WO2017063539A1 - 割草机 - Google Patents

割草机 Download PDF

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Publication number
WO2017063539A1
WO2017063539A1 PCT/CN2016/101718 CN2016101718W WO2017063539A1 WO 2017063539 A1 WO2017063539 A1 WO 2017063539A1 CN 2016101718 W CN2016101718 W CN 2016101718W WO 2017063539 A1 WO2017063539 A1 WO 2017063539A1
Authority
WO
WIPO (PCT)
Prior art keywords
cutting
cutting mechanism
lawn mower
guard
fuselage
Prior art date
Application number
PCT/CN2016/101718
Other languages
English (en)
French (fr)
Inventor
冉沅忠
杜江
孙云红
查霞红
赵凤丽
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 CN201510657242.2A external-priority patent/CN106561148B/zh
Priority claimed from CN201510811500.8A external-priority patent/CN106717479B/zh
Priority claimed from CN201510811393.9A external-priority patent/CN106717478A/zh
Priority claimed from CN201510811948.XA external-priority patent/CN106717467B/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
Priority to US15/319,516 priority Critical patent/US10575465B2/en
Priority to DE212016000020.9U priority patent/DE212016000020U1/de
Priority to EP16808544.7A priority patent/EP3366108B1/en
Priority to EP21200806.4A priority patent/EP3997975A1/en
Publication of WO2017063539A1 publication Critical patent/WO2017063539A1/zh
Priority to US16/805,108 priority patent/US20200196523A1/en
Priority to US17/578,228 priority patent/US20220132734A1/en

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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
    • A01D34/81—Casings; Housings
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
    • 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
    • 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
    • A01D34/828—Safety devices
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/835—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes
    • A01D34/84—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes for edges of lawns or fields, e.g. for mowing close to trees or walls

Definitions

  • This invention relates to electric garden tools, and more particularly to a lawn mower.
  • the bottom end of the intelligent lawn mower has a distance from the ground, which allows the human foot to reach below the fuselage and approach as a cutting The blade of the component, etc.
  • the intelligent lawn mower has to set the distance from the outermost side of the cutting element to the outer side wall of the fuselage to be large, for example, greater than 80 mm.
  • the cutting element is not touched. This arrangement makes the intelligent lawn mower never cut the outermost 80mm lawn of the working area. This part of the lawn still needs manual maintenance, which greatly reduces the experience of the intelligent lawn mower.
  • a lawn mower comprising:
  • the body is set with:
  • a bottom shield is located below the cutting mechanism to establish a protective barrier below the cutting mechanism, wherein the bottom shield is provided with a grass opening.
  • the side protection can prevent the human body from contacting the cutting mechanism from the side of the cutting mechanism
  • the bottom protection can prevent the human body from contacting the cutting mechanism under the cutting mechanism
  • the bottom protection is provided with a grass inlet to enable the cutting Smoothly
  • the bottom guard arrangement also allows the side protection and cutting mechanism to be placed as close as possible to the outside of the mower to achieve cutting of the edge of the lawn, thereby meeting both cutting and safety requirements.
  • the grass inlet is a strip-shaped slit, and the opening direction thereof is opposite to the forward direction of the lawn mower.
  • the range of angles is between 0 and 45 degrees.
  • the width of the grass inlet in a direction perpendicular to the advancement of the lawn mower is less than 13 mm.
  • the cutting element of the cutting mechanism has a distance to the outermost side of the fuselage of less than 20 mm.
  • the bottom guard is disposed on an opposite side of the cutting mechanism in an arc shape that is raised relative to the cutting mechanism.
  • the cutting mechanism is eccentrically disposed under the fuselage, which is biased toward one side of the fuselage, and the side guard and the bottom guard are biased to coincide with the bias of the cutting mechanism.
  • the cutting mechanism is provided with two or more, wherein the two or more cutting mechanisms are biased to the same side of the fuselage; or the cutting mechanism is provided with two or more, both sides of the fuselage
  • the cutting mechanism has an offset.
  • the cutting mechanism is movably coupled to the fuselage and the side and bottom guards are moved along with the cutting mechanism.
  • the cutting mechanism can extend beyond the contour of the fuselage.
  • the fuselage includes a movable component that is movably disposed relative to other portions of the fuselage, the cutting mechanism, the side guard, and the bottom guard being coupled to the movable component.
  • the lawn mower further includes a drive mechanism capable of driving movement of the movable member, the movable member moving the cutting mechanism during movement.
  • the driving mechanism drives the movable member to rotate or slide, and the movable member drives the cutting mechanism to rotate or slide.
  • the drive mechanism includes a worm gear coupled to the movable member, a worm engaged with the worm wheel, and a motor that drives the worm to rotate, the motor driving the worm to rotate,
  • the worm wheel drives the movable component to rotate about the axis of the worm wheel.
  • the body is further provided with an elastic member that is compressed when the cutting mechanism is under pressure, and provides the movable member to drive the cutting after the pressure disappears The elasticity of the mechanism's return.
  • the elastic element is a torsion spring or a compression spring.
  • the cutting mechanism includes a cutting motor mounted to the movable member, a cutter head coupled to a shaft of the cutting motor, and a cutting member disposed on the cutter head.
  • the side shield extends in a height direction of the fuselage
  • the bottom guard extends in a direction perpendicular to the height direction
  • the cutting element operates with a cutting area, The cutting area is perpendicular to The direction of the height direction extends.
  • the lawn mower further includes a walking module and a control module disposed on the fuselage, the walking module drives the mower to walk and turn, and the control module and the walking module are electrically Connecting to control operation of the walking module, the control module is electrically connected to the cutting mechanism to control the cutting mechanism to perform a cutting operation.
  • control module controls the lawn mower to walk along a predetermined boundary line.
  • the length of the bottom shield is greater than or equal to the cutting diameter of the cutting mechanism.
  • the bottom guard and the side guard are integrated.
  • the cutting element of the cutting mechanism is adjustable in height on the fuselage, the side guard and the bottom guard both following the lifting and lowering of the cutting element.
  • a lawn mower comprising:
  • a first cutting head located below the casing and within an outer sidewall of the casing
  • the second cutting head extends from the outer side wall of the casing to the outside of the outer side wall.
  • the above lawn mower is provided with a mowing work head on the outer side of the casing, which can cut the grass at the boundary, and does not need additional trimming, thereby improving work efficiency.
  • first cutting head and the second cutting head have a first cutting area and a second cutting area, respectively, wherein the first cutting area and the second cutting area are perpendicular to the lawn mower A continuous cutting area is formed together in the forward direction.
  • first cutting motor and a second cutting motor located below the casing, wherein the first cutting head is driven by the first cutting motor, and the second cutting head is The second cutting motor drives the work.
  • the first cutting head includes a cutter head coupled to a shaft of the cutting motor that is driven to rotate by a first cutting motor, and a plurality of cutting elements disposed along a circumferential direction of the cutter head.
  • the second cutting head includes a first blade and a second blade that are capable of relative translational reciprocation under the shaft drive of the second cutting motor.
  • a shield for protecting the second cutting head is disposed in addition to the outer side wall of the casing.
  • the bottom to ground clearance of the shroud is less than or equal to 35mm.
  • the outer side wall of the casing is respectively provided with rollers on both sides of the second cutting head, and the shroud is fixed on the roller of the roller.
  • the second cutting head is disposed in two, respectively located on both sides of the casing.
  • the lawn mower further includes a control module electrically coupled to the first cutting head and the second cutting head to control the operation of both.
  • a lawn mower comprising:
  • a cutting motor located below the casing
  • a cutting head driven by the cutting motor located below the casing, extending from the outer side wall of the casing to the outer side wall, the cutting head working in a direction perpendicular to the forward direction of the lawn mower
  • the outer sidewall of the shell extends inwardly to a continuous cutting region outside the outer sidewall.
  • the cutting head is formed by a continuous cutting area extending from the outer side wall of the casing and extending outside the outer side wall in the direction perpendicular to the cutting machine in the forward direction of the cutting machine, and is disposed in the middle of the casing below the conventional casing.
  • the lawn at the boundary is cut at the same time as the normal cutting, and no additional trimming is required, which improves the work efficiency.
  • the cutting head is rotatable within a predetermined angle relative to the housing.
  • a drive shaft for driving the cutting head is further disposed under the casing, and the transmission shaft and the shaft of the cutting motor transmit power through a conveyor belt, wherein the transmission shaft is opposite to the transmission shaft
  • the casing is movably disposed, and the driving shaft rotates the cutting head within the preset angle when moving relative to the casing.
  • the lawn mower further includes a movably mounted abutment relative to the casing, the drive shaft being fixed to the abutment, the abutment driving the drive shaft to move when the casing moves.
  • an elastic member is further disposed between the support and the casing, the elastic member is compressed when the cutting head is under pressure, and is provided after the pressure is lost
  • the support drives the elastic force of the cutting head to return.
  • the elastic element is a torsion spring.
  • the lawn mower further includes a drive mechanism that drives the rotation of the mount.
  • the cutting head includes a first blade and a second blade that are capable of relative translational reciprocation, wherein at least one of the first blade and the second blade is driven between the drive shafts by an eccentric Translational reciprocating motion.
  • a shield for protecting the cutting head is disposed in addition to the outer side wall of the casing.
  • the bottom to ground clearance of the shroud is less than or equal to 35 mm.
  • the outer side wall of the casing is respectively provided with rollers on both sides of the cutting head, and the shroud is fixed on the roller of the roller.
  • An intelligent lawn mower comprising: a body; a driving system for driving the body of the intelligent lawn mower; a cutting system for cutting the grass; the intelligent lawn mower further comprising a position control system The relative position between the cutting system and the body is changed.
  • the above intelligent lawn mower is equipped with a position control system to rotate the cutting system to avoid obstacles.
  • the position control system can change the positional relationship between the cutting system and the body, thereby changing the cutting area of the cutting system, so that the grass near the obstacle is located in the cutting area, so that the intelligence The mower can complete the trimming of the grass near the obstacle when it hits an obstacle.
  • the position control system includes: a movable component for driving the cutting system to be moved, disposed at a bottom of the body, and partially exposed to one side of the body; and a rotating shaft connected to Between the body and a non-geometric center of the movable component; the movable component is rotatable about the axis of rotation.
  • the position control system further includes: rotation control means for controlling the movable member to rotate about the rotation axis to cause the gas cutting system to avoid an obstacle or to reset after avoiding an obstacle.
  • the rotation control device includes an elastic member capable of resetting the gas cutting system after avoiding an obstacle, the elastic member being coupled between the movable member and the body.
  • the elastic member is a tension spring.
  • the elastic member is a torsion spring.
  • the movable member is fixed to the rotating shaft
  • the rotation control device includes a control motor for controlling the rotation of the rotating shaft
  • the rotating shaft is coupled to an edge position of the movable member.
  • the cutting system includes a blade and a cutting motor fixed to a lower surface of the movable member, and the cutting motor controls the blade to rotate.
  • the drive system includes a drive wheel mounted on the body and a drive motor that drives the drive wheel to rotate.
  • Figure 1 is a schematic view showing the structure of a lawn mower of an embodiment
  • Figure 2 is a top plan view of the lawn mower
  • Figure 3 is a cross-sectional view of the lawn mower
  • Figure 4 is a perspective view of the lawn mower
  • Figure 5 is a schematic view of the grass inlet on the bottom guard
  • Figure 6 is a schematic view of the lawn mower adapting to the lateral obstacle shape
  • Fig. 7 is a schematic view showing the lawn mower adapting to the surface shape for cutting.
  • FIG. 8 is a schematic structural view of another intelligent lawn mower according to another embodiment
  • Figure 9 is a schematic cross-sectional view of A-A of Figure 8.
  • Figure 10 is a schematic cross-sectional view of B-B of Figure 8.
  • FIG. 11 is a schematic structural view of another intelligent lawn mower according to another embodiment
  • Figure 12 is a schematic cross-sectional view of A-A of Figure 11;
  • Figure 13 is a schematic cross-sectional view of B-B of Figure 11;
  • Figure 14 is a schematic cross-sectional view taken along line C-C of Figure 11;
  • 15 is a schematic diagram of a state of a bottom structure of a smart lawn mower according to a preferred embodiment of the present invention, in which no obstacles are encountered;
  • Figure 16 is a schematic view showing another state of the bottom structure of the intelligent lawn mower according to a preferred embodiment of the present invention, in which case an obstacle is encountered.
  • control module 100 100, lawn mower 110, fuselage 112, control module
  • a lawn mower 100 includes a body 110, a walking module 120, and a cutting mechanism 130.
  • the walking module 120 includes a front wheel 122, a rear wheel 124, a front wheel 122, and a travel motor 126 that drives the rear wheel 124 to advance.
  • the front wheel 122 and the rear wheel 124 constitute a wheel set.
  • a single rear wheel can be used instead of a pair of rear wheels.
  • a single front wheel can be replaced with a pair of front wheels.
  • Figures 1 and 2 from right to left, before the lawn mower 100 In the direction. At the same time, the forward direction of the lawn mower 100 is also the direction from the rear end to the front end of the lawn mower 100.
  • the lawn mower 100 of the present invention is an intelligent lawn mower.
  • a control module 112 is disposed on the body 110.
  • the control module 112 is electrically connected to the walking module 120 for controlling the mower 100 to travel; and electrically connected to the cutting mechanism 130 for controlling the operation of the cutting mechanism 130.
  • the control module 112 can control the mower to walk along a preset boundary line to perform a trimming operation.
  • a cutting mechanism 130 is disposed below the body 110 for performing a cutting operation.
  • the cutting mechanism 130 performs eccentric cutting.
  • the center line A is the position of the center axis of the body 110
  • the center line B is the position of the center axis of the cutting mechanism 130.
  • the center line B does not coincide with the center line A, but is disposed on one side of the center line A, which is the right side in FIG. 1, so that the cutting mechanism 130 is eccentrically disposed below the body 110, which is biased to the right side of the body 110.
  • the cutting mechanism 130 can be placed as close as possible to the outside of the body 110 so as to be able to cut the lawn to the boundary of the working area, that is, the edge trimming can be effectively achieved without manual trimming.
  • a cutting mechanism 130 is provided in the present invention.
  • the cutting mechanism 130 may be provided in two or more, and both are eccentrically arranged to perform eccentric cutting. Further, it may be that all of the cutting mechanisms 130 are biased to the same side of the fuselage 110. It is also possible that both sides of the body 110 have offset cutting mechanisms. If there are two cutting mechanisms 130, the central axes of the two cutting mechanisms are respectively located on the left and right sides of the central axis of the body 110, thereby expanding the working range of the mower 100.
  • the cutting mechanism 130 is movably disposed relative to the body 110 to be able to adapt to the shape of the obstacle at the boundary line of the cutting area, and to achieve follow-up when the obstacle is encountered.
  • the body 110 is provided with a movable member 114 that is movably disposed with respect to other portions of the body 110.
  • a cutting mechanism 130 is coupled to the movable member 114.
  • the movable component 114 When the movable component 114 is in motion, the cutting mechanism 130 can be driven to achieve the motion. Alternatively, when the cutting mechanism 130 is changed in position by an external force, the movable member 114 can be caused to change position.
  • the body 110 is provided with a drive mechanism 140 that drives the movement of the movable member 114.
  • the driving mechanism 140 is in operation, the movable member 114 is driven to move, and the movable member 114 drives the cutting mechanism 130 to move, such as rotating or sliding.
  • the cutting mechanism 130 is rotatable relative to the body 110.
  • the sensing detecting element provided by the control module 112 detects the shape of the obstacle in real time, and then goes to the driving mechanism 140.
  • the command is issued, and the driving mechanism 140 drives the movable member 114 to rotate.
  • the cutting mechanism 130 can be rotated to rotate left and right to advance the lawn mower 100 while the cutting mechanism 130 can adapt to the shape of the obstacle.
  • the cutting mechanism 130 is configured to extend beyond the contour of the fuselage 110 to expand the cutting range of the lawn mower 100 as needed to ensure complex working conditions Cut in the boundary, no grass left.
  • the cutting mechanism 130 realizes real-time follow-up according to the shape of the obstacle, and may not provide a driving mechanism.
  • a resilient element can be placed directly between the cutting mechanism 130 and the fuselage 110.
  • the elastic element is compressed when the cutting mechanism 130 is under pressure and provides an elastic force that causes the cutting mechanism 130 to return after the pressure has disappeared. Therefore, under normal conditions, under the action of the elastic member, the cutting mechanism 130 is at the position of its maximum cutting ability, and is capable of cutting the lawn at a position closer to the side.
  • the cutting mechanism 130 moves in a direction away from the boundary if it is subjected to the pressure imparted by the boundary lawn or the obstacle during the advancement. After the pressure has disappeared, the resilient element urges the cutting mechanism 130 back into position. Thereby, the cutting mechanism 130 can be moved according to the shape of the obstacle, and the boundary of the complicated working condition can be ensured to be cut without leaving grass.
  • the resilient element can be a torsion spring that can allow the cutting mechanism 130 to effect rotation or sliding.
  • the elastic member may also be a resilient member such as a compression spring that allows the cutting mechanism 130 to achieve sliding.
  • the cutting height of the lawn mower 100 of the present invention can be adjusted in real time with surface relief to accommodate different terrains.
  • the height of the fuselage 110 from the ground can be changed by adjusting the relative position of the fuselage 110 and the wheel set, thereby changing the cutting height. This can also be achieved by varying the height of the cutting mechanism 130 on the fuselage 110.
  • the cutting mechanism 130 includes a cutting motor 132, a cutter head 134, and a cutting element 136.
  • the cutting motor 132 is mounted to the movable member 114.
  • the movable member 114 is used as a motor bracket.
  • the movable member 114 is biased to the right side of the body 110 such that the axis of the shaft of the cutting motor 132 is disposed on the right side of the central axis of the body 110.
  • the cutter head 134 has a disk shape and is coupled to the shaft of the cutting motor 132. When the cutting motor 132 is in operation, the cutter head 134 is driven to rotate.
  • the cutting elements 136 are provided in plurality and are evenly arranged along the circumferential direction of the cutter head 134. Cutting element 136 is a cutting blade. When the position of the movable member 114 is changed, it drives the cutting motor 132, the cutter head 134, and the cutting member 136 to move together.
  • the drive mechanism 140 When the drive mechanism 140 is provided to adjust the position of the cutting mechanism 130 to accommodate boundary cutting of different operating conditions, the drive mechanism 140 changes the position of the cutting mechanism 130 by driving the movable member 114.
  • the drive mechanism 140 is mounted on the body 110.
  • the drive mechanism 140 includes a worm gear 142 coupled to the movable member 114, a worm 144 that mates with the worm gear 142, and a motor 146 that drives the worm 144 to rotate.
  • the motor 146 drives the worm 144 to rotate
  • the worm wheel 142 drives the movable member 114 to rotate about the axis of the worm wheel 142.
  • two positions C and D of the cutting mechanism 130 are illustrated.
  • the drive mechanism can be other types of transmissions, for example, in other examples, the drive mechanism 140 can be a gear, rack mechanism.
  • the elastic member When the elastic member is provided to provide the cutting mechanism 130 with the ability to adapt to the shape of the boundary obstacle, the elastic member can be provided.
  • the other portion of the body 110 is disposed between the movable member 114 on the body 110.
  • the resilient element can be a torsion spring or a conventional compression spring, or other resilient element.
  • the cutting mechanism 130 performs an eccentric cut that is offset below the fuselage 110. Therefore, the cutting mechanism 130 is closer to the outer side of the body 110.
  • the fuselage 110 is also provided with a side guard 150 located outside the cutting mechanism 130 to establish a protective barrier from the side of the cutting mechanism 130.
  • the side guard 150 extends in the height direction (i.e., the vertical direction) of the body 110 to prevent the human body from contacting the cutting element 136 of the cutting mechanism 130 from the side of the lawn mower 100 to avoid injury.
  • the bottom of the fuselage 110 of the lawn mower 100 is at a distance from the ground, and the bottom end of the body of the intelligent lawn mower is at a distance from the ground, which allows the human foot or hand to reach into the body 110.
  • Below it is close to the blade or the like as a cutting element.
  • the aforementioned side guard 150 can prevent human tissue from reaching the side of the body 110 from the side of the mower 100 to some extent and approaching the cutting element.
  • the aforementioned side guard 150 still has certain defects.
  • the lawn mower 100 is also provided with a bottom guard 160 to establish a protective barrier from below the cutting mechanism 130.
  • the cutting area 1362 of the cutting element 136 extends in the horizontal direction.
  • the bottom guard 160 is disposed to extend in a direction (horizontal direction) perpendicular to the height direction of the body 110 to below the cutting mechanism 130.
  • the bottom guard 160 is located below the cutting area 1362 of the cutting element 136 of the cutting mechanism 130 to establish a protection between the cutting mechanism 130 and the ground, completely avoiding the possibility of danger when human tissue protrudes below the body 110.
  • the position of the side guard 150 and the bottom guard 160 on the body 110 is biased toward one side of the body 110, and the deflection of the two is consistent with the bias of the cutting mechanism 130.
  • a grass inlet 162 is provided on the bottom guard 160.
  • the grass inlet 162 is a strip-shaped slit, and the angle between the opening direction and the advancing direction of the lawn mower 100 ranges from 0 to 45 degrees.
  • the opening direction of the grass inlet 162 can be arbitrarily set within a range of 45 degrees from left to right.
  • the bottom guard 160 advances while pressing the grass, and the overwhelmed grass has a tendency to naturally return to the original state, so when the grass opening 162 moves to the overwhelmed grass, the overwhelmed grass can be just right.
  • the grass opening 162 enters the cutting range of the cutting member 136 and is smoothly cut, and it is not easy to block grass.
  • the grass opening 162 is a strip-shaped slit
  • its width in the direction perpendicular to the direction of the lawn mower 100 is less than 13 mm to prevent the finger from reaching the lower portion of the body 110 and contacting the cutting member 136 via the grass inlet 162. Need to explain, due to the width It is not the only factor determining whether the finger can enter the grass opening (if there is a length factor), so the width of the grass opening 162 is not limited to this. However, if the width is set in accordance with the above size, it is not necessary to consider other factors to prevent the normal-sized fingers and toes of the people who may appear in the working area of the lawn mower 100 from entering the grass inlet 162.
  • the shape and opening direction of the grass inlet 162 are not limited to the above preferred manner.
  • the opening direction of the grass opening 162 may also be at an angle with the advancing direction.
  • the grass opening 162 is a strip-shaped slit, and the bottom guard 160 is in the shape of a fence.
  • the grass inlet 162 may also be provided in other shapes, such as a mesh structure, or an irregular structure.
  • One side of the bottom guard 160 facing away from the cutting mechanism 130 is disposed in an arc shape that is raised relative to the cutting mechanism 130.
  • the side of the bottom guard 160 opposite the ground is curved.
  • the bottom guard 160 prevents the human body from coming into contact with the cutting mechanism 130 after entering the lower portion of the body 110, and the grass opening 162 provided on the bottom guard 160 enables the cutting to proceed smoothly.
  • the side guard 150 and the cutting mechanism 130 may be disposed as close as possible to the outside of the lawn mower 100. Specifically, the cutting element 136 of the cutting mechanism is less than 20 mm from the outermost side of the fuselage 110, thereby cutting the edge of the lawn. And can meet cutting and safety requirements at the same time.
  • the length of the bottom guard 160 is set to be greater than or equal to the cutting diameter of the cutting mechanism 130 to prevent the human body from contacting the cutting element 136 of the cutting mechanism 130 after passing over the bottom guard 160.
  • the bottom guard 160 and the side guard 150 are integrated into one body, which is advantageous for integral molding on the one hand to reduce the assembly process, and on the other hand, there is no gap between the bottom guard 160 and the side guard 150, preventing the human body from the gap between the two. Entering the working area of the cutting element 136.
  • the height of the cutting element 136 of the cutting mechanism 130 on the fuselage 110 is adjustable while the side guard 150 and the bottom guard 160 both follow the cutting element 136.
  • the side guard 150 and the bottom guard 160 are both supported by the movable member 114.
  • the movable part 114 can move the side guard 150 and the bottom guard 160 together when moving.
  • the side guard 150 and the bottom guard 160 are moved together with the cutting mechanism 130.
  • the cutting mechanism 130 is rotated, slid or lifted relative to the body 110, the side guard 150 and the bottom guard 160 can be moved together with the cutting mechanism to provide protection.
  • the relative positional relationship between the side guard 150 and the bottom guard 160 and the cutting member 136 of the cutting mechanism 130 is fixed and does not need to be adjusted each time.
  • the side guard 150 and the bottom guard 160 can of course also be fixed on the fuselage 110, and the position is fixed.
  • the side guard 150 and the bottom guard 160 may also be movably disposed at other positions of the body 110, and do not move together with the cutting mechanism 130, as long as they are adjusted together with the cutting mechanism 130.
  • the cutting mechanism 130 is located below the fuselage 110 and within the contour of the fuselage 110. Need to point out Yes, the cutting mechanism 130 can be disposed in whole or in part outside the contour of the fuselage 110. Since the side guard 150 and the bottom guard 160 are provided, the human body still does not touch the cutting element 136 of the cutting mechanism 130 from the side and the bottom to avoid injury.
  • an outer shroud 170 is further disposed outside the body 110 for the purpose of safety protection.
  • the outer shroud 170 covers the body 110 and the cutting mechanism 130 to protect the body 110 and the cutting mechanism 130 from above, and also avoids injury.
  • a lawn mower 1001 includes a casing 1101, a walking module 1201, a first cutting head 1301 disposed under the casing 1101, and a first driving head 1301. A cutting motor 1401.
  • the walking module 1201 is a wheel set mounted on the casing 1101 for driving the lawn mower 1001 to advance and turn.
  • the direction of advancement of the lawn mower 1001 is from right to left.
  • the forward direction of the lawn mower 1001 is the direction from the rear end to the front end of the lawn mower 1001.
  • the first cutting head 1301 is located below the casing 1101 and within the outer sidewall 1121 of the casing 1101.
  • the first cutting head 1301 is driven by a first cutting motor 1401 mounted under the casing 1101.
  • the first cutting head 1301 includes a cutter head 1321 that is driven to rotate by a first cutting motor 1401 on a shaft of the first cutting motor 1401, and a plurality of cutting elements 1341 disposed along a circumferential direction of the cutter head 1321.
  • the cutting element 1341 is typically a blade made of metal.
  • the first cutting head 1301 forms a circular first cutting area within the outer sidewall 1121 of the casing 1101 during operation.
  • the first cutting head 1301 mainly cuts the grass below the casing 1101 and cannot cut the grass outside the casing 1101.
  • the lawn mower 1001 is cut in the working area defined by the boundary.
  • the intelligent lawn mower walks to the edge of the lawn, the mowing machine automatically turns, so that the lawn around the edge of the boundary line is always unable to be the first cutting head. 1301 cut to.
  • the lawn mower 1001 of the present invention is also provided with a second cutting head 1501.
  • a second cutting motor 1601 that drives the second cutting head 1501 to operate is disposed below the casing 1101.
  • the cutting element of the second cutting head 1501 extends from the outer side wall 1121 of the casing 1101 beyond the outer side wall 1121.
  • the second cutting motor 1601 drives the second cutting head 1501
  • the second cutting area formed by the second cutting head 1501 extends from the outer side wall 1121 of the casing 1101 to the outside of the outer side wall 1121 of the casing 1101.
  • the first cutting area and the second cutting area together form a continuous cutting area in a direction perpendicular to the advancement direction of the lawn mower 1001.
  • the groove below the casing 1101 is cut by the first cutting head 1301, and the second cutting head 1501 can be used to trim the grass on the edge lawn outside the boundary line outside the casing 1101.
  • the grass outside the boundary line is also cut together. Do not use the lawn mower to cut the grass at the edge of the lawn after the mower 1001 is finished working.
  • the second cutting area formed by the second cutting head 1501 extends from the outer side wall 1121 of the casing 1101 to the outside of the outer side wall 1121 of the casing 1101, and to some extent compensates for the insufficient cutting ability of the first cutting head 1301.
  • the first cutting area and the second cutting area are continuous to form a larger cutting area, which improves the working range of the lawn mower 1001, thereby improving work efficiency.
  • the second cutting head 1501 is disposed in two, respectively located on both sides of the casing 1101, to maximize the primary working range of the lawn mower 1001.
  • the second cutting head 1501 is a pair of scissors, including a first blade 1511 and a second blade 1521 that are capable of relative translation reciprocation under the shaft drive of the second cutting motor 1601.
  • the first blade 1511 and the second blade 1521 are reciprocated relative to each other, and the power of the two blades is derived from the axis of the second cutting motor 1601.
  • the specific implementation can be as follows:
  • the second cutting motor 1601 is fixed to the casing 1101, and the power is transmitted to the transmission shaft 1541 by the reduction gear 1531.
  • the drive shaft 1541 is supported by the support 1551.
  • the first blade 1511 is fixed to the abutment 1551, which is a fixed blade that remains stationary during relative translational reciprocation.
  • the second blade 1521 and the transmission shaft 1541 transmit power through the eccentric transmission mechanism to convert the rotational motion of the transmission shaft 1541 into the reciprocating motion of the second blade 1521.
  • first blade 1511 and the second blade 1521 are coupled to the transmission shaft 1541 through an eccentric transmission mechanism, so that the rotational motion of the transmission shaft 1541 is converted into a relative reciprocating motion of the first blade 1511 and the second blade 1521.
  • the drive shaft 1541 can be mounted with an eccentric, and the first blade 1511 and the second blade 1521 are respectively fixed at different positions of the eccentric. When the eccentric rotates, the first blade 1511 and the second blade 1521 achieve relative reciprocating motion.
  • the second cutting head 1501 is a pair of scissors, and the first blade 1511 and the second blade 1521 are generally strip-shaped, and the occupied space is small to extend from the outer side wall 1121 of the casing 1101 to the outside of the outer side wall 1121, and also facilitates the second cutting motor.
  • the 1601 is disposed below the casing 1101.
  • the lawn mower 1001 of the present invention is a smart lawn mower and further includes a control module.
  • the control module is electrically connected to the walking module 1201 for controlling the walking of the lawn mower 1001; and electrically connected to the first cutting head 1301 and the second cutting head 1501 for controlling the first cutting head 1301 and the second cutting Head 1501 works.
  • a shield 1701 for protecting the second cutting head 1501 is disposed in addition to the outer side wall 1121 of the casing 1101.
  • the cover 1701 protects the portion of the second cutting head 1501 located outside the casing 1101 from the upper side, the side, and the front and rear sides, avoiding It is avoided that the second cutting head 1501 is accidentally injured due to being exposed to work.
  • the shield 1701 is arranged such that when the lawn mower 10010 is in operation, the gap from the bottom to the ground is less than or equal to 35 mm in order to prevent the toes or fingers from entering from below the shield 1701.
  • the outer side wall 1121 of the casing 1101 is respectively provided with rollers 1801 on both sides of the second cutting head 1501.
  • the shield 1701 is fixed to the roller of the roller 1801 so as to be well supported.
  • the roller 80 also functions to protect the second cutting head 1501 to some extent.
  • a lawn mower 1002 includes a casing 1102, a walking module 1202, a cutting head 1302 disposed under the casing 1102, and a cutting motor 1402 that drives the cutting head 1302 to operate.
  • the lawn mower 1002 of the present invention is an intelligent lawn mower and further includes a control module.
  • the control module is electrically connected to the walking module 1202 for controlling the mower 1002 to walk; and electrically connected to the cutting head 1302 for controlling the operation of the cutting head 1302.
  • the walking module 1202 is a wheel set mounted on the casing 1102 for driving the lawn mower 1002 to advance and turn.
  • the direction of advancement of the lawn mower 1002 is from right to left.
  • the forward direction of the lawn mower 1002 is the direction from the rear end to the front end of the lawn mower 1002.
  • the cutting head 1302 extends from the outer side wall 1122 of the casing 1102 beyond the outer side wall 1122, and forms a continuous cutting area extending from the outer side wall 1122 of the casing 1102 to the outside of the outer side wall 1122 in a direction perpendicular to the direction of the lawn mower 1002. .
  • the cutting head 1302 When the lawn mower 1002 is cut along the boundary line, the cutting head 1302 is located under the partial cutting casing 1102 below the casing 1102, and the portion of the cutting head 1302 located outside the outer wall 1122 of the casing 1102 can be cut to the outside of the casing 1102. Grass on the edge of the lawn outside the borderline.
  • the cutting head 1302 is a pair of scissors, including a first blade 1312 and a second blade 1322 that are capable of relative translational reciprocation under the shaft drive of the cutting motor 1402.
  • the first blade 1312 and the second blade 1322 are relatively translated and reciprocated, and the power of the two blades is derived from the cutting motor 1402.
  • the axis can be as follows:
  • the cutting motor 1402 is fixed to the casing 1102, and transmits power to the driven wheel 1332 of the cutting head 1302 by the driving wheel 1522 and the conveyor belt 1542.
  • the driven wheel 1332 transmits rotational power to the transmission shaft 1342.
  • the drive shaft 1342 is supported on the support 1352.
  • the first blade 1312 is fixed to a seat 1352 which is a fixed blade that remains stationary during relative translational reciprocation.
  • the second blade 1322 and the transmission shaft 1342 transmit power through the eccentric transmission mechanism to convert the rotational motion of the transmission shaft 1342 into the reciprocating motion of the second blade 1322.
  • first blade 1312 and the second blade 1322 are coupled by the eccentric transmission shaft 1342 to convert the rotational motion of the transmission shaft 1342 into a relative reciprocating motion of the first blade 1312 and the second blade 1322.
  • the drive shaft 1342 can be mounted with an eccentric, and the first blade 1312 and the second blade 1322 are respectively fixed at different positions of the eccentric. When the eccentric rotates, the first blade 1312 and the second blade 1322 achieve a relative reciprocating translational motion.
  • the cutting head 1302 is a pair of scissors, and the first blade 1312 and the second blade 1322 are generally strip-shaped, occupying a small space, and extending from the outer side wall 1122 of the casing 1102 to the outside of the outer side wall 1122.
  • the cutting head 1302 can also be arranged to rotate within a preset angle with respect to the casing 1102, so that the cutting head 1302 can follow the obstacle shape in real time.
  • the support 1352 is movably mounted to the casing 1102.
  • the support 1352 drives the first blade 1312 and the second blade 1322 to move together through the transmission shaft 1342, thereby cutting the head 1302. Achieve exercise.
  • an elastic member may be disposed between the holder 1352 and the casing 1102.
  • the elastic member is compressed when the first blade 1312 and the second blade 1322 are under pressure, and provides an elastic force for returning the first blade 1312 and the second blade 1322 after the pressure is lost.
  • the first blade 1312 and the second blade 1322 move in a direction opposite to the pressure if subjected to pressure imparted by the boundary lawn or obstacle during advancement.
  • the resilient member urges the first blade 1312 and the second blade 1322 back into position.
  • the cutting head 1302 can be moved according to the obstacle shape, as shown by the arrow in FIG. 12, the cutting head 1302 can swing back and forth to ensure the boundary cutting of the complicated working condition without leaving the grass.
  • the resilient element can be a torsion spring that can allow the cutting head 1302 to effect rotation or sliding.
  • the elastic member may also be a resilient member such as a compression spring that allows the cutting head 1302 to slide.
  • the cutting head 1302 realizes real-time follow-up according to the obstacle shape, and can also provide a driving mechanism for driving the support 1352.
  • a driving mechanism for driving the support 1352 For example, a worm gear mechanism is provided, and the motor is used to drive the worm to rotate, and the worm drives the worm wheel to rotate around the axis of the worm wheel, and the worm When the wheel rotates, the support 1352 is rotated.
  • the sensing detecting element provided by the control module detects the shape of the obstacle in real time, and then issues an instruction to the driving mechanism, thereby The rotation of the holder 1352 is driven by the driving mechanism to effect the left and right rotation of the cutting head 1302, so that the cutting machine 1002 can advance while the cutting head 1302 can adapt to the shape of the obstacle.
  • a shield 1602 for protecting the cutting head 1302 is disposed in addition to the outer side wall 1122 of the casing 1102.
  • the cover 1602 protects the portion of the cutting head 13020 located outside the casing 1102 from the upper side, the side, and the front and rear sides, thereby preventing the cutting head 1302 from being exposed to accidental injury when working now.
  • the shield 1602 is configured such that when the lawn mower 1002 is in operation, the gap from the bottom to the ground is less than or equal to 35 mm in order to prevent the toes or fingers from entering from below the shield 1602.
  • a roller 1702 is disposed on each of the two sides of the cutting head 1302 on the outer side wall 1122 of the casing 1102.
  • the shroud 1602 is attached to the roller of the roller 1702 for good support.
  • the roller 1702 also functions to protect the cutting head 1302 to some extent.
  • the present invention discloses another embodiment of a smart lawn mower 1003 that automatically trims grass on a lawn, including a body 1103, a drive system, a cutting system, and a position.
  • the control system 1303 includes a driving wheel 1213 and a driving motor (not shown).
  • the driving wheel 1213 is disposed at the bottom of the body 1103.
  • the driving motor drives the driving wheel 1213 to rotate, so that the intelligent lawn mower 1003 is on the lawn. walk.
  • the cutting system includes a cutting motor (not shown) and a blade (not shown), and the cutting motor drives the blade to rotate, thereby trimming the lawn with a blade.
  • the position control system 1303 is connected to the cutting system for changing the relative positional relationship between the cutting system and the body 1103. When the intelligent lawn mower 1003 trims the lawn and hits the grass where the obstacle cannot trim the obstacle attachment, the position The control system 1303 controls the cutting system to evade obstacles and trim the grass around the obstacle.
  • the position control system 1303 described above includes a movable member 1313 and a rotating shaft 1323.
  • the movable member 1313 is attached to the bottom of the body 1103 via the rotating shaft 1323, and the movable member 1313 is partially exposed to one side of the body 1103.
  • the blade is fixed to the lower surface of the movable member 1313, and the rotating shaft 1323 is coupled to the body 1103 and the movable portion. Between the members 1313, and the rotating shaft 1323 is connected to the non-geometric center position of the movable member 1313.
  • the movable member 1313 hits the obstacle 2003, as shown in FIG. 16, the movable member 1313 is opposite to the rotating shaft due to the reaction force of the obstacle.
  • the rotation of 1323 causes the movable member 1313 to drive the cutting system to abut against the edge of the obstacle 2003, thereby enabling the blade provided on the lower surface of the movable member 1313 to trim the lawn near the obstacle 2003.
  • the rotating shaft 1323 is disposed near the edge of the movable member 1313. In this way, the movable member 1313 can touch the lawn near the obstacle as much as possible, and trim the grass at the position.
  • the position control system 1303 described above further includes a rotation control device 1333.
  • the rotation control device 1333 After the movable part 1313 of the intelligent lawn mower 1003 hits the obstacle, the intelligent lawn mower 1003 will continue to move forward, which will inevitably cause the movable part 1313 to rotate. When the intelligent lawn mower 1003 continues to move forward, the movable part 1313 is moved. When not in contact with the obstacle 2003, the rotation control means 1333 returns the movable member 1313 to the initial position.
  • the rotation control device 1333 may be an elastic member that is coupled between the movable member 1313 and the body 1103. When the movable member 1313 is rotated by the obstacle 1303, the elastic member is fixed to the activity.
  • the position of the two fixed points of the member 1313 and the body 1103 is changed to make the elastic member have a certain elasticity.
  • the movable member 1313 When the movable member 1313 is not in contact with the obstacle 2003, the movable member 1313 returns to the initial state due to the elastic force of the elastic member. position.
  • the elastic member may be a tension spring.
  • the two ends of the tension spring are respectively fixed on the movable member 1313 and the body 1103.
  • the tension spring becomes longer due to the rotation of the movable member 1313, thereby generating a pulling force.
  • the above-described tension spring returns the movable member 1313 to the initial position by the pulling force.
  • the elastic member may also be a torsion spring or a leaf spring, except that the torsion spring or the leaf spring generates a corresponding torsion or bending stress due to a change in the position of the movable member 1313, and the principle thereof is consistent with the above-described tension spring, and thus the present invention I will not repeat them here.
  • the rotation control device 1333 may be rotated about the rotation shaft 1323 by using the control motor to control the movable member 1313 to circumvent the obstacle system and the movable member 1313 from the obstacle or return the movable member 1313 to the initial position. Specifically, it can be controlled by a method of inputting a control program or automatically sensing an obstacle.
  • the above-mentioned control mode can adopt a manner known to those skilled in the art, and the present invention will not be repeated herein.
  • the intelligent lawn mower 1003 is rotated by the movable member 1313 of the position control system 1303 due to the resistance of the obstacle, thereby changing the relative positional relationship between the cutting system and the body 1103, and the blade disposed on the lower surface of the movable member 1313.
  • the grass is trimmed so that the intelligent mower can complete the pruning of the grass near the obstacle when it hits the obstacle, which solves the problem that the grass around the obstacle cannot be completely trimmed when the traditional mower hits the obstacle. problem.

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Abstract

本发明涉及一种割草机，包括：切割机构，用以执行切割作业；机身，设置有：侧部防护，位于切割机构的侧方，以在所述切割机构的侧方建立防护屏障；底部防护，位于所述切割机构的下方，以在所述切割机构的下方建立防护屏障，其中所述底部防护上开设有进草口。上述割草机，侧部防护可以防止人体自切割机构的侧方接触到切割机构，底部防护可以防止人体自切割机构的下方接触到切割机构，且底部防护上设有进草口，使切割能够顺利进行，底部防护的设置还使得侧部防护与切割机构可以设置为尽可能的靠近割草机的外侧，从而实现对草坪边缘的切割，由此能同时满足切割和安全要求。

Description

割草机 技术领域
本发明涉及电动园林工具，特别是涉及一种割草机。
背景技术
随着计算机技术和人工智能技术的不断进步，类似于智能机器人的智能割草机已经开始慢慢的走进人们的生活。智能割草机能够自动在用户的草坪中割草、充电，无需用户干涉。这种自动工作系统一次设置之后就无需再投入精力管理，将用户从清洁、草坪维护等枯燥且费时费力的家务工作中解放出来。
为了减小草面和机身的摩擦带来的行走阻力，智能割草机的机身底端距离地面会有一段距离，这段距离使得人的脚能够伸入到机身下方并接近作为切割元件的刀条等。为了保证人类的安全，智能割草机不得不将切割元件的最外侧设置地到机身外侧壁的距离设置的较大，例如，大于80mm。这样，即使人脚伸入机身下方，也接触不到切割元件。这样的设置方式导致智能割草机永远也切割不到工作区域的最外侧80mm左右的草坪，这部分草坪仍然需要人工维护，大大的降低了智能割草机的使用体验。
发明内容
基于此，有必要提供一种同时满足切割和安全要求的割草机。
一种割草机，包括：
切割机构，用以执行切割作业；
机身，设置有：
侧部防护，位于切割机构的侧方，以在所述切割机构的侧方建立防护屏障；
底部防护，位于所述切割机构的下方，以在所述切割机构的下方建立防护屏障，其中所述底部防护上开设有进草口。
上述割草机，侧部防护可以防止人体自切割机构的侧方接触到切割机构，底部防护可以防止人体自切割机构的下方接触到切割机构，且底部防护上设有进草口，使切割能够顺利进行，底部防护的设置还使得侧部防护与切割机构可以设置为尽可能的靠近割草机的外侧，从而实现对草坪边缘的切割，由此能同时满足切割和安全要求。
在其中一个实施例中，所述进草口为条形缝隙，其开设方向与所述割草机的前进方向之 间的角度范围为0～45度。
在其中一个实施例中，所述进草口在垂直于所述割草机前进方向上的宽度为小于13mm。
在其中一个实施例中，所述切割机构的切割元件到机身最外侧的距离小于20mm。
在其中一个实施例中，所述底部防护背对所述切割机构的一侧设置成相对所述切割机构突起的弧形。
在其中一个实施例中，所述切割机构偏心地设置在机身下方，其偏向所述机身的一侧，所述侧部防护及底部防护的偏向与所述切割机构的偏向一致。
在其中一个实施例中，所述切割机构设置有2个以上，其中所述2个以上的切割机构偏向机身的同一侧；或所述切割机构设置有2个以上，机身的两侧均具有偏置的所述切割机构。
在其中一个实施例中，所述切割机构可动连接于所述机身，且所述侧部防护和底部防护跟随所述切割机构一起活动。
在其中一个实施例中，所述切割机构能够伸出到所述机身轮廓范围以外。
在其中一个实施例中，所述机身包括相对机身的其他部分活动设置的活动部件，所述切割机构、侧部防护和底部防护均连接于所述活动部件。
在其中一个实施例中，所述割草机还包括能够驱动所述活动部件运动的驱动机构，所述活动部件运动时带动所述切割机构运动。
在其中一个实施例中，所述驱动机构驱动所述活动部件转动或滑动，所述活动部件运动时带动所述切割机构转动或滑动。
在其中一个实施例中，所述驱动机构包括与所述活动部件相连的蜗轮、与所述蜗轮配合的蜗杆，及驱动所述蜗杆转动的电机，所述电机驱动所述蜗杆转动时，所述蜗轮带动所述活动部件绕蜗轮的轴线转动。
在其中一个实施例中，所述机身上还设置有弹性元件，所述弹性元件在所述切割机构受到压力时被压缩，且在所述压力消失后提供使所述活动部件带动所述切割机构回位的弹力。
在其中一个实施例中，所述弹性元件为扭簧或压簧。
在其中一个实施例中，所述切割机构包括：切割马达，安装于所述活动部件；刀盘，连接在所述切割马达的轴上；切割元件，设置在所述刀盘上。
在其中一个实施例中，所述侧部防护在所述机身的高度方向上延伸，所述底部防护沿垂直于所述高度方向的方向延伸，所述切割元件工作时具有切割区域，所述切割区域沿垂直于 所述高度方向的方向延伸。
在其中一个实施例中，所述割草机还包括设置于机身的行走模块和控制模块，所述行走模块带动所述割草机行走和转向，所述控制模块与所述行走模块电性连接以控制所述行走模块工作，所述控制模块与所述切割机构电性连接以控制所述切割机构执行切割作业。
在其中一个实施例中，所述控制模块控制所述割草机沿预先设定的边界线行走。
在其中一个实施例中，所述底部防护的长度大于或等于切割机构的切割直径。
在其中一个实施例中，所述底部防护和侧部防护连成一体。
在其中一个实施例中，所述切割机构的切割元件在机身上的高度可调，所述侧部防护和底部防均跟随所述切割元件升降。
基于此，有必要提供一种能切割边界处的草坪的割草机。
一种割草机，包括：
机壳；
第一切割头，位于所述机壳下方、机壳的外侧壁以内；及
第二切割头，自所述机壳的外侧壁以内延伸至外侧壁以外。
上述割草机，在机壳的外侧设置有割草工作头，可以切割到边界处的草，不需要另外进行修边，提高工作效率。
在其中一个实施例中，所述第一切割头和第二切割头工作时分别具有第一切割区域和第二切割区域，其中所述第一切割区域和第二切割区域在垂直于割草机前进方向上共同形成连续的切割区域。
在其中一个实施例中，还包括位于所述机壳下方的第一切割马达和第二切割马达，其中所述第一切割头由所述第一切割马达驱动工作，所述第二切割头由所述第二切割马达驱动工作。
在其中一个实施例中，所述第一切割头包括连接在切割马达的轴上由第一切割马达驱动旋转的刀盘、沿刀盘的圆周方向布置的若干切割元件。
在其中一个实施例中，所述第二切割头包括在所述第二切割马达的轴驱动下能作相对平移往复运动的第一刀片和第二刀片。
在其中一个实施例中，所述机壳的外侧壁以外还设置有防护第二切割头的护罩。
在其中一个实施例中，所述割草机工作时，所述护罩的底部至地面的间隙小于或等于 35mm。
在其中一个实施例中，所述机壳的外侧壁上于所述第二切割头的两侧分别设置有滚轮，所述护罩固定在所述滚轮的滚轴上。
在其中一个实施例中，所述第二切割头设置为两个，分别位于所述机壳的两侧。
在其中一个实施例中，所述割草机还包括控制模块，所述控制模块分别与第一切割头和第二切割头电性连接以控制二者的工作。
基于此，有必要提供一种能切割边界处的草坪的智能割草机。
一种割草机，包括：
机壳；
切割马达，位于所述机壳下方；
切割头，由所述切割马达驱动，位于所述机壳下方，自所述机壳的外侧壁以内延伸至外侧壁以外，所述切割头工作时在垂直于割草机前进方向上形成自机壳的外侧壁以内延伸至外侧壁以外的连续的切割区域。
上述割草机，切割头形成由割头工作时在垂直于割草机前进方向上形成自机壳的外侧壁以内延伸至外侧壁以外的连续的切割区域，与传统的在机壳下方居中设置的中心旋转刀盘的割草机相比，在正常切割的同时，边界处的草坪也被切割，不需要另外进行修边，提高了工作效率。
在其中一个实施例中，所述切割头相对于所述机壳能够在预设角度内旋转。
在其中一个实施例中，所述机壳下方还设置有驱动所述切割头工作的传动轴，所述传动轴与所述切割马达的轴之间通过传送带传递动力，其中所述传动轴相对于所述机壳可动设置，所述传动轴相对机壳运动时带动所述切割头在所述预设角度内旋转。
在其中一个实施例中，所述割草机还包括相对机壳活动安装的支座，所述传动轴固定于所述支座，所述支座对机壳运动时带动述传动轴运动。
在其中一个实施例中，所述支座与所述机壳之间还设置有弹性元件，所述弹性元件在所述切割头受到压力时被压缩，且在所述压力消失后提供使所述支座带动所述切割头回位的弹力。
在其中一个实施例中，所述弹性元件为扭簧。
在其中一个实施例中，所述割草机还包括驱动所述支座转动的驱动机构。
在其中一个实施例中，所述切割头包括能作相对平移往复运动的第一刀片和第二刀片，其中所述传动轴之间通过偏心轮驱动所述第一刀片和第二刀片的至少一个作平移往复运动。
在其中一个实施例中，所述机壳的外侧壁以外还设置有防护切割头的护罩。
在其中一个实施例中，所述割草机工作时，所述护罩的底部至地面的间隙小于或等于35mm。
在其中一个实施例中，所述机壳的外侧壁上于所述切割头的两侧分别设置有滚轮，所述护罩固定在所述滚轮的滚轴上。
基于此，有必要针对上述智能割草机本体的影响，不能使障碍物附近的草彻底清理的技术问题，提供一种可对障碍物附近的草彻底进行清理的智能割草机。
一种智能割草机，包括：本体；驱动系统，用于驱动智能割草机的所述本体行走；切割系统，用于对草进行切割；所述智能割草机还包括位置控制系统，用于改变所述切割系统与所述本体之间的相对位置。
上述智能割草机由于设置位置控制系统，从而使切割系统转动以规避障碍物。本发明的智能割草机在碰到障碍物时，位置控制系统可以改变切割系统与本体之间的位置关系，进而改变切割系统的切割区域，使障碍物附近的草位于切割区域内，这样智能割草机在碰到障碍物时便可完成对障碍物附近的草的修剪。
在其中一个实施例中，所述位置控制系统包括：活动部件，用于带动所述切割系统移动，设置于所述本体的底部，且可部分外露于所述本体一侧；转动轴，连接于所述本体与所述活动部件的非几何中心之间；所述活动部件可绕所述转动轴转动。
在其中一个实施例中，所述位置控制系统还包括：转动控制装置，用于控制所述活动部件绕所述转动轴转动以使所述气割系统避让障碍物或在避让障碍物后复位。
在其中一个实施例中，所述转动控制装置包括能够使所述气割系统在避让障碍物后复位的弹性部件，所述弹性部件连接于所述活动部件与所述本体之间。
在其中一个实施例中，所述弹性部件为拉力弹簧。
在其中一个实施例中，所述弹性部件为扭力弹簧。
在其中一个实施例中，所述活动部件固定于所述转动轴上，所述转动控制装置包括用于控制所述转动轴转动的控制电机。
在其中一个实施例中，所述转动轴连接于所述活动部件的边缘位置。
在其中一个实施例中，所述切割系统包括刀片及切割电机，所述刀片固定于所述活动部件的下表面，所述切割电机控制所述刀片旋转。
在其中一个实施例中，所述驱动系统包括安装在所述本体上的驱动轮及驱动所述驱动轮转动的驱动电机。
附图说明
图1为一个实施例的割草机的结构示意图；
图2为割草机的俯视示意图；
图3为割草机的剖视示意图；
图4为割草机的立体示意图；
图5为底部防护上的进草口的示意图；
图6为割草机适应侧方的障碍形状进行切割的示意图；
图7为割草机适应地表形状进行切割的示意图。
图8为另一个实施例的智能割草机的结构示意图；
图9为图8中A-A的示意剖视图；
图10为图8中B-B的示意剖视图。
图11为另一个实施例的智能割草机的结构示意图；
图12为图11中A-A的示意剖视图；
图13为图11中B-B的示意剖视图；
图14为图11中C-C的示意剖视图。
图15为本发明一优选实施例的智能割草机底部结构的一状态示意图，此时未碰到障碍物；
图16为本发明一优选实施例的智能割草机底部结构的另一状态示意图，此时碰到障碍物。
图中的相关元件对应编号如下：
100、割草机            110、机身              112、控制模块
114、活动部件          120、行走模块          122、前轮
124、后轮              126、行走马达          130、切割机构
132、切割马达          134、刀盘              136、切割元件
1362、切割区域         140、驱动机构          142、蜗轮
144、蜗杆              146、电机              150、侧部防护
160、底部防护          162、进草口            170、外护罩
1001、割草机           1101、机壳             1121、外侧壁
1201、行走模块         1301、第一切割头       1321、刀盘
1341、切割元件         1401、第一切割马达     1501、第二切割头
1511、第一刀片         1521、第二刀片         1531、减速齿轮
1541、传动轴           1551、支座             1601、第二切割马达
1701、护罩             1801、滚轮             1702、滚轮
1002、割草机           1102、机壳             1122、外侧壁
1202、行走模块         1302、切割头           1312、第一刀片
1322、第二刀片         1332、从动轮           1342、传动轴
1352、支座             1402、切割马达         1522、主动轮
1542、传送带           1602、护罩             1003.智能割草机
1103.本体              1213.驱动轮            1303.位置控制系统
1313.活动部件          1323.转动轴            1333.转动控制装置
2003.障碍物
具体实施方式
为使本发明的上述目的、特征和优点能够更加明显易懂，下面结合附图对本发明的具体实施方式做详细的说明。在下面的描述中阐述了很多具体细节以便于充分理解本发明。但是本发明能够以很多不同于在此描述的其它方式来实施，本领域技术人员可以在不违背本发明内涵的情况下做类似改进，因此本发明不受下面公开的具体实施例的限制。
下面结合附图，说明割草机的较佳实施方式。
请参考图1和图2，本发明一个实施例的割草机100，包括机身110、行走模块120、切割机构130。
行走模块120包括设置在机身110上的前轮122、后轮124、前轮122和驱动后轮124前进的行走马达126。前轮122和后轮124构成轮组。前轮122有一个，位于机身110前端。后轮124有2个，对称设置在机身110后端的两侧。当然，单个后轮可以代替一对后轮使用。同样，单个前轮也可以用一对前轮来代替。如图1和图2中，自右至左，为割草机100的前 进方向。同时，该割草机100的前进方向也即为割草机100后端至前端的方向。
本发明的割草机100是一种智能割草机。参图1，机身110上设置有控制模块112。控制模块112与行走模块120之间电性连接，用以控制割草机100行走；及与切割机构130电性连接，用于控制切割机构130工作。控制模块112能控制割草机沿预先设定的边界线行走，以执行切边作业。
切割机构130设置在机身110下方，用于执行切割作业。本发明中，切割机构130执行偏心切割。具体地，参图1，中心线A为机身110的中轴线所在位置，中心线B为切割机构130的中轴线所在位置。中心线B与中心线A不重合，而是设置在中心线A的一侧，图1中为右侧，使切割机构130偏心地设置在机身110下方，其偏向机身110的右侧。这样，使得切割机构130能够尽可能地靠近机身110的外侧，以便能够切割到工作区域的边界处的草坪，即可以有效地实现到边修割，免去人工修边。
本发明中设置了一个切割机构130。然而，该切割机构130可以设置为2个以上，且均偏心设置以执行偏心切割。进一步地，可以是所有的切割机构130均偏向机身110的同一侧。也可以是：机身110的两侧均具有偏置的切割机构。如切割机构130有2个，则两个切割机构的中轴线分别位于机身110的中轴线的左侧和右侧，由此扩大割草机100作业范围。
切割机构130相对于机身110可动设置，以能够适应切割区域边界线处的障碍形状，实现遇障碍时的随动。具体地，机身110上设置有相对机身110的其他部分活动设置的活动部件114。切割机构130连接于所述活动部件114。活动部件114运动时能带动切割机构130实现运动。或者是，切割机构130受到外力作用发生位置改变时，能促使活动部件114随之发生位置改变。
本发明中，机身110上设置有驱动活动部件114运动的驱动机构140。驱动机构140工作时驱动活动部件114运动，活动部件114则带动切割机构130运动，如转动或滑动。图2中，切割机构130可以相对机身110转动。
当切割复杂工况的边界时，例如图6所示，切割工作区域的边界处有墙壁或其他障碍，此时，控制模块112设置的传感检测元件实时检测障碍的形状，然后向驱动机构140发出指令，进而驱动机构140驱动活动部件114转动，活动部件114转动时可带动切割机构130左右转动以使割草机100前进的同时切割机构130能够适应障碍的形状。切割机构130设置为能够伸出机身110轮廓范围之外，以在需要时扩大割草机100的切割范围，保证复杂工况边 界切割，不残留草。
此外，切割机构130实现依障碍形状实时随动，也可以不设置驱动机构。例如，可以直接在切割机构130与机身110之间设置弹性元件。弹性元件在切割机构130受到压力时被压缩，且在压力消失后提供使切割机构130回位的弹性力。因此常态下，在弹性元件的作用下，切割机构130处于其最大切割能力的位置，能够切割位置更靠边的草坪。当割草机100沿着障碍前进时，切割机构130如果在前进过程中受到边界草坪或障碍给予的压力，则切割机构130向远离边界的方向移动。压力消失后，弹性元件促使切割机构130回位。由此，切割机构130能够实现根据障碍形状移动，保证复杂工况边界切割，不残留草。
弹性元件可以是扭簧，能够允许切割机构130实现转动或滑动。弹性元件也可以是压簧等具有弹力的元件，能够允许切割机构130实现滑动。
参图7，本发明的割草机100的切割高度可以随地表起伏实时调整，以适应不同地形。可以通过调整机身110与轮组的相对位置来改变机身110离地高度，进而改变切割高度。也可以通过改变切割机构130在机身110上的高度来实现。
参图1和图3，切割机构130包括：切割马达132、刀盘134、切割元件136。
切割马达132安装于活动部件114。活动部件114作为马达支架使用。活动部件114偏向机身110的右侧，使切割马达132的轴的轴线设置在机身110的中轴线的右侧。刀盘134为圆盘状，连接在切割马达132的轴上。切割马达132工作时，刀盘134被驱动旋转。切割元件136设置有多个，沿刀盘134的圆周方向均匀布置。切割元件136为切割刀片。活动部件114位置改变时，其带动切割马达132、刀盘134、切割元件136一起运动。
当设置驱动机构140来调节切割机构130的位置以适应不同工况的边界切割时，驱动机构140通过驱动活动部件114来改变切割机构130的位置。驱动机构140安装在机身110上。
在一个例子中，参考图2，驱动机构140包括与活动部件114相连的蜗轮142、与蜗轮142配合的蜗杆144，及驱动蜗杆144转动的电机146。电机146驱动蜗杆144转动时，蜗轮142带动活动部件114绕蜗轮142的轴线转动。图2中，示意出了切割机构130的两个位置C和D。
然而，驱动机构可以是其他类型的传动装置，例如在其他的例子中，驱动机构140可以是齿轮、齿条机构。
当设置弹性元件来使切割机构130具备适应边界障碍形状的能力时，可以将弹性元件设 置在机身110的其他部位与机身110上的活动部件114之间。如前所述，弹性元件可以是扭簧或者普通的压簧，或其他具有弹力的元件。
本发明中，切割机构130执行偏心切割，其偏置于机身110下方。因此，切割机构130离机身110的外侧较近。
为此，参考图3和图4，机身110还设置了位于切割机构130外侧的侧部防护150，以从切割机构130的侧方建立防护屏障。侧部防护150在机身110的高度方向(也即竖直方向)上延伸，防止人体从割草机100的侧方接触到切割机构130的切割元件136，避免产生伤害。
此外，割草机100的机身110底部距离地面会有一段距离，智能割草机的机身底端距离地面会有一段距离，这段距离使得人的脚或手能够伸入到机身110下方并接近作为切割元件的刀条等。而作为智能割草机，其是在无人操作的情况下自动沿预先设定好的边界区域内巡航工作的。虽然前述的侧部防护150在一定程度上可以避免人体组织自割草机100的侧方伸入到机身110下方并接近切割元件。但是，对于路人出于好奇将手指、脚趾故意伸到机身110下方的情况，前述的侧部防护150仍存在一定缺陷。
为此，割草机100还设置有底部防护160，以从切割机构130的下方建立防护屏障。切割元件136的切割区域1362在水平方向上延伸。底部防护160设置为沿垂直于机身110高度方向的方向(水平方向)延伸至切割机构130的下方。底部防护160位于切割机构130的切割元件136的切割区域1362下方，以在切割机构130与地面之间建立一道防护，彻底避免了人体组织伸入机身110下方后发生危险的可能。
侧部防护150及底部防护160在机身110上的位置偏向机身110的一侧，二者的偏向与切割机构130的偏向一致。
参考图5，底部防护160上设置有进草口162。进草口162为条形缝隙，其开设方向与割草机100前进方向之间的角度范围为0～45度。换言之，以前进方向为轴线，进草口162的开设方向可在左右偏转45度的范围内任意设置。这样在切割过程中，底部防护160前进的同时将草压到，而被压倒的草有自然恢复原状的趋势，因此当进草口162运动到被压倒的草时，被压倒的草能够刚好顺着进草口162进入到切割元件136的切割范围内并被顺利切割，不容易堵草。
当进草口162为条形缝隙时，其在垂直于割草机100前进方向上的宽度为小于13mm，以避免手指伸入机身110下方后经由进草口162接触到切割元件136。需要说明，由于宽度 并非决定手指是否能进入进草口的唯一因素(如还有长度因素)，因此进草口162的宽度不局限于此。但如果按照以上尺寸设置宽度，则不必再考虑其他因素即可防止可能出现在割草机100工作区域的人群的正常尺寸的手指、脚趾进入到进草口162中的情形。
进草口162的形状和开设方向不局限于上述优选方式，如进草口162的开设方向也可以与前进方向呈一定夹角。又如，本发明中，进草口162为条形缝隙，底部防护160呈栅栏状。进草口162也可以是设置为其他形状，如网状结构，或不规则结构等。
底部防护160背对切割机构130的一侧设置成相对切割机构130突起的弧形。换言之，底部防护160与地面相对的一侧为弧形。这样在割草机100前进过程中，底部防护160不容易插入到工作区域的地面中，保证切割顺利进行。
底部防护160可以防止人体伸入到机身110下方后接触到切割机构130，底部防护160上设置的进草口162则使切割能够顺利进行。而侧部防护150与切割机构130可以设置为尽可能的靠近割草机100的外侧，具体地，切割机构的切割元件136到机身110最外侧的距离小于20mm，从而实现对草坪边缘的切割且能同时满足切割和安全要求。
底部防护160的长度设置为大于或等于切割机构130的切割直径，防止人体越过底部防护160后接触到切割机构130的切割元件136。此外，底部防护160和侧部防护150连成一体，一方面利于一体成型以减少组装工序，另一方面使得底部防护160与侧部防护150之间无间隙，防止人体自二者之间的间隙进入切割元件136的工作区域。
切割机构130的切割元件136在机身110上的高度可调，同时侧部防护150和底部防160均跟随切割元件136升降。具体地，侧部防护150和底部防护160均由活动部件114支撑。这样，活动部件114运动时能带动侧部防护150和底部防护160一起运动。侧部防护150和底部防护160是跟随切割机构130一起活动。这样，当切割机构130相对机身110转动、滑动或升降时，侧部防护150和底部防护160能够跟随切割机构一起运动，起到防护作用。并且，侧部防护150和底部防护160与切割机构130的切割元件136之间的相对位置关系固定不变，不需要每次都调整。
侧部防护150和底部防护160当然也可以是固定机身110上，位置固定不动。侧部防护150和底部防护160也可以是可动设置在机身110的其他位置上，不跟随切割机构130一起活动，只要每次跟随切割机构130一起调整即可。
本发明中，切割机构130位于机身110下方且位于机身110轮廓范围以内。需要指出的 是，切割机构130可以设置为整体或部分位于机身110轮廓范围以外。由于设置了侧部防护150和底部防护160，人体从侧面和底部仍然不会接触到切割机构130的切割元件136，避免产生伤害。
参照图3，为了达到安全防护的目的，机身110外部还设置有外护罩170。外护罩170罩在机身110及切割机构130的上方，以从上方保护机身110及切割机构130，也避免产生伤害。
下面结合附图，说明割草机的另一较佳实施方式。
请参考图8至图10，本发明一个实施例的割草机1001，包括机壳1101、行走模块1201、设置在机壳1101下方的第一切割头1301、驱动第一切割头1301工作的第一切割马达1401。
行走模块1201为安装在机壳1101上的轮组，用以带动割草机1001前进和转向。图8中，自右至左为割草机1001的前进方向。同时，该割草机1001的前进方向也即为割草机1001后端至前端的方向。
第一切割头1301，位于机壳1101下方、机壳1101的外侧壁1121以内。第一切割头1301由安装在机壳1101下方的第一切割马达1401驱动工作。第一切割头1301包括连接在第一切割马达1401的轴上由第一切割马达1401驱动旋转的刀盘1321、沿刀盘1321的圆周方向布置的若干切割元件1341。切割元件1341通常为金属材质制成的刀片。
第一切割头1301工作时在机壳1101外侧壁1121以内形成圆形的第一切割区域。割草机1001工作时，第一切割头1301主要切割机壳1101下方的草，无法切割到机壳1101外侧的草。而割草机1001是在由边界限定的工作区域内切割，智能割草机行走到草坪边缘的时候，割草机会自动转向，使得位于边界线外的边缘一带的草坪始终无法被第一切割头1301切割到。
为此，本发明的割草机1001还设置了第二切割头1501。机壳1101下方设置有驱动第二切割头1501工作的第二切割马达1601。
第二切割头1501的切割元件自机壳1101的外侧壁1121以内延伸至外侧壁1121以外。第二切割马达1601驱动第二切割头1501时，第二切割头1501形成的第二切割区域自机壳1101的外侧壁1121以内延伸至机壳1101的外侧壁1121以外。并且，第一切割区域和第二切割区域在垂直于割草机1001前进方向上共同形成连续的切割区域。
割草机1001沿边界线切割时，利用第一切割头1301切割机壳1101下方的槽，利用第二切割头1501能够修剪到位于机壳1101外侧的、位于边界线以外的边缘草坪的草。换言之， 割草机1001沿边界线切割时，边界线外的草也一并被切割，不要在割草机1001工作完毕之后另外使用打草机对草坪边缘的草进行切割。
第二切割头1501形成的第二切割区域自机壳1101的外侧壁1121以内延伸至机壳1101的外侧壁1121以外，还在一定程度上弥补了第一切割头1301的切割能力的不足。第一切割区域和第二切割区域连续，形成一个较大的切割区域，提升了割草机1001一次作业范围，进而能提高工作效率。
进一步地，第二切割头1501设置为两个，分别位于机壳1101的两侧，尽最大可能的扩大割草机1001一次作业范围。
参考图10，第二切割头1501为剪刀副，包括在第二切割马达1601的轴驱动下能作相对平移往复运动的第一刀片1511和第二刀片1521。
第一刀片1511和第二刀片1521作相对平移往复运动，二者的动力来自于第二切割马达1601的轴。例如，具体实现方式可以如下：
第二切割马达1601固定在机壳1101上，利用减速齿轮1531将动力传递给传动轴1541。传动轴1541支撑于支座1551。第一刀片1511固定于支座1551，其为定刀片，在相对平移往复运动中保持不动。第二刀片1521与传动轴1541通过偏心传动机构传递动力，使传动轴1541的旋转运动转换为第二刀片1521的往复运动。
此外，也可以是第一刀片1511和第二刀片1521通过偏心传动机构与传动轴1541连接，使传动轴1541的旋转运动转化为第一刀片1511和第二刀片1521的相对往复运动。例如，传动轴1541可安装偏心轮，第一刀片1511和第二刀片1521分别固定在偏心轮的不同位置。偏心轮转动时，第一刀片1511和第二刀片1521就实现相对往复运动。
第二切割头1501为剪刀副，第一刀片1511和第二刀片1521通常呈条状，占用空间小利于从机壳1101的外侧壁1121以内延伸至外侧壁1121以外，同时也便于第二切割马达1601设置在机壳1101下方。
本发明的割草机1001是一种智能割草机，还包括控制模块。控制模块与行走模块1201之间电性连接，用以控制割草机1001行走；及与第一切割头1301和第二切割头1501电性连接，用于控制第一切割头1301和第二切割头1501工作。
参考图8，机壳1101的外侧壁1121以外还设置有防护第二切割头1501的护罩1701。护罩1701自上方、侧方、前后两侧将第二切割头1501位于机壳1101外侧的部分防护起来，避 免出现第二切割头1501由于裸露在工作时发生意外伤害的情况。
另外，护罩1701设置为割草机10010工作时，其底部至地面的间隙小于或等于35mm，目的是避免脚趾或手指自护罩1701的下方进入。
机壳1101的外侧壁1121上于第二切割头1501的两侧分别设置有滚轮1801。护罩1701固定在滚轮1801的滚轴上，从而得到很好的支撑。此外，滚轮80一定程度上还起到保护第二切割头1501的作用。
下面结合附图，说明割草机的较佳实施方式。
请参考图11至图13，本发明一个实施例的割草机1002，包括机壳1102、行走模块1202、设置在机壳1102下方的切割头1302、驱动切割头1302工作的切割马达1402。
本发明的割草机1002是一种智能割草机，还包括控制模块。控制模块与行走模块1202之间电性连接，用以控制割草机1002行走；及与切割头1302电性连接，用于控制切割头1302工作。
行走模块1202为安装在机壳1102上的轮组，用以带动割草机1002前进和转向。图11中，自右至左为割草机1002的前进方向。同时，该割草机1002的前进方向也即为割草机1002后端至前端的方向。
切割头1302自机壳1102的外侧壁1122以内延伸至外侧壁1122以外，在垂直于割草机1002前进方向上形成自机壳1102的外侧壁1122以内延伸至外侧壁1122以外的连续的切割区域。
割草机1002沿边界线切割时，切割头1302位于机壳1102下方的部分切割机壳1102下方的草，切割头1302位于机壳1102外侧壁1122以外的部分能够切割到位于机壳1102外侧的、位于边界线以外的边缘草坪的草。
与传统技术的设置在机壳下方的中央位置的旋转式刀盘的割草机相比，割草机1002沿边界线切割时，边界线内外的草能一并被切割，一方面割草机1002一次作业范围较大，能提高工作效率，另一方面不需要在割草机1002工作完毕之后另外使用打草机对草坪边缘的草进行切割。
参考图13和图14，切割头1302为剪刀副，包括在切割马达1402的轴驱动下能作相对平移往复运动的第一刀片1312和第二刀片1322。
第一刀片1312和第二刀片1322作相对平移往复运动，二者的动力来自于切割马达1402 的轴。例如，具体实现方式可以如下：
切割马达1402固定在机壳1102上，利用主动轮1522、传送带1542将动力传递给切割头1302的从动轮1332。从动轮1332将旋转动力传递给传动轴1342。传动轴1342支撑于支座1352。第一刀片1312固定于支座1352，其为定刀片，在相对平移往复运动中保持不动。第二刀片1322与传动轴1342通过偏心传动机构传递动力，使传动轴1342的旋转运动转换为第二刀片1322的往复运动。
此外，也可以是第一刀片1312和第二刀片1322通过偏心传动机构传动轴1342连接，使传动轴1342的旋转运动转化为第一刀片1312和第二刀片1322的相对往复运动。例如，传动轴1342可安装偏心轮，第一刀片1312和第二刀片1322分别固定在偏心轮的不同位置。偏心轮转动时，第一刀片1312和第二刀片1322就实现相对往复平移运动。
切割头1302为剪刀副，第一刀片1312和第二刀片1322通常呈条状，占用空间小，利于从机壳1102的外侧壁1122以内延伸至外侧壁1122以外。
切割头1302还可设置相对于机壳1102能够在预设角度内旋转，使切割头1302实现依障碍形状实时随动。
本发明中，支座1352活动安装于机壳1102，当支座1352相对于机壳1102转动时，支座1352通过传动轴1342带动第一刀片1312和第二刀片1322一起运动，从而切割头1302实现运动。
具体地，支座1352与机壳1102之间可以设置弹性元件。弹性元件在第一刀片1312和第二刀片1322受到压力时被压缩，且在压力消失后提供使第一刀片1312和第二刀片1322回位的弹性力。当割草机1002前进时，第一刀片1312和第二刀片1322如果在前进过程中受到边界草坪或障碍给予的压力，则第一刀片1312和第二刀片1322沿与压力相反的方向运动。压力消失后，弹性元件促使第一刀片1312和第二刀片1322回位。由此，切割头1302能够实现根据障碍形状移动，如图12中箭头所示，切割头1302能够来回摆动，保证复杂工况边界切割，不残留草。
弹性元件可以是扭簧，能够允许切割头1302实现转动或滑动。弹性元件也可以是压簧等具有弹力的元件，能够允许切割头1302实现滑动。
此外，切割头1302实现依障碍形状实时随动，还可以设置驱动支座1352活动的驱动机构。例如设置蜗轮蜗杆机构，利用电机带动蜗杆旋转，蜗杆带动蜗轮绕蜗轮的轴心转动，蜗 轮转动时带动支座1352转动。
当割草机1002沿工作区域的边界切割时，切割工作区域的边界处有墙壁或其他障碍，此时，控制模块设置的传感检测元件实时检测障碍的形状，然后向驱动机构发出指令，进而由驱动机构来驱动支座1352转动，实现切割头1302的左右转动，从而割草机1002前进的同时切割头1302能够适应障碍的形状。
参考图11，机壳1102的外侧壁1122以外还设置有防护切割头1302的护罩1602。护罩1602自上方、侧方、前后两侧将切割头13020位于机壳1102外侧的部分防护起来，避免切割头1302由于裸露出现在工作时发生意外伤害的情况。
另外，护罩1602设置为割草机1002工作时，其底部至地面的间隙小于或等于35mm，目的是避免脚趾或手指自护罩1602的下方进入。
机壳1102的外侧壁1122上于切割头1302的两侧分别设置有滚轮1702。护罩1602固定在滚轮1702的滚轴上，从而得到很好的支撑。此外，滚轮1702一定程度上还起到保护切割头1302的作用。
如图15所示，本发明公开了智能割草机1003的另一种实施例，该智能割草机1003在草坪上可自动对草进行修剪，其包括本体1103、驱动系统、切割系统及位置控制系统1303，上述驱动系统包括驱动轮1213及驱动电机(图未示)，驱动轮1213设置在本体1103的底部，驱动电机驱动上述驱动轮1213进行转动，进而使智能割草机1003在草坪上行走。
切割系统包括切割电机(图未示)及刀片(图未示)，切割电机驱动刀片旋转，进而利用刀片对草坪进行修剪。上述位置控制系统1303与切割系统连接，用于改变切割系统与本体1103之间的相对位置关系，当智能割草机1003对草坪进行修剪，碰到障碍物无法修剪障碍物附件的草时，位置控制系统1303控制切割系统规避障碍物并对障碍物周边的草进行修剪。
具体地，上述位置控制系统1303包括活动部件1313及转动轴1323。活动部件1313通过转动轴1323安装于本体1103的底部，且活动部件1313可部分外露与本体1103的一侧之外，上述刀片固定在活动部件1313的下表面，转动轴1323连接于本体1103与活动部件1313之间，且转动轴1323连接于活动部件1313非几何中心位置，当活动部件1313碰到障碍物2003时，如图16所示，活动部件1313由于障碍物的反作用力而相对于转动轴1323转动，使活动部件1313带动切割系统紧贴着障碍物2003的边缘行走，进而使设置在活动部件1313下表面的刀片能够对障碍物2003附近的草坪进行修剪。
为更好地对障碍物2003附近的草进行修剪，转动轴1323设置于活动部件1313靠近边缘位置。这样，活动部件1313可尽可能的多接触障碍物附近的草坪，对处于该位置上的草进行修剪。
具体而言，上述位置控制系统1303还包括转动控制装置1333。当智能割草机1003的活动部件1313碰到障碍物后，由于智能割草机1003继续前行，势必会导致活动部件1313发生转动，当智能割草机1003持续向前行走，使活动部件1313不与障碍物2003接触后，该转动控制装置1333便会使活动部件1313回到初始位置。例如，该转动控制装置1333可以为弹性部件，该弹性部件连接于活动部件1313与本体1103之间，当活动部件1313因碰到障碍物1303而发生转动，便会导致该弹性部件分别固定于活动部件1313与本体1103的两个固定点的位置发生变化，使弹性部件产生一定的弹性，进而当活动部件1313不与障碍物2003接触后，活动部件1313因弹性部件的弹力的作用，回到初始位置。
上述弹性部件可为拉力弹簧，拉力弹簧的两端分别固定在活动部件1313及本体1103上，当活动部件1313碰到障碍物2003后，拉力弹簧因活动部件1313的转动而变长，进而产生拉力。当活动部件1313不与障碍物2003碰触后，上述拉力弹簧利用拉力使活动部件1313回到初始位置。
上述弹性部件也可以是扭力弹簧或片弹簧，不同的是，该扭力弹簧或片弹簧因活动部件1313的位置的改变而产生相应的扭力或弯曲应力，其原理与上述拉力弹簧一致，因此本发明在此不再赘述。
上述转动控制装置1333除了弹性部件的方式外，还可以使用控制电机控制活动部件1313的绕上述转动轴1323转动以使切割系统及使活动部件1313规避障碍物或让活动部件1313回到初始位置，具体地，可人为输入控制程序或自动感应障碍物的方式进行控制，上述控制方式可以采用本领域技术人员所公知的方式，本发明在此不再赘述。
上述智能割草机1003由于位置控制系统1303的活动部件1313可因碰到障碍物的阻力作用而转动，进而改变切割系统与本体1103之间相对位置关系，设置在活动部件1313的下表面的刀片对草进行修剪，这样智能割草机在碰到障碍物时便可完成对障碍物附近的草的修剪，解决了传统割草机在碰到障碍物时，障碍物周边的草无法彻底修剪的问题。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中 的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (22)

  1. 一种割草机，其特征在于，包括：
    切割机构，用以执行切割作业；
    机身，设置有：
    侧部防护，位于切割机构的侧方，以在所述切割机构的侧方建立防护屏障；
    底部防护，位于所述切割机构的下方，以在所述切割机构的下方建立防护屏障，其中所述底部防护上开设有进草口。
  2. 根据权利要求1所述的割草机，其特征在于，所述进草口为条形缝隙，其开设方向与所述割草机的前进方向之间的角度范围为0～45度。
  3. 根据权利要求2所述的割草机，其特征在于，所述进草口在垂直于所述割草机前进方向上的宽度为小于13mm。
  4. 根据权利要求1所述的割草机，其特征在于，所述切割机构的切割元件到机身最外侧的距离小于20mm。
  5. 根据权利要求1所述的割草机，其特征在于，所述底部防护背对所述切割机构的一侧设置成相对所述切割机构突起的弧形。
  6. 根据权利要求1所述的割草机，其特征在于，所述切割机构偏心地设置在机身下方，其偏向所述机身的一侧，所述侧部防护及底部防护的偏向与所述切割机构的偏向一致。
  7. 根据权利要求6所述的割草机，其特征在于，所述切割机构设置有2个以上，其中所述2个以上的切割机构偏向机身的同一侧；或所述切割机构设置有2个以上，机身的两侧均具有偏置的所述切割机构。
  8. 根据权利要求1所述的割草机，其特征在于，所述切割机构可动连接于所述机身，且所述侧部防护和底部防护跟随所述切割机构一起活动。
  9. 根据权利要求8所述的割草机，其特征在于，所述切割机构能够伸出到所述机身轮廓范围以外。
  10. 根据权利要求8所述的割草机，其特征在于，所述机身包括相对机身的其他部分活动设置的活动部件，所述切割机构、侧部防护和底部防护均连接于所述活动部件。
  11. 根据权利要求10所述的割草机，其特征在于，所述割草机还包括能够驱动所述活动部件运动的驱动机构，所述活动部件运动时带动所述切割机构运动。
  12. 根据权利要求11所述的割草机，其特征在于，所述驱动机构驱动所述活动部件转动 或滑动，所述活动部件运动时带动所述切割机构转动或滑动。
  13. 根据权利要求11所述的割草机，其特征在于，所述驱动机构包括与所述活动部件相连的蜗轮、与所述蜗轮配合的蜗杆，及驱动所述蜗杆转动的电机，所述电机驱动所述蜗杆转动时，所述蜗轮带动所述活动部件绕蜗轮的轴线转动。
  14. 根据权利要求10所述的割草机，其特征在于，所述机身上还设置有弹性元件，所述弹性元件在所述切割机构受到压力时被压缩，且在所述压力消失后提供使所述活动部件带动所述切割机构回位的弹力。
  15. 根据权利要求14所述的割草机，其特征在于，所述弹性元件为扭簧或压簧。
  16. 根据权利要求10所述的割草机，其特征在于，所述切割机构包括：切割马达，安装于所述活动部件；刀盘，连接在所述切割马达的轴上；切割元件，设置在所述刀盘上。
  17. 根据权利要求16所述的割草机，其特征在于，所述侧部防护在所述机身的高度方向上延伸，所述底部防护沿垂直于所述高度方向的方向延伸，所述切割元件工作时具有切割区域，所述切割区域沿垂直于所述高度方向的方向延伸。
  18. 根据权利要求1所述的割草机，其特征在于，所述割草机还包括设置于机身的行走模块和控制模块，所述行走模块带动所述割草机行走和转向，所述控制模块与所述行走模块电性连接以控制所述行走模块工作，所述控制模块与所述切割机构电性连接以控制所述切割机构执行切割作业。
  19. 根据权利要求18所述的割草机，其特征在于，所述控制模块控制所述割草机沿预先设定的边界线行走。
  20. 根据权利要求1所述的割草机，其特征在于，所述底部防护的长度大于或等于切割机构的切割直径。
  21. 根据权利要求1所述的割草机，其特征在于，所述底部防护和侧部防护连成一体。
  22. 根据权利要求1所述的割草机，其特征在于，所述切割机构的切割元件在机身上的高度可调，所述侧部防护和底部防均跟随所述切割元件升降。
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EP3997975A1 (en) 2022-05-18

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