KR102223285B1 - Lawn mower robot - Google Patents

Abstract

The present invention relates to a lawnmower robot, comprising: an outer cover; An inner body accommodated on the inner side of the outer cover and mounted on both side surfaces of a plurality of wheels for driving; A plurality of blades rotatably mounted on the bottom of the inner body to mow the lawn; A plurality of support portions disposed above the inner body to be spaced apart from each other in the front-rear direction and the left-right direction, and supporting the outer cover to be movable in the front-rear direction and the left-right direction with respect to the inner body; And a plurality of injury prevention walls provided on the bottom surface of the inner body to prevent the user's hand from entering the plurality of blades from the lower portion of the outer cover, so that the user's hand or the like passes through the lower portion of the outer cover. Safety can be improved by preventing it from entering the blade.

Description

Lawn mower robot {LAWN MOWER ROBOT}

The present invention relates to a lawnmower robot that mows the lawn with a blade rotating by a motor.

A lawn mower is a device that mows and trims grass planted in a home's yard, playground, or golf course.

Recently, an automated robot-type lawnmower has been developed to reduce the trouble of having to operate the lawnmower directly by the user to mow the lawn, and to reduce the additional cost incurred by hiring an outsider to mow the lawn.

The lawnmower robot can drive by rotating a plurality of wheels with electric motors respectively mounted on both front and rear sides of the robot body, and can control the driving direction of the robot by controlling the number of rotations of the electric motor.

The present applicant has applied for a patent for a lawnmower robot (10-2017-0000416, filing date 2017. 01. 02.) and has been registered.

The lawnmower robot of the registered patent can rotate the blade on the bottom of the inner body and rotate the blade using the power of a motor to mow the lawn.

However, in the conventional lawnmower robot, although the outer cover surrounds the lower portion of the inner body, there is a problem in that a safety accident may occur in which the user's hand or foot enters the lower portion of the inner body and is injured by the blade.

The present invention has been created to solve the conventional problem, and an object of the present invention is to provide a lawnmower robot capable of preventing injury to a hand or the like caused by a blade by preventing a hand or foot from entering the lower portion of the lawnmower robot.

In order to achieve the above object, a lawnmower robot according to an embodiment of the present invention includes an outer cover; An inner body accommodated on the inner side of the outer cover and mounted on both side surfaces of a plurality of wheels for driving; A plurality of blades rotatably mounted on the bottom of the inner body to mow the lawn; A plurality of support portions disposed above the inner body to be spaced apart from each other in the front-rear direction and the left-right direction, and supporting the outer cover to be movable in the front-rear direction and the left-right direction with respect to the inner body; And a plurality of injury prevention walls provided on a bottom surface of the inner body to prevent a user's hand from entering the plurality of blades from a lower portion of the outer cover.

According to an embodiment of the present invention, the plurality of injury prevention walls may include: a first injury prevention wall protruding downward from the front of the bottom of the inner body; And a plurality of second injury prevention walls protruding downward from each of the left and right side surfaces of the bottom surface of the inner body.

According to an embodiment of the present invention, the plurality of injury prevention walls may further include a first injury prevention wall protruding downward from the rear of the bottom surface of the inner body.

According to an embodiment of the present invention, further comprising a charging terminal assembly mounted inside the front of the inner body and having a plurality of charging terminals, wherein the first injury prevention wall is disposed under the charging terminal assembly. I can.

According to an embodiment of the present invention, the first injury prevention wall includes: a plurality of protrusions protruding downward from the front of the bottom of the inner body; And a plurality of connection portions extending in a spaced direction of the plurality of protrusions and connecting the plurality of protrusions.

According to an embodiment of the present invention, the plurality of protrusions are spaced apart in the left and right lateral directions of the inner body, the plurality of connection parts extend in the left and right side directions of the inner body, and the plurality of protrusions and the plurality of connection parts Can be placed alternately with each other.

According to an embodiment of the present invention, each of the plurality of protrusions may be formed to protrude in a front-rear direction and a downward direction with respect to the plurality of connection parts.

According to an embodiment of the present invention, the plurality of protrusions may have a lower curved portion formed in a semicircular curved shape at a lower end.

According to an embodiment of the present invention, the second injury prevention wall includes: an inner wall portion extending downwardly from each of the left and right sides of the inner body to be lower than the lower end of the outer cover; A lower wall portion extending horizontally from a lower end of the inner wall portion to an outer side in a left and right direction; An outer wall portion extending higher than a lower end of the outer cover in an upward direction from the lower wall portion; And a front inclined surface portion extending downwardly inclined from a front upper end of the inner wall portion to a front end of the lower wall portion.

According to an embodiment of the present invention, the second injury prevention wall may further include a plurality of inner ribs extending in the width direction between the inner wall portion and the outer wall portion.

According to another embodiment of the present invention, the second injury prevention wall includes side portions extending downwardly protruding from each of the left and right side surfaces of the inner body; A lower surface portion extending horizontally from a lower end of the side portion; An upper surface portion spaced apart from the lower surface portion in an upward direction; A front inclined surface portion connecting a front end portion of each of the upper surface portion and the lower surface portion, and extending obliquely so that an upper end thereof is disposed in front of the lower surface portion; It may include a rear inclined surface portion connecting the rear end portion of each of the upper surface portion and the lower surface portion, and extending obliquely so that the upper end is disposed in front of the lower surface portion.

According to another embodiment of the present invention, the front inclined surface portion, the upper portion is formed to be inclined at a predetermined angle, the lower portion is formed as a curved surface of a predetermined curvature, and the rear inclined surface portion, the upper portion is formed as a curved surface of a predetermined curvature And the lower portion may be formed to be inclined at a predetermined angle.

According to another embodiment of the present invention, the second injury prevention wall may further include a plurality of intermediate ribs formed to be inclined between the upper surface portion and the lower surface portion.

According to another embodiment of the present invention, the first injury prevention wall includes: a protrusion formed to protrude downward from a front of a bottom surface of the inner body; And a plurality of protruding ribs protruding from the bottom surface of the protruding portion.

According to another embodiment of the present invention, each of the plurality of protruding ribs may be formed in a semicircular plate shape.

According to an embodiment of the present invention, each of the first injury prevention wall and the second injury prevention wall may have a plurality of drainage holes on a bottom surface.

The effect of the lawnmower robot according to the present invention will be described as follows.

First, a plurality of injury prevention walls are provided at the bottom of the inner body, of which the first injury prevention wall is formed to protrude further downward than the outer cover in front of the bottom surface of the inner body, and the user's hand, etc. Safety accidents can be prevented by preventing entry into the lower inner body of the inner body so that the plurality of blades cannot be contacted from the lower front.

Second, the first injury prevention wall is formed to be curved with a plurality of protrusions and a plurality of connection portions having a hollow portion therein, thereby reducing weight and maintaining structural rigidity.

Third, in the first injury prevention wall, the lower curved part of each of the plurality of protrusions is rounded into a semicircular curved surface, so even if the first injury prevention wall is caught by an obstacle such as a flat stone while driving the robot, it will ride over the obstacle by the lower curved part. As a result, it is possible to alleviate an impact when colliding with an obstacle having a low height, which is not detected by the ultrasonic sensor, and to maintain the running of the robot without stopping.

Fourth, the connection between the two adjacent protrusions in the transverse direction is a structure that is recessed in the upward and rearward direction than the protrusion, so that the turf can be smoothly entered from the front of the outer cover toward the inside of the blade by minimizing the entry resistance of the turf.

Fifth, the second injury prevention wall is formed to protrude from the lower left and right sides of the inner body to a lower side than the lower side of the outer cover, so that the user's hand, etc. cannot contact the blades, so that the inside of the bottom of the inner body from both sides of the outer cover. Can be prevented from entering.

Sixth, the front slope of the second injury prevention wall is formed to be inclined so that the upper end is located in front of the lower end, so that wires and grass are not caught on the front slope when the robot is driven, and the robot's running resistance is minimized so that it can easily escape without entanglement. Thus, the robot driving can be maintained smoothly.

Seventh, the second injury prevention wall is formed of a double partition wall of the inner wall portion and the outer wall portion, so that it can withstand external impacts from the lower side of the outer cover toward the lower inner body of the inner body.

Eighth, the inner wall portion may further include a plurality of reinforcing portions. The plurality of reinforcing portions may extend downwardly from a lower side of the inner body body. The plurality of reinforcing portions may be formed to protrude in left and right directions with respect to the inner wall portion.

Ninth, a plurality of first drainage holes are formed on the bottom of the protrusion of the first injury prevention wall, so that water that has penetrated into the hollow part inside the first injury prevention wall can be discharged to the outside through the first drainage hole, and the second A plurality of second drainage holes are formed through the lower surface of the injury prevention wall in the thickness direction, so that water penetrating into the empty space inside the second injury prevention wall may be discharged to the outside through the second drainage hole.

1 is a perspective view showing the appearance of a lawnmower robot according to a first embodiment of the present invention.
FIG. 2 is a conceptual diagram illustrating a state in which a front injury prevention wall is formed in front of the bottom of the inner body, taking a cross section along II-II in FIG. 1.
FIG. 3 is a conceptual diagram illustrating a state in which side injury prevention walls are formed on both lower side surfaces of the inner body by taking a cross section along III-III in FIG. 1.
4 is a conceptual diagram showing the inner body after removing the outer cover in FIG. 1.
5 is a bottom perspective view of the lawnmower of FIG. 1 as viewed from the bottom.
6 is a bottom view of the lawnmower of FIG. 1 as viewed from the bottom.
7 is a side view taken along VII-VII in FIG. 4.
8 is a conceptual diagram showing a state as viewed from the front of the inner body of the first injury prevention wall according to the second embodiment of the present invention.
9 is a conceptual diagram showing a state as viewed from the rear of the inner body of the first injury prevention wall according to the third embodiment of the present invention.

Hereinafter, exemplary embodiments disclosed in the present specification will be described in detail with reference to the accompanying drawings, but identical or similar elements are denoted by the same reference numerals regardless of reference numerals, and redundant descriptions thereof will be omitted. The suffixes "module" and "unit" for constituent elements used in the following description are given or used interchangeably in consideration of only the ease of writing the specification, and do not themselves have a distinct meaning or role from each other. In addition, in describing the embodiments disclosed in the present specification, when it is determined that a detailed description of related known technologies may obscure the subject matter of the embodiments disclosed in the present specification, the detailed description thereof will be omitted. In addition, the accompanying drawings are for easy understanding of the embodiments disclosed in the present specification, and the technical idea disclosed in the present specification is not limited by the accompanying drawings, and all changes included in the spirit and scope of the present invention It should be understood to include equivalents or substitutes.

Terms including ordinal numbers such as first and second may be used to describe various elements, but the elements are not limited by the terms. The above terms are used only for the purpose of distinguishing one component from another component.

When a component is referred to as being "connected" or "connected" to another component, it is understood that it may be directly connected or connected to the other component, but other components may exist in the middle. It should be. On the other hand, when a component is referred to as being "directly connected" or "directly connected" to another component, it should be understood that there is no other component in the middle.

Singular expressions include plural expressions unless the context clearly indicates otherwise.

In this application, terms such as "comprises" or "have" are intended to designate the presence of features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, but one or more other features. It is to be understood that the presence or addition of elements or numbers, steps, actions, components, parts, or combinations thereof does not preclude in advance.

1 is a perspective view showing the appearance of a lawnmower robot according to a first embodiment of the present invention, and FIG. 2 is a front injury prevention wall in front of the bottom of the inner body 110 by taking a cross section along II-II in FIG. It is a conceptual diagram showing a state in which (130) is formed, and FIG. 3 is a conceptual diagram showing a state in which side injury prevention walls 130 are formed on both lower sides of the inner body 110 by taking a cross section along III-III in FIG. 1, 4 is a conceptual diagram showing the inner body 110 after removing the outer cover 100 in FIG. 1, FIG. 5 is a bottom perspective view of the lawnmower of FIG. 1 viewed from the bottom, and FIG. 6 is the lawnmower of FIG. It is a bottom view as seen from the bottom.

The lawnmower robot of the present invention includes an outer cover 100 and an inner body 110. The outer cover 100 is configured to surround the inner body 110. The inner body 110 may be accommodated inside the outer cover 100.

The outer cover 100 may be supported so as to be movable in the front-rear direction and the left-right direction with respect to the inner body 110 by a plurality of support parts 120.

The plurality of support parts 120 may be disposed on the inner body 110 to be spaced apart from each other in the front and rear directions. For example, the two front support portions 121 may be spaced apart in the width direction in front of the inner body 110, and the two rear support portions 122 may be spaced apart in the width direction at the rear of the inner body 110. have.

Each of the plurality of support parts 120 may be made of a rubber material. Each of the plurality of support parts 120 may be formed in a cylindrical rod shape that is elongated in the vertical direction, and may be formed to have a narrow cross-sectional area from the upper end to the middle part or from the lower end to the middle part.

Each of the plurality of support parts 120 may have an upper end coupled to the outer cover 100 and a lower end coupled to the inner body 110. Among the plurality of support portions 120, the front support portion 121 may include a corrugated portion 1211 extending radially in the form of a bellows at the lower end.

The front support 121 may elastically support the outer cover 100 so as to be movable in the front and rear, left and right directions with respect to the inner body 110 by the corrugated portion 1211.

The rear support part 122 may elastically support the outer cover 100 by bending the upper part in the front and rear, left and right directions around the lower part.

When the outer cover 100 collides with an obstacle, the outer cover 100 may move forward, backward, left and right with respect to the inner body 110 to mitigate the impact.

A plurality of ultrasonic sensor modules 101 may be mounted in front of the outer cover 100. The plurality of ultrasonic sensor modules 101 may be spaced apart in the width direction. Each of the plurality of ultrasonic sensor modules 101 may detect an obstacle positioned in front by transmitting an ultrasonic wave and receiving a reflected wave reflected by the obstacle.

The ultrasonic guide part 102 is formed in a flat shape in front of the outer cover 100, and the ultrasonic guide part 102 extends forward from the bottom of the plurality of ultrasonic sensor modules 101, and a plurality of ultrasonic sensor modules ( 101) can be limited so that the ultrasound is transmitted above a certain height.

The handle 103 is provided on the upper part of the outer cover 100, so that the robot can be transported after the user grips the handle 103 by hand. The handle 103 may be composed of a front fastening portion, an intermediate inclined portion, and a rear gripping portion.

The front fastening portion is configured to be fastened to both front sides of the outer cover 100, and the intermediate inclined portion may extend upward inclined from the front fastening portion in the rear direction. The rear gripping part may be configured to connect the rear end of the intermediate inclined part as a part gripped by the user by hand.

The first upper cover 104 and the second upper cover 105 may be mounted on the upper part of the outer cover 100 to be open and close.

Each of the first upper cover 104 and the second upper cover 105 may be mounted so that the front end portion is coupled to the inner body 110 by a hinge, and the rear end portion is rotatable in the vertical direction.

The first upper cover 104 may be formed to be inclined downward from the rear end to the front end so that the front end is positioned lower than the rear end in the longitudinal direction. The first upper cover 104 may be formed to be inclined downwardly from the center portion to the left and right sides so that the left and right side ends are positioned lower than the center portion in the width direction.

According to this configuration, the first upper cover 104 and the second upper cover 105 can induce rainwater to flow down to the lower outside without accumulating on the upper part of the outer cover 100 in rainy weather.

A stop switch 106 may be installed to be pushable between the first upper cover 104 and the second upper cover 105. The stop switch 106 can be used by a user in an emergency.

The stop switch 106 may be positioned slightly higher than the first and second upper covers 105 and may be configured to be positioned in the same manner as the rear gripping portion of the handle 103.

According to this configuration, when the robot passes through an obstacle such as a tree branch at a position as low as the height of the robot, the stop switch 106 touches the obstacle earlier than the rear gripping portion of the handle 103 so that the robot is stopped by pressing it. And, it is possible to prevent the handle 103 from getting caught in the obstacle.

A rain sensor is installed on one side of the upper portion of the outer cover 100 to detect rain when it rains.

According to this configuration, the lawn robot may be configured to return to the charging station by detecting rain through a rain sensor.

A plurality of rain sensors may be installed. The rain sensor may be configured to detect a change in capacitance due to the impact and adhesion of water when raindrops come into contact and detect the amount of rainwater.

Wheel drive motors may be mounted on both sides of the inner body 110 for driving the robot. The wheel drive motor has a drive shaft, and the wheel 123 may be connected to the drive shaft. The plurality of wheels 123 may be rotated by receiving rotational force from a wheel driving motor through a drive shaft.

The plurality of wheels 123 may be independently driven by a wheel driving motor. The plurality of wheel drive motors are independently connected to the plurality of wheels 123, and the number of rotations may be controlled differently from the control unit.

A plurality of casters 124 may be mounted on the bottom of the inner body 110 so as to be pivotable in the left and right directions around a central axis extending vertically.

According to this configuration, the controller controls a plurality of wheel drive motors to control the number of rotations of the wheel 123 differently, so that the robot can travel in a desired direction.

The lawnmower robot may include a blade assembly inside the inner body 110 to mow the lawn. The blade assembly may be disposed at the center of the inner body 110.

The blade assembly may include a lifting frame, a plurality of blades 125, a rotating plate 126, a blade protection cover 127, a rotating cylinder, a height adjustment knob 128, and the like.

The blade assembly is located under the first upper cover 104, and when the first upper cover 104 is opened, the height adjustment knob 128 of the blade assembly can be seen by the user. The user can adjust the height of the blade 125 by using the height adjustment knob 128.

An elevating frame may be mounted in the inner body 110 so as to move upwardly. The rotating plate 126 may be rotatably mounted on the bottom of the lifting frame. A blade drive motor may be mounted inside the lifting frame.

The plurality of blades 125 and the rotating plate 126 may be rotatably disposed on the bottom surface of the inner body 110.

The rotating plate 126 may be configured in a disk shape.

The blade protection cover 127 may be disposed on the bottom surface of the inner body 110 and may be disposed to cover the rotating plate 126 and the plurality of blades 125.

The motor shaft is configured to protrude from the lower portion of the blade driving motor, and the motor shaft is coupled to a shaft coupling portion formed in the center of the rotating plate 126, so that the rotating plate 126 can be rotated by receiving power from the blade driving motor.

A plurality of blades 125 may be rotatably mounted on the bottom surface of the rotating plate 126. The plurality of blades 125 may be spaced apart from each other in the circumferential direction of the rotating plate 126.

Each of the plurality of blades 125 has one end hinged to the rotating plate 126 by a fastening bolt, and the other end is folded in the radial direction of the rotating plate 126 around the fastening bolt, or radially outward of the rotating plate 126 Can be rotated to unfold.

According to this configuration, the plurality of blades 125 can mow the lawn while rotating together with the rotating plate 126 when the robot is traveling.

A blade protective cover 127 is installed on the bottom of the lifting frame, and the blade protective cover 127 may be mounted so as to move up and down together with the lifting frame.

The rotating plate 126 and the plurality of blades 125 are disposed to be accommodated inside the blade protection cover 127, and the rotating plate 126 is spaced apart from the upper surface of the blade protection cover 127 in a downward direction to protect the blade. It may be mounted rotatably with respect to the cover 127.

The blade protection cover 127 has a plurality of protrusions 1271 and a plurality of turf inlets 1273 in the front, and the plurality of protrusions 1271 and a plurality of turf inlets 1273 may be alternately spaced apart.

The blade protection cover 127 may include inclined portions 1272 on left and right sides and rear surfaces. The inclined portion 1272 may extend downwardly inclined from the upper surface of the blade protection cover 127.

According to this configuration, each of the inclined portion 1272 and the plurality of protrusions 1271 prevents the stone fragments from being scattered in the left and right directions and rearward when the blade 125 and the stones collide and bounced out of the outer cover 100. Can be blocked.

In addition, the plurality of grass entrances 1273 may minimize resistance when the grass enters from the front to the inside of the blade protection cover 127.

The plurality of blades 125, the rotating plate 126, and the blade protection cover 127 are mounted to be vertically movable together with the lifting frame, so that the height of the plurality of blades 125 can be adjusted.

In order to adjust the height of the blade 125, the height adjustment knob 128 may be rotatably mounted in place on the upper portion of the inner body 110. The handle portion is formed protruding from the upper surface of the height adjustment knob 128 and extends in the radial direction, so that the user can be configured to rotate the height adjustment knob 128 while holding the handle.

The rotating cylindrical portion is coupled to the lower portion of the height adjustment knob 128, and may be rotatably mounted together with the height adjustment knob 128. A male screw portion may be formed on the outer circumferential surface of the rotating cylindrical portion. The rotating cylindrical portion may be accommodated in the interior of the lifting frame.

It may be rotatably mounted on the upper portion of the inner body 110 by providing a lowering limiting portion at the upper end of the rotating cylindrical portion.

A plurality of helical protrusions are formed on the inner circumferential surface of the lifting frame, and the helical protrusions may be engaged so as to mesh with the male threaded portions of the rotating cylindrical portion. Rotation restriction portions are protruded on both sides of the outer circumferential surface of the elevating frame, so that the elevating frame is not rotated and can only be moved upward.

According to this configuration, in the lifting frame, as the rotating cylindrical portion rotates, the spiral protrusion can move in the vertical direction along the male screw portion.

The blade sealing part 129 may be disposed between the lower portion of the inner body 110 and the bottom surface of the lifting frame. The upper end of the blade sealing part 129 may be fastened to the lower part of the inner body 110, and the lower end of the blade sealing part 129 may be fastened to the bottom of the lifting frame together with the blade protection cover 127.

The bellows-shaped corrugated portion on the side of the blade sealing portion 129 may be extended to be adjustable in length in the vertical direction.

According to this configuration, the length of the corrugated portion can be adjusted in the vertical direction by being unfolded or folded in the longitudinal direction, so that the blade protection cover 127, the rotating plate 126 and the plurality of blades 125 move in the vertical direction together with the elevating frame. Even if the inner body 110 maintains watertightness between the lower portion of the inner body 110 and the blade protection cover 127, water penetrates the inner body 110 from the lower portion of the inner body 110, for example, into the interior of the lifting frame. Therefore, it is possible to prevent the blade drive motor from being damaged.

The inner body 110 may include an inner body body 111 and an inner body cover 112. An accommodation space may be formed inside the inner body body 111. The inner body cover 112 may be mounted to cover the upper portion of the inner body body 111.

In the inner body 110, semiconductor devices such as an inverter for driving a motor and electrical devices such as a pcb mounted thereon are mounted, and a wire may be configured to electrically connect various types of electrical devices.

A controller for controlling a blade driving motor and a wheel driving motor may be mounted inside the inner body 110. The controller can be configured to control the overall operation of the lawnmower robot.

The controller may be implemented as a CPU (Central Processing Unit) capable of processing data. Various software can be installed on the CPU.

The outer cover 100 is configured to surround the upper, front, rear, left and right sides of the inner body 110, and the outer cover 100 and the inner body 110 are vertically, front-rearward, and left-right directions. They can be placed apart from each other.

The lower end of the outer cover 100 may be disposed to be spaced apart at a predetermined height or more upward from the ground.

In order to prevent the user's hand or foot from entering through the gap between the lower end of the outer cover 100 and the ground, a plurality of injury prevention walls 130 may be provided on the inner body 110.

Each of the plurality of injury prevention walls 130 has a lower end lower than that of the outer cover 100 to block a hand or the like from entering the inner bottom surface of the inner body 110.

The plurality of injury prevention walls 130 may include a first injury prevention wall 131 and a second injury prevention wall 132. The first injury prevention wall 131 may be disposed in front of the inner body 110, and the second injury prevention wall 132 may be disposed on the left and right side surfaces of the inner body 110, respectively.

The first injury prevention wall 131 may be formed to protrude downward from the front bottom surface of the inner body body 111. The first injury prevention wall 131 may be spaced apart from the front surface of the outer cover 100 to the rear.

The first injury prevention wall 131 may be disposed under the charging terminal assembly 140.

The first injury prevention wall 131 may include a plurality of protrusions 1310 and a plurality of connection parts 1314.

The plurality of protrusions 1310 may be spaced apart from the bottom surface of the inner body body 111 in the transverse direction (left and right directions). The plurality of protrusions 1310 may extend to protrude downward from the bottom surface of the inner body body 111.

Each of the plurality of protrusions 1310 may include a front plane part 1311, a lower curved part 1312, and a rear plane part 1313.

The front planar portion 1311 is disposed parallel to the front surface of the outer cover 100 and may extend vertically in a planar shape.

The lower curved portion 1312 may extend from the lower end of the front plane portion 1311 in a semicircular curved shape.

The rear flat portion 1313 may extend in a flat shape so as to taper upward from the rear upper end of the lower curved portion.

Each of the front plane part 1311, the lower curved part 1312, and the rear plane part 1313 may extend downward from the bottom surface of the inner body body 111 while having a predetermined width.

The plurality of connection portions 1314 may be configured to connect a plurality of protrusions 1310 spaced apart in the transverse direction. The plurality of connection portions 1314 and the plurality of protrusions 1310 may be alternately spaced apart from each other along the horizontal direction.

The plurality of connection portions 1314 may be formed to be recessed in the front-rear direction and upward direction with respect to the plurality of protrusions 1310.

For example, the plurality of connection portions 1314 are formed in a shape corresponding to the plurality of protrusions 1310, however, the plurality of protrusions 1310 are front and rear surfaces 1311 and the rear of the plurality of connection portions 1314. A gap in the front-rear direction between the flat portions 1313 may be wider, and the lower curved portion 1312 may protrude lower in the downward direction.

The plurality of protrusions 1310 and the plurality of connection portions 1314 may be formed to be curved along the transverse direction. A boundary portion between the protruding portion 1310 and the connecting portion 1314 may be formed to have a curved surface.

The plurality of protrusions 1310 and the plurality of connection portions 1314 may have one hollow portion as an empty space therein.

According to this configuration, the first injury prevention wall 131 is formed to protrude further downward than the outer cover 100 from the bottom front of the inner body 110, and the user's hand, etc. A safety accident may be prevented by preventing the plurality of blades 125 from entering into the lower inner side of the inner body 110 so as not to be able to contact the plurality of blades 125.

In addition, the first injury prevention wall 131 may be formed to be curved with a plurality of protrusions 1310 and a plurality of connection parts 1314 having a hollow part therein, thereby reducing weight and maintaining structural rigidity.

In addition, in the first injury prevention wall 131, the lower curved part 1312 of each of the plurality of protrusions 1310 is formed in a round shape in a semicircular shape, so that the first injury prevention wall 131 is an obstacle such as flat stones when driving the robot. Even if it is caught, the lower curved part 1312 rides over the obstacle, so that the impact can be alleviated in the event of a collision with a low-height obstacle that is not detected by the ultrasonic sensor, and the robot's running can be maintained without stopping. I can.

In addition, the connection part 1314 between the two protrusions 1310 adjacent in the transverse direction is a structure that is recessed in the upward and rearward directions than the protrusion 1310, so that the turf is in front of the outer cover 100 by minimizing the entry resistance of the turf. It can be smoothly entered toward the inside of the blade (125).

The second injury prevention walls 132 may be provided below the left and right sides of the inner body 110, respectively.

The second injury prevention wall 132 may be spaced apart from the outer surface of the outer cover 100 in the inward direction.

The second injury prevention wall 132 may be disposed at a lower end portion lower than the side surface of the outer cover 100.

The second injury prevention wall 132 may include an inner wall portion 1321, a lower wall portion 1322, an outer wall portion 1323, a front inclined surface portion 1324, and an inner rib 1325.

The inner wall portion 1321 may extend vertically downward from both left and right sides of the inner body 110. The inner wall portion 1321 may extend lower at a lower end than the outer cover 100. The inner wall portion 1321 may extend in the front-rear direction of the inner body 110.

The lower wall portion 1322 may horizontally extend from the lower end of the inner wall portion 1321 toward the outside in the left and right side directions of the inner body 110. The lower wall portion 1322 may be disposed lower than the outer cover 100.

However, the lower wall portion 1322 does not protrude outward from the side surface of the outer cover 100. The lower wall portion 1322 may extend in the front-rear direction of the inner body 110.

The outer wall portion 1323 may be spaced apart from the inner wall portion 1321 to the outside in the left-right direction of the inner body 110 by the width of the lower wall portion 1322. The outer wall portion 1323 may extend upward from the lower wall portion 1322. The outer wall portion 1323 may extend higher than the lower end of the outer cover 100.

However, the outer wall portion 1323 may be disposed to be lower in height than the inner wall portion 1321.

The front inclined surface portion 1324 may protrude downward from the bottom of the inner body body 111 and may extend obliquely from the front to the rear of the inner body body 111.

The front upper end of the front inclined surface portion 1324 may be connected to the front of the bottom of the inner body body 111, and the rear lower end of the front inclined surface portion 1324 may be connected to the front end of the lower wall portion 1322.

The front upper end portion of the front inclined surface portion 1324 may be disposed forward in the longitudinal direction of the inner body 110 than the rear lower end portion of the front inclined surface portion 1324.

The front inclined surface portion 1324 may be formed in a round shape with a curved surface having a predetermined curvature. The lower end of the front inclined surface portion 1324 may be configured to cover the front surface between the lower end of the inner wall portion 1321 and the outer wall portion 1323.

The upper portion between the inner wall portion 1321 and the outer wall portion 1323 may be opened, and the lower portion between the inner wall portion 1321 and the outer wall portion 1323 may be blocked by the lower wall portion 1322.

The front end portion between the inner wall portion 1321 and the outer wall portion 1323 may be blocked by the front inclined surface portion 1324, and the rear end portion between the inner wall portion 1321 and the outer wall portion 1323 may be opened.

Between the inner wall portion 1321 and the outer wall portion 1323, a plurality of inner ribs 1325 extend in the left and right lateral direction (or width direction) of the inner body 110, so that the inner wall portion 1321 and the outer wall portion ( 1323) Can be connected to each inner side.

The plurality of inner ribs 1325 may extend in the height direction of the inner body 110. The plurality of inner ribs 1325 may extend lower in height than the outer wall portion 1323.

According to this configuration, the second injury prevention walls 132 are formed to protrude downward from both side surfaces of the inner body 110, so that the user's hand or the like cannot contact the blade 125 on both sides of the outer cover 100. It can be prevented from entering into the inner bottom of the inner body 110.

In addition, the front inclined surface portion 1324 of the second injury prevention wall 132 is formed to be inclined so that the upper end is positioned in front of the lower end, so that wires and lawns do not get caught in the front inclined surface portion 1324 and do not become entangled when the robot is running. By minimizing the running resistance of the robot to get out well, the robot can be smoothly maintained.

In addition, the second injury prevention wall 132 is formed of a double partition wall of the inner wall portion 1321 and the outer wall portion 1323, so that from the lower side of the outer cover 100, the outer side toward the lower inner body 110 Can withstand the impact of

In addition, the inner wall portion 1321 may further include a plurality of reinforcing portions 1326. The plurality of reinforcing portions 1326 may extend downward from the lower side of the inner body body 111. The plurality of reinforcing portions 1326 may be formed to protrude in the left and right lateral directions with respect to the inner wall portion 1321.

Each of the plurality of reinforcing portions 1326 may be formed in a U-shaped cross-sectional shape.

According to this configuration, the plurality of reinforcing portions 1326 can increase the structural rigidity of the inner wall portion 1321.

Each of the first injury prevention wall 131 and the second injury prevention wall 132 may have at least one drain hole.

The drainage hole may include a plurality of first drainage holes 1331 and a plurality of second drainage holes 1332.

The plurality of first drainage holes 1331 may be formed on the bottom surface of the protrusion 1310 of the first injury prevention wall 131.

The plurality of second drainage holes 1332 may be formed through the lower wall portion 1322 of the second injury prevention wall 132 in the thickness direction.

According to this configuration, water penetrating into the hollow portion of the first injury prevention wall 131 can be discharged to the outside through the first drainage hole 1331, and the empty space inside the second injury prevention wall 132 The water penetrating into may be discharged to the outside through the second drainage hole 1332.

The first injury prevention wall 131 may be disposed under the charging terminal assembly 140 to supplement structural rigidity between the first injury prevention wall 131 and the charging terminal assembly 140.

The charging terminal assembly 140 may include a plurality of charging terminals 141 and a charging terminal holder 142.

The charging terminal accommodating part 143 is formed inside the front of the inner body 110 and may be configured to mount the charging terminal holder 142 therein.

A plurality of charging terminals 141 are disposed on both left and right sides of the charging terminal holder 142, so that the charging terminal of the charging table is inserted into the charging terminal 141 installed in the inner body 110 to perform charging.

7 is a conceptual diagram showing a state as viewed from the front of the inner body 110 of the first injury prevention wall 231 according to the second embodiment of the present invention.

The first injury prevention wall 231 of the present embodiment is different from the first embodiment in terms of shape and structure including a protrusion 2310 and a plurality of protrusion ribs 2311.

Since other components are the same or similar to those of the first embodiment, redundant descriptions will be omitted, and descriptions will be made focusing on differences.

The protrusion 2310 may be formed to protrude downward from the front of the bottom surface of the inner body body 111. The protrusion 2310 may be spaced apart from the front part of the outer cover 100 and spaced apart from the front part of the outer cover 100 and may be spaced apart from the front end part of the rotating plate 126.

The protrusion 2310 may extend along the left and right directions of the inner body 110. The protrusion 2310 may be configured in the shape of a square box. The protrusion 2310 may have a hollow portion formed therein.

The plurality of protruding ribs 2311 may be formed to protrude downward from the bottom surface of the protruding portion 2310. The plurality of protruding ribs 2311 may have a constant thickness and may be formed in a semicircular plate shape.

The plurality of protruding ribs 2311 may be spaced apart from each other in the longitudinal direction of the protruding portion 2310. The plurality of protruding ribs 2311 may be spaced apart from each other in the left and right directions of the inner body 110.

The protruding rib 2311 may extend to protrude downwardly lower than the lower end of the front portion of the outer cover 100.

According to this configuration, the plurality of protruding ribs 2311 protrude from the front of the bottom of the inner body 110 lower than the bottom of the front of the outer cover 100, so that the user's hand, etc. It can be prevented from entering toward the blade 125 mounted on the bottom of the.

In addition, the protruding rib 2311 is formed in a semi-circular shape, so that the robot can ride over an obstacle such as a flat stone to relieve shock and maintain continuity of driving.

FIG. 8 is a conceptual diagram showing a state as viewed from the rear of the inner body 110 of the first injury prevention wall 331 according to the third embodiment of the present invention.

This embodiment is different from the first and second embodiments in that a first injury prevention wall 331 is further provided on the rear bottom surface of the inner body 110.

The first injury prevention wall 331 may include a protrusion 3310 and a plurality of protrusion ribs 3311.

The protruding portion 3310 and the plurality of protruding ribs 3311 are further spaced from the rear end of the inner body 110 than the rear end of the rotating plate 126 or the blade protection cover 127, and are forward than the rear lower end of the outer cover 100. Can be arranged spaced apart.

The protrusion 3310 extends from the bottom surface of the inner body body 111 in the left and right direction, and may be formed to protrude downward from the bottom surface of the inner body body 111.

The plurality of protruding ribs 3311 may protrude lower than the rear lower end of the outer cover 100 in a downward direction from the rear of the bottom of the inner body body 111.

Other configurations and effects are the same as or similar to those of the first and second embodiments, and thus redundant descriptions will be omitted.

9 is a conceptual diagram showing a second injury prevention wall 432 according to a fourth embodiment of the present invention.

The second injury prevention wall 432 of the present embodiment differs from the second injury prevention wall 132 of the first embodiment in terms of structure, but is the same or similar in terms of functions and effectiveness.

The second injury prevention wall 432 may include a side portion 4321, an upper surface portion 4322, a lower surface portion 4323, a front inclined surface portion 4324, and a rear inclined surface portion 4325.

The side portion 4321 may extend to protrude downward from a lower side of the inner body body 111. The side portion 4321 may have a lower end extending lower than the outer cover 100.

The lower surface portion 4323 may extend horizontally from the lower end of the side portion 4321 in the left and right directions along the front-rear direction and outward.

The upper surface portion 4322 is spaced upward from the lower surface portion 4323 and may extend horizontally outward in the left and right directions along the front-rear direction from the side portion 4321.

The upper surface part 4322 is disposed higher than the lower end of the outer cover 100, and the lower surface part 4323 is disposed lower than the lower end of the outer cover 100, so that the user's hand is caught by the lower surface part 4323. It may be prevented from entering toward the inner side of the bottom of the inner body 110.

The upper surface portion 4322 and the lower surface portion 4323 are arranged to be overlapped in the vertical direction with the same length, and the front end and the rear end of the upper surface portion 4322 are toward the front of the inner body 110 than the lower surface portion 4323. Can be placed in the front.

Each of the front inclined surface portion 4324 and the rear inclined surface portion 4325 may be configured to connect a front end portion and a rear end portion of each of the upper surface portion 4322 and the lower surface portion 4323.

The front inclined surface portion 4324 and the rear inclined surface portion 4325 may be formed to be inclined so that the upper end is positioned further forward toward the front of the inner body 110 than the lower end.

In the longitudinal direction of the front inclined surface portion 4324, an upper portion may be formed to be inclined at a predetermined inclination angle, and a lower portion of the front inclined surface portion 4324 may be formed in a curved shape with a predetermined curvature.

In the longitudinal direction of the rear inclined surface portion 4325, an upper portion may be formed in a curved shape having a constant curvature, and a lower portion of the rear inclined surface portion 4325 may be formed to be inclined to have a constant angle.

Each of the side surface portion 4321, the upper surface portion 4322, the lower surface portion 4323, the front inclined surface portion 4324 and the rear inclined surface portion 4325 is an inner surface, an upper surface, and a lower surface of the second injury prevention wall 432, Front and rear surfaces can be formed. The second injury prevention wall 431 may be formed to be open in the left and right outward directions.

An empty space may be formed inside the side portion 4321, the upper surface portion 4322, the lower surface portion 4323, the front inclined surface portion 4324, and the rear inclined surface portion 4325.

A plurality of intermediate ribs between the upper surface portion 4322 and the lower surface portion 4323 may have a predetermined thickness and may extend obliquely at a predetermined angle.

Each of the plurality of intermediate ribs may have an upper end disposed in front of the inner body 110 than a lower end.

According to this configuration, the front inclined surface portion 4324 of the second injury prevention wall 432 is formed to be inclined so that the upper end is positioned in front of the lower end, so that wires and grass are not caught on the front inclined surface portion 4324 when driving the robot. Robot driving can be maintained smoothly by minimizing the driving resistance of the robot so that it can easily escape without entanglement.

In addition, the second injury prevention wall 432 has the inner body 110 from the lower side of the outer cover 100 by extending the double partition walls of the upper surface 4322 and the lower surface 4323 from the side surface 4321 in the lateral direction. ) Can withstand external shocks in the inner direction of the lower part.

Embodiment 1
100: outer cover 101: ultrasonic sensor module
102: ultrasonic guide unit 103: handle
104: first upper cover 105: second upper cover
106: stop switch 110: inner body
111: inner body body 112: inner body cover
120: support 121: front support
1211: wrinkle portion 122: rear support portion
123: wheel 124: caster
125: blade 126: rotating plate
127: blade protection cover 1271: protrusion
1272: slope 1273: grass entrance
128: height adjustment knob 129: blade sealing part
130: injury prevention wall 131: first injury prevention wall
1310: protrusion 1311: front plane portion
1312: lower curved portion 1313: rear flat portion
1314: connection part 132: second injury prevention wall
1321: inner wall portion 1322: lower wall portion
1323: outer wall portion 1324: front inclined surface portion
1325: inner rib 1326: reinforcement part
1331: 1st drainage hole 1332: 2nd drainage hole
140: charging terminal assembly 141: charging terminal
142: charging terminal holder 143: charging terminal receiving part
Embodiment 2
231: first injury prevention wall 2310: protrusion
2311: protruding rib
Embodiment 3
331: first injury prevention wall 3310: protrusion
3311: protruding rib
Embodiment 4
432: second injury prevention wall 4321: side portion
4322: upper surface portion 4323: lower surface portion
4324: front inclined surface portion 4325: rear inclined surface portion
4326: middle rib

Claims (16)

Outer cover;
An inner body accommodated on the inner side of the outer cover and mounted on both side surfaces of a plurality of wheels for driving;
A plurality of blades rotatably mounted on the bottom of the inner body to mow the lawn;
It is provided on the bottom surface of the inner body, and includes a plurality of injury prevention walls to prevent the user's hand from entering the plurality of blades from the lower portion of the outer cover,
The plurality of injury prevention walls,
A first injury prevention wall protruding downward from the front of the bottom of the inner body; And
And a plurality of second injury prevention walls protruding downward from each of the left and right side surfaces of the bottom surface of the inner body,
The second injury prevention wall,
Inner wall portions extending downwardly from each of the left and right side surfaces of the inner body to be lower than the lower end of the outer cover;
A lower wall portion extending horizontally from a lower end of the inner wall portion to an outer side in a left and right direction;
An outer wall portion extending higher than a lower end of the outer cover in an upward direction from the lower wall portion; And
A lawn mower comprising a front inclined surface portion extending downwardly inclined from a front upper end of the inner wall portion to a front end of the lower wall portion. delete The method of claim 1,
The plurality of injury prevention walls,
A lawnmower, characterized in that it further comprises a first injury prevention wall protruding downward from the rear of the bottom of the inner body. The method of claim 1,
It is mounted inside the front of the inner body, further comprising a charging terminal assembly having a plurality of charging terminals,
The lawnmower robot, characterized in that the first injury prevention wall is disposed under the charging terminal assembly. The method of claim 1,
The first injury prevention wall,
A plurality of protrusions protruding downward from the front of the bottom of the inner body; And
And a plurality of connecting portions extending in a spaced direction of the plurality of protrusions and connecting the plurality of protrusions. The method of claim 5,
The plurality of protrusions are spaced apart from each other in the left and right lateral directions of the inner body, the plurality of connection parts extend in the left and right lateral directions of the inner body, and the plurality of protrusions and the plurality of connection parts are alternately arranged with each other. Lawnmower robot. The method of claim 5,
Each of the plurality of protrusions is formed to protrude in a front-rear direction and a downward direction with respect to the plurality of connection parts. The method of claim 5,
The lawnmower, characterized in that the plurality of protrusions have a lower curved portion formed in a semicircular curved shape at a lower end. delete The method of claim 1,
The second injury prevention wall,
And a plurality of inner ribs extending in the width direction between the inner wall portion and the outer wall portion. Outer cover;
An inner body accommodated on the inner side of the outer cover and mounted on both side surfaces of a plurality of wheels for driving;
A plurality of blades rotatably mounted on the bottom of the inner body to mow the lawn; And
It is provided on the bottom surface of the inner body, and includes a plurality of injury prevention walls to prevent the user's hand from entering the plurality of blades from the lower portion of the outer cover,
The plurality of injury prevention walls,
A first injury prevention wall protruding downward from the front of the bottom of the inner body; And
And a plurality of second injury prevention walls protruding downward from each of the left and right side surfaces of the bottom surface of the inner body,
The second injury prevention wall,
Side portions extending to protrude downward from each of the left and right side surfaces of the inner body;
A lower surface portion extending horizontally from a lower end of the side portion;
An upper surface portion spaced apart from the lower surface portion in an upward direction;
A front inclined surface portion connecting a front end portion of each of the upper surface portion and the lower surface portion, and extending obliquely so that an upper end thereof is disposed in front of the lower surface portion;
And a rear inclined surface portion connecting the rear end portions of each of the upper surface portion and the lower surface portion and extending obliquely so that an upper end thereof is disposed in front of the lower surface portion. The method of claim 11,
The front inclined surface portion,
The upper part is formed to be inclined at a preset angle, the lower part is formed as a curved surface of a preset curvature,
The rear inclined surface portion,
A lawnmower robot, characterized in that the upper part is formed as a curved surface of a preset curvature, and the lower part is formed to be inclined at a preset angle. The method of claim 11,
The second injury prevention wall,
And a plurality of intermediate ribs formed to be inclined between the upper surface portion and the lower surface portion. The method of claim 1,
The first injury prevention wall,
A protrusion protruding downwardly from the front of the bottom of the inner body; And
A lawnmower robot comprising a plurality of protruding ribs protruding from the bottom surface of the protruding portion. The method of claim 14,
Each of the plurality of protruding ribs is a lawnmower, characterized in that formed in a semicircular plate shape. The method of claim 1,
Each of the first injury prevention wall and the second injury prevention wall,
A lawnmower robot comprising a plurality of drainage holes on the bottom surface.

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