WO2020007289A1

WO2020007289A1 - Lawn mower

Info

Publication number: WO2020007289A1
Application number: PCT/CN2019/094366
Authority: WO
Inventors: 刘亿明; 郝豆豆
Original assignee: 上海七桥机器人有限公司
Priority date: 2018-07-03
Filing date: 2019-07-02
Publication date: 2020-01-09
Also published as: CN108738643A

Abstract

Disclosed is a lawn mower, comprising: a body (1), having a front support assembly (2) transversely arranged at a front part of the body (1) and a rear support assembly (3) transversely arranged at a rear part of the body (1); a control device; a front driving wheel (7), rotatably mounted to the front support assembly (2); a cutting blade, rotatably mounted in the body (1); a first electric motor (12), mounted in the body (1) and driving the front driving wheel (7) to rotate during a mowing operation; a second electric motor, mounted in the body (1) and driving the cutting blade to rotate during the mowing operation; a battery, configured to supply power to the first electric motor (12) and the second electric motor; and a rear driven wheel (15), rotatably mounted to the rear support assembly (3).

Description

Lawn mower

Technical field

This specification relates to the technical field of grass cutting equipment, and in particular, to a grass cutting machine.

Background technique

In the prior art, the grass-cutting robot usually uses a rear-wheel drive method to drive the grass-cutting robot forward; generally, the grass-cutting robot moves forward, and the rear wheel is located below the rear of the grass-cutting robot. The rear wheel of the grass-cutting robot is simply that the rear wheel provides a forward thrust to the grass-cutting robot; however, this rear-wheel drive is prone to oversteer in extreme cases, that is, the tail-flicking problem.

Summary of the invention

In view of this, the embodiment of the present specification provides a lawnmower for solving the problem that the lawnmower is prone to oversteering in the prior art because the lawnmower is driven by the rear wheels.

The embodiments of this specification adopt the following technical solutions:

An embodiment of the present specification provides a lawnmower, including:

A body, which has a front support assembly disposed laterally and located at the front of the body, and a rear support assembly located at the rear of the body;

Control device

A front drive wheel rotatably mounted on the front support assembly;

A cutting blade is rotatably installed in the body;

A first motor installed in the body and driving the front driving wheel to rotate during the mowing operation;

A second motor installed in the body and driving the cutting blade to rotate during the mowing operation;

A battery configured to provide power to the first motor and the second motor;

The rear driven wheel is rotatably mounted on the rear support assembly.

Preferably, the front support assembly includes: a bearing support supported by the body base, a connection shaft connected to the front drive wheel, and a bearing rotatably mounted on the bearing support at one end and connected to the connection shaft at the other end. Support.

Preferably, the first motor is a reduction gear motor disposed laterally, one end of the reduction motor is mounted on the support portion, and the connection shaft is disposed between the front drive wheel and the first motor.

Preferably, a convex portion extends longitudinally on the base of the body, a laterally-mounted mounting plate is mounted on the convex portion, and the bearing seat is disposed on the mounting plate.

Preferably, a control board is provided on the base of the body below the first motor, and a Hall sensor is provided on the control board; an induction magnet is provided at one end of the support portion connected to the front drive wheel; When the induction magnet moves down with the front drive wheel during the mowing operation, the Hall sensor sends a message to the control device, so that the control device cuts off the power of the second motor.

Preferably, the rear driven wheel includes a roller that extends laterally and is used to compact the grass during the mowing operation.

Preferably, the rear support assembly includes two support arms provided below the rear of the body, and the roller is rotatably mounted on the two support arms.

Preferably, the rear support assembly further includes a rotation sensor installed on one side of the rear driven wheel, and the rotation sensor is configured to detect a rotation direction of the rear driven wheel and send information to a control device, so that the control device is in When the rear driven wheel rotates backward, the power of the second motor is cut off.

Preferably, a grass-brushing mechanism for combing grass is provided below the front part of the body; or the cutting blade is arranged on a lifting mechanism inside the body, and can be raised or lowered with the lifting mechanism.

Preferably, an infrared emitting device is provided in the body; the body includes a housing, and an infrared ranging window is provided at the front end or both sides of the housing.

Preferably, the body includes a housing, and an infrared receiving sensor is provided at a rear end of the housing, for receiving an infrared signal emitted by the charging device, and causing the control device to control the lawnmower to the charging device. mobile.

Preferably, the body includes a housing, a handle is provided at the rear end of the housing, and an emergency stop button is provided on the handle.

The at least one of the above technical solutions adopted in the embodiments of the present specification can achieve the following beneficial effects: the lawnmower described in this application can make the lawnmower robot drive through the front wheels when it is advancing, and it is not easy to cause the problem of oversteering; The two large front wheels of the lawnmower robot are driven by one wheel shaft, which has less power loss, and the lawnmower robot has sufficient power when driving on uneven grass, and the passability is good; secondly, in the lawnmower's A roller for pressing the grass is arranged right behind. After the lawnmower cuts the grass, the roller can then flatten the grass, so that the lawn after cutting is visually neat.

BRIEF DESCRIPTION OF THE DRAWINGS

The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The schematic embodiments of the present application and the descriptions thereof are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

1 is a side view of a lawnmower in an embodiment of the present specification;

2 is a perspective view of a lawnmower in an embodiment of the present specification;

3 is a schematic structural diagram of a front support assembly according to an embodiment of the present disclosure;

4 is a schematic structural diagram of a front support assembly according to an embodiment of the present disclosure;

5 is a schematic structural diagram of a rear support assembly according to an embodiment of the present disclosure;

6 is a top view of a lawnmower in an embodiment of the present specification;

FIG. 7 is a schematic diagram of a position of an induction magnet in an embodiment of the present specification.

detailed description

In order to make the purpose, technical solution, and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described in combination with specific embodiments of the present application and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

The technical solutions provided by the embodiments of the present specification will be described in detail below with reference to the drawings.

A lawnmower provided by an embodiment of this specification includes:

Body 1 having a front support assembly 2 disposed laterally and located at the front of the body 1, and a rear support assembly 3 disposed laterally and located at the rear of the body 1, as shown in Figs. 1 and 2; Fig. 1 is a side view of the lawnmower FIG. 2 is a perspective view of the lawnmower; the body 1 is a lawnmower body, including a casing 4 and a body base 5;

Among them, as shown in FIGS. 3 and 4, FIG. 3 is a bottom view of the front support assembly, and FIG. 4 is a perspective view of the front support assembly; the front support assembly 2 includes: a bearing seat 6 supported by a base 5 of the body, and A connecting shaft 8 connected to the front drive wheel 7 and a support portion 9 one end of which is rotatably mounted on the bearing housing 6 and the other end of which is connected to the connecting shaft 8;

The supporting portion 9 is in a plate shape and is provided in a longitudinal direction; a convex portion (not shown in the figure) extends longitudinally on the base 5 of the body, and a mounting plate 10 disposed laterally is mounted on the convex portion. 10 can be aluminum plate;

The convex portion is in a hollow cylindrical shape, and is used for installing a lifting mechanism 11 described later; a cutting blade described later is mounted on a cutter blade for cutting grass, and the cutter blade is mounted on the lifting mechanism 11;

The cutter head drives a cutting blade described below to rotate under the driving of a second motor, so as to perform a grass cutting operation while the lawnmower is traveling;

The convex portion lifts up the mounting plate 10 so as to leave a gap with the non-convex portion of the base 5 of the body, and the bearing seat 6 is disposed at a gap below the mounting plate 10;

Specifically, the bearing block 6 is buckled on the lower surface of the mounting plate 10, a bearing is provided in the bearing block 6, and one end of the support portion 9 is mounted on the bearing block 6 through the bearing. The support portion 9 The other end is connected to the connecting shaft 8; one end of the connecting shaft 8 is fixedly connected to the front drive wheel 7 through four screws, and the other end is connected to the first motor 12 through a positioning pin (not shown in the figure). The positioning pin is disposed in a hole located on a side wall of the connection shaft 8; the connection shaft 8 is sleeved on the output shaft of the first motor 12, and the connection shaft 8 is disposed on the first motor 12 and the front Between driving wheels 7.

The front support assembly 2 further includes a locking mechanism (not shown in the figure) provided on the outside of the front drive wheel 7 for restricting the front drive wheel 7 from moving outward; the front support assembly 2 and the first The output shafts of a motor 12 are connected by a key or by a coupling;

As shown in FIG. 5, the rear support assembly 3 includes two support arms 13 provided below the rear portion of the body 1, and a roller 14 described below is rotatably mounted on the two support arms 13; the rear support The assembly 3 further includes a rotation sensor 16 installed on a side of the rear driven wheel 15 described later, and the rotation sensor 16 is configured to detect a rotation direction of the rear driven wheel 15 and send information to a control device (not shown in the figure). So that the control device cuts off the power of the second motor when the rear driven wheel 15 rotates backward;

A control device; the control device is installed on the body 1 and is used to control the front driving wheel 7, the cutting blade, the lifting mechanism 11, the grass combing mechanism 17 and the infrared emitting mechanism described later;

A front driving wheel 7 is rotatably mounted on the front support assembly 2; the lawnmower is driven by the front driving wheel 7, and a rear driven wheel described later is rotated by the power transmitted by the front driving wheel 7;

A cutting blade is rotatably installed in the body 1; the cutting blade is installed in a lifting mechanism 11 described later for cutting grass;

A first motor 12 is installed in the body 1 and drives the front drive wheel 7 to rotate during the mowing operation; the first motor 12 is a horizontally-mounted geared motor, and one end of the geared motor is mounted on the geared motor. A support portion 9, the connection shaft 8 is disposed between the front drive wheel 7 and the first motor 12;

As shown in FIG. 6, a control board 18 is provided on the body base 5 below the first motor 12, and a Hall sensor 19 is provided on the control board 18; the support portion 9 and the front drive wheel 7 An induction magnet 20 is provided at one end of the connection, so that when the body 1 is lifted by the operator during the mowing operation, the hall sensor 19 sends a message when the induction magnet 20 moves down with the front drive wheel 7 A control device that causes the control device to cut off the power of the second motor to stop the cutting blade from rotating, thereby ensuring the safety of the operator;

A second motor installed in the body 1 and driving the cutting blade to rotate during the mowing operation;

A battery configured to provide power to the first motor and the second motor;

A rear driven wheel 15 is rotatably mounted on the rear support assembly 3; the rear driven wheel 15 includes: a roller 14 that extends laterally and is used to compact the grass during the mowing operation. The roller 14 has a cylindrical shape, and the grass is crushed during the mowing operation so that the grass after the mowing looks neat and orderly.

Under normal operation of the lawnmower, the roller 14 is rotated forward under the driving of the front driving wheel 7. When the operator tries to raise the roller 14, the operator inserts his finger from the rear of the roller 14, and the roller 14 is rearward. When rotating, the rotation sensor 16 detects a change in the rotation direction of the roller 14, so that the control device controls the cutting blade to stop rotating, thereby ensuring the safety of the operator.

As shown in FIG. 1, a grass combing mechanism 17 for combing grass during a grass cutting operation is further provided below the front of the body 1; the cutting blade is arranged on a lifting mechanism 11 inside the body 1 (as shown in FIG. 1). 6), and may rise or fall with the lifting mechanism 11. The lifting mechanism 11 is provided on a longitudinally extending convex portion on the body base 5.

Preferably, the body 1 is provided with an infrared emitting device (not shown in the figure); the body 1 includes a housing 4, and an infrared ranging window 21 is provided at the front end of the housing 4 for measuring the body and the front. The distance of obstacles, so as to provide obstacle information for the control device to control the lawnmower to avoid obstacles. Similarly, infrared ranging windows 21 are also provided on both sides of the casing for measuring the body 1 and the left and right sides. Obstacle distance.

In addition, an infrared receiving sensor is provided at the rear end of the casing 4 for receiving infrared signals emitted by the charging device and causing the control device to control the lawnmower to move to the charging device. The charging device is provided with an infrared emitter for guiding the lawnmower to charge.

When the lawnmower needs to be charged, the infrared transmitter sends an infrared signal to the lawnmower. After the infrared receiving sensor receives the infrared signal, it sends information to a control device, and the control device controls the lawnmower to the charging device. Move and complete charging under the guidance of the charging device.

A handle (not shown) is provided at the rear end of the casing 4, and an emergency stop button 22 is provided on the handle. When it is necessary to stop the lawnmower while driving, one-stop operation can be realized by operating the emergency stop button 22.

Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for the relevant parts, refer to the description of the method embodiment.

The above are only examples of the present application and are not intended to limit the present application. For those skilled in the art, this application may have various modifications and changes. Any modification, equivalent replacement, and improvement made within the spirit and principle of this application shall be included in the scope of claims of this application.

Claims

A lawnmower characterized by comprising:

A body, which has a front support assembly disposed laterally and located at the front of the body, and a rear support assembly located at the rear of the body;

Control device

A front drive wheel rotatably mounted on the front support assembly;

A cutting blade is rotatably installed in the body;

A first motor installed in the body and driving the front driving wheel to rotate during the mowing operation;

A second motor installed in the body and driving the cutting blade to rotate during the mowing operation;

A battery configured to provide power to the first motor and the second motor;

The rear driven wheel is rotatably mounted on the rear support assembly.
The lawnmower according to claim 1, wherein the front support assembly comprises: a bearing seat supported by a base of the machine body, a connecting shaft connected to the front drive wheel, and one end rotatably mounted on the rotor. A bearing part and a supporting part connected to the connecting shaft at the other end.
The lawnmower according to claim 2, wherein the first motor is a reduction gear motor disposed laterally, one end of the reduction motor is mounted on the support portion, and the connection shaft is disposed on the front drive. Between a wheel and the first motor.
The lawnmower according to claim 2, wherein a convex portion extends longitudinally from the base of the body, a laterally-mounted mounting plate is mounted on the convex portion, and the bearing seat is disposed on the mounting plate.
The lawnmower according to claim 3, wherein a control board is provided on the base of the body below the first motor, and a Hall sensor is provided on the control board; the support portion and the front An induction magnet is provided at one end connected to the driving wheel; when the induction magnet moves down with the front driving wheel during the mowing operation, the Hall sensor sends a message to the control device to cause the control device to cut off the first Power supply for two motors.
The lawnmower of claim 1, wherein the rear driven wheel comprises a roller that extends laterally and is used to compact the grass during a grass cutting operation.
The lawnmower according to claim 6, wherein the rear support assembly comprises: two support arms provided below the rear part of the body, and the roller is rotatably mounted on the two support arms.
The lawnmower according to claim 1, wherein the rear support assembly further comprises a rotation sensor mounted on one side of the rear driven wheel, and the rotation sensor is configured to detect a rotation direction of the rear driven wheel And sending information to the control device, so that the control device cuts off the power of the second motor when the rear driven wheel rotates backward.
The lawnmower according to claim 1, wherein a grass-brushing mechanism for combing grass is provided below the front of the body; or the cutting blade is arranged on a lifting mechanism inside the body, and As the lifting mechanism rises or falls.
The lawnmower according to claim 1, wherein an infrared emitting device is provided in the body; the body includes a casing, and an infrared ranging window is provided at the front end or both sides of the casing.
The lawnmower according to claim 1, wherein the body comprises a housing, and an infrared receiving sensor is provided at a rear end of the housing, for receiving an infrared signal emitted by a charging device, and enabling the control The device controls the lawnmower to move toward the charging device.
The lawnmower according to claim 1, wherein the body comprises a housing, a handle is provided at the rear end of the housing, and an emergency stop button is provided on the handle.