WO2020125258A1 - 割草机 - Google Patents

割草机 Download PDF

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Publication number
WO2020125258A1
WO2020125258A1 PCT/CN2019/116206 CN2019116206W WO2020125258A1 WO 2020125258 A1 WO2020125258 A1 WO 2020125258A1 CN 2019116206 W CN2019116206 W CN 2019116206W WO 2020125258 A1 WO2020125258 A1 WO 2020125258A1
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WIPO (PCT)
Prior art keywords
drive
driving
wheels
planetary gear
wheel
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PCT/CN2019/116206
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English (en)
French (fr)
Inventor
冉沅忠
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苏州宝时得电动工具有限公司
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Priority claimed from CN201811549575.3A external-priority patent/CN111328557A/zh
Priority claimed from CN201822131324.5U external-priority patent/CN209676903U/zh
Application filed by 苏州宝时得电动工具有限公司 filed Critical 苏州宝时得电动工具有限公司
Publication of WO2020125258A1 publication Critical patent/WO2020125258A1/zh

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D69/00—Driving mechanisms or parts thereof for harvesters or mowers
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G20/00—Cultivation of turf, lawn or the like; Apparatus or methods therefor
    • A01G20/30—Apparatus for treating the lawn or grass surface

Definitions

  • the invention relates to the technical field of electric tools, in particular to a lawn mower.
  • a lawnmower is a power tool used to trim lawns, vegetation, etc. It usually includes a wheel set, a frame and a cutting system. It can drive on the lawn and cut the grass, which greatly facilitates large-area operations and reduces the number of operators. Heavy burden.
  • a lawn mower includes: a frame; a cutting component, which is provided on the frame; four drive components, which are all provided on the frame, each having an output shaft; four drive wheels, and four The output shaft is connected, and a plurality of planet wheels are provided in the circumferential direction of the drive wheel, wherein the plane of the rotation direction of the planet wheel and the plane of the rotation direction of the drive wheel are arranged at an angle, and the circumferential direction of the planet wheel The surface is at least partially exposed to make contact with the ground; the controller is connected to the four drive assemblies and independently controls the four drive assemblies.
  • the lawn mower provided in this technical solution is provided with four driving components, each driving a driving wheel, which can provide a larger driving force, achieve a larger angle of climbing and a smaller Downhill at an angle, the movement is more stable, and it is not easy to fall over.
  • the controller independently controls the four driving components to drive one driving wheel respectively.
  • each driving wheel is provided with a plurality of planet wheels in the circumferential direction, the planet wheels can rotate on the lawn, reducing the driving wheels in turning The phenomenon of slippage occurs at a time, thereby reducing the phenomenon of grass grinding between the driving wheel and the lawn, and reducing the wear on the lawn.
  • the plane where the rotation direction of the planetary gear is located is substantially perpendicular to the plane where the rotation direction of the driving wheel is located.
  • the four output shafts are arranged in pairs, the axes of each pair of output shafts are collinear, and the axes of two pairs of output shafts are parallel.
  • a plurality of first grooves are provided in the circumferential direction of the driving wheel, and the planetary gear is installed in the first groove.
  • the planetary gear rotates around a rotating shaft erected on the first groove.
  • the rotating shaft is detachably fixed to the first groove.
  • a second groove is provided between adjacent first grooves to facilitate installation and removal of the planetary gear.
  • the surface of the driving wheel and the surface of the planetary wheel are covered with a layer of soft glue.
  • the circumferential surface of the drive wheel and the circumferential surface of the planet wheel together form a circumferential surface.
  • FIG. 1 is a schematic structural diagram of a lawnmower according to an embodiment of the present invention
  • FIG. 2 is a partially enlarged schematic view of the structure A shown in FIG. 1;
  • FIG. 3 is a schematic structural view of a group of driving wheels and planet wheels according to an embodiment of the invention.
  • Fig. 4 is a side view of the driving wheel and the planetary gear shown in Fig. 3.
  • an element when said to be “fixed” to another element, it can be directly on the other element or there can also be a centered element.
  • an element When an element is considered to be “connected” to another element, it may be directly connected to another element or there may be a center element at the same time.
  • the two-wheel drive system usually cannot climb slopes greater than 25 degrees, and can only reach slopes of about 15 degrees when descending.
  • the crawler drive method With the crawler drive method, a large-angle climbing can be achieved.
  • an embodiment of the present invention provides a lawnmower 100, including: a frame 110; a cutting component, provided on the frame 110; four drive components (120, 122, 124 , 126), respectively, the first drive assembly 120, the second drive assembly 122, the third drive assembly 124 and the fourth drive assembly 126, are located in the frame 110, each having an output shaft 128; four drive wheels (130 , 132, 134, 136) are the first driving wheel 130, the second driving wheel 132, the third driving wheel 134 and the fourth driving wheel 136, respectively, connected to the four output shafts 128, the driving wheels (130, 132, A plurality of planet wheels 140 are provided in the circumferential direction of 134, 136), the plane of the rotation direction of the planet wheel 140 is disposed at an angle to the plane of the rotation direction of the drive wheels (130, 132, 134, 136), and the circumferential surface of the planet wheel 140 At least partially exposed to contact with the ground; the controller
  • zero-radius turning refers to the 360-degree rotation of the lawn mower 100 in situ.
  • the plane on which the rotation direction is located refers to the plane formed by the arc-shaped rotation direction.
  • a chassis is provided below the rack 110, and the cutting assembly is disposed at the bottom of the chassis.
  • the cutting components include cutter head, cutter shaft, bearing and cutter, etc. to complete multiple cutting modes.
  • the driving assembly (120, 122, 124, 126) includes a motor and a speed reduction mechanism, and the output shaft 128 of the motor decelerated by the speed reduction mechanism is the axle of the drive wheel.
  • the frame 110 includes a front crossbeam and a rear crossbeam. Two drive components are respectively provided at two ends of the front crossbeam, which are a first drive assembly 120 and a second drive assembly 122, respectively.
  • the driving components are the third driving component 124 and the fourth driving component 126, respectively.
  • Each drive assembly (120, 122, 124, 126) has an output shaft 128.
  • the output shaft 128 of the first drive assembly 120 is fixed with the first drive wheel 130 and the output shaft 128 of the second drive assembly 122
  • the second drive wheel 132 is fixed
  • the third drive wheel 134 is fixed to the output shaft 128 of the third drive assembly 124
  • the fourth drive wheel 136 is fixed to the output shaft 128 of the fourth drive assembly 126.
  • the four driving components (120, 122, 124, 126) are respectively connected to the controller, which are independently controlled by the controller to control the speed and driving direction of the four driving wheels (130, 132, 134, 136).
  • the controller is provided inside the frame 110 or outside the frame 110, and can integrate a variety of program instructions to control the start and stop, forward and backward, speed and travel direction of the lawnmower 100.
  • each driving wheel (130, 132, 134, 136) is provided with a plurality of planet wheels 140 in the circumferential direction, and the specific number is selected according to the radius of the driving wheel, for example, about six to eight.
  • each driving wheel (130, 132, 134, 136) is provided with six planet wheels 140 in the circumferential direction.
  • the driving wheels (130, 132, 134, 136) make a turn, the planetary gear 140 at least partially contacts the ground due to different driving differentials between them, so that relative rotation occurs with the lawn. As shown in FIG.
  • the circle B represents the movement trajectory of the wheel center of the driving wheel (130, 132, 134, 136) rotating 360 degrees around the center of the lawn mower 100, which is the zero radius mentioned in the embodiment of the present application
  • the concept of turning because the plane of the rotation direction b of the planetary gear 140 is set at an angle to the plane of the rotation direction a of the drive wheels (130, 132, 134, 136), therefore, along the tangent of the circle B
  • the direction of travel can be achieved by the rotation of the planetary gear 140 and the rotation of the drive wheels (130, 132, 134, 136), reducing the slippage of the drive wheels (130, 132, 134, 136).
  • the driving wheels (130, 132, 134, 136) rotate clockwise, the first driving wheel 130 and the third driving wheel 134 rotate in the lower right direction, and the second driving wheel 132 and the fourth driving wheel 136 rotate in the upper left direction .
  • the plane where the rotation direction of the planetary gear 140 is perpendicular to the plane where the rotation direction of the first drive wheel 130 is located as an example, as shown in FIG. 2, when the first drive wheel 130 turns at a radius of zero, the The tangent direction is the driving direction N of the first driving wheel 130 at this moment. According to the knowledge of dynamics, it can be decomposed into mutually perpendicular directions X and Y.
  • the direction X is the rotation direction of the first driving wheel 130
  • the direction Y is the planetary gear 140 rotation direction.
  • the direction Y is the sliding direction of the first driving wheel 130, and the grass grinding phenomenon easily occurs between the lawn and the lawn.
  • the direction Y changes from the sliding direction of the first driving wheel 130 to the rotating direction of the planetary gear 140, and from sliding to rolling, greatly reducing the first driving wheel 130 and the lawn The phenomenon of scrubbing grass. For the same reason, the same is true for the other three drive wheels.
  • the lawn mower 100 is provided with four drive components (120, 122, 124, 126) and four drive wheels (130, 132, 134, 136), which greatly improves the driving force compared to the two-wheel drive system. At the same time, it can also achieve a larger angle of climbing and a smaller angle of downhill, the movement is more stable, and it is not easy to fall over.
  • the lawn mower 100 provided by the technical solution is provided with four driving components (120, 122, 124, 126), respectively driving one driving wheel (130, 132, 134, 136) It can provide a larger driving force, achieve a larger angle of climbing and a smaller angle of downhill, the movement is more stable, and it is not easy to fall over.
  • the controller independently controls the four driving components (120, 122, 124, 126) to drive one driving wheel (130, 132, 134, 136) respectively.
  • Each driving wheel (130, 132, 134, 136) There are a plurality of planet wheels 140 in the circumferential direction.
  • the planet wheels 140 can rotate on the lawn, reducing the slippage phenomenon of the driving wheels (130, 132, 134, 136) when turning, thereby reducing the driving wheels (130 , 132, 134, 136) and the lawn between the lawn, to reduce wear on the lawn.
  • the plane of the rotation direction b of the planetary gear 140 is substantially perpendicular to the plane of the rotation direction a of the drive wheels (130, 132, 134, 136).
  • the vertical limit is not absolute, and deviations are allowed.
  • the rotation of the planetary gear 140 can be basically used to counteract the sliding of the driving wheels (130, 132, 134, 136), and the planetary gear 140 can roll with the lawn to a greater extent. Referring to FIGS.
  • the axis Z1 of the planetary gear 140 is substantially perpendicular to the axis Z2 of the second driving wheel 132, and the axis Z1 of the planetary gear 140 is The radial line Z3 of the two driving wheels 132 bisecting the planetary gear 140 is substantially perpendicular.
  • the four output shafts 128 are arranged in pairs, the axis of each pair of output shafts 128 is collinear, and the axes of the two pairs of output shafts 128 are parallel.
  • the four output shafts 128 are arranged in pairs corresponding to each other.
  • the two axes of each pair of output shafts 128 are collinear, and the axes of the two pairs of output shafts 128 are parallel to each other.
  • the first drive assembly 120 and the second drive assembly 122 are symmetrically arranged, the third drive assembly 124 and the fourth drive assembly 126 are symmetrically arranged, and at the same time, the first drive assembly 120 and the third drive assembly 124 is also symmetrically arranged, and the second drive assembly 122 and the fourth drive assembly 126 are also arranged symmetrically.
  • a bearing is sleeved on the position of the output shaft 128 near the driving wheels (130, 132, 134, 136) to reduce the sway of the output shaft 128 during rotation.
  • the driving wheels (130, 132, 134, 136) are circumferentially provided with a plurality of first grooves 150, and the planetary gear 140 is installed in the first grooves 150.
  • a plurality of first grooves 150 are evenly provided along the circumferential direction of the driving wheels (130, 132, 134, 136), and the planetary gear 140 is installed in the first grooves 150, and ensures that the planetary gear 140 can interact with the lawn when rotating Contact occurs instead of idling, so the radius of the planetary gear 140 can be determined according to the actual situation.
  • the driving wheels (130, 132, 134, 136) are uniformly provided with six first grooves 150 in the circumferential direction, and six planet wheels 140 are installed.
  • the side of the first groove 150 also has a gap between the planetary gear 140 and the planetary gear 140 and the first gear are reduced as much as possible
  • the mechanical contact between the groove 150 also reduces the wear of the first groove 150 and the planet gear 140.
  • the planetary gear 140 rotates around a rotating shaft 142 erected on the first groove 150.
  • the rotating shaft 142 penetrates the side wall of the first groove 150 and is erected on the first groove 150.
  • the planetary gear 140 can rotate relatively around the rotating shaft 142.
  • the planetary gear 140 and the rotating shaft 142 may have a clearance fit to realize the rotating action of the planetary gear 140 when turning, and to minimize the rotating action of the planetary gear 140 when not turning.
  • the rotating shaft 142 is detachably fixed to the first groove 150. Because the relative rotation between the rotating shaft 142 and the planetary gear 140 can occur and wear occurs frequently, therefore, the rotating shaft 142 is detachably fixed to the first groove 150, so that it can be regularly maintained and replaced according to the service life , Or in the event of failure, promptly and quickly replace and repair.
  • the rotating shaft 142 may be similar to large bolts, pins and pins, which are locked with nuts, washers, etc., or openings are provided at both ends of the rotating shaft 142, and steel members are used to pass through the openings Some steel parts protruding from the opening are bent to achieve the purpose of locking. This embodiment does not limit the structural characteristics of the rotating shaft 142 and its fixing member, but is only for illustration.
  • a second groove 160 is provided between adjacent first grooves 150 to facilitate the installation and removal of the planetary gear 140.
  • a second groove 160 is provided between adjacent first grooves 150, and a rotating shaft 142 and a fixing member are partially located in the second groove 160, keeping the open state of the second groove 160, which can facilitate the wear of the planetary gear 140, When the rotating shaft 142 is damaged, it should be replaced and repaired in time.
  • the surface of the driving wheels (130, 132, 134, 136) and the surface of the planet wheels 140 are both covered with a layer of soft glue.
  • a soft glue is applied to the surface of the driving wheel (130, 132, 134, 136) that contacts the lawn, and the surface of the planetary wheel 140 that contacts the lawn to increase the driving wheel (130, 132, 134, 136) The elastic contact force between the lawn and the planetary wheel 140 and the lawn.
  • the circumferential surface of the driving wheels (130, 132, 134, 136) and the circumferential surface of the planetary gear 140 can collectively form a circumferential surface to achieve smooth engagement.
  • the driving wheel (130, 132, 134, 136) travels straight, the planetary gear 140 can be regarded as its own component, and the driving wheel (130, 132, 134, 136) is normal It rotates while the planetary gear 140 remains substantially stationary, and does not affect the straight running of the drive wheels (130, 132, 134, 136).
  • the controller has an integrated system that includes multiple mowing modes.
  • the mowing mode may include high-speed mowing, medium-speed mowing, and low-speed mowing.
  • the controller also includes a control program that controls the drive components.
  • the control program can also be integrated into the integrated system, including a variety of mowing paths, to achieve straight and turning, forward and backward actions of the mower 100.
  • the rack 110 is provided with a start button and a selection button to select the corresponding mowing mode; or a wireless signal is controlled by the mobile phone APP to select the corresponding mowing mode.
  • the operator can directly select the mowing mode and mowing path before the mower 100 is started, to realize automatic mowing.
  • the operator controls the actions of the lawn mower 100 in a wireless signal transmission and reception mode through an APP bound to the mobile phone, thereby realizing automated mowing.
  • the lawn mower 100 provided by the technical solution is provided with four driving components (120, 122, 124, 126), respectively driving one driving wheel (130, 132, 134, 136) , It can provide a larger driving force, achieve a larger angle of climbing and a smaller angle of downhill, the movement is more stable, and it is not easy to fall over.
  • the controller independently controls the four driving components (120, 122, 124, 126) to drive one driving wheel (130, 132, 134, 136) respectively.
  • Each driving wheel (130, 132, 134, 136) There are a plurality of planet wheels 140 in the circumferential direction.
  • the planet wheels 140 can rotate on the lawn, reducing the slippage of the driving wheels (130, 132, 134, 136) when turning, thereby reducing the driving wheels (130 , 132, 134, 136) and the lawn between the lawn, to reduce wear on the lawn.

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Abstract

一种割草机（100），包括：机架（110）；切割组件，设于机架（110）；四个驱动组件（120、122、124、126），均设于机架（110），分别具有一个输出轴（128）；四个驱动轮（130、132、134、136），分别与四个输出轴（128）连接，驱动轮（130、132、134、136）的周向设有多个行星轮（140），行星轮（140）的旋转方向所在面与驱动轮（130、132、134、136）的旋转方向所在面成角度设置，并且行星轮（140）的周向表面至少部分地暴露在外以与地面接触；控制器，与四个驱动组件（120、122、124、126）连接，分别独立控制四个驱动组件（120、122、124、126）。上述技术方案至少具有以下技术效果：控制器独立控制四个驱动组件分别驱动一个驱动轮，在零半径转弯时，由于每个驱动轮的周向上均设有多个行星轮，行星轮能够在草坪上发生转动，减少驱动轮在转弯时发生滑移现象，进而减少驱动轮与草坪之间的磨草现象，减少对草坪的磨损。

Description

割草机
本申请要求了申请日为2018年12月18日，申请号为201811549575.3和申请号为201822131324.5的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及电动工具技术领域，特别是涉及一种割草机。
背景技术
割草机是一种用于修剪草坪、植被等的电动工具，通常包括轮组、机架和切割系统，能够在草坪上行驶并切割草地，极大地方便了大面积作业，减少了操作人员的繁重负担。
传统的割草机通常采用履带驱动的方式，能够实现大角度爬坡。但是，在实现零半径转弯的情况下，容易磨损草坪。
发明内容
基于此，有必要针对传统的割草机在实现零半径转弯的情况下，容易磨损草坪的问题，提供一种割草机。
一种割草机，包括：机架；切割组件，设于所述机架；四个驱动组件，均设于所述机架，分别具有一个输出轴；四个驱动轮，分别与四个所述输出轴连接，所述驱动轮的周向设有多个行星轮，其中，所述行星轮的旋转方向所在面与所述驱动轮的旋转方向所在面成角度设置，并且所述行星轮的周向表面至少部分地暴露在外以与地面接触；控制器，与四个所述驱动组件连接，分别独立控制四个所述驱动组件。
上述技术方案至少具有以下技术效果：本技术方案所提供的割草机中设有 四个驱动组件，分别驱动一个驱动轮，能够提供较大的驱动力，实现较大角度的爬坡和较小角度的下坡，运动平稳性更高，不易发生翻倒现象。控制器独立控制四个驱动组件分别驱动一个驱动轮，在零半径转弯时，由于每个驱动轮的周向上均设有多个行星轮，行星轮能够在草坪上发生转动，减少驱动轮在转弯时发生滑移现象，进而减少驱动轮与草坪之间的磨草现象，减少对草坪的磨损。
下面对上述技术方案进行进一步地说明。
在其中一个实施例中，所述行星轮的旋转方向所在面与所述驱动轮的旋转方向所在面大致垂直设置。
在其中一个实施例中，四个所述输出轴成对设置，每对所述输出轴的轴线共线，且两对所述输出轴的轴线平行。
在其中一个实施例中，所述驱动轮的周向开设有多个第一凹槽，所述行星轮安装于所述第一凹槽内。
在其中一个实施例中，所述第一凹槽的底部与所述行星轮之间具有间隙，所述第一凹槽的侧部与所述行星轮之间也具有间隙。
在其中一个实施例中，所述行星轮绕架设于所述第一凹槽的转轴旋转。
在其中一个实施例中，所述转轴可拆卸地固定于所述第一凹槽。
在其中一个实施例中，相邻所述第一凹槽之间设有第二凹槽，以便于所述行星轮的安装与拆卸。
在其中一个实施例中，所述驱动轮的表面和所述行星轮的表面均包裹有一层软胶。
在其中一个实施例中，所述驱动轮的周向表面和所述行星轮的周向表面共同组成圆周表面。
附图说明
图1为本发明一实施例割草机的结构示意图；
图2为图1所示A结构的局部放大示意图；
图3为本发明一实施例一组驱动轮和行星轮的结构示意图；
图4为图3所示驱动轮和行星轮的侧视图。
其中：100、割草机  110、机架           120、第一驱动组件
122、第二驱动组件  124、第三驱动组件   126、第四驱动组件
128、输出轴        130、第一驱动轮     132、第二驱动轮
134、第三驱动轮    136、第四驱动轮     140、行星轮
142、转轴          150、第一凹槽       160、第二凹槽
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。
需要说明的是，当元件被称为“固定于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
传统的割草机中，两轮驱动系统通常无法爬上大于25度的斜坡、下坡时也 只能达到15度左右的斜坡。采用履带驱动的方式，则能够实现大角度爬坡。但是，对转弯有一定的半径限制，在实现零半径转弯的情况下，容易磨损草坪。
为此，请参考图1和图2，本发明一实施例提供了一种割草机100，包括：机架110；切割组件，设于机架110；四个驱动组件(120、122、124、126)，分别是第一驱动组件120、第二驱动组件122、第三驱动组件124和第四驱动组件126，均设于机架110，分别具有一个输出轴128；四个驱动轮(130、132、134、136)，分别是第一驱动轮130、第二驱动轮132、第三驱动轮134和第四驱动轮136，分别与四个输出轴128连接，驱动轮(130、132、134、136)的周向设有多个行星轮140，行星轮140的旋转方向所在面与驱动轮(130、132、134、136)的旋转方向所在面成角度设置，并且行星轮140的周向表面至少部分地暴露在外以与地面接触；控制器，与四个驱动组件(120、122、124、126)连接，分别独立控制四个驱动组件(120、122、124、126)。本实施例中，割草机100为智能割草机。
需要说明的是，本申请的实施例中所提到的“零半径转弯”指的是割草机100原地360度旋转。“旋转方向所在面”指的是圆弧形的旋转方向所形成的平面。
本实施例中，机架110的下方设有底盘，切割组件设置于底盘底部。切割组件包括刀盘座、刀轴、轴承和割刀等，以完成多种割草模式。驱动组件(120、122、124、126)包括电机和减速机构，电机经减速机构减速后的输出轴128即为驱动轮的轮轴。具体地，机架110包括前横梁和后横梁，前横梁的两端分别设有两个驱动组件，分别是第一驱动组件120、第二驱动组件122，后横梁的两端分别设有两个驱动组件，分别是第三驱动组件124、第四驱动组件126。每个驱动组件(120、122、124、126)均具有一个输出轴128，相对应地，第一驱动 组件120的输出轴128固定有第一驱动轮130，第二驱动组件122的输出轴128固定有第二驱动轮132，第三驱动组件124的输出轴128固定有第三驱动轮134，第四驱动组件126的输出轴128固定有第四驱动轮136。四个驱动组件(120、122、124、126)分别与控制器连接，由控制器分别独立控制，以控制四个驱动轮(130、132、134、136)的速度大小和行驶方向。控制器设于机架110内部或机架110外部，能够集成多种程序指令，以控制割草机100的启动和停止、前进和后退、速度大小和行驶方向等。
参考图3和图4，每个驱动轮(130、132、134、136)的周向上均设有多个行星轮140，具体的数量根据驱动轮的半径选择，例如，六至八个左右。本实施例中，每个驱动轮(130、132、134、136)的周向上均设有六个行星轮140。当驱动轮(130、132、134、136)转弯时，由于彼此之间不同的行驶差速实现零半径转弯，行星轮140至少部分地与地面接触，从而与草坪之间也发生相对转动。如图1所示，圆周B表示驱动轮(130、132、134、136)绕割草机100中心旋转360度的轮心的运动轨迹，此为本申请的实施例中所提到的零半径转弯的概念，如图3和图4，由于行星轮140的旋转方向b所在面与驱动轮(130、132、134、136)的旋转方向a所在面成角度设置，因此，沿圆周B的切线方向的行驶方向能够由行星轮140的旋转和驱动轮(130、132、134、136)的旋转共同实现，减少驱动轮(130、132、134、136)的滑动量。如果驱动轮(130、132、134、136)顺时针旋转，第一驱动轮130和第三驱动轮134则朝右下方向转动，第二驱动轮132和第四驱动轮136则朝左上方向转动。以行星轮140的旋转方向所在面与第一驱动轮130的旋转方向所在面垂直设置为例，进行说明，具体如图2所示，当第一驱动轮130零半径转弯时，沿圆周B的切线方向为第一驱动轮130在该时刻的行驶方向N，根据动力学知识，可以分解为相互垂直的 方向X和方向Y，方向X为第一驱动轮130的旋转方向，方向Y为行星轮140的旋转方向。当没有设置行星轮140时，方向Y则为第一驱动轮130的滑动方向，与草坪之间容易产生磨草现象。本实施例中，由于设置了行星轮140，方向Y由第一驱动轮130的滑动方向变成了行星轮140的旋转方向，由滑动变成了滚动，大大减少了第一驱动轮130与草坪之间的磨草现象。同理，其他三个驱动轮亦如此。此外，割草机100设有四个驱动组件(120、122、124、126)和四个驱动轮(130、132、134、136)，相比于两轮驱动系统，大大提高了驱动力，同时，也能够实现较大角度的爬坡和较小角度的下坡，运动平稳性更高，不易发生翻倒现象。
上述技术方案至少具有以下技术效果：本技术方案所提供的割草机100中设有四个驱动组件(120、122、124、126)，分别驱动一个驱动轮(130、132、134、136)，能够提供较大的驱动力，实现较大角度的爬坡和较小角度的下坡，运动平稳性更高，不易发生翻倒现象。控制器独立控制四个驱动组件(120、122、124、126)分别驱动一个驱动轮(130、132、134、136)，在零半径转弯时，由于每个驱动轮(130、132、134、136)的周向上均设有多个行星轮140，行星轮140能够在草坪上发生转动，减少驱动轮(130、132、134、136)在转弯时发生滑移现象，进而减少驱动轮(130、132、134、136)与草坪之间的磨草现象，减少对草坪的磨损。
下面对上述技术方案进行进一步地说明。
参考图3和图4，在一些实施例中，行星轮140的旋转方向b所在面与驱动轮(130、132、134、136)的旋转方向a所在面大致垂直设置。本实施例中，垂直的限定并非是绝对的，允许存在偏差。如此设置，能够使行星轮140的旋转基本上全部用来抵消驱动轮(130、132、134、136)的滑行，使行星轮140 更大程度上与草坪之间实现滚动。参考图1、图3和图4，以第二驱动轮132为例，可以理解为，行星轮140的轴线Z1与第二驱动轮132的轴线Z2大致垂直，行星轮140的的轴线Z1与第二驱动轮132的平分该行星轮140的径向线Z3大致垂直。
在一些实施例中，四个输出轴128成对设置，每对输出轴128的轴线共线，且两对输出轴128的轴线平行。出于结构紧凑整齐考虑，四个输出轴128两两对应成对设置，每对输出轴128的两条轴线共线，两对输出轴128的轴线之间互相平行。根据上述记载，如图1所示，第一驱动组件120与第二驱动组件122对称设置，第三驱动组件124与第四驱动组件126对称设置，同时，第一驱动组件120与第三驱动组件124也对称设置，第二驱动组件122与第四驱动组件126也对称设置。此外，输出轴128靠近驱动轮(130、132、134、136)的位置还套设有轴承，以减轻输出轴128在旋转过程中的晃动。
参考图3和图4，在一些实施例中，驱动轮(130、132、134、136)的周向开设有多个第一凹槽150，行星轮140安装于第一凹槽150内。沿驱动轮(130、132、134、136)的周向均匀地开设有多个第一凹槽150，行星轮140安装于第一凹槽150内，且保证行星轮140在旋转时能够与草坪发生接触，而非空转，如此可根据实际情况确定行星轮140的半径大小。本实施例中，驱动轮(130、132、134、136)的周向均匀地开设有六个第一凹槽150，安装有六个行星轮140。
进一步地，第一凹槽150的底部与行星轮140之间具有间隙。为了减少行星轮140在旋转过程中与第一凹槽150之间的摩擦，第一凹槽150的底部与行星轮140之间具有间隙，尽可能地减少行星轮140与第一凹槽150之间的机械接触，同时也减轻了第一凹槽150和行星轮140的磨损。
更进一步地，第一凹槽150的侧部与行星轮140之间也具有间隙。为了进 一步地减少行星轮140在旋转过程中与第一凹槽150之间的摩擦，第一凹槽150的侧部与行星轮140之间也具有间隙，尽可能地减少行星轮140与第一凹槽150之间的机械接触，同时也减轻了第一凹槽150和行星轮140的磨损。
进一步地，行星轮140绕架设于第一凹槽150的转轴142旋转。转轴142贯穿第一凹槽150的侧壁，架设于第一凹槽150，行星轮140绕转轴142可相对旋转。行星轮140与转轴142之间可以是间隙配合，实现转弯时行星轮140的旋转动作，而尽可能地减少非转弯时行星轮140的旋转动作。
更进一步地，转轴142可拆卸地固定于第一凹槽150。由于转轴142和行星轮140之间能够发生相对转动，出现磨损的情况较多，因此，将转轴142设为可拆卸地固定于第一凹槽150，则能够定期地根据使用寿命进行维护和更换，或者在出现故障时，及时快速地进行更换和维修。转轴142可以是类似于大型螺栓、销轴和销钉之类的，利用螺母、垫片等将其锁紧、或者在转轴142的两端开设有开孔，利用钢性件穿过开孔，将伸出开孔的部分钢性件折弯，以达到锁紧的目的。本实施例并不限定转轴142及其固定件的结构特征，仅仅用以说明。
在其中一些实施例中，相邻第一凹槽150之间设有第二凹槽160，以便于行星轮140的安装与拆卸。相邻第一凹槽150之间设有第二凹槽160，转轴142以及固定件等部分地位于第二凹槽160中，保持第二凹槽160的开放状态，能够便于行星轮140磨损、转轴142损伤时，及时快速地进行更换和维修。
在一些实施例中，驱动轮(130、132、134、136)的表面和行星轮140的表面均包裹有一层软胶。为了提高割草机100的减震能力和防震能力，在驱动轮(130、132、134、136)与草坪接触的表面、行星轮140与草坪接触的表面包裹一层软胶，以增加驱动轮(130、132、134、136)与草坪之间、行星轮140与草坪之间的弹性接触力。同时，为了在一定程度上提高驱动轮(130、132、 134、136)与草坪之间的防滑能力，以及行星轮140与草坪之间的防滑能力，在软胶层上刻有多个花纹和槽隙，以增加接触摩擦力。
进一步地，驱动轮(130、132、134、136)的周向表面与行星轮140的周向表面能够共同组成圆周表面，实现顺滑衔接。在驱动轮(130、132、134、136)直线行驶时，行星轮140可以看成是驱动轮(130、132、134、136)的自身部件，驱动轮(130、132、134、136)正常转动，而行星轮140基本保持静止，不影响驱动轮(130、132、134、136)的直线行驶。
在其他一些实施例中，控制器具有集成系统，集成系统包括多种割草模式。割草模式可以包括高速割草、中速割草和低速割草等。同时，控制器还包括控制驱动组件的控制程序，该控制程序也可以集成到集成系统中，包括多种割草路径，以实现割草机100的直线和转弯、前进和后退等动作。
进一步地，机架110上设有启动按钮和选择按钮，以选择相应的割草模式；或者通过无线信号由手机APP控制，以选择相应的割草模式。本实施例中，操作人员可以直接在割草机100启动前选择割草模式和割草路径，实现自动化割草。或者，操作人员通过绑定在手机上的APP以无线信号传递和接收的方式控制割草机100的动作，实现自动化割草。
上述技术方案至少具有以下技术效果：本技术方案所提供的割草机100中设有四个驱动组件(120、122、124、126)，分别驱动一个驱动轮(130、132、134、136)，能够提供较大的驱动力，实现较大角度的爬坡和较小角度的下坡，运动平稳性更高，不易发生翻倒现象。控制器独立控制四个驱动组件(120、122、124、126)分别驱动一个驱动轮(130、132、134、136)，在零半径转弯时，由于每个驱动轮(130、132、134、136)的周向上均设有多个行星轮140，行星轮140能够在草坪上发生转动，减少驱动轮(130、132、134、136)在转弯时发生 滑移现象，进而减少驱动轮(130、132、134、136)与草坪之间的磨草现象，减少对草坪的磨损。
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 (10)

  1. 一种割草机，其特征在于，包括：
    机架；
    切割组件，设于所述机架；
    四个驱动组件，均设于所述机架，分别具有一个输出轴；
    四个驱动轮，分别与四个所述输出轴连接，所述驱动轮的周向设有多个行星轮，其中，所述行星轮的旋转方向所在面与所述驱动轮的旋转方向所在面成角度设置，并且所述行星轮的周向表面至少部分地暴露在外以与地面接触；
    控制器，与四个所述驱动组件连接，分别独立控制四个所述驱动组件。
  2. 根据权利要求1所述的割草机，其特征在于，所述行星轮的旋转方向所在面与所述驱动轮的旋转方向所在面大致垂直设置。
  3. 根据权利要求1所述的割草机，其特征在于，四个所述输出轴成对设置，每对所述输出轴的轴线共线，且两对所述输出轴的轴线平行。
  4. 根据权利要求1所述的割草机，其特征在于，所述驱动轮的周向开设有多个第一凹槽，所述行星轮安装于所述第一凹槽内。
  5. 根据权利要求4所述的割草机，其特征在于，所述第一凹槽的底部与所述行星轮之间具有间隙，所述第一凹槽的侧部与所述行星轮之间也具有间隙。
  6. 根据权利要求4所述的割草机，其特征在于，所述行星轮绕架设于所述第一凹槽的转轴旋转。
  7. 根据权利要求6所述的割草机，其特征在于，所述转轴可拆卸地固定于所述第一凹槽。
  8. 根据权利要求4所述的割草机，其特征在于，相邻所述第一凹槽之间开设有第二凹槽，以便于所述行星轮的安装与拆卸。
  9. 根据权利要求1所述的割草机，其特征在于，所述驱动轮的表面和所述 行星轮的表面均包裹有一层软胶。
  10. 根据权利要求1所述的割草机，其特征在于，所述驱动轮的周向表面和所述行星轮的周向表面共同组成圆周表面。
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CN101389211A (zh) * 2006-02-16 2009-03-18 凯姿股份有限公司 步行型自行式割草机的传动装置
CN201518600U (zh) * 2009-04-30 2010-07-07 无锡泰迈克动力科技有限公司 一种新型自走式草坪割草机自走机构
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