WO2023001311A1 - 自动行走设备及其自驱动软管收放的方法 - Google Patents

自动行走设备及其自驱动软管收放的方法 Download PDF

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Publication number
WO2023001311A1
WO2023001311A1 PCT/CN2022/107674 CN2022107674W WO2023001311A1 WO 2023001311 A1 WO2023001311 A1 WO 2023001311A1 CN 2022107674 W CN2022107674 W CN 2022107674W WO 2023001311 A1 WO2023001311 A1 WO 2023001311A1
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WIPO (PCT)
Prior art keywords
transmission
motor
pipe
wheel
self
Prior art date
Application number
PCT/CN2022/107674
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English (en)
French (fr)
Inventor
查霞红
赵凤丽
李敏行
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.)
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Publication date
Priority claimed from CN202110839577.1A external-priority patent/CN115685979A/zh
Priority claimed from CN202121696098.0U external-priority patent/CN215530552U/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 WO2023001311A1 publication Critical patent/WO2023001311A1/zh

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    • 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
    • A01G25/00—Watering gardens, fields, sports grounds or the like
    • A01G25/02—Watering arrangements located above the soil which make use of perforated pipe-lines or pipe-lines with dispensing fittings, e.g. for drip irrigation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions

Definitions

  • the invention relates to the technical field of watering equipment, in particular to an automatic walking equipment.
  • the traditional fixed automatic walking equipment usually includes components such as water pipes and sprinklers.
  • the sprinkler head is a whole and can walk in a straight line, but it cannot work around obstacles, and each time the watering cycle is completed, it needs to be rearranged manually, and automatic watering cannot be realized.
  • the equipment for retracting and unwinding water pipes usually only has a pipe retracting module.
  • the pipe retracting module is equipped with a water pipe motor, and the water pipe motor drives the winch to rotate to retract the water pipe.
  • a pipe release device In order to realize the automatic watering of the watering robot during the moving process, it is necessary to add a pipe release device.
  • a hose retracting mechanism comprising: a frame; a winch, installed on the frame, a water pipe is wound on the winch, and the water pipe is connected to a water source;
  • the hose retracting mechanism includes: a motor unit , including at least one motor; transmission system, including: a first transmission structure, including a first clutch mechanism and a first transmission gear, the first transmission structure transmission connection at least one motor of the motor unit and the winch;
  • the second The transmission structure includes a second clutch mechanism and at least one second transmission wheel, and the second transmission structure is transmission-connected to at least one motor of the motor unit and the pipe discharge wheel assembly, wherein the first clutch mechanism is arranged on the Between the motor group and the first transmission wheel, the second clutch mechanism is arranged between the motor group and the second transmission wheel;
  • the hose retraction control system includes a controller, and the controller controls The motor unit and/or the corresponding transmission structure disengages the transmission between the motor unit and the first transmission wheel, or disengages the transmission between the motor unit and the second transmission
  • the motor set includes a motor, and the first and second transmission structures are both connected to the motor.
  • the motor set includes a first motor and a second motor, the first motor is connected to the first transmission structure, and the second motor is connected to the second transmission structure.
  • a kind of automatic walking equipment the automatic walking equipment has a self-driven hose retractable mechanism, a frame; a winch is installed on the frame, and a water pipe is wound on the winch, and the water pipe is connected to a water source;
  • the self-driven retracting tube mechanism includes: a motor unit, including a first motor and a second motor, and the first motor and the second motor can output different speeds;
  • a transmission system including: a first transmission structure, including a first clutch mechanism and the first transmission gear, the first transmission structure is drivingly connecting the armature shaft of the first motor and the winch;
  • the second transmission structure includes a second clutch mechanism and at least one second transmission wheel, the second The transmission structure drives and connects the armature shaft of the second motor and the tube release wheel assembly, wherein the first and second clutch mechanisms are respectively arranged on the armature shaft of the first motor and the first transmission wheel and the second clutch mechanism. between the armature shaft of the second motor and the second drive wheel;
  • the hose retracting control system (60) includes a controller (610), the controller (610) controls the first and second motors and/or the corresponding transmission structure, so that the first motor and the second disengage the transmission between one transmission wheel, or disengage the transmission between the second motor and the second transmission wheel.
  • the above-mentioned automatic running equipment by controlling the output speed of the first motor to be greater than that of the second motor, and disengaging the transmission between the first motor and the first transmission wheel, the automatic running equipment enters the pipe release mode, and The first motor does not affect the tube discharge work; by controlling the output speed of the second motor to be greater than the first motor and disengaging the transmission between the second motor and the second transmission wheel, the automatic walking equipment enters the tube collection mode, and the second motor Does not affect the pipe work.
  • the first and second clutch mechanisms are one-way bearings or electromagnetic clutches
  • the direction of rotation of the one-way bearings is clockwise or counterclockwise
  • the electromagnetic clutches include a disconnected state and a closed state.
  • the controller (610) controls the output speeds of the first and second motors, drives the first and second motors to run in the same direction and at a certain speed ratio, so that the first The rotation speed of the armature shaft of the motor (310) can be disengaged from the transmission between the first transmission wheel (321), or the rotation speed of the armature shaft of the second motor (410) can reach the speed of the first transmission wheel (321). The transmission is disengaged between the two transmission wheels (421).
  • the controller (610) controls the first clutch mechanism (330) to be in an open state and the second clutch mechanism (440) to be in a closed state, so that the first motor (310) and the Disengage the transmission between the first transmission wheels (321), or control the second clutch mechanism (440) to be in a disconnected state and the first clutch mechanism (330) to be in a closed state, so that the second motor (410) and the The transmission is disengaged between the second transmission wheels (421).
  • the controller controls the output speed of the second motor to be greater than that of the first motor; or controls the output speed of the first motor to be greater than that of the second motor.
  • the controller controls the rotation speed ratio of the first and second motors to take a value between 1.2-1.8.
  • the first transmission structure includes a first transmission wheel, the first transmission wheel includes a pulley portion, and the first transmission structure further includes a driving pulley, a transmission belt, and a driving gear.
  • the transmission belt connects the pulley part of the first transmission wheel and the driving pulley, the driving gear is fixedly connected with the driving pulley, and the winch is provided with an inner ring gear meshing with the driving gear.
  • the pipe releasing wheel assembly includes a first pipe releasing wheel and a second pipe releasing wheel, and a gap is formed between the first pipe releasing wheel and the second pipe releasing wheel to allow the water pipe to pass through.
  • the pipe discharging wheel assembly further includes at least one set of pipe discharging wheels and a pipe discharging gear respectively connected to each of the pipe discharging wheels.
  • the pipe releasing gear is meshed with the second transmission wheel for transmission, so that the hose passes through the gap formed by the pipe releasing wheel.
  • both the first pipe laying wheel and the second pipe laying wheel are rubber wheels.
  • a method for retracting and unwinding a self-driving hose of a self-propelled device, which is applied to the described self-propelled device, comprising the steps of:
  • the second motor drives the pipe release wheel assembly through the second transmission structure, and the release The pipe wheel assembly drives the water pipe to be released from the winch;
  • the first motor drives the winch to rotate through the first transmission structure, and the winch retracts the water pipes.
  • the first motor (310) drives the winch (20) to rotate through the first transmission structure (320), and the winch (20) curling water pipe (210).
  • the release mechanism includes: a driving motor, the driving motor includes an armature shaft; a first transmission structure, which drives and connects the armature shaft and the winch; a second transmission structure, which is connected and arranged on the frame The cable rod and the winch, so that the cable rod can rotate under the drive of the winch, so that the hose is evenly wound on the winch; the ball spline transmission assembly, the ball spline
  • the transmission assembly includes a spline shaft and a spline sleeve, the spline shaft is driven to rotate by the armature shaft, and the spline sleeve is connected to the third transmission structure; an electromagnetic clutch is arranged between the armature shaft and the Between the ball splin
  • the armature shaft disconnects the power transmission from the winch through the electromagnetic clutch, so that the winch will not cause additional resistance to the pipe discharge action, so that the pipe discharge is smooth; or the armature shaft can disconnect the power from the spline shaft through the electromagnetic clutch Transmission, so that the pipe release wheel assembly of the pipe release module will not actively rotate, and will not generate resistance to the pipe collection, so that the pipe collection is smooth.
  • the first transmission structure includes a first driving pulley, a first driven pulley, a first gear, and a first transmission belt, and the first driving pulley is installed on the armature shaft,
  • the first driven pulley is arranged on the frame, the first transmission belt connects the first driven pulley and the first driven pulley, and the first gear and the first driven pulley connection;
  • the winch is provided with an inner ring gear, and the inner ring gear is meshed with the first gear for transmission.
  • the electromagnetic clutch is arranged between the first gear and the first driven pulley; or the electromagnetic clutch is arranged between the armature shaft and the first driving pulley between.
  • the second transmission structure includes a second gear, a second driving pulley, a second driven pulley, and a second transmission belt, and the second driving pulley is connected to the second gear,
  • the second driven pulley is fixedly connected with the cable rod, and the second transmission belt connects the second driving pulley and the second driven pulley;
  • the winch is provided with an inner gear, and the inner gear The ring is meshed with the second gear for transmission.
  • the pipe discharging module includes a pipe discharging wheel assembly that is drivingly connected to the third transmission structure.
  • the pipe releasing wheel assembly includes a first pipe releasing wheel and a second pipe releasing wheel, and a gap is formed between the first pipe releasing wheel and the second pipe releasing wheel to allow the water pipe to pass through.
  • the third transmission structure includes a first pipe release gear and a second pipe release gear, the first pipe release gear is meshed with the spline sleeve for transmission, and the first pipe release gear is in contact with the spline sleeve.
  • the first pipe discharging wheel is connected, the second pipe discharging gear is meshed with the first pipe discharging gear and the second pipe discharging gear is connected with the second pipe discharging wheel.
  • both the first pipe laying wheel and the second pipe laying wheel are rubber wheels.
  • the armature shaft is provided with a third gear
  • the spline shaft is provided with a fourth gear
  • the fourth gear is meshed with the third gear for transmission
  • the electromagnetic clutch is set between the fourth gear and the spline shaft.
  • the electromagnetic clutch includes a first electromagnetic clutch and a second electromagnetic clutch, the first electromagnetic clutch is arranged between the armature shaft and the ball spline transmission assembly, and the second electromagnetic clutch Two electromagnetic clutches are arranged between the winch and the first transmission structure.
  • Fig. 1 is a bottom view of a self-propelled device according to an embodiment of the present invention.
  • Fig. 2 is a top view of an automatic walking device according to an embodiment of the present invention.
  • Fig. 3 is a bottom view of the self-propelled device according to an embodiment of the present invention, in which the positions of the water pipes are indicated by dotted lines.
  • Fig. 4 is a side view of an automatic walking device according to an embodiment of the present invention.
  • Fig. 5 is a partial sectional structural schematic diagram of the automatic traveling device shown in Fig. 4, illustrating the transmission mechanism between the traveling motor and the traveling wheels.
  • Fig. 6 is a partial cross-sectional structural schematic diagram of the self-propelled device shown in Fig. 4, illustrating the state when the pipe collection module, pipe discharge module, water pipe, and winch are installed on the frame.
  • Fig. 7 is a partial cross-sectional structural schematic diagram along the horizontal direction when the automatic walking equipment according to an embodiment of the present invention is placed on the ground.
  • FIG. 8 is an enlarged view of part Y in FIG. 7 .
  • Fig. 9 is a partial cross-sectional structural schematic diagram of the pipe releasing module in Fig. 7 .
  • Fig. 10 is a schematic diagram of the internal transmission structure of the pipe releasing module in Fig. 7 .
  • Fig. 11 is a flow chart of a method for retracting and retracting a self-driving hose of a self-propelled device according to an embodiment.
  • Fig. 12 is a flow chart of a method for retracting and retracting a self-driving hose of a self-propelled device according to an embodiment.
  • Fig. 13 is a side view of an automatic walking device according to an embodiment of the present invention.
  • Fig. 14 is a side view of the self-propelled device according to an embodiment of the present invention, in which the internal structure is partially shown in cross-section.
  • Fig. 15 is a schematic diagram of the transmission structure between the driving motor and the pipe releasing module of the automatic traveling device shown in Fig. 14 .
  • Fig. 16 is a top view of the self-propelled device according to an embodiment of the present invention, in which the internal structure is partially shown in cross-section.
  • Fig. 17 is a partial cross-sectional structural schematic diagram of a pipe releasing module according to an embodiment of the present invention.
  • Fig. 18 is a schematic diagram of the internal structure of a pipe releasing module according to an embodiment of the present invention.
  • first and second are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features.
  • the features defined as “first” and “second” may explicitly or implicitly include at least one of these features.
  • “plurality” means at least two, such as two, three, etc., unless otherwise specifically defined.
  • the first feature may be in direct contact with the first feature or the first and second feature may be in direct contact with the second feature through an intermediary. touch.
  • “above”, “above” and “above” the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature.
  • “Below”, “beneath” and “beneath” the first feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is less horizontally than the second feature.
  • the embodiment of the present invention proposes a self-propelled device, which is equipped with a self-driven hose retracting mechanism, which can effectively eliminate the problem that the tube collecting module and the tube releasing module affect the work of the other party in the traditional technology.
  • the self-driven hose retracting mechanism includes a motor unit with a first motor and a second motor, and the first motor and the second motor execute the tube retracting and discharging actions through the transmission assembly. Specifically, the first motor drives the capstan to wind up the water pipe through the first transmission structure to perform the pipe retraction action, and the second motor drives the pipe release wheel assembly through the second transmission structure to release the water pipe from the winch to realize the pipe discharge action.
  • the self-propelled equipment in the embodiment of the present invention can be a simple watering function, it can be a fixed self-propelled equipment, or it can be a self-moving self-propelled equipment; it can also be integrated with a mowing component to form a simultaneous
  • a smart lawn mower with automatic mowing and watering capabilities can be a device that can automatically perform mowing operations in a set working area according to a preset program. The concept itself is known to those skilled in the art, and will not be repeated here.
  • the embodiment of this specification provides a hose retractable mechanism, including: a frame;
  • the pipe mechanism includes: a motor unit, including at least one motor; a transmission system, including: a first transmission structure, including a first clutch mechanism and a first transmission gear, and the first transmission structure is drivingly connected to at least one motor of the motor unit and The winch;
  • the second transmission structure includes a second clutch mechanism and at least one second transmission wheel, and the second transmission structure is transmission-connected to at least one motor of the motor unit and the pipe discharge wheel assembly, wherein the first The clutch mechanism is arranged between the motor unit and the first transmission wheel, and the second clutch mechanism is arranged between the motor unit and the second transmission wheel;
  • the hose retraction control system includes a controller , the controller controls the motor unit and/or the corresponding transmission structure, so that the transmission between the motor unit and the first transmission wheel is disengaged, or the transmission between the motor unit and the second transmission wheel disengage the transmission.
  • the motor set includes a motor, and the first and second transmission structures are both connected to the motor.
  • the motor set includes a first motor and a second motor, the first motor is connected to the first transmission structure, and the second motor is connected to the second transmission structure.
  • the self-propelled device 100 includes a frame 10, wherein a winch 20 and a self-driven hose retracting mechanism are installed on the frame 10 , wherein the self-driven hose retracting mechanism includes a tube retracting module 30 and a tube releasing module 40 .
  • a traveling mechanism 50 is installed on the bottom of the frame 10, and the automatic traveling device 100 can travel.
  • the traveling mechanism 50 includes a front wheel module 510 and a rear wheel module 520, wherein the front wheel module 510 specifically includes two front wheels on both sides of the frame 10, and the rear wheel module 520 includes a center wheel located in the forward direction of the automatic walking device 100. Rear wheel on axis X.
  • the winch 20 is rotatably mounted on the frame 10 .
  • a water pipe 210 is wound around the winch 20 .
  • one end of the water pipe 210 is connected to the winch 20 , and the other end is used to connect to the sprinkler module 220 .
  • the spray head module 220 includes nozzles controlled by on-off valves.
  • the material of the water pipe 210 can be set according to the actual scene, for example, it can be PE, PVC, rubber, elastic synthetic material and the like.
  • the diameter of the water pipe can be set according to the actual scene, for example, it can be 5mm, 30mm, 1 inch, etc.
  • the automatic walking device 100 has a pipe collection mode and a pipe release mode.
  • the pipe collection mode the traction water pipe 210 is continuously wound on the winch 20 when the winch 20 rotates to realize pipe collection; in the pipe release mode, the pipe release module 40 pulls the water pipe 210, The water pipe 210 is released from the winch 20, so that the pipe is released, and then watering can be carried out.
  • the tube collection module 30 includes a first motor 310 and a first transmission structure 320, wherein the first transmission structure 320 is transmission-connected to the first armature shaft 311 of the first motor 310 and the winch 20, the first
  • the transmission structure 320 includes a first transmission wheel 321 .
  • the first transmission wheel 321 is connected with the first armature shaft 311 .
  • the first transmission wheel 321 can be a pulley or a gear, so as to transmit power to the winch 20 through belt transmission or gear transmission.
  • the pipe releasing module 40 includes a second motor 410 , a second transmission structure 420 , and a pipe releasing wheel assembly 430 .
  • the second transmission structure 420 is transmission-connected to the second motor 410 and the pipe discharge wheel assembly 430
  • the second transmission structure 420 includes a second transmission wheel 421 .
  • the second transmission wheel 421 is connected with the second armature shaft 411 of the second motor 410 .
  • the pipe releasing wheel assembly 430 is used for pulling the water pipe 210 when releasing the pipe, so that the water pipe 210 is released from the winch 20 . As shown in FIG. 7 and FIG.
  • the pipe releasing wheel assembly 430 includes a first pipe releasing wheel 431 and a gap formed between the second pipe releasing wheel 432 to allow the water pipe 210 to pass through. Therefore, when the two pipe releasing wheels rotate along the set direction, the water pipe 210 can be pulled and released from the winch 20 continuously.
  • the two pipe-releasing wheels are rubber wheels, which can avoid damage to the water pipe 210 made of PE.
  • the second transmission wheel 421 can be a gear or a pulley, so as to transmit the power of the second armature shaft 411 to the tube releasing wheel assembly 430 through belt transmission or gear transmission.
  • the working principle of the automatic walking equipment 100 of the present embodiment is as follows: in the pipe collection mode, the first armature shaft 311 actively rotates and drives the winch 20 to rotate through the first transmission structure 320, and the winch 20 provides the winding water pipe 210 driving force. In the pipe-releasing mode, the second armature shaft 411 actively rotates and drives the pipe-releasing wheel to rotate through the second transmission structure 420, and the pipe-releasing wheel pulls the water pipe 210 and releases it from the winch 20 continuously.
  • the active rotation in the embodiment of the present invention refers to the active rotation of the first armature shaft 311 and the second armature shaft 411 driven by the working current.
  • the pipe collection module 30 and the pipe release module 40 have a linkage relationship due to the winch 20 and the water pipe 210, when the pipe collection module 30 needs to work to realize the pipe collection, the second motor 410 will generate resistance to the first motor 310, so that the pipe collection Not smooth. Conversely, when the pipe discharging module 40 is required to work to realize pipe discharging, the first motor 310 will also generate resistance to the second motor 410 , resulting in unsmooth pipe discharging.
  • the automatic running equipment 100 also includes a first clutch mechanism 330 and a second clutch mechanism 440, through which the first clutch mechanism 330 Reduce the resistance generated by the pipe receiving module 30 to the second motor 410 when releasing the pipe, and reduce the resistance generated by the pipe releasing module 40 to the first motor 310 when collecting the pipe through the second clutch mechanism 440 .
  • the first clutch mechanism 330 and the second clutch mechanism 440 are specifically one-way bearings, which can rotate clockwise or counterclockwise.
  • the first clutch mechanism 330 is disposed between the first armature shaft 311 of the first motor 310 and the first transmission wheel 321 .
  • the first clutch mechanism 330 realizes one-way transmission between the first armature shaft 311 and the first transmission wheel 321 .
  • the first inner ring 331 is installed on the first armature shaft 311
  • the first outer ring 332 is installed on the first transmission wheel 321
  • the first inner ring 331 rotates in one direction relative to the first outer ring 332 .
  • the first armature shaft 311 rotates, it can drive the first inner ring 331 to rotate, and the first inner ring 331 can drive the first outer ring 332 to rotate, and then transmit the power to the first transmission wheel 321 .
  • the second clutch mechanism 440 is arranged between the second armature shaft 411 of the second motor 410 and the second transmission wheel 421, and the second clutch mechanism 440 is between the second armature shaft 411 and the second transmission wheel 421.
  • One-way transmission is realized between the two transmission wheels 421 .
  • the second inner ring 441 of the second clutch mechanism 440 is installed on the second armature shaft 411
  • the second outer ring 442 is installed on the second transmission wheel 421
  • the second inner ring 441 is relatively single to the second outer ring 442. to turn.
  • the second armature shaft 411 is also configured as The active rotation can disengage the transmission with the second transmission wheel 421 , so that the second armature shaft 411 does not affect the work of the first motor 310 .
  • the second armature shaft 411 actively rotates so that the pipe-releasing wheel pulls the water pipe 210 to be continuously released from the winch 20, and the first armature shaft 311 actively rotates to be able to communicate with the first transmission wheel 321.
  • the transmission is disengaged during the interval, so that the first motor 310 does not affect the work of the second motor 410.
  • the management mode is taken as an example for detailed description.
  • the rotation of the second armature shaft 411 is defined as the positive rotation of the second armature shaft 411
  • the rotation of the second inner ring 441 is defined as the positive rotation of the second inner ring 441
  • the second inner ring 441 can transmit torque to the second outer ring 442 when rotating forward. Understandably, the second inner ring 441 cannot drive the second outer ring 442 to rotate when it rotates in reverse.
  • the winch 20 rotates and retracts the water tube 210 .
  • the water pipe 210 has a tendency to drive the two tube releasing wheels to rotate in the opposite direction, causing the second outer ring 442 to have a tendency to rotate in the opposite direction, and then the second outer ring 442 tends to rotate in the opposite direction.
  • the second outer ring 442 has a tendency to drive the second inner ring 441 to rotate in reverse. That is to say, for the second clutch mechanism 440 , the second outer ring 442 acts as a driving element at this time, so when the second outer ring 442 rotates in reverse, it will drive the second inner ring 441 to rotate in reverse.
  • the second armature shaft 411 is also configured to actively rotate, so that the second armature shaft 411 drives the second inner ring 441 to actively rotate in reverse.
  • the second outer ring 442 is in a relatively static state, so that the second The inner ring 441 communicates with the second armature shaft 411 to freely rotate relative to the second outer ring 442 .
  • the second armature shaft 411 will not generate resistance to the second outer ring 442 , thereby achieving the purpose that the second motor 410 does not affect the operation of the first motor 310 .
  • the first armature shaft 311 drives the first inner ring 331 to actively rotate in reverse.
  • the first outer ring 332 is in a relatively static state, so that the first The inner ring 331 is free to rotate together with the first armature shaft 311 relative to the first outer ring 332 .
  • the first armature shaft 311 does not cause any resistance to the first outer ring 332 , thereby achieving the purpose that the first motor 310 does not affect the operation of the second motor 410 .
  • the second armature shaft 411 when the tube is in the receiving mode, the second armature shaft 411 is actively rotated to be able to disengage the transmission from the second transmission wheel 421, so that the second motor 410 does not affect the work of the first motor 310; In the mode, the first armature shaft 311 actively rotates to disengage the transmission from the first transmission wheel 321 , so that the first motor 310 does not affect the operation of the second motor 410 .
  • the pipe collection and discharge are relatively smooth, which is beneficial to the realization of automatic watering.
  • the rotational speed of the second armature shaft 411 is greater than the rotational speed of the first armature shaft 311; in the tube releasing mode, the rotational speed of the first armature shaft 311 is greater than the rotational speed of the second armature shaft 411 .
  • the second armature shaft 411 Due to the higher rotation speed of the second armature shaft 411 during the tube collection mode, it can ensure that the rotation speed of the second inner ring 441 is greater than the rotation speed of the second outer ring 442 in reverse rotation, and can ensure that the second inner ring 441 and The second outer ring 442 realizes the disengagement of the transmission, so that the second motor 410 and the second transmission structure 420 are disengaged from the transmission.
  • the rotational speed of the first armature shaft 311 is higher, which can ensure that the first inner ring 331 and the first outer ring 332 are disengaged from the transmission, so that the first motor 310 is disengaged from the first transmission structure 320 transmission.
  • both the first clutch mechanism 330 and the second clutch mechanism 440 are one-way bearings, but they are not limited to the above structure and installation method, as long as the second motor 410 and the second transmission structure 420 are guaranteed to be disengaged from the transmission; and the second A motor 310 and the first transmission structure 320 can be disengaged from the transmission.
  • both the first clutch mechanism 330 and the second clutch mechanism 440 are electromagnetic clutches.
  • the electromagnetic clutch includes an open state and a closed state.
  • the second clutch mechanism 440 can be controlled to be in the disconnected state, and the first clutch mechanism 330 is in the In the closed state, the second motor 410 is separated from the second transmission structure 420, so that the second motor 410 does not affect the work of the first motor 310; in the discharge mode, the first clutch mechanism 330 can be controlled to be in the disconnected state , and the second clutch mechanism 440 is in a closed state, so that the first motor 310 is disengaged from the first transmission structure 320, so that the first motor 310 does not affect the operation of the second motor 410 .
  • the pipe collection and discharge are relatively smooth, which is beneficial to the realization of automatic watering.
  • the first motor 310 and the second motor 410 can output different speeds, and then the rotational speed of the first motor 310 reaches such that the first motor 310 is disengaged from the first transmission structure 320; or the rotational speed of the second motor 410 reaches the second
  • the second motor 410 is separated from the second transmission structure 420 for transmission.
  • the above-mentioned different velocities include different linear velocities and angular velocities of the two.
  • the rotational speed of the second armature shaft 411 of the second motor 410 is 1.2 to 1.8 times the rotational speed of the first armature shaft 311 of the first motor 310; , the rotation speed of the first armature shaft 311 of the first motor 310 is 1.2-1.8 times of the rotation speed of the second armature shaft 411 of the second motor 410 .
  • the second motor 410 and the second transmission structure 420 are completely disengaged from the transmission during the pipe collection mode, and that the first motor 310 and the first transmission structure 320 are completely disengaged from the transmission during the pipe release mode, which is very good.
  • first motor 310 and the second motor 410 do not affect each other's work.
  • first armature shaft 311 and the second armature shaft 411 rotate in the same direction; in the tube releasing mode, the second armature shaft 411 and the first armature shaft 311 rotate in the same direction. The above manner facilitates setting the working states of the first motor 310 and the second motor 410 .
  • the second armature shaft 411 turns to the same direction as the first armature shaft 311;
  • the rotation direction of the first armature shaft 311 is the same as the rotation direction of the second armature shaft 411 .
  • the first motor 310 its turning direction in the tube retracting mode and the tube discharging mode is opposite;
  • the second motor 410 its own steering in the tube retracting mode and tube discharging mode is also opposite.
  • the turning direction of the first armature shaft 311 and the second armature shaft 411 is the same, such as rotating counterclockwise; while in the tube release mode, the first armature shaft 311 and the second armature shaft 411
  • the steering of 411 is the same, such as all turning clockwise.
  • the second transmission wheel 421 is a gear
  • the second transmission structure 420 further includes a transmission gear 422
  • the transmission gear 422 meshes with the second transmission wheel 421 for transmission.
  • the pipe-releasing wheel assembly 430 also includes a first pipe-releasing gear 433 and a second pipe-releasing gear 434, wherein the first pipe-releasing gear 433 is connected with the first pipe-releasing wheel 431, and the first pipe-releasing gear 433 is engaged with the transmission gear 422 for transmission.
  • both the first pipe release gear 433 and the second pipe release gear 434 are gear shafts, the first pipe release wheel 431 is installed on the shaft of the first pipe release gear 433, and the second pipe release wheel 432 is installed on the second pipe discharge wheel 432. Put on the axle of tube gear 434.
  • the transmission gear 422 is an intermediate transmission gear positioned between the second transmission wheel 421 and the pipe release wheel assembly 430. It has the effect of reversing, and it can be regarded as another second transmission wheel 421. At this time, the two second transmission wheels 421 enables the two pipe-releasing wheels to pull and release the water pipe 210, and the second armature shaft 411 turns in the same direction as the first pipe-releasing wheel 431. As shown in Figure 10, under the pipe release mode, assuming that the first pipe release wheel 431 can pull the release water pipe 210 when it rotates in the direction of arrow a, the turning of the second armature shaft 411 is as shown by arrow b. a are all clockwise.
  • the turning direction of the first armature shaft 311 is also shown by arrow b.
  • the first armature shaft 311 rotates in the direction opposite to the arrow b (counterclockwise) and drives the capstan 20 to rotate to realize the tube collection.
  • b Rotate in the opposite direction (counterclockwise) to disengage from the second transmission structure 420 .
  • the rotations of the first armature shaft 311 and the second armature shaft 411 are opposite; in the tube releasing mode, the rotations of the second armature shaft 411 and the first armature shaft 311 are opposite.
  • the transmission gear 422 can be omitted, that is, the first tube release gear 433 is directly meshed with the second transmission wheel 421 for transmission.
  • the first pipe release wheel 431 can pull the release water pipe 210 when rotating in the direction of arrow a
  • the turning direction of the second armature shaft 411 is opposite to that of arrow b
  • the turning direction of the first armature shaft 311 can be Still as indicated by arrow b.
  • the first armature shaft 311 rotates in the direction opposite to the arrow b (counterclockwise) and drives the capstan 20 to rotate to achieve tube collection, and at the same time the second armature shaft 411 also rotates along the direction of the arrow b direction (clockwise) to disengage from the second transmission structure 420 .
  • the first transmission wheel 321 includes a pulley portion 3211
  • the first transmission structure 320 further includes a driving pulley 322 , a transmission belt 323 , and a driving gear 324 .
  • the transmission belt 323 is connected to the pulley portion of the first transmission wheel 321 and the driving pulley 322
  • the driving gear 324 is fixedly connected to the driving pulley 322
  • the winch 20 is provided with an inner ring gear 230 meshing with the driving gear 324 for transmission.
  • the transmission between the first motor 310 and the winch 20 is realized by belt transmission, and the belt transmission is low in cost and convenient to adjust the position according to the installation environment.
  • the first transmission wheel 321 includes a pulley portion, and the first transmission wheel 321 itself may be a pulley, or the first transmission wheel 321 may be a gear on which a pulley is fixed.
  • the automatic walking device 100 also includes a hose retractable control system 60, and the hose retractable control system 60 is configured to control the retractable module 30 and the flexible module 40 to realize the retractable mode or drop-pipe mode.
  • the hose retraction control system 60 includes a controller 610 , and the controller 610 can be specifically arranged at the bottom of the frame 10 .
  • controller 610 may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable Programmed gate array (FPGA), controller, microcontroller, microprocessor, or other electronic implementation to perform the functions described above.
  • ASICs application specific integrated circuits
  • DSPs digital signal processors
  • DSPDs digital signal processing devices
  • PLDs programmable logic devices
  • FPGA field programmable Programmed gate array
  • the first motor 310 and the second motor 410 constitute a motor unit, and can perform tube collection and tube release through the first transmission structure 320 and the second transmission structure 420 respectively.
  • the controller 610 of the hose retracting control system 60 controls the output speeds of the first motor 310 and the second motor 410, and drives the first motor 310 and the second motor 410 in the same direction or in opposite directions at a certain speed.
  • the rotation speed ratio of the first motor 310 can be rotated so that the rotation speed of the first armature shaft 311 of the first motor 310 can be disengaged from the first transmission wheel 321, or the rotation speed of the second armature shaft 411 of the second motor 410 can be reached. Disengage the transmission with the second transmission wheel 421.
  • the controller 610 of the hose retracting and unwinding control system 60 controls the output speed of the first motor 310 to be greater than that of the second motor 410, and makes the rotation speed of the first armature shaft 311 of the first motor 310 reach a speed equal to that of the first drive wheel 321
  • the second motor 410 drives the pipe releasing wheel assembly 430 through the second transmission structure 420, and the pipe releasing wheel assembly 430 drives the water pipe 210 to release from the winch 20.
  • the autonomous running device 100 enters the pipe-releasing mode.
  • the transmission between the first armature shaft 311 and the first transmission wheel 321 is disengaged, which does not affect the pipe discharge work.
  • the hose retracting control system 60 controls the output speed of the second motor 410 to be greater than that of the first motor 310, and make the second armature shaft 411 of the second motor 410 rotate at a speed that can be disengaged from the second transmission wheel 421 .
  • the first motor 310 drives the winch 20 to rotate through the first transmission structure 320 , and the winch 20 winds up the water pipe 210 .
  • the automatic running device 100 enters the tube collection mode.
  • the transmission between the second armature shaft 411 and the second transmission wheel 421 can be disengaged, so that the second motor 410 does not affect the tube collecting work.
  • the controller 610 of the hose retraction control system 60 controls the state (disconnected or closed) of the first and second clutch mechanisms, so that the first motor 310 is disengaged from the first transmission wheel 321 transmission, or disengage the transmission between the second motor 410 and the second transmission wheel 421 .
  • the second motor 410 drives the pipe releasing wheel assembly 430 through the second transmission structure 420 , the pipe releasing wheel assembly 430 drives the water pipe 210 to be released from the winch 20 .
  • the autonomous running device 100 enters the pipe-releasing mode.
  • the transmission between the first armature shaft 311 and the first transmission wheel 321 is disengaged, which does not affect the pipe discharge work.
  • the controller 610 of the hose retracting control system 60 controls the second clutch mechanism 440 to be in the disconnected state and the first clutch mechanism 330 is in the closed state, the first motor 310 drives the winch 20 to rotate through the first transmission structure 320, and the winch 20 roll water pipe 210.
  • the automatic running device 100 enters the tube collection mode.
  • the transmission between the second armature shaft 411 and the second transmission wheel 421 can be disengaged, so that the second motor 410 does not affect the tube collecting work.
  • the automatic traveling device 100 also includes a traveling mechanism 50 and a traveling motor 70 .
  • the traveling motor 70 is connected in transmission with the traveling mechanism 50 .
  • the traveling motor 70 is controlled by the hose retracting control system 60 .
  • the traveling motor 70 is a brushless motor, and a speed reduction mechanism 80 is also provided between it and the traveling mechanism 50 .
  • the hose retractable control system 60 is configured as follows: in the hose retractable mode, the hose retractable control system 60 enables the traveling motor 70 to work, and the traveling motor 70 drives the traveling mechanism 50 . In this way, the automatic running device 100 can run automatically, and then realize automatic watering during the automatic running.
  • the self-propelled device 100 also constitutes a part of the intelligent lawnmower.
  • the self-propelled device 100 also includes a mowing assembly, which is controlled by the hose retracting control system 60 to realize automatic mowing operations.
  • the hose retractable control system 60 makes the travel motor 70 work, and the travel motor 70 drives the travel mechanism 50, and the hose retractable control system 60 controls the mowing assembly to work automatically. In this way, automatic watering during mowing operations can be realized.
  • the mowing assembly includes a rotary cutterhead and a plurality of blades installed on the cutterhead, and the blades rotating at high speed are used for mowing.
  • a method for retracting and retracting the self-driving hose of the automatic traveling equipment is also proposed, which is applied to the automatic traveling equipment.
  • the method includes the following steps.
  • the self-propelled equipment enters the discharge pipe.
  • the first motor 310 does not affect the pipe discharge work
  • the output speed of the second motor 410 to be greater than the first motor 310 and disengaging the transmission between the second motor 410 and the second transmission wheel 421
  • the automatic walking equipment enters
  • the pipe collection mode, and the second motor 410 does not affect the pipe discharge work.
  • a method for retracting and retracting the self-driving hose of the automatic traveling equipment is also proposed, which is applied to the automatic traveling equipment.
  • the method includes the following steps.
  • the second clutch mechanism 440 by controlling the second clutch mechanism 440 to be in the disconnected state, the second motor 410 and the second transmission structure 420 are disengaged from the transmission, so that the automatic walking device 100 enters the tube collection mode, and the second motor 410 does not affect the tube collection work ;
  • the first clutch mechanism 330 By controlling the first clutch mechanism 330 to be in the disconnected state, the first motor 310 and the first transmission structure 320 are disengaged from the transmission, so that the automatic walking device 100 enters the pipe release mode, and the first motor 310 does not affect the pipe discharge work.
  • the self-propelled device 100 includes a frame 10, wherein a winch 200 is installed on the frame 10, and the self-driven hose is retracted.
  • the mechanism includes a driving motor 300 and a pipe releasing module 400, wherein the driving motor 300 is used to drive the winch 200 to rotate to realize the retraction of the water pipe 2100, and the driving motor 300 is also used to drive the pipe releasing module 400 to work to realize the release of the water pipe 2100 and then perform pouring. water.
  • the self-propelled device 100 of the present embodiment has a pipe collection mode and a pipe release mode, wherein in the pipe collection mode, the traction water pipe 2100 is continuously wound on the winch 200 when the winch 200 rotates to realize the pipe collection; during the pipe release mode, The pipe releasing module 400 pulls the water pipe 2100, so that the water pipe 2100 is released from the winch 200, so that the pipe is released, and then watering can be performed.
  • a running mechanism 500 is installed on the bottom of the frame 10, and the automatic running device 100 can run automatically.
  • the traveling mechanism 500 includes a front wheel module 5100 and a rear wheel module 5200, wherein the front wheel module 5100 specifically includes two front wheels separated from the frame 10 on both sides, and the rear wheel module 5200 includes a central axis located in the forward direction of the automatic walking equipment Rear wheels on the X.
  • the winch 200 is rotatably mounted on the frame 10 .
  • a water pipe 2100 is wound around the winch 200 .
  • one end of the water pipe 2100 is connected to the winch 200, and the other end is used to connect to a sprinkler module (not shown).
  • the spray head module may specifically include nozzles controlled by on-off valves.
  • the water pipe 2100 may be a PE pipe.
  • the self-propelled device 100 also includes a first transmission structure 3200 .
  • the first transmission structure 3200 connects the armature shaft 3100 of the driving motor 300 and the winch 200 . That is, the armature shaft 3100 can drive the winch 200 to rotate through the first transmission structure 3200 .
  • a first electromagnetic clutch 3300 is further provided between the first transmission structure 3200 and the winch 200 .
  • the first electromagnetic clutch 3300 enables the first transmission structure 3200 to selectively transmit power to the winch 200 .
  • the first electromagnetic clutch 3300 is energized and closed, and the armature shaft 3100 drives the winch 200 to rotate.
  • the first electromagnetic clutch 3300 may also be disposed between the armature shaft 3100 and the first transmission structure 3200 .
  • a cable rod 3400 is provided on the frame 10 and can rotate around its own axis. Power is transmitted between the cable rod 3400 and the winch 200 through the second transmission structure 3500 , so that the cable rod 3400 can rotate driven by the winch 200 .
  • the cable rod 3400 is screwed with the pipe release module 400 . In this way, in the pipe collection mode, when the cable rod 3400 is driven to rotate, the pipe release module 400 moves linearly relative to the cable rod 3400, so as to guide the water pipe 2100, prevent the water pipe 2100 from folding, and ensure smooth pipe collection.
  • the wire-discharging rod 3400 can be set as a screw, and the pipe-releasing module 400 includes a body 4100, which is sleeved on the screw and screwed with the screw.
  • the specific manner of the second transmission structure 3500 is not limited, and it may be a belt transmission mechanism or a gear transmission structure.
  • the pipe release module 400 includes a body 4100, a third transmission structure 4200 arranged on the body 4100, and a pipe discharge wheel assembly 4300, the third transmission structure 4200 is connected to the armature shaft 3100 and the pipe release wheel assembly 4300
  • the pipe releasing wheel assembly 4300 includes a first pipe releasing wheel 4310 and a second pipe releasing wheel 4320, a gap is formed between the first pipe releasing wheel 4310 and the second pipe releasing wheel 4320 to allow the water pipe 2100 to pass through.
  • the two pipe-releasing wheels are rubber wheels, which can avoid damage to the water pipe 2100 made of PE.
  • the self-propelled device 100 also includes a ball spline transmission assembly 600 through which the driving motor 300 transmits power to the third transmission structure 4200 of the pipe releasing module 400 .
  • the ball spline transmission assembly 600 includes a spline shaft 6100 and a spline sleeve 6200, the spline shaft 6100 is driven to rotate by the armature shaft 3100 and a second electromagnetic clutch 6300 is arranged between them , the spline sleeve 6200 is connected with the third transmission structure 4200 .
  • the spline sleeve 6200 can be raised and lowered relative to the spline shaft 6100 and can transmit rotational power to the outside.
  • the second electromagnetic clutch 6300 is used for selectively transmitting torque from the armature shaft 3100 to the spline shaft 6100 .
  • the working principle of the pipe collection mode and the pipe release mode of the automatic walking device 100 of the present embodiment is as follows: under the pipe collection mode, the armature shaft 3100 rotates in the first direction (set to rotate in the forward direction) to drive the winch 200 to rotate, and the winch 200 Provide the driving force to wind up the water pipe 2100 so that the water pipe 2100 is continuously wound on the winch 200 to realize the water pipe 2100. At the same time, the armature shaft 3100 disconnects the power transmission from the spline shaft 6100 through the second electromagnetic clutch 6300, so that the pipe release module 400 The pipe releasing wheel assembly 4300 will not actively rotate, and will not generate resistance to the pipe collection, so that the pipe collection is smooth.
  • the armature shaft 3100 rotates in a second direction opposite to the first direction (set to reverse rotation), and the armature shaft 3100 drives the spline shaft 6100 to rotate and drives the first discharge tube through the third transmission structure 4200.
  • the pipe wheel 4310 and the second pipe release wheel 4320 pull the water pipe 2100 and release it from the winch 200 continuously.
  • the armature shaft 3100 disconnects the power transmission from the winch 200 through the first electromagnetic clutch 3300, so that the winch 200 will not touch the pipe. Action creates extra resistance for smooth pipe release.
  • first electromagnetic clutch 3300 and the second electromagnetic clutch 6300 can be set alternatively.
  • the armature shaft 3100 disconnects the power transmission with the capstan 200 through the first electromagnetic clutch 3300, so that the capstan 200 will not cause extra resistance to the pipe laying action, so that the pipe discharge is smooth.
  • the armature shaft 3100 can disconnect the power transmission from the spline shaft 6100 through the second electromagnetic clutch 6300, so that the pipe release wheel assembly 4300 of the pipe release module 400 will not actively rotate and will not Tube retraction creates resistance, making tube retraction smooth.
  • the first transmission structure 3200 includes a first driving pulley 3210, a first driven pulley 3220, a first gear 3230, and a first transmission belt 3240, wherein the first driving pulley 3210 is installed On the armature shaft 3100, the first driven pulley 3220 is arranged on the frame 10, the first driving belt 3240 connects the first driving pulley 3210 and the first driven pulley 3220, and the first gear 3230 connects with the first driven pulley 3220 .
  • the winch 200 is provided with an inner ring gear 2200 meshed with the first gear 3230 for transmission.
  • the drive motor 300 transmits power to the first driven pulley 3220 , and then drives the winch 200 to rotate through the first gear 3230 fixedly connected to the first driven pulley 3220 .
  • the drive motor 300 transmits power to the first driven pulley 3220 , and then drives the winch 200 to rotate through the first gear 3230 fixedly connected to the first driven pulley 3220 .
  • belt transmission there are many options for setting the positions of the drive motor 300 and the first driven pulley 3220 on the frame 10 , which is beneficial to the structural design of the self-propelled device 100 .
  • the first electromagnetic clutch 3300 is disposed between the first gear 3230 and the first driven pulley 3220 .
  • the first driven pulley 3220 can be provided with a shaft connected to the inner hole at one end of the first electromagnetic clutch 3300 , and the first gear 3230 is fixed at the other end of the first electromagnetic clutch 3300 .
  • the first electromagnetic clutch 3300 may also be disposed between the armature shaft 3100 and the first driving pulley 3210 .
  • the first transmission structure 3200 is not limited to be a belt transmission mechanism.
  • the winch 200 may be provided with an outer ring gear
  • the first transmission structure 3200 includes a driving gear arranged on the armature shaft 3100 , and the driving gear is meshed with the outer ring gear to transmit the torque of the driving motor 300 to the winch 200 .
  • the first electromagnetic clutch 3300 may be disposed between the driving gear and the armature shaft 3100 .
  • the second transmission structure 3500 includes a second driving pulley 3510 , a second passive pulley 3520 , a second gear 3530 , and a second transmission belt 3540 .
  • the second gear 3530 is meshed with the ring gear 2200 of the winch 200 for transmission
  • the second driving pulley 3510 is connected with the second gear 3530
  • the second driven pulley 3520 is fixedly connected with the cable rod 3400
  • the second transmission belt 3540 is connected
  • Adopt belt to rotate, the position of the second driving pulley 3510 etc. on the frame 10 is provided with more options, which is beneficial to the structural design of the automatic walking device 100 .
  • the second passive pulley 3520 is fixedly connected with the cable rod 3400, and the two can be manufactured separately and then fixed together; they can also be formed as one piece, that is, part of the cable rod 3400 is a screw and part is a pulley.
  • the second transmission structure 3500 is not limited to be a belt transmission mechanism.
  • the winch 200 may be provided with an outer ring gear
  • the second transmission structure 3500 may include an intermediate gear meshed with the outer ring gear of the winch 200 and a transmission gear arranged on the cable rod 3400 .
  • the winch 200 rotates, the cable rod 3400 is driven to rotate through its outer ring gear, intermediate gear and transmission gear.
  • the third transmission structure 4200 includes a first pipe release gear 4210 and a second pipe release gear 4220 .
  • the first tube gear 4210 is engaged with the spline sleeve 6200 for transmission, and the first tube gear 4210 is connected to the first tube wheel 4310; the second tube gear 4220 is connected to the second tube wheel 4320 and the second tube gear 4220 is engaged with the second pipe wheel 4320 for transmission.
  • the spline sleeve 6200 can transmit the torque to the first pipe release gear 4210, and then the first pipe release gear 4210 drives the first pipe discharge wheel 4310 to rotate, and at the same time the first pipe release gear 4210 rotates.
  • a tube-releasing gear 4210 drives the second tube-releasing gear 4220 to rotate, and the second tube-releasing gear 4220 drives the second tube-releasing gear 4220 to rotate.
  • the rotation direction of the second pipe releasing wheel 4320 is just opposite to that of the first pipe releasing wheel 4310, thereby forming a traction force acting on the water pipe 2100, so that the water pipe 2100 is continuously released from the winch 200 to realize pipe releasing.
  • the third transmission structure 4200 is used to receive the torque from the spline shaft 6100 transmitted by the spline sleeve 6200 , and the transmission between the third transmission structure 4200 and the spline sleeve 6200 is not limited to using gears.
  • the spline sleeve 6200 may also be provided with a pulley portion, and a driven pulley is fixedly connected to the first pipe release gear 4210, so that the spline sleeve 6200 can drive the first pipe release gear 4210 to rotate through a belt transmission.
  • the automatic walking device further includes a control assembly 700 configured to control the pipe collecting module and the pipe releasing module 400 to realize the pipe collecting mode or the pipe releasing mode.
  • the control assembly 700 may be disposed at the bottom of the rack 10 .
  • the automatic traveling device also includes a traveling mechanism 500 and a traveling motor 800 , the traveling motor 800 is connected to the traveling mechanism 500 by transmission, and the traveling motor 800 is controlled by the control component 700 to work.
  • the traveling motor 800 is a brushless motor, and a speed reduction mechanism (not shown) may also be provided between it and the traveling mechanism 500 .
  • control assembly 700 is configured as follows: in the tube release mode, the control assembly 700 enables the traveling motor 800 to work, and the traveling motor 800 drives the traveling mechanism 500 . In this way, the automatic running device 100 can run automatically, and then realize automatic watering during the automatic running.
  • the self-propelled device 100 also constitutes a part of the intelligent lawnmower.
  • the self-propelled device 100 also includes a mowing assembly (not shown), which is controlled by the control assembly 700 to realize automatic mowing operations.
  • the control assembly 700 makes the travel motor 800 work, and the travel motor 800 drives the travel mechanism 500, and the control assembly 700 controls the mowing assembly to work automatically. In this way, automatic watering during mowing operations can be realized.
  • the mowing assembly includes a rotary cutterhead and a plurality of blades installed on the cutterhead, and the blades rotating at high speed are used for mowing.
  • control assembly 700 may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable Programmed gate array (FPGA), controller, microcontroller, microprocessor, or other electronic implementation to perform the functions described above.
  • ASICs application specific integrated circuits
  • DSPs digital signal processors
  • DSPDs digital signal processing devices
  • PLDs programmable logic devices
  • FPGA field programmable Programmed gate array
  • controller microcontroller, microprocessor, or other electronic implementation to perform the functions described above.

Abstract

一种自动行走设备（100），包括：机架（10）、绞盘（20）及自驱动软管收放机构，自驱动软管收放机构包括：能够输出不同的速度的第一电机（310）和第二电机（410）；第一传动结构（320），包括第一离合机构（330）和第一传动轮（321），第一传动结构（320）传动连接第一电机（310）的电枢轴（311）与绞盘（20）；第二传动结构（420），包括第二离合机构（440）和至少一个第二传动轮（421），第二传动结构（420）传动连接第二电机（410）的电枢轴（411）与放管轮组件（430），软管收放控制系统（60），控制第一、二电机（310，410）的输出速度，驱动第一、二电机（310，410）按同一方向且以一定的转速比运转，使得第一电机（310）的电枢轴（311）旋转速率达到能够与第一传动轮（321）之间脱开传动；或使得第二电机（410）的电枢轴（411）旋转速率达到能够与第二传动轮（421）之间脱开传动。以及一种自动行走设备（100）自驱动软管收放的方法。

Description

自动行走设备及其自驱动软管收放的方法 技术领域
本发明涉及浇水设备技术领域，特别是涉及一种自动行走设备。
背景技术
目前传统固定式自动行走设备通常包括水管，喷头等组件，其水管一般固定在特定地方，采用人为布置浇水喷头，或者人为安装浇水管路进行浇灌工作；而移动式自动行走设备通常水管和喷头为一个整体，可沿直线行走，但无法绕过障碍物进行作业，且每次浇水周期完成，需要人为重新布置，无法实现自动化浇水。
传统技术中，收放水管设备通常只有收管模块，收管模块设有收水管电机，水管电机驱动绞盘转动以卷收水管。为了实现浇水机器人在移动过程中的自动化浇水，需要增加放管装置。
发明内容
基于此，有必要提出一种收放管装置存在的问题，提出一种自动行走设备。还提出一种自动行走设备自驱动软管收放的方法。
一种软管收放机构,包括：机架；绞盘，安装在所述机架上，所述绞盘上缠绕有水管,所述水管连接至水源；所述软管收放管机构包括：电机组，包括至少一个电机；传动系统,包括：第一传动结构，包括第一离合机构和第一传动齿轮，所述第一传动结构传动连接所述电机组的至少一个电机与所述绞盘；第二传动结构，包括第二离合机构和至少一个第二传动轮，所述第二传动结构传动连接所述电机组的至少一个电机与放管轮组件，其中，所述第一离合机构设置在所述电机组和所述第一传动轮之间、所述第二离合机构设置在所述电机组和所述第二传动轮之间；软管收放控制系统，包括控制器，所述控制器控制所述电机组和/或对应的传动结构，使所述电机组与所述第一传动轮之间脱开传动，或使所述电机组与所述第二传动轮之间脱开传动。
在其中一个实施例中，所述电机组包括一个电机，所述第一、第二传动结构均与所述电机连接。
在其中一个实施例中，所述电机组包括第一电机和第二电机，所述第一电机与所述第一传动结构连接，所述第二电机与所述第二传动结构连接。
一种自动行走设备，所述自动行走设备具有自驱动软管收放机构,机架；绞盘，安装在所述机架上，所述绞盘上缠绕有水管,所述水管连接至水源；所述自驱动收放管机构包括：电机组，包括第一电机和第二电机，所述第一电机、第二电机能够输出不同的速度；传动系统,包括：第一传动结构，包括第一离合机构和第一传动齿轮，所述第一传动结构传动连接所述第一电机的电枢轴与所述绞盘；第二传动结构，包括第二离合机构和至少一个第二传动轮，所述第二传动结构传动连接所述第二电机的电枢轴与放管轮组件，其中，所述第一、二离合机构分别设置在所述第一电机的电枢轴和所述第一传动轮、第二电机的电枢轴和所述第二传动轮之间；
软管收放控制系统(60)，包括控制器(610)，所述控制器(610)控制所述第一、二电机和/或对应的传动结构，使所述第一电机与所述第一传动轮之间脱开传动，或使所述第二电机与所述第二传动轮之间脱开传动。
上述自动行走设备，通过控制所述第一电机的输出转速大于所述第二电机，且使第一电机与所述第一 传动轮之间脱开传动，使自动行走设备进入放管模式，且第一电机不影响放管工作；通过控制第二电机的输出转速大于第一电机且使得第二电机与第二传动轮之间脱开传动，使自动行走设备进入收管模式，且第二电机不影响放管工作。从而能够保证收管和放管均较为顺畅，利于实现自动化浇水。
在其中一个实施例中，所述第一、二离合机构为单向轴承或电磁离合器，所述单向轴承的转向为顺时针或逆时针方向，所述电磁离合器包括断开状态和闭合状态。
在其中一个实施例中，所述控制器(610)控制所述第一、二电机的输出速度，驱动所述第一、二电机按同一方向且以一定的转速比运转，使得所述第一电机(310)的电枢轴旋转速率达到能够与所述第一传动轮(321)之间脱开传动，或使得所述第二电机(410)的电枢轴旋转速率达到能够与所述第二传动轮(421)之间脱开传动。
在其中一个实施例中，所述控制器(610)控制第一离合机构(330)处于断开状态且第二离合机构(440)处于闭合状态，使得所述第一电机(310)与所述第一传动轮(321)之间脱开传动，或控制第二离合机构(440)处于断开状态且第一离合机构(330)处于闭合状态，使得所述第二电机(410)与所述第二传动轮(421)之间脱开传动。
在其中一个实施例中，所述控制器控制所述第二电机的输出转速大于所述第一电机；或控制所述第一电机的输出转速大于所述第二电机。
在其中一个实施例中，所述控制器控制所述第一、二电机的转速比在1.2-1.8之间取值。
在其中一个实施例中，所述第一传动结构包括第一传动轮，所述第一传动轮包括带轮部，所述第一传动结构还包括驱动带轮、传动皮带、驱动齿轮，所述传动皮带连接所述第一传动轮的带轮部和所述驱动带轮，所述驱动齿轮与驱动带轮固定连接，所述绞盘设置有与所述驱动齿轮啮合传动的内齿圈。
在其中一个实施例中，所述放管轮组件包括第一放管轮、第二放管轮，所述第一放管轮与第二放管轮之间形成间隙以使水管通过。
在其中一个实施例中，所述放管轮组件还包括至少一组放管轮和分别与每一所述放管轮传动连接的放管齿轮。
在其中一个实施例中，所述放管齿轮与所述第二传动轮啮合传动，使得所述软管从所述放管轮形成的间隙间通过。
在其中一个实施例中，所述第一放管轮和所述第二放管轮均为橡胶轮。
一种自动行走设备自驱动软管收放的方法，应用于所述的自动行走设备，包括步骤：
控制所述第一、二电机按同一方向运转；
控制所述第一电机的电枢轴旋转速率达到能够与所述第一传动轮之间脱开传动，所述第二电机通过所述第二传动结构驱动所述放管轮组件，所述放管轮组件驱动所述水管自所述绞盘上释放；
控制所述第二电机的电枢轴旋转速率达到能够与所述第二传动轮之间脱开传动，所述第一电机通过所述第一传动结构驱动所述绞盘转动，所述绞盘卷收所述水管。
一种自动行走设备自驱动软管收放的方法，应用于自动行走设备，包括步骤：
控制第一离合机构(330)处于断开状态且第二离合机构(440)处于闭合状态，所述第二电机(410)通过第二传动结构(420)驱动放管轮组件(430)，所述放管轮组件(430)驱动水管(210)自绞盘(20)上释放；
控制第二离合机构(440)处于断开状态且第一离合机构(330)处于闭合状态，所述第一电机(310)通过第一传动结构(320)驱动绞盘(20)转动，所述绞盘(20)卷收水管(210)。
一种自动行走设备，具有自驱动软管收放机构；机架；绞盘，安装在所述机架上，所述绞盘上缠绕有水管,所述水管连接至水源；所述自驱动软管收放机构包括：驱动电机，所述驱动电机包括电枢轴；第一 传动结构，所述第一传动结构传动连接所述电枢轴与所述绞盘；第二传动结构，连接设置在机架上的排线杆与所述绞盘，以使所述排线杆能在所述绞盘带动下旋转，使得软管均匀的缠绕在所述绞盘上；滚珠花键式传动组件，所述滚珠花键式传动组件包括花键轴和花键套，所述花键轴由所述电枢轴驱动旋转，所述花键套与第三传动结构连接；电磁离合器，设置在所述电枢轴与所述滚珠花键式传动组件之间，或设置在所述绞盘与所述第一传动结构之间，通过所述电磁离合器断开所述电枢轴与所述花键轴或与所述绞盘的动力传递；放管模块，所述放管模块与所述排线杆之间螺旋配合。
上述自动行走设备，电枢轴通过电磁离合器与绞盘断开动力传递，使得绞盘不会对放管动作造成额外阻力，使放管顺畅；或者电枢轴可通过电磁离合器与花键轴断开动力传递，使得放管模块的放管轮组件不会主动旋转，不会对收管产生阻力，使得收管顺畅。
在其中一个实施例中，所述第一传动结构包括第一主动带轮、第一被动带轮、第一齿轮、第一传动皮带，所述第一主动带轮安装于所述电枢轴，所述第一被动带轮设置于所述机架，所述第一传动皮带连接所述第一主动带轮和所述第一被动带轮，所述第一齿轮与所述第一被动带轮连接；所述绞盘设有内齿圈，所述内齿圈与所述第一齿轮啮合传动。
在其中一个实施例中，所述电磁离合器设置在所述第一齿轮与所述第一被动带轮之间；或所述电磁离合器设置在所述电枢轴与所述第一主动带轮之间。
在其中一个实施例中，所述第二传动结构包括第二齿轮、第二主动带轮、第二被动带轮、第二传动皮带，所述第二主动带轮与所述第二齿轮连接，所述第二被动带轮与所述排线杆固定连接，所述第二传动皮带连接所述第二主动带轮与第二被动带轮；所述绞盘设有内齿圈，所述内齿圈与所述第二齿轮啮合传动。
在其中一个实施例中，所述放管模块包括与所述第三传动结构传动连接的放管轮组件。
在其中一个实施例中，所述放管轮组件包括第一放管轮、第二放管轮，所述第一放管轮与第二放管轮之间形成间隙以使水管通过。
在其中一个实施例中，所述第三传动结构包括第一放管齿轮和第二放管齿轮，所述第一放管齿轮与所述花键套啮合传动且所述第一放管齿轮与所述第一放管轮相连，所述第二放管齿轮与所述第一放管齿轮啮合传动且所述第二放管齿轮与所述第二放管轮相连。
在其中一个实施例中，所述第一放管轮和所述第二放管轮均为橡胶轮。
在其中一个实施例中，所述电枢轴上设有第三齿轮，所述花键轴上设有第四齿轮，所述第四齿轮与所述第三齿轮啮合传动，所述电磁离合器设置在所述第四齿轮与所述花键轴之间。
在其中一个实施例中，所述电磁离合器包括第一电磁离合器和第二电磁离合器，所述第一电磁离合器设置在所述电枢轴与所述滚珠花键式传动组件之间，所述第二电磁离合器设置在所述绞盘与所述第一传动结构之间。
附图说明
构成本申请的一部分的附图用来提供对本发明的进一步理解，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明一实施例的自动行走设备的仰视图。
图2为本发明一实施例的自动行走设备的俯视图。
图3为本发明一实施例的自动行走设备的仰视图，其中用虚线示意了水管的位置。
图4为本发明一实施例的自动行走设备的侧视图。
图5为图4所示自动行走设备的局部剖面结构示意图，示意了行走电机与行走轮之间的传动机构。
图6为图4所示自动行走设备的局部剖面结构示意图，示意了收管模块、放管模块、水管、绞盘安装于机架时的状态。
图7为本发明一实施例的自动行走设备放置于地面时沿水平方向的局部剖面结构示意图。
图8为图7中Y部分的放大图。
图9为图7中放管模块的局部剖面结构示意图。
图10为图7中放管模块的内部传动结构的示意图。
图11为一实施例的自动行走设备自驱动软管收放的方法的流程图。
图12为一实施例的自动行走设备自驱动软管收放的方法的流程图。
图13为本发明一实施例的自动行走设备的侧视图。
图14为本发明一实施例的自动行走设备的侧视图，其中局部以剖面形式示意出了内部结构。
图15为图14所示的自动行走设备的驱动电机与放管模块之间传动结构的示意图。
图16为本发明一实施例的自动行走设备的俯视图，其中局部以剖面形式示意出了内部结构。
图17为本发明一实施例的放管模块的局部剖面结构示意图。
图18为本发明一实施例的放管模块的内部结构的示意图。
图中的相关元件对应编号如下：
100、自动行走设备；10、机架；20、绞盘；210、水管；220、喷头模块；230、内齿圈；30、收管模块；310、第一电机；311、第一电枢轴；320、第一传动结构；321、第一传动轮；3211、带轮部；322、驱动带轮；323、传动皮带；324、驱动齿轮；330、第一离合机构；331、第一内圈；332、第一外圈；40、放管模块；410、第二电机；411、第二电枢轴；420、第二传动结构；421、第二传动轮；422、传动齿轮；430、放管轮组件；431、第一放管轮；432、第二放管轮；433、第一放管齿轮；434、第二放管齿轮；440、第二离合机构；441、第二内圈；442、第二外圈；50、行走机构；510、前轮模块；520、后轮模块；60、软管收放控制系统；610、控制器；70、行走电机；80、减速机构；200、绞盘；2100、水管；2200、内齿圈；300、驱动电机；3100、电枢轴；3110、第三齿轮；3200、第一传动结构；3210、第一主动带轮；3220、第一被动带轮；3230、第一齿轮；3240、第一传动皮带；3300、第一电磁离合器；3400、排线杆；3500、第二传动结构；3510、第二主动带轮；3520、第二被动带轮；3530、第二齿轮；3540、第二传动皮带；400、放管模块；4100、机体；4200、第三传动结构；4210、第一放管齿轮；4220、第二放管齿轮；4300、放管轮组件；4310、第一放管轮；4320、第二放管轮；500、行走机构；5100、前轮模块；5200、后轮模块；600、滚珠花键式传动组件；6100、花键轴；6110、第四齿轮；6200、花键套；6300、第二电磁离合器；700、控制组件；800、行走电机。
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。
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图 所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本发明的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
在本发明中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
需要说明的是，当元件被称为“固定于”或“设置于”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。本文所使用的术语“垂直的”、“水平的”、“上”、“下”、“左”、“右”以及类似的表述只是为了说明的目的，并不表示是唯一的实施方式。
传统技术的自动行走设备，当同时设置有收管模块和放管模块时，收管模块和放管模块由于存在联动关系，会出现影响对方运动的问题。
针对上述技术问题，本发明的实施例提出一种自动行走设备，其设置有自驱动软管收放机构，能够有效地消除传统技术中收管模块和放管模块影响对方工作的问题。自驱动软管收放机构包括具有第一电机和第二电机的电机组，第一电机和第二电机通过传动组件执行收管和放管动作。具体地，第一电机通过第一传动结构驱动绞盘卷收水管以执行收管动作，第二电机通过第二传动结构驱动放管轮组件将水管自绞盘上释放，实现放管动作。
本发明实施例的自动行走设备可以是单纯的仅具有浇灌功能，可以是固定式的自动行走设备，也可以是自移动式自动行走设备；还可以是与割草组件集成在一起，以构成同时具有自动割草能力及浇水能力的智能割草机。智能割草机是可以根据预设程序在设定的工作区域内自动执行割草作业的设备，其概念本身为本领域技术人员知晓，此处不过多赘述。
下面结合附图进一步详细说明本发明的实施例。
本说明书实施例提供了一种软管收放机构,包括：机架；绞盘，安装在所述机架上，所述绞盘上缠绕有水管,所述水管连接至水源；所述软管收放管机构包括：电机组，包括至少一个电机；传动系统,包括：第一传动结构，包括第一离合机构和第一传动齿轮，所述第一传动结构传动连接所述电机组的至少一个电机与所述绞盘；第二传动结构，包括第二离合机构和至少一个第二传动轮，所述第二传动结构传动连接所述电机组的至少一个电机与放管轮组件，其中，所述第一离合机构设置在所述电机组和所述第一传动轮之间、所述第二离合机构设置在所述电机组和所述第二传动轮之间；软管收放控制系统，包括控制器，所述控制器控制所述电机组和/或对应的传动结构，使所述电机组与所述第一传动轮之间脱开传动，或使所述电机组与所述第二传动轮之间脱开传动。
在其中一个实施例中，所述电机组包括一个电机，所述第一、第二传动结构均与所述电机连接。
在其中一个实施例中，所述电机组包括第一电机和第二电机，所述第一电机与所述第一传动结构连接，所述第二电机与所述第二传动结构连接。
如图1至图6所示，示意了本发明一实施例的自动行走设备100的结构，自动行走设备100包括机架10，其中机架10上安装有绞盘20和自驱动软管收放机构，其中自驱动软管收放机构包括收管模块30和放管模块40。本实施例中，机架10的底部安装有行走机构50，自动行走设备100能够行走。行走机构50包括前轮模块510和后轮模块520，其中前轮模块510具体包括两个分居机架10两侧的前轮，后轮模块520包括一个位于自动行走设备100的沿前进方向的中轴线X上的后轮。
如图6所示，绞盘20可转动地安装在机架10上。绞盘20上缠绕有水管210。具体而言，水管210的一端连接于绞盘20，另一端用于连接喷头模块220。喷头模块220包括由通断阀控制的喷嘴。水管210的材料可以根据实际场景设定，例如，可以为PE、PVC、橡胶、弹性合成材料等。水管的直径可以根据实际场景设定，例如，可以为5mm、30mm、1英寸等。
自动行走设备100具有收管模式和放管模式，其中收管模式时，绞盘20转动时牵引水管210不断缠绕在绞盘20上，实现收管；放管模式时，放管模块40牵引水管210，使水管210自绞盘20上释放，从而实现放管，继而能够进行浇水。
如图7和图8所示，收管模块30包括第一电机310、第一传动结构320，其中第一传动结构320传动连接第一电机310的第一电枢轴311与绞盘20，第一传动结构320包括第一传动轮321。第一传动轮321与第一电枢轴311连接。第一传动轮321可以是带轮或齿轮，以通过带传动或齿轮传动将动力传递给绞盘20。
一并参考图7、图9和图10所示，放管模块40包括第二电机410、第二传动结构420、放管轮组件430。其中，第二传动结构420传动连接第二电机410与放管轮组件430，第二传动结构420包括第二传动轮421。第二传动轮421与第二电机410的第二电枢轴411连接。放管轮组件430用以在放管时牵引水管210，使水管210自绞盘20上释放。如图7和图9所示，一示例中，放管轮组件430包括第一放管轮431、第二放管轮432之间形成间隙以使水管210通过。因此，两个放管轮沿设定方向转动时，能够牵引水管210不断地从绞盘20上释放。较佳地，两个放管轮均为橡胶轮，可避免损伤PE材质的水管210。第二传动轮421可以为齿轮或带轮，以将第二电枢轴411的动力通过带传动或齿轮传动的方式传递给放管轮组件430。
本实施例的自动行走设备100收管和放管的工作原理如下：收管模式下，第一电枢轴311主动旋转并通过第一传动结构320驱动绞盘20转动，绞盘20提供卷收水管210的驱动力。放管模式时，第二电枢轴411主动旋转并通过第二传动结构420驱动放管轮转动，放管轮牵引水管210不断地从绞盘20上释放。本发明实施例中的主动旋转，指第一电枢轴311和第二电枢轴411在工作电流的驱动下主动地旋转。
由于收管模块30和放管模块40因为绞盘20、水管210形成有联动关系，因此需要收管模块30工作以实现收管时，第二电机410会对第一电机310产生阻力，使收管不畅。反之，当需要放管模块40工作以实现放管时，第一电机310也同样会对第二电机410产生阻力，导致放管不畅。
为解决上述问题使收管和放管均较为顺畅，继而能实现设备移动过程中的自动化浇水，自动行走设备100还包括第一离合机构330和第二离合机构440，通过第一离合机构330减小放管时收管模块30对第二电机410产生阻力，通过第二离合机构440，减小收管时放管模块40对第一电机310产生阻力。
如图8所示，第一离合机构330和第二离合机构440具体均为单向轴承，能够顺时针或逆时针转动。第一离合机构330设置在第一电机310的第一电枢轴311与第一传动轮321之间。第一离合机构330在第一电枢轴311与第一传动轮321之间实现单向传动。具体实施时，第一内圈331安装于第一电枢轴311，第一外圈332安装于第一传动轮321，第一内圈331相对于第一外圈332单向转动。第一电枢轴311转动时，能够带动第一内圈331转动，第一内圈331则能够带动第一外圈332转动，继而将动力传递给第一传 动轮321。
如图7、图10所示，第二离合机构440设置在第二电机410的第二电枢轴411与第二传动轮421之间，第二离合机构440在第二电枢轴411与第二传动轮421之间实现单向传动。具体实施时，第二离合机构440的第二内圈441安装于第二电枢轴411，第二外圈442安装于第二传动轮421，第二内圈441相对于第二外圈442单向转动。第二电枢轴411转动时，能够带动第二内圈441转动，第二内圈441则能够带动第二外圈442转动，继而将动力传递给第二传动轮421。
设置有第一离合机构330和第二离合机构440时，收管模式下，第一电枢轴311主动旋转并通过第一传动结构320驱动绞盘20转动时，第二电枢轴411也配置为主动旋转以能够与第二传动轮421之间脱开传动，从而第二电枢轴411不影响第一电机310的工作。类似地，放管模式下，第二电枢轴411主动旋转以使放管轮牵引水管210不断地从绞盘20上释放时，第一电枢轴311主动旋转以能够与第一传动轮321之间脱开传动，从而第一电机310不影响第二电机410的工作。
具体地，以收管模式为例进行详细说明。首先，将放管模式时，第二电枢轴411的转向定义为第二电枢轴411的正向转动，此时第二内圈441的转向定义为第二内圈441的正向转动，第二内圈441正向转动时能够传递扭矩给第二外圈442。可以理解地，第二内圈441反向转动时无法带动第二外圈442转动。收管模式时，当第一电机310转动时，绞盘20转动并卷收水管210。此时，由于收管模块30和放管模块40存在前述的联动关系，水管210有会促动两放管轮反向转动的趋势，导致第二外圈442有反向转动的趋势，继而第二外圈442有带动第二内圈441反向转动的趋势。即对于第二离合机构440而言，此时第二外圈442作为主动件，故第二外圈442反向转动时会带动第二内圈441反向转动。
为此，收管模式下，第二电枢轴411也配置为主动旋转，使得第二电枢轴411带动第二内圈441主动地反向转动。在此情况下，当第二内圈441反向转动的转速大于第二外圈442在水管210的作用下的反向转动的转速时，第二外圈442处于相对静止的状态，从而第二内圈441连通第二电枢轴411一起相对于第二外圈442自由旋转。这样，第二电枢轴411不会对第二外圈442产生阻力，从而达到了第二电机410不影响第一电机310工作之目的。
类似地，放管模式下，由于第一电枢轴311也配置为主动旋转，使得第一电枢轴311带动第一内圈331主动地反向转动。在此情况下，当第一内圈331反向转动的转速大于第一外圈332在水管210的作用下的反向转动的转速时，第一外圈332处于相对静止的状态，从而第一内圈331连同第一电枢轴311一起相对于第一外圈332自由旋转。这样，第一电枢轴311不会对第一外圈332造成任何的阻力，从而达到了第一电机310不影响第二电机410工作之目的。
本实施例中，收管模式时，使第二电枢轴411主动旋转以能够与第二传动轮421之间脱开传动，实现第二电机410不影响第一电机310工作之目的；放管模式时，第一电枢轴311主动旋转以能够与第一传动轮321之间脱开传动，实现第一电机310不影响第二电机410工作之目的。从而能够保证收管和放管均较为顺畅，利于实现自动化浇水。为了保证收管模式时，第二电枢轴411与第二传动轮421之间完全脱开传动，及放管模式时，第一电枢轴311与第一传动轮321之间完全脱开传动。一实施例中，收管模式时，第二电枢轴411的转速大于第一电枢轴311的转速；放管模式时，第一电枢轴311的转速大于第二电枢轴411的转速。由于收管模式时，第二电枢轴411的转速更高，能够保证第二内圈441反向转动的转速大于第二外圈442的反向转动的转速，能够保证第二内圈441与第二外圈442实现传动脱开，使第二电机410与第二传动结构420脱开传动。类似地，放管模式时，第一电枢轴311的转速更高，能够保证第一内圈331与第一外圈332实现传动脱开，使第一电机310与第一传动结构320脱开传动。
需要强调，第一离合机构330和第二离合机构440均为单向轴承，但并不局限于上述的结构及安装方式，只要保证第二电机410与第二传动结构420脱开传动；及第一电机310与第一传动结构320脱开传动 即可。例如，一些实施例中，第一离合机构330和第二离合机构440均为电磁离合器。电磁离合器包括断开状态和闭合状态。具体的，一些实施例中，在第一离合机构330和第二离合机构440均为电磁离合器时，收管模式时，可以控制第二离合机构440处于断开状态，且第一离合机构330处于闭合状态，使第二电机410与第二传动结构420脱开传动,从而实现第二电机410不影响第一电机310工作之目的；放管模式时，可以控制第一离合机构330处于断开状态，且第二离合机构440处于闭合状态，使第一电机310与第一传动结构320脱开传动,实现第一电机310不影响第二电机410工作之目的。从而能够保证收管和放管均较为顺畅，利于实现自动化浇水。当然，上述只是进行示例性说明，对本发明其他实施例并不构成限定。
第一电机310和第二电机410能够输出不同的速度，进而第一电机310的旋转速率达到使得者第一电机310与第一传动结构320脱开传动；或者第二电机410的旋转速率达到第二电机410与第二传动结构420脱开传动。上述不同的速度包括二者的线速度不同、角速度不同等。
一较佳的实施方式中，收管模式时，第二电机410的第二电枢轴411的转速为第一电机310的第一电枢轴311的转速的1.2～1.8倍；放管模式时，第一电机310的第一电枢轴311的转速为第二电机410的第二电枢轴411的转速的1.2～1.8倍。上述转速范围内，能够保证收管模式时，第二电机410与第二传动结构420彻底脱开传动，及保证放管模式时第一电机310与第一传动结构320彻底脱开传动，很好地保证第一电机310和第二电机410不影响彼此工作。一些实施例中，收管模式时，第一电枢轴311和第二电枢轴411的转向相同；放管模式时，第二电枢轴411和第一电枢轴311的转向相同。上述方式，便于设置第一电机310和第二电机410的工作状态。例如收管模式时，第一电枢轴311的正向转动，此时第二电枢轴411的转向与第一电枢轴311的转向相同；放管模式时，第二电枢轴411沿第二电枢轴411的正向转动，此时第一电枢轴311的转向与第二电枢轴411的转向相同。而对于第一电机310而言，自身在收管模式和放管模式下的转向是相反的；对于第二电机410而言，其自身在收管模式和放管模式下的转向也是相反的。因此，收管模式时，第一电枢轴311和第二电枢轴411的转向相同，如均沿逆时针方向转动；而放管模式时，第一电枢轴311和第二电枢轴411的转向相同，如均沿顺时针方向转动。通过上述手段，控制第一电机310和第二电机410的电流方向可以相同，从而利于简化电路结构设计。
如图9所示，一实施方式中，第二传动轮421为齿轮，第二传动结构420还包括传动齿轮422，传动齿轮422与第二传动轮421啮合传动。放管轮组件430还包括第一放管齿轮433和第二放管齿轮434，其中第一放管齿轮433与第一放管轮431连接，且第一放管齿轮433与传动齿轮422啮合传动，第二放管齿轮434与第二放管轮432连接且第二放管齿轮434与第一放管齿轮433啮合传动，第一放管轮431、第二放管轮432之间形成间隙以使水管210通过。具体实施时，第一放管齿轮433和第二放管齿轮434均为齿轮轴，第一放管轮431安装在第一放管齿轮433的轴上，第二放管轮432安装在第二放管齿轮434的轴上。
传动齿轮422是位于第二传动轮421与放管轮组件430之间的中间传动齿轮，其具有换向的作用，其可以视为另一个第二传动轮421，此时两个第二传动轮421使得两个放管轮能够牵引释放水管210时，第二电枢轴411的转向与第一放管轮431的转向相同。如图10所示意的，放管模式下，假设第一放管轮431沿箭头a方向转动时能够牵引释放水管210，则第二电枢轴411的转向如箭头b所示，箭头b与箭头a均沿顺时针方向。此时，第一电枢轴311的转向也如箭头b所示。在此基础上，收管模式下，第一电枢轴311沿与箭头b相反的方向(逆时针)转动并驱动绞盘20转动实现收管，与此同时第二电枢轴411也沿与箭头b相反的方向(逆时针)转动以与第二传动结构420脱开。
在其他实施例中，收管模式时，第一电枢轴311和第二电枢轴411的转向相反；放管模式时，第二电枢轴411和第一电枢轴311的转向相反。
具体实施时，仍请参考图10，可以省略传动齿轮422，即第一放管齿轮433直接地与第二传动轮421啮合传动。这样，放管模式下，第一放管轮431沿箭头a方向转动时能够牵引释放水管210时，第二电枢 轴411的转向与箭头b相反，此时第一电枢轴311的转向可以仍如箭头b所示。在此基础上，收管模式下，第一电枢轴311沿与箭头b相反的方向(逆时针)转动并驱动绞盘20转动实现收管，与此同时第二电枢轴411也沿箭头b方向(顺时针)转动以与第二传动结构420脱开。
如图7所示，一实施例中，第一传动轮321包括带轮部3211，第一传动结构320还包括驱动带轮322、传动皮带323、驱动齿轮324。传动皮带323连接第一传动轮321的带轮部和驱动带轮322，驱动齿轮324与驱动带轮322固定连接，绞盘20设置有与驱动齿轮324啮合传动的内齿圈230。本实施例中，通过带传动实现第一电机310与绞盘20之间的传动，带传动成本低且便于根据安装环境调整位置。第一传动轮321包括带轮部，可以是第一传动轮321本身就是带轮，也可以还是第一传动轮321为齿轮，其上还固定有一带轮。
如图6所示，为方便实现自动化浇水，自动行走设备100还包括软管收放控制系统60，软管收放控制系统60配置为控制收管模块30和放管模块40实现收管模式或放管模式。软管收放控制系统60包括控制器610，控制器610具体可设置在机架10的底部。在示例性实施例中，控制器610可以被一个或多个应用专用集成电路(ASIC)、数字信号处理器(DSP)、数字信号处理设备(DSPD)、可编程逻辑器件(PLD)、现场可编程门阵列(FPGA)、控制器、微控制器、微处理器或其他电子元件实现，用于执行上述功能。
具体地，第一电机310和第二电机410构成电机组，分别能通过第一传动结构320和第二传动结构420执行收管工作和放管工作。在一些实施例中，软管收放控制系统60的控制器610控制第一电机310和第二电机410的输出速度，驱动第一电机310和第二电机410按同一方向或相反方向且以一定的转速比运转，使得第一电机310的第一电枢轴311旋转速率达到能够与第一传动轮321之间脱开传动，或使得第二电机410的第二电枢轴411旋转速率达到能够与第二传动轮421之间脱开传动。
当软管收放控制系统60的控制器610控制第一电机310的输出转速大于第二电机410，且使得第一电机310的第一电枢轴311旋转速率达到能够与第一传动轮321之间脱开传动时，第二电机410通过第二传动结构420驱动放管轮组件430，放管轮组件430驱动水管210自绞盘20上释放。此时，自动行走设备100进入放管模式。第一电枢轴311与第一传动轮321之间脱开传动，不影响放管工作。
当软管收放控制系统60控制第二电机410的输出转速大于第一电机310时，且使得第二电机410的第二电枢轴411旋转速率达到能够与第二传动轮421之间脱开传动时，第一电机310通过第一传动结构320驱动绞盘20转动，绞盘20卷收水管210。此时，自动行走设备100进入收管模式。第二电枢轴411能够与第二传动轮421之间脱开传动，实现第二电机410不影响收管工作之目的。
在另一些实施例中，软管收放控制系统60的控制器610控制第一、第二离合机构的状态(断开或闭合)，使得第一电机310与第一传动轮321之间脱开传动，或使得第二电机410与第二传动轮421之间脱开传动。
当软管收放控制系统60的控制器610控制第一离合机构330处于断开状态，且第二离合机构440处于闭合状态时，第二电机410通过第二传动结构420驱动放管轮组件430，放管轮组件430驱动水管210自绞盘20上释放。此时，自动行走设备100进入放管模式。第一电枢轴311与第一传动轮321之间脱开传动，不影响放管工作。
当软管收放控制系统60的控制器610控制第二离合机构440处于断开状态，且第一离合机构330处于闭合状态时，第一电机310通过第一传动结构320驱动绞盘20转动，绞盘20卷收水管210。此时，自动行走设备100进入收管模式。第二电枢轴411能够与第二传动轮421之间脱开传动，实现第二电机410不影响收管工作之目的。
进一步地，如图5所示，自动行走设备100还包括行走机构50、行走电机70，行走电机70与行走机构50传动连接，行走电机70由软管收放控制系统60控制工作。具体设置时，行走电机70为无刷电机， 其与行走机构50之间还设有减速机构80。
具体实施时，软管收放控制系统60配置为：放管模式下，软管收放控制系统60使行走电机70工作，且行走电机70驱动行走机构50。这样，自动行走设备100能够自动行走，继而实现自动行走过程中的自动化浇水。
在上述实施例的基础上，自动行走设备100还构成智能割草机的一部分。自动行走设备100还包括割草组件，割草组件由软管收放控制系统60控制以实现自动割草作业。这样，放管模式下，软管收放控制系统60使行走电机70工作，且行走电机70驱动行走机构50，同时软管收放控制系统60控制割草组件自动工作。从而实现割草作业时的自动化浇水。
割草组件的具体类型不限制。如割草组件包括旋转刀盘和安装在刀盘上的多个刀片，利用高速旋转的刀片进行割草。
如图11所示，本发明一实施例中，还提出一种自动行走设备自驱动软管收放的方法，应用于所述的自动行走设备。该方法包括如下步骤。
S100、控制所述第一、二电机按同一方向运转。
S200、控制所述第一电机310的电枢轴旋转速率达到能够与所述第一传动轮321之间脱开传动，所述第二电机410通过所述第二传动结构420驱动所述放管轮组件430，所述放管轮组件430驱动所述水管210自所述绞盘20上释放；
S300、控制所述第二电机410的电枢轴旋转速率达到能够与所述第二传动轮421之间脱开传动，所述第一电机310通过所述第一传动结构320驱动所述绞盘20转动，所述绞盘20卷收所述水管210。
上述方法中，通过控制所述第一电机310的输出转速大于所述第二电机410，且使第一电机310与所述第一传动轮321之间脱开传动，使自动行走设备进入放管模式，且第一电机310不影响放管工作；通过控制第二电机410的输出转速大于第一电机310且使得第二电机410与第二传动轮421之间脱开传动，使自动行走设备进入收管模式，且第二电机410不影响放管工作。从而能够保证收管和放管均较为顺畅，利于实现自动化浇水。
如图12所示，本发明一实施例中，还提出一种自动行走设备自驱动软管收放的方法，应用于所述的自动行走设备。该方法包括如下步骤。
S400、控制第一离合机构(330)处于断开状态且第二离合机构(440)处于闭合状态，所述第二电机(410)通过第二传动结构(420)驱动放管轮组件(430)，所述放管轮组件(430)驱动水管(210)自绞盘(20)上释放；
S500、控制第二离合机构(440)处于断开状态且第一离合机构(330)处于闭合状态，所述第一电机(310)通过第一传动结构(320)驱动绞盘(20)转动，所述绞盘(20)卷收水管(210)。
上述方法中，通过控制第二离合机构440处于断开状态，第二电机410与第二传动结构420脱开传动,使自动行走设备100进入收管模式，且第二电机410不影响收管工作；通过控制第一离合机构330处于断开状态，第一电机310与第一传动结构320脱开传动,使自动行走设备100进入放管模式，且第一电机310不影响放管工作。从而能够保证收管和放管均较为顺畅，利于实现自动化浇水。
如图13至图18所示，示意了本发明另一实施例的自动行走设备100的结构，自动行走设备100包括机架10，其中机架10上安装有绞盘200，自驱动软管收放机构包括驱动电机300、放管模块400，其中驱动电机300用于驱动绞盘200转动以实现水管2100的卷收，驱动电机300还用于驱动放管模块400工作以实现水管2100的释放继而进行浇水。也就是说，本实施例的自动行走设备100具有收管模式和放管模式，其中收管模式时，绞盘200转动时牵引水管2100不断缠绕在绞盘200上，实现收管；放管模式时，放管模块400牵引水管2100，使水管2100自绞盘200上释放，从而实现放管，继而能够进行浇水。
本实施例中，机架10的底部安装有行走机构500，自动行走设备100能够自动行走。行走机构500包括前轮模块5100和后轮模块5200，其中前轮模5100具体包括两个分居机架10两侧的前轮，后轮模块5200包括一个位于自动行走设备的沿前进方向的中轴线X上的后轮。
如图16所示，绞盘200可转动地安装在机架10上。绞盘200上缠绕有水管2100。具体而言，水管2100的一端连接于绞盘200，另一端用于连接喷头模块(未图示)。喷头模块具体可包括由通断阀控制的喷嘴。水管2100可以为PE管。
如图15和图16所示，自动行走设备100还包括第一传动结构3200。第一传动结构3200连接驱动电机300的电枢轴3100与绞盘200。即电枢轴3100能通过第一传动结构3200驱动绞盘200转动。第一传动结构3200与绞盘200之间还设有第一电磁离合器3300。第一电磁离合器3300使得第一传动结构3200能够选择地向绞盘200传递动力。如收管模式时，第一电磁离合器3300通电闭合，电枢轴3100带动绞盘200转动。另外，需要说明的是，第一电磁离合器3300也可以设置在电枢轴3100与第一传动结构3200之间。
机架10上设有且可绕自身轴线旋转的排线杆3400。排线杆3400与绞盘200之间通过第二传动结构3500传递动力，以使排线杆3400能在绞盘200带动下旋转。排线杆3400与放管模块400之间螺旋配合。这样，收管模式下，当排线杆3400被驱动旋转时，放管模块400相对于排线杆3400做直线运动，从而对水管2100起到疏导作用，避免水管2100折叠，保证顺利收管。具体实施时，排线杆3400可设置为螺杆，放管模块400包括机体4100，机体4100套在螺杆上且与螺杆之间螺旋配合。第二传动结构3500的具体方式不限制，可以是皮带传动机构，也可以是齿轮传动结构。
如图17和图18所示，放管模块400包括机体4100、设置于机体4100的第三传动结构4200、放管轮组件4300，第三传动结构4200连接电枢轴3100与放管轮组件4300，放管轮组件4300包括第一放管轮4310、第二放管轮4320，第一放管轮4310与第二放管轮4320之间形成间隙以使水管2100通过。两个放管轮沿设定方向转动时，能够牵引水管2100不断地从绞盘200上释放。较佳地，两个放管轮均为橡胶轮，可避免损伤PE材质的水管2100。
自动行走设备100还包括滚珠花键式传动组件600，驱动电机300通过滚珠花键式传动组件600向放管模块400的第三传动结构4200传递动力。如图14和图15所示，滚珠花键式传动组件600包括花键轴6100和花键套6200，花键轴6100由电枢轴3100驱动旋转且二者之间设有第二电磁离合器6300，花键套6200与第三传动结构4200连接。花键套6200相对于花键轴6100能够升降且能够向外界传递旋转动力。第二电磁离合器6300用以实现电枢轴3100选择地向花键轴6100传递扭矩。
本实施例的自动行走设备100的收管模式和放管模式的工作原理如下：收管模式下，电枢轴3100沿第一方向旋转(设定为正向旋转)驱动绞盘200转动，绞盘200提供卷收水管2100的驱动力使水管2100不断地缠绕在绞盘200上实现水管2100，与此同时电枢轴3100通过第二电磁离合器6300与花键轴6100断开动力传递，使得放管模块400的放管轮组件4300不会主动旋转，不会对收管产生阻力，使得收管顺畅。放管模式时，电枢轴3100沿与第一方向相反的第二方向旋转(设定为反向旋转)，电枢轴3100驱动花键轴6100转动并通过第三传动结构4200驱动第一放管轮4310和第二放管轮4320牵引水管2100不断地从绞盘200上释放，与此同时电枢轴3100通过第一电磁离合器3300与绞盘200断开动力传递，使得绞盘200不会对放管动作造成额外阻力，使放管顺畅。
需要说明，第一电磁离合器3300和第二电磁离合器6300可以择一地设置。当仅设置第一电磁离合器3300时，电枢轴3100通过第一电磁离合器3300与绞盘200断开动力传递，使得绞盘200不会对放管动作造成额外阻力，使放管顺畅。当仅设置第二电磁离合器6300时，电枢轴3100可通过第二电磁离合器6300与花键轴6100断开动力传递，使得放管模块400的放管轮组件4300不会主动旋转，不会对收管产生阻力，使得收管顺畅。
传统技术中采用双电机分别控制绞盘200和放管模块400，两个电机彼此影响对方造成较大阻力，而上述自动行走设备，收管时驱动电机300与放管模块400动力切断，放管时驱动电机300与绞盘200之间动力切断，放管和收管时的阻力较小，放管和收管均较为顺畅。
如图16所示，一实施例中，第一传动结构3200包括第一主动带轮3210、第一被动带轮3220、第一齿轮3230、第一传动皮带3240，其中第一主动带轮3210安装于电枢轴3100，第一被动带轮3220设置于机架10，第一传动皮带3240连接第一主动带轮3210和第一被动带轮3220，第一齿轮3230与第一被动带轮3220连接。绞盘200设有与第一齿轮3230啮合传动的内齿圈2200。驱动电机300将动力传递给第一被动带轮3220，再通过与第一被动带轮3220固定连接的第一齿轮3230驱动绞盘200转动。采用带传动，驱动电机300、第一被动带轮3220等在机架10上的位置设置选择较多，利于自动行走设备100的结构设计。
进一步地，第一电磁离合器3300设置在第一齿轮3230与第一被动带轮3220之间。具体地，第一被动带轮3220可设置与第一电磁离合器3300的一端的内孔相连的轴部，第一齿轮3230则固定在第一电磁离合器3300的另一端。在其他的实施例中，第一电磁离合器3300也可以设置在电枢轴3100与第一主动带轮3210之间。
在其他的实施例中，第一传动结构3200不限于为带传动机构。例如，绞盘200可以设置外齿圈，第一传动结构3200包括设置于电枢轴3100的驱动齿轮，该驱动齿轮与外齿圈啮合传动，从而将驱动电机300的扭矩传递给绞盘200。此时，第一电磁离合器3300可以设置在驱动齿轮与电枢轴3100之间。
如图16所示，一实施例中，第二传动结构3500包括第二主动带轮3510、第二被动带轮3520、第二齿轮3530、第二传动皮带3540。其中，第二齿轮3530与绞盘200的内齿圈2200啮合传动，第二主动带轮3510与第二齿轮3530连接，第二被动带轮3520与排线杆3400固定连接，第二传动皮带3540连接第二主动带轮与第二被动带轮。采用带转动，第二主动带轮3510等在机架10上的位置设置选择较多，利于自动行走设备100的结构设计。第二被动带轮3520与排线杆3400固定连接，二者可以是分体制造然后固定在一起；也可以是形成为一体件，即排线杆3400的局部为螺杆，局部为带轮。
在其他的实施例中，第二传动结构3500不限于为带传动机构。例如，绞盘200可以设置外齿圈，第二传动结构3500可以包括与绞盘200的外齿圈啮合传动的中间齿轮、设置于排线杆3400的传动齿轮。绞盘200转动时，通过其外齿圈、中间齿轮和传动齿轮驱动排线杆3400转动。
结合图14、图17和图18所示，一实施例中，第三传动结构4200包括第一放管齿轮4210和第二放管齿轮4220。第一放管齿轮4210与花键套6200啮合传动，且第一放管齿轮4210与第一放管轮4310相连；第二放管齿轮4220与第二放管轮4320连接且第二放管齿轮4220与第二放管轮4320啮合传动。通过上述手段，当驱动电机300向花键轴6100传动扭矩时，花键套6200能够向第一放管齿轮4210传递扭矩，继而第一放管齿轮4210带动第一放管轮4310旋转，同时第一放管齿轮4210驱动第二放管齿轮4220旋转，第二放管齿轮4220带动第二放管齿轮4220转动。第二放管轮4320与第一放管轮4310的旋转方向刚好相反，从而形成作用于水管2100的牵引力，使水管2100不断地从绞盘200上释放，实现放管。
第三传动结构4200用以接收花键套6200传递的来自于花键轴6100的扭矩，第三传动结构4200与花键套6200之间不限于采用齿轮传动。例如，花键套6200上也可以设置带轮部，第一放管齿轮4210上固定连接一被动带轮，这样花键套6200可通过带传动方式驱动第一放管齿轮4210转动。
如图14所示，为方便实现自动化浇水，自动行走设备还包括控制组件700，控制组件700配置为控制收管模块和放管模块400实现收管模式或放管模式。控制组件700具体可设置在机架10的底部。
进一步地，如图14所示，自动行走设备还包括行走机构500、行走电机800，行走电机800与行走机构500传动连接，行走电机800由控制组件700控制工作。具体设置时，行走电机800为无刷电机，其与行走机构500之间还可设有减速机构(未图示)。
具体实施时，控制组件700配置为：放管模式下，控制组件700使行走电机800工作，且行走电机800驱动行走机构500。这样，自动行走设备100能够自动行走，继而实现自动行走过程中的自动化浇水。
在上述实施例的基础上，自动行走设备100还构成智能割草机的一部分。具体地，自动行走设备100还包括割草组件(未图示)，割草组件由控制组件700控制以实现自动割草作业。这样，放管模式下，控制组件700使行走电机800工作，且行走电机800驱动行走机构500，同时控制组件700控制割草组件自动工作。从而实现割草作业时的自动化浇水。
割草组件的具体类型不限制。如割草组件包括旋转刀盘和安装在刀盘上的多个刀片，利用高速旋转的刀片进行割草。
在示例性实施例中，控制组件700可以被一个或多个应用专用集成电路(ASIC)、数字信号处理器(DSP)、数字信号处理设备(DSPD)、可编程逻辑器件(PLD)、现场可编程门阵列(FPGA)、控制器、微控制器、微处理器或其他电子元件实现，用于执行上述功能。
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 (16)

  1. 一种软管收放机构,包括：
    机架；
    绞盘，安装在所述机架上，所述绞盘上缠绕有水管,所述水管连接至水源；其特征在于，
    所述软管收放管机构包括：
    电机组，包括至少一个电机；
    传动系统,包括：第一传动结构，包括第一离合机构和第一传动齿轮，所述第一传动结构传动连接所述电机组的至少一个电机与所述绞盘；第二传动结构，包括第二离合机构和至少一个第二传动轮，所述第二传动结构传动连接所述电机组的至少一个电机与放管轮组件，其中，所述第一离合机构设置在所述电机组和所述第一传动轮之间、所述第二离合机构设置在所述电机组和所述第二传动轮之间；
    软管收放控制系统，包括控制器，所述控制器控制所述电机组和/或对应的传动结构，使所述电机组与所述第一传动轮之间脱开传动，或使所述电机组与所述第二传动轮之间脱开传动。
  2. 根据权利要求1所述的软管收放机构，其特征在于，所述电机组包括一个电机，所述第一、第二传动结构均与所述电机连接。
  3. 根据权利要求1所述的软管收放机构，其特征在于，所述电机组包括第一电机和第二电机，所述第一电机与所述第一传动结构连接，所述第二电机与所述第二传动结构连接。
  4. 一种自动行走设备(100)，所述自动行走设备(100)具有自驱动软管收放机构,机架(10)；绞盘(20)，安装在所述机架(10)上，所述绞盘(20)上缠绕有水管(210),所述水管(210)连接至水源；其特征在于，所述自驱动收放管机构包括：
    电机组，包括第一电机(310)和第二电机(410)，所述第一电机(310)、第二电机(410)能够输出不同的速度；
    传动系统,包括：第一传动结构(320)，包括第一离合机构(330)和第一传动齿轮(422)，所述第一传动结构(320)传动连接所述第一电机(310)的电枢轴与所述绞盘(20)；第二传动结构(420)，包括第二离合机构(440)和至少一个第二传动轮(421)，所述第二传动结构(420)传动连接所述第二电机(410)的电枢轴与放管轮组件(430)，其中，所述第一、二离合机构分别设置在所述第一电机(310)的电枢轴和所述第一传动轮(321)、第二电机(410)的电枢轴和所述第二传动轮(421)之间；
    软管收放控制系统(60)，包括控制器(610)，所述控制器(610)控制所述第一、二电机和/或对应的传动结构，使所述第一电机与所述第一传动轮之间脱开传动，或使所述第二电机与所述第二传动轮之间脱开传动。
  5. 根据权利要求4所述的自动行走设备(100)，其特征在于，所述第一、二离合机构为单向轴承或电磁离合器，所述单向轴承的转向为顺时针或逆时针方向，所述电磁离合器包括断开状态和闭合状态。
  6. 根据权利要求4所述的自动行走设备(100)，其特征在于，所述控制器(610)控制所述第一、二电机的输出速度，驱动所述第一、二电机按同一方向且以一定的转速比运转，使得所述第一电机(310)的电枢轴旋转速率达到能够与所述第一传动轮(321)之间脱开传动，或使得所述第二电机(410)的电枢轴旋转速率达到能够与所述第二传动轮(421)之间脱开传动。
  7. 根据权利要求4所述的自动行走设备(100)，其特征在于，所述控制器(610)控制第一离合机构(330)处于断开状态且第二离合机构(440)处于闭合状态，使得所述第一电机(310)与所述第一传动轮(321)之间脱开传动，或控制第二离合机构(440)处于断开状态且第一离合机构(330)处于闭合状态，使得所述第二电机(410)与所述第二传动轮(421)之间脱开传动。
  8. 根据权利要求4所述的自动行走设备(100)，其特征在于，所述控制器(610)控制所述第二电机(410)的输出转速大于所述第一电机(310)；或控制所述第一电机(310)的输出转速大于所述第二电机(410)。
  9. 根据权利要求4所述的自动行走设备(100)，其特征在于，所述控制器(610)控制所述第一、二电机的转速比在1.2-1.8之间取值。
  10. 根据权利要求4所述的自动行走设备(100)，其特征在于，所述第一传动结构(320)包括第一传动轮(321)，所述第一传动轮(321)包括带轮部(3211)，所述第一传动结构(320)还包括驱动带轮(322)、传动皮带(323)、驱动齿轮(324)，所述传动皮带(323)连接所述第一传动轮(321)的带轮部(3211)和所述驱动带轮(322)，所述驱动齿轮(324)与驱动带轮(322)固定连接，所述绞盘(20)设置有与所述驱动齿轮(324)啮合传动的内齿圈(230)。
  11. 根据权利要求4所述的自动行走设备(100)，其特征在于，所述放管轮组件(430)包括第一放管轮(431)、第二放管轮(432)，所述第一放管轮(431)与第二放管轮(432)之间形成间隙以使水管(210)通过。
  12. 根据权利要求11所述的自动行走设备(100)，其特征在于，所述放管轮组件(430)还包括至少一组放管轮和分别与每一所述放管轮传动连接的放管齿轮。
  13. 根据权利要求12所述的自动行走设备(100)，其特征在于，所述放管齿轮与所述第二传动轮(421)啮合传动，使得所述软管从所述放管轮形成的间隙间通过。
  14. 根据权利要求11所述的自动行走设备(100)，其特征在于，所述第一放管轮(431)和所述第二放管轮(432)均为橡胶轮。
  15. 一种自动行走设备(100)自驱动软管收放的方法，应用于如权利要求1所述的自动行走设备(100)，其特征在于，包括步骤：
    控制所述第一、二电机按同一方向运转；
    控制所述第一电机(310)的电枢轴旋转速率达到能够与所述第一传动轮(321)之间脱开传动，所述第二电机(410)通过所述第二传动结构(420)驱动所述放管轮组件(430)，所述放管轮组件(430)驱动所述水管(210)自所述绞盘(20)上释放；
    控制所述第二电机(410)的电枢轴旋转速率达到能够与所述第二传动轮(421)之间脱开传动，所述第一电机(310)通过所述第一传动结构(320)驱动所述绞盘(20)转动，所述绞盘(20)卷收所述水管(210)。
  16. 一种自动行走设备(100)自驱动软管收放的方法，应用于如权利要求1所述的自动行走设备(100)，其特征在于，包括步骤：
    控制第一离合机构(330)处于断开状态且第二离合机构(440)处于闭合状态，所述第二电机(410)通过第二传动结构(420)驱动放管轮组件(430)，所述放管轮组件(430)驱动水管(210)自绞盘(20)上释放；
    控制第二离合机构(440)处于断开状态且第一离合机构(330)处于闭合状态，所述第一电机(310)通过第一传动结构(320)驱动绞盘(20)转动，所述绞盘(20)卷收水管(210)。
PCT/CN2022/107674 2021-07-23 2022-07-25 自动行走设备及其自驱动软管收放的方法 WO2023001311A1 (zh)

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