WO2018133758A1

WO2018133758A1 - Robotic lawn mower

Info

Publication number: WO2018133758A1
Application number: PCT/CN2018/072623
Authority: WO
Inventors: 孔钊; 郭宁
Original assignee: 苏州科瓴精密机械科技有限公司
Priority date: 2017-01-19
Filing date: 2018-01-15
Publication date: 2018-07-26

Abstract

A robotic lawn mower comprises: a mower body (10); an operation module installed at the mower body (10); a travel module; and a control module used to coordinate the operation module and the travel module. The operation module comprises a cutting mechanism (22) configured at a lower portion of the mower body. The travel module comprises a travel wheel set installed at the mower body and a travel motor driving the travel wheel set. The robotic lawn mower further comprises a protective component (50a) installed at a side portion of the mower body and comprising a first protective component (53) and a second protective component (54) pivotally connected to the mower body. The first protective component (53) and the second protective component (54) are pivotally connected to each other. The robotic lawn mower can prevent a human being or animal from entering a mowing area and being injured during the robotic lawn mower mows a lawn, and can increase, by employing a pivotal connection, a distance between the lower portion and a ground surface, thereby successfully passing a protrusion or a rock on a ground surface without being blocked.

Description

Mowing robot

[0001] The present invention relates to a mowing robot, and more particularly to a mowing robot having a guard.

Background technique

[0002] The mower robots are characterized by automatic walking, intelligent obstacle avoidance, and working within a certain range. They also have automatic return charging, safety detection and battery power detection. They have certain climbing ability, especially suitable for home gardens. Lawn trimming and maintenance in public green areas and other places. The mower robot is generally composed of a cutter head, a motor, a blade, a traveling wheel, a control system, and the like. The blade is mounted on the cutter head, and the motor drives the cutter head to drive the blade to rotate to trim the lawn, thereby saving the work of the weeding worker. In the meantime, a lot of human resources have been reduced.

[0003] The prior art mowing robot is walking on the grass, and the cutting mechanism disposed under the mowing robot body may touch people or animals moving in the grass area, thereby causing harm to people or animals.

[0004] It is known to provide a guard mechanism around the mowing blade of the mowing robot. However, when animals, people or other foreign objects break through traditional protective mechanisms, mowing robots cannot provide further protection.

technical problem

Problem solution

Technical solution

[0005] It is an object of the present invention to provide a mowing robot that is more comprehensive and safer to protect.

[0006] In order to achieve the above object, the present invention provides a mowing robot, comprising: a body, a working module mounted on the body, a walking module, and a control module for coordinating the working module and the walking module, the work The module includes a cutting mechanism disposed at a lower portion of the fuselage, the walking module includes a walking wheel set mounted on the body and a traveling motor driving the traveling wheel set, and the mowing robot further includes a side portion mounted on the side of the fuselage a guard, the guard comprising a first guard pivotally coupled to the fuselage and a second guard, the second guard being pivotally coupled to the first guard.

[0007] As a further improvement of an embodiment of the present invention, relative to the first guard and the second guard In the initial position, the first guard and the second guard are allowed to rotate in a direction toward the cutting mechanism, and the first guard and the second guard are restricted from rotating in a direction away from the cutting mechanism.

[0008] As a further improvement of an embodiment of the present invention, a first spring is disposed between the first guard and the fuselage, and the first spring provides an elastic force of the first guard moving away from the cutting mechanism. A second spring is disposed between the first guard and the second guard, and the second spring provides an elastic force of the second guard to move away from the cutting mechanism.

[0009] As a further improvement of an embodiment of the present invention, the first spring and the second spring are torsion springs, and the first spring has a stiffness greater than a stiffness of the second spring.

[0010] As a further improvement of an embodiment of the present invention, a distance sensing device is disposed between the first guard and the body, and the angle of rotation of the second guard exceeds a preset rotation angle thereof to drive the first protection. When the piece rotates, the first guard rotates at an angle exceeding a preset rotation angle thereof to trigger the distance sensing device, and the control module receives the trigger signal to control the mowing robot to stop.

[0011] As a further improvement of an embodiment of the present invention, the distance sensing device includes a switch and a trigger member, the switch is disposed on the body, and the contact of the switch corresponds to the first guard, The trigger member is disposed between the contact of the switch and the first guard, and one end of the trigger member is connected to the contact of the switch or the first guard.

[0012] As a further improvement of an embodiment of the present invention, the first guard is configured to be connected to a first guard on both sides of the fuselage, and the second guard is configured to be connected to the first guard a second panel of the panel, the lower portion of the second panel having a width greater than a width of the second panel portion.

[0013] As a further improvement of an embodiment of the present invention, along the forward direction of the mowing robot, end plates are disposed on the front and rear sides of the first fender, and the end plates are parallel to the cut surface of the traveling wheel.

[0014] As a further improvement of an embodiment of the present invention, the first fender includes a slope adjacent to the body and a straight portion adjacent to the second fender, the straight portion being flush with the second fender and parallel to The end face of the walking wheel.

[0015] As a further improvement of an embodiment of the present invention, the walking wheel set includes a front wheel and a rear wheel, and the second guard plate extends downward in a space between the front wheel and the rear wheel, The distance from the bottom of the second panel to the ground is less than the distance from the bottom of the cutting mechanism to the ground.

[0016] As a further improvement of an embodiment of the present invention, an outer edge of the second shield is substantially flush with an outer edge of the traveling wheel. [0017] As a further improvement of an embodiment of the present invention, the first guard is configured to be connected to an upper guard rail on a front side of the fuselage, and the second guard is configured to be connected to the upper guard rail. In the lower section of the fence, the upper fence and the lower fence are both constructed in a fence shape.

[0018] As a further improvement of an embodiment of the present invention, the mowing robot further includes a front guard rail disposed on the fuselage and located before the upper guard rail and the lower guard rail, and the front guard rail is configured as a fence. The comb tooth density of the front guard rail is smaller than the comb tooth density of the lower guard rail, and the width of each comb tooth of the front guard rail is greater than the width of each comb tooth of the lower guard rail.

[0019] As a further improvement of an embodiment of the present invention, the mowing robot further includes a front guard rail located in front of the cutting mechanism, the front guard rail being fixedly coupled to the airframe and configured in a fence shape.

[0020] As a further improvement of an embodiment of the present invention, the mowing robot further includes a protective baffle disposed around the cutting mechanism, along the forward direction of the mowing robot, the protective baffle from the The two sides and the rear of the cutting mechanism form a three-sided surrounding of the cutting mechanism.

[0021] As a further improvement of an embodiment of the present invention, the protective baffle includes an upper flange and a lower flange at upper and lower ends thereof, and the upper flange is turned outward relative to the cutting mechanism, and the lower flange is opposite The cutting mechanism is turned inward, and the protective baffle is fixedly mounted on the lower surface of the fuselage by the upper flange.

[0022] As a further improvement of an embodiment of the present invention, the protective baffle is mounted to the cutting mechanism, and the protective baffle can be adjusted with respect to the position of the body along with the cutting mechanism.

[0023] Compared with the prior art, the beneficial effects of the present invention are: The mowing robot of the present invention is provided with a protection mechanism around the cutting mechanism, which can prevent the mowing robot from performing the mowing operation, and the person or animal who accidentally touches the blade. cause some damages. The guards on both sides of the fuselage in the protection mechanism can increase the distance between the lower part and the ground by swinging, and then smoothly pass through the raised floor or the stone without being caught. The protective baffle in the protective mechanism encloses the cutting mechanism on three sides, so as to prevent the human or animal or other foreign matter from entering the working area of the cutting mechanism from the side and the back to prevent injury or damage to the mowing robot. The protective fence at the front of the fuselage is arranged to swing at a preset angle in the forward direction and/or the backward direction of the mowing robot, which can effectively get rid of the entanglement of obstacles, especially for getting rid of the grass on the lawn on the guardrail. Knotted, entangled and caused the mower to malfunction.

[0024] In order to achieve the above object, the present invention also provides a mowing robot, comprising: a fuselage, a working module mounted on the fuselage, a walking module, and a control module for coordinating the working module and the walking module. The working module includes a cutting mechanism disposed at a lower portion of the fuselage, the walking module includes a walking wheel set mounted on the body and a traveling motor driving the traveling wheel set, and the mowing robot further includes at least part of an activity setting a guarding member of the fuselage, wherein the guard member is capable of at least partially separating a space communicating with the outside of the cutting mechanism, and a distance sensing device is disposed between the guard member and the fuselage, and the movable range of the guard member exceeds a preset thereof The value triggers the distance sensing device, and the control module receives the trigger signal to control the mowing robot to stop.

[0025] Compared with the prior art, the beneficial effects of the present invention are: The mowing robot of the present invention can prevent the mowing robot from performing the mowing operation by setting the distance sensing device, causing the human or animal that accidentally enters the cutting area. hurt.

Advantageous effects of the invention

Brief description of the drawing

DRAWINGS

1 is a schematic perspective view of a robotic lawn mower in a preferred first embodiment of the present invention;

2 is a cross-sectional view of the robotic lawn mower of FIG. 1;

Figure 3 is a cross-sectional view taken along line A-A of Figure 2, with the walking wheel hidden;

4 is a perspective view of the side guard of FIG. 3; [0029] FIG.

Figure 5 is a side exploded view of the side guard of Figure 4;

6 is a perspective view of a robotic lawn mower in a preferred second embodiment of the present invention;

Figure 7 is a cross-sectional view of the robotic lawn mower of Figure 6;

Figure 8 is a perspective view of the guard of Figure 7;

[0034] FIG. 9 is a schematic view of the mowing robot of FIG. 6 using another guard;

Figure 10 is a cross-sectional view of the robotic lawn mower of Figure 9;

11 is an exploded perspective view of the mowing robot and the guard mechanism of FIG. 9;

12 is a schematic view of a robotic lawn mower in a preferred third embodiment of the present invention;

Figure 13 is a perspective view of the fence of Figure 12;

[0039] FIG. 14 is a perspective view of the mowing robot of FIG. 12 in another configuration;

15 is a schematic view of a robotic lawn mower in a preferred fourth embodiment of the present invention. Embodiments of the invention

[0041] The present invention will be described in detail below in conjunction with the specific embodiments shown in the drawings. However, the embodiments are not intended to limit the invention, and the structures, methods, or functional changes made by those skilled in the art in accordance with the embodiments are included in the scope of the present invention.

[0042] Referring to Figures 1 to 3, in a preferred embodiment of the present invention, the mowing robot is used for automatic walking and working on the ground, providing walking and working energy by using a cordless power source, such as a battery pack, a solar panel. Etc. Of course, you can also use a wired power supply to connect to the mains supply. The mowing robot includes a body 10, a working module for trimming the lawn mounted on the body 10, and a walking module for walking and steering. The working module includes a cutting motor 21, a drive shaft coupled to the cutting motor 21, and A cutting mechanism 22 to which the drive shaft is mated. In addition, the mowing robot also includes a control module for coordinating the working module and the walking module, and the control module enables the mowing robot to automatically walk and mowing on the lawn without being guarded. In the description of the present invention, unless otherwise indicated, the directional terms, such as front, back, left, right, up, and down, are referenced to the direction in which the mowing robot shown in FIG. .

[0043] As shown in FIG. 2, the body 10 includes a casing 11 at an upper portion of the mowing robot and a chassis 12 at a lower portion of the mowing robot. The chassis 12 is coupled to the casing 11, and a lower central portion of the chassis 12 is disposed at a substantially central position. The recess has a through hole at a substantially central position of the recess. The cutting motor 21 is preferably a cutting motor, and the cutting mechanism 22 includes a blade holder 221 and a blade 222 mounted on the blade holder. The cutting motor is fixed to a substantially central position on the upper surface of the chassis 12, corresponding to the recess on the chassis 12. The output of the cutting motor passes axially through the through hole in the recess, and the blade holder 221 is mounted in a recess in the lower surface of the chassis 12, and is coupled to the output shaft of the cutting motor and rotates therewith. The blade 222 is located at the periphery of the blade holder 221 and rotates with the blade holder 221 . Of course, the cutting mechanism may also be a cutting blade that is directly driven by a cutting motor, a cutting wire, or the like that can trim the lawn. The mowing robot can also be equipped with automatic or manual mowing height adjustment to adjust the distance from the blade to the ground to control the height of the lawn.

[0044] The walking module of the mowing robot includes a walking wheel set and a traveling motor that drives the traveling wheel set. Among them, the walking wheel set is mounted on the chassis 12. In this embodiment, the traveling wheel set includes four traveling wheels 31a, 31b, 32a, 32b, which are front walking wheels 31a, 31b disposed on both sides of the front part of the fuselage, and rear walking provided on both sides of the rear of the fuselage, respectively. Wheels 32a, 32b, each having independent axles. The direction of advancement of the mowing robot or the traveling mechanism is the front traveling wheels 31a, 31b and the rear traveling wheels 32a, 32b, respectively, wherein walking The motor realizes the synchronous transmission of the traveling wheels on the same side by the transmission mechanism, that is, the left front traveling wheel 31a is synchronized with the left rear traveling wheel 32a, and the right front traveling wheel 31b is synchronized with the right rear traveling wheel 32b. Specifically, the travel motor includes two, two travel motors are front or rear, or one front and one rear, each travel motor can drive the same side of the travel wheel to achieve synchronous transmission by means of belt drive, so A steering mechanism is provided to steer using the difference in rotational speed between the left and right traveling wheels. Of course, it is also possible to drive four walking wheels separately using four traveling motors. The walking wheel set is only a preferred mode in this embodiment, and those skilled in the art can easily imagine that the walking wheel can also be used in a crawler type or other manner in which walking can be achieved.

[0045] The mowing robot determines its position and path planning by using a navigation and positioning system during walking work. The navigation and positioning system includes a signal transmitting and receiving device, a turntable motor, and a signal reflecting device, and the signal reflecting device is usually in the working area of the robot. Pre-placement, such as the signal reflection device may be a plurality of reflectors, the coordinates of the reflector in the working area of the mowing robot are known, the signal transceiver is disposed in the body of the mowing robot, and the signal transceiver may be a beam emitter and The beam receiver, the mowing robot is in the process of traveling, the turret motor drives the signal transceiving device to emit a rotating scanning beam horizontally to the outside at a certain angular velocity of 360°, and the scanning beam sweeps through each of the preset reflectors, and the reflector is formed. A reflected beam parallel to the scanning beam. The beam receiver receives the reflected beam, and the mowing robot has an angle sensor that detects the angle between the scanning beam and the direction of travel of the robot. The control module of the mowing robot includes a central processing unit and a navigation algorithm preset in the memory. The central processor can calculate the coordinates of the current robot in the working area by using known reflector coordinates and angles. As the robot navigates and the beam scans, the central processor constantly recalculates the coordinates at which the robot is currently located. The peer central processor can control the path of the mowing robot according to the current coordinates and the navigation algorithm preset in the memory, or control the moving direction and speed of the mowing robot.

[0046] The above-described navigation and positioning system is only a preferred mode in the embodiment, and the mowing robot can also adopt other positioning systems, such as a GPS positioning system, a DGPS positioning system, and the like.

[0047] In this embodiment, the mowing robot further includes a protection mechanism, and FIGS. 1 to 5 illustrate a first embodiment of the protection mechanism. As shown in FIG. 1, the protection mechanism includes protection disposed on both sides of the fuselage. Item 50, the two sides here refer to the forward direction of the mowing robot, located on the left and right sides of the mowing robot, that is, the guard can connect the two sides of the cutting mechanism to the outside, that is, the guard Can be plate, mesh , grid shape, etc., does not affect the air circulation but can block foreign matter. Specifically, the guard 50 is disposed on both sides of the chassis 12, and the left side is taken as an example. The guard 50 is a baffle extending substantially downward from the chassis 12 between the left front wheel 31a and the left rear wheel 31b. The distance from the bottom of the 50 to the ground is less than the distance from the bottom of the cutting mechanism 22 to the ground.

Further, the guard 50 includes a transverse plate 51 and a riser 52 that are coupled together, wherein the transverse plate 51 is configured as a block extending from the left front wheel 31a and the right rear wheel 31b substantially horizontally to the left by the chassis 12. The riser 52 is configured as a baffle extending substantially vertically downward from the left side of the cross plate 51, wherein the width of the lower portion of the riser 52 is greater than the width of the upper portion, and the distance from the bottom of the riser 52 to the ground is less than the bottom of the cutting mechanism 22 to the ground. the distance. Preferably, the horizontal plate 5 1 and the vertical plate 52 may be arranged to be unidirectionally hinged, that is, the initial position of the vertical plate 52, and the vertical plate 52 can only swing away from the cutting mechanism 22, thereby preventing humans and animals from being The side enters the cutting mechanism 22, and when the one side traveling wheel passes the raised ground or the rock block, the guard 50 can increase the distance between the lower part and the ground by swinging to the outside, and smoothly pass the raised ground or the stone, and will not got stuck. Further, a return spring may be disposed between the horizontal plate 51 and the riser 52, and the return spring provides an elastic force for the vertical plate 52 to move toward the initial position toward the cutting mechanism 22, such that when the riser is directed away from the cutting mechanism 22 The direction of the swing, a more reliable reset can be achieved by the action of the return spring.

2 to FIG. 5, another structural form of the guard in the protective mechanism of the mowing robot of the present invention, the guard mechanism includes a guard 50a disposed on both sides of the fuselage, wherein the guard 50a A first fender 53 and a second fender 54 joined together are included. The first guard plate 53 includes a side plate 530 and an end plate 531 disposed at both ends of the side plate. The side plate 530 extends downward along the body 10. The side plate 530 is substantially parallel to the forward direction of the mowing robot, and the end plate 531 is substantially parallel. The cutting plane of the walking wheel or the axis of rotation of the walking wheel. Wherein, the side plate 530 includes an inclined portion 532 adjacent to the body 10 and a straight portion 533 relatively far from the body, the inclined portion 532 is pivotally mounted to the chassis 12, and the second guard plate 54 is pivotally mounted to the straight portion 533, and straight The portion 533 is flush with the second guard 54. Specifically, a first shaft 534 is disposed at an upper end of the inclined portion 532, and a first shaft hole 121 is disposed on the chassis 12, and the first shaft 534 is mounted to the first shaft hole 121 so that the first guard plate 53 can rotate relative to the chassis 12. A second shaft 535 is disposed at a lower end of the straight portion 533, and a second shaft hole 541 is disposed at an upper end of the second guard plate 54. The second shaft 535 is matched with the second shaft hole 541 to enable the second guard 54 to be opposite to the first guard plate. 53 rotation.

[0050] Taking the left side as an example, the first shaft hole 121 is disposed on the outer surface of the casing 11 or the chassis 12 between the left front wheel 31a and the left rear wheel 32a, and the first shaft hole 121 is provided with a width slightly below. a mouth smaller than the diameter of the first shaft 534, the mouth of the mouth The left side wall is restrained against the first guard 53 and the first shaft 534 is mounted in the first shaft hole 121 through the rake. A first spring 536 is disposed between the first guard 53 and the casing 11 or the chassis 12, and the first spring 536 gives a force for the first guard 53 to rotate away from the casing 11 such that the inclined portion of the first guard 53 The 532 extends to the lower left, and the straight portion 533 extends substantially vertically downward. The second shaft 535 is mounted in the second shaft hole 541. A second spring 546 is disposed between the first guard 53 and the second guard 54. The second spring 546 rotates the second guard 54 away from the casing 11. The force of the bottom of the first guard 53 abuts against the top of the second guard 54 to extend the second guard 54 substantially vertically downward. The straight portion 533 of the first guard 53 and the second guard 54 are substantially flush with the outer edge of the traveling wheel without being subjected to external force, i.e., the initial position.

Further, the first spring 536 and the second spring 546 are both torsion springs, and the stiffness of the first spring 536 is greater than the stiffness of the second spring 546 when a human hand/foot or animal attempts to enter the area of the cutting mechanism 22. The second guard 54 first rotates inward, and the first guard 53 rotates inward again. Because of the action of the spring, the human or animal feels resistance and gives up, and the peer can buffer the external force and reduce the influence of the external force on the mowing robot.

[0052] In addition, the inclined portion 532 of the guard 50a is provided with a distance sensing device 90 near the top end. When the guard 50& touches an animal, a person or other object that affects the normal operation of the machine, the second guard 54 swings more than its amplitude. The preset swing angle drives the first guard 53 to swing, thereby triggering the distance sensing device 90, and the control module controls the mowing robot to stop. The distance sensing device is set so that the mowing robot is broken through the protective structure to ensure that no accidental injury occurs. Specifically, the distance sensing device includes a switch and a trigger member, wherein the switch can be disposed on the chassis 12, the contact of the switch corresponds to the first guard 53, and the trigger member is disposed at the contact of the switch and the first Between the guard plates ₅₃ , one end of the trigger member is connected to the contact of the switch or the first guard 53. Preferably, the trigger member is configured as a spring, and the spring can be used to protect the hammer from being damaged by the impact force. Of course, the distance sensing device can also be used with proximity switches or other devices that can convert the distance changes into signals that the control module can process.

[0053] As shown in FIG. 6 to FIG. 11 , a second embodiment of the protection mechanism of the mowing robot of the present invention, in the embodiment, the protection mechanism includes a guard disposed on a lower portion of the fuselage, and the guard is configured to be cut. The protective baffle 60 surrounded by the mechanism on three sides is not surrounded by the forward direction of the mowing robot. A protective barrier 60 is fixedly mounted to the lower surface of the chassis 12, surrounding the cutting mechanism from both sides and rear. Specifically, the protective baffle 60 is configured as a baffle having a U-shaped cross section, and the protective baffle 60 includes an upper flange 61 and a lower flange 62, wherein the upper flange is facing outward The upper flange includes a screw hole for connecting to the chassis 12; the lower flange is turned inward. The protective baffle 60 encloses the cutting mechanism 22 on three sides, thereby more closely preventing humans or animals or other foreign matter from entering the working area of the cutting mechanism 22 from the side and the back, preventing injury or damage to the mowing robot.

[0054] As shown in FIG. 9 to FIG. 11, in another preferred configuration of the guard, the guard mechanism includes a guard baffle 60a disposed at a lower portion of the fuselage, and the guard baffle 60a is also a shield surrounded by three sides, and The protective baffle 60 is different in that the guard baffle 60a is mounted on the cutting mechanism 22, such as on the blade holder 221, and can be raised, lowered, or swung in synchronization with the cutting mechanism 22. In this way, it is ensured that the cutting mechanism 22 is not exposed to the outside of the protective structure when it is raised, lowered or oscillated, thereby enhancing the protection effect.

[0055] As shown in FIG. 12 to FIG. 14 , a third embodiment of the protection mechanism of the mowing robot of the present invention, in the embodiment, the protection mechanism further includes a guard rail 70, and the guard rail 70 is substantially fence-shaped and disposed at The front of the cutting mechanism 2 2 is hinged to the front of the chassis 12 through the third shaft 701, and can be swung around the third shaft 701 in the forward/reverse direction of the mowing robot, that is, the guard can communicate the front side of the cutting mechanism with the outside. The space is at least partially isolated, which does not affect the cut grass into the cutting area, and can effectively block foreign objects. Further, a distance sensing device is provided on the guard rail 70. When the fence swings beyond a preset angle, the control module stops the mowing robot.

[0056] Referring to FIG. 14 and in conjunction with 10, in another configuration of the fence of the mowing robot of the present invention, the fence 70a is divided into an upper section 71 and a lower section 72 by an upper frame and a lower end frame, and the upper section 71 passes through a fourth axis 711. Hinged to the chassis 12, the lower section 72 is hinged to the upper section 71 by a fifth shaft 712, the upper section 71 is provided with a distance sensing device 90, and the lower section 72 is provided with a maximum swing angle. When the lower section 72 is slightly swung under the action of the grass to be trimmed, it does not trigger the stop; when the fence 70a touches an animal, a person or other object that affects the normal operation of the machine, the lower section 72 swings beyond its preset swing angle, The upper section 71 is swung to trigger the distance sensing device, and the automatic control system stops the machine. The distance sensing device is set so that the mowing robot is broken through in the traditional protective structure to ensure no accidental injury. The front wing protection structure uses hinges, which can effectively prevent the entanglement and knotting of the grass, and can effectively get rid of obstacles such as stones and uneven ground.

[0057] Specifically, the distance sensing device includes a switch and a trigger. Wherein, the switch is disposed on the chassis 12, the contact of the switch corresponds to the upper portion 71 of the guard rail 70a, and the trigger member is disposed between the contact of the switch and the upper portion 71 of the guard rail 70a, one end of the trigger member and the cymbal The closed contact or the upper section 71 of the fence 70a is connected. Further, the trigger member is configured as a spring to protect the hammer from being damaged by the impact force. Of course, the distance sensing device can also Use a device that is close to the gate or other device that can convert the distance change into an automatic control system that can process the signal

As shown in FIG. 15, a fourth embodiment of the protective mechanism of the mowing robot of the present invention is provided. In the present embodiment, a front guard rail 80 is disposed in front of the guard rail 70a. The front guard rail 80 is fixedly mounted on the front end of the chassis 12 or the casing 11, or integrally formed with the chassis 12 or the casing 11. The combs of the front guard rail 80 are thicker and more sparse than the guard rails 70, 70a, and are used for preliminary combing of the grass in the forward direction of the robot to further prevent the entanglement and knotting of the grass.

[0059] In the above embodiments, each of the embodiments may be used alone or in combination, and the side guards of different structures may be combined with each other, and the side guards of different structures may be combined with the guardrails of different structures. They are combined with each other so that the protection mechanism has various combinations. In addition, the above-mentioned distance sensing device is arranged to protect the human/animal from contacting the cutting mechanism, and in addition, other distance sensors or obstacle detecting sensors may be additionally provided on the body, as long as the body is at a certain distance from the obstacle, the sensor is triggered.

[0060] It should be understood that although the description is described in terms of embodiments, not every embodiment includes only one independent technical solution. The description of the specification is merely for the sake of clarity, and those skilled in the art should In general, the technical solutions in the respective embodiments may be combined as appropriate to form other embodiments that can be understood by those skilled in the art.

The series of detailed descriptions set forth above are merely illustrative of the possible embodiments of the present invention, and are not intended to limit the scope of the present invention. Embodiments or modifications are intended to be included within the scope of the invention.

Claims

Claim

A mowing robot includes: a body, a working module mounted on the body, a walking module, and a control module for coordinating the working module and the walking module, the working module including a cutting mechanism disposed at a lower portion of the fuselage, The walking module comprises a walking wheel set mounted on the fuselage and a traveling motor driving the traveling wheel set, wherein: the mowing robot further comprises a guard mounted on a side of the fuselage, the guard comprising a pivot The first guard member and the second guard member are connected to the fuselage, and the second guard member is pivotally connected to the first guard member. The mowing robot according to claim 1, wherein the first guard and the second guard are allowed to face the cutting mechanism with respect to an initial position of the first guard and the second guard Rotating, and the first guard and the second guard are constrained to rotate away from the cutting mechanism.

The mowing robot according to claim 2, wherein a first spring is disposed between the first guard and the body, and the first spring provides a movement of the first guard in a direction away from the cutting mechanism. Elastic force, a second spring is disposed between the first guard and the second guard, and the second spring provides an elastic force of the second guard to move away from the cutting mechanism.

The mowing robot according to claim 3, wherein the first spring and the second spring are torsion springs, and the rigidity of the first spring is greater than the stiffness of the second spring

[Claim 5] The mowing robot according to claim 1, wherein a distance sensing device is disposed between the first guard and the body, and the second guard rotates at an angle exceeding a preset thereof. The rotation angle drives the first guard to rotate, and the first guard rotates at an angle exceeding a preset rotation angle thereof to trigger the distance sensing device, and the control module receives the trigger signal to control the mowing robot to stop.

[Claim 6] The mowing robot according to claim 5, wherein the distance sensing device comprises a switch and a trigger member, the switch is disposed on the body, the contact of the switch and the first Corresponding to the guard, the trigger member is disposed between the contact of the switch and the first guard, and one end of the trigger member is connected to the contact of the switch or the first guard. The mowing robot according to claim 1, wherein the first guard is configured to be connected to a first guard on both sides of the fuselage, and the second guard is configured to be connected to the first a second shield of the shield, the width of the lower portion of the second shield being greater than the width of the second shield portion.

The mowing robot according to claim 7, wherein an end plate is disposed on the front and rear sides of the first fender along a forward direction of the mowing robot, and the end plate is parallel to a section of the traveling wheel .

The mowing robot according to claim 7, wherein the first guard includes an inclined portion adjacent to the body and a straight portion adjacent to the second guard, the straight portion being flush with the second guard and Parallel to the end face of the walking wheel.

The mowing robot according to claim 7, wherein the traveling wheel set includes a front wheel and a rear wheel, and the second guard plate extends downward in a space between the front wheel and the rear wheel. The distance from the bottom of the second panel to the ground is less than the distance from the bottom of the cutting mechanism to the ground.

The mowing robot according to claim 7, wherein the outer edge of the second guard is substantially flush with the outer edge of the traveling wheel.

The mowing robot according to claim 1, wherein the first guard is configured to be connected to an upper fence of a front side of the fuselage, and the second guard is configured to be connected to the upper guard The lower fence of the column, the upper fence and the lower fence are both constructed in a fence shape.

The mowing robot according to claim 12, wherein the mowing robot further comprises a front guard rail disposed on the body and located before the upper fence and the lower fence, the front fence being constructed as a fence And a comb tooth density of the front guard rail is smaller than a comb tooth density of the lower guard rail, and a width of each comb tooth of the front guard rail is greater than a width of each comb tooth of the lower guard rail.

The mowing robot according to claim 1, wherein the mowing robot further includes a front guard rail located in front of the cutting mechanism, and the front guard rail is fixedly coupled to the body and configured in a fence shape. [Claim 15] The mowing robot according to claim 1, wherein the mowing robot further comprises a protective shutter disposed around the cutting mechanism, along a forward direction of the mowing robot, The protective baffle forms a three-sided surrounding of the cutting mechanism from both sides and the rear of the cutting mechanism.

[Claim 16] The mowing robot according to claim 15, wherein the protective shutter includes an upper flange and a lower flange at upper and lower ends thereof, and the upper flange is turned outward relative to the cutting mechanism The lower flange is turned inward relative to the cutting mechanism, and the protective barrier is fixedly mounted on the lower surface of the fuselage by the upper flange.

[Claim 17] The mowing robot according to claim 15, wherein the guard baffle is mounted to the cutting mechanism, and the guard baffle can be moved along with a position of the cutting mechanism with respect to the body Adjustment.