WO2011131031A1 - 割草机和控制割草机自驱操作的控制方法 - Google Patents

割草机和控制割草机自驱操作的控制方法 Download PDF

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Publication number
WO2011131031A1
WO2011131031A1 PCT/CN2011/000703 CN2011000703W WO2011131031A1 WO 2011131031 A1 WO2011131031 A1 WO 2011131031A1 CN 2011000703 W CN2011000703 W CN 2011000703W WO 2011131031 A1 WO2011131031 A1 WO 2011131031A1
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WO
WIPO (PCT)
Prior art keywords
lawn mower
drive
switch
grip handle
mower
Prior art date
Application number
PCT/CN2011/000703
Other languages
English (en)
French (fr)
Other versions
WO2011131031A9 (zh
Inventor
范功远
刘芳世
王其彬
Original Assignee
苏州宝时得电动工具有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN 201010158635 external-priority patent/CN102232332B/zh
Priority claimed from CN 201010158634 external-priority patent/CN102232331B/zh
Priority claimed from CN201010158644.5A external-priority patent/CN102232333B/zh
Application filed by 苏州宝时得电动工具有限公司 filed Critical 苏州宝时得电动工具有限公司
Publication of WO2011131031A1 publication Critical patent/WO2011131031A1/zh
Publication of WO2011131031A9 publication Critical patent/WO2011131031A9/zh
Priority to US13/656,128 priority Critical patent/US20130046448A1/en

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
    • A01D34/82—Other details
    • A01D34/824—Handle arrangements
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
    • A01D34/67—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis hand-guided by a walking operator
    • A01D34/68—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis hand-guided by a walking operator with motor driven cutters or wheels
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
    • A01D34/67—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis hand-guided by a walking operator
    • A01D34/68—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis hand-guided by a walking operator with motor driven cutters or wheels
    • A01D2034/6843—Control levers on the handle of the mower

Definitions

  • the invention relates to a lawn mower and a control method for controlling the self-drive operation of the lawn mower.
  • an outdoor horticultural cutting tool such as a lawn mower
  • a switch box and a control mechanism for facilitating operator operation control are disposed on the operating lever near the gripping portion.
  • the lawn mower travels on the ground and performs a cutting operation by the thrust applied by the operator to the operating lever, and the operator is labor intensive to operate the driving lawn mower.
  • the lawn mower with self-driving function no longer needs the operator's laborious implementation.
  • the lawn mower is equipped with a driving motor to drive the front roller or the rear roller of the lawn mower, and the operator only needs to operate through the operation.
  • the control mechanism can control the speed of the lawn mower to move forward or backward.
  • U.S. Patent No. 5,442,901 discloses a speed control scheme for a self-propelled lawn mower, the self-drive speed of which is driven by the total amount of torque applied by the operator to the lawn mower and the output torque of the drive motor.
  • the adjustment of the motor output torque is separately adjusted independently of the control mechanism of the blade motor.
  • the operator must set the self-drive speed before the mower is self-driven. During the operation, the thrust can be increased or the pulling force can be applied to slightly adjust the self-drive speed of the mower. This type of adjustment allows the mower to have a role in reducing energy output, but does not provide continuous speed adjustment during operation and therefore does not provide convenience to the operator.
  • Utility Model Bulletin No. 200956739 discloses a stepless speed regulation mechanism for a self-propelled lawn mower, which comprises a tensioning bracket, a tensioning arm, a transmission belt, a pulley and a shifting pulley, and the tensioning arm hinge is connected to the Zhang
  • the fastening bracket one end of the tensioning arm is connected with a tension spring, and the other end of the tension spring is connected to the tensioning bracket, and the other end of the tensioning arm is connected with a speed control rope, and at least one end of the tensioning arm is connected a rotatable idler pulley;
  • the drive belt is sleeved on the shifting pulley of the pulley, which is on one side of the tensioning arm and on the same side as the rotatable idler;
  • the first and second wheels of the shifting pulley The disc sleeve is connected to the mandrel which can transmit the chasing torque, and constitutes a ⁇ K-shaped belt groove so that the idler wheel
  • the first object of the present invention is to provide a lawn mower having a simple operation interface, flexible operation, convenient control, and good human-machine function.
  • a second object of the present invention is to provide a lawn mower having good stability, low effort, and human-machine function.
  • a third object of the present invention is to provide a lawn mower that is easy to operate and self-driven.
  • a fourth object of the present invention is to provide a control method which is easy to operate and can control the self-drive operation of the lawn mower in real time.
  • a fifth object of the present invention is to provide a control method which is easy to operate and can constantly control the self-drive operation of the lawn mower.
  • a first technical solution of the present invention is achieved by: a lawn mower comprising: a body; a cutting blade disposed on the body; a plurality of rollers supporting the body to travel on the ground; a cutting motor driving the cutting blade to rotate; a driving motor that rotates at least one roller; an operating lever that is connected to the main body at one end; the lawn mower is provided with a starting switch that controls the cutting motor, and a driving switch that controls the driving motor, and the movable setting on the operating lever There is a control lever, and the start switch and the drive switch are controlled by the same control lever.
  • the invention has the beneficial effects that: the driving switch and the starting switch row disposed in the switch box are selectively activated and triggered by a single lever, so the operation is flexible and convenient; the self-driven of the lawn mower The speed is controlled by the pivoting operation handle, and the special setting of the pivoting angle makes the operator exert the least force during the self-drive operation, and the operation is not easy to fatigue.
  • the operation interface of the self-driven mower is ergonomically designed.
  • a switch box is disposed on the operating lever, and the start switch and the drive switch are disposed in the same switch box.
  • the lever is pivotally disposed within the switch box.
  • the switch box is provided with a mating portion, and a key member includes an action portion, and the action portion is selectively connected to the switch box mating portion.
  • the control rod is provided with a pressing block
  • the switch box is provided with a rotating member adjacent to the pressing block, and a slider adjacent to the rotating member.
  • the drive switch is provided with a switch contact, and the slider selectively opposes the switch contact.
  • the start switch is located above the drive switch, the drive switch pivot is provided with a rocker member, the first end arm of the rocker member abuts against the key member acting portion, and the slider is selectively and the rocker member The second end arms are in conflict.
  • the operating lever is pivotally disposed with a holding handle
  • the holding handle includes a holding portion located above the switch box, and first and second connecting portions located at two sides of the holding portion
  • the switch box includes The first and second connecting ends of the first and second connecting portions of the holding handle and the first and second connecting boxes of the switch box The terminal is fixedly connected.
  • the lever includes a grip portion located in front of the grip handle, and the grip handle grip portion is at the same height position as the grip lever grip portion.
  • the cutting motor and the drive motor can be set to the same motor.
  • a second technical solution of the present invention is achieved as follows: A lawn mower comprising: a lawn mower body; a plurality of rollers supporting the mower body; a drive motor driving the at least one roller; and a mower body at one end a connected operating lever; the lawn mower includes a grip handle pivotally coupled to the operating lever, the grip handle including at least two positions, the self-drive of the lawn mower when the grip handle is in the first position The speed is zero; when the grip handle is in the second position, the mower's self-drive speed is greater than zero.
  • a drive clutch mechanism is disposed between the drive motor and the drive roller, the drive clutch mechanism includes a first clutch member and a second clutch member that are selectively engageable or disengageable; when the grip handle is in the first position, the first The clutch element and the second clutch element mesh with each other, and the self-drive speed of the lawn mower is zero; when the grip handle is in the second position, the first clutch element and the second clutch element mesh with each other, and the self-drive speed of the lawn mower is greater than zero.
  • the grip handle further includes a third position.
  • the first clutch element and the second clutch element are disengaged from each other, and the self-drive speed of the lawn mower is zero.
  • the beneficial effects of the present invention are: due to the grip hand, the handle can be at the initial position where the lawn mower self-drive speed is zero, the pivot position corresponding to the maximum self-drive speed, and the drive clutch mechanism are disengaged.
  • the pivot position is switched, so the operator only needs to control the grip handle to control the mower in different states; the setting of the pivot angle of the grip handle makes the operator exert the least force during the self-drive operation, and the operation is not easy to fatigue.
  • the operation interface of the self-driven mower is ergonomically designed.
  • the angle between the handle and the operating lever in the first and third positions is an obtuse angle, and the angle between the handle and the operating lever in the second position is a right angle.
  • the angle between the grip handle and the operating lever is 97 degrees in the first position, and the angle between the grip handle and the operating lever in the third position is 1 05 degrees.
  • the drive motor is provided with a motor shaft, the first clutch element is a movable end tooth that is slidably disposed on the motor shaft, and the second clutch element is a static end tooth that is rotatably disposed on the motor shaft.
  • the control device further includes a switch box disposed on the operating lever, the switch box is provided with a drive switch, and a lever pivotally disposed on the switch box for activating the drive switch.
  • the switch box includes a first connecting end and a second connecting end
  • the holding handle includes a first connecting portion fixedly coupled with the first connecting end of the switch box, and a fixed connection with the second connecting end of the switch box a second connecting portion
  • the first connecting end of the switch box is provided with a first bracket fixedly connected with the operating rod
  • the second connecting end of the box is provided with a second bracket fixedly connected to the operating lever.
  • a rotating shaft is disposed on the first and second brackets, and the holding handle pivots about the rotating shaft.
  • the first bracket is pivotally disposed with a support plate, and the support plate is provided with a tensile member for controlling the sliding of the movable end teeth.
  • the tensile member is a wire rope
  • the first connecting portion of the holding handle is provided with a pin
  • the first bracket is provided with an opening
  • the pin extends longitudinally through the opening and the supporting plate The side close to the operating lever contacts the abutment.
  • a third technical solution of the present invention is achieved as follows: A lawn mower comprising: a lawn mower body; a plurality of rollers supporting the lawn mower body; a drive motor driving at least one roller; and one end and mowing a control rod connected to the main body of the machine; and a control device for adjusting the self-drive operation of the mower; the control device includes a grip handle movably disposed on the operating rod, wherein the grip handle is rotatable relative to the operating rod at the driving motor a first position of zero and a movement between the second position of the drive motor speed greater than zero; and an electronic control device that senses the position of the grip handle, detects the sensing result, and according to the test result Drive motor speed is adjusted.
  • the beneficial effects of the present invention are: due to the use of a grip handle on the lawn mower that is movable between a first position in which the rotational speed of the drive motor is zero and a second position in which the rotational speed of the drive motor is greater than zero,
  • the operator can continuously adjust the self-drive speed of the mower during the self-drive operation.
  • L corresponds to different positions of the grip handle, and the electronic control device can accurately detect and control the rotation speed of the drive motor, so that the grass is mowing
  • the machine is self-driven and stable.
  • the grip handle is pivotally coupled to the other end of the operating lever, and the electronic control device includes an electronic sensing device disposed between the grip handle and the operating lever.
  • the electronic sensing device is a Hall sensor unit.
  • the electronic control unit further includes a processor electrically coupled to the Hall sensor unit, the processor being disposed in the mower body to receive and process signals output by the Hall sensor unit.
  • the electronic control unit further includes a speed sensor for detecting the rotational speed of the drive motor and adjusting the rotational speed of the drive motor.
  • a switch box is disposed on the operating rod, the switch box is provided with first and second connecting ends, and the holding handle is provided with first and second connecting portions, and the first and second holding handles are The connecting portions are respectively fixedly connected to the first and second connecting ends of the switch box.
  • the Hall sensor unit includes a first Hall sensor device fixedly disposed relative to the operating lever, and a second Hall sensor device disposed in rotation relative to the first Hall device, the first and second Hall sensor devices being housed in a second connection end of the switch box.
  • the first Hall sensor device is provided with a semiconductor element on a side surface of the second Hall sensor device
  • the second Hall sensor device is provided with two magnet bodies on a side surface of the first Hall sensor device, the semiconductor The components are located between the magnet bodies.
  • a driving switch for controlling the motor is disposed in the switch box, and a pivot lever for triggering the driving switch is disposed on the switch box.
  • the control lever is provided with a grip portion, and the grip handle is provided with a grip portion, and the grip portion of the grip handle is at the same height position as the grip portion of the control crucible.
  • a fourth technical solution of the present invention is implemented as follows: A control method for controlling a self-drive operation of a lawn mower, the lawn mower comprising: a lawn mower body; a plurality of rollers supporting the lawn mower body; a driving motor for driving at least one roller; the control method includes: an operator inputs a preset parameter through an input device connected to the lawn mower body; and electrically connecting the electronic sensing device to the input device to sense a change of the input device and input The change of the device is converted into an induction signal corresponding to the preset parameter, and the sensing signal is output to the processor, and the processor controlled by the input device electrically controls the execution circuit to operate the motor according to the preset parameter.
  • the beneficial effects of the present invention are: corresponding to the operator inputting the preset parameter through the input device, the electronic sensing device can accurately sense the change of the input device and convert the change of the input device into a pair with the preset parameter.
  • the sensing signal is output to the processor, and the processor controls the execution circuit to drive the motor to operate according to preset parameters, thereby facilitating real-time control of the lawn mower.
  • the input device includes a grip handle pivotally coupled to the mower body, the electronic sensing device sensing a change in position of the grip handle.
  • the electronic sensing device senses a change in the input device in real time during operation of the drive motor.
  • the preset parameter is a preset speed
  • the actual running parameter is an actual running speed
  • a control method for controlling a self-drive operation of a lawn mower comprising: a lawn mower main body; a plurality of rollers supporting the mower body; a driving motor for driving at least one roller;
  • the control method includes: an operator inputting a preset parameter through an input device connected to the lawn mower body; and a processor electrically controlling the execution circuit driving the motor to be driven according to the preset The parameter is operated; a sensor electrically connected to the processor detects an actual operating parameter of the driving motor and feeds back the actual operating parameter to the processor; the processor compares the actual operating parameter with the preset parameter and generates a control Signal;
  • the execution circuit accepts and processes the control signal, and adjusts the actual operating parameters of the drive motor to be equal to the preset parameters.
  • the beneficial effects of the present invention are: corresponding to the input by the author through the input device
  • the preset parameter the processor control execution circuit controls the driving motor to operate according to the preset parameter;
  • the sensor detects the actual operating parameter of the driving motor and feeds back the actual operating parameter to the processor;
  • the processor compares the actual operating parameter with the preset parameter and A control signal is generated;
  • the execution circuit accepts and processes the control signal, and the actual operating parameters of the drive motor are adjusted to be equal to the preset parameters.
  • An electronic sensing device is disposed between the input device and the processor, and the electronic sensing device is configured to sense a position of the input device and convert the position of the input device into a sensing signal corresponding to the preset parameter, and The sensing signal is output to the processor.
  • the input device includes a grip handle movably coupled to the mower body.
  • the input device is an electronic input.
  • the preset parameter is a preset speed
  • the actual running parameter is an actual running speed
  • Figure 1 is a perspective view of a self-propelled lawn mower.
  • Figure 2 is a side view of a self-propelled mower.
  • FIG 3 is a partially enlarged perspective view of the operation interface of the self-driven lawn mower.
  • Figure 4 is a schematic view showing the structure of the operation interface of the self-driven mower.
  • Fig. 5 is a partial structural view of the self-driven lawn mower operating interface switch box after removing the cover body.
  • Fig. 6 is a schematic structural view of the self-driven lawn mower operating interface switch box after removing the cover body.
  • Fig. 7 is a schematic view showing another state of the state after the cover of the self-driven lawn mower operating interface switch box is removed.
  • Figure 8 is a cross-sectional view of Figure 5 taken along the line A-A.
  • Figure 9 is a perspective view of a partial drive structure of a self-driven lawn mower.
  • Figure 10 is a partial enlarged view of Figure 9, in which the transmission clutch mechanism is in the first state.
  • Figure 1 is a partial enlarged view of Figure 9, in which the transmission clutch mechanism is in the second state.
  • Figure 1 is an enlarged schematic view of the partial transmission clutch mechanism of Figure 8.
  • Figure 1 3 is a cross-sectional view of Figure 5 along the B-B direction, in which the grip handle is in the first pivot position.
  • Figure 14 is a cross-sectional view of Figure 5 along the B-B direction, in which the grip handle is in the initial state.
  • Figure 15 is a cross-sectional view of Figure 5 taken along the B-B direction, with the grip handle in the second pivot position.
  • Figure 16 is a schematic diagram of the structure of the electronic control device of the self-driven lawn mower.
  • the invention discloses a self-driven lawn mower, which is provided with a self-drive speed control device, and the operator can adjust the self-drive speed of the lawn mower on the ground by adjusting the position of the lawn mower holding the handle. Control
  • the system is labor-saving, comfortable, and the lawn mower travels stably.
  • the self-propelled lawn mower 1 includes a lawn mower body 10, a pair of front rollers 13a supporting a lawn mower body 10, and a pair of rear rollers 13b (only one shown), mounted
  • the operation lever 11 on both sides of the lawn mower main body 10 is located on the grass collection box 14 behind the lawn mower main body 10.
  • the lawn mower main body 10 includes a casing 12 and a drive motor 6 disposed on the casing 12 (refer to the figure). 8) A cutting motor, a cutting tool (not shown) driven by the cutting motor, and a power source 4 for powering the cutting motor and the driving motor 6.
  • the pair of rear rollers 13b are driven to rotate by the drive motor 6, and the power source 4 for driving the motor 6 and the cutting motor is a battery pack which is disposed in the housing cavity formed by the housing 12.
  • the operating lever 11 includes a pair of lower operating levers 8 connected to both sides of the mower body 10 and substantially parallel, for the upper operating lever 9 respectively connected to the lower operating lever 8, the operating lever 11 being rearward from the mower body 10
  • the upper side (the direction indicated by the arrow L in the figure) extends longitudinally.
  • the lower operating lever 8 in this embodiment is connected to the upper operating lever 9 via the intermediate lever 8, and the quick locking mechanism 151 is disposed between the intermediate lever 8 and the lower operation 8.
  • a transverse connecting portion 17 is disposed between the extended ends of the intermediate rods 8.
  • a lower operating member 8 is disposed on one of the lower operating rods 8 adjacent to the connecting portion 17, and a pivotal connection between the upper operating rod 9 and the lower operating rod 8 is provided.
  • the operating lever 9 on the height adjusting assembly 15 can be pivotally adjusted relative to the lower operating lever 8 between a first position indicated by a broken line and a second position indicated by a solid line (refer to FIG. 2) to suit different operators. The need to operate height.
  • the extensions of the two upper operating rods 9 are parallel to each other, and a transverse connecting rod 18 is disposed between the two parallel operating rods 9.
  • a switch box 16 is disposed between the extended end portions 9a of the upper operating rod 9, and the switch box 16 is
  • the transverse connecting rods 18 are substantially parallel, and the switch box 16 includes a main body portion 16a and connecting ends 16b, 16c respectively located at two sides of the main body portion 6a, and a grip handle 20 for the operator to hold and the switch box 16 respectively
  • a connecting end 16b and a second connecting end 16c are fixedly coupled.
  • the holding handle 20 is disposed in a U shape, and the U-shaped handle includes a grip portion 20a located above the switch box 16, and is respectively located on both sides of the grip portion 20a.
  • the first connecting portion 20b and the second connecting portion 20c are respectively connected to the first and second connecting ends 16b, 16c of the switch box respectively.
  • the U-shaped lever 19 is pivotally disposed on the switch box 16, and the grip portion 19c of the U-shaped lever 19 is substantially at the same height position as the grip portion 20a of the U-shaped handle, so that the operator can easily control the lever 19 Grip 19c and holding hand
  • the grip portion 20a of the handle 20 is gripped and gripped at the palm for control.
  • the control rod 19 in this embodiment can be made of a round material made of a steel material, and the grip handle 20 can be made of a steel material having a diameter larger than that of the control rod. Hollow steel pipe, the outer surface of the steel pipe is provided with soft rubber material, which is suitable for operation and holding.
  • the driving motor 6 and the cutting motor in this embodiment may be replaced by a motor.
  • the driving mechanism may be an electric motor, a gasoline motor or the like; wherein the grip handle 20 may be configured in an L shape, a ring shape, or a horn shape. Other shapes; the control lever 19 can also be arranged in a different shape in accordance with the operation of the grip handle 20; the number of the front roller 13a and the rear roller 13b supporting the lawn mower body 10 includes at least three, wherein the roller driven by the drive motor 6 At least one is included.
  • a key member 2 is selectively mated with the switch box 16, and the key member 2 includes an action portion 2a through which the housing of the switch box 16 is open (not shown) and the switch
  • the box 16 is fixedly mated.
  • the lever 19 is pivotable relative to the grip handle 20 between a first position indicated by a solid line and a second position indicated by a dashed line, and an angle ⁇ between the first position and the second position is as large as 30 degrees.
  • the control lever 19 has a rotating shaft 19a extending from the main body portion 16a of the switch box 16.
  • the rotating shaft 19a is provided with a pressing block 19b.
  • the pressing block 19b When the control lever 19 pivots relative to the switch housing 16, the pressing block 19b is first shown by a solid line. The position produces a corresponding rotation to the second position indicated by the dashed line. The rotating block 21 abutting against the pressing block 19b is moved from the initial position to the second position indicated by the broken line by the pushing action of the pressing block 19b.
  • the switch box main body portion 16a is provided with a pressing block 19b, a rotating block 21, a slider 22, a drive switch 23 for controlling the self-drive of the lawn mower 1, and a start switch 25 for controlling the rotation of the blade, in the clockwise direction. And a mating portion 28 for receiving the key member 2.
  • the start switch 25 is located above the drive switch 23, and the return spring 26 is disposed at a portion of the switch case main body portion 16a adjacent to the first and second connection ends 16b, 16c, and the end of the reset-spring 26 abuts the control rod 19.
  • the rotating shaft 19a of the control rod 1-9 has a central axis X.
  • the lower side of the control rod 19 is provided with a rotating shaft 40.
  • the rotating shaft 40 has a central axis Y.
  • the holding handle 20 can pivot relative to the operating rod 11 about the rotating shaft 40. motion.
  • the rotating block 21 is disposed in a V shape, and the first end arm 21a of the V-shaped rotating block 21 is in contact with the pressing block 19b.
  • the pressing block 19b is rotated to push the V-shaped rotating block 21 to rotate about its pivot 21c in the direction indicated by the arrow R; the V-shaped rotating block 21 the second end arm 21b
  • One side is adjacent to the slider 22, and the other side is abutting against the return spring 24.
  • the start switch 25 located above the drive switch 23 is provided with a resilient trigger end 29, the top of the trigger end 9 is pivotally connected to a V-shaped rocker member 27, the first of which is the V-shaped rocker member 27.
  • the end arm 27a is adjacent to the slider 22, and the second end arm 27b is adjacent to the key mating portion 28; normally, the V-shaped rocker member 27 is operated by an elastic member (not shown) at its second end.
  • the arm 27b is inclined toward the start switch 25 and is adjacent to one side of the key fitting portion 28.
  • the rotating block 21 pushes the slider 22 to move, and the slider 22 pushes the first end arm 27a of the V-shaped rocker member 27 again,
  • the second end arm 27b of the V-shaped rocker member 27 is subjected to the limiting force of the action portion 2a of the key member 2, and the V-shaped warp is applied under the force of the two end arms of the V-shaped rocker member 27, respectively.
  • the plate member 27 generates a displacement to the start switch 25 against the elastic force of the trigger end 29 to cause the start switch 25 to be turned on.
  • the grip handle 20 is pivotally pivotable relative to the upper operation ⁇ 9 about the rotation axis 40 between the initial position I shown by the solid line and the first operation position II and the second operation position III indicated by the broken line;
  • the first position I is a pivoting position close to the upper operating lever 9, and the second position II is a pivoting position away from the upper operating lever 9.
  • the first connecting portion 20b of the holding handle is fixedly coupled to the first connecting end 16b of the switch box 16.
  • the L-shaped rigid bracket 33a is disposed between the operating rod end portion 9a and the first connecting portion 20b of the holding handle.
  • the rigid bracket 33a is fixedly coupled to the operating rod end portion 9a by a fastener, the supporting plate 401 is pivotally coupled to the rigid bracket 33a and rotatable about the rotating shaft 402; the rotating shaft 40 is coupled to the rigid bracket 33a.
  • the corner point extends to the switch box main body portion 16a, and the grip handle 20 is pivotally movable relative to the rotating shaft 40; a pin 201 is fixedly disposed on the first connecting portion 20b of the grip handle, and the pin 201 passes through the rigid bracket 33a.
  • the opening 39 extends longitudinally in the direction of the main body portion 16a of the switch box and abuts against the side of the support plate 401.
  • the rear end of the support plate 401 is connected with a tensile member, and the tensile member is usually a wire rope 402.
  • the support plate 401 which is in contact with the pin 201, is on the side close to the upper operating lever 9, and when the holding handle 20 and the switch case 16 are pivoted relative to the rotating shaft 40 away from the upper operating lever 9, the pin 201 pivots with the grip handle 20 to push the support plate 401 to pivot relative to the rigid bracket 33a in a direction away from the upper operating lever 9 and generate Displacement, the wire rope 402 is stretched by the rotation of the support plate 401.
  • the pin 201 side is offset from the side of the support plate 401, and the support plate 401 does not rotate, that is, the wire rope 402 does not stretch.
  • the pivoting movement of the pin 201 to the opening 39 is limited by the two side walls of the opening 39, that is, the maximum forward tilt angle of the grip handle 20 relative to the operating rod 1 is approximately 90 degrees. At right angles, the maximum reclining angle is approximately 105 degrees, respectively.
  • the grip handle 20 in this embodiment is pivotally disposed relative to the operating rod 1 1 , and those skilled in the art can also imagine that the grip handle 20 is slidably disposed relative to the operating rod 1 1 , and the operator only needs to slide on the operating rod 1 1 . Controlling the grip handle 20 makes it easy to control the self-drive speed of the mower on the ground.
  • a pair of rear rollers 13b of the lawn mower 1 is a driving wheel, and a transmission clutch mechanism 50 is disposed between the rear roller 13b and the driving motor 6, and the transmission clutch mechanism 50 is housed in the gear.
  • the drive motor 6 is provided with a motor shaft 57.
  • the movable end tooth 55 is slidably disposed on the motor shaft 57 and selectively engages or disengages from the static end tooth 56.
  • a transmission tooth 58 is fixedly disposed on the transmission.
  • the shaft 60 is meshed with the stationary end teeth 56.
  • Both ends of the transmission shaft 60 are provided with pinion gears 59 (only one shown) are respectively engaged with the inner teeth 62 of the rear roller 13b to drive the rear roller 13b, wherein The rear roller 1 3b is connected by a wheel shaft 61.
  • a unidirectional clutch mechanism 63 is disposed between the pinion gear 59 and the transmission shaft 60.
  • the one-way clutch mechanism 63 transmits torque between the pinion gear 59 and the rear roller 13b. That is, the thrust applied by the operator to the lawn mower is not reversely transmitted to the transmission shaft 60 and the motor shaft 58 through the rear roller 13b, and only the forward torque is transmitted between the pinion gear 59 and the rear roller 13b, and the torque is not transmitted in the reverse direction. .
  • a control member 52 which is coupled to the wire rope 402 at one end, is pivotally disposed on the gear box 501, a fork 54 is fixedly coupled to the lower end of the control member 52, and the fork 54 is engaged with a groove 55b disposed circumferentially on the surface of the movable end tooth 55. Then, under the tension of the wire rope 402, the control member 52 is pivoted, and at the same time, the shifting fork 54 is rotated, and the shifting fork 54 drives the movable end tooth 55 to slide on the motor shaft 57.
  • the control member 52 When the grip handle 20 is in the initial position I or pivoted toward the first position II near the upper operating lever 9, since the wire rope 402 does not stretch, the control member 52 is in its initial position. Referring to Fig. 10, the control member 52 is in its initial position under the action of the elastic member 51, and the movable end tooth 55 is in a state of meshing with the stationary end tooth 56; at this time, if the pivot lever 19 will drive the switch 23 Trigger conduction, and then pivot the lever 9 and the grip handle 20 to the direction close to the operating rod 1 1 , the self-drive of the lawn mower on the ground will accelerate, and as the pivot angle increases, the cutting The self-drive speed of the grass machine increased accordingly.
  • the operator can control the transmission clutch mechanism 50 provided between the drive motor 6 and the rear roller 14b by the tension generated by the wire rope 402 while rotating the grip handle 20.
  • the self-drive speed of the mower can be set to stepless speed regulation, or it can be adjusted to gear speed regulation.
  • the static end tooth 56 of the present embodiment and the motor shaft 57 are gap-fitted, and the stationary end tooth 56 is rotated relative to the motor shaft 57, but the static end tooth 56 is moved in the axial direction of the motor shaft 57.
  • the teeth of the stationary end teeth 56 and the movable end teeth 55 are respectively provided as ramp teeth 56a, 55a, and the ramp faces of the ramp teeth 56a, 55a are disposed opposite each other.
  • the movable end tooth 55 ramp tooth 55a transmits the rotational torque to the stationary end tooth 56 ramp tooth 56a, which in turn transmits torque to the drive shaft 60 through the drive tooth 58.
  • the drive shaft 60 drives the rear roller 13b through a pinion 59 provided at the end portion.
  • the movable end tooth 55 is slid in the direction indicated by the arrow P in the figure by the shifting fork 54 and the control member 52 under the tension of the wire rope 402, thereby being disengaged from the stationary end tooth 56.
  • the self-propelled lawn mower 1 further includes a control device for adjusting the self-drive operation of the lawn mower 1, the control device including the input device and the input device Electronic control unit.
  • the operator can input preset parameters through the input device.
  • the input device can be a mechanical input device or an electronic input device.
  • the input device includes a grip handle 20 that is movably coupled to the mower body 10.
  • the electronic control unit includes a processor 71 electrically coupled to the input device and an execution circuit coupled to the processor 71.
  • the processor 71 can be configured as an analog circuit or a digital circuit.
  • a digital circuit microcontroller MCU is used, which has the characteristics of simple structure and powerful functions.
  • the execution circuit controlled by the processor 71 is used to control the operation of the drive motor 6.
  • the above functions of the execution circuit are implemented mainly by adjusting the working energy applied to the driving motor 6.
  • the executing circuit is provided in the form of a switching module, including the transistor Q2, and the transistor driving circuit 73 for driving the transistor Q2.
  • the transistor driving circuit 73 adjusts the operating voltage applied to the driving motor 6 by the receiving processor 71 to cause the driving motor 6 to operate according to preset parameters.
  • the electronic control unit also includes a sensor.
  • the sensor is used to detect the actual operating parameters of the drive motor 6 and to feed back the actual operating parameters to the processor 71.
  • the actual operating parameters of the drive motor 6 include the drive motor The operating speed, operating torque, operating current, operating voltage, and the like of 6, so that the sensor can be correspondingly set as a speed sensor, a torque sensor, a current sensor, a voltage sensor, etc., in accordance with the needs of the present invention, in this embodiment, the sensor is set to speed Sensor 72.
  • the processor 7 1 compares the actual operating parameters with the preset parameters and generates a control signal, and outputs the control signal to the transistor driving circuit 73.
  • the transistor drive circuit 73 accepts and processes the control signal to adjust the actual operating parameters of the drive motor 6 to be equal to the preset parameters.
  • An electronic sensing device is provided between the input device and the processor 71.
  • the electronic sensing device is for sensing the position of the input device and converting the position of the input device into an induced signal corresponding to the preset parameter, and outputs the sensing signal to the processor 71.
  • the preset parameter may be a preset speed, a preset torque, a preset current, a preset voltage, and the like. In this embodiment, the preset parameter is a preset speed.
  • the electronic sensing device is for detecting a change in the position of the grip handle 20.
  • the second connecting portion 20c of the grip handle 20 is fixedly coupled to the second connecting end 16c of the switch case 16, and the electronic sensing device is disposed in the switch case 16.
  • the electronic sensing device can be configured as a Hall sensor, a photosensor, a potentiometer, a differential transformer, or the like.
  • the electronic sensor device in this embodiment employs the Hall sensor unit 30.
  • the Hall sensor unit 30 includes a first Hall sensor device 3 1 and a second Hall sensor device 32 disposed opposite each other, wherein the second Hall sensor device 32 is adjacent to the grip handle 20, and the first Hall sensor device 3 1 is away from Holding the handle 20, the first Hall sensor device 3 1 and the second Hall sensor device 32 are substantially fan-shaped and housed in the second connection end 16 of the switch box 16.
  • a second rigid bracket 33b is disposed between the end portion 9a of the operating lever 9 and the second connecting portion 20c of the grip handle.
  • the rigid bracket 33b is provided with a pin 35, and the first Hall sensor device 3 1 and The second Hall sensor device 32 is respectively connected to the pin 35, and the first Hall sensor device 3 1 is fixed to the rigid bracket 33b by screws 65 or other fastening means, so the first Hall sensor device 3 1 is relatively stationary with the rigid bracket 33b and the upper operating lever 9; wherein the second Hall sensor device 32 is provided with a first recess 32a on one end face of the grip handle 20, ⁇ fixedly coupled to the grip The pin 201 holding the handle 20 is partially received in the recess 32a.
  • the pin 35 pivots with the grip handle 20 and rotates within the recess 32a, when the pin 32a rotates to ⁇
  • the second Hall sensor device 32 is rotated, that is, the second Hall sensor device 32 can rotate relative to the first Hall sensor device 3 1 with the pin 35 as a rotating shaft.
  • the second Hall sensor device 32 is disposed on the end surface of the first Hall sensor device 3 1 with a second recess 32b.
  • the two magnet bodies 38a, 38b are respectively disposed at two ends of the second recess 32b.
  • the first Hall sensor device 3 1 is provided with a Hall element 37 made of a semiconductor material, which is connected to a power source 4 via a Liner connection line 36 (refer to FIG. 14), the Hall element 37 happens to be in the second Between the two opposing magnet bodies 38a, 38b of the Hall sensor device 32; when the second Hall sensor device
  • the Hall sensor unit 30 in this embodiment can be replaced by an electronic sensing device such as a potentiometer used in the industry.
  • the DC power supply 4 flows to the DC power conversion device 70 via the drive switch 23, and the DC power conversion device 70 converts the high voltage DC power supply into a low voltage DC power supply, which is the processor 71.
  • Related components such as the Hall sensor unit 30 provide power.
  • the grip handle 20 When the operator inputs the preset speed through the input device, the grip handle 20 is first rotated, and the grip handle 20 drives the magnetic steel bodies 38a, 38b to change the position, thereby adjusting the position of the Hall element 37 relative to the magnet bodies 38a, 38b.
  • the Hall sensor unit 30 outputs a corresponding induced voltage signal based on the position of the current Hall element 37 with respect to the magnetic steel bodies 38a, 38b, and transmits the induced voltage signal to the processor 71.
  • the processor 71 After receiving the induced voltage signal, the processor 71 can determine the preset speed input by the user according to the magnitude of the induced voltage signal, and send a corresponding PWM signal according to the preset speed input by the user, and control the transistor Q2 via the transistor driving circuit 73.
  • the working state thereby adjusting the operating speed of the drive motor 6.
  • the speed sensor 72 detects the actual running speed of the drive motor 6, and transmits the actual running speed to the processor 71.
  • the processor 71 compares the actual running speed of the driving motor 6 with the preset speed input by the operator, and according to the comparison result, sends a corresponding PWM signal to control the operation of the single-element, so that the current driving motor 6 speed is compared with the user-set speed. match.
  • the duty ratio of the PWM signal When the actual running speed of the driving motor 6 is higher than the preset speed of the operator, the duty ratio of the PWM signal is lowered, thereby reducing the operating voltage applied to the driving motor 6; when the actual running speed of the driving motor 6 is lower than that of the operator When the speed is preset, the duty ratio of the PWM signal is increased, thereby increasing the operating voltage applied to the driving motor 6; when the actual running speed of the driving motor 6 is equal to the preset speed of the operator, the duty ratio of the PWM signal is stabilized, The operating voltage applied to the drive motor 6 is maintained constant.
  • the processor 71 senses the preset speed of the operator through the electronic sensing device, and sends a corresponding control signal to the execution unit according to the preset speed to control the running speed of the driving motor 6, and the processor 71 detects the running speed of the driving motor 6 through the sensor. And comparing the running speed with the preset speed, and issuing a corresponding control signal to the executing unit according to the comparison result, thereby forming a closed loop control of the speed of the driving motor 6, and finally making the running speed of the driving motor 6 and the operator The preset speed is equal.
  • the position of the grip handle 20 is unchanged, the operating speed of the mower is protected.
  • the walking speed of the operator affects the position change of the grip handle.
  • simply moving the grip handle 20 forward can make the mower travel faster;
  • the operator wants When walking at a lower speed simply move the grip handle 20 backwards to slow down the mower's walking speed;
  • the author wants to walk at a constant speed, it is only necessary to keep the position of the grip handle 20 unchanged. In this way, the operator can walk at a constant speed regardless of whether the obstacle is encountered during operation or the ground is uneven, so that the operator does not need to adjust the walking speed by himself, so the operation is comfortable.
  • the operator can also input preset parameters through an electronic input device such as a touch screen or a button.
  • the present invention does not require an electronic sensing device.
  • the processor 71 detects the corresponding preset parameter of the operator, and sends a corresponding control signal according to the preset parameter.
  • the operating parameters of the drive motor 6 are controlled, and the processor 71 detects the operating parameters of the drive motor 6 through the sensor, compares the operating parameters with the preset parameters, and sends a corresponding control signal to the execution unit according to the comparison result, thereby Closed loop control of the operating parameters of the drive motor 6 is formed, which ultimately equalizes the operating parameters of the drive motor 6 with the operator's preset parameters.
  • the specific embodiment is similar to the closed loop control of the operating speed of the drive motor 6, and will not be repeated here.
  • the control method is: the operator inputs the preset parameter through the input device; the electronic sensing device electrically connected to the input device senses the change of the input device and converts the change of the input device into a sensing signal corresponding to the preset parameter, and the sensing signal is Output to the processor 71, the processor 71 controls the execution circuit to control the drive motor 6 to operate according to a preset parameter line. In this way, the mower can be changed in real time according to the operator's preset parameters.
  • the input device includes a grip handle 20 pivotally coupled to the mower body 10, and the electronic sensing device senses a change in position of the grip handle 20. And the electronic sensing device senses the change of the input device in real time during the operation of the drive motor 6.
  • the control method is: the operator inputs the preset parameters through the input device; the processor 71 controls the execution circuit to control the drive motor 6 to operate according to the preset parameters; the sensor detects the actual operating parameters of the drive motor 6 and feeds back the actual operating parameters to the processor The processor 71 compares the actual operating parameters with the preset parameters and generates a control signal; the executing circuit accepts and processes the control signals, and adjusts the actual operating parameters of the driving motor 6 to be equal to the preset parameters. In this way, the mower can be driven at a constant speed with the operator's preset parameters for comfortable operation.
  • the input device is a mechanical input device
  • an electronic sensing device is disposed between the input device and the processor 71.
  • the electronic sensing device is used to sense the position of the input device and convert the position of the input device into a pre-predetermined position.
  • the sensing signal corresponding to the parameter is set, and the sensing signal is output to the processor.
  • the maximum self-drive speed is the optimal speed designed to achieve the best cutting effect after considering the lawn and ground conditions. Therefore, the operator does not have the walking speed of the operator during normal operation.
  • the self-drive speed since the grip handle 20 is large to the vertical state with respect to the upper operating lever 9, the direction of the force applied by the operator to the grip handle 20 and the operating lever 1 1 substantially parallel, the force applied to the grip handle 20 is transmitted to the mower body 10 through the upper operating lever 9, and the force direction extension line on the upper operating lever 9 is located substantially near the center of mass of the mower body 10.
  • the control handle 20 is restored to the initial position I, and the angle ⁇ between the central axis of the grip handle 20 and the central axis of the upper lever end portion 9a is substantially an obtuse angle of 97 degrees, at which time the drive motor 6 is driven.
  • the speed of the lawn mower is zero, that is, the self-driving speed of the lawn mower is zero, and since the wire rope 402 at this position does not stretch, the transmission clutch mechanism 50 is engaged. Referring to FIGS.

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Description

割草机和控制割草机自驱操作的控制方法 技术领域
本发明涉及一种割草机和控制割草机自驱操作的控制方法。
背景技术
通常， 割草机等户外园艺类切割工具上都设置有用于推行的操作杆， 操作 杆上靠近握持部位设置有方便操作者操作控制的开关盒及控制机构。 割草机依 靠操作者施加于操作杆的推力于地面行进并进行切割操作， 操作者操作这种推 行式割草机的劳动强度非常大。 而具有自驱功能的割草机就不再需要操作者费 力的推行，此类割草机设置有驱动马达对割草机的前滚轮或者后滚轮进行驱动， 操作者在操作时只需要通过操作控制机构就能对能割草机的行进快慢或后退等 进行控制。
美国专利公告第 5442901号揭示了一种自驱割草机的调速控制方案， 该割 草机的自驱速度取决于操作者施加于割草机推力以及驱动马达输出扭矩的总 量，而驱动马达输出 矩的调节又独立于刀片马达的控制机构进行单独调节的。 操作者在割草机自驱操作前先要对自驱速度进行设定， 在操作过程中可以适当 增加推力或施加拉力来轻微地调节割草机自驱速度。 这种调节方式能使割—草机 在减少能量输出方面有一定作用， 但在操作时由于不能提供连续的速度调节因 此并不能给操作者带来方便。
-中国.实用新型公告第 200956739 号揭示了一种自驱割草机的无级调速机 构， 其包括张紧支架、 张紧臂、 传动皮带、 皮带轮和变速皮带轮， 张紧臂铰连 接在张紧支架上， 张紧臂的一端连接有拉簧， 拉簧的另一端连接在张紧支架上， 张紧臂的另一端连接有调速拉绳， 在张紧臂的至少一端上还连接有可转动的惰 轮； 传动皮带套接在 带轮的变速皮带轮上， 它们处于所述张紧臂的一侧且与 可转动的惰轮处于同 侧； 变速皮带轮的第一轮盘和第二轮盘套接在可传递追 扭矩的芯轴上， 组成 \K宇形皮带槽从而可以在运转过程中通过调节调速拉绳使 惰轮压紧传动皮带， 改变变速皮带轮的实际节圓半径， 实现在不停机的情况下 随时调整自走速度。 该无级调速机构复杂， 调速完全依托机械方式， 稳定性欠 缺。
发明内容
本发明的第一个目的在于： 提供了一种操作界面简洁、 搡作灵活、 控制方 便， 具有较好人机功能的割草机。
确 本 本发明的第二个目的在于： 提供了一种具有稳定性好、 操作省力、 符合人 机功能的割草机。
本发明的第三个目的在于： 提供了一种操作方便、 自驱稳定的割草机。 本发明的第四个目 的在于： 提供了一种操作方便、 可以实时控制割草机自 驱操作的控制方法。
本发明的第五个目的在于： 提供了一种操作方便、 可以恒定控制割草机自 驱操作的控制方法。
本发明的第一个技术方案是这样实现的： 一种割草机， 包括： 主体； 设置 于主体的切割刀片； 支撑主体于地面行进的多个滚轮； 驱动切割刀片旋转的切 割马达； 以及驱动至少一个滚轮旋转的驱动马达；一端与主体相连接的操作杆； 所述割草机设置有控制所述切割马达的启动开关， 以及控制所述驱动马达的驱 动开关， 所述操作杆上活动设置有控制杆， 所述启动开关以及驱动开关由同一 控制杆控制触发。
与现有技术相比， 本发明的有益效果是： 由于采用单一的控制杆对设置于 开关盒内的驱动开关及启动开关 行选择地启动触发， 因此操作灵活、 方便； 割草机的自驱速度通过枢转操作手柄进行控制， 并且枢转角度的特殊设置， 使 得操作者在自驱操作时用力最小， 操作不易疲劳， 自驱割草机的操作界面符合 人机工程设计。
所述操作杆上设置有开关盒， 所述启动开关及驱动开关设置于同一开关盒 内。
所述控制杆枢轴设置于所述开关盒内。
所述开关盒设置有配接部， 一钥匙件包括一作用部， 所述作用部选择地与 开关盒配接部相连接。
所述控制杆设置有压块， 所述开关盒内设置有与压块邻接的转动件， 以及 与转动件邻接的滑块。
所述驱动开关设置有开关触点， 所述滑块选择地与开关触点相抵触。
所述启动开关位于驱动开关的上方， 所述驱动开关枢轴设置一翘板件， 所 述翘板件的第一端臂与钥匙件作用部相抵靠， 所述滑块选择地与翘板件的第二 端臂相抵触。
所述操作杆上枢轴设置一握持手柄， 所述握持手柄包括一位于开关盒上方 握持部， 以及位于握持部两侧的设第一、 第二连接部， 所述开关盒包括第一、 第二连接端， 所述握持手柄的第一、 第二连接部分别与开关盒的第一、 第二连 接端固定连接。
所述控制杆包括一位于握持手柄前方的握持部， 所述握持手柄握持部与控 制杆握持部位于同一高度位置。
所述切割马达与驱动马达可设为同一马达。
本发明的第二个技术方案是这样实现的： 一种割草机， 包括： 割草机主体； 支撑割草机主体的多个滚轮； 驱动至少一个滚轮的驱动马达； 一端与割草机主 体相连接的操作杆； 所述割草机包括枢轴连接于操作杆的握持手柄， 所述握持 手柄包括至少二个位置， 当握持手柄位于第一位置时， 割草机的自驱速度为零； 当握持手柄位于第二位置时， 割草机的自驱速度大于零。
在驱动马达和驱动滚轮之间设置有传动离合机构， 所述传动离合机构包括 可选择地啮合或脱开的第一离合元件和第二离合元件； 当握持手柄位于第一位 置时， 第一离合元件和第二离合元件相互啮合， 割草机的自驱速度为零； 当握 持手柄位于第二位置时， 第一离合元件和第二离合元件相互啮合， 割草机的自 驱速度大于零。
所述握持手柄还包括第三位置， 所述握持手柄位于第三位置时， 第一离合 元件和第二离合元件相互脱开， 割草机的自驱速度为零。
现有技术相比， 本发明的有益效果是： 由于握持手.柄能在割草机自驱速 度为零的初始位置、 对应最大自驱速度的枢转位置、 以及传动离合机构脱开的 枢转位置间转换， 因此操作者只需要控制握持手柄就能控制割草机处于不同的 状态； 握持手柄枢转角度的设置， 使得操作者在自驱操作时用力最小， 操作不 易疲劳， 自驱割草机的操作界面符合人机工程设计。
所述握持手柄于第一、 第三位置时与操作杆之间的角度为钝角， 所述握持 手柄于第二位置时与操作杆之间的角度为直角。
第一位置时所述握持手柄与操作杆之间的角度为 97度，第三位置时所述握 持手柄与操作杆之间的角度为 1 05度。
所述驱动马达设置有马达轴， 所述第一离合元件为滑动设置于马达轴的动 端齿， 所述第二离合元件为转动设置于马达轴的静端齿。
所述控制装置进一步包括设置于操作杆的开关盒， 所述开关盒内设置有驱 动开关， 以及枢轴设置于开关盒用于启动所述驱动开关的控制杆。
所述开关盒包括第一连接端及第二连接端， 所述握持手柄包括与开关盒第 一连接端固定配接的第一连接部， 以及与开关盒第二连接端固定配接的第二连 接部， 所述开关盒第一连接端设置有与操作杆固定连接的第一托架， 所述开关 盒第二连接端设置有与操作杆固定连接的第二托架。
一转轴设置于所述第一、 第二托架上， 所述握持手柄绕转轴枢轴转动。 所述第一托架上枢轴设置一支撑板， 所述支撑板上设有控制动端齿滑动的 拉伸件。
所述拉伸件为钢丝绳， 所述握持手柄的第一连接部设置一销钉， 所述第一 托架设置有开孔， 所述销钉纵向延伸穿过所述开孔与所述支撑板上靠近操作杆 的一侧接触抵靠。
本发明的第三个技术方案是这样实现的： 一种割草机， 包括： 割草机主体； 支撑所述割草机主体的多个滚轮； 驱动至少一个滚轮的驱动马达； 一端与割草 机主体相连接的操作杆； 以及调节割草机自驱操作的控制装置； 所述控制装置 包括一活动设置于操作杆的握持手柄， 所述握持手柄相对操作杆能在驱动马达 转速为零的第一位置及驱动马达转速大于零的第二位置间移动； 以及一电子控 制装置， 所述电子控制装置对握持手柄的位置进行感应， 对感应结果进行检测， 并根据测检结果对驱动马达转速进行调节。
与现有技术相比， 本发明的有益效果是： 由于在割草机上采用了能在驱动 马达转速为零的第一位置及驱动马达转速大于零的第二位置间活动控制的握持 手柄， 操作者能方傈的在自驱操作时连续地调节割草机的自驱速度 L 对应于握 持手柄的不同位置， 电子控制装置能准确地检测并对驱动马达转速进行控制调 节， 使得割草机自驱稳定。
所述握持手柄枢轴连接于操作杆的另一端， 所述电子控制装置包括设置于 握持手柄与操作杆之间的电子感应装置。
所述电子感应装置为霍尔传感器单元。
所述电子控制装置进一步包括与霍尔传感器单元电性连接的处理器， 所述 处理器设置于割草机主体， 接收并处理由霍尔传感器单元输出的信号。
所述电子控制装置进一步包括速度传感器， 所述速度传感器用于检测驱动 马达转速， 并对驱动马达的转速进行调节。
所述操作杆上设置有开关盒， 所述开关盒设有第一、 第二连接端， 所述握 持手柄设有第一、 第二连接部， 所述握持手柄的第一、 第二连接部分别与开关 盒的第一、 第二连接端固定连接。
所述霍尔传感器单元包括相对操作杆固定设置的第一霍尔传感器装置， 以 及相对第一霍尔装置转动设置的第二霍尔传感器装置， 所述第一、 第二霍尔传 感器装置收容于所述开关盒的第二连接端。 所述第一霍尔传感器装置相对第二霍尔传感器装置的侧面设有半导体元 件， 所述第二霍尔传感器装置相对第一霍尔传感器装置的侧面设置有两个磁钢 体， 所述半导体元件位于磁钢体之间。
所述开关盒内设置有控制马达的驱动开关， 所述开关盒上枢轴设置有用于 触发所述驱动开关的控制杆。
所述控制杆设置有握持部， 所述握持手柄设置有握持部， 所述握持手柄的 握持部与控制扞的握持部处于同一高度位置。
本发明的第四个技术方案是这样实现的： 一种控制割草机自驱操作的控制 方法， 所述割草机包括： 割草机主体； 支撑所述割草机主体的多个滚轮； 驱动 至少一个滚轮的驱动马达； 所述控制方法包括： 操作者通过与所述割草机主体 连接的输入装置输入预设参数； 与输入装置电性连接电子感应装置感应输入装 置的变化并将输入装置的变化转换为与所述预设参数对应的感应信号， 并将所 述感应信号输出给所述处理器， 与输入装置电性连接的处理器控制执行电路驱 动马达根据预设参数进行工作。
与现有 术相比， 本发明的有益效果是： 对应于操作者通过输入装置输入 预设参数， 电子感应装置能准确地感应输入装置的变化并将输入装置的变化转 换为与预设参数对 的感应信号， 并将感应信号输出给处理器， ^理器控制执 行电路驱动马达根据预设参数进行工作， 从而方便对割草机进行实时控制。
所述输入装置包括可枢转连接在所述割草机主体上的握持手柄， 所述电子 感应装置感应握持手柄的位置变化。
所述电子感应装置在所述驱动马达的工作过程中实时感应所述输入装置 的变化。
所述预设参数是预设速度， 所述实际运行参数是实际运行速度。
本发明的第五个技术方案是这样实现的： 一种控制割草机自驱操作的控制 方法， 所述割草机包括： 割草机主体； 支撑所述割草机主体的多个滚轮； 驱动 至少一个滚轮的驱动马达； 所述控制方法包括： 操作者通过与所述割草机主体 连接的输入装置输入预设参数； 与输入装置电性连接的处理器控制执行电路驱 动马达根据预设参数进行工作； 与处理器电性连接的传感器检测驱动马达的实 际运行参数并将所述实际运行参数反馈给所述处理器； 所述处理器将实际运行 参数和预设参数进行比较并产生控制信号； 执行电路接受和处理控制信号， 调 整驱动马达的实际运行参数与预设参数相等。
与现有技术相比， 本发明的有益效果是： 对应于搡作者通过输入装置输入 预设参数， 处理器控制执行电路控制驱动马达根据预设参数进行工作； 传感器 检测驱动马达的实际运行参数并将实际运行参数反馈给处理器； 处理器将实际 运行参数和预设参数进行比较并产生控制信号；执行电路接受和处理控制信号， 调整驱动马达的实际运行参数与预设参数相等。 如此， 当输入装置输入预设参 数不变时， 割草机的运行速度则保护不变。 这样， 无论是在运行过程中遇到障 碍， 还是地面不平整的情况， 操作者都可以以恒定的速度行走， 不会因此需要 操作者自 己调整行走速度， 所以操作舒适。
在输入装置和所述处理器之间设有电子感应装置， 所述电子感应装置用于 感应输入装置的位置并将输入装置的位置转换为与所述预设参数对应的感应信 号， 并将所述感应信号输出给所述处理器。
所述输入装置包括活动连接在所述割草机主体上的握持手柄。
所述输入装置是电子输入器。
所述预设参数是预设速度， 所述实际运行参数是实际运行速度。
附图说明
下面结合附图和实施 f列对本发明作进一步说明。
图 1 是自驱割草机的立体示意图。
图 2是自驱割草机的侧视图—。
图 3是自驱割草机操作界面的局部放大立体示意图。
图 4是自驱割草机操作界面侧视方向的结构示意图。
图 5是自驱割草机操作界面开关盒移去盖体后的部分结构示意图。
图 6是自驱割草机操作界面开关盒移去盖体后的结构示意图。
图 7是自驱割草机操作界面开关盒移去盖体后的另一状态结构示意图。 图 8是图 5沿 A-A方向的剖视示意图。
图 9是自驱割草机部分驱动结构立体示意图。
图 1 0是图 9的局部放大示意图， 此时传动离合机构于第一状态。
图 1 1 是图 9的局部放大示意图， 此时传动离合机构处于第二状态。
图 1 2是图 8局部传动离合机构的放大示意图。
图 1 3是图 5 沿 B-B方向的剖视示意图， 此时握持手柄处于第一枢转位置。 图 1 4是图 5 沿 B-B方向的剖视示意图， 此时握持手柄位于初始状态。 图 1 5是图 5 沿 B-B方向的剖视示意图， 此时握持手柄位于第二枢转位置。 图 1 6是自驱割草机电子控制装置结构示意图。
其中： 1 -割草机 20a-握持部 39-开孔
2-钥匙件 20b, 20c连接部 40-转轴
2a-作用部 201-销钉 401-支撑板
3a-开关触点 21-转动块 402-钢丝绳
4-电源 21a,21b-端臂 403-转轴
6-驱动马达 21c-枢轴 50-传动离合机构
8-下操作杆 22-滑块 51-弹性件
8，-中间軒 23-驱动开关 52-控制件
9-上操作杆 24-复位弹簧 54-拨叉
9a-末端部 25-启动开关 55-动端齿
10-割草机主体 26-复位弹簧 55a-斜坡齿
11-操作杆 27-翘板件 55b-凹槽
12-壳体 27a-第一端臂 56-静端齿
13a-前滚轮 27b-第二端臂 56a-斜坡齿
13b-后滚轮 27c-枢轴 - 57-马达轴
14-集草箱 28-配接部 58传动齿
15-调高组件 29-触发端 ― 59-小齿轮
151-锁紧机构 30-霍尔传感器单元 50 齿轮箱
16-开关盒 31-第一霍尔传感器装置 60-传动轴
16a-主体部 32-第二霍尔传感器装置 61-轮轴
16b, 16c-连接端 32a-第一凹槽 62-内齿
17-连接部 32b-第二凹槽 63-单向离合机构
18-连接杆 33a-托架 65-螺钉
19-控制杆 33b-托架 70-直流电源转换装置
19a-转轴 35-销钉 71-处理器
19b-压块 36-霍尔连接线 72-速度传感器
19c-握持部 37-霍尔元件 73-晶体管驱动电路
20-握持手柄 38a，38b-磁钢体 X , Y-中心轴线 具体实施方式
本发明公开了一种自驱割草机， 该自驱割草机设置有自驱速度控制装置， 操作者可通过调节割草机握持手柄的位置对割草机于地面的 自驱速度进行控 制， 操作省力、 舒适且割草机行进稳定， 现以具体实施例进行说明。
参照图 1、 图 2所示， 自驱割草机 1 包括割草机主体 10, 支撑割草机主体 10的一对前滚轮 13a及一对后滚轮 13b(图中仅示出一个）， 安装于割草机主体 10两侧的操作杆 11, 位于割草机主体 10后方的集草箱 14, 其中， 割草机主体 10包括壳体 12, 设置于壳体 12的驱动马达 6 (参照图 8 )、 切割马达、 由切割 马达驱动旋转的切割刀具 （图中未示出 ） 以及为切割马达与驱动马达 6提供动 力的电源 4。 本实施例中， 一对后滚轮 13b由驱动马达 6驱动旋转， 为驱动马 达 6及切割马达供动力的电源 4为电池包，其设置于壳体 12所形成的收容腔内。 操作杆 11 包括连接于割草机主体 10两侧且大致平行的一对下操作杆 8, —对 分别与下操作杆 8连接的上操作杆 9,操作杆 11 自割草机主体 10朝后上方（图 示箭头 L所示方向） 纵向延伸。 为了使割草机 1存放时节省空间， 本实施例中 的下操作杆 8通过中间杆 8，与上操作杆 9相连接， 中间杆 8，与下操作 8之间 设置有快速锁紧机构 151, 中间杆 8，的延伸末端之间设置一横向连接部 17, 靠 近连接部 17的其中一个下操作杆 8上设置有调高组件 15, 上操作杆 9与下操 作杆 8之间枢轴连接，通过调高组件 15上操作杆 9相对下操作杆 8能在虛线所 示的第一位置及实线所示的第二位置间枢转调节 （参照图 2), 以适合不同操作 者的操作高度的需要。 两上操作杆 9的延伸部相互平行， 并„于两平行操作杆 9 之间设有一横向连接杆 18, 上操作杆 9 的延伸末端部 9a之间设有开关盒 16， 该开关盒 16与横向连接杆 18大致平行，该开关盒 16包括主体部 16a及分别位 于主体部 6a两侧的连接端 16b, 16c，一提供给操作者握持用的握持手柄 20分别 与开关盒 16的第一连接端 16b及第二连接端 16c固定配接。 该握持手柄 20设 置呈 U形， 该 U形手柄包括一位于开关盒 16上方的握持部 20a, 以及分别位 于握持部 20a两侧的第一连接部 20b及第二连接部 20c, 所述第一连接部 20b 及第二连接部 20c分别对应连接于开关盒的第一、 第二连接端 16b, 16c。 位于 握持手柄 20前方的 U形控制杆 19枢轴设置于开关盒 16, 该 U形控制杆 19的 握持部 19c与 U形手柄的握持部 20a大致位于同一高度位置， 因此操作者很容 易将控制杆 19的握持部 19c与握持手柄 20的握持部 20a—起抓握在掌心进行 控制。 本实施例中的控制杆 19可采用钢性材料制成圆杆， 握持手柄 20可采用 钢性材料制成的直径大于控制杆的空心钢管， 钢管外表设置软包胶材料， 适于 操作握持。
本实施例中的驱动马达 6及切割马达可合用一个马达代替， 当然驱动机构 可以采用电机、 汽油马达等； 其中握持手柄 20可构造成 L形、 环形、 牛角形 等其它形状； 控制杆 19也可以配合握持手柄 20的操作设置为不同的形状； 支 撑割草机主体 10的前滚轮 13a及后滚轮 13b数量至少包括有三个，其中由驱动 马达 6驱动的滚轮至少包括一个。
参照图 3、 图 4所示， 一钥匙件 2可选择地与开关盒 16相配接， 且该钥匙 件 2包括一个作用部 2a可通过开关盒 16壳体开口 （图中未示出 ） 与开关盒 16 固定配接。 控制杆 19相对握持手柄 20可在实线所示的第一位置及虛线所示的 第二位置间枢轴转动， 第一位置与第二位置之间的角度 α 大至为 30度， 当控 制杆 19枢转到第二位置时恰好与握持手柄 20相抵靠。控制杆 19具有一延伸于 开关盒 16主体部 16a的转轴 19a， 转轴 19a上设置有压块 19b, 当控制杆 19相 对开关盒 16枢轴转动时，压块 19b由实线所示的第一位置向虚线所示的第二位 置相应地产生转动。与压块 19b相抵靠的转动块 21 由于压块 19b推动作用由初 始位置移动至虚线所示的第二位置。
参照图 5所示， 开关盒主体部 16a沿顺时针方向依次设置有压块 19b、 转 动块 21、 滑块 22、 控制割草机 1 自驱的驱动开关 23, 控制刀片旋转的启动开 关 25, 以及一用于^接钥匙件 2的配接部 28。 其中启动开关 25位于驱动开关 23 的上方， 开关盒主体部 16a 内靠近第一、 第二连接端 16b, 16c的部位分别 设置有复位弹簧 26, 复位—弹簧 26的端部与控制杆 19抵靠作用； 控制杆 1—9的 转轴 19a具有一中心轴线 X, 控制杆 19的下侧设置有一转轴 40, 转轴 40具有 一中心轴线 Y, 握持手柄 20能绕转轴 40相对操作杆 11 作枢轴运动。 转动块 21设置成 V形， 该 V形转动块 21 的第一端臂 21a与压块 19b接触抵靠。 当控 制杆 19绕其转轴 19a向握持手柄 20旋转时， 压块 19b产生转动从而推动 V形 转动块 21绕其枢轴 21c沿箭头 R指示方向转动； V形转动块 21 第二端臂 21b 一侧与滑块 22邻接， 另一侧与复位弹簧 24相抵靠， 当转动块 21枢转时， 其第 二端臂 21b推动滑块 22于开关盒 16 内沿箭头 S所示方向滑动； 当控制杆 19 枢转至抵靠握持手柄 20 的第二位置时， 转动块 21 推动滑块 22移动至使滑块 22侧部与驱动开关 23的开关触点 3a抵触， 驱动开关 23被触发导通。
参照图 6所示，位于驱动开关 23上方的启动开关 25设有一弹性触发端 29, 该触发端 ^9的顶部枢轴连接一 V形翘板件 27, 该 V形翘板件 27的第一端臂 27a与滑块 22邻接， 第二端臂 27b与钥匙配接部 28邻接； 通常状况下， V形 翘板件 27在一弹性件 （图中未示出 ） 的作用下其第二端臂 27b向启动开关 25 倾斜并紧邻于钥匙配接部 28的一侧。当钥匙件作用部 2a与钥匙配接部 28相连 接后， V形翘板件 27的第二端臂 27b与钥匙件作用部 2a接触抵靠， 钥匙件作 用部 2a将对第二端臂 27b的枢转运动进行限位。 此时如果控制杆 1 9枢转至抵 靠握持手柄 20的第二位置， 则转动块 21推动滑块 22移动， 滑块 22再推动 V 形翘板件 27的第一端臂 27a , 由于此时 V形翘板件 27的第二端臂 27b受到钥 匙件 2作用部 2a的限位作用力， 在 V形翘板件 27的两个端臂分别受力的奈件 下， V形翘板件 27即克服触发端 29的弹性作用力产生向启动开关 25的位移 而使启动开关 25触发导通。
参照图 7所示， 钥匙件作用部 2a没有与开关盒 16的钥匙配接部 28相配 接时， V形翘板件 27的第二端臂 27b即不会受到钥匙件作用部 2a的限位。 当 V形翘板件 27第一端臂 27a受力后， V形翘板件 27权在开关盒 16内由初始位 置绕其枢轴 27c转动至虚线所示的第二位置，触发端 29没有产生位移从而无法 使启动开关 25导通。 因此要能使启动开关 25触发导通， 需要先将钥匙件作用 部 2a与开关盒配接部 28配接到位， 再枢转控制杵 19才能同时驱动开关 23与 启动开关 25。 当需要停止切割操作或自驱行进时， 只需要释放后握持在手中的 控制杆 19 ,控制杆 19便在复位弹簧 26的作用力下自动地回复至远离握持手柄 的 20初始位置。自驱开关 23与启动开关 25均会断开而使自驱及切割操作分别 停止工作， 操作非常方便。 当然操作者可根据实际操作的需要， 选择是否使用 钥匙件 2 ; 当操作者只选择割草机自驱时， 尸、需要枢转操作控制杆 1 9 ; 当选择 自驱的同时进行割草操作时， 需要连接钥匙件 2后再操作控制杆 19。
参照图 8所示，握持手柄 20相对上操作扞 9能在实线所示的初始位置 I以 及虚线所示的第一操作位置 II、 第二操作位置 III间绕转轴 40枢轴转换； 其中第 一位置 I为靠近上操作杆 9的枢转位置， 第二位置 II为远离上操作杆 9的枢转 位置。 握持手柄第一连接部 20b固定配接于开关盒 1 6的第一连接端 16b , 操作 杆末端部 9a与握持手柄第一连接部 20b之间设置一 L形钢性托架 33a， 该钢性 托架 33a通过紧固件固定连接于操作杆末端部 9a , —支撑板 401枢轴连接于该 钢性托架 33a , 并能绕转轴 402转动； 转轴 40连接于钢性托架 33a的角点并向 开关盒主体部 16a延伸， 握持手柄 20可相对该转轴 40作枢转运动； 握持手柄 第一连接部 20b上固定设置一销钉 201 ,该销钉 201 穿过钢性托架 33a开孔 39 后向开关盒主体部 16a方向纵向延伸并与支撑板 401 —侧接触抵靠，支撑板 401 尾部连接有拉伸件， 该拉伸件通常采用的是钢丝绳 402。 其中与销钉 201 接触 抵靠的支撑板 401 —侧为靠近上操作杆 9的一侧， 当握持手柄 20与开关盒 1 6 一起相对转轴 40作远离上操作杆 9的枢转运动时， 销钉 201 随握持手柄 20枢 转而推动支撑板 401 向远离上操作杆 9的方向相对钢性托架 33a作枢转并产生 位移，钢丝绳 402 由于受支撑板 401 的转动而产生拉伸。 当握持手柄 20向靠近 上操作杆 9的第一位置枢转时，销钉 201侧偏离了支撑板 401—侧，支撑板 401 不产生转动， 即钢丝绳 402不会产生拉伸。 另外， 由于开孔 39的形状设置使得 销钉 201 于开孔 39的枢转运动受到开孔 39两侧壁的限位，即握持手柄 20相对 操作杆 1 1 的最大前倾角度大致为 90度直角， 最大后倾角度大致为 105度分别 受到了限定。
本实施例中的握持手柄 20相对操作杆 1 1是枢轴设置的， 本领域技术人员 还可以设想将握持手柄 20 相对操作杆 1 1 滑动设置， 操作者只要于操作杆 1 1 上滑动控制握持手柄 20 , 就可以轻松地对割草机于地面的自驱速度进行控制。
参照图 9、 图 10、 1 1所示， 割草机 1 的一对后滚轮 13b为驱动轮， 后滚轮 13b与驱动马达 6之间设置有传动离合机构 50 ,该传动离合机构 50收容于齿轮 箱 501 内； 驱动马达 6设置有马达轴 57 , —动端齿 55可滑动地设置于马达轴 57上， 并与静端齿 56可选择地啮合或脱开，一传动齿 58固定设置于传动轴 60 上并与静端齿 56啮合配接， 传动轴 60的两端设置有小齿轮 59 (图中仅示出一 个） 分别与后滚轮 13b的内齿 62相啮合从而驱动后滚轮 13b , 其中后滚轮 1 3b 通过一轮轴 61相连接， 小齿轮 59与传动轴 60之间设置有单向离合机构 63 , 该单向离合机构 63使小齿轮 59与后滚轮 13b之间只 ^单向传递扭矩， 即操作 者施加于割草机的推力不会通过后滚轮 13b反向传动至传动轴 60及马达轴 58 , 小齿轮 59与后滚轮 13b之间只正向传递旋转扭矩，反向不传递扭矩。割草机即 使处于非自驱状态， 操作者也能轻松地对割草机推行操作。 一端与钢丝绳 402 配接的控制件 52枢轴设置于齿轮箱 501 上， 一拨叉 54 固定连接于控制件 52 的下端， 拨叉 54与设置于动端齿 55表面周向的凹槽 55b卡接， 在钢丝绳 402 的拉伸作用下控制件 52产生枢转， 同时带动拨叉 54转动，拨叉 54带动动端齿 55于马达轴 57上产生滑动。
进一步参照图 8、 图 1 1 所示， 当握持手柄 20向背离上操作杆 9的第二位 置 III枢转时， 钢丝绳 402的拉伸使得控制件 52产生枢转， 引起拨叉 54转动带 动动端齿 55于马达轴 57向偏离静端齿 56的方向移动， 使动端齿 55脱开与静 端齿 56的啮合， 导致驱动马达 6的旋转运动无法通过传动离合机构 50传递至 后滚轮 1 3b。 因此当割草机前方遭遇障碍物， 操作者只要将握持手柄 20向第二 位置 III枢转， 使动端齿 55脱开与静端齿 56的啮合， 割草机 1可以被操作者轻 松拉动而向后退。当握持手柄 20处于初始位置 I或者向靠近上操作杆 9的第一 位置 II枢转时，由于钢丝绳 402不产生拉伸，因此控制件 52均处于其初始位置。 参照图 1 0所示，控制件 52在弹性元件 5 1作用下处于其初始位置， 此时动 端齿 55处于与静端齿 56啮合的状态； 此时如果枢转控制杆 1 9将驱动开关 23 触发导通， 再将控制杆 1 9与握持手柄 20—起向靠近操作杆 1 1的方向枢转， 割 草机于地面的自驱会加速， 并且随着枢转角度的增加， 割草机自驱速度相应增 加。 通过上述结构， 操作者能在旋转握持手柄 20的同时， 利用钢丝绳 402产生 的拉伸对设置于驱动马达 6与后滚轮 14b之间的传动离合机构 50进行控制。需 要指出的是， 割草机自驱速度可以设置成无级调速， 也可以调置成档位调速。
参照图 12所示， 本实施例的静端齿 56与马达轴 57之间采用间隙配合， 静 端齿 56相对马达轴 57进行转动， 但静端齿 56在马达轴 57的轴向移动被进行 了限制。 静端齿 56与动端齿 55上相配合传动的齿分别设为斜坡齿 56a，55 a , 且 斜坡齿 56a,55a的斜坡面正对设置。 当动端齿 55与静端齿 56相互啮合时， 动 端齿 55斜坡齿 55a将转动扭矩传递至静端齿 56斜坡齿 56a , 静端齿 56再通过 传动齿 58将扭矩传递至传动轴 60 , 传动轴 60通过设置于末端部的小齿轮 59 驱动后滚轮 1 3b。 动端齿 55通过拨叉 54及控制件 52在钢丝绳 402的拉伸作用 下， 将沿图中箭头 P指示方向滑动， 从而脱开与静端齿 56啮合。
参照图 1 3、 图 14、 图 1 5所示， 该自驱割草机 1 进一步包括用于调节割草 机 1 自驱操作的控制—装置， 该控制装置包括输入装置和与输入装置 接的电子 控制装置。
操作者可以通过输入装置输入预设参数。 该输入装置可以是机械输入装置 或电子输入器。在本实施例中， 该输入装置包括活动连接在割草机主体 1 0上的 握持手柄 20。
电子控制装置包括与输入装置电性连接的处理器 71 , 与处理器 71连接的执 行电路。
处理器 71 , 可以设置为模拟电路或数字电路， 在本实施例中采用的是数字 电路微控器 MCU的形式， 该形式具有结构简单， 功能强大的特点。
由处理器 71控制的执行电路用于控制驱动马达 6工作。 实现执行电路的上 述功能， 采取的方式主要为调整施加至驱动马达 6的工作能量， 本实施例中， 执行电路设置为开关模块的形式， 包括晶体管 Q2 , 以及驱动晶体管 Q2工作的 晶体管驱动电路 73 , 晶体管驱动电路 73通过接收处理器 71发出信号调整施加 至驱动马达 6的工作电压， 使驱动马达 6按预设参数进行运行。
电子控制装置还包括传感器。 传感器用于检测驱动马达 6 的实际运行参数 并将实际运行参数反馈给处理器 71。驱动马达 6的实际运行参数包括驱动马达 6 的运行速度、 运行扭矩、 运行电流、 运行电压等， 因此传感器相应地可以设 置为速度传感器、 扭矩传感器、 电流传感器、 电压传感器等， 根据本发明的需 要， 本实施例中， 传感器设置为速度传感器 72。
处理器 7 1 将实际运行参数和预设参数进行比较并产生控制信号， 并将控制 信号输出给晶体管驱动电路 73。 晶体管驱动电路 73接受和处理控制信号， 调 整驱动马达 6的实际运行参数与预设参数相等。
在输入装置和处理器 71之间设有电子感应装置。 电子感应装置用于感应输 入装置的位置并将输入装置的位置转换为与预设参数对应的感应信号， 并将感 应信号输出给处理器 71。 预设参数可以为预设速度、 预设扭矩、 预设电流、 预 设电压等， 本实施例中， 预设参数为预设速度。
在本实施例中， 该电子感应装置用于检测握持手柄 20位置的变化。 握持手 柄 20的第二连接部 20c与开关盒 16的第二连接端 1 6c 固定配接， 该电子感应 装置设置在开关盒 1 6 内。
电子感应装置可以设置为霍尔传感器、 光敏传感器、 电位器、 差动变压器 等。 本实施例中的电子感应蓼置采用的是霍尔传感器单元 30。 霍尔传感器单元 30 包括对合设置的第一霍尔传感器装置 3 1 以及第二霍尔传感器装置 32， 其中 第二霍尔传感器装置 32靠近握持手柄 20 , 第一霍尔传感器装置 3 1 远离握持手 柄 20，第一霍尔传感器装置 3 1 以及第二霍尔传感器装置 32 大致呈扇形被收容 于开关盒 16的第二连接端 1 6。 操作杆 9末端部 9a与握持手柄第二连接部 20c 之间固定设置有第二个钢性托架 33b , 该钢性托架 33b上设置有销钉 35 , 第一 霍尔传感器装置 3 1 与第二霍尔传感器装置 32分别连接于该销钉 35上，且第一 霍尔传感器装置 3 1 通过螺钉 65或其它紧固方式与该钢性托架 33b相固定， 因 此第一霍尔传感器装置 3 1 与钢性托架 33b及上操作杆 9是相对静止的；其中第 二霍尔传感器装置 32上正对握持手柄 20 的一个端面上设有第一凹槽 32a , ― 固定配接于握持手柄 20的销钉 201 部分收容于该凹槽 32a内，当枢转握持手柄 20时， 销钉 35 随握持手柄 20—起枢转并在凹槽 32a内转动， 当销钉 32a转动 至与 ω槽 32a壁接触的位置时， 便带动第二霍尔传感器装置 32—起转动， 即第 二霍尔传感器装置 32 能以销钉 35 为转轴相对第一霍尔传感器装置 3 1 进行转 动。 其中第二霍尔传感器装置 32正对第一霍尔传感器装置 3 1 的端面上设置有 第二凹槽 32b，两个磁钢体 38a、 38b分别设置于第二凹槽 32b的两端。 第一霍尔 传感器装置 3 1 上设置有霍尔元件 37 , 该霍尔元件 37由半导体材料制成， 其通 过霖尔连接线 36 (参照图 1 4 ) 与电源 4相连接， 该霍尔元件 37恰好位于第二 霍尔传感器装置 32的两个相对磁钢体 38a、 38b之间; 当第二霍尔传感器装置
32相对第一霍尔传感器装置 3 1 转动时， 两个磁钢体 38a、 38b相对霍尔元件 37 产生位移， 霍尔元件 37的两端就会产生电压变化即霍尔感应电压。 本实施例中 的霍尔传感器单元 30可以业界采用的电位器等电子感应装置进行替换。
进一步参照图 16所示， 当驱动开关闭 23合后， 直流电源 4经驱动开关 23 流向直流电源转换装置 70 , 该直流电源转换装置 70 将高压直流电源转换为低 压直流电源， 为处理器 71、 霍尔传感器单元 30等相关元件提供电力。
操作者通过输入装置输入预设速度时， 首先旋转握持手柄 20 , 握持手柄 20 带动磁钢体 38a,38b进行位置改变， 从而调整霍尔元件 37相对磁钢体 38a,38b 的位置。 霍尔传感器单元 30根据当前霍尔元件 37相对磁钢体 38a，38b的位置， 输出相应的感应电压信号， 并将该感应电压信号传递给处理器 71。 处理器 71 接收到该感应电压信号后， 即可根据该感应电压信号的大小， 判断用户输入的 预设速度， 并根据用户输入的预设速度发出相应的 PWM 信号经晶体管驱动电 路 73控制晶体管 Q2的工作状态， 从而调整驱动马达 6的工作速度。 同时速度 传感器 72 检测驱动马达 6 的实际运行速度， 并将实际运行速度传递给处理器 71。 处理器 71 将驱动马达 6的实际运行速度与操作者输入的预设速度相比较， 据比较结果发出相应的 PWM 信号控制执行单—元的操作， 使当前驱动马达 6 速度与用户设定速度相匹配。 当驱动马达 6的实际运行速度高于操作者的预设 速度时， 降低 PWM信号的占空比， 从而降低施加至驱动马达 6 的工作电压； 当驱动马达 6 的实际运行速度低于操作者的预设速度时， 提高 PWM信号的占 空比， 从而增加施加至驱动马达 6的工作电压； 当驱动马达 6的实际运行速度 与操作者的预设速度相等时， 稳定 PWM 信号的占空比， 维持施加至驱动马达 6的工作电压不变。
处理器 71通过电子感应装置感应操作者的预设速度， 并根据预设速度发出 相应的控制信号至执行单元， 控制驱动马达 6的运行速度， 同时处理器 71通过 传感器检测驱动马达 6的运行速度， 并将运行速度与预设速度进行比较， 根据 ... 比较结果发出相应的控制信号至执行单元， 从而形成对驱动马达 6速度的闭环 控制， 最终使驱动马达 6的运行速度与操作者的预设速度相等。
如此， 当握持手柄 20的位置不变时， 割草机的运行速度则保护不变。 操作 者的行走速度影响握持手柄的位置变化， 当操作者想要以较快速度行走时， 只 需向前移动握持手柄 20 , 就可以使割草机行走速度加快； 当操作者想要以较低 速度行走时， 只需向后移动握持手柄 20 , 就可以使割草机行走速度减慢； 当操 作者想要以恒定的速度行走时， 只需保持握持手柄 20的位置不变。 这样， 无论 是在运行过程中遇到障碍， 还是地面不平整的情况， 操作者都可以以恒定的速 度行走， 不会因此需要操作者自己调整行走速度， 所以操作舒适。
需要说明的是， 操作者也可以通过触摸屏、 按键等电子输入器输入预设参 数， 此时， 实现本发明无需电子感应装置。 当操作者通过输出装置输入的预设 参数为预设电流、 预设电压、 预设扭矩等参数时， 处理器 71检测到操作者相应 的预设参数， 并根据预设参数发出相应的控制信号至执行单元， 控制驱动马达 6的运行参数， 同时处理器 71通过传感器检测驱动马达 6的运行参数， 并将运 行参数与预设参数进行比较， 根据比较结果发出相应的控制信号至执行单元， 从而形成对驱动马达 6运行参数的闭环控制， 最终使驱动马达 6的运行参数与 操作者的预设参数相等。 具体的实施方式与对驱动马达 6运行速度的闭环控制 相似， 在此不再——赘述。
利用上述控制装置， 可以采用下面的控制方法来控制割草机自驱操作。 该 控制方法为： 操作者通过输入装置输入预设参数； 与输入装置电性连接的电子 感应装置感应输入装置的变化并将输入装置的变化转换为与预设参数对应的感 应信号， 将感应信号输出给处理器 71 , 处理器 71控制执行电路控制驱动马达 6 根据预设参数 行工作。 这样， 割草机可以随时根据操作者的预设参数实时进 行改变。
在本实施例中，输入装置包括可枢转连接在割草机主体 1 0上的握持手柄 20 , 电子感应装置感应握持手柄 20 的位置变化。 且该电子感应装置在驱动马达 6 的工作过程中实时感应输入装置的变化。
利用上述控制装置， 也可以釆用下面的控制方法来控制割草机自驱操作。 该控制方法为： 操作者通过输入装置输入预设参数； 处理器 71控制执行电路控 制驱动马达 6根据预设参数进行工作； 传感器检测驱动马达 6的实际运行参数 并将实际运行参数反馈给处理器 71 ; 处理器 71 将实际运行参数和预设参数进 行比较并产生控制信号； 执行电路接受和处理控制信号， 调整驱动马达 6的实 际运行参数与预设参数相等。 这样， 割草机可以以操作者的预设参数保持恒定 的速度行走， 操作舒适。
在本实施例中， 输入装置采用的是机械输入装置， 在输入装置和处理器 71 之间设有电子感应装置， 电子感应装置用于感应输入装置的位置并将输入装置 的位置转换为与预设参数对应的感应信号， 将感应信号输出给处理器。
具体操作时， 可先转动控制杆 1 9启动驱动开关 23 , 使割草机自驱的控制 电路闭合， 然后握持握持手柄 20与控制杆 19向靠近上操作杆 9方向枢转， 割 草机于地面的自驱逐渐加速， 并且随着枢转角度的增加， 割草机自驱速度相应 增加。 参照图 8、 图 13所示， 当握持手柄 20枢转至与上操作杆 9大致垂直的 第一位置 II , 即握持手柄 20中心轴线与操作杆末端部 9a中心轴线之间角度 β ΐ 呈 90度直角设置时， 此时对应的割草机自驱速度最大。 当然， 该最大的自驱速 度是综合考虑了草坪、地面条件后为实现最佳切割效果而设计出来的最佳速度， 因此操作者在正常操作过程中， 不会出现操作者的行走速度无法跟进自驱速度 的情况； 在最大行进速度时执行切割操作时， 由于握持手柄 20相对上操作杆 9 大至呈垂直状态， 因此操作者施加于握持手柄 20上作用力方向与操作杆 1 1 大 致平行，.施加于握持手柄 20上的作用力通过上操作杆 9传递至割草机主体 10 , 上操作杆 9上的作用力方向延长线大致位于割草机主体 10的质心附近，因此没 有额外的力能使割草机主体 10以前滚轮 13a或者后滚轮 13b为支点产生翻转， 从而使割草机的推行比较稳定， 操作者操作舒适、 不易疲劳， 符合人机工程。 参照图 8、 图 14所示， 控制手柄 20恢复至初始位置 I , 握持手柄 20中心轴线 与上操作杆末端部 9a中心轴线之间的角度 βθ大致为 97度的钝角，此时驱动马 达 6的速度为零， 即割草机的自驱行进速度为零， 由于此位置的钢丝绳 402不 会产生拉伸， 因此传动离合机构. 50处于啮合状态。 参照图 8、 图 1 5所示，—当 握持手柄 20离开初始位置 I向背离上操作杆 9的方向枢转至第二位置 ΙΠ时，握 持手柄 20中心轴线与操作杆末端部 9a中心轴线之间的最大角度 β2大致为 105 度的钝度，此时钢丝绳 402产生拉伸，割草机的传动离合机构 50处于脱开状态， 割草机可以轻松地被操作者拉动后退行走。

Claims

权 利 要 求 书
1 . 一种割草机， 包括：
主体；
设置于主体的切割刀片；
支撑主体于地面行进的多个滚轮；
驱动切割刀片旋转的切割马达；
以及驱动至少一个滚轮旋转的驱动马达；
一端与主体相连接的操作杆；
其特征在于：
所述割草机设置有控制所述切割马达的启动开关， 以及控制所述驱动马达的驱 动开关， 所述操作杆上活动设置有控制杆， 所述启动开关以及驱动开关由同一 控制杆控制触发。
2. 根据权利要求 1 所述的割草机， 其特征在于： 所述操作杆上设置有开关盒， 所述启动开关及驱动开关设置于同一开关盒内。
3. 根据权利要求 2所述的割草机， 其特征在于： 所述控制杆枢轴设置于所述开 关盒内。
4. 根据权利要求 3所述的割草机， 其特征 ¾于： 所述开关盒设置有配接部， 一 钥匙件包括一作用部， 所述作用部选择地与开关盒配接部相连接。
5. 根据权利要求 4所述的割草机， 其特征在于： 所述控制杆设置有压块， 所述 开关盒内设置有与压块邻接的转动件， 以及与转动件邻接的滑块。
6. 根据权利要求 5所述的割草机， 其特征在于： 所述驱动开关设置有开关触点， 所述滑块选择地与开关触点相抵触。
7. 根据权利要求 6所述的割草机， 其特征在于： 所述启动开关位于驱动开关的 上方， 所述驱动开关枢轴设置一翘板件， 所述翘板件的第一端臂与钥匙件作用 部相抵靠， 所述清块选择地与翘板件的第二端臂相抵触。
8. 根据权利要求 7所述的割草机， 其特征在于： 所述操作杆上枢轴设置一握持 手柄， 所述握持手柄包括一位于开关盒上方握持部， 以及位于握持部两侧的设 第一、 第二连接部， 所述开关盒包括第一、 第二连接端， 所述握持手柄的第一、 第二连接部分别与开关盒的第一、 第二连接端固定连接。
9. 根据权利要求 1 所述的割草机， 其特征在于： 所述切割马达与驱动马达可设 为同一马达。
1 0. —种割草机， 包括：
割草机主体；
支撑割草机主体的多个滚轮；
驱动至少一个滚轮的驱动马达；
一端与割草机主体相连接的操作杆；
其特征在于：
所述割草机包括枢轴连接于操作杆的握持手柄， 所述握持手柄包括至少二个位 置， 当握持手柄位于第一位置时， 割草机的自驱速度为零； 当握持手柄位于第 二位置时， 割草机的自驱速度大于零。
1 1 . 根据权利要求 1 0所述的割草机， 其特征在于： 在驱动马达和驱动滚轮之间 设置有传动离合机构， 所述传动离合机构包括可选择地啮合或脱开的第一离合 元件和第二离合元件； 当握持手柄位于第一位置时， 第一离合元件和第二离合 元件相互啮合， 割草机的自驱速度为零； 当握持手柄位于第二位置时， 第一离 合元件和第二离合元件相互啮合， 割草机的自驱速度大于零。
1 2. 根据权利要求 1 1 所述的割草机， 其特征在于： 所述握持手柄还包括第三位 置， 所述握持手柄位于第三位置时， 第一离合元件和第二离合元件相互脱开， 割草机 ^自驱速度为零。 ―
1 3. 根据权利要求 1 1 所述的割草机， 其特征在于： 所述驱动马达设置有马达轴， 所述第一离合元件为滑动设置于马达轴的动端齿， 所述第二离合元件为转动设 置于马达轴的静端齿。
14. 根据权利要求 12所述的割草机， 其特征在于： 所述割草机进一步包括设置 于操作杆的开关盒， 所述开关盒内设置有驱动开关， 以及枢轴设置于开关盒用 于启动所述驱动开关的控制杆。
1 5. 根据权利要求 14所述的割草机， 其特征在于： 所述开关盒包括第一连接端 及第二连接端，所述握持手柄包括与开关盒第一连接端固定配接的第一连接部， 以及与开关盒第二连接端固定配接的第二连接部， 所述开关盒第一连接端设置 有与操作杆固定连接的第一托架， 所述开关盒第二连接端设置有与'操作杆固定 连接的第二托架。
1 6. 根据权利要求 1 5所述的割草机， 其特征在于： 所述第一托架上枢轴设置一 支撑板， 所述支撑板上设有控制动端齿滑动的拉伸件。
1 7. 一种割草机， 包括：
割草机主体； 支撑所述割草机主体的多个滚轮；
驱动至少一个滚轮的驱动马达；
一端与割草机主体相连接的操作杆；
以及调节割草机自驱操作的控制装置；
其特征在于：
所述控制装置包括一活动设置于操作杆的握持手柄， 所述握持手柄相对操作杆 能在驱动马达转速为零的第一位置及驱动马达转速大于零的第二位置间移动； 以及一电子控制装置， 所述电子控制装置对握持手柄的位置进行感应， 对感应 结果进行检测， 并根据测检结果对驱动马达转速进行调节。
1 8根据权利要求 1 7所述的割草机， 其特征在于： 所述握持手柄枢轴连接于操 作杆的另一端， 所述电子控制装置包括设置于握持手柄与操作杆之间的电子感 应装置。
1 9. 根据权利要求 1 8所述的割草机， 其特征在于： 所述电子感应装置为霍尔传 感器单元。
20. 根据权利要枣 19所述的割草机， 其特征在于： 所述电子控制装置进一步包, 括与霍尔传感器单元电性连接的处理器， 所述处理器设置于割草机主体， 接收 并处理由霍尔传感器单一元输出的信号。 ―
2 1 . 根据权利要求 20所述的割草机， 其特征在于： 所述电子控制装置进一步包 括速度传感器， 所述速度传感器用于检测驱动马达转速， 并对驱动马达的转速 进行调节。 -
22. 根据权利要求 2 1 所述的割草机， 其特征在于： 所述操作杆上设置有开关盒， 所述开关盒设有第一、 第二连接端， 所述握持手柄设有第一、 第二连接部， 所 述握持手柄的第一、 第二连接部分别与开关盒的第一、 第二连接端固定连接。
23. 根据权利要求 22所述的割草机， 其特征在于： 所述霍尔传感器单元包括相 对操作杆固定设置的第一霍尔传感器装置， 以及相对第一霍尔装置转动设置的 第二霍尔传感器装置， 所述第一、 第二霍尔传感器装置收容于所述开关盒的第 二连接端。
24. 根据权利要求 23所述的割草机， 其特征在于： 所述第一霍尔传感器装置相 对第二霍尔传感器装置的侧面设有半导体元件， 所述第二霍尔传感器装置相对 第一霍尔传感器装置的侧面设置有两个磁钢体， 所述半导体元件位于磁钢体之 间。
25. 根据权利要求 24所述的割草机， 其特征在于： 所述开关盒内设置有控制驱 动马达的驱动开关，所述开关盒上枢轴设置有用于触发所述驱动开关的控制杆。
26. 根据权利要求 25所述的割草机， 其特征在于： 所述控制杆设置有握持郜， 所述握持手柄设置有握持部， 所述握持手柄的握持部与控制杆的握持部处于同 一高度位置。
27. 一种控制割草机自驱操作的控制方法， 所述割草机包括：
割草机主体；
支撑所述割草机主体的多个滚轮；
驱动至少一个滚轮的驱动马达；
其特征在于： 所述控制方法包括：
操作者通过与所述割草机主体连接的输入装置输入预设参数；
与输入装置电性连接电子感应装置感应输入装置的变化并将输入装置的变化转 换为与所述预设参数对应的感应信号， 并将所述感应信号输出给所述处理器， 与输入装置电性连接的处理器控制执行电路控制驱动马达根据预设参数进行工 作。
28. 根据权利要求 27所述的控制方法， 其特征在于： 所述输入装置包括可枢转 连接在所述割草机主体上的握持手柄， 所述电子感应装置感应握持手柄的位置 变化。 ._
29. 根据权利要求 27所述的控制方法， 其特征在于： 所述电子感应装置在所述. 驱动马达的工作过程中实时感应所述输入装置的变化。
30.根据权利要-求 27所述的控制方法，其特征在于：所述预设参数是预设速度， 所述实际运行参数是实际运行速度。
3 1 . 一种控制割草机自驱操作的控制方法， 所述割草机包括：
割草机主体；
支撑所述割草机主体的多个滚轮；
驱动至少一个滚轮的驱动马达；
其特征在于： 所述控制方法包括：
操作者通过与所述割草机主体连接的输入装置输入预设参数；
与输入装置电性连接的处理器控制执行电路控制驱动马达根据预设参数进行工 作；
与处理器电性连接的传感器检测驱动马达的实际运行参数并将所述实际运行参 数反馈给所述处理器；
所述处理器将实际运行参数和预设参数进行比较并产生控制信号； 执行电路接受和处理控制信号，调整驱动马达的实际运行参数与预设参数相等。
32. 根据权利要求 3 1所述的控制方法， 其特征在于： 在输入装置和所述处理器 之间设有电子感应装置， 所述电子感应装置用于感应输入装置的位置并将输入 装置的位置转换为与所述预设参数对应的感应信号， 并将所述感应信号输出给 所述处理器。
33. 根据权利要求 32所述的控制方法， 其特征在于： 所述输入装置包括活动连 接在所述割草机主体上的握持手柄。
34. 根据权利要求 3 1所述的控制方法， 其特征在于： 所述输入装置是电子输入 器。
35.根据权利要求 3 1所述的控制方法，其特征在于：所述预设参数是预设速度， 所述实际运行参数是实际运行速度。
PCT/CN2011/000703 2010-04-21 2011-04-21 割草机和控制割草机自驱操作的控制方法 WO2011131031A1 (zh)

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CN201010158644.5A CN102232333B (zh) 2010-04-21 2010-04-21 自驱割草机
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