KR20190120153A - Lawn mower robot - Google Patents

Abstract

The present invention relates to a lawn mower robot, which comprises: an inner body; an outer cover surrounding an outer side of the inner body; wheels which are rotationally provided at both sides of the inner body; a rotating plate rotationally mounted on a bottom surface of the inner body and disposed to be downwardly inclined with respect to a horizontal plane in a traveling direction of the inner body; a plurality of blades which are coupled to an edge portion of the rotating plate to be unfolded in a centrifugal force direction and folded in a center direction of a circle, and is spaced apart from each other in a circumferential direction of the rotating plate to rotate about the rotary shaft of the rotating plate and mow the lawn; and a blade protection cover which is formed to be spaced apart from the blade to prevent debris of an obstacle from being thrown out of the outer cover due to collision with the blade. The blade has a cross-sectional shape of a parallelogram and comprises a plate having a constant width in a longitudinal direction.

Description

Lawn Mower {LAWN MOWER ROBOT}

The present invention relates to a lawnmower robot having a blade that rotates by using a driving force of the motor to mow the lawn.

Lawn mower (lawn mower) is a device for trimming the grass planted in the yard or playground of the home. Such lawn mowers may be divided into household used in homes and tractors used in large playgrounds or farms.

Home lawn mowers include a walk behind type in which a person mows a lawn mower from behind and mows the lawn, and a hand type in which a person carries a hand by hand.

However, both types of lawn mowers are cumbersome for people to operate the lawn mowers themselves.

In particular, since it is difficult to mow the lawn in the yard by the user directly operating the lawn mower in modern busy daily life, it is mostly to hire people outside to mow the lawn, resulting in employment costs.

Therefore, an automatic robot-type lawn mower has been developed to prevent the occurrence of such additional costs and reduce the user's effort. The lawn mower of the automatic robot type has a blade (blade) to mow the grass by rotating using the driving force of the motor in the lower body.

Since the shape of the blade determines the cutting quality of the grass, various studies have been conducted to improve the cutting quality of the blade.

In addition, the conventional lawn robot type mowing device is mainly used by mounting a fixed blade fixed to the end of the rotating plate, when using the fixed blade, even if the lawn mower with a safety cover when the blade hits the ground stone, etc. As debris springs up, it is often the case that workers are injured, so much care is required.

In order to solve the problem of the fixed blade is used a safety blade rotatably mounted on the end of the rotating plate so that the blade can be folded when the impact.

However, in the case of the safety blade, the kinetic energy (impact amount) due to the rotation of the safety blade should be satisfied below a certain value (2J) according to the safety standard.

Accordingly, an object of the present invention is to provide a lawnmower robot having a blade that can improve the cutting quality of the grass while satisfying the safety standard of the safety blade.

In order to achieve the object of the present invention, the lawn mower robot according to an embodiment of the present invention includes an inner body; An outer cover surrounding the outer side of the inner body; Wheels rotatably installed at both sides of the inner body; A rotating plate rotatably mounted on a bottom surface of the inner body and disposed downwardly inclined with respect to a horizontal plane in a traveling direction of the inner body; A plurality of blades which are mowed in the direction of the centrifugal force in the edge portion of the rotating plate and foldable in the center direction of the circle, and are spaced apart from each other in the circumferential direction of the rotating plate to rotate about the rotation axis of the rotating plate and mow the lawn; And a blade protection cover formed to be spaced apart from the blade to prevent the debris of the obstacle from being thrown out of the outer cover due to the collision with the blade, wherein the blade has a cross-sectional shape of a parallelogram and has a longitudinal direction. It may be formed of a plate of constant width.

According to an example related to the present invention, the plurality of blades may be installed at equal intervals along the circumferential direction of the plurality of blades.

According to an example related to the present invention, the plurality of blades are fastened by bolts, and protrusions are formed at the fastening portions to which the bolts are fastened, and the protrusions may separate the blades downward from the rotating plate when the blades rotate. Can be.

According to an example related to the present invention, the chamfer may be further formed to be tapered from the protrusion.

Lawn mower robot according to another embodiment of the present invention, the inner body; An outer cover surrounding the outer side of the inner body; Wheels rotatably installed at both sides of the inner body; A rotating plate rotatably mounted on a bottom surface of the inner body and disposed downwardly inclined with respect to a horizontal plane in a traveling direction of the inner body; A plurality of blades which are mowed in the direction of the centrifugal force in the edge portion of the rotating plate and foldable in the center direction of the circle, and are spaced apart from each other in the circumferential direction of the rotating plate to rotate about the rotation axis of the rotating plate and mow the lawn; And a blade protective cover formed to be spaced apart from the blade to prevent the debris of the obstacle from being thrown out of the outer cover due to the collision with the blade, each of the plurality of blades having a thickness of 0.75 to 1.25 mm, It is preferable that the width is 7.5-12.5 mm.

According to another embodiment of the present invention, the plurality of blades may be arranged four at equal intervals facing each other.

According to another embodiment of the present invention, the plurality of blades is preferably rotated at 2250 ~ 2750rpm.

According to another embodiment of the present invention, the length (L) of each of the plurality of blades is preferably in the range larger than D / 9 and less than D / 6 compared to the rotation diameter (D) of the blade.

According to an example related to the present invention, a driving motor for rotating the rotating plate is connected to a central portion of the rotating plate via a rotating shaft that is vertically coupled to the rotating plate.

According to an example related to the present invention, a plurality of protrusions are disposed in a circular arc space in front of the blade protective cover, the interval of arrangement of the plurality of protrusions toward both ends relative to the center line of the front and rear direction of the blade protective cover Lawn mower robot characterized in that the narrowing.

According to an example related to the present invention, the blade protection cover is provided on the upper portion, and includes a height adjustment unit for adjusting the height of the blade protection cover and the blade, the height adjustment unit, the up and down direction inside the inner body Receiving portion formed to penetrate; An elevating frame which is installed to be movable up and down inside the accommodating part and has a spiral protrusion inside; A rotating cylindrical part having a screw part engaged with the spiral protrusion on an outer circumferential surface thereof; And a height adjusting lever mounted on an upper portion of the rotating cylinder to rotate the rotating cylinder.

According to this invention comprised as mentioned above, it has the following effects.

First, it is possible to improve the cutting quality of the grass while optimizing the shape of the blade while satisfying the conditions of the impact amount or less according to safety standards. For example, the blade may be formed as a rectangular plate having a constant width in the longitudinal direction and having a parallelogram cross-sectional shape.

Secondly, the number of blades is increased to four, which increases the running speed of the mowing robot and optimizes the length, thickness and width of the blades to reduce the rotational speed (RPM) of the blades. Satisfaction can meet the cutting quality of the turf more than a certain level.

1 is a perspective view showing the appearance of a lawn mower robot according to the present invention.
2 is an exploded perspective view of FIG. 1.
3 is a cross-sectional view seen from the side of FIG. 1.
4 is a conceptual view illustrating a blade and a cross-sectional shape thereof of FIG. 2.
5 is a conceptual view illustrating a blade mowing the grass of FIG. 4.
FIG. 6 is a bottom view illustrating the blade of FIG. 5 mounted on a rotating plate. FIG.
7A is a perspective view illustrating the blade protection cover of FIG. 6.
FIG. 7B is a cross-sectional side view of FIG. 7A.
8 is a bottom view of FIG. 7A.
9 is a cross-sectional view showing a coupling structure of the height adjustment unit in FIG.
FIG. 10 is a conceptual view illustrating a blade protection cover descending by the operation of the height adjusting unit in FIG. 9.
11 is an exploded view showing the falling detection device of the caster according to the present invention.
FIG. 12 is a conceptual view illustrating a state in which the rotating shaft is raised due to the caster of FIG. 11 touching the ground.
FIG. 13 is a conceptual view illustrating a state in which the rotating shaft descends while the caster of FIG. 11 is caught in a cliff or the like and floated in the air.
14 is a conceptual view illustrating a state in which a wheel driving unit viewed from the bottom of FIG. 1 is mounted between a wheel and an inner body.
FIG. 15 is an exploded view illustrating the wheel driver of FIG. 14.
FIG. 16 is an exploded view illustrating an enlarged structure of the wheel driving unit illustrated in FIG. 15.
17 is a plan view showing the appearance of the lawn mower robot according to the present invention.
18 is a side view of FIG. 17.
FIG. 19 is a perspective view illustrating a state in which the first and second covers are opened in FIG. 17.
FIG. 20 is a conceptual view illustrating an IR receiving window installed at the front surface of the outer cover of FIG. 17.
FIG. 21 is a conceptual view illustrating an IR receiving window installed at a rear surface of an outer cover of FIG. 17.
22A is a conceptual diagram illustrating a state in which infrared rays transmitted from an IR transmission window of a charging station are received by the IR reception window of FIG. 20.
22B is a conceptual diagram illustrating a state in which an infrared ray is transmitted from an IR transmission window of the charging station and received by the IR reception window of FIG. 21.
23 is a conceptual view illustrating an ultrasonic sensor installed on the front surface of the outer cover.
24 is an exploded view showing a coupling relationship between the joystick bumper and the support unit and the outer cover according to the present invention.
FIG. 25 is a conceptual diagram illustrating a sensor of a joystick bumper detecting an outer cover of FIG. 24 when an outer cover collides with an obstacle.
26 is a cross-sectional view showing in detail the shape of the support in FIG.
27 is a block diagram showing the control flow of the lawn mower robot according to the present invention.

EMBODIMENT OF THE INVENTION Hereinafter, the lawn mower robot which concerns on this invention is demonstrated in detail with reference to drawings. Singular expressions include plural expressions unless the context clearly indicates otherwise.

In the following description of the embodiments disclosed herein, if 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.

1 is a perspective view showing the appearance of a lawn mower robot according to the invention, Figure 2 is an exploded perspective view of Figure 1, Figure 3 is a cross-sectional view seen from the side of FIG.

The lawn mower robot may be composed of an outer cover 10 and an inner body 20.

The outer cover 10 is made to surround the outside of the inner body 20 and forms the appearance of the robot. Since the outer cover 10 is mounted with a blade 31 that rotates at a high speed therein, the outer cover 10 is a structure that prevents a person's hand or foot from entering the inside from the outside in order to protect it from an impact caused by the rotation of the blade 31. The lower end of the outer cover 10 should be spaced apart from the predetermined height in accordance with the safety standards. Because, when the lower end of the outer cover 10 is placed too high from the ground, a human hand or foot may enter the outside from the outside to cause fatal injuries, and if it is placed too low from the ground, the load increases when mowing the lawn. Because there is.

The outer cover 10 includes a bumper portion 10a that may hit an obstacle in front, and a header portion 10b that forms a constant curved surface to mount the wheel 50 on both rear sides. The bumper portion 10a surrounds the front end portion and the front side portion of the outer cover 10 and is thicker than other places. The fender portion 10b is formed to surround the outer surface of the wheel 50 and has the widest width than the other places.

The carrying handle 10c may be provided at an upper portion of the outer cover 10. The carrying handle 10c may be formed to have a structure in which both sides are inclined upwardly from the upper side of the outer front of the outer cover 10 to the rear, and the rear end protrudes to the rear upper portion of the outer tube and forms a closed curved surface. The carrying handle 10c may be formed, for example, in a “U” shape. The carrying handle 10c of this structure allows the blade 31 located on the bottom of the inner body 20 to face the user's outside when the carrying handle 10c is lifted up for the safety of the user during transportation.

The outer cover 10 is disposed in the front and rear and left and right side spaced apart from the front and rear and left and right, and is mounted on the upper portion of the inner body 20 so as to be movable in all directions when colliding with the obstacle, the impact from the obstacle Can absorb.

The first cover 11 and the second cover 14 are spaced apart in the front-rear direction on an upper portion of the outer cover 10, and an emergency stop switch (B) between the first cover 11 and the second cover 14. 13) may be provided. The emergency stop switch 13 has the advantage that the user's operation is easily protruded higher than other portions on the upper portion of the outer cover 10 except for the carrying handle 10c. In addition, the emergency stop switch 13 is disposed at the rear of the outer cover 10, in consideration of the safety of the user in an emergency is made so that the user can operate in the rear of the outer cover 10.

The ultrasonic sensor 18 may be provided in front of the outer cover 10. The ultrasonic sensor 18 is configured to detect an obstacle in front of the vehicle, thereby reducing the traveling speed of the wheel 50.

The inner body 20 serves as a main body of the robot.

The caster 40 is rotatably mounted 360 degrees around the rotation axis on the front bottom of the inner body 20, so that the driving direction of the robot may be controlled in the left and right directions according to the turning angle of the caster 40.

The wheels 50 are rotatably mounted on both rear sides of the inner body 20 so that the robot can travel. The wheel 50 rotates by using a drive motor as a power source and moves the robot forward or backward.

A plurality of blades 31 are rotatably provided on the bottom of the inner body 20, and the plurality of blades 31 rotate to mow the lawn.

The plurality of blades 31 are rotatably mounted to the edge portion of the rotating plate 32. The plurality of blades 31 may be spaced apart at equal intervals along the circumferential direction of the rotating plate 32. The plurality of blades 31 may be composed of four. The four blades 31 may be arranged to face each other in the radial direction and at intervals of 90 degrees in the circumferential direction. The number of blades 31 is related to the running speed of the mowing robot and the rotational speed (RPM) of the blades 31. For example, if the number of blades 31 is four, the same grass cutting quality may be achieved while traveling at a faster running speed than three, and the rotation speed of the blades 31 may be reduced.

Each of the plurality of blades 31 may be fastened to the rotating plate 32 by a bolt 3321. Each of the plurality of blades 31 may have a fastening hole 311 formed at one end thereof, and a bolt 3221 may be penetrated through the fastening hole 311. Each of the plurality of blades 31 may have the other end rotated about the bolt 3321.

Each of the plurality of blades 31 may be radially developed by the centrifugal force when the rotating plate 32 rotates, and the blade 31 may be folded in the direction of the center of the circle when the rotating plate 32 stops.

Thereby, the blade 31 can be made to be folded when subjected to impact from the stone embedded in the ground. The blade 31 should satisfy the impact amount (kinetic energy) according to the safety standard, for example 2J. If the blade 31 is not folded even at an impact amount of 2 J or more according to the safety standard, any one of the blade 31 and the stone may be broken so that the fragments may be thrown out of the outer cover 10 to injure workers nearby. . Therefore, in order to solve the above problem, the blade 31 is preferably made to be folded below the impact amount according to the safety standard.

4 is a conceptual view showing the blade 31 and its cross-sectional shape of Figure 2, Figure 5 is a conceptual diagram showing the blade 31 of Figure 4 mowing the lawn, Figure 6 is a blade 31 of FIG. It is a bottom view showing the state mounted on the rotating plate (32).

The blade 31 is very important for improving the grass cutting quality. The blade 31 according to the present invention may be formed in a rectangular plate shape having a long length, a narrow width, and a constant thickness. Blade 31 according to the present invention is made so that the width is constant along the longitudinal direction. Since the width of the blade 31 is constant, durability of the blade 31 may be uniformly made along the longitudinal direction, thereby improving durability.

A fastening hole 311 for fastening the bolt 3321 is formed at one end of the blade 31. One end of the blade 31 may be formed round. The blade 31 cuts the grass while rotating in the circumferential direction of the rotating plate 32. At this time, the blade 31 is made to cut only in a single rotation direction.

Cutting portions 312 are formed on both side surfaces of the blade 31, and the cross-sectional shape of the blade 31 is preferably parallelogram. In addition, the bottom surface of the cutting portion 312 is preferably arranged so that the inclined surface of the cutting portion 312 is directed upward.

If the horizontal surface of the cutting portion 312 is facing up and the inclined surface of the cutting portion 312 is facing downward, the upper portion of the grass is cut first by contacting the end of the horizontal surface of the cutting portion 312 and the lower portion of the grass is cut 312 There is a problem that the mowing surface of the grass is cut along the slope of the).

The reason why the cutting parts 312 are provided on both sides of the blade 31 is to enable cutting in the same direction even when the top and bottom surfaces of the blade 31 are flipped over each other.

The blade 31 preferably satisfies the following conditions in order to satisfy the impact amount of 2 J or less according to the safety standard and to improve the grass cutting quality.

The length L of the blade 31 is preferably within the range of D / 9 to D / 6 relative to the rotation diameter D of the blade 31. As shown in FIG. 6, the rotation diameter D of the blade 31 is a diameter between the outer end and the ends of the two blades 31 facing each other in the radial direction of the rotating plate 32 when the blade 31 is deployed. Say As the lawn mower robot travels, the grass in the rotational diameter of the blade 31 is cut by the rotating blade 31.

It is preferable that the thickness of the blade 31 is 0.75-1.25 mm.

It is preferable that the width of the blade 31 is 7.5-12.5 mm.

Because, if the length, thickness and width of the blade 31 is too large than the upper limit value, the impact amount condition according to the safety standard is not satisfied, and if it is smaller than the lower limit value, the cutting quality of the grass is inferior. According to the thickness and width of the blade 31 in the above numerical range, the blade 31 does not break while satisfying the condition below the impact amount of the safety standard, the rotation speed of the blade 31 is lowered and the rotation load is low.

The rotational speed of the blade 31 is preferably 2250 ~ 2750rpm. Because, if the rotational speed of the blade 31 is too fast, the impact amount (kinetic energy) according to the safety standard is exceeded, if too slow, there is a problem that the cutting quality of the grass is lowered.

The rotating plate 32 is a component on which the plurality of blades 31 are mounted to rotate the blades 31. The rotating plate 32 is rotatably mounted on the bottom of the inner body 20. A driving motor for rotating the rotating plate 32 is provided inside the inner body 20, and the driving motor 30 is connected to the central portion of the rotating plate 32 via the rotating shaft 301 to connect the rotating plate 32. Can be rotated.

An accommodating part 23 may be formed at the center of the inner body 20 to accommodate the blade 31 driving motor 30. Receiving portion 23 is formed in the shape of a cylindrical tube formed penetrating from the bottom to the top of the inner body (20).

The rotating plate 32 is preferably disposed to be inclined downward with respect to the horizontal plane in the traveling direction of the inner body 20. The blade 31 mounted on the rotating plate 32 is also disposed in parallel with the rotating plate 32 to be inclined downward with respect to the horizontal plane. According to this, the front end of the blade 31 is positioned lower than the rear end of the blade 31 (the part where the fastening hole 311 of the bolt 3321 is formed) so that the height of the grass cut by the blade 31 is increased. The lower the forward, the lower the rotational load of the blade 31.

Protruding portion 321 is formed directly downward from the lower surface of the edge of the rotary plate 32, the chamfer portion 322 is formed to be smaller in diameter from the lower end of the protrusion 321 toward the bottom. The bolt 3221 is fastened to the chamfer 322 and the protrusion 321 by passing through the fastening hole 311 of the blade 31 so that the bolt head and the chamfer 322 are spaced at regular intervals. The chamfer portion 322 and the bolt head are larger in diameter than the stem portion STEM of the bolt 3321 and the fastening hole 311 of the blade 31, so that the shank of the blade 31 is moved along the stem portion of the bolt 3221. Limited. As a result, the blade 31 is spaced downward from the rotating plate 32 by the protrusion 321 and the chamfer 322. The other end of the blade 31 may be rotatable about the bolt 3321 to be deployed outside the rotating plate 32 or folded into the rotating plate 32. Here, the blade 31 is spaced downward from the rotating plate 32 by the protrusion 321 and the chamfer 322 to rotate, so that even when the blade 31 is bent, the blade 31 is unfolded or folded. Interference between the rotating plate 32 and the blade 31 can be avoided.

The distance between the blade 31 and the outer cover 10 should be secured at a certain distance, for example, 12 cm or more, according to safety standards.

FIG. 7A is a perspective view illustrating the blade protection cover of FIG. 6, FIG. 7B is a cross-sectional side view of FIG. 7A, and FIG. 8 is a bottom view of FIG. 7A.

Blade protective cover 33 is made to surround the blade (31). The blade 31 protective cover is disposed between the blade 31 and the outer cover 10 so as to minimize an obstacle such as a stone colliding with the blade 31 and being directly thrown out of the outer cover 10.

The blade protective cover 33 is spaced apart from the blade 31 at regular intervals.

The blade protection cover 33 may include a blade protection cover body 331, a tapered portion 333, and a plurality of protrusions 335.

Blade protective cover body 331 may be formed in a larger diameter than the rotating plate 32 in the form of a circular plate. The through hole 332 may be formed with a predetermined curvature along the edge of the blade protective cover body 331. The blade protective cover body 331 is disposed between the rotating plate 32 and the bottom of the inner body 20. In this case, the through hole 332 may be disposed to overlap the edge portion of the rotating plate 32 and the blade 31 in the height direction. The through hole 332 may be disposed to overlap the bottom surface of the inner body 20 in the height direction. According to this, the wavefront of the obstacle (or foreign matter) generated by the collision with the blade 31 hit the bottom surface of the inner body 20 through the through hole 332 may be reflected to the ground. If the debris is not discharged out of the blade protection cover 33 through the through hole 332, the debris may be diffused through the blade protection cover 33 several times and bounced out of the outer cover 10.

The taper portion 333 is formed to be inclined downward along the circumferential direction at the edge portion of the blade protective cover body 331, and is disposed to surround the blade 31. The debris generated by the collision with the blade 31 is reflected to the ground by the tapered portion 333 without being immediately thrown out of the outer cover 10. The lower end of the edge portion may be formed lower in height from the ground than the blade 31.

However, if the height of the tapered portion 333 is too low, the tapered portion 333 can further prevent the debris such as stones from being thrown out, but the tapered portion 333 in contact with the grass or the like to mow the lawn. When the robot moves, it takes a lot of load. On the contrary, if the height of the tapered portion 333 is too high, the load may be reduced when the lawn mower moves, but there is a problem in that debris such as stones are more likely to be thrown out. Therefore, it is necessary to appropriately adjust the height of the blade protective cover 33.

When the taper portion 333 is formed in front of the blade protection cover 33, the grass having a long length before being mowed when the lawn mower robot runs is caught by the front end of the blade protection cover 33 to enter the blade 31. Not only is it difficult to do, but the grass entered into the blade protective cover 33 forcibly lowered than the blade 31 has a problem that it is difficult to mow the grass to the desired height.

Therefore, the tapered portion 333 is preferably formed on both sides and the rear of the blade protection cover 33.

In addition, in order to secure the access path of the grass is formed in the front of the blade protection cover 33 is higher than the blade 31 is provided with a grass entry port 334 to secure the entry to the blade 31.

On the other hand, when the turf entry opening 334 is fully open, it is possible to keep the turf entry smoothly, but prevents debris from being thrown upward and laterally due to the collision with the blade 31 in the turf entry opening 334. Is impossible.

In the present invention, the grass not only smoothly enters the blades 31 through the grass inlet 334, but also prevents debris from being thrown upward and laterally due to the collision with the blades 31 in the grass inlet 334. A plurality of protrusions 335 are provided on the blade protection cover 33.

The plurality of protrusions 335 are disposed to be spaced apart from each other in an arc shape in front of the blade protection cover body 331. Each of the plurality of protrusions 335 may be formed in a rectangular cross-sectional shape having a three-stage bending structure.

To describe in more detail the rectangular cross-sectional shape of the three-stage bending structure of the protrusion 335, each of the protrusions 335 is the front surface 335a, the first inclined surface 335b and the second from the front of the blade protection cover 33 It may be formed including an inclined surface 335c. The front surface 335a is formed in the vertical direction in front of the blade protective cover body 331. The first inclined surface 335b forms a lower portion of the protrusion 335 and is inclined downward from the lower end of the front surface 335a. The second inclined surface 335c forms a rear surface of the protrusion 335 and is inclined upwardly from the lower end of the first inclined surface 335b. The protrusion 335 is wider in width from the front surface 335a to the second inclined surface 335c and narrower in area from the top of the protrusion 335 toward the downward direction. Since the second inclined surface 335c has a larger area than the front surface 335a, the second inclined surface 335c may reflect more debris generated due to the collision with the blade 31 to the ground. The front surface 335a has a smaller area than the second inclined surface 335c of the protrusion 335, and the area becomes narrower toward the downward direction of the protrusion 335, thereby securing a wider area of the grass entry port 334.

In addition, the protrusion 335 has side portions 335d disposed to face each other in the lateral direction on both side surfaces thereof. The side portion 335d is configured to connect the front surface 335a and the first and second sloped surfaces 335c of the protrusion 335 to prevent debris from being thrown laterally due to the collision with the blade 31.

The protrusion 335 has a connecting rib 336 extending from the front of the blade protection cover body 331 to the front to connect the front surface 335a and the side portion 335d. The connecting rib 336 may prevent debris from being thrown upward due to a collision with the blade 31.

The plurality of protrusions 335 are arranged such that the distance between the plurality of protrusions 335 is gradually narrowed toward both ends of the grass entry hole 334 based on the longitudinal center line of the protective cover. If the plurality of protrusions 335 are arranged at regular intervals in an arc shape, the front and rear intervals of the protrusions 335 become wider toward both ends than the central portion of the grass entry hole 334, so as to form a gap between the front and rear gaps of the protrusions 335. Debris can escape. However, according to the arrangement of the protrusions 335 of the present invention, the plurality of protrusions 335 are disposed to be laterally overlapped at the grass entry hole 334, so that the protrusions 335 may collide with the blades 31 rotating at the grass entry hole 334. To prevent it from being thrown laterally.

The protrusion 335 located at the center of the plurality of protrusions 335 is formed to have a narrower width than the other protrusions 335, thereby minimizing collision with the grass.

The blade protection cover 33 is formed to be inclined at an angle, for example, 3 degrees with respect to the horizontal plane, such that the height of the protrusion 335 may be lower than the rear surface of the taper. At this time, the rear surface of the tapered portion 333 may be extended longer from the blade protective cover body 331 than the protrusion 335 to prevent the debris to bounce backward.

The height adjustment unit is provided on the blade protection cover body 331, the height of the blade protection cover 33 together with the blade 31 and the rotating plate 32 according to the height of mowing the grass.

Blade protection cover 33 to reduce the maximum resistance due to collision with the grass while the robot is running, and to prevent the debris such as stones generated by the collision with the blade 31 to be bounced out of the outer cover 10 to the maximum, It is necessary to properly adjust the height of the blade protection cover 33 and the blade 31 according to the height of the lawn mower.

The rear surface of the tapered portion 333 is disposed lower than the rear lower portion of the outer cover 10 when the height of the blade protection cover 33 is adjusted to the lowest, so that debris generated due to collision with the blade 31 is It can be minimized to be thrown out of the rear of the cover 10.

Here, since the blade protection cover 33 moves together with the blade 31, when the height of the blade 31 is determined, the height of the blade protection cover 33 may also be determined. However, the height of the blade protection cover 33 and the blade 31, the rotating plate 32 may be configured to be adjusted independently.

FIG. 9 is a cross-sectional view illustrating a coupling structure of the height adjusting unit 34 in FIG. 3, and FIG. 10 is a conceptual view showing the blade protection cover 33 descending by the operation of the height adjusting unit 34 in FIG. 9. .

The height adjusting unit includes a height adjusting lever 341, a rotating cylinder portion 342, and a lifting frame 343.

The height adjustment lever 341 is rotatably mounted on the upper portion of the receiving portion 23 of the inner body 20. The height adjustment lever 341 may include a lever body 341a formed in a circular shape, and a handle portion 341c protruding from the upper portion of the lever body 341a.

The rotation guide protrusion 342c is formed downward in the edge portion of the lever main body 341a, and the rotation guide protrusion 342c is mounted to the accommodation portion 23 in a form surrounding the upper end of the accommodation portion 23. When the lever body 341a is rotated while being disposed to cover the upper portion of the accommodating part 23, the lever body 341a is restricted from being separated from the accommodating part 23 of the inner body 20 by the rotation guide protrusion 342c.

A scale may be displayed on the upper surface of the lever body 341a so that a user may recognize the height of the blade 31, and an indicator 341d having a triangular shape may be displayed on the upper portion of the accommodating portion 23. Thereby, the user can recognize the height of the blade 31 by reading the scale indicated by the indicator 341d.

The handle portion 341c protrudes from the upper center of the lever body 341a to extend in the radial direction, and the user can manually rotate the handle portion 341c.

A plurality of rotating protrusions 341a are formed to protrude outwardly in the circumferential direction in the lower side of the lever body 341a, thereby transmitting the rotational force by manual operation of the handle portion 341c to the rotating cylinder portion 342. .

A plurality of engaging projections 342a are spaced apart in the circumferential direction at the upper end of the rotating cylinder portion 342. Each of the plurality of coupling protrusions 342a is engaged to be engaged with the rotation protrusion part 341a of the lever body 341a so that the rotation cylinder part 342 may receive a rotational force from the height adjustment lever 341.

The lower limiting protrusion 342b protrudes along the circumferential direction with a larger diameter than the receiving portion 23 on the outer surface of the upper end of the rotating cylinder portion 342, and the lower limiting protrusion 342b is caught on the upper end of the receiving portion 23. As a result, the lower portion of the rotating cylinder 342 may be restricted.

Rotating cylindrical portion 342 is formed in the shape of a cylindrical tube, a rotation guide protrusion 342c is formed in a spiral direction along the outer circumferential surface of the rotating cylindrical portion 342, the rotary guide protrusion 342c is a lifting frame 343 It is engaged with the spiral protrusion (343c) of the lifting frame (343) can guide the shangdong.

The lifting frame 343 is formed in a cylindrical shape and is mounted to be movable in the vertical direction in the receiving portion 23 of the inner body 20. On the outer circumferential surface of the elevating frame 343, a plurality of rotation limiting projections 343a are spaced apart in the circumferential direction, and each of the plurality of rotation limiting projections 343a extends in the vertical direction.

A plurality of anti-rotation grooves 343b are formed in the accommodating part 23, and the rotation limiting protrusions 343a are accommodated in the plurality of anti-rotation grooves 343b, respectively, so that the lifting frame 343 rotates. You can move up and down while limited.

A spiral protrusion 343c is formed along the helical direction at the upper end of the inner circumferential surface of the elevating frame 343 to guide the rotation of the rotary cylinder 342. The spiral protrusions 343c may be disposed on the inner circumferential surface of the multiplier frame to be spaced apart from each other in pairs in a radial direction.

A mounting part 344 for mounting a driving motor is provided in the lifting frame 343. The drive motor is used as a power source for driving the blade 31. The mounting part 344 is formed to protrude from the bottom of the lifting frame 343 into the inner space.

A cylindrical hollow hole is formed in the mounting portion 344, and a partition wall 344a that crosses the hollow hole in the radial direction is formed in the upper portion of the mounting portion 344. A motor accommodating groove is formed in the upper portion of the mounting portion 344 by the partition wall 344a, and the driving motor is fixed in a state accommodated in the motor accommodating groove of the mounting portion 344, thereby restricting downward and lateral movement of the driving motor. A recessed portion is formed in the lower portion of the mounting portion 344 by the partition wall 344a. The rotating shaft 301 of the driving motor 30 is disposed toward the center of the rotating plate 32 and penetrates through an insertion hole formed in the partition wall 344a to protrude into the recess portion. A plurality of reinforcing ribs 344b are disposed on the inner circumferential surface of the recess portion along the circumferential direction, and each of the plurality of reinforcing ribs 344b has a strength for supporting the driving motor by connecting the partition wall 344a and the inner circumferential surface of the recess portion. Can increase.

The coupler 302 may be coupled to the outside of the rotation shaft 301 of the drive motor 30. The coupler 302 surrounds the rotating shaft, and the outer circumferential surface of the coupler 302 has an elliptical curved shape to transmit the rotational force of the rotating shaft 301 to the rotating plate 32.

A shaft coupling portion 323 is formed to protrude from the center of the upper surface of the rotating plate (32). The coupler receiving groove may be formed in an elliptical curved shape corresponding to the outer circumferential surface of the coupler 302 in the shaft coupling part 323 such that the shaft coupling part 323 and the coupler 302 may be coupled to each other. The coupler 302 and the shaft coupling portion 323 may be received in the recess portion. A plurality of reinforcing ribs 324 are spaced apart along the circumferential direction on the outer circumferential surface of the shaft coupling portion 323, and each of the plurality of reinforcing ribs 324 has an outer circumferential surface of the shaft coupling portion 323 and a central portion of the rotating plate 32. By connecting the coupling strength of the shaft coupling portion 323 and the rotating plate 32 can be increased. The bolt penetrates through the center of the rotating plate 32 and is coupled with the coupler 302 so that the rotating plate 32 is coupled with the coupler 302. As a result, the rotational force generated by the driving motor 30 may be transmitted to the rotating plate 32 through the coupler 302 and the shaft coupling part 323 at the rotating shaft 301 to rotate the rotating plate 32.

The driving motor mounted on the mounting part 344 of the lifting frame 343 may move up and down with the lifting frame 343.

The mounting portion 344 is formed to be inclined at a predetermined angle, for example, 3 degrees to the front of the inner body 20 with respect to the vertical center line of the receiving portion 23, and the rotation shaft of the driving motor 30 mounted to the mounting portion 344. It is arranged to be inclined at a predetermined angle with respect to the vertical center line of the accommodation portion 23.

The lower end of the elevating frame 343 is fastened perpendicularly to the upper center of the blade protection cover 33. At this time, the blade protection cover 33 is disposed to be inclined at a predetermined angle toward the front with respect to the horizontal plane, such as the rotating plate 32 and the blade 31. In addition, the lower end of the lifting frame 343 may be formed to be inclined to correspond to the inclination angle of the blade protection cover 33.

On the bottom of the inner body 20, the depression 24 is formed in a shape corresponding to the shape of the blade protection cover 33, the blade protection cover 33 in a state in which the height of the lifting frame 343 is adjusted to the top. The upper surface of is accommodated in the depression 24 of the inner body 20 can be in contact with (see FIG. 3).

Operation of the blade protection cover 33 and the like by the configuration of the height adjustment unit 34 will be described.

The height adjustment unit 34 may be operated by a user's manual operation.

When the user grasps the handle portion 341c of the height adjustment lever 341 and rotates it in one direction, the lever body 341a rotates in the circumferential direction at the upper end of the accommodation portion 23. The rotary protrusion 341a at the lower end of the lever body 341a and the engaging protrusion 342a at the upper end of the rotary cylinder 342 are engaged with each other so that the lever body 341a and the rotary cylinder 342 rotate together. The height adjustment lever 341 and the rotating cylinder portion 342 are restricted by the lower limit projection 342b of the rotating cylinder portion 342 and are rotated in place.

The lifting frame 343 is limited in rotation by the rotation limiting protrusion 343a formed on the outer circumferential surface thereof, but the spiral guide 343c formed on the inner circumferential surface of the lifting frame 343 is a rotation guide formed on the outer circumferential surface of the rotating cylinder portion 342. The lifting frame 343 descends by being engaged with the protrusion 342c and moving downward along the rotation guide protrusion 342c in which the spiral protrusion 343c rotates.

When the handle portion 341c of the height adjustment lever 341 is rotated in the opposite direction, the lifting frame 343 is raised by the same principle as the lowering mechanism.

The blade protection cover 33, the rotating plate 32, and the blade 31 coupled to the lower portion of the elevating frame 343 may be height-adjusted by raising and lowering together with the elevating frame 343.

FIG. 11 is an exploded view showing the device for detecting the lowering of the caster 40 according to the present invention. FIG. 12 is a conceptual view illustrating a state in which the rotating shaft 41 is raised due to the caster 40 of FIG. 11 touching the ground. FIG. 11 is a conceptual diagram showing a state in which the rotating shaft 41 is lowered in the state in which the caster 40 is caught in the cliff and floated in the air.

The lawn mower robot may be caught in a puddle or cliff while driving and may not reach the ground while the caster 40, which is the front wheel, is in the air. In this case, in the present invention, in order to prevent the occurrence of a safety accident, a sensor unit for detecting whether the caster 40 does not touch the ground in the air is provided on the bottom of the inner body 20. The control unit 80 receives the detection signal from the sensor unit to stop the operation of the lawn mower robot when the caster 40 is lifted into the air.

The caster 40 is formed in a cylindrical shape. The caster 40 is pivotally provided in front of the bottom surface of the inner body 20 via the rotation shaft 41. One side of the rotation shaft 41 is coupled to the bottom surface of the inner body 20, and the other side of the rotation shaft 41 is coupled to the side center portion of the caster 40.

The rotating shaft 41 is formed in a circular rod shape. The vertical portion 411 formed in a straight shape on one side of the rotating shaft 41 is disposed perpendicular to the ground and rotatably coupled to the bottom of the inner body 20 via the shaft supporter 42. The supporter accommodating part 43 which accommodates the shaft supporter 42 is formed in the bottom surface of the inner body 20. As shown in FIG.

A plurality of lifting guide protrusions 431 are formed in the supporter accommodating part 43 so as to be spaced apart in the circumferential direction, and the plurality of lifting guide protrusions 431 guide the shaft supporter 42 so that the shaft supporter 42 can move upward and downward. do.

The shaft supporter 42 surrounds the vertical portion 411 of the rotation shaft 41 and supports the rotation shaft 41 so that the rotation shaft 41 is rotatable.

The shaft supporter 42 is formed in a cylindrical shape, a plurality of anti-rotation protrusions 421 are formed on the outer circumferential surface of the shaft supporter 42 in the circumferential direction, and the plurality of anti-rotation protrusions 421 are supported by the supporter receiving portion ( Inserted between the lifting guide protrusion 431 of 43, the shaft supporter 42 can be moved up and down.

The shaft supporter 42 has an insertion hole 422a and a coupling hole 422b therein. The insertion hole 422a is formed perpendicularly to the inside at the bottom of the shaft supporter 42 so that the vertical portion 411 of the rotation shaft 41 is inserted through the insertion hole 422a. The coupling hole 422b is formed such that the diameter of the coupling hole 422b is narrowed upward from the upper end of the insertion hole 422a. Coupling groove portion 411a is formed on the upper end of the vertical portion 411 of the rotary shaft 41 is small in diameter. When the vertical portion 411 of the rotary shaft 41 is inserted through the insertion hole 422a at the lower portion of the shaft supporter 42, only the coupling groove 411a of the vertical portion 411 of the rotary shaft 41 is the coupling hole ( 422b is inserted into the inside, and a portion of the vertical portion 411 except for the coupling groove 411a is received and coupled inside the insertion hole 422a.

In addition, the support groove 422c is formed in the upper end of the shaft supporter 42 is larger than the insertion hole 422a and concave downward.

The separation preventing member 423 is mounted at the upper end of the vertical portion 411 of the rotating shaft 41. The coupling groove 411b of the upper end of the coupling groove 411a of the rotary shaft 41 has a small diameter, and a hole is formed to penetrate the coupling groove 411b of the rotary shaft 41 in the center of the separation preventing member 423. The release preventing member 423 is inserted into the coupling groove 411b so that the upper end of the rotating shaft 41 is stiffened by the separating preventing member 423 so that the rotating shaft 41 moves downward from the shaft supporter 42 by gravity. Does not deviate.

The height limiting portion 432 is formed at the upper end of the supporter receiving portion 43. The height limiting portion 432 is disposed above the shaft supporter 42 so as to block the rise of the vertical supporter 411 of the shaft supporter 42 and the rotary shaft 41. Thereby, the vertical rise 411 of the shaft supporter 42 and the rotating shaft 41 is limited in the maximum raising height when it rises in the supporter accommodation part 43.

The bracket 433 is attached to the lower end of the supporter accommodating part 43. A bracket coupling groove may be formed at a lower end of the supporter accommodating part 43 in a shape corresponding to the bracket 433. The bracket 433 is received and coupled to the bracket coupling groove, and the edge portion of the bracket 433 is fastened to the supporter accommodating portion 43 by a plurality of screws. A shaft support hole is formed in the center of the bracket 433 through which the vertical portion 411 of the rotation shaft 41 penetrates, and has a shaft support portion 433a bent downward from the shaft support hole of the bracket 433. It wraps around the vertical part 411 of 41, and supports the vertical part 411 of the rotating shaft 41 rotatably. The bracket 433 is configured to limit the minimum height of the shaft supporter 42 when the shaft supporter 42 is lowered.

The other side of the rotating shaft 41 is formed with a caster coupling portion 412 in the "c" shape. The end of the caster coupling portion 412 is coupled to the central portion of the caster 40 via a bearing, so that the caster 40 is rotatably supported by the rotation shaft 41. An end portion of the caster coupling portion 412 of the rotation shaft 41 is eccentrically formed from one side of the vertical portion 411 of the rotation shaft 41, so that the caster 40 is centered on the vertical portion 411 of the rotation shaft 41. It can turn along a trajectory of constant curvature.

The falling protrusion 424 may protrude from the upper end of the outer circumferential surface of the shaft supporter 42. The lowering protrusion 424 moves up and down together with the shaft supporter 42.

A drop switch 44 is provided at one side of the supporter accommodating part 43 to detect whether the shaft supporter 42 is lowered. The drop switch 44 has a rectangular switch body 441 and a switch operation lever 442 that is inclinedly coupled to one side of the switch body 441 in a hinged structure, and protrudes at an end of the switch operation lever 442. A contact 443 is provided. At this time, the switch operation lever 442 is elastically supported by the switch body 441.

The drop switch 44 is disposed perpendicular to one side of the supporter accommodating portion 43, the switch operation lever 442 is disposed to face the lowering protrusion 424, and the contact portion 443 is disposed at the lowering protrusion 424. It is arranged in contact with the lower part. When the pressure switch 44 receives the pressing force from the lowering protrusion 424 to the switch operating lever 442, the internal switch of the switch body 441 turns on, and when the pressing force is released, the drop switch 44 receives an electrical signal that turns off the internal contact. Occurs.

When the caster 40 is in contact with the ground, the inner body 20 descends due to its own weight, and the shaft supporter 42 contacts the height limiting portion 432 formed at the upper portion of the supporter accommodating portion 43, and the rotating shaft ( The vertical portion 411 of 41 supports the load of the inner body 20 through the shaft supporter 42. The vertical portion 411 of the rotation shaft 41 rises together with the shaft supporter 42 with respect to the receiving portion of the inner body 20.

If the front part of the inner body 20 falls into a cliff or the like and the caster 40 is in the air, the caster 40 and the rotating shaft 41 are lowered by gravity. As the shaft supporter 42 coupled with the vertical portion 411 of the rotation shaft 41 descends, the descending protrusion 424 also descends.

When the downward projection 424 moves downward, the lower protrusion 424 is brought into contact with the contact part 443 to press the contact part 443 toward the switch main body 441, and the switch operation lever 442 is pressed toward the switch main body 441 so as to switch The internal contact of the body 441 generates an on signal. As a result, the control unit 80 receives the detection signal from the drop switch 44 and detects that the caster 40 falls into a cliff or the like, and stops the driving of the wheel 50 and the operation of the blade 31. You can.

14 is a conceptual view illustrating a state in which the wheel driver 51 viewed from the bottom of FIG. 1 is mounted between the wheel 50 and the inner body 20, and FIG. 15 is an exploded view illustrating the wheel driver 51 of FIG. 14. 16 is an exploded view showing an enlarged structure of the wheel driving unit 51 in FIG. 15.

The wheel driver 51 is mounted on both sides of the inner body 20 to drive the wheel 50.

Wheel driving part accommodating holes 53 are formed at both rear sides of the inner body 20.

The wheel drive unit 51 includes a drive motor and a power transmission gear 522. The drive motor includes a stator and a rotor, and receives power from a battery to generate rotational force by electromagnetic interaction of the stator and the rotor.

The power transmission gear 522 is mechanically connected to the drive motor and is configured to receive power from the drive motor to reduce the rotational speed of the motor to transmit the increased torque to the wheel 50. The power transmission gear 522 may include a planetary gear set such as a sun gear, a planetary gear, a ring gear, and a carrier.

The driving motor and the power transmission gear 522 may be accommodated in one housing 52 to be modularized. Plastic gear or metal gear may be selectively applied to the power transmission gear 522. In order to accommodate both the drive motor and the power transmission gear 522, the housing 52 may be formed into a cylindrical shape that is relatively long in length relative to the diameter.

On one side of the housing 52, the rotating shaft 523 may be formed to protrude in the axial direction. One side of the rotation shaft 523 is connected to the power transmission gear 522, the other side of the rotation shaft 523 is connected to the wheel 50 to transfer the rotational force transmitted from the power transmission gear 522 to the wheel 50. . The power transmission gear 522 receives the rotational force of the driving motor to reduce the rotational speed and increase the torque by the gear ratio and transmit the torque to the wheel 50 through the rotation shaft 523.

A portion of the housing 52 may be accommodated in the inner body 20 through the wheel driver accommodating hole 53. One side of the inner body 20 is formed to bend so that the bending part 531 protrudes outward in the circumferential direction from the wheel driving part accommodating hole 53, and the housing 52 of the housing 52 accommodated through the wheel driving part accommodating hole 53. I can support some.

A housing supporter 54 is provided to mount the housing 52 on both sides of the inner body 20 while a part of the housing 52 is accommodated inside the inner body 20.

The housing supporter 54 includes a housing coupling part 541 and a flange part 542.

The housing coupling part 541 is formed in a cylindrical shape to surround the outer circumferential surface of the housing 52. An accommodation space for accommodating a portion of the housing 52 is formed inside the housing coupling part 541. In addition, one side of the housing coupling portion 541 may be opened so that a portion of the housing 52 may be inserted into the housing coupling portion 541 through the opening portion. The hole is formed to allow the rotation shaft 523 to pass through the other center portion of the housing coupling portion 541. One end of the housing 52 is bolted to the other side of the housing coupling portion 541 in a state accommodated in the housing coupling portion 541.

The flange portion 542 is formed in a rectangular plate shape, and is vertically disposed at one end of the housing coupling portion 541. Fastening holes for fastening the bolts 55 are formed at edge portions of the flange portion 542, respectively.

A plurality of ribs 542a may be provided on one side of the flange portion 542 to increase the coupling strength of the flange portion 542 and the housing coupling portion 541. The plurality of ribs 542a may be spaced apart from each other in the circumferential direction of the housing coupling part 541. The plurality of ribs 542a may be formed in a plate shape of a right triangle. One side of each rib 542a (the bottom of the rectangle) is coupled to one side of the flange portion 542, and the other side of the rib 542a (the height of the rectangle) is coupled to the outer circumferential surface of the housing coupling portion 541.

The spacer 542b may be formed on the other side of the flange portion 542 along the circumferential direction. The spacer 542b can maintain a constant interval of the flange portion 542 from the side surface of the inner body 20, and can reinforce the strength of the flange portion 542.

The fastening part 532 for fastening the edge part of the flange part 542 is formed in the side surface of the inner body 20 protruded. The fastening part 532 may be formed in a cylindrical tube shape, and a plurality of reinforcing ribs 532a may be formed on the outer circumferential surface of the fastening part 532. The plurality of reinforcing ribs 532a may be spaced apart from each other at 90 degree intervals along the circumferential direction on the upper portions of the fastening portions 532. A fastening hole for fastening the bolt 55 is formed in the fastening part 532.

Each of the plurality of bolts 55 penetrates a fastening hole formed at an edge of the flange portion 542 and is fastened to a fastening portion 532 formed at a side surface of the inner body 20, thereby providing the flange portion 542 and the inner body 20. ) Can be securely fastened.

On the other side of the flange portion 542, a plurality of guide portions 543 may protrude toward the side of the inner body 20. The plurality of guide parts 543 may be formed in a semicircular curved shape to surround the lower outer circumferential surface of the fastening part 532. Thereby, the fastening strength of the fastening part 532 can be raised.

According to the structure of the wheel drive unit 51, the drive motor and the power transmission gear 522 is accommodated in one housing 52 and modularized into one, and the drive motor and the power transmission gear 522 is a modular wheel drive unit 51 is fastened to the inner body 20 through the housing supporter 54, even if the plastic gear or metal gear is selectively applied has the advantage that it is convenient to replace other types of gear.

17 is a plan view showing the appearance of the lawn mower robot according to the present invention, Figure 18 is a side view of Figure 17, Figure 19 is a perspective view showing the first and second cover 14 in Figure 17 is opened.

The outer cover 10 of the lawn mower robot according to the present invention is formed rounded or inclined so that there is no recessed shape so that water (rain) or dust does not accumulate or accumulate on the top. The first cover 11 is rotatably mounted on the upper portion of the outer cover 10, and the front end portion of the first cover 11 is hinged so that the rear end portion of the first cover 11 is rotatable up and down. The cover coupling part 12 to which the first cover 11 is coupled is provided at the outer cover 10, and the cover coupling part 12 is formed to be concave downward along the edge of the first cover 11. The cover coupling part 12 may be configured to partition the outer and inner spaces of the outer cover 10 at the upper portion of the outer cover 10. The cover coupling portion 12 is formed in a shape corresponding to the first cover 11 and is disposed to cover a portion of the upper portion of the inner body 20.

The cover engaging portion 12 is provided with a first opening 12a communicating with the height adjusting lever 341 in order to operate the height adjusting lever 341. The first cover 11 is configured to open and close the upper and first openings 12a of the cover coupling portion 12. When the first cover 11 is opened, the user may adjust the height of the blade 31 by rotating the height adjusting lever 341. The indicator 341d is formed close to the height adjusting lever 341 around the upper end of the receiving portion of the inner body 20, and some of the scales displayed on the height adjusting lever 341 are formed at the triangle vertices of the indicator 341d. In agreement, the numerical value of the matched scale is the height of the blade 31.

A circular pressing portion 111 is formed in the upper surface of the rear end of the first cover 11 in the upper portion of the outer cover 10 to be concave, so that the user can press the pressing portion 111. A locking protrusion 112 is formed on a lower surface of the pressing portion 111, and a locking groove is provided at a position corresponding to the locking protrusion 112 on the cover coupling portion 12, thereby providing the pressing portion 111 once. When pressed, the locking protrusion 112 may be released to open the first cover 11. Closing the first cover 11 may be locked by the combination of the locking protrusion 112 and the locking groove. A spring 623 is provided between the first cover 11 and the cover coupling part 12 so that the first cover 11 may be opened by the elastic force of the spring 623. A damper is provided between the first cover 11 and the cover coupling part 12 so that the first cover 11 may be gently opened at a constant speed by the damper.

The emergency stop switch 13 may be installed at the rear of the first cover 11 so as to push up and down. In case of emergency, when the emergency stop switch 13 is pressed by the user, an on signal is generated and the operation of the wheel 50 and the blade 31 may be stopped.

The display 21 and the keypad 211 are installed at the rear upper portion of the inner body 20. The display 21 may be implemented as an LCD. The keypad 211 may be provided with 0 to 9 numbers, BACK and ENTER. The main PCB 22 may be mounted below the display 21 and the keypad 211.

The second opening 14a is formed at the rear of the outer cover 10. The second opening 14a is configured to communicate with the display 21 and the keypad 211. The second cover 14 is rotatably mounted to the rear of the emergency stop switch 13, and both front ends of the second cover 14 are hinged to allow the rear end of the second cover 14 to be rotatable. The second cover 14 is configured to open and close the second opening 14a. Like the first cover 11, the pressing part 111 is formed on the second cover 14, and the locking protrusion 112, the spring 623, and the damper are provided to open and close the second cover 14. Can be.

A plurality of charging terminals 15 are provided above the right header portion 10b of the outer cover 10.

FIG. 20 is a conceptual view illustrating an IR receiving window 16a installed on the front surface of the outer cover 10 in FIG. 17, and FIG. 21 is an IR receiving window 16b installed on the rear surface of the outer cover 10 in FIG. 17. FIG. 22A is a conceptual diagram illustrating an infrared ray transmitted from the IR transmission window 93 of the charging station 90 being received by the IR reception window 16a of FIG. 20, and FIG. 22B is a charging station 90. Infrared rays transmitted from the IR transmission window 93 of FIG. 21 is a conceptual view showing the reception of the IR reception window 16b of FIG. 21.

The charging terminal 91 is provided at the upper portion of the charging stand 90, so that the lawn mower robot charges the battery of the lawn mower robot through the charging terminal 91 when entering the charging stand 90.

The charging terminal 15 of the outer cover 10 may protrude more than a predetermined height from the outer cover 10 in order to avoid interference with the charging table 90. The charging terminal 91 of the charging stand 90 is elastically supported to be movable up and down by the spring 623 to easily contact the charging terminal 15 of the outer cover 10 while avoiding interference with the outer cover 10. Is done.

When the lawn mower robot enters the charging station 90, a distance between the right wheel 50 end of the outer cover 10 and the right end of the charging station 90 may be spaced within a predetermined range. The spring 623-type charging terminal 91 of the charging stand 90 maintains a constant width at the upper part of the charging stand 90 and protrudes in the front-back direction so that the gap between the outer cover 10 and the charging stand 90 is changed. Even if the charging terminal 15 of the outer cover 10 is made to be in contact with the charging terminal 91 of the charging table (90).

Docking wire 92 is connected to the front and rear ends of the charging table 90, the docking wire 92 is a device for inducing the mowing robot to enter the charging table 90 at regular intervals. The lawn mower robot may be provided with a coil sensor in front of the inner body 20 to detect the docking wire 92. The coil sensor senses the position of the docking wire 92 so that the lawn mower robot enters the charging station 90 at regular intervals.

Infrared rays may be irradiated toward the lawn mower from the charging station 90 such that the charging terminal 15 of the lawn mower robot and the charging terminal 91 of the charging station 90 may be smoothly contacted.

Charging station 90 may be installed on one side of the charging station 90 IR transmission window 93 and IR transmission sensor for irradiating infrared rays to detect the position of the lawn mower robot. The IR transmission window 93 of the charging stand 90 is made of a light-transmissive material, and when the IR transmission sensor generates infrared rays, the IR transmission window 93 may be irradiated with a lawn mower through the IR transmission window 93. The irradiation direction (irradiation angle) of the IR transmitting sensor may be irradiated with a predetermined inclination angle, for example, 30 degrees, toward the robot with respect to the docking wire 92 (see FIGS. 22A and 22B).

The IR receiving window 16a is formed on the front surface of the outer cover 10 so as to transmit infrared light emitted from the IR transmitting window 93. The IR receiving window 16a is elongated in the right direction from the longitudinal center line of the outer cover 10, and is located close to the charging station 90. The IR receiving sensor 17a may be disposed at the rear of the IR receiving window 16a to detect the infrared rays transmitted through the IR receiving window 16a to detect the position of the charging stand 90. The IR receiving sensor 17a detects the position of the charging stand 90 through infrared rays, such that the charging terminal 15 of the outer cover 10 may contact the charging terminal 91 of the charging stand 90.

The IR receiving window 16b is formed at the center of the rear surface of the outer cover 10 to transmit infrared light emitted from the IR transmitting window 93. The IR reception sensor 17b may be disposed in front of the IR reception window 16b and may detect that the lawn mower robot has passed the charging station 90 by sensing the infrared rays transmitted through the IR reception window 16b.

FIG. 23 is a conceptual view illustrating the ultrasonic sensor 18 installed on the front surface of the outer cover 10.

The lawn mower robot includes a plurality of ultrasonic sensors 18 capable of detecting an obstacle in front of the lawn mower to avoid collision with the obstacle. The plurality of ultrasonic sensors 18 are installed on the front surface of the outer cover 10 to transmit the ultrasonic waves toward the front of the outer cover 10 and receive the ultrasonic waves reflected from the obstacles to detect the obstacles. The controller 80 receives the detection signal from the ultrasonic sensor 18, detects an obstacle in front of the vehicle, and controls the driving motor 521 of the wheel 50 to reduce the traveling speed of the lawn mower robot to avoid collision with the obstacle. can do.

However, since the ultrasonic waves may be reflected on the grass as well as the obstacle located in front of the outer cover 10 when the lawn mower moves, the ultrasonic sensor 18 may recognize the grass to be cut as an obstacle. As a result, according to the detection signal of the ultrasonic sensor 18, the lawnmower robot stops in front of the grass to be cut so that the grass cannot be mowed.

Therefore, in order to solve this problem, it is necessary to limit the downward irradiation angle of the ultrasonic wave so that the ultrasonic wave is not irradiated from the ground to the grass below a certain height.

To this end, the ultrasonic guide portion 181 is provided in front of the outer cover 10. The ultrasonic guide unit 181 is formed to be recessed to the rear while maintaining a constant height from the front end of the outer cover 10.

The ultrasonic guide unit 181 includes a horizontal surface 181a formed horizontally at a predetermined height at the upper end of the front end portion of the outer cover 10. The horizontal surface 181a may be positioned at a height corresponding to the installation position of the ultrasonic sensor 18. As a result, the ultrasonic waves do not propagate below the horizontal plane 181a but propagate above the horizontal plane 181a, thereby limiting the downward propagation angle of the ultrasonic waves.

There should be no structure on the horizontal plane 181a. This is because, when there is a structure on the horizontal plane 181a, the ultrasonic waves may be reflected by the structure to propagate down the horizontal plane 181a.

The ultrasonic guide part 181 has a mounting surface 181b. The mounting surface 181b may be formed to intersect upwardly at the rear end of the horizontal surface 181a. The plurality of ultrasonic sensors 18 may be embedded in the mounting surface 181b. The ultrasonic waves may propagate forward and upward by the mounting surface 181b and the horizontal surface 181a. The plurality of ultrasonic sensors 18 may be disposed to be spaced apart from each other along the mounting surface 181b.

The ultrasonic guide part 181 has side parts 181c which are formed to be inclined at both side ends of the mounting surface 181b. The side portion 181c is formed to be inclined such that the distance between both side portions 181c becomes wider from the mounting surface 181b to the front. The side portion 181c is configured to limit the lateral propagation angle of the ultrasonic waves generated from the ultrasonic sensor 18. This can prevent the ultrasonic wave from spreading unnecessarily widely.

The battery may be mounted inside the inner body 20. The electrical appliance mounted on the outer cover 10, for example, the ultrasonic sensor 18, is electrically connected to the battery to receive power from the battery.

To this end, the withdrawal hole 191 for drawing the electric wire from the front of the inner body 20 to the outside may be formed in front of the inner body 20. A rubber stopper 19 for fixing the wire drawn out through the withdrawal hole 191 may be provided in the withdrawal hole 191. An electric wire protection cover 192 protruding forward and upward from the front surface of the inner body 20 may be provided. The front surface of the lower portion of the wire protection cover 192 may be blocked and open upward. The wire drawn out through the drawing hole 191 may connect the battery and the ultrasonic sensor 18.

24 is an exploded view illustrating a coupling relationship between the joystick bumper 60 and the support unit and the outer cover 10 according to the present invention, and FIG. 25 is a joystick bumper 60 when the outer cover 10 of FIG. 24 collides with an obstacle. Is a conceptual view showing how the sensor detects this, and FIG. 26 is a cross-sectional view illustrating in detail the shape of the support in FIG. 24.

The configuration of the joystick bumper 60 according to the present invention is also shown in FIG.

The joystick bumper 60 is a device that detects when the outer cover 10 moves in all directions due to a collision with an obstacle, and restores the outer cover 10 to its original position when released from the impact of the obstacle.

The upper end of the joystick bumper 60 is connected to the outer cover 10, and when the outer cover 10 moves in all directions, the upper end of the joystick bumper 60 may also move in all directions. The joystick bumper fastening part 61 may protrude from the lower surface of the outer cover 10 to face the joystick bumper 60. The joystick bumper fastening part 61 may be provided in front of the cover coupling part 12 of the outer cover 10.

A fastening hole is formed through the inside of the joystick bumper fastening part 61, and a fastening member 611 such as a bolt 55 may be inserted through the fastening hole. The hole cover 612 may be detachably mounted on the joystick bumper fastening part 61 to open and close the fastening hole. The fastening member 611 may be inserted through the fastening hole and fastened to the upper end of the joystick bumper 60, and the outer cover 10 and the upper end of the joystick bump may be coupled to each other.

The joystick bumper 60 may be vertically mounted to the front upper portion of the inner body 20. The upper portion of the joystick bumper 60 may be exposed to the upper portion of the inner body 20, and the lower portion of the joystick bumper 60 may be mounted in the inner body 20.

The joystick bumper 60 includes a bumper body 62 formed in a rod shape. The bumper body 62 may include a first bumper part 621 and a second bumper part 627. The second bumper part 627 may be coupled to an upper portion of the first bumper part 621 through the coupling member 628. A first coupling groove may be formed in the upper portion of the first bumper portion 621, and a second coupling groove may be formed in the lower portion of the second bumper portion 627. The upper portion of the coupling member 628 is fitted into the second coupling groove, the lower portion of the coupling member 628 is fitted into the first coupling groove, the first bumper portion 621 and the second bumper portion 627. Can be combined with each other. The second bumper part 627 may be coupled to the joystick bumper fastening part 61 of the outer cover 10 by the fastening member 611.

The inner body 20 may be separated into an inner body body 201 and an inner body cover 202. The inner body cover 202 is disposed so as to cover the upper portion of the body of the inner body 20, the inner body body 201 and the inner vida cover is coupled to each other edges. Joystick bumper 60 may be mounted to inner body cover 202.

The joystick bumper 60 includes an elastic member 629. The elastic member 629 may be formed in a conical shape and disposed to surround the upper portion of the first bumper portion 621 and the lower portion of the second bumper portion 627. The elastic member 629 may be formed in a bellows shape, the area of which is narrowed upward. The corrugated portion of the elastic member 629 is formed along the inclined surface of the cone shape. The upper end of the elastic member 629 is coupled with the second bumper portion 627, and the lower end of the elastic member 629 is coupled with the upper portion of the inner body cover 202, so that the joystick bumper 60 is the inner body 20. It can be elastically supported so as to be movable in all directions (front, rear, left and right directions). The elastic member 629 may be formed of a rubber material to mitigate the impact of the joystick bumper 60 transmitted from the outer cover 10 when the outer cover 10 and the obstacle collide with each other.

The joystick bumper frame 63 is provided in the inner body body 201. The joystick bumper mounting unit 631 is coupled to the upper portion of the joystick bumper frame 63. The joystick bumper 60 includes a joint protrusion 622 formed along the circumferential direction on the outer circumferential surface of the first bumper. The joystick bumper mounting part 631 includes a protrusion receiving groove 632 therein so as to surround the joint protrusion 622, and the joint protrusion 622 is accommodated in the protrusion receiving groove 632 to be coupled to the joystick bumper 60. Each of the upper end and the lower end of) may be rotated about the joint protrusion 622 in the joystick bumper mounting unit 631.

Joystick bumper 60 includes a spring 623. The spring 623 may be mounted below the joint protrusion 622. The upper end of the spring 623 is coupled to the projection receiving groove 632, the lower portion of the spring 623 extends downward along the first bumper portion 621 in the projection receiving groove 632 ( 621). The spring sheet 624 may be provided below the first bumper part 621. The spring sheet 624 is formed to surround a part of the first bumper part 621 in a ring shape, and the lower end of the spring 623 may be coupled to the spring sheet 624.

The upper end of the spring 623 is fixed to the inner body 20, the lower end of the spring 623 is coupled with the lower portion of the joystick bumper 60, the joystick bumper 60 is originally due to the elastic force of the spring 623 Can be restored to a location. For example, when the lawn mower robot moves backward while the outer cover 10 is moved backward with respect to the inner body 20 due to the collision with the obstacle, the impact caused by the obstacle is released from the outer cover 10. The joystick bumper 60 may be returned to its original position by the elastic force of the spring 623.

The joystick bumper 60 has a sensing unit 625. The sensing unit 625 may be provided below the joystick bumper 60. The sensing unit 625 may be a magnet. The sensing unit 625 may be mounted to the lower end of the first bumper.

The hall sensor is provided on the inner bottom of the inner body 20. The hall sensor is disposed to face the sensing unit 625. The hall sensor may be installed on the bottom surface of the joystick bumper frame 63 inside the inner body 20. The hall sensor may detect whether the outer cover 10 collides with an obstacle by interacting with the sensing unit 625. For example, when the outer cover 10 moves rearward with respect to the inner body 20 due to a collision with an obstacle, the upper end of the joystick bumper 60 connected to the outer cover 10 rotates rearward, and the joystick bumper ( The lower end of 60 rotates forward. As the lower end of the joystick bumper 60 rotates, the sensing unit 625 is spaced apart from the hall sensor so that the hall sensor may sense that the outer cover 10 has collided with an obstacle. The controller 80 detects a collision between the outer cover 10 and an obstacle through a hall sensor, and controls the driving motor 521 of the wheel 50 to move the lawn mower robot back from the obstacle. Thereby, the lawn mower can move around the obstacle.

FIG. 26 is a cross-sectional view illustrating a coupling relationship of the supporting part of FIG. 24.

24 shows a state in which the outer cover 10 and the support part 70 of the present invention are connected.

The outer cover 10 may be mounted to the upper portion of the inner body 20 so as to be movable in the vertical direction and in all directions (front, rear, left and right). The outer cover 10 may be supported by the support parts 70 provided on both front and rear sides of the inner body 20, respectively.

The plurality of support parts 70 are coupled to the bottom surface of the outer cover 10. The coupling plate 73 for coupling with the support part 70 is installed at both the front and rear sides of the outer cover 10, respectively. The coupling plate 73 may be fixed to the outer cover 10 by a fixing bracket 731. The coupling part may extend in the horizontal direction from the fixing bracket 731 and be disposed on the same plane as the fixing bracket 731. The fixing bracket 731 may be fixed to the outer cover 10 by a fastening means such as welding or bolt 55 to fix the coupling plate 73. The coupling plate 73 may be coupled to the support part 70 by bolts 55.

Each of the plurality of support parts 70 is formed in a rod shape and is disposed perpendicular to the inner body 20. The inner body 20 has a support portion receiving portion 74 for receiving the support portion 70.

The support unit 70 includes a support body 71 coupled to the outer cover 10. The support body 71 may be formed of an elastic material such as rubber to mitigate the impact transmitted from the outer cover 10. The support body 71 may be composed of a first support 711 and a second support 712. The first coupling groove is formed on the upper portion of the first support portion 711, the second coupling groove is formed on the lower portion of the second support portion 712, and the upper portion of the coupling member 713 is inserted into and coupled to the first coupling groove. The lower part of the member 713 may be inserted into and coupled to the second coupling groove. The second support part 712 is coupled to the upper portion of the first support part 711 by the coupling member 713.

Wrinkles 72 may be provided on the outer circumferential surface of the support body 71. The pleats 72 have an inner side surrounding the outer circumferential surface of the support main body 71 and are coupled to the support main body 71 and the outer side is coupled to the support receiving portion 74 of the inner body. The wrinkle part 72 extends so that it may wrinkle along the radial direction from the outer peripheral surface of the support part main body 71. The pleats 72 may include a plurality of bent portions 721 formed along the circumferential direction in a cross-sectional shape of “∩”, and a connecting portion 722 connecting the plurality of bent portions 721. The plurality of bent portions 721 may be disposed to be radially spaced apart and overlapped. By the structure of the wrinkle part 72, the support part main body 71 is movably supported by the up-down direction and all directions (front, rear, left and right), and can support the outer cover 10 four points. The inner end of the pleats 72 may be fastened to the first support 711 by the coupling member 713. At this time, the coupling member 713 may be a bolt.

The first support part 711 includes a protrusion 711a on one side of the first support part 711 to detect whether the outer cover 10 is lifted. When the outer cover 10 is lifted up in the air, the support body 71 coupled to the outer cover 10 may move upward.

The lift limiting protrusion 711b is provided on the other side of the first support part 711. The lift limiting protrusion 711b is accommodated in the support part accommodating part 74 to limit the support part from rising above a predetermined height.

A plurality of reinforcement protrusions 712a are formed along the circumferential direction on the outer circumferential surface of the second support part 712 to reinforce the strength of the second support part 712.

In the outer circumferential surface of the second support portion 712, the recess is formed concave with a gentle curvature along the circumferential direction, so that the second support portion 712 can be bent in all directions. The reinforcement protrusion 712a may be disposed in the vertical center of the recess 712b. The concave portion 712b may have a smaller cross-sectional area from each of the upper end portion and the lower end portion toward the reinforcement protrusion 712a.

The cover lifting detection sensor 75 is provided inside the support part receiving part 74. The cover lift detection sensor 75 includes a switch main body 751 and a switch operation lever 752.

The switch main body 751 is formed in the shape of a flat rectangular rectangular parallelepiped, and a contact is provided in the switch main body 751. The switch operation lever 752 is fixed to one corner of the switch main body 751 so that one side thereof can be interlocked with a contact in the switch main body 751, and the other side is spaced apart from the switch main body 751 and the first support part 711. It is formed to be inclined in a direction facing the protrusion 711a. A contact portion 753 protrudes from the end of the switch operation lever 752. The contact portion 753 is disposed on the vertical movement line of the protrusion 711a.

When the support body main body 71 is raised by lifting the outer cover 10, the protrusion 711a of the first support part 711 moves upward. At this time, while the contact portion 753 is in contact with the projection portion 711a, the switch operation lever 752 is pressed toward the switch main body 751, the internal contact of the switch main body 751 is turned on, and the cover lift detection sensor 75 is It may be sensed that the outer cover 10 is lifted. When the outer cover 10 descends to its original position, the protrusion 711a of the first support part 711 descends. At this time, the contact portion 753 is spaced apart from the protrusion 711a, the switch operation lever 752 moves to the original position, and the internal contact of the switch body 751 is turned off, thereby detecting that the cover is not lifted. When the controller 80 detects that the outer cover 10 is lifted, the controller 80 controls the driving motor 521 and the blade 31 driving motor 30 of the wheel 50 to control the wheel 50 and the blade 31. Can be stopped.

In addition, the tilt detection sensor 76 may be provided in consideration of an emergency situation. The tilt sensor 76 may be mounted on the inner body 20 to detect the tilt of the inner body 20. The controller 80 may stop the operation of the lawn mower robot when it receives a detection signal from the tilt sensor 76 and exceeds a preset tilt angle. For example, the lawn mower robot may be inverted when the uphill slope is steep, so that the lawn mower robot may stop the operation of the wheel 50 and the blade 31 in advance.

27 is a block diagram showing the control flow of the lawn mower robot according to the present invention.

The controller 80 (CONTROLLER) of the present invention controls the overall operation of the mowing robot. In particular, the controller 80 may control the operating unit, that is, the wheel 50 driving motor and the blade 31 driving motor 30 by receiving a detection signal from the detection unit in consideration of safety.

The detection unit includes an ultrasonic sensor 18 and an IR receiver sensor mounted on the outer cover 10, a drop switch 44 mounted on the inner body 20, a cover lift detection sensor 75 and a tilt detection sensor 76, Hall sensor.

The ultrasonic sensor 18 is mounted in front of the outer cover 10 to detect an obstacle having a predetermined height or more.

IR receiving sensors are respectively located on the front and rear surfaces of the outer cover 10 to detect the position of the charging stand 90.

The drop switch 44 detects whether the caster 40 floats in the air and is lowered with respect to the inner body 20.

The cover lift sensor 75 detects whether the outer cover 10 is lifted.

The tilt sensor 76 detects the tilt of the inner body 20.

The hall sensor 626 detects the collision between the outer cover 10 and an obstacle by interaction with a magnet.

The above description is merely illustrative of the technical idea of the present invention, and those skilled in the art to which the present invention pertains various modifications, changes, and substitutions without departing from the essential characteristics of the present invention. will be.

In addition, the embodiments disclosed in the present invention and the accompanying drawings are not intended to limit the technical idea of the present invention, but to describe, and the scope of the technical idea of the present invention is not limited by the embodiments and the accompanying drawings. .

The scope of protection of the present invention should be interpreted by the following claims, and all technical ideas falling within the scope of the present invention should be construed as being included in the scope of the present invention.

10: outer cover 10a: bumper portion
10b: fender part 10c: carrying handle
11: first cover 12: cover coupling portion
12a: first opening 111: pressing portion
112: locking projection 13: emergency stop switch
14: second cover 14a: second opening
15: Charging terminal 16a, 16b: IR receiving window
17a, 17b: IR receiving sensor 18: ultrasonic sensor
181: ultrasonic guide portion 181a: horizontal plane
181b: mounting surface 181c: side
19: rubber stopper 191: withdrawal hole
192: wire protection cover 20: inner body
201: inner body body 202: inner body cover
21: display 211: keypad
22: main PCB 23: accommodating part
24: depression 30: blade drive motor
301: rotating shaft 302: coupler
31: blade 311: fastening hole
312: cutting part 32: rotating plate
321: protrusion 322: chamfer
3221: bolt 323: shaft coupling
324: reinforcement rib 33: blade protection cover
331: protective cover body 332: through hole
333: tapered portion 334: grass entrance
335: protrusion 335a: front side
335b: first slope 335c: second slope
335d: side portion 336: connecting rib
34: height adjustment unit 341: height adjustment lever
341a: lever body 341b: rotary protrusion
341c: Handle part 341d: Indicator
342: rotating cylinder portion 342a: engaging projection
342b: lowering limit projection 342c: rotation guide projection
343: lifting frame 343a: rotation limit projection
343b: Anti-rotation groove 343c: Spiral protrusion
344: mounting portion 344a: partition wall
344b: Reinforcement rib 40: Caster
41: rotation axis 411: vertical portion
411a: coupling groove 411b: coupling groove
412: caster coupling portion 42: shaft supporter
421: anti-rotation protrusion 422a: insertion hole
422b: Coupling hole 422c: Supporting groove
423: departure preventing member 424: falling projection
43: supporter receiving portion 431: lifting guide projection
432: height limit 433: bracket
433a: shaft support 44: drop switch
441: switch body 442: switch operation lever
443 contact 50 wheel
51: wheel drive unit 52: housing
521: drive motor 522: power transmission gear
523: rotation shaft 53: wheel drive unit receiving hole
531: bending part 532: fastening part
532a: reinforcement rib 54: housing supporter
541 housing coupling portion 542 flange portion
542a: rib 542b: spacer
543: guide portion 55: bolt
60: joystick bumper 61: joystick bumper fastening portion
611 fastening member 612 hole cover
62: bumper body 621: first bumper portion
622: joint projection 623: spring
624: spring seat 625: sensing unit
626: Hall sensor 627: the second bumper portion
628: coupling member 629: elastic member
63: joystick bumper frame 631: joystick bumper mounting portion
632: projection receiving groove 70: support
71: support body 711: first support
711a: projection 711b: upward limit projection
712: second support 712a: reinforcement projection
712b: recess 713: coupling member
72: wrinkles 721: bent portion
722 connection portion 73: coupling plate
731: fixing bracket 74: support portion receiving portion
75: cover lift detection sensor 751: switch body
752: switch operation lever 753: contact
76: tilt detection sensor 80: control unit
90: charging station 91: charging terminal
92: docking wire 93: IR transmission window

Claims (10)

Inner body;
An outer cover surrounding the outer side of the inner body;
Wheels rotatably installed at both sides of the inner body;
A rotating plate rotatably mounted on a bottom surface of the inner body and disposed downwardly inclined with respect to a horizontal plane in a traveling direction of the inner body;
A plurality of blades which are mowed in the direction of the centrifugal force in the edge portion of the rotating plate and foldable in the center direction of the circle and are spaced apart from each other in the circumferential direction of the rotating plate to rotate about the rotation axis of the rotating plate and mow the lawn; And
A blade protection cover formed to be spaced apart from the blade to prevent the debris of the obstacle from being thrown out of the outer cover due to the collision with the blade;
Including,
The blade has a cross-sectional shape of parallelogram and is formed of a plate having a constant width in the longitudinal direction,
A plurality of support portions are spaced apart in the front and rear and left and right directions at four different points on the upper portion of the inner body,
And each of the plurality of support parts includes a wrinkle part formed to be wrinkled in a radial direction from an outer circumferential surface, so as to elastically support the outer cover so as to be movable in a front-rear direction and a left-right direction with respect to an inner body. The method of claim 1,
The plurality of blades is a lawn mower robot, characterized in that four are installed at equal intervals along the circumferential direction on the rotating plate. The method of claim 1,
The plurality of blades are fastened by a bolt, a protrusion is formed in the fastening portion to which the bolt is fastened, the lawn mower robot, characterized in that spaced apart the blade downward from the rotating plate when the blade rotates. The method of claim 3,
Lawn mower robot characterized in that it further comprises a chamfer formed tapered from the protrusion. The method of claim 1,
The plurality of blades facing each other and lawn mower robot, characterized in that four arranged at equal intervals. The method of claim 5,
The plurality of blades mowing robot, characterized in that for rotating at 2250 ~ 2750rpm. The method of claim 1,
The length (L) of each of the plurality of blades is a lawnmower robot, characterized in that in the range larger than D / 9 and less than D / 6 compared to the rotation diameter (D) of the blade. The method of claim 1,
Lawn mower robot characterized in that it comprises a drive motor for rotating the rotating plate is connected to the center of the rotating plate via a rotating shaft coupled to the vertical perpendicular to the rotating plate. The method of claim 1,
A plurality of protrusions are disposed in front of the blade protective cover spaced apart from each other in an arc shape, the spacing of the plurality of protrusions is narrowed toward both ends with respect to the center line of the front and rear direction of the blade protective cover robot. The method of claim 1,
It is provided on the top of the blade protection cover, and includes a height adjustment unit for adjusting the height of the blade protection cover and the blade,
The height adjustment unit,
Receiving portion formed to penetrate in the vertical direction inside the inner body;
An elevating frame which is installed to be movable up and down inside the accommodating part and has a spiral protrusion inside;
A rotating cylindrical part having a screw part engaged with the spiral protrusion on an outer circumferential surface thereof; And
A height adjusting lever mounted on an upper portion of the rotating cylinder to rotate the rotating cylinder;
Lawn mower robot comprising a.

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