WO2023006110A1 - 自动割草机 - Google Patents

自动割草机 Download PDF

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Publication number
WO2023006110A1
WO2023006110A1 PCT/CN2022/109376 CN2022109376W WO2023006110A1 WO 2023006110 A1 WO2023006110 A1 WO 2023006110A1 CN 2022109376 W CN2022109376 W CN 2022109376W WO 2023006110 A1 WO2023006110 A1 WO 2023006110A1
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WO
WIPO (PCT)
Prior art keywords
shield
working surface
projection
lawn mower
distance
Prior art date
Application number
PCT/CN2022/109376
Other languages
English (en)
French (fr)
Inventor
周晓青
查霞红
赵凤丽
焦石平
孙锡峰
Original Assignee
苏州宝时得电动工具有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202110874850.4A external-priority patent/CN115669352A/zh
Application filed by 苏州宝时得电动工具有限公司 filed Critical 苏州宝时得电动工具有限公司
Priority to EP22848714.6A priority Critical patent/EP4378297A1/en
Priority to CN202280058058.4A priority patent/CN117897046A/zh
Publication of WO2023006110A1 publication Critical patent/WO2023006110A1/zh

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation

Definitions

  • the invention relates to the field of garden machinery, in particular to an automatic lawnmower.
  • the height of the outer shield of the machine from the ground is generally lower than 50mm (the existing machine The range of height H from the ground: 18mm ⁇ H ⁇ 50mm, some machines are less than 65mm), usually American lawn mowers need to work in dense grass with a height of more than 100mm.
  • the resistance of the casing is large, the grass is bent by the shield, and the machine is subjected to the backward resistance of the grass to the shield and the upward support of the grass to the shield.
  • the upward support reduces the positive pressure of the machine on the support surface and reduces the adhesion of the machine. Small, when the adhesion of the machine is less than the resistance, the passability of the machine is not good, it is easy to slip in the dense grass, and it cannot move forward, causing abnormal shutdown.
  • the current technology is usually to increase the diameter of the driving wheel, increase the width of the driving wheel, change the tooth profile or adopt an all-wheel drive mode.
  • the existing solutions have little effect on improving the grip between the machine and the ground.
  • the resistance of the dense grass is much greater than the grip between the machine and the ground, and the machine is not passable. Good, easy to slip, and the machine often has a large driving force to overcome the resistance of dense grass, which is easy to wear the lawn.
  • the purpose of the present invention is to provide a lawn mower, which can not only reduce the resistance of dense grass to the machine when the machine is working in high-density grass, improve the passability of the machine, but also ensure the safety of people.
  • an automatic lawnmower comprising:
  • a cutting mechanism is arranged on the automatic lawn mower, and the cutting mechanism includes cutting elements for performing cutting tasks;
  • the first shield is arranged on the automatic lawn mower and is at least partially located on the periphery of the cutting element; in a natural state, the distance X1 between at least part of the bottom edge of the first shield and the working surface satisfies : X1 ⁇ 60mm; and,
  • the second shield is arranged on the automatic lawn mower, at least partially between the first shield and the cutting element, so as to protect the cutting element; in a natural state, the second shield
  • the lowest point of the cover is lower than the first shield, and the distance Y1 between the lowest point and the working surface satisfies: Y1 ⁇ 75mm; the second shield is configured to be away from the working surface in the direction When the external force is greater than the set value, it moves in this direction.
  • the distance between the lowest point of the first shield and the working surface is greater than or equal to 60mm.
  • X1 satisfies: X1 ⁇ 65mm; or, X1 ⁇ 70mm.
  • X1 satisfies: 60mm ⁇ X1 ⁇ 150mm; or, 65mm ⁇ X1 ⁇ 105mm.
  • the distance X2 between the bottom edge of the first shield closest to the working surface and the working surface satisfies: X2 ⁇ 75mm.
  • the first shield is provided with a notch for grass to pass through, the opening of the notch faces the working surface, and the distance K1 between the top end of the notch and the working surface satisfies: K1 ⁇ 60mm.
  • the notch includes at least one of a rectangular notch, a triangular notch, and an arc-shaped notch.
  • the notch has a horizontal or smooth top wall and side walls respectively adjacent to two ends of the top wall, and an obtuse angle is formed between the side walls and the top wall.
  • the automatic lawn mower also includes:
  • connecting seat detachably connected to the first shield; and a connecting rod, one end is rotatably connected to the connecting seat, and the other end is rotatably connected to the second shield;
  • the second shield is provided with a through hole through which the connecting seat passes, and the through hole is configured to extend along a moving direction of the second shield under the action of an external force.
  • the minimum distance Z between the outer edge of the second shield and the cutting element satisfies: Z ⁇ 80mm.
  • the second shield has a first projection on the working surface
  • the cutting element has a second projection on the working surface
  • the first projection at least partially surrounds The second projection, and there is a gap between the first projection and the second projection.
  • the first projection surrounds the second projection 360 degrees.
  • the second shield has an open end, and correspondingly, the first projection has an opening; the self-propelled device further includes:
  • the protective teeth or the flaps are arranged on the first shield and extend towards the direction of the casing close to the working surface; the protective teeth or the flaps have a third projection on the working surface along the direction perpendicular to the working surface, the third projection is close to the opening, and the second projection is between the third projection and the first projection;
  • the distance between the lowest point of the guard teeth and the working surface ranges from 20mm to 100mm; in a natural state, the distance between the lowest point of the flap and the working surface ranges from 20mm to 100mm.
  • the automatic lawn mower also includes:
  • a third shield is disposed between the second shield and the cutting element, and the bottom edge of the third shield is lower than the cutting element.
  • the cutting mechanism is offset to one side of the central axis in the traveling direction of the robotic mower.
  • the automatic lawn mower also includes:
  • a protective bracket disposed between the cutting element and the second shield, and located on the same side of the body as the cutting mechanism
  • the protective bracket includes a first protective wall perpendicular to the plane where the cutting element is located, and a second protective wall extending inward from the bottom end of the first protective wall, and the second protective wall is positioned at the cutting element. and between the working surface.
  • the minimum distance between the outer edge of the first shield close to the protective bracket and the cutting element ranges from 15 mm to 80 mm.
  • a robotic lawnmower comprising:
  • a cutting mechanism arranged in the automatic lawn mower, the cutting mechanism includes cutting elements for performing cutting tasks;
  • the protective cover is arranged on the automatic lawn mower, at least partly located on the periphery of the cutting element, and when the external force received by the protective cover in the direction away from the working surface is greater than a set value, it can be moved along the direction by the first the position moves to the second position;
  • the minimum distance G1 between the bottom edge of the protective part and the working surface satisfies: G1 ⁇ 75mm;
  • the minimum distance G2 between the bottom edge of the protective cover and the working surface satisfies G1 ⁇ G2 ⁇ Gmax, wherein Gmax ⁇ 60mm.
  • the height of the first shield from the ground of the present invention is greater than or equal to 60mm, which can reduce the resistance of the first shield to tall grass and improve the passability of the machine.
  • the lawn mower is also provided with a second guard, the height of the second guard from the ground is less than or equal to 75mm, and the second guard can float upward when the external force is greater than the set value, the second guard
  • the setting further plays the role of safety protection.
  • the floating design also avoids the low height of the second shield from the ground, which reduces the passability of the machine and causes slippage.
  • Figure 1 is a cross-sectional view of a lawnmower of some embodiments.
  • Figure 2 is a bottom view of a lawnmower of some embodiments.
  • Figure 3 is a side view of a lawnmower of some embodiments.
  • Figure 4 is a front view of the lawnmower of some embodiments
  • Fig. 5 is a schematic perspective view of the second shield in some embodiments.
  • Figure 6 is a schematic illustration of a second shield in a natural state of some embodiments.
  • Figure 7 is a schematic illustration of some embodiments of the second shield raised to its highest position.
  • Fig. 8 is a schematic diagram of the state of the flip plate in some embodiments without external force.
  • Fig. 9 is a schematic diagram of the state of the lawnmower in some embodiments when the forward flap passes through dense grass.
  • Fig. 10 is a schematic diagram of the state of the lawn mower in some embodiments when the backward flap passes through dense grass.
  • Fig. 11 is a 360-degree structural schematic view of the second shield around the blade in some embodiments.
  • Fig. 12 is a schematic diagram of a state in which the second shield is lifted in some embodiments.
  • FIG. 13 is a cross-sectional view of some embodiments of a lawnmower provided with a third guard.
  • Fig. 14 is a schematic diagram of a lawnmower in which the cutting mechanism of some embodiments is arranged on the side (the test arm extends under the machine)
  • Fig. 15 is a schematic diagram of a lawnmower in which the cutting mechanism of some embodiments is arranged on the side (people's feet extend below the machine);
  • Fig. 16 is a schematic diagram of a lawn mower in which the cutting mechanism of some embodiments is arranged on the side (the test arm extends below the machine);
  • Fig. 17 is a schematic diagram of some embodiments of a lawn mower with the cutting mechanism disposed on the side (people's feet protruding under the machine).
  • Figure 18 is a cross-sectional view of some embodiments of a lawnmower with a single outer shroud.
  • Figure 19 is a schematic diagram of some embodiments in which the outer shield is lifted.
  • a lawn mower is a mechanical tool used to mow lawns, vegetation, etc. According to the different walking modes of the mower, it can be divided into automatic walking, passive walking or a combination of the two.
  • FIG. 1 A lawn mower that walks in an automatic walking mode will describe the technical solution in detail.
  • some embodiments of the present invention provide a lawn mower.
  • the first shield 40, the second shield 50 and the running mechanism 30, the mower also includes a circuit board and a battery, etc.
  • the circuit board is provided with a control module that controls the cutting mechanism 20, and the battery is used for at least the control module , the cutting structure 20 and the traveling mechanism 30 provide power.
  • Batteries usually exist in the form of battery packs, for example, lead-acid batteries, nickel-cadmium batteries, lithium batteries, etc. can be used.
  • the cutting mechanism 20 is disposed under the casing 10 for performing cutting tasks on the working surface.
  • the cutting mechanism 20 includes a motor 21 , a cutter head 22 installed on the output shaft of the motor 21 , and a plurality of blades (cutting elements) 23 distributed on the edge of the cutter head 22 along the circumferential direction.
  • the motor 21 is installed in the recessed space 12 of the housing 10 to make full use of the upper and lower thickness spaces of the housing 10 .
  • the blade 23 is located below the housing 10 to cut grass in contact. When the motor 21 works, it can drive the cutter head 22 and the blade 23 to rotate, and then the grass around the blade 23 can be cut. As shown in FIG.
  • the blades 23 are evenly fixed on the circumference of the cutter head 22 to rotate together with the cutter head 22 .
  • the cutting mechanism 20 includes 3 blades. In other embodiments, the number of blades can be determined according to actual conditions, for example, there are 2 or more blades.
  • the working surface is illustrated by taking the ground as an example. It should be noted that in other embodiments, the working surface also includes a surface for planting or growing grass, such as a platform for planting lawns.
  • the control module, the battery and the motor 21 can be arranged in the same space of the casing 10, such as the space 12, or they can be arranged in different spaces.
  • the traveling mechanism 30 is supported under the housing 10 and is used to drive the housing 10 and the cutting mechanism 20 to travel along a preset route.
  • the running mechanism 30 includes a front wheel 31 and two rear wheels 32, wherein the front wheel 31 is arranged in the middle of the front end of the casing 10, and the two rear wheels 32 are arranged oppositely at the rear end of the casing.
  • the rear wheel 32 is used as a driving wheel, and the front wheel is set as a driven wheel.
  • those skilled in the art can also set the front wheel 31 as a driving wheel, and the two rear wheels as driven wheels, and the number of wheels can also be set according to actual conditions.
  • the first guard 40 is arranged on the automatic lawn mower, and is at least partially located on the periphery of the cutting element (ie, the blade 23 ), so as to protect people's feet (such as children's feet) and to protect the human feet during transportation.
  • the people's hands are protected to prevent people's feet or hands from stretching in from the bottom of the lawn mower and touching the blade 23, thereby causing safety accidents.
  • the bottom surface of the first shield 40 is approximately at the same height.
  • the distance between at least part of the bottom edge of the first shield 40 and the working surface is X1, and X1 ⁇ 60mm, for example, X1 can be 60mm, 65mm , 70mm, 80mm, 90mm, 100mm, 105mm, 120mm, 130mm, 150mm, etc., preferably X1 ⁇ 65mm, or X1 ⁇ 70mm. In some other preferred embodiments, X1 satisfies: 60mm ⁇ X1 ⁇ 150mm, or 65mm ⁇ X1 ⁇ 105mm. By controlling X1 to be higher than a certain threshold, the safety of the automatic lawn mower during mowing can be guaranteed, and the passability of the lawn mower can be taken into account.
  • the second guard 50 is disposed on the lawn mower, and is at least partially located between the first guard 40 and the blade 23 to protect the cutting element (blade 23 ) of the cutting mechanism 20 .
  • the lowest point of the second shield 50 is lower than the first shield 40, the distance between the lowest point of the second shield 50 and the working surface is Y1, and Y1 ⁇ 75mm, for example, it can be 30mm, 40mm , 50mm, 60mm, etc., preferably 20mm ⁇ Y1 ⁇ 65mm, in order to achieve a balance between passability and human safety protection.
  • the machine has poor passability during walking, and the requirements for the moving stroke up and down of the second shield 50 are high; and if the distance from the ground is too large, such as 80mm, the blade 23 is easy to Will be exposed under the second shield, it is difficult to play a good role in safety protection.
  • the second shield 50 is configured to move in the direction away from the working surface when the external force received is greater than a set value.
  • the distance between the lowest point of the first shield 40 and the working surface is X, and X ⁇ 60mm, for example, X can be 60mm, 70mm, 80mm, 100mm, 105mm, 120mm, 130mm, 150mm, etc., preferably 60mm ⁇ 150mm, more preferably 65 ⁇ 105mm, by controlling X to be lower than 150mm, it is beneficial to prevent children from protruding into the bed when lying on their stomachs.
  • the bottom of the automatic walking equipment is in contact with the cutting element, further improving safety.
  • the resistance between the first shield 40 and the dense grass can be reduced, which is conducive to the rapid passage of the dense grass through the first shield 40 and and when the distance from the lowest point of the first shield 40 to the ground is less than 60mm, most of the dense grass is bent by the first shield 40, and the overall resistance is large, which may push the machine as a whole off the ground.
  • the second shield 50 has realized safety protection to the cutting element (a plurality of blades 23 distributed on the edge of the cutter head 22 along the circumferential direction), so the first shield 40 does not need to further carry out safety protection by reducing the height from the ground.
  • the obstacle between the first shield 40 and the dense grass should be mainly considered
  • the distance X2 between the bottom edge of the first shield 40 closest to the working surface and the working surface satisfies: X2 ⁇ 75mm.
  • the ground clearance X2 of the lowest point of the first shield 40 satisfies: 20mm ⁇ X2 ⁇ 75mm, for example, it can be 30mm, 40mm, 50mm, 60mm, etc.
  • the first shield 40 except for the gap , and the bottom ends of the other parts are at the same height. Since the first shield 40 constitutes the main appearance of the machine, the bottom of the first shield 40 cannot be too high from the ground, and the cutting mechanism cannot be exposed visually from the side as far as possible. In addition, the lowest point of the first shield 40 is off the ground The distance should not be too small, otherwise obstacles will be encountered when passing obstacles, which is not conducive to smooth passage.
  • a shield 40 constitutes a resistance, and at the same time, the minimum distance from the ground of the floatable second shield 50 is limited to be less than or equal to 75mm, preferably 20-65mm, so that the safety of people and the automatic lawn mower can be guaranteed to a certain extent. passability.
  • the first shield 40 in order to reduce the resistance between the first shield 40 and the dense grass, as shown in FIG. 4 , the first shield 40 is provided with a gap 41 for grass to pass through.
  • a gap 41 for dense grass to pass through There is a gap 41 for dense grass to pass through.
  • the opening of the gap 41 faces the working surface and the distance K1 between its top and the working surface satisfies: K1 ⁇ 60mm, preferably 60mm-150mm, more preferably 65mm-105mm.
  • K1 can be 70mm, 80mm, 90mm, 100mm, etc.
  • the first shield 40 can be a casing 10, and the casing 10 is used as a main support carrier, which is not only used to carry the cutting mechanism 20, but the casing 10 also constitutes a protective cavity 11, the protective cavity
  • a battery (not shown) for providing power to the cutting mechanism 20 and a control module (not shown) for controlling the cutting mechanism 20 to perform cutting tasks can be arranged in the body 11 .
  • the housing 10 has opposite front and rear ends along its running direction, and left and right sides adjacent to the front end. Refer to the first shield 40 for the requirements for the ground clearance of the housing 10.
  • the ground clearance of the lowest point of the housing 10 is greater than or equal to 60mm, for example,
  • the distance from the ground can be 65mm, 70mm, 80mm, 100mm, 105mm, 120mm, 130mm, 150mm, etc., preferably 60mm-150mm, more preferably 65-105mm.
  • the notch 41 for the passage of grass may be provided at the front end of the casing 10 .
  • the cutting mechanism 20 partially extends downwards out of the housing 10 such that the cutting element (blade 23 ) is located on the side of the housing 10 close to the working surface.
  • the first shield 40 is provided separately from the housing 10. As shown in FIG. Extending toward the outside of the casing 10 and away from the working surface. The first shield 40 is relatively fixed to the housing 10 , and the fixing method can be assembled by screws, buckles and the like. A notch 41 for the passage of grass may be provided at the front end of the first shield 40 .
  • the height above the ground of the gap 41 should not be too small.
  • the height above the ground is less than 60mm, under a certain operating environment, such as when the dense grass is relatively high, the force between the dense grass and the gap 41 will be relatively small. If it is large, it will affect the cutting efficiency, and there is a risk of lifting the machine as a whole; while the height of the gap 41 should be larger in principle, the better, which is more conducive to tall grass passing through the gap 41, but the height of the gap 41 also needs to consider the overall height of the machine and Aesthetic issues.
  • the main purpose of setting the notch 41 is to reduce the force between the dense grass and the first shield 40 through the first shield 40 for the dense grass to pass through, so the distribution width of the notch 41 in the horizontal direction can be according to The main action surface between the front end of the first shield 40 and the dense grass is determined.
  • the notch 41 includes at least one of a rectangular notch, a triangular notch, and an arc-shaped notch.
  • the distance from the top of the rectangular notch, triangular notch, and arc-shaped notch to the ground is greater than or equal to 60 mm.
  • the partial array of the first shield 40 between adjacent notches 41 is in the shape of combs or teeth.
  • the front end of the first shield 40 is provided with a plurality of gaps 41 in parallel, and the array of the first shield 40 between adjacent gaps 41 is tooth-shaped, similar to the teeth of combing grass, and the distance from the top of each gap 41 to the ground is greater than It is equal to 60mm; for another example, the front end of the first shield 40 is provided with a plurality of gaps 41 in parallel, and the array of the first shield 40 between adjacent gaps 41 is in the shape of a comb, and the distance from the top of each gap 41 to the ground is greater than or equal to 60mm.
  • the dense grass can enter the bottom of the housing through the rectangular gap 41, the triangular gap 41, and the arc gap 41. At the same time, the dense grass entering the bottom of the mower can be guided and combed to improve the cutting quality.
  • an arched notch 41 is provided at the front end of the first shield 40 , and the notch 41 has a horizontal or smooth top wall 411 , and two ends of the top wall 411 respectively. Adjacent to the side wall 412 , an obtuse angle is formed between the side wall 412 and the top wall 411 . The distance from the ground of the top wall 411 is greater than or equal to 60 mm. When passing through the dense grass, the dense grass enters the bottom of the housing 10 along the top wall 411 and the side wall 412. Due to the high height of the top wall from the ground of the gap 41, there is a gap between the dense grass and the dense grass. The force is small.
  • a plurality of pillars protrude from the lower end of the first shield 40 in the vertical direction, and the gaps 41 are formed by gaps between adjacent pillars.
  • the column can be integrally formed with the first shield 40 , or can be formed first and then fixed with the first shield 40 .
  • a plurality of protruding columns form the shape of the comb teeth, which can guide and comb the dense grass entering the bottom of the mower to improve the cutting quality.
  • a buffer device (not shown) is provided on the outer surface of the front end of the first shield 40 to improve the anti-collision performance.
  • the buffer device can be an elastic body attached to the surface of the first shield 40, such as a sponge, and the buffer device can also include a protective plate (not shown) opposite to the first shield 40, and the protective plate and the first shield Springs are arranged between the 40 surfaces.
  • the second shield 50 is configured to move in the direction away from the working surface when the external force received is greater than a set value.
  • the second shield 50 is disposed under the casing 10 and protects the cutting mechanism 20 . 5 and 6, the second shield 50 protects the outside of the blade 23 in the horizontal direction.
  • the second shield 50 can be compared with each other under the action of external force. Compared with the movement of the casing 10 in the up and down direction, the supporting force of the dense grass on the second shield 50 can push the second shield 50 to move upward during the machine walking, thereby reducing the impact of the dense grass on the second shield 50. The resistance makes the machine not easy to slip.
  • the second shield 50 begins to move when the upward lifting force received is greater than a preset value.
  • the preset value can be 3N, 5N, 8N, 10N, etc.
  • the preset value can be set according to the second shield 50 self gravity, when the self weight of the second shield 50 is greater than the preset value, a tension spring can be set between the second shield 50 and the housing 10; if the self weight of the second shield 50 is less than the preset value , a compression spring may be provided between the second shield 50 and the casing 10 .
  • the upward force is less than the preset value, so the second shield 50 generally does not float, and can play a role of safety protection by blocking.
  • the upward lifting force of the dense grass on the machine is relatively large, which may easily cause the machine to lift and slip as a whole.
  • the second shield 50 can move up and down relative to the housing 10 under the action of an external force, when passing dense grass, the lifting force of the dense grass on the second shield 50 is greater than a preset value, and the second shield can be driven The cover 50 is lifted, so the risk of lifting the machine as a whole can be avoided, which is conducive to the rapid passage of tall grass.
  • the distance that the second shield 50 floats up and down can be set as required according to the space below the housing 10.
  • the distance Y2 from the lower end of the second shield 50 to the ground satisfies: Y2 ⁇ 50mm, and Y2 is greater than Y1.
  • Y2 is between 50-150mm, preferably 55-105mm, for example, it can be 60mm, 70mm, 80mm, 100mm, etc.
  • the bottom surfaces of the second shield 50 are approximately at the same height, and during the lifting process, the bottom surfaces of the second shield 50 are at the same height from the ground.
  • the second shield 50 when the second shield 50 is lifted to the highest position, if the height of the lower end of the second shield 50 is less than 50mm from the ground, then in an environment where the grass is relatively dense and the grass is relatively high, the dense grass 60 will push the second shield 50 to At the highest position, there will still be a large thrust between the bottom of the second shield and the thrust may lift the machine as a whole. Therefore, in principle, under the premise that the space at the lower end of the housing 10 is available, the second shield When the cover 50 is at the highest position, the larger the distance from the ground, the better.
  • the second shield 50 is mainly used to protect the blade 23, preventing the hands or feet from entering below the machine and causing damage. Therefore, under normal conditions, the distance from the ground to its lower end is small, but the second shield 50 is subjected to an external force. And in the state of the highest position, the distance from the ground is not limited in this embodiment.
  • the second shield 50 includes a front guard 51 and side guards 52 extending horizontally from the left and right sides of the front guard 51 , wherein the front guard 51 faces the front end of the cutting mechanism 20 in the horizontal direction.
  • the two side protection pieces 52 respectively protect the left and right sides of the cutting mechanism 20 in the horizontal direction.
  • the automatic mower also includes a connecting seat 53 and a connecting rod 54 . Both ends of the connecting rod 54 are rotatably connected with the connecting seat 53 and the front guard 51 respectively.
  • the connecting rod 54 can be provided with a plurality of upper and lower parts. , two are preferably arranged side by side.
  • the connecting base 53 is detachably connected to the bottom of the housing 10 , and in some embodiments, the connecting base 53 is fastened to the bottom of the housing 10 by screws 55 .
  • the second shield 50 is provided with a through hole 511 for the connecting seat 53 to pass through in the vertical direction.
  • the connecting seat 53 is preferably set as a cylinder shape, the axis of the cylinder is in the vertical direction.
  • the distance between the second shield 50 and the cutting area also needs to be considered.
  • Z is the minimum distance between the outer edge of the second shield 50 and the cutting element (blade 23).
  • the distance Z is too small, such as only 20mm, people's fingers easily pass through the second shield 50.
  • the minimum horizontal distance between the outer side of the second shield 50 and the cutting area should be as large as possible, which can further improve the effect of safety protection, but the horizontal distance still needs to be reasonably set according to the size of the machine and the arrangement of the space below the housing 10 , but in order to meet the needs of basic protection, the minimum distance Z between the outer side of the second shield 50 and the cutting area is not less than 80mm in the horizontal direction.
  • the horizontal direction referred to in this application means a direction parallel to the ground.
  • the front wheel 31 is located inside the front guard 51 , and the front guard 51 also protects the position of the front wheel 31 in the horizontal direction.
  • a notch 512 is recessed on the side of the front guard 51 facing the front wheel 31 , and the front wheel 31 can occupy the space vacated by the notch 512 .
  • the front wheels 31 can also be arranged on the outside of the front guard 51 as required, but in this case, the distance between the front guard 51 and the cutting mechanism 20 is relatively short, and the space utilization and risk control The effect is not optimal.
  • the second shield 50 protects the front end and the left and right sides of the blade 23 in the horizontal direction, so as to prevent hands, feet or other foreign objects from entering the lower part of the housing through the front end or both sides of the machine.
  • the second shield 50 is generally U-shaped, and when floating up and down, the second shield 50 approaches or moves away from the bottom surface of the casing 10 .
  • the second shield 50 forms a first projection on the ground with a rear end (machine tail) opening, the second projection of the blade 23 (cutting element) on the ground is located within the first projection, and the first projection
  • the second projection is at least partially surrounded, and a gap is formed between an edge of the second projection and an inner edge of the first projection.
  • a flap 70 protrudes downward from the lower end of the housing 10 .
  • the third projection of the flap 70 on the ground corresponds to the rear opening of the first projection
  • the third projection is close to the rear opening of the first projection
  • the second projection is located between the third projection and the first projection. Therefore, the second shield 50 and the turnover plate 70 jointly realize 360-degree protection for the blade 23 .
  • a torsion spring 71 is arranged between the turnover plate 70 and the housing 10, and the torsion spring 71 provides a restoring force so that the turnover plate 70 is in a vertical direction without external force.
  • the ground clearance F1 of the bottom end is 20-100mm.
  • F1 can be 30mm, 40mm, 60mm...
  • the distance from the ground of the flap 70 needs to be in an appropriate range. When the distance from the ground is too small, such as 10mm, the flap The friction frequency of the lower end of the 70 is high, and the passing resistance is large. When the distance from the ground is too large, such as reaching 120mm, the safety protection effect of the turning plate 70 on the rear end of the machine is not good.
  • the turning plate 70 extends along a straight line between the two rear wheels 32 , and its length is greater than the maximum outer diameter of the cutting mechanism 20 , so as to realize overall protection of the cutting mechanism 20 at the rear end of the housing 10 .
  • guard tooth 80 in order to protect the rear end of the cutting mechanism 20, a protective tooth 80 (shown in conjunction with FIG. Relatively fixed between the bottom ends, guard tooth 80 has the gap of the interval that passes through for dense grass.
  • the ground clearance of the bottom of the guard teeth 80 is 20-100 mm.
  • the guard tooth structure can not only prevent people's hands from reaching into the cutting mechanism 20, but also not affect the passage of dense grass.
  • the second shield 50 can surround the blade 23 (cutting element) at 360 degrees. From the perspective of the ground projection, the second shield 50 forms a ring-shaped projection on the ground. That is, the first projection surrounds the second projection 360 degrees. In this embodiment, since the rear end of the casing 10 is also protected by the second shield 50 , there is no need for a flap or a guard tooth. In this solution, the second shield 50 is also conducive to the setting of one-wheel forward and two-wheel forward while realizing all-round protection.
  • the second guard 50 mainly protects the periphery of the blade 23 through its bottom end, so as to prevent hands or feet from entering the bottom of the machine through the second guard 50, so the thickness of the second guard 50 in the up-down direction
  • the thickness can be 5 mm to 20 mm, so that the ground clearance of the housing 10 can be fully utilized without using the inside of the housing 10.
  • the second shield 50 can also adopt a vertical plate structure, the thickness of the second shield 50 up and down is relatively large, such as the upper and lower thickness can reach 50mm, this kind of structure is safe from the perspective of protection Although the coefficient is higher, it can further prevent people from entering between the top of the second shield 50 and the bottom of the housing 10, but due to the limited distance from the ground of the housing 10, if the second shield 50 needs a larger floating space, further steps are required.
  • the space inside the housing 10 that is, the bottom of the housing 10 needs to be recessed with a groove for the second shield 50 to float.
  • the first shield 40 in order to reduce the resistance between the first shield 40 and the dense grass, can move up and down relative to the casing 10, and when the first shield 40 is not stressed, the first shield 40 The distance from the ground of 40 is greater than or equal to 60 mm, so the first shield 40 can float above 60 mm from the ground, and the floating height can be set according to factors such as product size and appearance.
  • first shield 40 and the second shield 50 are independently and flexibly connected to the housing 10 , and the first shield 40 and the second shield 50 can move relative to each other.
  • the first shield 40 can be fixed to the second shield 50 .
  • the thickness of the second shield 50 in the vertical direction is greater than 30mm
  • the lower end of the first shield 40 is relatively fixed to the outer edge of the top of the second shield 50
  • the edge of the second shield 50 is not convex. Stretch out the front end of casing 10, form the stepped portion between the lower edge of the first shield 40 and the second shield 50, therefore, in the natural state of the second shield, can ensure that the lower end of the first shield is off the ground
  • the distance is greater than or equal to 60mm, and at the same time, the first shield 40 and the second shield 50 can float up and down synchronously.
  • the first shield 40 contacts the dense grass 60 first, but because the height of the lower end of the first shield 40 from the ground is greater than or equal to 60mm, the dense grass 60 is not close to the first shield.
  • the resistance produced by the cover 40 is small. Even in an environment where the dense grass is relatively high, since the first protective cover 40 can be lifted by the promotion of the dense grass, the dense grass 60 can easily pass through the bottom of the first protective cover 40 and connect with the second protective cover.
  • Cover 50 contacts, and because the height above the ground of second shield 50 is little, dense grass 60 can act on the bottom end of second shield 50 after contacting with second shield 50 and pushes second shield 50 to move upwards, makes The dense grass 60 enters the cutting mechanism 20 with less resistance.
  • the second shield 50 has a small distance from the ground in a natural state, which can prevent people's hands from reaching in, and has high safety.
  • the second shield 50 can float up and down, which is convenient for the dense grass 60 to pass through smoothly.
  • a third shield 90 is provided between the second shield 50 and the blade 23 (cutting element), the bottom edge of the third shield 90 is lower than the cutting element, and the third The shield 90 is relatively stationary relative to the blade 23 in the height direction.
  • the third shield 90 is not provided, in order to prevent hands or feet from entering under the machine from the outside, the distance between the second shield and the cutting area needs to meet the needs of basic protection.
  • the outer side of the second shield 50 The minimum distance Z from the cutting area is not less than 80mm in the horizontal direction.
  • the minimum distance Z from the cutting area outside the second shield 50 can be less than 80mm in the horizontal direction, because the third shield The bottom edge of 90 is lower than blade 23, even if people's hands or feet enter below the machine from the outside of the machine and pass through the second guard 50, they will not touch blade 23 and be injured.
  • the third shield 90 is relatively stationary relative to the blade 23 in the height direction, that is, if the cutting mechanism 20 where the blade 23 is located includes a height adjustment mechanism, the blade 23 can move up and down in the height direction to change the position, and the third shield 90 can also be As the blade 23 moves in the height direction, the bottom edge of the third shield 90 is always kept lower than the blade 23, thereby ensuring the safety of the automatic mower.
  • the cutting mechanism 20 can be arranged near the central axis in the forward direction of the machine.
  • the second shield 50 is also disposed on one side of the casing 10 parallel to the central axis of the machine forward direction, and the second shield 50 is disposed between the first shield 40 and the cutting mechanism 20 . While realizing cutting to the edge, it is prevented that people's fingers, arms or feet etc. extend into the cutting mechanism 20 and cause accidental injury.
  • a protective bracket 24 is provided between the side of the cutting mechanism 20 close to the second shield 50 and the second shield 50, and the protective bracket 24 includes An extended first protective wall 241 , and a second protective wall 242 extending inwardly from the bottom end of the first protective wall 241 , the second protective wall 242 is located between the blade 23 and the ground.
  • the second protective wall 242 is subjected to the buoyancy of the grass, its force-receiving surface is larger, and can receive a larger lifting force of the grass, thereby enhancing the passability.
  • the second shield 50 is arranged between the first shield 40 and the side of the first protective wall 241 away from the cutting mechanism 20 , and the second shield 50 is between the first shield 40 and the first protective wall.
  • the range c of the width in the spacing direction between 241 is 5 mm to 70 mm, for example, it may be 10 mm, 20 mm, 30 mm, 50 mm, or the like.
  • the second shield 50 protects the blade 23 to stop people's hands or feet from entering below the machine through its bottom, therefore, the width c of the second shield 50 can not be too small, and it also will ensure certain intensity simultaneously; Simultaneously, the blade 23 It should be as close as possible to the outer edge of the first shield 40 to achieve a good edge cutting effect.
  • the protective bracket 24 has played a certain protective role, it can be seen through tests and comparisons that the range of the width c of the second shield 50 is 5mm ⁇ 70mm is the best.
  • the distance a between the outer edge of the first shield 40 and the blade 23 near the protective bracket 24 (cutting edge size) a is 15-80mm, for example, it can be 15mm, 16mm, 18mm , 30mm, 50mm, 60mm, 70mm, etc.
  • the size of a must be within a reasonable range, if it is too large, such as greater than 80mm, there will be a large cutting blind area; if the size is too small, such as less than 15mm, it will affect the width of the second shield 50, it is difficult to achieve the best Safety protection effect.
  • the extending length b of the second protective wall 242 ranges from 3 mm to 60 mm.
  • the second protective cover 50 is used to protect the cutting blade 23, which has reduced the safety risk to a certain extent, so the second protective wall 242 is reduced in length on the original basis, which can not only ensure the safety of people, but also facilitate the falling of grass At the same time, it can reduce the risk of slipping to a certain extent, but the length should not be too small, for example, it is difficult to guarantee the safety of people when it is less than 3mm; but too long will affect the fall of grass and increase the risk of slipping.
  • the second protective wall 242 and the second shield 50 jointly realize the protection of the blade 23.
  • the horizontal length b of the second protective wall 242 is relatively small, referring to FIGS. 14 and 15, for example, b is 3mm.
  • the corresponding second The width c of the shield 50 needs to be set relatively larger to increase the distance between the first shield 40 and the blade 23 , for example, c can be 44.2mm at this time.
  • the horizontal length b of the second protective wall 242 is relatively large, referring to Figures 16 and 17, for example, b is 54.4 mm, at this time, the width c of the corresponding second shield 50 can be set relatively small to achieve better The effect of cutting to the edge, for example, c can be 5mm at this time.
  • the second protective wall 242 can also protrude from the outside of the first protective wall 241 , and the inner and outer sides of the first protective wall 40 can also be provided with the second protective wall 242 .
  • an automatic lawnmower including: a cutting mechanism 20 arranged on the lawnmower, and the cutting mechanism 20 includes cutting elements (blades) for performing cutting tasks.
  • the protective cover is arranged on the lawn mower, and is at least partly located at the periphery of the blade 23; when the external force of the protective cover along the direction away from the working surface is greater than the set value, it can be moved from the first position to the second position.
  • the protective cover is at the first position, the minimum distance G1 between its bottom edge and the working surface satisfies: G1 ⁇ 75mm.
  • the protective cover is at the second position, the minimum distance G2 between the bottom edge of the protective cover and the working surface satisfies: G1 ⁇ G2 ⁇ G max , G max ⁇ 60mm .
  • the shield may be an outer shield 110 floating up and down relative to the housing 10 (only one shield is provided, no inner shield). Outer shield 110 is arranged on the outside of blade 23, by blade 23 is protected (prevents hand or foot from stretching in from the side bottom of machine), can play the effect of safety protection.
  • the outer shield 110 begins to move when the upward lifting force it receives is greater than a preset value.
  • the preset value can be 3N, 5N, 8N, 10N, etc.
  • the preset value can be set according to the outer shield 110 itself. Gravity, when the self weight of outer shield 110 is greater than preset value, can arrange an extension spring between outer shield 110 and housing 10; A compression spring is arranged between 110 and the housing. Under normal circumstances, when the human hand or foot contacts the bottom of the machine, the upward force (generally less than 5N) is less than the preset value, so the outer shield 110 generally does not float, and can play a role of safety protection by blocking.
  • the outer shield 110 can move up and down relative to the casing 10 under the action of an external force, when passing dense grass, the lifting force of the outer shield 110 of the dense grass is greater than a preset value, and the outer shield 110 can be driven to lift. Therefore, the overall lifting of the machine can be avoided, which is conducive to the smooth passage of the lawn mower.
  • the outer shield 110 when the outer shield 110 is free from external force, that is, in the natural state (the first position), the outer shield 110 is at the position with the lowest height from the ground. At this time, the lowest height of the outer shield 110
  • the point-to-ground distance G1 satisfies: G1 ⁇ 75mm, preferably, 20mm ⁇ G1 ⁇ 65mm, for example, G1 can be 30mm, 40mm, 50mm, 60mm..., but if the distance from the ground is too small, such as 10mm, the machine will The passability is poor during walking, and the movement stroke of the outer shield 110 is high; if the distance from the ground is too large, such as 80mm, the blade 23 is easily exposed under the outer shield 110, and it is difficult to provide good safety protection effect.
  • the distance G2 from the lowest point of the outer shield 110 to the ground satisfies: G2 ⁇ 60mm, and G2 is greater than G1.
  • G2 is between 60 mm and 150 mm, preferably 75 mm and 105 mm.
  • the distance G2 from the ground can be 60mm, 70mm, 80mm, 90mm, 100mm, 120mm, 130mm, 150mm, etc., so as to prevent children from protruding into the bottom of the automatic walking device and contacting the blade 23 when lying on their stomachs, so as to further improve safety.
  • the distance d between the outer shield 110 and the cutting area In order to prevent people's hands or feet from entering the bottom of the machine from the outside, it is also necessary to consider the distance d between the outer shield 110 and the cutting area.
  • the distance is too small, such as only 20mm, people's fingers are easy to touch through the bottom of the outer shield 110 The blade 23 (at this time, the outer shield may not be lifted yet), there is a possibility of risk, therefore, a minimum horizontal distance needs to be satisfied between the outer shield 110 and the cutting area, as shown in Figure 17, in a preferred embodiment, in In the horizontal direction, the minimum distance d between the outside of the outer shield 110 and the cutting area is required to be greater than 80 mm.
  • the minimum horizontal distance between the outside of the outer shield 110 and the cutting area should be as large as possible, which can further improve the effect of safety protection, but the horizontal distance still needs to be reasonably set according to the size of the machine and the arrangement of the space below the housing 10.
  • the minimum horizontal distance between the outside of the outer shield 110 and the cutting area should not be less than 80mm after safety testing.
  • the horizontal direction referred to in this application means a direction parallel to the ground.
  • the outer shield 110 includes a cover 111 and a base plate 112, the base plate 112 protects the front end and the left and right sides of the blade 23, so as to prevent hands, feet or other foreign objects from entering under the housing through the front end or both sides of the machine.
  • the bottom plate 112 is generally U-shaped, and the bottom plate 112 is close to or away from the bottom surface of the casing 10 when floating up and down.
  • the outer shield 110 forms a first projection with a rear end (machine tail) opening on the ground, the second projection of the blade 23 on the ground is located in the first projection, and the second projection on the ground is located in the first projection.
  • a gap is formed between the edge of the second projection and the inner edge of the first projection.
  • the cover body 111 extends upward from the edge of the bottom plate 112 and covers part of the top surface of the housing 10. When floating up and down, the cover body 111 is close to or away from the top surface of the housing 10, and the cover body 111 surrounds the top surface of the housing and the two sides. Side, can play a role in further protection and beauty.
  • the cover body 111 and the bottom plate 112 can be assembled or integrally formed.
  • the outer shield 110 When the outer shield 110 is not stressed, the outer shield 110 is in a free state, and the bottom of the outer shield 110 has the smallest distance from the ground, and the distance from the ground is between 20mm and 75mm, which can prevent the machine from causing harm to people when it is working. harm.
  • the outer shield 110 When the outer shield 110 is in contact with dense grass, the lower end of the outer shield 110 is pushed by the dense grass and moves upward relative to the housing 10. At this time, the resistance of the dense grass to the housing 10 is reduced, so the machine can still communicate with the The ground maintains a certain degree of adhesion, and it is not easy to slip in dense grass.
  • the protective cover can float up and down, can control the distance from the ground of the protective cover in the natural state, and the distance from the ground when it is raised, so that when the machine is working in dense grass, the resistance of the dense grass to the machine
  • the reduction improves the passability of the lawn mower, and at the same time ensures the safety of people to a certain extent.

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Abstract

本发明公开了一种自动割草机，包括：本体，本体包括切割机构，用以执行工作任务的切割元件；第一护罩，与本体连接；在自然状态下，第一护罩的至少部分底部边缘与工作面之间的距离X1满足：X1≥60mm；以及，第二护罩，与本体连接，被配置为朝向工作面延伸，以对切割元件进行防护；在自然状态下，第二护罩的最低点低于第一护罩，且该最低点与工作面之间的距离Y1满足：Y1≤75mm；第二护罩被配置为在所受外力大于设定值时沿远离工作面的方向移动。本发明的割草机不仅能够减小机器在高密草中工作时密草对机器的阻力，提高了机器的通过性，同时可以阻挡人手或脚进入机器下方，在一定程度上保证对人的安全性。

Description

自动割草机 技术领域
本发明涉及园林机械领域，特别是关于一种自动割草机。
背景技术
现有自动割草机，为防止机器在工作时伤害人(机器工作时人手直接搬运，机器工作时爬到人身上等工况)，机器外护罩离地高度普遍低于50mm(现有机器离地高度H的范围：18mm≤H≤50mm，个别机器低于65mm),通常美洲割草机器需要在高度100mm以上的密草中工作，由于机器护罩离地间隙较小，密草对机器外壳的阻力大，草被护罩压弯，机器受到草对外罩向后的阻力及草对护罩向上的支撑力,向上的支撑力减小了机器对支撑面的正压力使机器附着力减小，当机器附着力小于阻力时，机器通过性不佳，容易在密草中打滑，不能前进，引起异常停机。
为了解决上述技术问题，目前技术通常是将驱动轮直径加大，驱动轮宽度增大，更改齿形或采用全轮驱动方式。但是现有方案对机器和地面的抓地力提升效果不大，当机器在比较硬的高密草(如美洲的奥古斯丁)中工作时，密草阻力远大于机器与地面的抓地力，机器通过性不佳，容易打滑，且机器为克服密草阻力，往往驱动力大，容易磨坏草坪。
公开于该背景技术部分的信息仅仅旨在增加对本发明的总体背景的理解，而不应当被视为承认或以任何形式暗示该信息构成已为本领域一般技术人员所公知的现有技术。
发明内容
本发明的目的在于提供一种割草机，其不仅能够减小机器在高密草中工作时密草对机器的阻力，提高机器的通过性，而且还可以保证对人的安全性。
为实现上述目的，本发明的实施例提供了一种自动割草机，包括：
切割机构，设置于所述自动割草机上，所述切割机构包括用以执行切割任务的切割元件；
第一护罩，设置于所述自动割草机上，且至少部分位于所述切割元件的外围；在自然状态下，所述第一护罩的至少部分底部边缘与工作面之间的距离X1满足：X1≥60mm；以及，
第二护罩，设置于所述自动割草机上，至少部分位于所述第一护罩和所述切割元件之间，以对所述切割元件进行防护；在自然状态下，所述第二护罩的最低点低于所述第一护罩，且该最低点与工作面之间的距离Y1满足：Y1≤75mm；所述第二护罩被配置为在所受远离所述工作面的方向的外力大于设定值时沿该方向移动。
在一个或多个实施例中，所述第一护罩的最低点与工作面之间的距离大于或等于60mm。
在一个或多个实施例中，X1满足：X1≥65mm；或，X1≥70mm。
在一个或多个实施例中，X1满足：60mm≤X1≤150mm；或，65mm≤X1≤105mm。
在一个或多个实施例中，在自然状态下，所述第一护罩最接近工作面的底部边缘与工作面之间的距离X2满足：X2≤75mm。
在一个或多个实施例中，所述第一护罩开设有供草通过的缺口，所述缺口的开口朝向工作面且其顶端与工作面之间的距离K1满足：K1≥60mm。在一个或多个实施例中，所述缺口包括矩形缺口、三角形缺口、弧形缺口中的至少一种。
在一个或多个实施例中，所述缺口具有水平或平滑设置的顶壁、以及与所述顶壁两端分别邻接的侧壁，所述侧壁与所述顶壁之间呈钝角。
在一个或多个实施例中，所述自动割草机还包括：
连接座，与所述第一护罩可拆卸连接；以及连杆，一端与所述连接座转动连接，另一端与所述第二护罩转动连接；
所述第二护罩开设有供所述连接座穿设的通孔，所述通孔被配置为沿所述第二护罩在外力作用下的移动方向延伸。
在一个或多个实施例中，在水平方向上，所述第二护罩的外边缘与所述切割元件之间的最小距离Z满足：Z≥80mm。
在一个或多个实施例中，沿垂直工作面的方向，所述第二护罩于工作面具有第一投影，所述切割元件于工作面具有第二投影，所述第一投影至少部分环绕所述第二投影，且所述第一投影与所述第二投影之间具有间隙。
在一个或多个实施例中，所述第一投影360度地环绕所述第二投影。
在一个或多个实施例中，所述第二护罩具有开口端，对应的，所述第一投影具有开口；所述自动行走设备还包括：
防护齿或翻板，设于所述第一护罩，并朝所述壳体靠近工作面的方向延伸；沿垂直工作面方向所述防护齿或所述翻板于工作面具有第三投影，所述第三投影靠近所述开口，且所述第二投影位于所述第三投影和所述第一投影之间；
其中，所述防护齿的最低点的与工作面之间距离的范围为20mm～100mm；在自然状态下，所述翻板的最低点与工作面之间距离的范围为20mm～100mm。
在一个或多个实施例中，所述自动割草机还包括：
第三护罩，设于所述第二护罩和所述切割元件之间，且所述第三护罩的底部边缘低于所述切割元件。
在一个或多个实施例中，所述切割机构偏置于所述自动割草机行进方向的中轴线的一侧。
在一个或多个实施例中，所述自动割草机还包括：
防护支架，设于所述切割元件和所述第二护罩之间，且与所述切割机构位于所述本体的同侧；
所述防护支架包括与所述切割元件所在平面垂直的第一防护壁，以及自所述第一防护壁的底端向内延伸的第二防护壁，所述第二防护壁位于所述切割元件和工作面之间。
在一个或多个实施例中，在水平方向上，靠近所述防护支架的所述第一护罩的外边缘与所述切割元件之间的最小距离的范围为15mm～80mm。
在本发明的一个或多个实施例中，提供了一种自动割草机，包括：
切割机构，设置于所述自动割草机内，所述切割机构包括用以执行切割任务的切割元件；
防护罩，设置于所述自动割草机上，至少部分位于所述切割元件的外围，且所述防护罩在所受沿远离工作面的方向的外力大于设定值时可沿该方向由第一位置移动至第二位置；
所述防护罩位于所述第一位置时，所述防护部的底部边缘与工作面之间的最小距离G1满足：G1≤75mm；
所述防护罩位于所述第二位置时，所述防护罩的底部边缘与工作面之间的最小距离G2满足G1<G2≤Gmax，其中，Gmax≥60mm。
与现有技术相比，本发明的第一护罩的离地高度大于等于60mm，可以降低第一护罩对高草的阻力，提高机器的通过性。除此以外割草机还设置有第二护罩，第二护罩的离地高度小于等于75mm，且第二护罩可在所受外力大于设定值时，可向上浮动，第二护罩的设置进一步起到了安全防护的作用，同时浮动设计也避免了第二护罩离地高度过小而降低机器的通过性，造成打滑。
附图说明
图1是一些实施例的割草机的剖视图。
图2是一些实施例的割草机的仰视图。
图3是一些实施例的割草机的侧方视图。
图4是一些实施例的割草机的前端视图
图5是一些实施例的第二护罩的立体结构示意图。
图6是一些实施例的第二护罩的自然状态下的示意图。
图7是一些实施例的第二护罩抬高至最高位置时的示意图。
图8是一些实施例的翻板未受外力的状态示意图。
图9是一些实施例的割草机前进翻板通过密草时的状态示意图。
图10是一些实施例的割草机后退翻板通过密草时的状态示意图。
图11是一些实施例的第二护罩360度于刀片四周的结构示意图。
图12是一些实施例的第二护罩被抬起的状态示意图。
图13是一些实施例设置有第三护罩的割草机的剖视图。
图14是一些实施例的切割机构设置于偏侧的割草机示意图(测试臂伸入机器下方)
图15是一些实施例的切割机构设置于偏侧的割草机示意图(人脚伸入机器下方)；
图16是一些实施例的切割机构设置于偏侧的割草机示意图(测试臂伸入机器下方)；
图17是一些实施例的切割机构设置于偏侧的割草机示意图(人脚伸入机器下方)。
图18是一些实施例单外护罩的割草机的剖视图。
图19是一些实施例的外护罩被抬起的状态示意图。
具体实施方式
下面结合附图，对本发明的具体实施方式进行详细描述，但应当理解本发明的保护范围并不受具体实施方式的限制。
除非另有其它明确表示，否则在整个说明书和权利要求书中，术语“包括”或其变换如“包含”或“包括有”等等将被理解为包括所陈述的元件或组成部分，而并未排除其它元件或其它组成部分。
割草机是一种用于修剪草坪、植被等的机械工具。按照割草机的行走方式的不同，可以分为自动行走、被动行走或两者相结合等方式。
以自动行走方式行走的割草机来详细说明技术方案，如图1和图2所示，本发明的一些实施方式提供的一种割草机，割草机100包括壳体10、切割机构20、第一护罩40、第二护罩50和行走机构30，割草机还包括电路板和电池等，电路板上设置有对切割机构20进行控制的控制模块，电池用于至少为控制模块、切割结构20和行走机构30提供电源。电池通常以电池包形式存在，例如可采用铅酸电池、镍镉电池、锂电池等。
切割机构20设于壳体10的下方，用以在工作面上执行切割任务。可选的，切割机构20包括电机21、安装于电机21输出轴上的刀盘22，以及沿周向分布于刀盘22边缘的多个刀片(切割元件)23。电机21安装于壳体10凹设的空间12内，可以充分利用壳体10上下的厚度空间，刀片23位于壳体10的下方用以对接触的草进行切割。电机21工作时，可以带动刀盘22和刀片23转动，进而可以实现对刀片23四周的草进行切割。结合图2所示，在一实施例中，刀片23均匀的固定于刀盘22的圆周上，以跟随刀盘22一起旋转。在优选实施例中，切割机构20包括3个刀片，在其他实施例中，刀片的数量可根据实际情况而定，例如，刀片为2个或3个以上。
一些实施例中，工作面以地面为例进行示例说明，需要说明的是，在其他实施例中，该工作面还包括用以种植或生长有草的表面，比如用以种植草坪的平台等。
控制模块、电池和电机21可以设置于壳体10的同一空间内，比如空间12内，也可以分设于不同的空间内。
行走机构30支撑于所述壳体10的下方，用以带动壳体10以及切割机构20沿预设的路线行走。一实施例中，行走机构30包括一个前轮31和2个后轮32，其中，前轮31设置于壳体10前端的中部，2个后轮32相对设置于壳体的后端。后轮32作为驱动轮，前轮则设置为从动轮。当然，本领域技术人员也可以将前轮31设置为驱动轮，2个后轮设置为从动轮，车轮的数量也可以根据实际情况来设置。
结合图1所示，第一护罩40设置在自动割草机上，且至少部分位于切割元件(即刀片23)的外围，以对人脚(如儿童的脚)进行防护，以及对搬运时的人手进行防护，防止人脚或人手从割草机底部伸入并触碰到刀片23，进而发生安全事故。第一护罩40的底面大致处于同一高度，在自然状态下，第一护罩40的至少部分底部边缘与工作面之间的距离为X1，且X1≥60mm，例如，X1可以是60mm、65mm、70mm、80mm、90mm、100mm、105mm、120mm、130mm、150mm等，优选为X1≥65mm，或者X1≥70mm。在另外一些优选实施例中，X1满足：60mm≤X1≤150mm，或65mm≤X1≤105mm。通过控制X1高于某一阈值，既可以保证自动割草机割草时的安全性，又可以兼顾割草机的通过性。
结合图1、图2所示，第二护罩50设置在割草机上，且至少部分位于第一护罩40和刀片23之间，以对切割机构20的切割元件(刀片23)进行防护。在自然状态下，第二护罩50的最低点低于第一护罩40，第二护罩50的最低点与工作面之间的距离为Y1，且Y1≤75mm，例如可以为30mm、40mm、50mm、60mm等，优选为20mm≤Y1≤65mm，以在通过性和对人的安全防护之间取得平衡。如果离地距离过小，比如为10mm时，机器在行走过程中通过性较差，对第二护罩50上下的移动行程要求高；而如果离地距离过大，比如80mm，则刀片23易会暴露在第二护罩的下方，很难起到良好的安全保护作用。进一步的，第二护罩50被配置为在所受沿远离工作面的方向的外力大于设定值时沿该方向移动。
为了避免机器在行进过程中密草对第一护罩40产生较大阻力，在自然状态下，第一护罩40的最低点与工作面之间的距离为X，且X≥60mm，例如，X可以是60mm、70mm、80mm、100mm、105mm、120mm、130mm、150mm等，优选为60mm～150mm，更优选为65～105mm，通过控制X低于150mm，有利于防止儿童趴卧时脚伸入自动行走设备底部而与切割元件接触，进一步提高安全性。通过控制第一护罩40的最低点离地距离大于等于60mm，在经过密草时，可以降低第一护罩40与密草之间的阻力，有利于密草快速通过第一护罩40并进入壳体下方；而当第一护罩40最低点离地距离小于60mm时，密草大部分被第一护罩40压弯，整体阻力大，存在推动机器整体离地的可能，而且由于第二护罩50已经对切割元件(沿周向分布于刀盘22边缘的多个刀片23)实现了安全防护，因此第一护罩40没必要再进一步通过降低离地高度进行安全防护，此时应主要考虑第一护罩40与密草之间的阻碍问题
在一些实施例中，在自然状态下，第一护罩40最接近工作面的底部边缘与工作面之间的距离X2满足：X2≤75mm。结合图3所示，第一护罩40最低点的离地距离X2满足：20mm≤X2≤75mm，比如可以为30mm、40mm、50mm、60mm等，优选的，第一护罩40除了缺口之外，其他部分的底端处于同一高度。由于第一护罩40构成了机器的主要外观，因此第一护罩40的底端离地不能太高，尽量侧面视觉上不能暴露出切割机构，另外，第一护罩40最低点的离地距离也不能太小，否则在通过障碍物时会产生阻挡，不利于平稳通过。
通过设置第二护罩50和第一护罩40两个防护结构，并限定第一护罩40的下端离地距离高于60mm，因此割草机在通过高草时，密草不会对第一护罩40构成阻力，同时限定可浮动的第二护罩50最低离地距离小于等于75mm，优选为20～65mm，因此可在一定程度上保证对人的安全性，以及保证自动割草机的通过性。
在一些实施例中，为了降低第一护罩40和密草之间的阻力，结合图4所示，第一护罩40开设供草通过的缺口41。机器在行走过程中，主要第一护罩40在割草机行进方向的前端容易与密草之间产生接触阻力，因此可以在第一护罩40的行进方向上的前端自其底边缘向上开设有供密草通过的缺口41，缺口41的开口朝向工作面且其顶端与工作面之间的距离K1满足：K1≥60mm，优选为60mm～150mm，更优选为65mm～105mm。例如，K1可以为70mm、80mm、90mm、100mm等。
在一些实施例中，第一护罩40可以是壳体10，壳体10作为一主要的支撑载体，其不仅用以承载切割机构20，壳体10还构成了一保护腔体11，保护腔体11内可以设置用以为切割机构20提供电源的电池(图未示)、以及控制切割机构20执行切割任务的控制模块(图未示)。壳体10沿其行走方向上具有相对的前端和后端，以及与前端相邻的左右两侧。对壳体10的离地要求参第一护罩40，比如为了避免机器在行进过程中密草对壳体10产生较大阻力，壳体10的最低点的离地距离大于等于60mm，例如，离地距离可以是65mm、70mm、80mm、100mm、105mm、120mm、130mm、150mm等，优选为60mm～150mm，更优选为65～105mm。供草通过的缺口41可以设置在壳体10的前端。切割机构20向下部分延伸出壳体10，以使得切割元件(刀片23)位于壳体10靠近工作面的一侧。
在一些实施例中，第一护罩40是独立于壳体10单独设置的，结合图1所示，第一护罩40至少覆盖壳体10的部分顶面，其设于壳体10上并朝壳体10的外侧及远离工作面的方向延伸。第一护罩40与壳体10之间相对固定，固定的方式可以螺钉、卡扣等方式进行装配。供草通过的缺口41可以设置在第一护罩40的前端。
经过反复实验可知，缺口41顶端的离地高度不能太小，当该离地高度小于60mm时，在一定的作业环境下，比如密草比较高时，密草与缺口41之间的作用力较大，影响切割效率，而且存在将机器整体抬升的风险；而缺口41的高度原则上越大越好，这样更有利于高草通过该缺口41，但是缺口41的高度同时还需要考虑机器的整体高度和美观问题。
该技术方案中，缺口41的设置主要目的在于供密草通过的第一护罩40降低密草与第一护罩40之间的作用力，因此缺口41的在水平方向上的分布宽度可以根据第一护罩40前端与密草之间的主要作用面进行确定。
在一些实施例中，缺口41包括矩形缺口、三角形缺口、弧形缺口中的至少一种。其中，矩形缺口、三角形缺口、弧形缺口的顶端离地距离均大于等于60mm。可选的，相邻缺口41间的第一护罩40部分阵列呈梳条状或齿状。比如，第一护罩40的前端并列开设有多个缺口41，相邻缺口41间的第一护罩40部分阵列呈齿状，类似于梳草齿，每个缺口41的顶端离地距离大于等于60mm；又比如，第一护罩40的前端并列开设有多个缺口41，相邻缺口41间的第一护罩40部分阵列呈梳条状，每个缺口41的顶端离地距离大于等于60mm。在经过密草时，密草可以通过矩形缺口41、三角形缺口41、弧形缺口41进入壳体的下方，同时，可对进入割草机底部的密草引导梳理，提高切割质量。
在另外一些实施例中，如图4所示，第一护罩40的前端开设有一个拱形的缺口41，该缺口41具有水平或平滑设置的顶壁411、以及与顶壁411两端分别邻接的侧壁412，侧壁412与顶壁411之间呈钝角。顶壁411的离地距离大于等于60mm，在经过密草时，密草沿顶壁411和侧壁412进入壳体10的下方，由于缺口41顶壁离地高度大，与密草之间产生的作用力小。
在另外一些实施例中，第一护罩40的下端可以沿竖直方向凸伸有多个柱状物(图未示)，相邻的 柱状物之间的空隙构成了所述的缺口41。柱状物可以与第一护罩40一体成型，也可以先成型后与第一护罩40固定在一起。凸伸的多个柱状物构成了梳草齿形状，可对进入割草机底部的密草引导梳理，提高切割质量。
在一些实施例中，第一护罩40的前端的外表面上设置有缓冲装置(图未示)，以提升防撞性能。缓冲装置可以为贴附于第一护罩40表面上的弹性体，比如海绵，缓冲装置还可以包括与第一护罩40相对设置的防护板(图未示)，防护板与第一护罩40表面之间设置弹簧。
为了降低第二护罩与密草之间的阻力，第二护罩50被配置为在所受沿远离工作面的方向的外力大于设定值时，沿该方向移动。在一些实施例中，第二护罩50设置于壳体10的下方，并对切割机构20进行防护。结合图5和图6，第二护罩50在水平方向上对刀片23的外侧进行防护，为了降低第二护罩50与密草之间的阻力，第二护罩50在外力作用下可相较于所述壳体10在上下方向上运动，机器行走过程中，密草对第二护罩50的支撑力可以推动第二护罩50上移，从而降低密草对第二护罩50的阻力，使得机器不容易打滑。
第二护罩50在所受向上的抬升力在大于预设值时开始移动，比如该预设值可以为3N、5N、8N、10N等，预设值的设定可以依据第二护罩50的自身重力，当第二护罩50的自身重量大于预设值时，可以在第二护罩50和壳体10之间设置一拉簧；若第二护罩50的自身重量小于预设值时，可以在第二护罩50和壳体10之间设置一压缩弹簧。在常规情况下，人手或脚在与机器底部接触时，向上的作用力小于预设值，因此第二护罩50一般不会发生浮动，通过阻挡可以起到安全防护的作用。
在对密草进行割草作业时，特别是草比较密的情况下，密草对机器向上的抬升力比较大，容易导致机器整体抬升打滑。但是由于第二护罩50在外力作用下可相对于壳体10在上下方向上运动，在通过密草时，密草对第二护罩50的抬升力大于预设值，可以驱动第二护罩50抬升，因此可以避免机器整体抬升风险，有利于高草快速通过。
第二护罩50上下浮动的距离可以根据壳体10下方的空间按照需要设定，在一优选实施例中，结合图3和7所示，第二护罩50在受到外力并抬升至最高位置的状态下，第二护罩50的下端离地距离Y2满足：Y2≥50mm，且Y2大于Y1，一些实施例中，Y2在50～150mm之间，优选为55～105mm，例如可以为60mm、70mm、80mm、100mm等。第二护罩50的底面大致处于同一高度，在抬升过程中，第二护罩50的底面离地高度相同。
需要说明的是，第二护罩50在抬升至最高位置时，若其下端离地高度小于50mm，则在草丛比较密且草丛比较高的环境下，密草60在推动第二护罩50至最高位置时，与第二护罩的底端之间仍然会存在较大的推力，该推力可能会将机器整体抬升，因此，原则上在壳体10下端空间可利用的前提下，第二护罩50在位于最高位置时，其离地距离越大越好。第二护罩50主要用以对刀片23进行防护，阻挡人手或人脚伸入到机器下方造成伤害，因此在正常状态下，其下端离地距离要小，但是第二护罩50在受到外力并处于最高位置的状态下，其离地距离本实施例并不限制。
结合图5所示，第二护罩50包括前防护件51以及自前防护件51的左右两侧沿水平方向延伸的侧防护件52，其中前防护件51在水平方向上对切割机构20的前端进行防护，两个侧防护件52分别在水平方向上对切割机构20的左右两侧进行防护。自动割草机还包括连接座53和连杆54。连杆54两端分别与所述连接座53和前防护件51转动连接，为了控制第二护罩50上浮动的稳定性和避免水平方向上 的偏移，连杆54上下可以设置有多个，优选并列设置2个。连接座53与壳体10的底面之间可拆卸连接，一些实施例中，连接座53通过螺钉55紧固在壳体10的底端。
第二护罩50在竖直方向上开设有供所述连接座53穿设的通孔511，为了保证连接座53的强度，同时降低连接座53的占用空间，连接座53优选设置为柱体形状，该柱体的轴线在竖直方向上。
在一些实施例中，为了阻挡人手或脚从外部进入机器下方，还需要考虑第二护罩50与切割区域之间的距离。结合图1所示，Z为第二护罩50的外边缘与切割元件(刀片23)之间的最小距离，当距离Z过小时，比如只有20mm，人的手指头容易通过第二护罩50下方触碰到刀片23(此时可能第二护罩50尚未发生抬升)，因此，第二护罩50与切割区域之间需满足一个最小水平距离，结合图1所示，一优选实施例中，在水平方向上，第二护罩50外侧距切割区域的最小距离Z要求大于或等于80mm。第二护罩50外侧距切割区域的最小水平距离原则上越大越好，这样可以进一步提高安全保护的效果，但是该水平距离尚需要根据机器的尺寸，以及壳体10下方空间的排布进行合理设置，但是为了满足基本防护的需要，第二护罩50外侧距切割区域的最小距离Z在水平方向上不低于80mm。需要指出的是，本申请所指的水平方向表示平行于地面的方向。
为了控制第二护罩50与切割机构20在水平方向上的间距，前轮31位于前防护件51的内侧，前防护件51在水平方向上还对前轮31位置进行防护。为了避免前防护件51凸伸出壳体10的外侧，前防护件51面向前轮31的一侧凹设成一缺口512，前轮31可占用该缺口512所让出的空间。
在其他实施例中，前轮31也可以根据需要设置在前防护件51的外侧，但是这种情况下，前防护件51和切割机构20之间的距离相对较近，空间利用和风险控制上的效果并不是最理想。
结合图5所示，第二护罩50在水平方向上对刀片23的前端和左右两侧进行防护，以阻挡人手、脚或其他异物通过机器前端或两侧进入壳体下方。第二护罩50整体呈一U形，在上下浮动时第二护罩50接近或远离壳体10的底面。从地面投影上看，第二护罩50在地面上形成具有后端(机器尾部)开口的第一投影，刀片23(切割元件)在地面上的第二投影位于第一投影内，第一投影至少部分环绕第二投影，且第二投影的边缘与第一投影的内缘之间形成间隙。
为了实现对切割机构20的后端进行安全防护，结合图8所示，壳体10后端的下方还向下凸伸有翻板70。从地面投影上看，翻板70在地面上的第三投影对应于第一投影的后端开口，第三投影靠近第一投影的后端开口，且第二投影位于第三投影和第一投影之间，因此，第二护罩50和翻板70共同实现对刀片23的360度防护。
翻板70与壳体10之间设置有扭簧71，扭簧71提供一恢复力，使得翻板70在不受外力的情况下处于竖直方向，在不受外力状态下，翻板70的底端离地间隙F1在20～100mm，例如，F1可以为30mm、40mm、60mm……翻板70的离地距离需要在合适的范围，当离地距离过小时，比如为10mm，则翻板70下端摩擦频率高，而且通过阻力大，当离地距离过大时，比如达到120mm，则翻板70对机器后端的安全保护效果不佳。
结合图9和图10所示，在经过密草时，当翻板70受到外部作用力时，比如大于5N，翻板70可以进行翻转，翻板离地间隙增大，机器可以更好的通过密草和障碍，在翻转后，翻板70的最低端离地距离大于等于60mm。
该技术方案中，人手或脚在伸入机器下端并与翻板70接触时，其作用力通常小于5N，因此翻板70可以有效的对人手或脚进行阻挡，在机器的后端起到安全防护的作用。
一些实施例中，翻板70沿两个后轮32之间直线延伸，其长度大于切割机构20的最大外径，以实现在壳体10的后端对切割机构20的整体防护。
在另外一些实施例中，为了实现对切割机构20的后端进行防护，壳体10后端的下方还可以向下凸伸有防护齿80(结合图2所示)，防护齿80与壳体10的底端之间相对固定，防护齿80具有供密草通过的间隔的间隙。防护齿80的底端离地间隙在20～100mm。防护齿结构，不仅可以阻止人手伸入至切割机构20，还不影响密草的通过。
结合图11所示，在一些实施例中，第二护罩50可以360度围于刀片23(切割元件)的四周，从地面投影上看，第二护罩50在地面上形成环形的投影，即第一投影360度环绕第二投影。在该实施例中，由于壳体10的后端同样被第二护罩50进行防护，因此并不需要翻板或防护齿的设置。该方案中，第二护罩50在实现全方位保护同时也有利于割草机一轮前进和两轮前进的设置。
需要说明的是，第二护罩50主要通过其底端实现对刀片23的外围进行防护，以防止人手或脚通过第二护罩50进入机器下方，因此第二护罩50的上下方向的厚度并无特别要求。在保证第二护罩50强度的前提下，其上下的厚度原则上越小越好，比如其厚度可以5mm～20mm，这样可以充分利用壳体10的离地空间，而不需要借用壳体10内部的空间；在另外一实施例中，第二护罩50也可以采用垂直的板状结构，第二护罩50上下的厚度较大，比如上下厚度可以达到50mm，该种结构从防护的角度安全系数虽然更高，可以进一步避免人手进入第二护罩50顶端和壳体10底端之间，但是由于壳体10离地距离有限，第二护罩50若需要较大的浮动空间，需要进一步借用壳体10内部的空间，也就是壳体10底部需要凹设一供第二护罩50浮动的凹槽。
在一些实施例中，为了降低第一护罩40与密草之间的阻力，第一护罩40相对壳体10可以上下移动，在第一护罩40未受力状态下，第一护罩40的离地距离大于等于60mm，因此第一护罩40可以在离地60mm上方进行浮动，浮动的高度可以根据产品大小、美观等因素进行设定。
在一些实施例中，第一护罩40和第二护罩50分别独立地和壳体10之间活动连接，第一护罩40和第二护罩50之间可以相对移动。
在另外一些实施方式中，第一护罩40可以和第二护罩50之间相固定。该结构中，第二护罩50在竖直方向上的厚度大于30mm，第一护罩40的下端与第二护罩50顶端的外侧边缘之间相对固定，第二护罩50的边缘不凸伸出壳体10的前端，第一护罩40的下边缘与第二护罩50之间形成台阶部，因此，在第二护罩在自然状态下，可以确保第一护罩的下端离地距离大于等于60mm，同时第一护罩40和第二护罩50可以同步进行上下浮动。工作时，机器在经过密草，由于第一护罩40离地距离大于等于60mm，密草会顺利通过第一护罩40的前端，而由于第二护罩50在未受力情况下，其下端离地距离较小，密草会作用于第二护罩50并推动第二护罩50向上移动。
结合图12所示，在一些实施例中，机器移动时，第一护罩40先与密草60接触，但是由于第一护罩40下端离地高度大于等于60mm，密草60对第一护罩40产生的阻力小，即使在密草比较高的环境下，由于第一护罩40受密草推动可以抬升，因此密草60也可以轻易通过第一护罩40的下方并与第二护罩50接触，而由于第二护罩50的离地高度小，密草60与第二护罩50接触后可作用于第二护罩50 的底端并推动第二护罩50向上移动，使得密草60在较小的阻力下进入切割机构20。该过程中，第二护罩50在自然状态下离地距离小，可以阻止人手伸入，安全性高，同时，第二护罩50可以上下浮动，便于密草60顺利通过。
在一些实施例中，结合图13所示，在第二护罩50和刀片23(切割元件)之间设置第三护罩90，第三护罩90的底部边缘低于切割元件，且第三护罩90相对刀片23在高度方向上相对静止。在未设置第三护罩90时，为了阻挡人手或脚从外部进入机器下方，第二护罩与切割区域之间的距离需要满足基本防护的需要，优选实施例中，第二护罩50外侧距切割区域的最小距离Z在水平方向上不低于80mm。当在第二护罩50和刀片23(切割元件)之间设置第三护罩90后，第二护罩50外侧距切割区域的最小距离Z在水平方向上可以小于80mm，因为第三护罩90的底部边缘低于刀片23，即使人手或脚从机器外部进入机器下方且穿过第二护罩50，也不会触碰到刀片23，从而受伤。由于第三护罩90相对刀片23在高度方向上相对静止，即如果刀片23所在的切割机构20包括调高机构，使得刀片23可以在高度方向上上下移动改变位置，第三护罩90也可以随刀片23在高度方向上移动，因此第三护罩90的底部边缘一直都保持低于刀片23，从而确保自动割草机的安全性。
切割机构20可设置于机器的前进方向上的中轴线附近，在一些实施例中，结合图14和15所示，也可设置于中轴线的一侧，以实现切割到边，对应实施例中的第二护罩50也设置于壳体10平行于机器前进方向的中轴线的一侧，且第二护罩50设置于第一护罩40和切割机构20之间。在实现切割到边的同时，防止人的手指或手臂或脚等伸入切割机构20而造成误伤。
在一些实施例中，结合图14和图15所示，切割机构20靠近所述第二护罩50的一侧与第二护罩50之间设有防护支架24，防护支架24包括沿上下方向延伸的第一防护壁241，以及自第一防护壁241的底端向内侧延伸的第二防护壁242，第二防护壁242位于所述刀片23和地面之间。第二防护壁242受到草的浮力时，其受力面较大，可受到较大的草的抬升力，增强通过性。
第二护罩50设置于所述第一护罩40和所述第一防护壁241背离所述切割机构20的一侧之间，第二护罩50在第一护罩40和第一防护壁241之间的间隔方向上的宽度的范围c为5mm～70mm，比如可以为10mm、20mm、30mm、50mm等。第二护罩50对刀片23进行防护以阻挡人手或脚通过其底端进入机器下方，因此，第二护罩50的宽度c不能太小，同时其还要确保一定的强度；同时，刀片23要尽量靠近第一护罩40外边缘以实现良好切割到边效果，考虑到防护支架24已经起到了一定的防护作用，因此，经过试验并对比可知，第二护罩50的宽度c的范围在5mm～70mm最佳。
在水平方向上，第一护罩40靠近所述防护支架24的外边缘与所述刀片23之间的距离的范围(切割到边尺寸)a为15～80mm，例如可以为15mm、16mm、18mm、30mm、50mm、60mm、70mm等。a的尺寸必须在合理范围之内，如果过大，比如大于80mm，会存在较大的切割盲区；如果尺寸太小，比如小于15mm，会影响第二护罩50的宽度，难以实现最佳的安全防护效果。
在水平方向上，第二防护壁242延伸的长度b的范围为3mm～60mm。第二护罩50用以对切割刀片23进行防护，在一定程度上已经降低了安全风险，因此第二防护壁242在原有基础上降低了长度，既能保证对人的安全性，也方便落草，同时可以在一定程度上减少打滑的风险，但是长度不能太小，比如在小于3mm时对人的安全性难以保证；但是太长又会影响落草，并增加打滑风险。
第二防护壁242和第二护罩50共同实现对刀片23的防护，当第二防护壁242的水平长度b比较小 时，参图14和15，比如b为3mm，此时，对应的第二护罩50的宽度c需要设置的相对大一些，以增加第一护罩40与刀片23之间的距离，比如此时c可以为44.2mm。当第二防护壁242的水平长度b比较大时，参图16和17，比如b为54.4mm，此时，对应的第二护罩50的宽度c可以设置的相对小一些，以实现更好的切割到边效果，比如此时c可以为5mm。
在另外一些实施例中，第二防护壁242也可凸出第一防护壁241的外侧，第一防护壁40的内外侧也可以都设置有第二防护壁242。
在一些实施例中，结合图18、19所示，还提供了一种自动割草机，包括：设置在割草机上的切割机构20，切割机构20包括用以执行切割任务的切割元件(刀片23)；防护罩，设置在割草机上，并且至少部分位于刀片23的外围；当防护罩在所受沿远离工作面的方向的外力大于设定值时可沿该方向由第一位置移动至第二位置。防护罩位于第一位置时，其底部边缘与工作面之间的最小距离G1满足：G1≤75mm。当防护罩位于第二位置时，防护罩的底部边缘与工作面之间的最小距离G2满足：G1<G2≤G max，G max≥60mm。
在一些实施例中，防护罩可以是相对壳体10上下浮动的一个外护罩110(仅仅设置一个护罩，无内护罩)。外护罩110设置于刀片23的外侧，通过对刀片23进行防护(防止人手或脚从机器的侧方底部伸入)，可以起到安全防护的作用。
外护罩110在所受向上的抬升力在大于预设值时开始移动，比如该预设值可以为3N、5N、8N、10N等，预设值的设定可以依据外护罩110的自身重力，当外护罩110的自身重量大于预设值时，可以在外护罩110和壳体10之间设置一拉簧；若外护罩110的自身重量小于预设值时，可以在外护罩110和壳体之间设置一压缩弹簧。在常规情况下，人手或脚在与机器底部接触时，向上的作用力(一般小于5N)小于预设值，因此外护罩110一般不会发生浮动，通过阻挡可以起到安全防护的作用。
在对密草进行割草作业时，特别是草比较密的情况下，密草对机器向上的抬升力比较大，容易导致机器整体抬升打滑。但是由于外护罩110在外力作用下可相对于壳体10在上下方向上运动，在通过密草时，密草对外护罩110的抬升力大于预设值，可以驱动外护罩110抬升，因此可以避免机器整体抬升，有利于割草机的平稳通过。
结合图17所示，外护罩110在不受外力的状态下，也就是自然状态下(第一位置)，外护罩110处于离地高度最低的位置，此时，外护罩110的最低点离地距离G1满足：G1≤75mm，优选地，20mm≤G1≤65mm，例如，G1可以为30mm、40mm、50mm、60mm……，但是如果离地距离过小，比如为10mm时，机器在行走过程中通过性较差，对外护罩110上下的移动行程要求高；而如果离地距离过大，比如80mm，则刀片23易暴露在外护罩110的下方，很难起到良好的安全保护作用。
结合图19所示，外护罩110在受到外力并处于最高位置的状态下(第二位置)，外护罩110的最低点离地距离G2满足：G2≥60mm，且G2大于G1，一些实施例中，G2在60mm～150mm之间，优选为75mm～105mm。例如，离地距离G2可以是60mm、70mm、80mm、90mm、100mm、120mm、130mm、150mm等，以防止儿童趴卧时脚伸入自动行走设备底部而与刀片23接触，进一步提高安全性。
为了阻挡人手或脚从外部进入机器下方，还需要考虑外护罩110与切割区域之间的距离d，当距离过小时，比如只有20mm，人的手指头容易通过外护罩110下方触碰到刀片23(此时可能外护罩尚未发生抬升)，存在风险的可能，因此，外护罩110与切割区域之间需满足一个最小水平距离，结合图 17所示，一优选实施例中，在水平方向上，外护罩110外侧距切割区域的最小距离d要求大于80mm。外护罩110外侧距切割区域的最小水平距离原则上越大越好，这样可以进一步提高安全保护的效果，但是该水平距离尚需要根据机器的尺寸，以及壳体10下方空间的排布进行合理设置，但是为了满足基本防护的需要，经安全测试，外护罩110外侧距切割区域的最小水平距离应不低于80mm。需要指出的是，本申请所指的水平方向表示平行于地面的方向。
进一步地，外护罩110包括盖体111和底板112，底板112在对刀片23的前端和左右两侧进行防护，以防止人手、脚或其他异物通过机器前端或两侧进入壳体下方。底板112整体呈一U形，在上下浮动时底板112接近或远离壳体10的底面。从地面投影上看，在竖直方向上，外护罩110在地面上形成具有后端(机器尾部)开口的第一投影，刀片23在地面上的第二投影位于第一投影内，且第二投影的边缘与第一投影的内缘之间形成间隙。
盖体111自底板112的边缘向上延伸并覆盖壳体10的部分顶面，在上下浮动时，盖体111接近或远离壳体10的顶面，盖体111围于壳体的顶面和两侧，可以起到进一步保护和美观的作用。盖体111和底板112之间可以采用装配的方式，也可以为一体成型。
当外护罩110不受力时，外护罩110处于自由状态，外护罩110的底端离地距离最小，且离地距离在20mm～75mm之间，可以防止机器在工作时对人造成伤害。当外护罩110与密草接触时，外护罩110的下端受密草的推动，并相对壳体10向上移动，此时密草对壳体10的阻力减小，因此，机器仍能与地面的保持一定的附着力，不容易在密草中打滑。
上述自动割草机，其护罩可以上下浮动，可以控制护罩在自然状态下的离地距离、被抬高时的离地距离，使得机器在密草中工作时，密草对机器的阻力减小，提高了割草机的通过性，同时一定程度上保证对人的安全性。
前述对本发明的具体示例性实施方案的描述是为了说明和例证的目的。这些描述并非想将本发明限定为所公开的精确形式，并且很显然，根据上述教导，可以进行很多改变和变化。对示例性实施例进行选择和描述的目的在于解释本发明的特定原理及其实际应用，从而使得本领域的技术人员能够实现并利用本发明的各种不同的示例性实施方案以及各种不同的选择和改变。本发明的范围意在由权利要求书及其等同形式所限定。

Claims (18)

  1. 一种自动割草机，其特征在于，包括：
    切割机构，设置于所述自动割草机上，所述切割机构包括用以执行切割任务的切割元件；
    第一护罩，设置于所述自动割草机上，且至少部分位于所述切割元件的外围；在自然状态下，所述第一护罩的至少部分底部边缘与工作面之间的距离X1满足：X1≥60mm；以及，
    第二护罩，设置于所述自动割草机上，至少部分位于所述第一护罩和所述切割元件之间，以对所述切割元件进行防护；在自然状态下，所述第二护罩的最低点低于所述第一护罩，且该最低点与工作面之间的距离Y1满足：Y1≤75mm；所述第二护罩被配置为在所受远离所述工作面的方向的外力大于设定值时沿该方向移动。
  2. 如权利要求1所述的自动割草机，其特征在于，所述第一护罩的最低点与工作面之间的距离大于或等于60mm。
  3. 如权利要求1-2中任一项所述的自动割草机，其特征在于，X1满足：X1≥65mm；或，X1≥70mm。
  4. 如权利要求1-2中任一项所述的自动割草机，其特征在于，X1满足：60mm≤X1≤150mm；或，65mm≤X1≤105mm。
  5. 如权利要求1-2中任一项所述的自动割草机，其特征在于，在自然状态下，所述第一护罩最接近工作面的底部边缘与工作面之间的距离X2满足：X2≤75mm。
  6. 如权利要求1所述的自动割草机，其特征在于，所述第一护罩在行进方向上的前端自其底部边缘向上开设有供草通过的缺口，所述缺口的开口朝向工作面且其顶端与工作面之间的距离K1满足：K1≥60mm。
  7. 如权利要求6所述的自动割草机，其特征在于，所述缺口包括矩形缺口、三角形缺口、弧形缺口中的至少一种。
  8. 如权利要求6所述的自动割草机，其特征在于，所述缺口具有水平或平滑设置的顶壁、以及与所述顶壁两端分别邻接的侧壁，所述侧壁与所述顶壁之间呈钝角。
  9. 如权利要求1所述的自动割草机，其特征在于，还包括：
    连接座，与所述第一护罩可拆卸连接；以及连杆，一端与所述连接座转动连接，另一端与所述第二护罩转动连接；
    所述第二护罩开设有供所述连接座穿设的通孔，所述通孔被配置为沿所述第二护罩在外力作用下的移动方向延伸。
  10. 如权利要求1所述的自动割草机，其特征在于，在水平方向上，所述第二护罩的外边缘与所述切割元件之间的最小距离Z满足：Z≥80mm。
  11. 如权利要求1所述的自动割草机，其特征在于，沿垂直工作面的方向，所述第二护罩于工作面具有第一投影，所述切割元件于工作面具有第二投影，所述第一投影至少部分环绕所述第二投影，且所述第一投影与所述第二投影之间具有间隙。
  12. 如权利要求11所述的自动割草机，其特征在于，所述第一投影360度地环绕所述第二投影。
  13. 如权利要求11所述的自动割草机，其特征在于，所述第二护罩具有开口端，对应的，所述第一投影具有开口；所述自动割草机还包括：
    防护齿或翻板，设于所述第一护罩，并朝所述壳体靠近工作面的方向延伸；沿垂直工作面方向所述防护齿或所述翻板于工作面具有第三投影，所述第三投影靠近所述开口，且所述第二投影位于所述第三投影和所述第一投影之间；
    其中，所述防护齿的最低点的与工作面之间距离的范围为20mm～100mm；在自然状态下，所述翻板的最低点与工作面之间距离的范围为20mm～100mm。
  14. 如权利要求1所述的自动割草机，其特征在于，还包括：
    第三护罩，设于所述第二护罩和所述切割元件之间，且所述第三护罩的底部边缘低于所述切割元件。
  15. 如权利要求1所述的自动割草机，其特征在于，所述切割机构偏置于所述自动割草机行进方向的中轴线的一侧。
  16. 如权利要求15所述的自动割草机，其特征在于，还包括：
    防护支架，设于所述切割元件和所述第二护罩之间，且与所述切割机构位于所述中轴线的同侧；
    所述防护支架包括与所述切割元件所在平面垂直的第一防护壁，以及自所述第一防护壁的底端向内延伸的第二防护壁，所述第二防护壁位于所述切割元件和工作面之间。
  17. 如权利要求16所述的自动割草机，其特征在于，在水平方向上，靠近所述防护支架的所述第一护罩的外边缘与所述切割元件之间的最小距离的范围为15mm～80mm。
  18. 一种自动割草机，其特征在于，包括：
    切割机构，设置于所述自动割草机内，所述切割机构包括用以执行切割任务的切割元件；
    防护罩，设置于所述自动割草机上，至少部分位于所述切割元件的外围，且所述防护罩在所受沿远离工作面的方向的外力大于设定值时可沿该方向由第一位置移动至第二位置；
    所述防护罩位于所述第一位置时，所述防护部的底部边缘与工作面之间的最小距离G1满足：G1≤75mm；
    所述防护罩位于所述第二位置时，所述防护罩的底部边缘与工作面之间的最小距离G2满足G1<G2≤Gmax，其中，Gmax≥60mm。
PCT/CN2022/109376 2021-07-30 2022-08-01 自动割草机 WO2023006110A1 (zh)

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Citations (4)

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US20100326034A1 (en) * 2009-06-26 2010-12-30 Briggs & Stratton Corporation Lawn mower blade coupling system
CN203206738U (zh) * 2013-04-24 2013-09-25 皇田工业股份有限公司 割草机
CN213187213U (zh) * 2020-06-18 2021-05-14 苏州宝时得电动工具有限公司 自动割草机
CN213404158U (zh) * 2019-06-18 2021-06-11 苏州宝时得电动工具有限公司 自动割草机

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100326034A1 (en) * 2009-06-26 2010-12-30 Briggs & Stratton Corporation Lawn mower blade coupling system
CN203206738U (zh) * 2013-04-24 2013-09-25 皇田工业股份有限公司 割草机
CN213404158U (zh) * 2019-06-18 2021-06-11 苏州宝时得电动工具有限公司 自动割草机
CN213404157U (zh) * 2019-06-18 2021-06-11 苏州宝时得电动工具有限公司 自动割草机
CN213187213U (zh) * 2020-06-18 2021-05-14 苏州宝时得电动工具有限公司 自动割草机

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