation. [0062] 第三、根据转速偏差,调整脉冲宽度频宽比(PWM占空比)。 [0062] Third, the rotational speed deviation, adjusting the pulse width of the duty cycle (PWM duty ratio).

[0063] 第四、MOS场效应管根据接收的信号调节电机4两端的电压,调节转速逼近于预设的恒定转速。 [0063] Fourth, the MOS FET regulated voltage across the motor 4 in accordance with the received signal, adjust the speed of approach to a preset constant rotational speed.

[0064] 然后,程序返回计算电机4的当前转速η的阶段,按前述的判断堵转、计算脉冲宽度频宽比,调节电机4转速,这样循环继续,直到割草机1停机为止。 [0064] Then, the program returns to the current rotation speed is calculated η phase motor 4, according to the judgment of the stall, the pulse width of the duty cycle is calculated, the speed regulating motor 4, the cycle continues until the mower 1 is stopped up.

[0065] 以下描述预设恒定速度η*的选择。 [0065] The following description η * preset constant speed selection.

[0066] 通常意义上,转速与噪声相对应的升高和降低:转速升高,噪声升高;转速降低, 噪声降低。 [0066] a general sense, the rotation speed corresponding to the noise rise and fall of: speed increases, the noise increases; speed is reduced, the noise reduction. 同时,转速与切割效率同样对应的升高和降低。 At the same time, corresponding to the same speed and cutting efficiency raised and lowered. 转速升高,切割效率升高;转速降低时,切割效率也随之降低。 Speed ​​increases, increase cutting efficiency; speed decreases, the cutting efficiency decreases. 因而,在寻求低噪声的同时必须兼顾切割效率,寻找一个恰当的转速,达到噪声和切割效率的一个平衡点。 Thus, while seeking a low-noise cutting efficiency must be balanced, to find an appropriate speed to achieve a balance between noise and cutting efficiency.

[0067] 在割草机实际的使用中,在以特定的方式切割某些特定的草况的草时,并不需要极高的效率,这时,较高的转速在没有明显的提高切割效率的同时,还带来了额外的噪音污染。 [0067] In actual use the mower, the grass cutting certain grass conditions in a particular manner, does not require very high efficiency, time, higher speeds without significant improvement in cutting efficiency at the same time, also brought additional noise pollution. 通常,标准的草高为90mm,而割草机1具有切割深度的调节机构,以选择性的将草切割到不同的高度。 Typically, the standard grass height of 90mm, the lawn mower having a cutting depth adjusting mechanism to selectively cut the grass to a different height. 操作者并不总是以最深的切割深度来切割。 The operator is not always the deepest depth of cut to cut. 如同业界所常见的,本实施方式的割草机1具有1-6档可调节的切割高度,1档切割最浅,需要的切割转速最低,然后切割深度依次上升,到6档切割最深,需要的切割转速最高。 As is common in the industry, the present embodiment is a lawn mower cutting height adjustable 1-6 shift, a gear cutting lightest minimum cutting speed desired, and then successively increased cutting depth, cutting speed deepest to 6, need cutting the maximum speed. 在标准密度的草况下,在切割转速为2000转的时候,割草机1处于1、2档时切割依然可以有良好的切割效率,在切割转速为2500转时,割草机1处于1、2、3、4档依然可以有良好的切割效率,在切割效率为3000转时, 1、2、3、4、5、6档均可以有良好的切割效率。 Still a good cutting efficiency in cutting the grass density standard conditions, when the cutting speed is 2000 rpm, the lawn mower 1 is 1,2 speed, the cutting speed of 2500 rpm, the lawn mower 1 is in a , 2,3,4 files can still have a good cutting efficiency, cutting efficiency of 3000 rpm, 1,2,3,4,5,6 files can be a good cutting efficiency. 结合噪声综合考虑,在2000转时,噪声很低,然而适用范围也比较小,仅能切割很浅的深度。 Considering the combination of noise, at 2000 rpm, the noise is very low, but the scope is relatively small, only cut a very shallow depth. 转速上升达到2500转时,噪声有所升高,但依然处于可接受的范围,并且,可以切割1、2、3、4档的切割深度,进而,转速上升到3000转每分时,噪声再次提升,切割范围也提升,可以切割标准草况各个档位的切割深度。 When the speed is increased to 2,500 rpm, the noise was increased, but still within an acceptable range, and the cutting depth may be cut 1,2,3,4 profile, and thus, speed up to 3000 revolutions per min, the noise again lifting, lifting the cutting scope, each gear cutting depth may be cut grass standard conditions. 因而2500 转每分和3000转每分具有较高的可实施性和适应性,噪声较低而且应用范围较广。 Thus 2500 rpm and 3000 rpm with a high adaptability and can be implemented, a low noise and a wide range of applications. 然而, 密度大于标准草况的草坪也是常见的,为了尽可能的保证切割效率,并仍然控制噪声,割草机1可以进一步的具有切割转速3800转每分的预设恒定转速。 However, the standard density greater than turf grass is a common condition, in order to ensure cutting efficiency as possible, and still control the noise, the mower may further have a predetermined cutting speed of 3800 rpm constant speed.

[0068] 同时需要指出,割草机的切割噪声和刀片的长度存在相关性。 [0068] It should be noted at the same time, there is a correlation length of the mower cutter blades and noise. 具体的,刀片长度越长,则相同转速下的噪声越大,同时刀片的切割效率也越高。 Specifically, the longer the length of the blade, the more noise is the same rotational speed, while the higher the cutting efficiency of the blade. 在本具体实施方式中,采用了460毫米的刀片,相应的配合2500转和3000转的预设恒定转速,以达到最佳效果。 In the present embodiment, using a 460 mm blade, with the corresponding preset at 2500 rpm and 3000 rpm constant speed, to achieve optimal results.

[0069] 以上所描述的为一种优选的实施方案,在实际设计中,根据地区差异和使用习惯的差异,预设恒定转速可以在2000转每分到3800转每分之间作合适的选择,为了尽可能的控制噪声,预设恒定转速应尽可能的在2000转每分到3000转每分之间作合适的选择,如2100转每分,2400转每分,2700转每分等。 [0069] A preferred embodiment of the above described embodiment, in the actual design, and regional differences based on differences in usage, can be preset constant rotational speed 3800 rpm assigned transferred to a suitable selection between the 2000 per minute, in order to control as much as possible the noise, a predetermined constant speed should be assigned as the appropriate choice between 3000 revolutions per minute at 2000 rpm, such as 2100 rpm, 2400 rpm, 2700 rpm per minute per classification.

[0070] 根据测试,当环境噪音在50分贝左右时,本实施例的割草机在2500转恒速档下, 切割噪音在73分贝左右;在3000转恒速档下,切割噪声在76分贝左右,远低于普通割草机95分贝左右的噪音。 [0070] According to the test, when the ambient noise at 50 dB according to the present embodiment mower 2500 rpm speed at a constant speed, the cutting noise of around 73 db; 3000 rpm at a constant speed profile, cutting noise 76 db about, well below the normal mower around 95 db noise. 因此,本实施例的割草机设置的具有2500转每分和3000转每分两个预设恒定转速。 Thus, with 2500 rpm and 3000 revolutions per minute two preset constant rotational speed mower of the present embodiment is provided. 然而,2000转到3000转之间噪声都仍是可以接受的,并且也可以或宽或窄的可以应用到实际的割草情景中。 However, the noise between 2000 to 3000 rpm it may still be acceptable, and may be wide or narrow may be applied to the actual mowing scenarios.

[0071] 进一步的,本实施例的割草机1还具有全速档,在这个档位,微控制器仅仅判断割草机1是否堵转,不对割草机1的切割速度做任何的限制,以适于在一些特别密集的草地工作,这时,噪声控制相对处于次要的地位,而看重切割效率。 [0071] Further, the present embodiment is a lawn mower further includes a full-speed gear, in this range, the microcontroller determines whether only one stall mower, lawn mower cutting speed 1 does not make any restrictions, in some particularly adapted to operate in dense grass, this time, the relative noise control in a secondary position, the cutting efficiency value. 但事实上全速档主要作为一个应急备用档位,在实际的使用中极少会用到,即使取消,仅设置前述的两个预设恒定转速档位也是可以的。 But in fact full speed gear primarily as a backup emergency, rarely used in actual use, even cancel, provided only two preset constant rotational speed of the gear are possible. 根据实际统计,家庭割草机用户在草坪生长迅速的季节通常每两周割一次草坪,在草坪生长缓慢的季节通常每三周割草一次。 According to the actual statistics, the rapid growth of home users mower season usually once every two weeks mow the lawn on the lawn, the lawn is usually slow-growing season mowing once every three weeks. 而在草皮生长最旺盛的季节,每两周切割草坪一次只需使用2000转的恒定转速就能满足需求。 The growth of the most productive season in the turf, cutting the lawn once every two weeks using only constant rotational speed of 2000 rpm will be able to meet the demand. 使用2500转/3000转的恒定转速分别可以实现每3周/4周切割一次草坪而不会过载。 Use 2500 rpm / 3000 rpm constant speed, respectively, may be implemented / 4 weeks every 3 weeks while cutting a lawn is not overloaded. 因而除非用户超过一月不切割草坪、 或者草坪属于生长极为迅速的品种(这在家庭用户中极为少见),否则基本不会使用到全速档,而需要大功率全速割草的用户通常会选用汽油割草机。 Thus more than in January unless the user is not cutting the lawn, or lawn belongs to the very rapid growth of the species (which is extremely rare in home users), otherwise it will not use basic to full-speed, full-speed and high-power needs mowing users usually use gasoline Lawn mower. 根据统计,在直流割草机的主要市场上,使用到全速档的情况出现的可能性不超过千分之二。 According to statistics, in the major markets of DC mower, the possibility of using the case to full speed file appears no more than a fraction.

[0072] 本具体实施例中,采用了预设恒定转速,而没有采用无极调速,这是因为预设的恒定转速具有明显的优势。 [0072] In the present embodiment, using a preset constant rotational speed, but did not use stepless, because the preset constant rotational speed has obvious advantages.

[0073] 首先,预设恒定转速可以节省用户的调试时间。 [0073] First, a preset constant rotational speed can save user's debugging time. 用户在使用恒定转速可调的割草机时,必然的会寻找一个达到噪声和效率的平衡的切割转速。 When the user using a constant speed adjustable lawn mower, will be necessary to find a balance to achieve efficient noise and cutting speed. 如果采用无极调速方式,那么,每一个终端用户需要经历反复的试错才能找到一个合适的恒定转速值,这个试错过程可能耗时较长且体验恶劣。 If a stepless manner, so that each end-user needs to go through repeated trial and error to find an appropriate constant speed value, this process can be time-consuming trial and error and bad experiences. 根据最终用户实验,没有预设档位时,用户通常需要反复调速达5至7次之久才能找到自己满意的切割速度,百分之百的用户都认为这个调试过程不舒适或极不舒适。 According to the end-user experiment, no preset range, users often need to repeat the governor of 5-7, followed by long to find their satisfaction with the cutting speed, one hundred percent of users believe that the commissioning process uncomfortable or very uncomfortable. 而预设恒定转速则可以免去这个调试时间,终端用户只需选择一个预设档位即可以找到合适的,噪声和效率达到平衡的切割速度。 And the predetermined constant rotational speed may eliminate the need for debug time, the end user simply select a preset gear find the right i.e., noise and efficiency cutting speed balance.

[0074] 其次,预设恒定转速可以实现最佳的切割速度。 [0074] Next, a predetermined constant speed optimum cutting speed can be achieved. 用户自己寻找到的切割转速值很可能并非是真正的最佳切割速度。 Users find themselves cutting speed value probably is not really the best cutting speed. 因为用户凭借自身体验做出的判断可能存在偏差;更重要的,用户缺乏判断噪声实际大小和噪声在一定距离内衰减的精密仪器,其对噪声的评估通常是在近距离操作割草机时感受到的噪声,很难对一定距离外的噪声程度做出判断,即操作者很难评估割草机对周围环境、邻居的噪声污染。 Because the judge with their own user experience made possible deviation; more importantly, users' lack of precision instruments to determine the actual size of noise and noise attenuation within a certain distance, its assessment of the noise is usually felt at close range operating mower to noise, it is difficult to judge the degree of noise outside the predetermined distance, i.e., the operator of the mower difficult to assess the ambient environment, noise pollution neighbors. 而实际上割草机对周围环境的噪声污染是设定转速极为重要的考虑因素,因为在割草机中心位置的噪声无论如何都无法降低到不影响操作者的程度,而一定距离之外的噪声污染却是经过转速控制之后可以明显改善的。 In fact mower noise pollution to the surrounding environment is set speed is extremely important consideration, because the noise of the mower center position in any case can not be reduced to a level not affect the operator, and beyond a certain distance noise pollution is after the speed control can be significantly improved. 同样根据最终用户测试,用户单独根据割草机中心位置的噪声做出使用何种转速的判断时,约六成的用户实际上会选择过大的转速,而没有达到降低环境噪声的效果,而约两成的用户会选择过低的转速,延长了割草时间,仅有两成用户能选择真正最佳的转速。 Likewise the end user test, which determines the rotational speed of the user to make use of separate noise mower according to the center position, about two-thirds of the user actually selected excessive speed, without reaching the effect of reducing the ambient noise, and about two percent of users will choose low speed, extending the mowing time, the user can choose to only two real best speed. 采用预设恒定转速的方式,制造者通过噪声测试仪器,经过精密实验,可以准确地判断各个转速情况下各个距离段的噪声数据、以及割草效率,进而设定最佳的预设恒定转速。 Manner using a preset constant rotational speed, the noise test equipment manufacturers, through sophisticated experiments, the noise can be accurately determined from the data of the respective segments in each rotation speed, and the mowing efficiency, and optimize the default constant speed.

[0075] 第三、预设恒定转速可以为不同地区、不同草况等特定情况提供定制的最佳转速。 [0075] Third, a preset constant rotational speed may provide optimal rotational speed for a particular customized in different regions, different conditions like grass. 如前所述,在不同地区、不同草况或一些其他特定情况下,用户需要的、达到噪声和切割效率的平衡的最佳切割转速可能是不同的。 As described above, in different regions, different grass condition or some other particular cases, users need to balance the noise and cutting efficiency optimum cutting speed may be different. 对此,制造者可以通过测试,针对不同情况设定不同的预设切割速度,提供有针对性的噪声解决方案。 In this regard, the manufacturer can pass the test, setting different preset cutting speeds for different situations, to provide targeted solutions for noise.

[0076] 下面介绍本发明的另一实施例。 [0076] The following describes another embodiment of the present invention.

[0077] 在本实施例中,电机4为交流电机,这种情况下,割草机1将直接连接市电,而不设置可充电电池。 [0077] In the present embodiment, the AC motor 4 is a motor, in this case, the lawn mower 1 is directly connected to the mains, without providing a rechargeable battery. 与第一实施例类似的,割草机1设有速度控制装置14,速度控制装置14包括设置的临靠电机4的速度传感器16,速度传感器16用于监测电机4的当前转速n,并将监测到的当前转速η发送到比较元件18。 Similar to the first embodiment, the mower is provided with a speed control means 14, speed control means 14 includes a temporary speed of motor 4 by sensor 16, speed sensors 16 for monitoring the motor current rotational speed n 4, and η monitored current rotational speed transmitted to the comparing element 18. 比较元件18可选择的具有或不具有预设恒定转速η*。 Alternatively the comparing element 18 with or without a preset constant rotational speed η *. 当比较元件18具有预设恒定转速η*时,速度控制装置14处于恒速控制状态。 When comparing element 18 has a predetermined constant speed η *, the speed control means 14 is constant speed control state. 比较元件18将速度传感器16传送的电机4的当前转速η与预设恒定转速η*进行比较,用当前转速η减去预设恒定转速η*,得出转速偏差Δη,并将与Δη相关的信号输出传递给能量控制元件20。 Comparing the velocity sensor element 18 of the motor 4 and the current rotation speed [eta] [eta] a preset constant rotational speed of transmission 16 * compared with the current rotational speed of [eta] [eta] * by subtracting a predetermined constant speed, the rotation speed deviation derived Delta] [eta, and the related Delta] [eta signal is output to the power control element 20. 能量控制元件20根据比较元件18输出的信号,调整自动力提供装置提供给电机4的能量。 Energy control signal output element 20 of the comparing element 18, the automatic adjustment of the force providing means of energy supplied to the motor 4. 具体为,当当前转速η大于预设恒定转速η*,转速偏差Δη大于0时,能量控制元件20减少电源提供给电机4的能量,使当前转速η降低,偏差Δη降低以趋近于0 ;当当前转速η小于预设恒定转速η*,转速偏差△ η小于0时,能量控制元件20增加电源提供给电机4的能量,使当前转速η增加,转速偏差Δη增加以趋近于0,速度控制装置14不断的根据转速偏差△ η调节电池12提供给电机4的能量,以保证电机4的转速保持为预设恒定转速η*。 Specifically, when a current greater than a predetermined constant rotation speed [eta] η *, Δη speed deviation is greater than 0, the control element 20 to reduce the energy supplied to the energy supply of the motor 4, [eta] reduction of the current rotational speed deviation Δη lowered to approach zero; when the current less than the predetermined constant rotation speed [eta] η *, the rotation speed deviation △ η is less than 0, the control element 20 to increase the energy supplied to the energy supply of the motor 4, [eta] so that the current speed increases to increase the speed deviation Δη close to 0, the speed the control device 14 continuously adjust the rotational speed deviation △ η energy battery 12 is supplied to the motor 4, to ensure that the speed of the motor 4 is maintained at a predetermined constant speed η *. 当比较元件18不具有预设恒定转速η*时,速度控制装置14不对电机的转速进行限制,速度控制装置14处于全速控制状态。 When comparing element 18 does not have a preset constant rotational speed η *, 14 are not the rotational speed of the motor speed control limit, the speed control means 14 is in full control. 需要指出的是,由于电机4的电机轴6和刀片8直接连接,所以,刀片的切割速度等于电机的当前转速η。 It should be noted that, since the motor shaft 6 and the motor 4 is directly connected to the blade 8, so that the cutting speed of the blade is equal to the current speed of the motor η.

[0078] 该割草机同样包括速度选择机构28,该速度选择机构28通过电平高低的变化设定比较元件18及割草机1的速度控制装置4的状态,供操作者操作选择电机4及刀片8转动速度的控制方式。 [0078] The mower also includes a speed selector mechanism 28, the speed selector element 28 to set the speed comparator 18 and a state where the lawn mower device 4 controlled by varying the level of high and low, the operator operates the selection for the motor 4 and control the rotational speed of the blade 8. 在本实施例中,速度选择部件22可以选择三种速度模式,分别为恒速2500转每分、恒速3000转每分、全速转动。 In the present embodiment, speed selection section 22 can select three speed modes, respectively, constant speed 2500 rpm, 3000 rpm constant speed, full speed. 速度选择机构28具体可以为旋钮式的速度切换钮、或按压式的速度切换按钮(可以具有多个按钮分别对应不同的速度)、或滑移式的速度切换钮、或杆式的速度切换杆,在此不再一一列举。 Speed ​​speed selector mechanism 28 can be switched to a particular speed knob button switch or push speed button (may have a plurality of buttons corresponding to different speeds), or the slip speed switching button type, or switching lever rod , which will not be enumerated.

[0079] 本发明的割草机在保证切割效果的情况下,极大的降低了切割噪音,在切割高度较低时,噪声的降低尤为明显。 [0079] The present invention mower in ensuring the effect of cutting, greatly reducing the noise cutting, when the cutting height is low, noise reduction is particularly evident.

Claims (16)

  1. 1. 一种割草机(1),包括:壳体⑶;连接在壳体上的电机(4),所述电机具有电机轴(6);用于割草的刀片(8),所述刀片连接在所述电机轴上,并具有至少一个切削刃(10);动力提供装置,所述动力提供装置在割草机工作时为电机提供能量,从而驱动刀片以一个切割速度旋转;其特征在于:所述割草机还包括:速度控制装置(14),速度控制装置将所述切割速度固定在至少一个预设恒定转速。 A mower (1), comprising: a housing ⑶; a motor connected to the housing (4), said motor having a motor shaft (6); a blade (8) of mowing, the the blades are attached to the motor shaft, and having at least one cutting edge (10); a power providing means, said power providing means provides energy when lawn mower motor to drive the blade rotates at a cutting speed; characterized in wherein: said mower further comprising: speed control means (14), speed control means the cutting speed is fixed at at least one predetermined constant speed.
  2. 2.根据权利要求1所述的割草机,其特征在于:所述的至少一个预设恒定转速位于每分钟2000转至每分钟3800转之间。 2. A lawnmower according to claim 1, wherein: the at least one predetermined constant rotational speed is 2000 per minute transferred between the 3800 rpm.
  3. 3.根据权利要求1所述的割草机,其特征在于:所述的至少一个预设恒定转速位于每分钟2000转至每分钟3000转之间。 The lawn mower of claim 1, wherein: the at least one predetermined constant rotational speed is 2000 per minute transferred between the 3000 rpm.
  4. 4.根据权利要求1所述的割草机,其特征在于:所述速度控制装置包括速度传感器(16),用于检测刀片当前的切割速度;比较元件(18),用于确定当前的切割速度与所述预设恒定转速的偏差;能量控制元件(20),用于调整自电池提供给直流电机的能量,以使所述偏差趋近于零,切割速度变为与所述预设恒定转速相等。 The lawn mower of claim 1, wherein: said speed control means comprises a speed sensor (16) for detecting the current speed of the cutting blade; Comparative element (18), for determining a current cutting said predetermined constant rotational speed and the speed deviation; energy control element (20) for adjusting the energy from the battery is supplied to the DC motor, so that the deviation is close to zero, the cutting speed becomes the predetermined constant equal speed.
  5. 5.根据权利要求1所述的割草机,其特征在于:所述预设恒定转速为每分钟2500转。 The lawn mower according to claim 1, wherein: said predetermined constant speed of 2500 revolutions per minute.
  6. 6.根据权利要求1所述的割草机,其特征在于:所述预设恒定转速为每分钟3000转。 6. A mower according to claim 1, wherein: said predetermined constant speed of 3000 revolutions per minute.
  7. 7.根据权利要求1所述的割草机,其特征在于:包括速度选择机构,所述速度选择机构连接所述速度控制装置,用于设定所述速度控制装置,使速度控制装置可选择将刀片的切割速度固定在多个预设恒定转速中的一个。 7. A mower according to claim 1, further comprising: a speed selector mechanism, the speed selector connected to said speed control means for setting said speed control means, so that the speed control means selectively the speed of the cutting blade is fixed a preset constant rotational speed in the plurality.
  8. 8.根据权利要求7所述的割草机,其特征在于:所述速度选择机构可选择的将刀片的切割速度固定在2500转每分的预设恒定转速和3000转每分的预设恒定转速中的一个。 The lawn mower of claim 7, wherein: said speed selecting means selectively cutting speed of the blade is fixed to a predetermined constant 2500 rpm and a preset constant rotational speed of 3000 rpm a rotation speed.
  9. 9.根据权利要求5或6或8所述的割草机,其特征在于:所述刀片的长度为460毫米。 Mower according to claim 5, 6 or 8, wherein: the blade length of 460 mm.
  10. 10.根据权利要求4所述的割草机,其特征在于:所述速度传感器为霍尔传感器或光电传感器。 10. A mower as claimed in claim 4, wherein: the speed sensor is a Hall sensor or a photosensor.
  11. 11.根据权利要求4所述的割草机,其特征在于:所述比较元件为微处理器。 11. A mower as claimed in claim 4, wherein: said comparison element is a microprocessor.
  12. 12.根据权利要求11所述的割草机,其特征在于:所述能量控制元件为MOS场效应管。 12. A mower as claimed in claim 11, wherein: said power control element is a MOS FET.
  13. 13.根据权利要求12所述的割草机,其特征在于:所述比较元件为可执行比例积分微分算法的微处理器,所述微处理器接受速度传感器的转速信号,用于计算并输出脉冲宽度频宽比信号到MOS场效应管,以控制MOS场效应管的导通关断时间。 13. A mower as claimed in claim 12, wherein: said comparison element is a proportional integral derivative algorithm executable microprocessor receiving speed sensor speed signal, for calculating and outputting the pulse width of the signal bandwidth than the MOS FET, MOS FET to control the on-off time.
  14. 14.根据权利要求4所述的割草机,其特征在于:所述比较元件还用于比较切割速度与一个预设的堵转速度的大小,若切割速度小于预设的堵转速度一个预定的时间,所述能量控制元件中止电池向直流电机提供能量。 14. A mower as claimed in claim 4, wherein: said comparing element is further configured to compare the size of the cutting speed and a preset stall speed, if the cutting speed is less than a preset predetermined speed stall time, the energy battery control element discontinue supplying energy to the DC motor.
  15. 15.根据权利要求1所述的割草机,其特征在于:所述动力提供装置为安装在壳体中的电池,所述电机为直流电机。 15. A mower according to claim 1, wherein: said means providing power to a battery mounted in the housing, the motor is a DC motor.
  16. 16.根据权利要求1所述的割草机,其特征在于:所述动力提供装置为交流电接入机构,所述电机为交流电机。 16. A mower according to claim 1, wherein: said alternating current power means providing access mechanism, the motor is a AC motor.
CN 201010548637 2009-11-13 2010-11-03 Lawn mower CN102100143B (en)

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CN102986358A (en) * 2012-11-28 2013-03-27 常州苏控自动化设备有限公司 Hand-push type lawn trimmer
CN104969722B (en) * 2015-06-11 2017-07-07 浙江亚特电器有限公司 An electric mower
CN105262408B (en) * 2015-11-23 2017-11-17 珠海格力电器股份有限公司 A motor control method and system of

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