CN113455168A - Equipment lifting detection mechanism and method and intelligent mower provided with mechanism - Google Patents
Equipment lifting detection mechanism and method and intelligent mower provided with mechanism Download PDFInfo
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- CN113455168A CN113455168A CN202110869153.XA CN202110869153A CN113455168A CN 113455168 A CN113455168 A CN 113455168A CN 202110869153 A CN202110869153 A CN 202110869153A CN 113455168 A CN113455168 A CN 113455168A
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- supporting wheel
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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
- A01D34/006—Control or measuring arrangements
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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
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
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Abstract
The invention provides a device lifting detection mechanism and method and an intelligent mower provided with the device lifting detection mechanism, belongs to the technical field of garden tools, and can detect whether a device is in a lifted state or not. Equipment promotes detection mechanism includes: supporting wheel mount pad, supporting wheel, sensing piece and induction system. A channel extending along the vertical direction is arranged on the supporting wheel mounting seat; the supporting wheel is arranged at the bottom of the supporting wheel mounting seat, a wheel shaft extends out of the supporting wheel, and the wheel shaft is slidably mounted in the channel; the sensing piece is arranged on the wheel shaft; the induction device is arranged on the supporting wheel mounting seat; when the equipment is placed on the supporting surface, the sensing piece is positioned in the detection range of the sensing device; when the supporting wheel mounting seat is lifted up or lifted up, the sensing piece moves downwards along with the wheel shaft to be out of the detection range of the sensing device. The invention provides a simple, convenient, sensitive and space-saving lifting detection mechanism in a limited space layout of an intelligent mower.
Description
Technical Field
The invention relates to the technical field of garden tools, in particular to a device lifting detection mechanism and method and an intelligent mower provided with the device lifting detection mechanism.
Background
The intelligent lawn mower is a robot garden tool for maintaining a lawn, can autonomously complete lawn trimming work, and does not need direct control and operation of a user, so that the workload of the user is greatly reduced. In a typical application, a work area such as a garden, the robotic work tool may not be able to detect many objects, stationary or movable objects, that the robotic work tool may collide with. Therefore, collision detection is necessary in order to be able to keep the robotic work tool alert to adapt its operation when a collision is detected, thereby avoiding that the robotic work tool simply stops in front of the object by trying to push through the object. Also, from a safety point of view, it is also important to detect whether the robot is lifted or lifted during working, so that the robot can timely shut down operating members or tools, such as a rotary knife, a supporting wheel, etc., of the robot mower when being lifted or lifted, to avoid injury to an operator due to the injury of the above-mentioned members which do not stop working. And the promotion detection mechanism that intelligence lawn mower set up among the prior art receives the restriction of spatial layout restriction, is difficult to realize that detection mechanism structure degree of freedom is high, promote the high technological effect of sensitivity that detects. Therefore, it is desirable to design an apparatus lifting detection mechanism to solve the above-mentioned drawbacks of the prior art.
Disclosure of Invention
In view of the above drawbacks of the prior art, an object of the present invention is to provide a device lift detection mechanism, a method and an intelligent lawn mower with the device lift detection mechanism, for providing a simple, sensitive and space-saving device lift detection mechanism solution, so as to solve the technical problem that the device lift detection mechanism cannot take into account both the structural freedom degree and the detection sensitivity in the device due to the spatial layout limitation inside the intelligent lawn mower in the prior art.
In order to achieve the above and other related objects, the present invention provides an apparatus lifting detection mechanism, which includes a supporting wheel mounting seat, a supporting wheel, a sensing element and a sensing device. Wherein, a channel extending along the vertical direction is arranged on the supporting wheel mounting seat; the supporting wheel is arranged at the bottom of the supporting wheel mounting seat, a wheel shaft extends out of the supporting wheel, and the wheel shaft is slidably mounted in the channel; the sensing piece is arranged on the wheel shaft; the induction device is arranged on the supporting wheel mounting seat; when the equipment is placed on the supporting surface, the sensing piece is positioned in the detection range of the sensing device; when the supporting wheel mounting seat is lifted up or lifted up, the sensing piece moves downwards along with the wheel shaft to be out of the detection range of the sensing device.
In one example of the invention, the sensing element is connected to the axle by a connector.
In an example of the present invention, the connecting member is a cylinder matched with the passage, two ends of the connecting member are respectively provided with a connecting hole, the sensing member is arranged in the connecting hole at one end of the connecting member, and the axle is connected in the connecting hole at the other end of the connecting member.
In an example of the present invention, a limiting channel is disposed in the channel, and the limiting channel is disposed outside the detection range of the sensing device.
In an example of the present invention, the axle body near one end of the support wheel is provided with a limit block, and the limit block can collide with the limit channel when the axle moves upwards relative to the channel.
In an example of the invention, two ends of the limiting channel are respectively provided with a linear bearing, and the inner diameter of each linear bearing is matched with the wheel axle.
In an example of the present invention, the end of the linear bearing is further provided with a limiting flange, and the limiting flange abuts against the end of the limiting channel.
In an example of the invention, at least one gasket is arranged outside the limiting flanging of the linear bearing.
In an example of the invention, when the supporting wheel mounting seat is lifted, the connecting piece carries the sensing piece to move downwards to the position of the limiting channel along with the wheel shaft, and the bottom of the connecting piece is abutted to the limiting flanging.
In one example of the invention, the channel is provided on a mounting body which is removably mounted on the support wheel mount.
In an example of the present invention, the mounting frame body is provided with a connecting portion at one side of the channel, the connecting portion is provided with a threaded column, and the connecting portion is fixed on the supporting wheel mounting seat in a threaded connection manner.
In an example of the present invention, the support wheel is a universal wheel, and the wheel axle provided on the support wheel is a universal wheel axle.
In an example of the present invention, the sensing member is a magnet, and the sensing device is any one of a hall effect sensor, an electrical sensor, or a magnetic sensor.
In one example of the invention, the sensing device is arranged on a side of the support wheel mounting base facing away from the channel.
The invention also provides an equipment lifting detection method, which comprises the following steps:
arranging an induction device on a supporting wheel mounting seat of the equipment; mounting a supporting wheel of the equipment on a supporting wheel mounting seat in a sliding manner; the supporting wheel is provided with a sensing piece corresponding to the sensing device, and the sensing piece is lifted to the detection range of the sensing device when the supporting wheel bears the supporting force and is moved downwards to the outside of the detection range of the sensing device under the action of gravity when the supporting wheel does not bear the supporting force; when the sensing device does not receive the signal of the sensing piece, the equipment is judged to be in a lifting state.
The invention also provides an intelligent mower, wherein the intelligent mower is provided with at least one supporting wheel, and the supporting wheel is provided with an equipment lifting detection mechanism at the installation position of the intelligent mower; the equipment lifting detection mechanism comprises a supporting wheel mounting seat, a supporting wheel, a sensing piece and a sensing device. Wherein, a channel extending along the vertical direction is arranged on the supporting wheel mounting seat; the supporting wheel is arranged at the bottom of the supporting wheel mounting seat, a wheel shaft extends out of the supporting wheel, and the wheel shaft is slidably mounted in the channel; the sensing piece is arranged on the wheel shaft; the induction device is arranged on the supporting wheel mounting seat; when the equipment is placed on the supporting surface, the sensing piece is positioned in the detection range of the sensing device; when the supporting wheel mounting seat is lifted up or lifted up, the sensing piece moves downwards along with the wheel shaft to be out of the detection range of the sensing device.
According to the equipment lifting detection mechanism, the sensing piece is arranged on the wheel shaft of the equipment supporting wheel, the sensing device is arranged above the sensing piece, and whether the equipment is lifted or not is judged by detecting whether a signal sent by the sensing piece exists within a set distance range through the sensing device. The invention provides a simple, convenient, sensitive and space-saving lifting detection mechanism in the limited spatial layout of an intelligent mower, the lifting detection mechanism is simple and stable in structure, and the detection sensitivity is effectively improved while the structural freedom degree is ensured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a cross-sectional view of an equipment lift detection mechanism in accordance with an embodiment of the present invention;
FIG. 2 is an exploded view of the equipment lift detection mechanism in one embodiment of the present invention;
FIG. 3 is a schematic diagram of a lift detection mechanism for an apparatus disposed on a support surface according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a lift detection mechanism for an apparatus when the support wheel mounting base of the apparatus is raised or lifted;
FIG. 5 is a schematic structural view of an intelligent lawn mower with an equipment lift detection mechanism installed thereon according to an embodiment of the present invention;
fig. 6 is a flowchart illustrating a process of an apparatus lifting detection method according to an embodiment of the present invention.
Description of the element reference numerals
100. A support wheel mounting base; 200. a support wheel; 300. a sensing element; 400. an induction device; 500. a connecting member; 600. (ii) a An intelligent mower; 110. a channel; 111. a limiting channel; 112. a first linear bearing; 113. a first limiting flanging; 114. a second linear bearing; 115. a second limiting flanging; 116. a second gasket; 120. installing a frame body; 121. a connecting portion; 122. a threaded post; 210. a wheel axle; 211. a limiting block; 510. a first connection hole; 520. a second connection hole; 521. a first gasket.
Detailed Description
Referring to fig. 1 to 6, embodiments of the present invention are described below with specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. It is also to be understood that the terminology used in the examples is for the purpose of describing particular embodiments only, and is not intended to limit the scope of the present invention. Test methods in which specific conditions are not specified in the following examples are generally carried out under conventional conditions or under conditions recommended by the respective manufacturers.
Referring to fig. 1 to 6, the present invention provides an equipment lifting detection mechanism, a method and an intelligent lawn mower with the mechanism, for providing a simple, sensitive and space-saving equipment lifting detection mechanism solution, so as to solve the technical problem that the equipment lifting detection mechanism cannot give consideration to both structural freedom and detection sensitivity in the equipment due to the spatial layout limitation inside the intelligent lawn mower in the prior art.
As shown in fig. 1 to 4, the device lift detection mechanism of the present invention includes a supporting wheel mounting base 100, a supporting wheel 200, a sensing member 300, and a sensing device 400. The device lifting detection mechanism is arranged in a machine working on the ground like an intelligent mower, the device is provided with a plurality of supporting wheels 200 at the bottom of a supporting wheel mounting seat 100 to drive the device to move on the ground, and the device lifting detection mechanism is correspondingly arranged on the supporting wheel mounting seat 100 and the supporting wheels 200 to judge whether the device is lifted or not.
Referring to fig. 1 and 2, the supporting wheel mounting base 100 is located at the bottom of the apparatus, the supporting wheel mounting base 100 is provided with a channel 110 extending in a vertical direction at a position corresponding to the supporting wheel 200, the channel 110 is provided with a channel opening at the bottom of the supporting wheel mounting base 100, and the top of the channel 110 is sealed and close to the top of the supporting wheel mounting base 100.
Referring to fig. 1 and 2, a plurality of support wheels 200 are disposed at the bottom of the support wheel mounting base 100, an axle 210 is mounted on the support wheels 200, the axle 210 extends upward in the vertical direction on the support wheels 200, extends into the channel 110 from the channel opening of the support wheel mounting base 100 and is slidably mounted in the channel 110, such that the support wheels 200 are fixed at the bottom of the support wheel mounting base 100 through the axle 210. The axle 210 slidably mounted in the channel 110 is linearly movable along the channel 110 within a certain distance, for example, when the device is placed on a supporting surface from a lifted state, the device body is used for gravity to move downward relative to the supporting wheel 200, and the axle 210 moves upward relative to the channel 110; when the device is lifted from the support surface, the support wheel 200 moves downwardly relative to the channel 110 due to gravity with the axle 210 on the support wheel 200.
Referring to fig. 1-4, sensing element 300 is fixed to axle 210 and emits a sensing signal that varies with displacement. The sensing device 400 is disposed on the supporting wheel mounting base 100, located on the top of the supporting wheel mounting base 100, and configured to receive a sensing signal sent by the sensing element 300, and detect a distance between the sensing element 300 and the sensing device 400 on the wheel axle 210 according to the received sensing signal, so as to determine a state of the apparatus at this time, for example, when the sensing device 400 detects that the sensing element 300 is located within a detection range of the sensing device 400, it is determined that the apparatus is placed on a supporting surface at this time, so as to control and maintain normal operation of operating members or tools, such as the supporting wheel 200 and the rotary knife, on the apparatus; when the sensing device 400 detects that the sensing element 300 moves down with the axle 210 to a position outside the detection range of the sensing device 400, it is determined that the device and the upper supporting wheel mounting base 100 are lifted or lifted, so that the operation of the operation members or tools such as the supporting wheels 200 and the rotating knives on the control device is stopped, and the operator is prevented from being injured by the above members which are not stopped. In an example of the present invention, the position of the sensing device 400 on the top of the supporting wheel mounting seat 100 corresponds to the position of the axle 210 on the supporting wheel 200 on the supporting wheel mounting seat 100, so that the sensing device 400 is disposed on the top of each axle 300 on each axle 210, which effectively improves the sensitivity of the sensing device 400.
Referring to FIGS. 1 and 2, in one example of the present invention, sensing element 300 is coupled to the end of axle 210 distal from support wheel 200 via a coupling member 500. The connector 500 is a cylinder having an outer diameter matched with the passage 110, and the connector 500 is provided at both ends thereof with a first connection hole 510 and a second connection hole 520, respectively. Sense element 300 is positioned in first coupling aperture 510 and the end of axle 210 distal from support wheel 200 is secured in second coupling aperture 520, for example, by a tight fit, such that sense element 300 is secured to axle 210 and follows axle 210 in a synchronous motion.
In addition, referring to fig. 1 to 4, in this example, the connecting member 500 is further provided with at least one first gasket 521 at one end of the second connecting hole 520, wherein the first gasket 521 is made of an elastic material with high toughness. The first washer 521 disposed on the connecting member 500 can provide a buffer for collision between the connecting member 500 and the supporting wheel mounting base 100 when the connecting member 500 moves down to the limiting mechanism of the supporting wheel mounting base 100 along with the wheel shaft 210 when the device is lifted or lifted.
Referring to fig. 1 to 4, in an example of the present invention, a limiting channel 111 is disposed in the channel 110, and the position of the limiting channel 111 in the channel 110 should be outside the detection range of the sensing device 400, which is configured to ensure that when the device is lifted or lifted, the connecting member 500 moves down to the limiting channel 111 along with the wheel axle 210 and is limited by the blocking of the limiting channel 111, the sensing element 300 disposed on the connecting member 500 is outside the detection range of the sensing device 400. And, the inner diameter of the limiting channel 111 is smaller than the inner diameter of the channel 110 and larger than the diameter of the axle 210, so that the limiting channel 111 effectively limits the connecting piece 500 fixed at the end of the axle 210 moving downwards to the limiting position while ensuring that the axle 210 can slide smoothly in the channel 110, and can prevent the axle 210 and the supporting wheel 200 on the axle 210 from further moving downwards.
Referring to fig. 2, in the present example, two ends of the limiting channel 111 are respectively provided with a linear bearing, one end of the limiting channel 111 near the top of the channel 110 is provided with a first linear bearing 112, and one end of the limiting channel 111 near the bottom of the channel 110 is provided with a second linear bearing 114. The outer diameters of the first linear bearing 112 and the second linear bearing 114 are equal to the inner diameter of the limiting channel 111, and the inner diameters of the first linear bearing 112 and the second linear bearing 114 are equal to the diameter of the wheel shaft 210.
Moreover, the first linear bearing 112 and the second linear bearing 114 are respectively provided with a first limiting flange 113 and a second limiting flange 115 at one end thereof, and when the first linear bearing 112 and the second linear bearing 114 are installed in the limiting channel 111, the first limiting flange 113 on the first linear bearing 112 and the second limiting flange 115 on the second linear bearing 114 respectively abut against the two ends of the limiting channel 111. Meanwhile, in this example, the axle 210 is further provided with a stopper 211 on the axle body near one end of the support wheel 200, and the diameter of the stopper 211 should be larger than the diameter of the axle 210 and smaller than or equal to the outer diameter of the stopper channel 111. When the supporting wheel mounting base 100 is lifted up or lifted up, the connecting piece 500 carries the sensing piece 300 and moves downwards to the position of the limiting channel 111 along with the wheel shaft 210, and at the moment, the bottom of the connecting piece 500 is abutted to the first limiting flange 113 of the first linear bearing 112 on the limiting channel 111; when the device is placed on the supporting surface, the supporting wheel 200 and the axle 210 of the supporting wheel 200 are supported by the supporting surface, and the supporting wheel mounting base 100 on the device moves downward relative to the axle 210 due to gravity and moves to the position of the limiting block 211 on the axle 210, the second limiting flange 115 of the second linear bearing 114 on the limiting channel 111 abuts against the limiting block 211 on the axle 210.
Meanwhile, referring to fig. 2, in this example, the second linear bearing 114 is further provided with at least one second gasket 116 on the second limiting flange 115. The second pad 116 is made of elastic material with high toughness. The at least one second gasket 116 disposed at the bottom of the second linear bearing 114 can provide a buffer for the collision between the second linear bearing 114 and the stopper 211 when the device is placed on a supporting surface and the stopper channel 111 moves down to the stopper 211 on the axle 210 along with the supporting wheel mounting base 100 moving down relative to the axle 210.
Referring to fig. 2, in an example of the present invention, the channel 110 is disposed on a mounting frame 120, and the mounting frame 120 is detachably mounted on the supporting wheel mounting base 100. In this example, the mounting frame body 120 is provided with a connecting portion 121 at one side of the channel 110, the connecting portion 121 is provided with a threaded post 122, the threaded post 122 is located at the top of the connecting portion 121, and the mounting frame body 120 and the support wheel mounting seat 100 are detachably screwed through the threaded post 122. The above arrangement is provided to facilitate cleaning and repair of the passage 110 in the support wheel mount 100.
Referring to fig. 1 to 4, in an example of the present invention, the supporting wheel 200 is a universal wheel, and the axle 210 connecting the supporting wheel 200 and the supporting wheel mounting base 100 is a universal axle.
Referring to fig. 1-4, in an example of the present invention, the sensing element 300 is a magnet, such as a magnet, capable of emitting a magnetic field. In order to receive the magnetic field signal from magnet sensing element 300 and convert the magnetic field signal into an electrical control signal, sensing device 400 is disposed on a Printed Circuit Board (PCB), and sensing device 400 may be any one of a hall effect sensor, an electrical sensor, or a magnetic sensor. And in this example the sensing means 400 described above is provided on the side of the support wheel mount 100 facing away from the channel 110.
Referring to fig. 6, the present invention further provides an apparatus lifting detection method, where the detection method includes the following steps:
s1, arranging a sensing device 400 on the supporting wheel mounting seat 100 of the equipment, wherein the sensing device 400 is arranged at the top of the supporting wheel mounting seat 100 corresponding to the position of the channel 110 in the supporting wheel mounting seat 100;
s2, slidably mounting the supporting wheel 200 of the device on the supporting wheel mounting seat 100, specifically, extending the wheel axle 210 of the supporting wheel 200 into the channel 110 of the supporting wheel mounting seat 100 extending in the vertical direction to realize the sliding connection of the supporting wheel 200 in the supporting wheel mounting seat 100;
s3, mounting sensing element 300 corresponding to sensing device 400 on supporting wheel 200, specifically, fixing sensing element 300 on one end of wheel axle 210 far from supporting wheel 200, and when supporting wheel 200 of the apparatus bears supporting force, sensing element 300 rises to the detection range of sensing device 400 with wheel axle 210 relative to supporting wheel mounting base 100, and when supporting wheel 200 of the apparatus does not bear supporting force, sensing element 300 moves downward to the outside of the detection range of sensing device 400 relative to supporting wheel mounting base 100 under the action of gravity;
s4, when the sensing device 400 receives the signal sent by the sensing piece 300, the device is judged to be placed on the supporting surface, and the normal work of the operation components or tools on the device, such as the supporting wheel 200 and the rotary knife, is controlled and maintained; when the sensing device 400 does not receive the signal from the sensing element 300, it is determined that the supporting wheel mounting base 100 of the apparatus is lifted or lifted, and the operation of the operating members or tools such as the supporting wheel 200 and the rotary knife on the apparatus is controlled to stop, so as to prevent the injury of the non-stopped members to the operator.
Referring to fig. 5, the intelligent lawn mower 600 is provided with at least one supporting wheel 200, the supporting wheel 200 is provided with an equipment lift detection mechanism at the mounting position of the supporting wheel mounting seat 100 of the intelligent lawn mower 600, and the equipment lift detection mechanism is used for detecting whether the intelligent lawn mower 600 is in a lifted state, and includes the supporting wheel mounting seat 100, the supporting wheel 200, the sensor 300 and the sensing device 400.
Referring to fig. 1 to 5, the supporting wheel mounting base 100 is located at the bottom of the intelligent lawn mower 600, the supporting wheel mounting base 100 is provided with a channel 110 extending in a vertical direction at a position corresponding to the supporting wheel 200, the channel 110 leaves a channel opening at the bottom of the supporting wheel mounting base 100, and the top of the channel 110 is sealed and close to the top of the supporting wheel mounting base 100. The supporting wheel mounting seat 100 is provided at the bottom thereof with a plurality of supporting wheels 200, the supporting wheels 200 are mounted with a wheel axle 210, the wheel axle 210 extends upward on the supporting wheels 200 along the vertical direction, extends into the channel 110 from the channel opening of the supporting wheel mounting seat 100 and is slidably mounted in the channel 110, such that the supporting wheels 200 are fixed at the bottom of the supporting wheel mounting seat 100 through the wheel axle 210. The axle 210 slidably mounted in the channel 110 is linearly movable along the channel 110 within a certain distance, for example, when the intelligent lawn mower 600 is placed on a supporting surface from a lifted state, the body of the intelligent lawn mower 600 is used for gravity to move downward relative to the supporting wheel 200, and the axle 210 moves upward relative to the channel 110; when the intelligent mower 600 is lifted from the supporting surface, the supporting wheel 200 moves downward relative to the channel 110 along with the axle 210 of the supporting wheel 200 due to gravity. The sensing element 300 is fixed on the axle 210 and can send out sensing signals to the periphery along with displacement. The sensing device 400 is disposed on the supporting wheel mounting base 100, located at the top of the supporting wheel mounting base 100, and configured to receive a sensing signal sent by the sensing element 300, and detect a distance between the sensing element 300 and the sensing device 400 on the wheel shaft 210 according to the received sensing signal, so as to determine a state of the intelligent lawn mower 600 at the time, for example, when the sensing element 300 is detected by the sensing device 400 to be located within a detection range of the sensing device 400, it is determined that the intelligent lawn mower 600 is placed on a supporting surface at the time, so as to control and maintain normal operation of operating members or tools, such as the supporting wheel 200, a rotary knife, and the like, on the intelligent lawn mower 600; when the sensing device 400 detects that the sensing element 300 moves down with the axle 210 to a position outside the detection range of the sensing device 400, it is determined that the intelligent mower 600 and the upper supporting wheel mounting base 100 are lifted up or lifted up, so as to control the operation members or tools such as the supporting wheel 200 and the rotary knife on the intelligent mower 600 to stop working, thereby preventing the operator from being injured by the members which do not stop working. In an example of the present invention, the position of the sensing device 400 on the top of the supporting wheel mounting seat 100 corresponds to the position of the axle 210 on the supporting wheel 200 on the supporting wheel mounting seat 100, so that the sensing device 400 is disposed on the top of each axle 300 on each axle 210, which effectively improves the sensitivity of the sensing device 400.
According to the equipment lifting detection mechanism, the sensing piece is arranged on the wheel shaft of the equipment supporting wheel, the sensing device is arranged above the sensing piece, and whether the equipment is lifted or not is judged by detecting whether a signal sent by the sensing piece exists within a set distance range through the sensing device. The invention provides a simple, convenient, sensitive and space-saving lifting detection mechanism in the limited spatial layout of an intelligent mower, the lifting detection mechanism is simple and stable in structure, and the detection sensitivity is effectively improved while the structural freedom degree is ensured.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (16)
1. An equipment lift detection mechanism, comprising:
the supporting wheel mounting seat is provided with a channel extending along the vertical direction;
the supporting wheel is arranged at the bottom of the supporting wheel mounting seat, a wheel shaft extends out of the supporting wheel, and the wheel shaft is slidably mounted into the channel;
a sensing element disposed on the axle;
the induction device is arranged on the supporting wheel mounting seat;
when the equipment is placed on the supporting surface, the sensing piece is positioned in the detection range of the sensing device; when the supporting wheel mounting seat is lifted, the sensing piece moves downwards along with the wheel shaft to be out of the detection range of the sensing device.
2. The equipment lift detection mechanism of claim 1, wherein the sensing element is coupled to the axle by a coupling.
3. The equipment lift detection mechanism of claim 2, wherein the connector is a post that fits into the channel, each end of the connector has a connection hole, the sensing member is disposed in the connection hole at one end of the connector, and the axle is connected to the connection hole at the other end of the connector.
4. The equipment lift detection mechanism of claim 1, wherein a limit channel is disposed within the channel, the limit channel being disposed outside a detection range of the sensing device.
5. The equipment lift detection mechanism of claim 4, wherein the axle has a stop on an end of the axle proximate the support wheel, the stop abutting the stop channel when the axle moves upward relative to the channel.
6. The equipment lift detection mechanism of claim 4, wherein a linear bearing is mounted at each end of the limiting channel, and the inner diameter of the linear bearing is matched with the wheel shaft.
7. The equipment lift detection mechanism of claim 6, wherein the end of the linear bearing is further provided with a limiting flange, and the limiting flange abuts against the end of the limiting channel.
8. The equipment lift detection mechanism of claim 7, wherein at least one spacer is disposed outside the limit flange of the linear bearing.
9. The equipment lift detection mechanism of claim 3 or 7, wherein when the support wheel mounting base is lifted or elevated, the connecting piece carries the sensing piece and moves down to the limit passage along with the wheel shaft, and the bottom of the connecting piece abuts against the limit flange.
10. The equipment lift detection mechanism of claim 1, wherein the channel is disposed on the mounting body, the mounting body being removably mounted on the support wheel mount.
11. The equipment lift detection mechanism of claim 10, wherein the mounting frame body is provided with a connection portion on one side of the channel, the connection portion is provided with a threaded post, and the connection portion is fixed on the support wheel mounting seat in a threaded connection manner.
12. The equipment lift detection mechanism of claim 1, wherein the support wheels are universal wheels and the axles disposed on the support wheels are universal axles.
13. The equipment lift detection mechanism of claim 1, wherein the sensing member is a magnet and the sensing device is any one of a hall effect sensor, an electrical sensor, or a magnetic sensor.
14. The equipment lift detection mechanism of claim 1, wherein the sensing device is disposed on a side of the support wheel mount facing away from the passageway.
15. An equipment lifting detection method is characterized by comprising the following steps:
arranging an induction device on a supporting wheel mounting seat of the equipment;
mounting a supporting wheel of the equipment on the supporting wheel mounting seat in a sliding manner;
a sensing piece corresponding to the sensing device is arranged on the supporting wheel, and the sensing piece is lifted to be within the detection range of the sensing device when the supporting wheel bears the supporting force, and moves downwards to be out of the detection range of the sensing device under the action of gravity when the supporting wheel does not bear the supporting force;
and when the sensing device does not receive the signal of the sensing piece, judging that the equipment is in a lifting state.
16. An intelligent mower is characterized in that at least one supporting wheel is arranged on the intelligent mower, and an equipment lifting detection mechanism is arranged at the mounting position of the intelligent mower on the supporting wheel; the equipment lifting detection mechanism comprises:
the supporting wheel mounting seat is provided with a channel extending along the vertical direction;
the supporting wheel is arranged at the bottom of the supporting wheel mounting seat, a wheel shaft extends out of the supporting wheel, and the wheel shaft is slidably mounted into the channel;
a sensing element disposed on the axle;
the induction device is arranged on the supporting wheel mounting seat;
when the equipment is placed on the supporting surface, the sensing piece is positioned in the detection range of the sensing device; when the supporting wheel mounting seat is lifted, the sensing piece moves downwards along with the wheel shaft to be out of the detection range of the sensing device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110869153.XA CN113455168A (en) | 2021-07-30 | 2021-07-30 | Equipment lifting detection mechanism and method and intelligent mower provided with mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110869153.XA CN113455168A (en) | 2021-07-30 | 2021-07-30 | Equipment lifting detection mechanism and method and intelligent mower provided with mechanism |
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| Publication Number | Publication Date |
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| CN113455168A true CN113455168A (en) | 2021-10-01 |
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| CN202110869153.XA Pending CN113455168A (en) | 2021-07-30 | 2021-07-30 | Equipment lifting detection mechanism and method and intelligent mower provided with mechanism |
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| CN (1) | CN113455168A (en) |
Cited By (1)
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| EP4309482A1 (en) * | 2022-02-23 | 2024-01-24 | Techtronic Cordless GP | Robotic lawn tool with lift sensor |
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| CN111406500A (en) * | 2020-05-07 | 2020-07-14 | 常州格力博有限公司 | Lawn mower and electric tool |
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| CN215935580U (en) * | 2021-07-30 | 2022-03-04 | 格力博(江苏)股份有限公司 | Equipment lifting detection mechanism and intelligent mower provided with same |
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| CN213073601U (en) * | 2019-11-22 | 2021-04-30 | 上海山科机器人有限公司 | Driven wheel assembly and self-walking equipment with same |
| CN111406500A (en) * | 2020-05-07 | 2020-07-14 | 常州格力博有限公司 | Lawn mower and electric tool |
| CN212573599U (en) * | 2020-05-07 | 2021-02-23 | 格力博(江苏)股份有限公司 | Electrically powered apparatus and assemblies |
| CN213094954U (en) * | 2020-07-14 | 2021-05-04 | 宁波瑞霖机械科技有限公司 | Universal wheel structure of mower and mower |
| CN215935580U (en) * | 2021-07-30 | 2022-03-04 | 格力博(江苏)股份有限公司 | Equipment lifting detection mechanism and intelligent mower provided with same |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP4309482A1 (en) * | 2022-02-23 | 2024-01-24 | Techtronic Cordless GP | Robotic lawn tool with lift sensor |
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