CN106163258B - 改进的机器人工作工具 - Google Patents

改进的机器人工作工具 Download PDF

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CN106163258B
CN106163258B CN201480077851.4A CN201480077851A CN106163258B CN 106163258 B CN106163258 B CN 106163258B CN 201480077851 A CN201480077851 A CN 201480077851A CN 106163258 B CN106163258 B CN 106163258B
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hub
work tool
robot work
slide plate
tool system
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CN106163258A (zh
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芒努斯·奥尔隆德
马茨·斯文松
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Husqvarna AB
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Husqvarna AB
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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
    • A01D34/73—Cutting apparatus
    • A01D34/733—Cutting-blade mounting means
    • A—HUMAN NECESSITIES
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    • A01D—HARVESTING; MOWING
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    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
    • A—HUMAN NECESSITIES
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    • A01D34/416—Flexible line cutters
    • A01D34/4166—Mounting or replacement of the lines
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    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
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    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
    • A01D34/64—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis mounted on a vehicle, e.g. a tractor, or drawn by an animal or a vehicle
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    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
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Abstract

提供了一种机器人工作工具系统(200)。系统包括机器人工作工具(100)，所述机器人工作工具(100)包括静止的毂(310)和由该毂(310)支撑的可旋转轴(162)。此外，毂盖(340)可释放地附接至毂(310)。机器人工作工具(100)进一步包括从毂盖(340)径向向外延伸的滑板(330)，并且其中，滑板(330)布置在毂(310)与毂盖(340)之间。

Description

改进的机器人工作工具
技术领域
本申请涉及改进操作的机器人工作工具系统，特别涉及改进稳健性并增加操作时间的机器人工作工具系统。
背景技术
机器人工作工具(例如割草机，尤其是自动割草机)可设有用于保护布置在机器人工作工具的底面上的关键组件的滑板。例如，在操作期间，旋转切割盘可使地面上存在的石块向上加速并朝布置在割草机内的昂贵部件(例如减速齿轮、电机等)加速。通过减震器或相似装置悬置的其它工作工具可允许工作工具的底面在通过障碍物时与地面接触。
为此，在工作工具的底面上设置了滑板，形成工作工具的保护盖。滑板通常由非磨蚀性材料制成，以承受来自工作工具的操作区域中存在的各种物体的冲击。
已知了经由毂将滑板附接至底面，由此滑板覆盖毂并从毂径向向外延伸。毂还形成对工作工具的可旋转切割盘的固定支撑；由于可旋转切割盘从动旋转轴径向延伸出来，因此从动轴通过两个轴承由滑板毂支撑。
因此，滑板毂是静态的，而由于提供了两个轴承，使得从动轴能相对于滑板轮毂旋转。
滑板通过许多螺纹件附接至毂，螺纹件可插入毂的关联螺纹凹口内以固定滑板的位置。螺纹件必须插入毂内，从而大大减少了轴承的可用空间。两个轴承之间常常需要一定的轴向距离以确保轴承的寿命足够长并降低噪声级。切割设备的周围环境因存在草、灰尘和水而非常严酷。为了延长轴承的寿命，密封轴承周围的空间很重要。
因此，需要能够克服上述缺点的机器人工作工具系统。
发明内容
本申请的教导的目的是通过提供包括机器人工作工具的机器人工作工具系统来克服上述问题。机器人工作工具包括静止毂和由毂支撑的可旋转轴，以及可释放地附接至毂的毂盖。机器人工作工具进一步包括从毂盖径向向外延伸的滑板，其中滑板布置在毂与毂盖之间。
因此，可以通过迫使毂盖抵靠毂而提供的夹紧动作来附接滑板。可沿径向在可旋转轴的外部设置用于相对于毂固定毂盖的构件，由此增大的空间将可用于可旋转轴与静止毂之间的轴承。
在一个实施方案中，机器人工作工具为机器人割草机。在一个实施方案中，工作工具为机器人耕作设备。在一个实施方案中，机器人工作工具为高尔夫球收集工具。机器人工作工具也可以是吸尘器、地板清洁器、街道清扫机、除雪工具、扫雷机械人，或需要以有秩序且系统性或位置定向的方式在工作区域内操作的任何其它机器人工作工具。
本申请的教导的目的还在于通过提供如上述布置的机器人工作工具系统来克服上述问题。
本申请的教导的目的还在于通过提供用于具有静止毂和由毂支撑的可旋转轴的机器人工作工具系统的方法来克服上述问题。该方法包括在所述毂上布置滑板，以及将毂盖附接至毂的步骤，由此滑板从毂盖径向向外延伸。
在经过富有创造性和洞察力的推理之后，本发明的发明人已意识到滑板通过毂盖而附接至毂的机器人工作工具将会增加机器人工作工具的寿命，这是因为毂盖可构造成使得其以非常有效的方式保护旋转轴的轴承免受水和污垢的影响。
根据以下详细公开以及附图，所公开的实施方案的其它特征和优点将显而易见。
通常，除非文中明确限定，否则权利要求中使用的所有术语均应根据其在技术领域中的普通含义来理解。除非另有其它明确规定，否则所提及的“一/一个/该[元件、装置、组件、构件、步骤等]”应开放式地解释为系指包括至少一个该元件、装置、组件、构件、步骤等的实例。除非明确说明，本文公开的任何方法的步骤不必须地以公开的准确顺序进行。
附图说明
将参考附图进一步详细描述本发明，在附图中：
图1示出了根据本申请的教导的一个实施方案的机器人工作工具的示意性概略图。
图2示出了根据本申请的教导的一个实施方案的机器人工作工具系统的示意图。
图3是示出了根据本申请的教导的一个实施方案的机器人工作工具的部分的剖面图。
图4是示出了根据本申请的教导的另一个实施方案的机器人工作工具的部分的剖面图。
图5示出了根据本申请的教导的实施方案的方法。
具体实施方式
现在将参考附图更全面地描述所公开的实施方案，附图示出了本发明的一些实施方案。然而，本发明可以许多不同的形式体现，而不应理解为局限于本文阐述的实施方案；而是这些实施方案通过实例提供以使本公开全面且完整，并且将本发明的范围完全传达给本领域的技术人员。在所有附图中，相同附图标记指示相同元件。
图1示出了机器人工作工具100的示意性概略图，其具有主体140和多个轮子130。在图1中的示例性实施方案中，机器人工作工具100具有4个轮子130，分别为两个前轮130'和两个后轮130"。至少一些轮子130可驱动地连接到至少一个电机150。应注意，即便本文的描述着重于电机，但有可能替代地使用内燃机与电机的组合。
在图1的实例中，后轮130"连接至每一个电机150。这允许后轮130"彼此独立地受驱动，从而使得能够例如急转弯。
机器人工作工具100还包括控制器110。控制器110配置成从存储器120读取指令并执行这些指令，以控制机器人工作工具100的操作。
机器人工作工具100进一步具有至少一个传感器170，在图1的实例中存在两个传感器170，该传感器布置成检测磁场(未示出)。传感器可检测由通过边界导线传输的控制信号引起的磁场(更多关于充电站、控制信号和边界导线的细节请参见以下参考图2进行的描述)。这使得控制器110能够确定机器人工作工具100是处于由边界导线包围的区域内还是区域外。
控制器110连接至电机150以控制机器人工作工具100的推进，这使得机器人工作工具100能够服务包围的区域而不离开该区域。
机器人工作工具100还包括工作工具160，该工作工具可以是割草装置，例如由割刀电机165驱动的旋转刀片160。割刀电机165连接至控制器110，这使得控制器110能够控制割刀电机165的操作。
在一个实施方案中，机器人工作工具100为机器人割草机。
机器人工作工具100还可具有(至少)一个电池180，从而为电机150和割刀电机165供电。用于从充电站(在图2中以附图标记210表示)的充电器(在图2中以附图标记220表示)接收充电电流的两个充电连接器连接至电池180。
替代地，电池可以是太阳能充电。
图2示出了机器人工作工具系统200的示意图，机器人工作工具系统200包括充电站210和布置成包围工作区域205的边界导线250，工作区域205不一定是机械人系统200的一部分。
图2中的机器人工作工具100为例如参考图1公开的机器人工作工具100。充电站210具有充电器220，在本实施方案中，充电器220耦接至两个充电连接器230。充电连接器230布置成与机器人工作工具100的相应充电连接器185协作，以为机器人工作工具100的电池180充电。
充电站210还具有或可耦接至信号发生器240，信号发生器用于提供将通过边界导线250传输的控制信号255(更多细节请参见图3)。如本领域已知，电流脉冲255将在边界导线250周围产生磁场，机器人工作工具100的传感器170将会检测到磁场。当机器人工作工具100(或更准确地说，传感器170)越过边界导线250时，磁场的方向将会改变。因此，机器人工作工具100将能够确定已越过了边界导线。
现在转至图3，进一步详细示出了机器人工作工具100的实施方案。如已描述的那样，机器人工作工具100具有工作工具160，其在图3中示为旋转刀片，或切割盘160。切割盘160牢固地附接至由割刀电机165驱动的旋转轴162。
为了保护机器人工作工具100的底面不受损坏，设置了滑板装置300。割刀电机165的旋转轴162由静止毂310支撑。静止毂310具有布置在中央的通孔312，旋转轴162插入通孔312内。还设置了球轴承或滚珠轴承形式的两个轴承320，以允许旋转轴162以最小的振动和/或摩擦损失旋转。轴承320轴向(即在与旋转轴162的纵向延伸平行的方向上)隔开。
滑板330夹紧在毂310与毂盖340之间。从滑板330开始，其优选设置成由能够承受机械冲击的固体材料制成的片状结构。滑板330在径向方向上从毂310延伸出来。在图3中可看出，滑板330的中心处具有圆形切口332，以便其能与毂310对准，而不会覆盖旋转轴162或轴承320。
毂盖340用作滑板装置300的关键部分(即轴承320)的封盖。为此，毂盖340的径向延伸大于轴承320的径向延伸。然而，图3所示的实施方案包括了毂盖340的径向延伸也大于毂310的径向延伸。
毂310具有圆柱部分314，圆柱部分向下(即朝滑板330)延伸，并设有螺纹。相应地，毂盖340具有圆柱部分342，圆柱部分向上(即朝滑板330)延伸并设有相关的螺纹。因此，毂盖340能作为旋拧和松脱螺母拧到毂310上。
为了密封滑板装置300的关键组件(即轴承320)，设置了两个O形环350、352。第一O形环350布置在滑板330与毂盖340之间。由于毂盖340拧到了毂310上，滑板330将抵靠毂310，即毂的平面部分沿径向布置在螺纹部分314外部。由于设置了O形环350，滑板330将以密封方式牢固地固定，从而防止滑板330移动，并防止水或灰尘进入轴承320的区域。
在毂盖340与毂310之间设置了另一O形环352以确保紧密连接。在该特定实施方案中，O形环352布置成与毂310的螺纹部分314相邻。
滑板装置300(包括毂310、滑板330和毂盖340)使得例如在进行服务或更换切割盘160的情况下能非常快地操作。毂盖340能很容易旋转，以便从毂310松脱，由此可移除滑板330，从而暴露切割盘160。切割盘160例如能通过螺纹件或其它紧固件附接至旋转轴162。通过以相反的顺序进行相同步骤，很容易将滑板装置300组装到机器人工作工具100上。
现在转至图4，示出了机器人工作工具100的另一个实施方案。如已参考图3描述的那样，机器人工作工具100包括附接至旋转轴162的旋转切割盘160形式的工作工具160。旋转轴162由割刀电机165(参见图1)驱动。
还设置了滑板装置300，其包括毂310、滑板330和毂盖340。旋转轴162由静止毂310支撑，静止毂310具有布置在中心的通孔312，旋转轴162插入通孔内。还以相同的方式设置了球轴承或滚珠轴承形式的两个轴承320，如图3所示。
滑板330夹紧在毂310与毂盖340之间，并在径向方向上从毂310延伸出来。滑板330的中心处具有圆形切口332，以便其可与毂310对准，而不会覆盖旋转轴162或轴承320。
如图4所示，毂盖340通过螺纹件附接至毂310。毂310包括两个或更多凹口316，凹口形成内表面上具有螺纹的圆柱形膛孔。在存在两个凹口316的情况下，凹口316优选周向间隔例如180°，在存在三个凹口316的情况下，凹口优选周向间隔120°，而在存在五个凹口316的情况下，凹口优选周向间隔72°。毂盖340设有相应的膛孔344以使得螺纹件能在螺纹件头受支撑的同时延伸穿过毂盖340。
为了方便安装滑板装置300，且为了在毂310与毂盖340之间形成更稳固的连接，毂310设有用于插入毂盖340的相应凹口346内的至少一个导销318。应意识到，导销318很可能设置在毂盖340上，因此要求毂310具有相应的凹口346。
在一个实施方案中，每一个导销318周向地设置在两个相邻螺纹件膛孔316之间。
在图4中可看出，滑板330设有若干切口334以允许螺纹件和导销318延伸穿过滑板330。
此外，毂盖340包括环形槽348，且毂310包括用于插入环形槽348的环形脊319。在优选的实施方案中，O形环354设置在槽348内，从而当张紧螺纹件使得毂310的脊319被按压抵靠O形环354时形成密封。
现在转至图5，将描述用于机器人工作工具系统的方法400。机器人工作工具系统包括机器人工作工具，机器人工作工具具有静止毂310和由毂310支撑的可旋转轴162。方法400包括将滑板330布置到毂310上的第一步骤402，以及将毂盖340附接至毂310的第二步404，由此滑板330从毂盖340径向向外延伸。因此，步骤404将会在滑板330上产生夹紧动作，以便滑板330牢固地固定至机器人工作工具。
以上已参考一些实施方案大体上描述了本发明。然而，本领域的技术人员很容易理解，与上述公开的实施方案不同的其它实施方案也同样可能落在所附权利要求限定的本发明的范围内。

Claims (12)

1.一种机器人工作工具系统(200)，包括机器人工作工具(100)，所述机器人工作工具(100)包括：
静止的毂(310)和由所述毂(310)支撑的可旋转轴(162)，
以及
毂盖(340)，能释放地附接至所述毂(310)，
其特征在于，所述机器人工作工具(100)进一步包括
滑板(330)，从所述毂盖(340)径向向外延伸，并且其中，所述滑板(330)布置在所述毂(310)与所述毂盖(340)之间，
其中所述毂盖(340)和所述毂(310)中的一个包括至少一个导销(318)，且其中所述毂盖(340)和所述毂(310)中的另一个包括用于容纳所述导销(318)的相应的至少一个凹口(346)。
2.根据权利要求1所述的机器人工作工具系统(200)，其中，所述可旋转轴(162)借助于至少两个轴承(320)而由所述毂(310)支撑。
3.根据权利要求2所述的机器人工作工具系统(200)，其中，所述至少两个轴承(320)在轴向方向上间隔开。
4.根据权利要求1至3中任一项所述的机器人工作工具系统(200)，
进一步包括固定地附接至所述可旋转轴(162)的切割盘(160)。
5.根据权利要求1至3中的任一项所述的机器人工作工具系统(200)，
其中，所述毂盖(340)的半径大于所述毂(310)的半径。
6.根据权利要求1至3中的任一项所述的机器人工作工具系统(200)，
其中，所述毂盖(340)通过至少两个螺纹件而附接至所述毂(310)。
7.根据权利要求6所述的机器人工作工具系统(200)，其中，所述毂盖(340)和所述毂(310)中的一个包括环形槽(348)，且其中所述毂盖(340)和所述毂(310)中的另一个包括用于插入所述环形槽(348)的环形脊(319)。
8.根据权利要求7所述的机器人工作工具系统(200)，进一步包括布置在所述环形槽(348)内的O形环(354)。
9.根据权利要求6所述的机器人工作工具系统(200)，其中，所述导销(318)和/或至少一个所述螺纹件延伸穿过所述滑板(330)。
10.根据权利要求1至3中任一项所述的机器人工作工具系统(200)，其中，所述机器人工作工具为机器人割草机。
11.一种如在权利要求1至10任一项中所述的机器人工作工具系统(200)中所布置的机器人工作工具(100)。
12.一种在根据权利要求1至10中任一项所述的机器人工作工具系统(200)中使用的方法，所述方法包括以下步骤：
将滑板(330)设置到所述毂(310)上，以及
将毂盖(340)附接至所述毂(310)，由此所述滑板(330)从所述毂盖(340)径向向外地延伸。
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EP3136835A1 (en) 2017-03-08
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