KR20190117357A - Lawn mower robot - Google Patents

Abstract

The present invention relates to a lawn mower robot, which comprises: an outer cover; an inner body accommodated into the outer cover, and provided with a plurality of wheels for traveling on both sides thereof; a blade drive motor mounted inside the inner body; a rotating plate driven by the blade drive motor, and rotatably mounted on a bottom surface of the inner body; a plurality of blades rotatably mounted on the rotating plate, and unfolded to an external side of the rotating plate or folded to an internal side of the rotating plate; a blade protection cover disposed on a bottom surface of the inner body to cover the rotating plate and the blades; and a sealing portion configured to seal a gap between the inner body and the blade protection cover.

Description

Lawn Mower {LAWN MOWER ROBOT}

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

Lawn mower is a device to mow the lawn planted in the home yard, playground, golf course.

Recently, automated robot-type lawn mowers have been developed to reduce the burden of having to operate the lawn mowers directly to mow the lawn, and to reduce the additional costs incurred by hiring outsiders to mow the lawn.

The lawn mower robot may be driven by rotating a plurality of wheels by electric motors mounted on both front and rear sides of the robot body, and may control the driving direction of the robot by controlling the rotation speed of the electric motor.

The applicant has filed a patent application (10-2017-0000416, application date 2017. 01. 02.) for a lawn mower robot.

The lawn mower robot of the registered patent may mow the lawn by mounting a motor inside the inner body and rotating the blade using the power of the motor.

In addition, the lawn mower robot of the registered patent is installed in the inner body to move the lifting frame in the vertical direction, and mounted on the bottom surface of the lifting frame for rotating the blade, so as to move in the vertical direction from the ground The height of the blade can be adjusted.

On the other hand, there are many places where some part of the ground is pitted in the grass field, and water such as rain often gathers in the pool.

However, the conventional lawnmower robot has a problem in that the lower part of the robot is submerged in water when driving in a pool of water, such that water penetrates into the robot and an electric short circuit occurs in a blade motor.

In addition, the conventional lawnmower robot has a problem that it is difficult to apply the waterproof structure because the blade and the rotating plate is configured to move or rotate in the vertical direction.

The present invention has been made to solve the conventional problems, and an object thereof is to provide a lawnmower robot that can prevent a short circuit phenomenon such as a blade motor due to water penetration into the robot.

In addition, another object of the present invention is to provide a lawnmower robot that can block the penetration of water into the blade motor even if the blade or the like moves or rotates in the vertical direction.

In order to achieve the above object, a lawnmower robot according to the present invention, the outer cover; An inner body accommodated in the outer cover and having a plurality of wheels for traveling on both sides; A blade driving motor mounted inside the inner body; A rotating plate driven by the blade driving motor and rotatably mounted on a bottom of the inner body; A plurality of blades rotatably mounted to the rotary plate, the blades extending outwardly or folded inside the rotary plate; A blade protection cover disposed on a bottom surface of the inner body and covering the rotating plate and the plurality of blades; And a sealing part sealing between the inner body and the blade protective cover.

According to an example related to the present disclosure, the blade driving motor may be mounted therein, and may be mounted to the inside of the inner body to be liftable, and may further include a lifting frame configured to adjust the height of the blade.

According to an example related to the present invention, the sealing part may include a bellows-type pleat portion to enable length adjustment in a vertical direction; An upper fastening part extending radially outward from an upper end of the corrugation part and fastened to a bottom surface of the inner body; And a plurality of lower fastening parts formed on a lower surface part extending radially inward from a lower end of the corrugation part and fastened to a bottom surface of the lifting frame.

According to an example related to the present disclosure, the mounting guide may further include a mounting guide for mounting the sealing part on the bottom of the inner body, wherein the mounting guide includes: an adhesive part for closely contacting the upper fastening part to the bottom of the inner body; And it may include a shielding wall extending in the downward direction to surround the wrinkles.

According to an example related to the present invention, a plurality of contact protrusions may be formed to protrude in an uneven form along an edge on an upper surface of the contact portion.

According to an embodiment related to the present invention, a plurality of fastening portions are formed concave on the bottom surface of the lifting frame, the plurality of lower fastening portions are formed concave on the lower surface portion of the sealing portion, and a plurality of upper surfaces of the blade protection cover. The upper surface fastening portion of the projecting portion is formed, the plurality of lower fastening portions and the plurality of fastening portions are respectively inserted and coupled, the plurality of fastening portions, the plurality of lower fastening portions and the plurality of upper surface fastening portions, respectively May be disposed to overlap each other and fastened to each other.

According to an example related to the present disclosure, the recess may further include a recess formed in the bottom of the inner body to be recessed in an upward direction to receive a portion of each of the sealing portion and the mounting guide.

According to an example related to the present invention, the elevating frame includes a motor mounting portion extending upward from a bottom surface of the elevating frame; And a motor seating portion extending radially inward from an upper end portion of the motor mounting portion to seat and fix the blade driving motor, and a circular protrusion extending upward from the center portion of the upper surface of the blade protection cover toward the motor seating portion. The circular accommodating part may extend upward from the inner end of the lower surface of the sealing part to surround the circular protrusion, and the circular accommodating part may be inserted into and coupled to the inner side of the motor mounting part.

According to an example related to the present invention, a plurality of through holes are formed on an upper surface of the blade protection cover, so that the stone fragments colliding with the blades may bounce off the upper portion of the blade protection cover through the plurality of through holes. have.

According to an example related to the present invention, the sealing part includes a plurality of cutout grooves formed in the upper fastening part, and the plurality of fastening parts respectively penetrate through the plurality of cutting grooves to fasten the sealing part and the inner body. can do.

According to an example related to the present invention, the lifting frame has a plurality of fastening protrusions on a bottom surface, and the sealing part has a plurality of fastening holes to insert and couple the fastening protrusions to the lower surface portion, and the plurality of The fastening hole and the plurality of lower fastening parts may be alternately disposed along the circumferential direction.

According to an embodiment related to the present invention, a rotating cylinder portion accommodated in the lifting frame and rotatably mounted in the inner body; And a knob coupled to an upper portion of the rotating cylinder portion to rotate the rotating cylinder portion, wherein a male screw portion protrudes in a spiral direction on an outer circumferential surface of the rotating cylinder portion, and is engaged with the male screw portion inside the lifting frame. A plurality of spiral protrusions may be formed to protrude.

Referring to the effect of the lawn mower robot according to the present invention.

First, by fastening the upper fastening portion of the sealing portion to the lower portion of the inner body, and fastening the lower fastening portion of the sealing portion to be laminated between the lower surface of the lifting frame and the upper surface of the blade protective cover, thereby sealing between the inner body and the blade protective cover, When the lawn mower robot is immersed in water accumulated in the pool when driving the pool, water can be prevented from penetrating into the interior of the robot, that is, between the inner body and the blade protective cover.

Second, the sealing part is provided with a foldable portion that can be folded up or down in the vertical direction, the length of the sealing part is adjusted according to the height of the blade protective cover, it is possible to block the penetration of water even if the height of the blade and the blade protective cover is adjusted. .

Third, the mounting guide may include a flat contact portion on the upper surface thereof to fasten the upper fastening portion to closely contact the inner body of the sealing portion, thereby improving the watertight performance of the sealing portion.

Fourth, by providing a shielding wall extending in the vertical direction in the mounting guide, it is possible to shield the foreign matter such as stone debris from colliding with the wrinkles of the sealing portion.

Fifth, the lower fastening portion of the sealing portion is formed in a concave shape in a quadrangular shape so as to receive and engage the upper surface fastening portion of the quadrangle formed on the upper surface of the blade protective cover, so that the lower fastening portion of the sealing portion together with the upper surface fastening portion of the blade protective cover It is inserted and coupled to the fastening portion of the rectangular shape formed on the bottom of the lifting frame can securely fasten the sealing portion and the blade protection cover to the bottom of the lifting frame.

1 is a perspective view showing the appearance of a lawn mower robot according to the present invention.
FIG. 2 is a cross-sectional view taken along II-II in FIG. 1.
FIG. 3 is an enlarged view illustrating “III” in FIG. 2.
4 is a conceptual view illustrating the blade assembly 110 in FIG. 3.
5 is an exploded view of the blade assembly 110 in FIG.
6 is an exploded view showing the disassembled waterproofing unit of bellows type to be mounted on the bottom of the inner body 130.
FIG. 7 is a conceptual view illustrating a cross-sectional structure of the waterproof unit in FIG. 6.
FIG. 8 is a conceptual view illustrating a mounting guide 134 viewed from above in FIG. 6.
9 is an operating state diagram showing an operating state of the waterproof unit in the height adjustment of the blade 118 in FIG.

Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings, and the same or similar components are denoted by the same reference numerals regardless of the reference numerals, and redundant description thereof will be omitted. The suffixes "module" and "unit" for components used in the following description are given or used in consideration of ease of specification, and do not have distinct meanings or roles from each other. In addition, in describing the embodiments disclosed herein, when it is determined that the detailed description of the related known technology may obscure the gist of the embodiments disclosed herein, the detailed description thereof will be omitted. In addition, the accompanying drawings are intended to facilitate understanding of the embodiments disclosed herein, but are not limited to the technical spirit disclosed herein by the accompanying drawings, all changes included in the spirit and scope of the present invention. It should be understood to include equivalents and substitutes.

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

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

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

In this application, the terms "comprises" or "having" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, and one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, components, or a combination thereof.

1 is a perspective view showing the appearance of a lawn mower robot according to the present invention, Figure 2 is a cross-sectional view taken along II-II in Figure 1, Figure 3 is an enlarged view of "III" in Figure 2, Figure 4 3 is a conceptual view showing the blade assembly 110 in Figure 3, Figure 5 is an exploded view of the blade assembly 110 in Figure 4, Figure 6 is a bellows-shaped waterproof unit to be mounted on the bottom of the inner body 130 is disassembled Figure 7 is an exploded view showing a state, Figure 7 is a conceptual view showing a cross-sectional structure of the waterproof unit in Figure 6, Figure 8 is a conceptual view showing a view from above the mounting guide 134 in Figure 6, Figure 9 is a blade ( 118) is an operation state diagram showing the operating state of the waterproof unit when adjusting the height.

The lawn mower robot of the present invention includes an outer cover 100, an inner body 130, and a blade assembly 110.

The outer cover 100 is configured to surround the outside of the inner body 130, and forms an exterior of the robot. A bumper part, such as a rubber material, is mounted at the lower end of the front end of the outer cover 100, so that a shock may be alleviated when colliding with an obstacle.

A plurality of ultrasonic sensor modules 101 may be installed on the front upper portion of the outer cover 100. Each of the plurality of ultrasonic sensor modules 101 may be configured to detect an obstacle, including a transmitter for transmitting ultrasonic waves forward and a receiver for receiving ultrasonic waves reflected from the obstacle.

The plurality of ultrasonic sensor modules 101 may be spaced apart from each other in the width direction of the outer cover 100.

The ultrasonic sensor module 101 may be configured to transmit ultrasonic waves above a predetermined height.

To this end, the ultrasonic guide 102 in front of the outer cover 100 is formed in a planar shape at a constant height from the ground, so that the ultrasonic wave is limited to be emitted to the lower portion of the ultrasonic guide 102, the ultrasonic guide 102 portion Ultrasonic waves can be emitted to the above height.

According to this configuration, it is possible to prevent the grass from being mistaken as an obstacle because the ultrasonic wave is emitted to the lower portion of the ultrasonic guide 102.

Ultrasonic side guides are formed at both sides of the ultrasonic sensor module 101 so that ultrasonic waves may be emitted at a predetermined angle in the width direction of the outer cover 100.

The controller may receive the detection signal from the ultrasonic sensor module 101 to control the robot. The controller may stop the driving of the robot by receiving a signal from the ultrasonic sensor module 101.

The first upper cover 103 and the second upper cover 104 are hinged to the upper portion of the outer cover 100, and are opened and closed in the vertical direction to perform maintenance and management of the robot.

For example, when the first upper cover 103 is rotated upward and opened, the first upper cover 103 adjusts the height of the blade 118 mounted on the upper portion of the inner body 130 through the first upper cover 103. By exposing the knob 112, the height of the blade 118 can be adjusted by rotating the knob 112.

When the second upper cover 104 is rotated upward and opened, the second upper cover 104 may expose the display unit and the control unit mounted on the upper rear of the inner body 130 through the second upper cover 104.

The stop switch 105 is disposed between the first upper cover 103 and the second upper cover 104 so that the user can stop the operation of the robot by pressing the stop switch 105 in an emergency.

The handle 106 is mounted on the upper portion of the outer cover 100 so that the user can carry the robot after holding the handle 106 by hand.

The inner body 130 may be accommodated in the outer cover 100. The inner body 130 may have a receiving space therein. The inner body 130 may be composed of an inner body body 131 and an inner body 130 cover.

A plurality of casters 107 may be rotatably mounted 360 degrees on both front sides of the inner body 130. A plurality of wheel drive motors are mounted on both rear sides of the inner body 130 by the drive motor holder, and the plurality of wheels 108 may be connected to each other via a wheel drive motor and a rotating shaft and may be rotatably mounted. According to such a configuration, as the wheel driving motor (not shown) moves, the wheel 108 may rotate to move the robot.

The plurality of wheel drive motors may be configured to independently drive the plurality of wheels 108. According to this configuration, the wheel drive motor can control the running direction of the robot by adjusting the rpm (revolutions per minute) of the wheel 108 by receiving a control signal from the control unit.

Support portions may be mounted on the front left and right sides and the rear left and right sides of the inner body 130, respectively. The plurality of supports may be made of a rubber material. The plurality of support portions may extend vertically in the vertical direction, and the intermediate portion in the longitudinal direction of the support portion may have a smaller cross-sectional area than the upper and lower ends thereof.

The plurality of support parts may have an upper end connected to the outer cover 100, and a lower end connected to the inner body 130 to elastically support the outer cover 100 so as to be movable in the front-back direction and the left-right direction. According to this configuration, the support portion can mitigate the impact during the collision of the outer cover 100.

 The joystick bumper 109 may be rotatably mounted in the front-rear direction at the center of the front portion of the inner body 130. Joystick bumper 109 may be configured in the form of a rod extending in the vertical direction.

The upper end of the joystick bumper 109 is connected to the outer cover 100, the middle portion is hinged to the inner body 130 in the vertical direction of the joystick bumper 109, the lower end of the joystick bumper 109 in the front and rear direction Can rotate

The joystick bumper 109 may further include a restoring spring (not shown). Restoring spring is configured in the form of a coil, it may be mounted to surround the lower portion of the joystick bumper 109.

One end of the restoring spring may be fixed to the inner body 130, and the other end of the restoring spring may be fixed to the bottom of the joystick bumper 109 by a spring seat to rotate together with the lower end of the joystick bumper 109.

According to this configuration, the restoration spring can move the outer cover 100 to its original position by elastically supporting the lower part of the joystick bumper 109 when the outer cover 100 is pushed backward when the outer cover 100 collides. .

A collision sensor unit (not shown) may be provided in the inner body 130.

The collision sensor unit may be composed of a permanent magnet and a hall sensor. The permanent magnet may be installed at the bottom of the joystick bumper 109, and the hall sensor may be installed to face the permanent magnet on the inner body 130.

According to this configuration, when the outer cover 100 collides with an obstacle, the upper end of the joystick bumper 109 connected to the outer cover 100 is pushed backward, and the joystick bumper 109 has a lower end forward with respect to the hinged middle part. Will rotate.

Since the permanent magnet mounted at the bottom of the joystick bumper 109 is spaced forward from the hall sensor, the hall sensor may detect that the outer cover 100 has collided with an obstacle.

The controller may receive the detection signal from the hall sensor and move the robot back from the obstacle, and then control the wheel driving motor to bypass the obstacle.

The blade assembly 110 may be mounted to the center portion in the longitudinal direction of the inner body 130. To this end, the blade mounting portion 132 extends in the up and down direction in a cylindrical shape and penetrates through the inner body body 131, so that the blade assembly 110 may be accommodated and mounted in the blade mounting portion 132. .

The blade assembly 110 includes a blade height adjusting unit 111, a blade driving motor 115, a waterproof unit, a blade protective cover 116, a rotating plate 117, and a plurality of blades 118.

The blade height adjusting unit 111 may include a knob 112, a rotating cylinder 113, and a lifting frame 114 to adjust the height of the blade 118.

The knob 112 is formed in a cylindrical shape, the upper surface of the knob 112 may be formed concave to recess inwardly downward from the top of the edge. The knob portion 1121 of the knob 112 may protrude upward and extend in a radial direction at an inner upper surface of the knob 112. According to this, the user can grasp and rotate the knob 112 and the handle portion 1121.

The rotating cylinder 113 may be rotatably mounted in place on the blade mounting portion 132 of the inner body 130.

To this end, the support protrusions 1131 may extend from the upper end of the outer circumferential surface of the rotary cylinder 113 to the radially outer side. The inner protrusion may radially protrude from the inner side of the blade mounting portion 132 so that the support protrusion 1131 is caught.

The support protrusions 1131 of the rotating cylinder portion 113 are arranged to overlap the upper and lower directions of the inner protrusions of the blade mounting portion 132, so that the rotating cylinder portion 113 is rotatable inside the inner body 130. Can be supported.

Knob 112 is coupled to the upper portion of the rotary cylinder 113, the rotary cylinder 113 with the knob 112 may be rotatably coupled.

To this end, a plurality of protrusions 1122 may be provided on the bottom of the knob 112. The plurality of protrusions 1122 may be spaced apart in the circumferential direction. The plurality of protrusions 1122 may be formed in a rectangular box shape when viewed from the bottom, and may have a right triangle structure when viewed from the side.

An extension part 1132 may be formed to protrude upward in an upper end portion of the rotation cylinder part 113, and a plurality of accommodation parts 1133 may be formed in the extension part 1132. The plurality of receiving portions 1133 are configured to receive the plurality of protrusions 1122 and to engage with the protrusions 1122.

According to this configuration, when the knob portion 1121 of the knob 112 is rotated, the rotary cylinder 113 can be rotated together with the knob 112.

The knob 112 may include a plurality of hook hooks 1123 on both sides in the radial direction from the bottom of the handle portion 1121.

A plurality of locking portions 1134 are formed at a position corresponding to the plurality of locking hooks 1123 on the extension 1132 of the rotary cylinder 113 so that the locking hooks 1123 may be caught by the locking portions 1134. Can be configured.

According to this configuration, as the catching hook 1123 is caught by the catching portion 1134, the knob 112 can be prevented from being separated upward from the rotating cylindrical portion 113.

The hollow part may be penetrated to receive the blade driving motor 115 in the rotary cylinder 113. The rotary cylinder 113 extends in the vertical direction and may be disposed vertically.

The lifting frame 114 is formed in a cylindrical shape, and is open in the upward direction and has a closed structure in the downward direction. The lifting frame 114 may surround the rotating cylinder 113 and accommodate the rotating cylinder 113 therein.

The lifting frame 114 is disposed outside the rotary cylinder 113, and is configured to be movable up and down in association with the rotation of the rotary cylinder 113 without rotating in the circumferential direction.

To this end, the rotation limiting projection (1143) extends in the vertical direction and protrudes outward in the radial direction on the outer circumferential surface of the elevating frame (114), the rotation limiting projection (1143) protruding portion (1122) protruding in the blade mounting portion 132 As a result, the lifting frame 114 may be restricted from rotating in the circumferential direction.

A male screw portion 1135 may be formed on the outer circumferential surface of the rotating cylinder portion 113. A plurality of spiral protrusions 1144 are helically protruded from the upper end of the inner circumferential surface of the lifting frame 114 so that the male screw portion 1135 and the spiral protrusions 1144 may be engaged with each other.

According to this configuration, as the rotary cylinder 113 rotates in the circumferential direction, the lifting frame 114 can move in the vertical direction.

The blade driving motor 115 may be mounted in the lifting frame 114. The motor mounting part 1145 extends upward from the inner bottom surface of the lifting frame 114, and the motor seating part 1146 extends radially from the inner circumferential surface of the motor mounting part 1145 at the top thereof, thereby providing a motor seating part ( The blade driving motor 115 may be seated and supported by 1146. The blade driving motor 115 may be fastened to the upper portion of the motor seating part 1146.

An inner partition 1147 may protrude from the inside of the elevating frame 114. The inner partition 1147 extends in the circumferential direction and extends higher in the upward direction than the motor mounting part 1145, and may be configured to surround the outside of the blade driving motor 115. The inner partition 1147 may protrude between the rotating cylindrical portion 113 and the motor mounting portion 1145 and may be disposed to be radially spaced apart from the rotating cylindrical portion 113.

The blade drive motor 115 includes a motor shaft 1151 protruding downward from the bottom surface, and the motor shaft 1151 is engaged with the central portion of the rotating plate 117 so that the blade drive motor 115 moves. The rotating plate 117 may be rotated. The shaft coupling portion 1171 may protrude upward in the center of the rotating plate 117, so that the shaft coupling portion 1171 and the motor shaft 1151 may be fastened to each other.

The motor shaft 1151 may be disposed to be inclined at a predetermined angle (eg, 3 degrees) from the vertical line toward the front.

The plurality of blades 118 may be rotatably mounted to the rotating plate 117. Each of the plurality of blades 118 may be disposed in the circumferential direction at an edge portion of the rotating plate 117. One end of each blade 118 may be fastened to the rotating plate 117 by a fastening bolt 1181.

The other end of the blade 118 may rotate (expand) or rotate (fold) to the outside of the rotating plate 117 around the fastening bolt 1181 by centrifugal force when the rotating plate 117 rotates. Can be.

When the blade drive motor 115 rotates, the rotating plate 117 is rotated by receiving power through the motor shaft 1151, and the blade 118 rotates to the outside of the rotating plate 117 by centrifugal force to mow the lawn. Can be.

The rotating plate 117 may be disposed to be inclined with respect to the horizontal plane so that the front end portion is lower than the rear end portion.

The blade 118 disposed at the front of the rotating plate 117 may be lower than the blade 118 disposed at the rear of the rotating plate 117 to cut the grass shorter. In addition, the other end in the longitudinal direction of the blade 118 during the rotation of the rotating plate 117 may be located lower than one end (part fastened to the fastening bolt 1181).

The blade 118 may be positioned lower than the rotating plate 117. The blade 118 may be located lower than the plane perpendicular to the motor shaft 1151.

According to this configuration, the blade 118 can reduce the cutting load of the blade 118 when mowing the lawn while moving in the running direction of the robot.

The blade protection cover 116 may be configured to prevent the stone fragments from being bounced out of the outer cover 100 when the blade 118 collides with the stone.

The blade protection cover 116 is fastened to the bottom surface of the elevating frame 114, and may move upward and downward along with the rotating plate 117 and the blade 118.

To this end, the blade protection cover 116 is provided with a tapered portion 1161 is formed to be inclined downward along the edge portion. The taper portion 1161 may be disposed lower than a plane perpendicular to the central axis of the blade 118.

A plurality of protrusions 1162 may be formed in the front portion of the blade protection cover 116. The plurality of protrusions 1162 may be spaced apart from the left and right sides along the circumferential direction at the front center of the blade protection cover 116.

A plurality of turf inlets 1163 may be formed in the front portion of the blade protective cover 116. The plurality of turf inlets 1163 and the plurality of protrusions 1162 may be alternately spaced apart in the circumferential direction.

The plurality of protrusions 1162 may be narrowly spaced apart from the front center to the left and right sides along the circumferential direction of the blade protection cover 116. The plurality of protrusions 1162 may be disposed to overlap each other in the tangential direction left and right at the center of the front end of the rotating plate 117.

According to this configuration, not only the grass can easily enter the blade protection cover 116 toward the blade 118 through the grass inlet 1163, but also the plurality of protrusions 1162 are placed in front of the rotating plate 117. It is disposed so as to overlap in a tangential direction in, it is possible to prevent the stone debris to be bounced to the left and right sides during the collision of the blade 118 and the like.

A plurality of through holes 1166 may be formed on the upper surface of the blade protection cover 116. The plurality of through holes 1166 may be spaced apart in the circumferential direction. Each of the plurality of through holes 1166 may be formed in an arc shape.

According to this configuration, the plurality of through holes 1166 induces the debris generated when the foreign matter such as the blade 118 and the stone collides through the upper surface of the blade protective cover 116, thereby causing the debris to become an inner body. It may be reflected from the bottom of the 130 to fall to the ground.

This is because fragments such as stones are reflected in various paths inside the blade protection cover 116 and thus do not directly impact the blade protection cover 116, and the debris does not directly impact the blade protection cover 116. It penetrates into the recessed structure of the inner body 130 to extend the scattering distance of the debris and reflects the debris to the structure of the inner body 130 at least once, thereby alleviating the impact of the debris. In addition, the debris may fall on the ground and fall to the bottom of the inner body 130 to prevent the risk of secondary safety accidents due to the debris of the blade 118.

The waterproof unit is configured to prevent water from penetrating into the robot from the bottom of the robot when the robot travels in a puddle or the like.

The waterproof unit may include a sealing unit 120 and a mounting guide 134.

The sealing unit 120 may be formed of a material that is elastic and waterproof, such as rubber. One side of the sealing unit 120 may be fastened to the bottom surface of the inner body 130, and the other side of the sealing part 120 may be fastened to the upper portion of the blade protection cover 116.

The sealing unit 120 may be configured to receive a lower portion of the elevating frame 114 and surround the bottom surface of the elevating frame 114.

The sealing part 120 may be formed in a hexagonal shape in which each corner is rounded.

The sealing part 120 may be composed of an upper fastening part 121, a wrinkle part 122, and a lower fastening part 1231.

The pleats 122 may be formed in the form of bellows on the side of the sealing part 120. The pleats 122 may include a plurality of bent parts 1221 and a plurality of connection parts 1222 connecting the plurality of bent parts 1221 to the “U” shape. The plurality of bent parts 1221 and the connection parts 1222 may be alternately spaced apart in the vertical direction.

The upper fastening part 121 may extend in a planar shape in the radial direction from the top of the pleats 122, and may be fastened to the inner body 130. An incision groove 1212 is formed through the upper fastening portion 121 in a semicircular shape, so that a fastening member such as a bolt penetrates the incision groove 1212 and the upper fastening portion 121 of the sealing portion 120 in the inner body 130. ) And the mounting guide 134 which will be described later.

If the fastening member is in contact with the upper fastening portion 121 of the rubber material when the cutout groove 1212 is not formed in the upper fastening portion 121, tearing of the sealing portion 120 may occur.

Therefore, in order to prevent the tearing phenomenon of the sealing part 120, it is preferable to form the cutout part 1212.

In order to fasten the sealing part 120 and the inner body 130, the recessed part 133 may be formed to protrude upward inward from the lower end of the blade mounting part 132. When viewed from the bottom of the inner body 130, the depression 133 may be viewed as a structure recessed toward the inner side of the inner body 130.

A plurality of fastening grooves are formed in the recess 133, and fastening members such as screws may be fastened to the plurality of fastening grooves.

The mounting guide 134 is configured to attach the upper fastening portion 121 of the sealing portion 120 to the recessed portion 133 to be mounted on the inner body 130.

The mounting guide 134 may be composed of a contact portion 1341 formed in a flat shape on the top to contact the bottom surface of the upper fastening portion 121 and a shielding wall 1344 extending vertically downward from the contact portion 1341. Can be.

The shielding wall 1344 may be formed to extend in a vertical direction from the bottom of the contact portion 1341 so as to surround the pleats 122 of the sealing part 120.

The close contact portion 1341 may have a hexagonal shape in which corners are rounded. The width of the adhesion part 1341 may be divided into an outer part and an inner part which are disposed outside the shielding wall 1344 based on the shielding wall 1344. The outer portion of the contact portion 1341 may extend longer in length than the inner portion.

A plurality of contact protrusions 1342 may be formed to protrude in an uneven form on the upper surface of the contact portion (1341). The plurality of adhesion protrusions 1342 may extend along the edge of the adhesion portion 1341 and may be spaced apart in the width direction of the adhesion portion 1341.

According to this configuration, the upper fastening portion 121 of the sealing portion 120 when the fastening force by the fastening member is transmitted from the close contact portion 1341 of the mounting guide 134 to the upper fastening portion 121 of the sealing portion 120. ) And the adhesion area by the unevenness | corrugation of the adhesion protrusion 1342 between the adhesion protrusion 1342 of the mounting guide 134 increases, and watertight performance can be improved.

A plurality of bosses 1343 may protrude from the outer portion of the contact portion 1341. The plurality of bosses 1343 may be spaced apart along the close contact portion 1341.

Each of the plurality of boss portions 1343 extends in a vertical direction in a cylindrical shape, and a fastening member such as a screw is inserted into and fastened to the boss portion 1343, whereby the mounting guide 134 is an upper fastening portion of the sealing portion 120. The 121 may be fastened to the recessed portion 133 of the bottom surface of the inner body main body 131 so as to be in close contact with each other.

The shielding wall 1344 seals when stone fragments bounce off the recess 133 of the inner body main body 131 through the through hole 1166 of the blade protection cover 116 when the blade 118 collides with the stone. The debris can be prevented from flying to the pleats 122 of the part 120.

According to this, the shielding wall 1344 can protect the sealing part 120 from the impact by a debris.

The plurality of lower fastening parts 1231 are configured to fasten the lower surface part 123 of the sealing part 120 and the upper surface of the blade protection cover 116. The plurality of lower fastening parts 1231 may protrude in a rectangular shape upward from the lower surface part 123 of the sealing part 120. The plurality of lower fastening parts 1231 may be spaced apart in the circumferential direction. When viewed from the bottom of the sealing portion 120, the plurality of lower fastening portions 1231 may be seen as a structure recessed in the upper direction.

A plurality of fastening portions 1141 may be concave in a quadrangular shape on the lower surface of the elevating frame 114. The plurality of fastening parts 1141 may be spaced apart in the circumferential direction. In addition, a plurality of fastening protrusions 1142 may protrude in a cylindrical shape on a lower surface of the elevating frame 114. The plurality of fastening portions 1141 and the fastening protrusions 1142 may be alternately spaced apart from each other.

A plurality of upper surface coupling parts 1164 may protrude in a quadrangular shape on the upper surface of the blade protection cover 116. The plurality of upper surface coupling parts 1164 may be spaced apart in the circumferential direction.

In order from the bottom in the upward direction, the upper surface of the blade protection cover 116, the lower surface portion 123 of the sealing portion 120 and the lower surface of the lifting frame 114 are arranged to be stacked in the vertical direction, the blade protective cover ( The upper surface fastening part 1164 of 116 is inserted into the bottom surface of the lower fastening part 1231 of the sealing part 120, and the lower fastening part 1231 of the sealing part 120 is fastening part of the elevating frame 114. 1141) may be inserted into and coupled to the bottom surface.

A plurality of fastening holes 1233 are formed in the upper fastening part 1164 of the blade protection cover 116 and the lower fastening part 1231 of the sealing part 120, respectively, and the fastening part 1141 of the elevating frame 114. ), A plurality of fastening grooves are formed, and a plurality of fastening members such as screws may be fastened to the fastening grooves of the lifting frame 114 by passing through the blade protection cover 116 and the sealing part 120.

The circular protrusion 1165 extends upward from the center of the upper surface of the blade protection cover 116, and the circular receiving portion 1232 is upward from the bottom of the sealing portion 120 to surround the outer circumferential surface of the circular protrusion 1165. It can be extended to.

The circular protrusion 1165 of the blade protection cover 116 is inserted and coupled to the circular receiving portion 1232 of the sealing portion 120, the circular receiving portion 1232 of the sealing portion 120 is the motor of the lifting frame 114 It can be inserted into the mounting portion 1145 inside.

According to this configuration, the sealing unit 120 and the blade protection cover 116 can be mounted on the bottom of the lifting frame 114 to be elevated. In addition, the sealing part 120 may be easily assembled to the bottom of the lifting frame 114.

Therefore, according to the present invention, the upper fastening portion 121 of the sealing portion 120 is fastened to the lower portion of the inner body 130, and the lower fastening portion 1231 of the sealing portion 120 of the lifting frame 114 It is fastened to be laminated between the lower surface and the upper surface of the blade protective cover 116 to seal between the inner body 130 and the blade protective cover 116, so that the lawn mower robot runs into a puddle, etc. When submerged, water may be prevented from penetrating into the interior of the robot, that is, between the inner body 130 and the blade protective cover 116.

In addition, the sealing part 120 is provided with a pleated part 122 that can be folded or developed in the vertical direction on the side, the sealing part 120 is adjusted in accordance with the height of the blade protective cover 116, the blade 118 ) And even if the height of the blade protection cover 116 is adjusted can block the penetration of water.

In addition, the mounting guide 134 is provided with a flat contact portion 1321 on the upper surface to fasten the upper fastening portion 121 of the sealing portion 120 to be in close contact with the inner body 130, thereby providing a sealing portion ( 120) can improve the watertight performance.

In addition, the mounting guide 134 may be provided with a shielding wall 1344 extending in the vertical direction, so that foreign matters such as rubble debris may be shielded from colliding with the wrinkles 122 of the sealing part 120.

In addition, the lower fastening part 1231 of the sealing part 120 is formed to be concave in a quadrangular shape so as to receive therein the upper fastening part 1164 of the square formed on the upper surface of the blade protection cover 116, The lower fastening part 1231 of the sealing part 120 is inserted into and coupled to the fastening part 1141 having a rectangular shape formed on the bottom of the elevating frame 114 together with the fastening part 1164 of the blade protection cover 116. The sealing unit 120 and the blade protective cover 116 may be firmly fastened to the bottom of the lifting frame 114.

100: outer cover 101: ultrasonic sensor module
102: ultrasonic guide portion 103: first upper cover
104: second upper cover 105: stop switch
106: handle 107: caster
108: wheel 109: joystick bumper
110: blade assembly 111: height adjustment unit
112: knob 1121: handle
1122: protrusion 1123: hook
113: rotating cylinder portion 1131: support protrusion
1132: extension portion 1133: receiving portion
1134: latching portion 1135: male thread portion
114: lifting frame 1141: fastening portion
1142: fastening protrusion 1143: rotation limiting projection
1144: spiral protrusion 1145: motor mounting portion
1146: motor seating part 1147: inner partition
115: blade drive motor 1151: motor shaft
116: blade protective cover 1161: tapered portion
1162: protrusion 1163: turf entrance
1164: upper surface fastening portion 1165: circular projection
1166 through hole 117 rotating plate
1171: shaft coupling portion 118: blade
1181: tightening bolt 120: sealing part
121: upper fastening portion 1212: incision groove
122: crease 1221: bend
1222: connection portion 123: lower surface portion
1231: lower fastening part 1232: circular receiving part
1233: fastening hole 130: inner body
131: inner body body 132: blade mounting portion
133: depression 134: mounting guide
1341: contact part 1342: contact protrusion
1343: boss portion 1344: shielding wall

Claims (12)

Outer cover;
An inner body accommodated in the outer cover and having a plurality of wheels for traveling on both sides;
A blade driving motor mounted inside the inner body;
A rotating plate driven by the blade driving motor and rotatably mounted on a bottom of the inner body;
A plurality of blades rotatably mounted to the rotary plate, the blades extending outwardly or folded inside the rotary plate;
A blade protection cover disposed on a bottom surface of the inner body and covering the rotating plate and the plurality of blades; And
Lawn mower robot including a sealing portion for sealing between the inner body and the blade protective cover. The method of claim 1,
Mounting the blade drive motor therein, the lawn mower robot further comprises a lifting frame which is mounted to the inside of the inner body to adjust the height of the blade. The method of claim 2,
The sealing unit,
Bellows-type wrinkles to enable length adjustment in the vertical direction;
An upper fastening part extending radially outward from an upper end of the corrugation part and fastened to a bottom surface of the inner body; And
A lawnmower robot, comprising: a plurality of lower fastening parts formed on a lower surface portion extending radially inward from a lower end of the corrugation portion and fastened to a bottom surface of the lifting frame. The method of claim 3,
Further comprising a mounting guide for mounting the sealing portion on the bottom surface of the inner body,
The mounting guide,
A close contact portion for closely contacting the upper fastening portion to a bottom surface of the inner body; And
Lawn mower robot characterized in that it comprises a shielding wall extending in the downward direction to surround the wrinkles. The method of claim 4, wherein
Lawn mower robot characterized in that the plurality of contact protrusions protrude in the form of irregularities along the rim on the upper surface of the contact portion. The method of claim 3,
A plurality of fastening portions are formed concave on the bottom of the lifting frame,
The plurality of lower fastening portions are formed concave on the lower surface of the sealing portion,
A plurality of upper surface fastening portions protrude from the upper surface of the blade protection cover, and are inserted and coupled to the plurality of lower fastening portions and the plurality of fastening portions, respectively.
The plurality of fastening portions, the plurality of lower fastening portions and the plurality of upper surface fastening portions are respectively arranged in the vertical direction overlapping lawn mowing robot, characterized in that the mutual fastening. The method of claim 4, wherein
And a recess formed in the bottom surface of the inner body in an upward direction to receive a portion of each of the sealing portion and the mounting guide. The method of claim 3,
The lifting frame,
A motor mounting portion extending upward from a bottom surface of the elevating frame; And
A motor seating part extending radially inward from an upper end of the motor mounting part to seat and fix the blade driving motor;
At the center of the upper surface of the blade protection cover, the circular protrusion extends upward toward the motor seating portion,
The lawn mower robot, characterized in that the circular receiving portion extends upwardly to surround the circular protrusion at the inner end of the lower surface of the sealing portion, and the circular receiving portion is inserted into and coupled to the inside of the motor mounting portion. The method of claim 1,
A plurality of through holes are formed on an upper surface of the blade protection cover, so that the stone fragments colliding with the blades bounce off the upper portion of the blade protection cover through the plurality of through holes. The method of claim 3,
The sealing part has a plurality of incision grooves formed in the upper fastening portion, a plurality of fastening portions penetrate through the plurality of incision grooves, respectively, the lawn mower robot, characterized in that to fasten the sealing portion and the inner body. The method of claim 3,
The lifting frame is provided with a plurality of fastening protrusions on the bottom,
The sealing part has a plurality of fastening holes such that the plurality of fastening protrusions are inserted into the lower surface portion, and the plurality of fastening holes and the plurality of lower fastening parts are alternately disposed along the circumferential direction. robot. The method of claim 2,
A rotating cylindrical part accommodated in the lifting frame and rotatably mounted in the inner body; And
It is coupled to the upper portion of the rotating cylindrical portion, further comprising a knob for rotating the rotating cylindrical portion,
A male screw portion protrudes in a spiral direction on the outer circumferential surface of the rotating cylinder portion,
The lawn mower robot, characterized in that a plurality of spiral projections protrude from the inside of the elevating frame to be engaged with the male screw portion.

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