CN102100143B - mower - Google Patents
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- CN102100143B CN102100143B CN201010548637.6A CN201010548637A CN102100143B CN 102100143 B CN102100143 B CN 102100143B CN 201010548637 A CN201010548637 A CN 201010548637A CN 102100143 B CN102100143 B CN 102100143B
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Abstract
The invention discloses a kind of mower, comprising: housing; Be connected to the motor on housing, described motor has motor shaft; For the blade of mowing, described blade is connected on described motor shaft, and has at least one cutting edge; Power supplying apparatus, described power supplying apparatus is electric machine with energy when mower works, thus drives blade to rotate with a cutting speed; Control device, described cutting speed is fixed at least one pre-set constant rotating speed by control device.
Description
Technical field
The present invention relates to a kind of electronic mower, the power-operated mower that especially a kind of cutting speed can be constant.
Background technology
As the instrument on the finishing lawn be suitable for rapidly and efficiently, mower is extensive in applications such as urban afforestation and family's weedings.Consider for reduction air-polluting, power-operated mower more receives an acclaim than steam-operating mower, and the wireless mower of direct current is because the freedom of its movement is more by the favor of user, and, direct current generator has good speed adjusting performance, and as realized, stepless speed regulation, speed-regulating range width, low-speed performance are good, high starting torque, high efficiency etc.
But various mower all still brings serious noise pollution to urban environment.
The noise of mower produced primarily of the high-speed rotation of motor and blade, usually more than 90 decibels can be reached, and will feel obvious discomfort in the noisy environment of people more than 50 decibels, so mower operationally can have a strong impact on the normal life of the resident of surrounding.
The rotating speed of the cutting blade of mower is usually between 3000-4000 turns, and this speed has very excellent cutting effect.But then, the rotating speed of cutting blade when being reduced to lower than 3000 turns, the grass that cutting that still can be good is lower.Further, reduce the working speed of mower, effectively can reduce the noise that mower produces, but this also can bring simultaneously cut higher careless time the decline of efficiency.Therefore, select suitable rotating speed, between mowing efficiency and noise, obtain a balance is more difficult, and this only can cut off more shallow grass by making mower, thus limits the scope of application of mower.
Summary of the invention
The object of the present invention is to provide a kind of mower of low noise.
For achieving the above object, technical scheme of the present invention is: a kind of mower, comprising: housing; Be connected to the motor on housing, described motor has motor shaft; For the blade of mowing, described blade is connected on described motor shaft, and has at least one cutting edge; Power supplying apparatus, described power supplying apparatus is electric machine with energy when mower works, thus drives blade to rotate with a cutting speed; Speed control unit, described cutting speed is fixed at least one pre-set constant rotating speed by speed control unit.
Preferably, at least one described pre-set constant rotating speed goes between 3800 turns per minute per minute 2000.
Preferably, at least one described pre-set constant rotating speed goes between 3000 turns per minute per minute 2000.
Preferably, described speed control unit comprises velocity sensor, for detecting the current cutting speed of blade; Comparing element, for determining the deviation of current cutting speed and described pre-set constant rotating speed; Energy hole element, for adjusting the energy being supplied to direct current generator from battery, to make described deviation level off to zero, cutting speed becomes equal with described pre-set constant rotating speed.
Preferably, described pre-set constant rotating speed is 2500 turns per minute.
Preferably, described pre-set constant rotating speed is 3000 turns per minute.
Preferably, comprise speed-selecting mechanism, described speed-selecting mechanism connects described speed control unit, for setting described speed control unit, makes speed control unit can select the cutting speed of blade to be fixed in multiple pre-set constant rotating speed.
Preferably, the selectable cutting speed by blade of described speed-selecting mechanism is fixed in the pre-set constant rotating speed of 2500 turns of per minutes and the pre-set constant rotating speed of 3000 turns of per minutes.
Preferably, the length of described blade is 460 millimeters.
Preferably, described velocity sensor is Hall element or photoelectric sensor.
Preferably, described comparing element is microprocessor.
Preferably, described energy hole element is metal-oxide-semiconductor field effect transistor.
Preferably, described comparing element is the microprocessor that can perform PID algorithm, described microprocessor accepts the tach signal of velocity sensor, for calculate and output pulse width duty cycle signal to metal-oxide-semiconductor field effect transistor, to control the conducting turn-off time of metal-oxide-semiconductor field effect transistor.
Preferably, described comparing element is also for comparing the size of cutting speed and a default stall speed, if cutting speed is less than a predetermined time of default stall speed, described energy hole element stops battery and provides energy to direct current generator
Preferably, described power supplying apparatus is install battery in the housing, and described motor is direct current generator.
Preferably, described power supplying apparatus is alternating current access mechanism, and described motor is alternating current generator.
The beneficial effect of the technical program is: mower, ensureing cutting efficiency while, has lower noise, thus has less environmental pollution and preferably operating experience.
Accompanying drawing explanation
Fig. 1 is the schematic perspective view of mower of the present invention;
Fig. 2 is the structured flowchart of the speed control unit of mower of the present invention;
Fig. 3 is the circuit block diagram of the speed control unit of mower of the present invention;
Fig. 4 is the fixed speed control flow chart of mower of the present invention;
Wherein:
The current rotating speed of 1 mower 16 velocity sensor n
3 housing 18 comparing element n* pre-set constant rotating speeds
4 motor 20 energy hole element Δ n rotating speed deviations
6 motor shaft 22 groove 30 main switches
10 cutting edge 24 inner recess region 32 transforming circuits
12 battery 26 blade cavity 34 transforming circuits
14 speed control unit 28 speed-selecting mechanism
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described.
Mower of the present invention can be any type, as, mower optionally can for exchanging mower or direct current mower, can be rotary mower, air supporting and cartridge type mower, can be hand-push type mower, self-powered mowing machine or fully-automatic intelligent mower, the particular type of mower affect enforcement of the present invention yet.The dynamic generator of mowing tool, there is if be specially the mower of alternating current generator, then its power supplying apparatus should be alternating current access device mutually, has the mower of direct current generator if be specially, then its power supplying apparatus should be the battery be arranged in housing mutually.
Figure 1 shows that the specific embodiment of the present invention there is speed control unit, the mower 1 with direct current generator.Mower 1 comprises housing 3, housing 3 is provided with groove 22, and groove 22 is for laying battery 12, and the various functions that this battery 12 is mower 1 provide the energy.Preferably, in the present embodiment, adopt the chargeable cell that rated voltage 36 volts, rated current 12 are pacified, but the battery of other models is also available, such as, the chargeable cell of rated voltage 24 volts, rated current 17 peace.The housing 3 of mower 1 connects and extends and grip and promote for operator the handle that mower 1 walks, handle is provided with the function control unit of mower, as the self-powered speed regulating element of switch and mower.
Fig. 2 is the structured flowchart of speed control unit 14 of the present invention, and with further reference to Fig. 2, mower 1 also comprises for providing rotation to export with the motor 4 driving blade to mow, and motor 4 has the motor shaft 6 that exports rotary motion.In the present embodiment, motor 4 is direct current generator, is specifically as follows direct current permanent magnet motor or DC brushless motor; The housing 3 of mower 1 is recessed in the inside of lower direction mower 1, forms a blade cavity 26, and hold useful in the blade of cutting finishing turf in blade cavity 26, blade is directly connected with the motor shaft 6 of mowing motor 4, and any reduction gear device is not established in centre.A side at the two ends of blade forms cutting edge 10 respectively, and cutting edge 10 is arc convex shape, and blade has an inner recess region 24, for raising the broken grass under cutting.But blade structure is not limited to above-mentioned mode, such as, blade can be overall shaped into S shape, also can roughly linearly, and the concrete form of blade does not affect enforcement of the present invention.The present embodiment lawn also comprised for repairing along needs drives the electronic drive motors (not shown) of mower 1, and this drive motors is operationally connected with battery 12.
Speed control unit 14 is provided with between battery 12 and motor 4, speed control unit 14 comprises the velocity sensor 16 faced by motor 4 of setting, the current rotating speed n monitored for monitoring the current rotating speed n of motor 4, and is sent to comparing element 18 by velocity sensor 16.Comparing element 18 is selectable has or does not have pre-set constant rotating speed n*.When comparing element 18 has pre-set constant rotating speed n*, speed control unit 14 is in fixed speed control state.The current rotating speed n of the motor 4 that velocity sensor 16 transmits by comparing element 18 and pre-set constant rotating speed n* compares, pre-set constant rotating speed n* is deducted with current rotating speed n, draw rotating speed deviation delta n, and the signal relevant to Δ n is exported pass to energy hole element 20.The signal that energy hole element 20 exports according to comparing element 18, adjusts the energy being supplied to motor 4 from battery 12.Be specially, when current rotating speed n is greater than pre-set constant rotating speed n*, when rotating speed deviation delta n is greater than 0, energy hole element 20 reduces the energy that battery 12 is supplied to motor 4, and current rotating speed n is reduced, and deviation delta n reduces to level off to 0; When current rotating speed n is less than pre-set constant rotating speed n*, when rotating speed deviation delta n is less than 0, energy hole element 20 increases the energy that battery 12 is supplied to motor 4, current rotating speed n is increased, rotating speed deviation delta n increases to level off to 0, speed control unit 14 is constantly supplied to the energy of motor 4 according to rotating speed deviation delta n regulating cell 12, to ensure that the rotating speed of motor 4 remains pre-set constant rotating speed n*.When comparing element 18 does not have pre-set constant rotating speed n*, speed control unit 14 does not limit the rotating speed of motor, and speed control unit 14 is in state of a control at full speed.It is pointed out that the motor shaft 6 due to motor 4 is directly connected with blade, so the cutting speed of blade equals the current rotating speed n of motor.
The pre-set constant rotating speed n* of comparing element 18 is selectable, and operator can select according to need of work.Pre-set constant rotating speed n* can adopt stepless time adjustment mode or gear regulative mode to set.Speed control unit 14 in the present embodiment has two grades of adjustable default constant speed value n*, is respectively 2500 turns of per minutes and 3000 turns of per minutes.
Figure 3 shows that the circuit block diagram of speed control unit 14 of the present invention, this circuit comprises main switch 30, and main switch 30 is for controlling opening and turning off of whole circuit; Comparing element 18, concrete form is microcontroller (MCU), velocity sensor 16, and concrete form is Hall element (HallSensor) or photoelectric sensor, energy hole element 20, concrete form is metal-oxide-semiconductor field effect transistor (MOSfet).As people in the industry easily knows, the selection of the concrete form of these elements is various, is not limited to the concrete form in this circuit block diagram, such as, comparing element 18 also can be analog comparator, and velocity sensor 16 can be the rotary speed sensor of any type.
Microcontroller is the main control chip of the mower 1 of the present embodiment, and it is for monitoring the signal of the particular job parameter of mower 1, calculates send corresponding work order according to signal.Such as, main control chip, when stall occurs mower 1, sends the instruction of shutdown; Operator, rotating speed of flail is set as 2500 turns of every timesharing, controls motor-driven blade with 2500 turns of per minute constant revolutions substantially.Industrially, the rotating speed of blade allows the error of upper and lower 5%, and namely 2500 turns of per minutes refer to that rotating speed of flail fluctuates at 2500 turns of per minutes substantially, but between per minute 2375 to 2625 turns per minute.
This circuit also comprises power supply, i.e. chargeable battery 12.Battery 12 is connected with microcontroller by main switch 30 and first transforming circuit, 32, second transforming circuit 34, provides voltage stabilizing 5 volts of power supplys to microcontroller.
The motor 4 being specially direct current permanent magnet motor is also comprised in this circuit.Motor 4, together with the energy hole element 20 being specially metal-oxide-semiconductor, is connected with battery 12 and main switch 30.
This circuit comprises motor speed monitoring part.Foregoing, various tachogenerator can be adopted directly to monitor the rotating speed of motor 4, also can be gone out the rotating speed of motor 4 by the voltage or electric current indirect calculation of monitoring motor 4, its concrete form does not repeat at this.In the present embodiment, Hall element is adopted to detect the current rotating speed n of motor, its implementation is: on motor shaft 6, sheathed 4 to pole magnet ring, in the position pressing close to pole magnet ring, hall sensing parts are set, like this, motor shaft often rotates one week, and hall sensing parts export four voltage square wave signals, and outputs to the tach signal input of microcontroller.Microcontroller, by the quantity of the voltage square wave signal of collection in the unit interval, can convert and draw the current rotating speed n of motor.Foregoing, do not have any reducing gear between motor 4 and blade, namely the current rotating speed n of motor 4 is equal with the cutting speed of the blade of mower 1, but, also can reducing gear be set between motor 4 and blade.
This circuit also comprises the energy hole element 20 being specially metal-oxide-semiconductor field effect transistor.Metal-oxide-semiconductor field effect transistor has the pulse width duty-cycle according to receiving, conducting rapidly, shutoff.In the present embodiment, microcontroller is with the rate-adaptive pacemaker pulse width duty cycle signal of 2000HZ, and namely pulse width duty cycle signal has cycle T=0.5 millisecond.This pulse width duty cycle signal amplifies through metal-oxide-semiconductor field effect transistor drive circuit, becomes 12 volts, turn off with the conducting of driven MOS FET from 5 volts.In cycle T, pulse signal has a high level and a low level, and high level and the low level ratio of time duration in cycle T is transformable pulse width duty-cycle.Wherein, when pulse signal is high level, metal-oxide-semiconductor field effect transistor is in the state of conducting, and now the voltage of battery 12 can be applied on motor 4 by metal-oxide-semiconductor field effect transistor; When pulse signal is low level, metal-oxide-semiconductor field effect transistor is in the state of cut out, and now the voltage of battery 12 cannot be applied to (but can pass through diode continuousing flow) on motor 4 by metal-oxide-semiconductor field effect transistor.Like this, by regulating the pulse width duty-cycle of metal-oxide-semiconductor field effect transistor, namely can effectively be applied to the time on motor 4 by voltage in regulating cycle T, namely can be transferred to the energy of motor 4 by battery 12 in regulating cycle T, and in macroscopically certain hour the voltage at battery 12 two ends.Because the cycle T duration is short, on operator's appreciable time, motor 4 is driven all the time.
This circuit also comprises speed-selecting mechanism 28, this speed-selecting mechanism 28 connects the terminal of microcontroller, set the state of the speed control unit 14 of comparing element 18 (i.e. microprocessor) and mower 1 by the change of level height, operate the control mode selecting motor 4 and blade rotation speed for operator.In the present embodiment, speed-selecting mechanism 28 can select three kinds of velocity modes, is respectively constant speed 2500 turns of per minutes, constant speed 3000 turns of per minutes, rotates at full speed.Speed-selecting mechanism 28 is specifically as follows the speed changer lever of the speed switch bar of knob or the speed switching push button (can have the speed that multiple button is corresponding different respectively) of push type or sliding speed switch bar or rod-type, will not enumerate at this.
Fig. 4 is constant speed regulation flow chart of the present invention.
As Fig. 4, when main switch 30 is opened, control circuit is energized, and microcontroller is preset, the preset initialization of register comprised in microcontroller, and timer reset adjustment.In this stage, the signal of microcontroller meeting reading speed setting section input, setting pre-set constant rotating speed n*.
The pre-postpone of microcontroller, enters stall and judges the stage.
In certain environments, such as, because blades impact is to object, or mower 1 enter very dark careless time; the blade of mower 1 can be a significant slowdown; at this moment the electric current that motor 4 sends can sharply increase to a very high numerical value, in order to protect motor 4 and drive circuit, at this moment should turn off mower 1.
Microcontroller receives the voltage square wave signal that Hall element sends, and draws the current rotating speed n of the discernible motor of microcontroller 4 and blade by the square-wave signal quantity conversion in the unit interval.Then, by the current rotating speed n of the motor 4 drawn that converts and default stall rotating speed n
dcompare, if motor 4 current rotating speed n is higher than default stall rotating speed n
d, then judge the non-stall of mower 1, program enters next stage; If the current rotating speed n of motor 4 is lower than default stall rotating speed n
d, then timing is started, if at default stall time t
din, current rotating speed n rises to higher than default stall rotating speed n
d, then judge the non-stall of mower 1, program enters next stage; If motor 4 current rotating speed n is at default stall time t
dinside all the time lower than default stall rotating speed n
d, then judge that mower 1 is in locked rotor condition, microcontroller closes power machine 4, and mower 1 is shut down.In practice, will preset stall speed setting between 100 to 400 turns, it is suitable for being set between 2 to 5 seconds by default stall time, in the present embodiment, preferably, presets stall rotating speed n
dbe set as 200 turns of per minutes, preset stall time t
dbe set as 3 seconds.
If judge the non-stall of phase judgement mower 1 at stall, program enters the rotational speed regulation stage.
Foregoing, the principle of rotational speed regulation is, under the state of fixed speed control, pre-set constant rotating speed n* is preset in microcontroller, the duty-cycle of the pulse width duty cycle signal of microcontroller regulation output, thus the ON time of change metal-oxide-semiconductor field effect transistor, when metal-oxide-semiconductor field effect transistor conducting, the two ends of motor 4 just can be subject to the voltage of dc-battery 12, when not conducting, the two ends of motor 4 are not subject to voltage, like this, by the duty-cycle of regulating impulse width duty cycle signal, the time scale being applied to motor 4 effective voltage in the certain hour cycle can be regulated, and then regulate the voltage being applied to motor 4 two ends in macroscopically certain hour, and the energy that battery 12 exports, and then regulate current rotating speed n.When the current rotating speed n of motor 4 is lower than pre-set constant rotating speed n*, microcontroller regulates the duty-cycle reducing pulse width duty cycle signal, the voltage at motor 4 two ends and the energy of acceptance increase, and the current rotating speed n of motor 4 is improved, and makes it close to pre-set constant rotating speed n*; When the current rotating speed n of motor 4 is higher than pre-set constant rotating speed n*, microcontroller regulates the duty-cycle improving pulse width duty cycle signal, the voltage at motor 4 two ends and the energy of acceptance reduce, and the current rotating speed n of motor 4 reduces, and makes it close to pre-set constant rotating speed n*.
Concrete, the current rotating speed n of motor 1 and pre-set constant rotating speed n* compares by microcontroller, draw the deviation delta n of rotating speed, microcontroller calculates according to deviation delta n and currently answers output pulse width duty cycle signal for reaching pre-set constant rotating speed n*, pulse width duty cycle signal amplifies through metal-oxide-semiconductor field effect transistor drive circuit and is delivered to metal-oxide-semiconductor field effect transistor, to control the energy flowing to motor 4 in battery 12 special time, reach pre-set constant rotating speed n*.
In the present embodiment, microcontroller adoption rate integral differential (PID) algorithm calculates its pulse signal duty-cycle exported.Proportional-integral-differential (PID) algorithm is industrial common control algolithm.In PID controls, this algorithm can calculate ratio, integration, the response of differential and this three's and, calculate real output with this.
Further, the present embodiment adopts increment type PID algorithm.In adjustment process, every 50 milliseconds of microprocessor carries out sampling calculating to motor speed, and is stored, and microprocessor is according to current rotating speed, previous rotating speed, more previous rotating speed carries out PID calculating, draws output pulse width duty cycle signal.
Concrete, the duty-cycle of pulse width modulating signal can calculate according to following method and obtain:
The first, Hall element measures the current rotating speed n of motor 4, and output voltage square-wave signal is to microcontroller.
The second, microcontroller record current motor 4 current rotating speed n, previous motor speed n1, more previous motor speed n2, and calculate their deviation.
Three, according to rotating speed deviation, adjustment pulse width duty-cycle (PWM dutycycle).
Four, metal-oxide-semiconductor field effect transistor is according to the voltage at Signal Regulation motor 4 two ends received, and adjusting rotary speed approaches default constant rotational speed.
Then, program returns the stage of the current rotating speed n calculating motor 4, and by aforesaid judgement stall, calculate pulse width duty-cycle, regulate motor 4 rotating speed, circulate continuation like this, until mower 1 is shut down.
The selection of pre-set constant speed n* is below described.
On ordinary meaning, the rising that rotating speed is corresponding with noise and reduction: rotating speed raises, noise raises; Rotating speed reduces, noise reduction.Meanwhile, rotating speed corresponding rising same with cutting efficiency and reduction.Rotating speed raises, and cutting efficiency raises; When rotating speed reduces, cutting efficiency also decreases.Thus, must cutting efficiency be taken into account while seeking low noise, find an appropriate rotating speed, reach an equalization point of noise and cutting efficiency.
In the use of mower reality, when cutting some specific careless condition careless in a particular manner, do not need high efficiency, at this moment, higher rotating speed, while the cutting efficiency that is not significantly improved, also brings extra noise pollution.Usually, the natural plant height of standard is 90mm, and mower 1 has the governor motion of depth of cut, optionally grass is cut to different height.Operator does not always cut with the darkest depth of cut.As industry common, the mower 1 of present embodiment has the adjustable cutting-height of 1-6 shelves, and 1 grade of cutting is the most shallow, and the cutting rotating speed of needs is minimum, and then depth of cut rises successively, and the darkest to 6 grades of cuttings, the cutting rotating speed of needs is the highest.Under the careless condition of standard density, when cutting rotating speed is 2000 turns, mower 1 cuts when being in 1,2 grade still can have good cutting efficiency, when cutting rotating speed is 2500 turns, mower 1 is in 1,2,3,4 grade still can have good cutting efficiency, when cutting efficiency is 3000 turns, 1,2,3,4,5,6 grade all can have good cutting efficiency.Consider in conjunction with noise synthesis, 2000 turns time, noise is very low, but the scope of application is also smaller, only can cut the very shallow degree of depth.When rotating speed rising reaches 2500 turns, noise raises to some extent, but be still in acceptable scope, further, the depth of cut of 1,2,3,4 grade can be cut, and then, rotating speed rises to 3000 turns of every timesharing, noise promotes again, and cut coverage also promotes, and can cut the depth of cut of each gear of standard grass condition.Thus 2500 turns of per minutes and 3000 turns of per minutes have higher exploitativeness and adaptability, and noise is lower and range of application is wider.But the lawn that density is greater than standard grass condition is also common, in order to ensure cutting efficiency as much as possible, and still control noises, mower 1 further can have the pre-set constant rotating speed of cutting rotating speed 3800 turns of per minutes.
It may be noted that the cutting noise of mower and the length of blade exist correlation simultaneously.Concrete, blade lengths is longer, then the noise under same rotational speed is larger, and the cutting efficiency of blade is also higher simultaneously.In this embodiment, have employed the blade of 460 millimeters, the corresponding pre-set constant rotating speed coordinating 2500 turns and 3000 turns, to reach optimum efficiency.
Described above is a kind of preferred embodiment, in actual design, according to the difference of regional disparity and use habit, the selection that the intercropping that can often assign to 3800 turns of per minutes at 2000 turns of pre-set constant rotating speed is suitable, in order to control noises as much as possible, pre-set constant rotating speed should as much as possible in the selection that 2000 turns of intercropping often assigning to 3000 turns of per minutes are suitable, as 2100 turns of per minutes, 2400 turns of per minutes, 2700 turns are often graded.
According to test, when environmental noise is at about 50 decibels, the mower of the present embodiment is under 2500 turns of constant speed shelves, and cutting noise is at about 73 decibels; Under 3000 turns of constant speed shelves, cutting noise at about 76 decibels, far below the noise of common mower about 95 decibels.Therefore, what the mower of the present embodiment was arranged has 2500 turns of per minutes and 3000 turns of per minutes, two pre-set constant rotating speeds.But 2000 forward noise between 3000 turns to is all still acceptable, and also can be wide or narrow can be applied in actual mowing sight.
Further, the mower 1 of the present embodiment also has full gear, at this gear, microcontroller only judges mower 1 whether stall, any restriction is not done to the cutting speed of mower 1, to be suitable in the work of some meadows intensive especially, at this moment, Noise measarement is in secondary status relatively, and values cutting efficiency.But in fact full gear is mainly as an emergency power gear, seldom can use in the use of reality, even if cancel, aforesaid two pre-set constant rotating speed gears is only set and is also fine.According to actual count, family mower user cuts a lawn in every two weeks rapidly at lawn growth season usually, usually within every three weeks, mows once season slowly at lawn growth.And in turf grass growth the most vigorous season, within every two weeks, cutting lawns once only need use the constant rotational speed of 2000 turns just can satisfy the demands.Use the constant rotational speed of 2500 turns/3000 turns can realize every 3 weeks/4 weeks cutting lawns respectively and can not transship.Thus except non-user exceedes January, cutting lawns or lawn do not belong to growth kind (this is extremely rare in domestic consumer) very rapidly; otherwise substantially can not use full gear, and the user needing high-power full speed to mow can select gasoline mower usually.According to statistics, on the staple market of direct current mower, the possibility that the situation using full gear occurs is no more than 2/1000ths.
In this specific embodiment, have employed pre-set constant rotating speed, and do not adopt stepless time adjustment, this is because the constant rotational speed preset has obvious advantage.
First, pre-set constant rotating speed can save the debug time of user.User is when the mower using constant rotational speed adjustable, and the cutting rotating speed that reaches the balance of noise and efficiency is found in inevitable meeting.If adopt stepless time adjustment mode, so, each terminal use needs the trial and error experienced repeatedly just can find a suitable constant rotational speed value, and this trial and error process may be consuming time longer and experience severe.According to end user's experiment, during Non-precondition gear, user needs speed governing repeatedly for 5 to 7 times, just can find oneself satisfied cutting speed usually, and absolutely user thinks that this debug process is uncomfortable or extremely uncomfortable.Pre-set constant rotating speed then can remove this debug time from, and it is suitable that terminal use only need select a preset gear namely can find, and noise and efficiency reach the cutting speed of balance.
Secondly, pre-set constant rotating speed can realize best cutting speed.The cutting tachometer value that user oneself searches out is not probably real optimum Cutting speed.Because may deviation be there is in the judgement that user relies on autoscopia to be made; Prior, user lacks the precision instrument judging that noise actual size and noise are decayed in certain distance, its noise that assessment of noise is normally experienced when closely operating mower, be difficult to judge the noise level outside certain distance, namely operator is difficult to assessment mower to the noise pollution of surrounding environment, neighbours.And in fact the noise pollution of mower to surrounding environment is the very important Consideration of setting speed, because in any case the noise in mower center all cannot be reduced to the degree not affecting operator, and the noise pollution outside certain distance can obviously be improved after being through rotating speed control.Test according to end user equally, when user makes according to the noise of mower center the judgement using which kind of rotating speed separately, in fact the user of about sixty percent can select excessive rotating speed, and do not reach the effect reducing ambient noise, and about the user of twenty percent can select too low rotating speed, extend the mowing time, only have twenty percent user can select real best rotating speed.Adopt the mode of pre-set constant rotating speed, producer, by noise test instrument, through precision experiment, can judge noise data and the mowing efficiency of each distance segment in every speed situation exactly, and then the pre-set constant rotating speed that setting is best.
Three, pre-set constant rotating speed can provide the optimum speed of customization for the particular case such as different regions, different careless conditions.As previously mentioned, under different regions, different careless condition or some other particular cases, the optimum Cutting rotating speed of balance that user needs, that reach noise and cutting efficiency may be different.To this, producer by test, can set different default cutting speeds for different situations, provides noise solution targetedly.
Introduce another embodiment of the present invention below.
In the present embodiment, motor 4 is alternating current generator, and in this case, mower 1 directly will connect civil power, and not arrange chargeable cell.Similar with the first embodiment, mower 1 is provided with speed control unit 14, speed control unit 14 comprises the velocity sensor 16 faced by motor 4 of setting, and the current rotating speed n monitored for monitoring the current rotating speed n of motor 4, and is sent to comparing element 18 by velocity sensor 16.Comparing element 18 is selectable has or does not have pre-set constant rotating speed n*.When comparing element 18 has pre-set constant rotating speed n*, speed control unit 14 is in fixed speed control state.The current rotating speed n of the motor 4 that velocity sensor 16 transmits by comparing element 18 and pre-set constant rotating speed n* compares, pre-set constant rotating speed n* is deducted with current rotating speed n, draw rotating speed deviation delta n, and the signal relevant to Δ n is exported pass to energy hole element 20.The signal that energy hole element 20 exports according to comparing element 18, adjustment ultromotivity generator is supplied to the energy of motor 4.Be specially, when current rotating speed n is greater than pre-set constant rotating speed n*, when rotating speed deviation delta n is greater than 0, energy hole element 20 reduces the energy that power supply is supplied to motor 4, and current rotating speed n is reduced, and deviation delta n reduces to level off to 0; When current rotating speed n is less than pre-set constant rotating speed n*, when rotating speed deviation delta n is less than 0, energy hole element 20 increases the energy that power supply is supplied to motor 4, current rotating speed n is increased, rotating speed deviation delta n increases to level off to 0, speed control unit 14 is constantly supplied to the energy of motor 4 according to rotating speed deviation delta n regulating cell 12, to ensure that the rotating speed of motor 4 remains pre-set constant rotating speed n*.When comparing element 18 does not have pre-set constant rotating speed n*, speed control unit 14 does not limit the rotating speed of motor, and speed control unit 14 is in state of a control at full speed.It is pointed out that the motor shaft 6 due to motor 4 is directly connected with blade, so the cutting speed of blade equals the current rotating speed n of motor.
This mower comprises speed-selecting mechanism 28 equally, and this speed-selecting mechanism 28 sets the state of the speed control unit 14 of comparing element 18 and mower 1 by the change of level height, operates the control mode selecting motor 4 and blade rotation speed for operator.In the present embodiment, speed alternative pack 22 can select three kinds of velocity modes, is respectively constant speed 2500 turns of per minutes, constant speed 3000 turns of per minutes, rotates at full speed.Speed-selecting mechanism 28 is specifically as follows the speed changer lever of the speed switch bar of knob or the speed switching push button (can have the speed that multiple button is corresponding different respectively) of push type or sliding speed switch bar or rod-type, will not enumerate at this.
Mower of the present invention is when ensureing cutting effect, and greatly reduce cutting noise, when cutting-height is lower, the reduction of noise is particularly evident.
Claims (14)
1. a mower (1), comprising:
Housing (3);
Be connected to the motor (4) on housing, described motor has motor shaft (6);
For the blade of mowing, described blade is connected on described motor shaft, and has at least one cutting edge (10);
Power supplying apparatus, described power supplying apparatus is electric machine with energy when mower works, thus drives blade to rotate with a cutting speed;
It is characterized in that:
Described mower also comprises: speed control unit (14), described cutting speed is fixed at least one pre-set constant rotating speed by speed control unit, described speed control unit comprises velocity sensor (16), for detecting the current cutting speed of blade; Comparing element (18), for determining the deviation of current cutting speed and described pre-set constant rotating speed; Energy hole element (20), for adjusting the energy being supplied to direct current generator from battery, to make described deviation level off to zero, cutting speed becomes equal with described pre-set constant rotating speed.
2. mower according to claim 1, is characterized in that: at least one described pre-set constant rotating speed goes between 3800 turns per minute per minute 2000.
3. mower according to claim 1, is characterized in that: at least one described pre-set constant rotating speed goes between 3000 turns per minute per minute 2000.
4. mower according to claim 1, is characterized in that: described pre-set constant rotating speed is 2500 turns per minute.
5. mower according to claim 1, is characterized in that: described pre-set constant rotating speed is 3000 turns per minute.
6. mower according to claim 1, it is characterized in that: comprise speed-selecting mechanism, described speed-selecting mechanism connects described speed control unit, for setting described speed control unit, make speed control unit can select the cutting speed of blade to be fixed in multiple pre-set constant rotating speed.
7. mower according to claim 6, is characterized in that: the selectable cutting speed by blade of described speed-selecting mechanism is fixed on one in the pre-set constant rotating speed of 2500 turns of per minutes and the pre-set constant rotating speed of 3000 turns of per minutes.
8. the mower according to claim 4 or 5 or 7, is characterized in that: the length of described blade is 460 millimeters.
9. mower according to claim 1, is characterized in that: described velocity sensor is Hall element or photoelectric sensor.
10. mower according to claim 1, is characterized in that: described comparing element is microprocessor, and described microprocessor calculates current for reaching the pulse width duty cycle signal that pre-set constant rotating speed should export according to deviation.
11. mowers according to claim 10, is characterized in that: described energy hole element is metal-oxide-semiconductor field effect transistor.
12. mowers according to claim 11, it is characterized in that: described comparing element is the microprocessor that can perform PID algorithm, described microprocessor accepts the tach signal of velocity sensor, for calculate and output pulse width duty cycle signal to metal-oxide-semiconductor field effect transistor, to control the conducting turn-off time of metal-oxide-semiconductor field effect transistor.
13. mowers according to claim 1, it is characterized in that: described comparing element is also for comparing the size of cutting speed and a default stall speed, if cutting speed is less than a predetermined time of default stall speed, described energy hole element stops battery and provides energy to direct current generator.
14. mowers according to claim 1, is characterized in that: described power supplying apparatus is install battery in the housing, and described motor is direct current generator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010548637.6A CN102100143B (en) | 2009-11-13 | 2010-11-03 | mower |
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| Application Number | Priority Date | Filing Date | Title |
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| CN200910234408.4 | 2009-11-13 | ||
| CN200910234408 | 2009-11-13 | ||
| CN2009102344084 | 2009-11-13 | ||
| CN201010548637.6A CN102100143B (en) | 2009-11-13 | 2010-11-03 | mower |
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| CN102100143A CN102100143A (en) | 2011-06-22 |
| CN102100143B true CN102100143B (en) | 2016-03-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2010101767900A Pending CN102057800A (en) | 2009-11-13 | 2010-04-30 | Mower |
| CN201010548637.6A Active CN102100143B (en) | 2009-11-13 | 2010-11-03 | mower |
| CN2010105486323A Pending CN102084754A (en) | 2009-11-13 | 2010-11-03 | Mowing machine |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2010101767900A Pending CN102057800A (en) | 2009-11-13 | 2010-04-30 | Mower |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2010105486323A Pending CN102084754A (en) | 2009-11-13 | 2010-11-03 | Mowing machine |
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| CN (3) | CN102057800A (en) |
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| CN102856882A (en) * | 2012-06-04 | 2013-01-02 | 深圳博英特科技有限公司 | Motor locked rotor protection circuit and protection method thereof |
| CN103703918A (en) * | 2012-09-28 | 2014-04-09 | 苏州宝时得电动工具有限公司 | Mower |
| 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 | A kind of power-operated mower |
| CN106637804A (en) * | 2015-10-30 | 2017-05-10 | 青岛海尔洗衣机有限公司 | Driving method of stirring motor in the flocculation treatment process and washing machine |
| CN105262408B (en) * | 2015-11-23 | 2017-11-17 | 珠海格力电器股份有限公司 | The control method and system of a kind of motor |
| CN106900269A (en) * | 2015-12-23 | 2017-06-30 | 苏州宝时得电动工具有限公司 | Grass-mowing machine |
| CN108427409A (en) * | 2017-02-15 | 2018-08-21 | 苏州宝时得电动工具有限公司 | Automatic working system, from mobile device and its control method |
| CN106856799A (en) * | 2017-04-21 | 2017-06-20 | 福建永强力加动力设备有限公司 | A kind of hay mover |
| SE1850245A1 (en) | 2018-03-07 | 2019-09-08 | Husqvarna Ab | A power tool configured to operate in low-noise mode |
| CN110336516A (en) * | 2019-06-26 | 2019-10-15 | 江苏苏美达五金工具有限公司 | The constant speed cruising method of motor, system and circuit in electric garden tool |
| CN110880889A (en) * | 2019-07-22 | 2020-03-13 | 常州美能特机电制造有限公司 | Direct current motor anti-pinch method based on current pulse detection and electric furniture |
| TWI735242B (en) * | 2020-05-26 | 2021-08-01 | 優式機器人股份有限公司 | Automatic weeding apparatus and operating method thereof |
| CN115643889A (en) * | 2021-06-22 | 2023-01-31 | 深圳拓邦股份有限公司 | Intelligent operation method of mower, controller and mower |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN102057800A (en) | 2011-05-18 |
| CN102100143A (en) | 2011-06-22 |
| CN102084754A (en) | 2011-06-08 |
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