WO2024027586A1 - 防护装置以及割草机 - Google Patents

防护装置以及割草机 Download PDF

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Publication number
WO2024027586A1
WO2024027586A1 PCT/CN2023/109799 CN2023109799W WO2024027586A1 WO 2024027586 A1 WO2024027586 A1 WO 2024027586A1 CN 2023109799 W CN2023109799 W CN 2023109799W WO 2024027586 A1 WO2024027586 A1 WO 2024027586A1
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WO
WIPO (PCT)
Prior art keywords
cutter
lawn mower
grass
strip
protective device
Prior art date
Application number
PCT/CN2023/109799
Other languages
English (en)
French (fr)
Inventor
王大炜
Original Assignee
高望书
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
Application filed by 高望书 filed Critical 高望书
Publication of WO2024027586A1 publication Critical patent/WO2024027586A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/02—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having reciprocating cutters
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/02—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having reciprocating cutters
    • A01D34/40—Other details
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass

Definitions

  • Embodiments of the present disclosure relate to a protective device and a lawn mower.
  • Lawn mowers used in landscaping are gradually developing towards automated control to reduce labor costs.
  • the blades of lawn mowers on the market are often exposed to the outside, such as at the bottom of the lawn mower.
  • the tool itself is also prone to problems such as jamming, winding, and collision, which affects the normal use and working life of the tool.
  • At least one embodiment of the present disclosure provides a protective device and a lawnmower.
  • the protective device can effectively protect a cutting tool, reduce or even eliminate safety hazards, and increase the service life of the cutting tool.
  • At least one embodiment of the present disclosure provides a protective device for a lawn mower.
  • the protective device includes a cutter guard.
  • the cutter guard is configured to cover the cutter of the lawn mower; the cutter guard includes a grass cutter.
  • the grass entry surface includes a plurality of first strips arranged side by side with each other, the grass exit surface includes a grass outlet, and the connection surface includes a plurality of first strips arranged side by side with each other.
  • a plurality of second strip gates, at least parts of the plurality of second strip gates are correspondingly connected to at least parts of the plurality of first strip gates.
  • At least part of the plurality of first strips is arc-shaped; or, the plurality of first strips are linear, and the plurality of third strips are linear.
  • At least part of the strip grating is at an angle A with at least part of the plurality of second strip gratings respectively, then 180° ⁇ A>90°.
  • the protective device provided by at least one embodiment of the present disclosure also includes a combing roller brush, wherein the The grass-combing roller brush is arranged in the cutter protective cover and close to the grass-entry surface, and includes a plurality of comb teeth; or, the grass-combing roller brush is arranged outside the grass-entry surface, and includes a plurality of comb teeth. .
  • the grass combing roller brush further includes a roller, the plurality of comb teeth are configured to rotate around the roller, and the roller is parallel to the inlet. Grass surface.
  • the plurality of comb teeth are configured to comb grass between adjacent first strips.
  • the grass exit surface includes a plurality of third strip-shaped fences arranged side by side with each other, and at least part of the plurality of third strip-shaped fences are in contact with the plurality of third strip-shaped fences. At least part of the second strip-shaped fences are connected correspondingly, and the gaps between adjacent third strip-shaped fences among the plurality of third strip-shaped fences constitute the grass outlet.
  • the number of the plurality of third strip gates is smaller than the number of the plurality of second strip gates.
  • At least one embodiment of the present disclosure also provides a lawn mower.
  • the lawn mower includes a cutter and a protective device provided by an embodiment of the present disclosure.
  • the cutter guard cover of the protective device is provided on the cutter.
  • the lawn mower provided by at least one embodiment of the present disclosure further includes: a chassis provided at the bottom of the lawn mower, the cutter is provided on the chassis or exposed by the chassis, and the protective device is installed on The chassis.
  • the protective device is detachably installed on the chassis.
  • the cutter and the protective device are provided at the front or middle of the chassis.
  • the cutter includes at least two layers of blades arranged in a stack and a driving mechanism for driving the at least two layers of blades, and the driving mechanism is configured to drive the at least two layers of blades.
  • the blades move relative to each other to achieve cutting.
  • the lawn mower provided by at least one embodiment of the present disclosure further includes: a collision detection mechanism configured to determine whether a collision occurs by detecting the displacement of the protective device, the cutter or the driving mechanism or detecting the current of the driving mechanism. collision.
  • a collision detection mechanism configured to determine whether a collision occurs by detecting the displacement of the protective device, the cutter or the driving mechanism or detecting the current of the driving mechanism. collision.
  • the lawn mower provided by at least one embodiment of the present disclosure further includes: a lifting drive mechanism, which is at least connected to the cutter and configured to drive the cutter to lift.
  • a lifting drive mechanism which is at least connected to the cutter and configured to drive the cutter to lift.
  • the lawn mower provided by at least one embodiment of the present disclosure further includes: a lifting detection mechanism configured to detect the lifting distance of the cutter.
  • the lawn mower provided by at least one embodiment of the present disclosure further includes: a controller communicatively connected to the collision detection mechanism and the lifting driving mechanism, and configured to, when the collision detection mechanism detects a collision, The lifting driving mechanism is controlled to drive the tool upward.
  • a controller communicatively connected to the collision detection mechanism and the lifting driving mechanism, and configured to, when the collision detection mechanism detects a collision, The lifting driving mechanism is controlled to drive the tool upward.
  • the protective device provided by the embodiment of the present disclosure can be covered on the tool to form a hidden tool, thereby providing effective protection for the tool, avoiding safety incidents caused by the exposure of the tool, and at the same time, it can also prevent the tool from being damaged or jammed. Undesirable problems such as deadness and entanglement.
  • Figure 1 is a schematic structural diagram of a protective device provided by at least one embodiment of the present disclosure
  • Figure 2 is another structural schematic diagram of a protective device provided by at least one embodiment of the present disclosure
  • Figure 3A is a schematic side view of a protective device provided by at least one embodiment of the present disclosure.
  • Figure 3B is a schematic structural diagram of the grass-out surface of the protective device provided by at least one embodiment of the present disclosure
  • Figure 4 is a schematic structural diagram of a lawn mower provided by at least one embodiment of the present disclosure.
  • Figure 5 is another structural schematic diagram of a lawn mower provided by at least one embodiment of the present disclosure.
  • FIGS. 6-8 are schematic structural diagrams of another lawn mower provided by at least one embodiment of the present disclosure.
  • Figures 9-10 are schematic structural diagrams of another protective device for a lawn mower provided by at least one embodiment of the present disclosure.
  • Figure 11 is a schematic structural diagram of another lawn mower provided by at least one embodiment of the present disclosure.
  • Figure 12 is a schematic structural diagram of a tool holder in another lawn mower provided by at least one embodiment of the present disclosure
  • Figure 13 is a schematic structural diagram of yet another lawn mower provided by at least one embodiment of the present disclosure.
  • Figure 14 is a schematic structural diagram of yet another tool holder in a lawn mower provided by at least one embodiment of the present disclosure.
  • At least one embodiment of the present disclosure provides a protective device for a lawn mower.
  • the protective device includes a cutter guard.
  • the cutter guard is configured to cover the cutter of the lawn mower.
  • the cutter guard includes a grass entry surface and a grass exit surface. and a connecting surface connecting the incoming grass surface and the outgoing grass surface; the incoming grass surface includes a plurality of first strips arranged side by side with each other, the outgoing grass surface includes a grass outlet, and the connecting surface includes a plurality of first strips arranged side by side.
  • Two strip gates, at least parts of the plurality of second strip gates are connected correspondingly to at least parts of the plurality of first strip gates.
  • At least one embodiment of the present disclosure provides a lawn mower.
  • the lawn mower includes a cutter and the above-mentioned protective device.
  • the protective device is covered on the cutter.
  • the protective device provided by the embodiment of the present disclosure can be covered on the tool to form a hidden tool, thereby providing effective protection for the tool, avoiding safety incidents caused by the exposure of the tool, and at the same time, it can also prevent the tool from being damaged or jammed. Eliminate undesirable problems such as deadening and winding, and improve the service life of the tool.
  • FIG. 1 and 2 respectively show schematic structural views of the protective device from different viewing angles when it is installed on a lawn mower.
  • the protective device includes a cutter guard 10, and the cutter guard 10 is configured to cover the cutter 30 of the lawn mower to provide effective protection for the cutter 30.
  • the cutter guard 10 includes a turf entry surface 11 , a turf exit surface 12 , and a connecting surface (for example, a bottom surface) 13 connecting the turf entry surface 11 and the turf exit surface 12 .
  • the grass entry surface 11 is the surface that first contacts the grass when the lawn mower is traveling, as shown in Figure 1 and As shown in FIG. 2 , the grass entry surface 11 includes a plurality of first strip grids 111 arranged side by side.
  • the extension direction of the plurality of first strips 111 is the same as the movement direction of the lawn mower to correspond to the extension direction of the grass, so that when the grass entry surface 11 comes into contact with the grass, the grass can move along the plurality of first strips.
  • the grid 111 enters the gaps between the plurality of first strip grids 111, so that the plurality of first strip grids 111 can play a role in combing and guiding the grass to facilitate the grass to travel to the cutter 30.
  • the grass outlet surface 12 includes a grass outlet (described in detail later) for discharging the grass cut by the cutter 30 .
  • connection surface 13 includes a plurality of second strip gates 131 arranged side by side with each other. At least parts of the plurality of second strip gates 131 are connected correspondingly to at least parts of the plurality of first strip gates 111 , for example, in a one-to-one correspondence. And connected.
  • the number of the plurality of first strip gates 111 and the plurality of second strip gates 131 are the same, and the number of the plurality of second strip gates 131 and the plurality of first strip gates are 111 correspond to each other and are connected one by one.
  • the plurality of second strip fences 131 correspond to the plurality of first strip fences 111 and are integrally connected, so that the grass entering along the gaps of the plurality of first strip fences 111 can continue. Proceed along the gaps of the plurality of second strip grids 131 and then reach the cutter 30 .
  • the number of the plurality of first strip gates 111 and the number of the plurality of second strip gates 131 may also be different, so that the number of the plurality of first strip gates 111 and the plurality of second strip gates 131 may be different.
  • the grid 131 can achieve different degrees of combing and guiding functions at different positions.
  • At least part of the plurality of first strips 111 of the grass entry surface 11 is arc-shaped, for example, at least the part connected to the connecting surface 13 is arc-shaped,
  • the plurality of first strip fences 111 and the plurality of second strip fences 131 can be connected in an arc, thereby enabling grass entry, climbing and obstacle avoidance using protective devices.
  • the plurality of first strips 111 of the grass entry surface 11 may also be linear and form an angle A with the plurality of second strips 131 respectively, for example,
  • the value range of angle A can be 180° ⁇ A>90°.
  • the connection mode between the grass entry surface 11 and the connection surface 13 is similar to the connection mode between the grass exit surface 12 and the connection surface 13 in Figures 1 and 2.
  • the plurality of first strip gates 111 and the plurality of second strip gates 131 form an obtuse angle, and the obtuse angle is greater than 100 degrees, for example, greater than the obtuse angle formed by the grass exit surface 12 and the connection surface 13 , this setting is also conducive to the grass entry, climbing and obstacle avoidance of the protective device.
  • the protective device is triangular in shape when viewed from the side, that is, the first strip gates 111 and the second strip gates 131 are The resulting figure is roughly triangular.
  • the protective device may further include a grass grooming roller brush 20 .
  • the grass grooming roller brush 20 is disposed in the cutter guard 10 and close to the grass entry surface 11 , and includes a plurality of grass grooming rollers 20 . 22 comb teeth.
  • the plurality of comb teeth 22 respectively extend toward the gaps between adjacent first strip fences 111 to enable combing between the adjacent first strip fences 111 .
  • the plurality of comb teeth 22 can extend from the gap between adjacent first strips 111 to beyond the grass entry surface 11 (as shown in FIG. 1 ), so that the grass combing roller brush 20 can be used in a larger range. Realize combing grass.
  • the plurality of comb teeth 22 may extend just to the grass entry surface 11 or extend within the grass entry surface 11 , which is not specifically limited in the embodiments of the present disclosure.
  • the plurality of comb teeth 22 can also comb grass between adjacent second strip grids 131 .
  • the plurality of comb teeth 22 may also extend from the gap between adjacent second strip grids 131 to beyond the connection surface, or extend exactly to the connection surface.
  • the grass combing roller brush 20 also includes a roller 21, and one end of the plurality of comb teeth 22 is connected to the roller 21 (for example, directly connected to the roller 21 or surrounded by the roller. (on the shaft 21 ), the plurality of comb teeth 22 are configured to be rotatable around the roller shaft 21 .
  • the combing roller brush 20 may also include a driving electrode that drives a roller or a drum to rotate, so that the plurality of comb teeth 22 can rotate in a certain direction and at a certain speed.
  • a plurality of comb teeth 22 are arranged in multiple rows (six rows are shown in the figure as an example). When the multiple rows of comb teeth 22 rotate, they reach the grass entry surface 11 in sequence to separate the adjacent first strips 111 When combing the grass, the plurality of comb teeth 22 can comb up the fallen grass, so that the rear cutter 30 can trim the grass.
  • the roller 21 is arranged parallel to the grass entry surface 11, so that the distance between the plurality of comb teeth 22 located in the same row and the grass entry surface 11 is substantially the same.
  • the roller 21 can be driven to rotate clockwise or counterclockwise, so as to comb up the fallen grass.
  • the combing roller brush 20 can be fixedly connected to the cutter guard 10, or can also be fixedly connected to the chassis 40 of the lawn mower (described in detail later), as long as the combing roller brush 20 and the cutter guard can be maintained.
  • the relative position of the cover 10 is sufficient.
  • the combing roller brush can also be arranged outside the grass entry surface, that is, outside the cutter guard 10 , and the grass to be cut is first combed by the combing roller brush and then enters the cutter guard 10 .
  • the grass combing roller brush also includes a plurality of comb teeth and other structures. Please refer to the above embodiment for details.
  • the grass exit surface 12 includes a plurality of third strips arranged side by side.
  • Gate 121 at least part of the plurality of third strip gates 121 is connected to at least part of the plurality of second strip gates 131, for example, one-to-one correspondence and connection, and adjacent third strip gates of the plurality of third strip gates 121 are connected.
  • the gaps between the strips 121 constitute the above-mentioned grass outlet to allow the cut grass to be discharged.
  • the number of the plurality of third strip gates 121 and the plurality of second strip gates 131 are the same, and the plurality of second strip gates 131 and the plurality of third strip gates are 121 correspond to each other and are connected one by one.
  • a plurality of second strip fences 131 correspond to a one-to-one correspondence and are integrally connected to a plurality of third strip fences 121 , so that the grass cut by the knife can be cut along the edges of the plurality of third strip fences 121 . The gap is eliminated.
  • the number of the plurality of third strip gates 121 may be smaller than the number of the plurality of second strip gates 131 , so that the gaps formed between adjacent third strip gates 121 are larger. , so that the cut grass can be discharged.
  • the grass removal surface 12 may include only two third strip grids 121 (or only a few third strip grids 121 ), thereby forming a larger grass clearance area. Since the cut grass has various accumulation forms, the larger grass outlet 122 is conducive to the smooth discharge of the cut grass, so as to avoid accumulation at the grass outlet surface 12 and causing blockage of the protective device.
  • both sides of the knife guard 10 may adopt hollow structures, which also facilitates the removal of cut grass from both sides; or, in other embodiments, a certain number of bars can also be provided on both sides of the tool guard 10 to further protect the tool 30 on both sides.
  • the cutter guard 10 can be made of metal or alloy materials, such as aluminum or aluminum alloy, stainless steel, etc., so as to have higher strength and corrosion resistance; the roller 21 of the grass grooming brush 20
  • the comb teeth can also be made of metal materials or alloy materials, such as aluminum or aluminum alloy, stainless steel, etc., so as to have higher strength and avoid being compressed and deformed by heavier grass.
  • At least one embodiment of the present disclosure also provides a lawn mower.
  • Figures 4 and 5 respectively show schematic structural views of the lawn mower from different perspectives.
  • the lawn mower includes a cutter 30
  • the tool protective cover 10 of the protective device is provided on the tool 30 to provide effective protection for the tool 30 .
  • the lawn mower further includes a chassis 40, which is disposed at the bottom of the lawn mower, and the cutter 30 is disposed on the chassis 40 or exposed by the chassis 40; for example, The chassis 40 has an opening from which the cutter 30 can be extended or retracted.
  • the protective device can be installed on the chassis 40, for example, it can be detachably installed on the chassis 40, or it can be fixed to the chassis 40 through a snap-on structure, a bolt connector, etc., so that operations such as quick disassembly and quick assembly can be realized, making it more convenient to use;
  • the protective device can also be installed on the chassis 40 through a sliding connection or other relatively movable form, so that it can move relative to the chassis 40 , such as lifting or lowering relative to the chassis 40 .
  • the cutter 30 and the protective device may be disposed at the front or middle of the chassis 40 .
  • the embodiment of FIGS. 4 and 5 shows that the cutter 30 and the guard are disposed in the middle of the chassis 40 .
  • the lawn mower also includes a movement mechanism, which includes a front wheel 51 (shown as two front wheels 51 in the figure) and a rear wheel 52 (shown as two rear wheels 51 in the figure). wheel 52), the cutter 30 and the protective device are arranged between the front wheel 51 and the rear wheel 52.
  • the motion mechanism shown in Figures 4 and 5 is a wheel-type motion mechanism.
  • the motion mechanism can also be a crawler motion mechanism or other forms of motion mechanism. The embodiments of the present disclosure are not specifically limited to this. .
  • FIGS. 6-8 show a schematic structural diagram of another lawn mower according to at least one embodiment of the present disclosure.
  • the cutter 30 and the protective device can be disposed at the front of the chassis 40 , that is, the cutter 30 and the protective device are disposed on the side of the front wheel 51 away from the rear wheel 52 , that is, it is arranged in front of the moving direction of the lawn mower, so that the cutter 30 can fully contact the grass while the lawn mower is moving, thereby realizing the lawn mowing function.
  • FIGS. 9 and 10 show schematic structural diagrams of the cutter 30 and the protective device when the cutter 30 and the protective device are disposed at the front of the chassis 40 .
  • the cutter 30 can be a strip-shaped cutter, and the width of the strip-shaped cutter can be substantially equal to the width of the cutter guard 10, so that the cutter 30 can be Mowing over a large area improves mowing efficiency.
  • the tool 30 includes at least two layers of blades arranged in a stack (two layers of blades 31 and 32 are shown as examples) and drives the at least two layers of blades.
  • the driving mechanism 33 is configured to drive at least two layers of blades 31 and 32 to perform relative motion to achieve lawn mowing.
  • the driving mechanism 33 can be implemented as a driving device such as a motor.
  • the upper blade 31 and the lower blade 32 respectively include a plurality of blade teeth
  • the driving mechanism 33 drives the upper blade 31 to move to the left and the lower blade 32 to move to the right, or drives the upper blade 31 to move to the right and the lower blade 32 to move to the left. Therefore, the teeth of the upper blade 31 and the lower blade 32 cooperate with each other to perform a cutting action similar to scissors, thereby achieving lawn mowing.
  • the cutter 30 may also be a disc-type cutter or other forms of cutters, which are not specifically limited in the embodiments of the present disclosure.
  • the lawn mower may further include a collision detection mechanism 60 configured to detect the protective device (such as the knife guard 10 and/or the protective device). Or the displacement or deformation of the combing roller brush 20), the cutter 30 or the driving mechanism 33, or the current or voltage of the driving mechanism 33 is detected to determine whether a collision occurs.
  • the protective device such as the knife guard 10 and/or the protective device.
  • the displacement or deformation of the combing roller brush 20), the cutter 30 or the driving mechanism 33, or the current or voltage of the driving mechanism 33 is detected to determine whether a collision occurs.
  • the collision detection mechanism 60 can use various devices that can detect displacement or deformation, such as distance sensors, mechanical switches, photoelectric infrared tubes, Hall sensors, etc., so that the collision detection mechanism 60 can detect whether the above-mentioned devices have Displacement occurs to determine whether a collision occurs; alternatively, the collision detection mechanism 60 can use a current/voltage detection device to determine whether the driving mechanism 33 is blocked by detecting whether the current or voltage of the driving mechanism 33 is too large, and then determine Whether a collision occurs.
  • various devices that can detect displacement or deformation such as distance sensors, mechanical switches, photoelectric infrared tubes, Hall sensors, etc.
  • the lawn mower may further include a lifting driving mechanism 34, such as a lifting motor.
  • the lifting driving mechanism 34 is at least connected to the cutter 30 and is configured to drive the cutter 30 to lift.
  • the driving cutter 30 can cut grass at different heights.
  • the cutter 30 can be raised to a height above the chassis 40 to be completely hidden inside the lawn mower, and can be lowered to a height substantially the same as the ground to cut grass substantially along the ground surface.
  • the driving mechanism 33 and the lifting driving mechanism 34 can be integrated into a driving device, and the driving device can drive the cutter 30 to perform shearing actions and lifting actions at the same time.
  • the driving mechanism 33 and the lifting driving mechanism 34 may be two independent driving devices, which are not specifically limited in the embodiments of the present disclosure.
  • the lawn mower may further include a lifting detection mechanism 35 configured to detect the lifting distance of the cutter 30 .
  • the lifting detection mechanism 35 can be a distance sensor, and the lifting distance of the tool 30 can be obtained by detecting the distance between the tool 30 and the chassis 40, that is, the length of the tool 30 extending out or retracting the chassis 40; or, the lifting detection mechanism 35 can also detect the distance between the tool 30 and the chassis 40.
  • the lifting distance of the tool 30 can be obtained by detecting the direction of rotation of the lifting motor and the number of rotations; alternatively, the lifting detection mechanism 35 can also detect the distance between the tool 30 and the chassis 40 through a photoelectric sensor, a Hall sensor, etc.
  • the embodiments of the present disclosure do not limit the specific form of the lifting detection mechanism 35 .
  • the collision detection mechanism 60, the driving mechanism 33, the lifting driving mechanism 34, the lifting detection mechanism 35 and other structures can be fixed on the chassis 40, for example, directly provided on the chassis 40 or fixed on the chassis 40 through a bracket, etc., the implementation of the present disclosure The example does not specifically limit this.
  • the lawn mower may also include a controller (not shown in the figure), which is communicatively connected to the collision detection mechanism 60 and the lifting drive mechanism 35 (for example, through wired or wireless communication). (wired communication connection), and is configured to control the lifting driving mechanism 35 to drive the tool 30 upward when the collision detection mechanism 60 detects a collision.
  • the controller is also communicatively connected with the lifting detection mechanism 35, and the controller can raise the tool 30 to a predetermined height, such as a safe height, such as above the chassis 40, according to the feedback information of the lifting detection mechanism 35, to perform inspection on the tool 30. Protect and avoid obstacles damaging the tool 30.
  • the tool protective cover 10 of the protective device is installed on the chassis 40 through a sliding connection or other relatively movable form, such as being connected to the chassis 40 through a lifting structure (such as a lifting motor).
  • a lifting structure such as a lifting motor.
  • the protective device The tool 30 as a whole can be raised and lowered relative to the chassis 40 to achieve overall obstacle avoidance and other effects.
  • the protective device and the cutter 30 can be raised to the inside of the lawn mower to be hidden inside the lawn mower, and its descending height can be set according to the mowing conditions of the day. After moving to a designated position, for example, after monitoring to determine that the lawn mower is in a safe working environment, the protective device and the cutter 30 are lowered to a designated height, and then the lawn mowing work is started.
  • the controller controls the protective device and the cutter 30.
  • the overall rise for example, shrinking it into the interior of the lawn mower, thereby playing a protective role and being conducive to crossing complex terrain.
  • the protective device and the cutter 30 are controlled to descend to a certain height to continue to complete the mowing. grass work.
  • the controller can adaptively adjust the lowering height of the tool according to the terrain environment.
  • the protective device and the cutter 30 as a whole rise to the inside of the lawn mower, and the lawn mower can automatically return to the origin or return to the charging station for use.
  • FIG. 11 shows a schematic structural diagram of another lawn mower provided by at least one embodiment of the present disclosure.
  • the lawn mower includes a lawn mower body 70.
  • the lawn mower body 70 includes a motion mechanism and other structures.
  • the cutter 30 is detachably installed in front of the lawn mower body 70, that is, in front of the lawn mower when traveling. When the lawn mower moves forward, it is first cut by the cutter 30 . At this time, the tool guard cover of the protective device is installed on the tool 30 .
  • the lawn mower further includes a cutter holder 36 , the cutter 30 , the cutter guard and the ends of the combing roller brush 20 can be connected to the cutter holder 36 , and the cutter holder 36 can be detachably connected to the lawn mower.
  • Machine body 70 the tool holder 36, the cutter 30, the cutter protective cover and the grass combing roller brush 20 can be used as a whole body, and the whole body is detachably connected to the lawn mower body 70.
  • FIG. 12 shows the tool holder in the above-mentioned lawn mower provided by at least one embodiment of the present disclosure.
  • the two ends of the roller 21 of the combing roller brush 20 also have connecting shafts 23.
  • the tool holder 36 has oppositely arranged connecting holes 24 through which the connecting shafts 23 pass.
  • the connecting hole 24 is connected to the tool holder 36 .
  • the shape of the connecting hole 24 may be a racetrack shape or a rectangular shape.
  • the combing roller brush 20 may be configured to move along the connecting hole 24 , for example, to move up and down.
  • the cutter holder 36 and the lawn mower body 70 may be connected using a connection structure 71 .
  • the connecting structure 71 is rotatably connected to the lawn mower body 70 and the cutter frame 36 , so that the cutter frame 36 can have a certain degree of freedom of movement (eg, rotation) relative to the lawn mower body 70 to cope with rough terrain.
  • the road surface improves the overall stability of the lawn mower on rough roads.
  • the connection structure 71 may also be directly and fixedly connected to the lawn mower body 70 and the tool holder 36 .
  • the driving mechanism 33 for driving the blades 31 and 32 may be provided at the connection structure 71 .
  • the front of the tool holder 36 may also have a wheel set 80.
  • the wheel set 80 can guide the tool holder 36 forward and make the overall structure of the tool holder 36 more stable and effective. Helps the lawn mower achieve hill climbing and other operations on rough roads.
  • the combing roller brush 20 is located inside the cutter guard. In other embodiments, the combing roller brush 20 may also be located outside the cutter guard.
  • FIG. 13 shows a schematic structural diagram of another lawn mower provided by at least one embodiment of the present disclosure
  • FIG. 14 shows a schematic structural diagram of a tool holder in the lawn mower.
  • the grass combing roller brush 20 is located outside the cutter guard. At this time, the grass to be cut is first combed by the grass combing roller brush 20 and then enters the cutter guard 10. Then it is cut by the cutter 30 in the cutter guard 10 .
  • the plurality of first strip gates 111 are 180° from the plurality of second strip gates 131 respectively.
  • the plurality of first strip gates 111 and the plurality of second strip gates are The gate 131 has no clear dividing line in appearance, and the overall shape of the first strip gate 111 and the second strip gate 131 is basically triangular when viewed from the side.
  • FIGS. 13 and 14 other structures of the lawn mower may refer to the embodiments of FIGS. 11 and 12 , and will not be described again here.
  • the protective device provided by the embodiments of the present disclosure can be covered on the cutter to form a hidden cutter, thereby providing effective protection for the cutter, avoiding safety incidents caused by the exposure of the cutter, and posing potential risks in the lawn mowing environment. Appearing children, small animals, fixed stakes, automatic sprinkler irrigation equipment, etc. It serves as a good protective measure; at the same time, it can also prevent the tool itself from causing damage, jamming, winding and other undesirable problems, and improve the service life of the tool.
  • the lawn mower provided by the embodiment of the present disclosure also has a controller, which can automatically control the working state of the lawn mower to adapt to complex mowing environments, improve lawn mowing efficiency and safety, and reduce labor costs.

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Abstract

一种防护装置以及割草机。该防护装置包括刀具防护罩（10），刀具防护罩（10）配置为能够罩设在割草机的刀具上；刀具防护罩（10）包括入草面（11）、出草面（12）以及连接入草面（11）和出草面（12）的连接面（13）；入草面（11）包括彼此并列排布的多个第一条形栅（111），出草面（12）包括出草口（122），连接面（13）包括彼此并列排布的多个第二条形栅（131），多个第二条形栅（131）的至少部分与多个第一条形栅（111）的至少部分对应连接。该刀具防护罩（10）可以对割草机的刀具提供有效的防护作用，避免割草机因刀具外露引发的安全隐患，同时还可以避免刀具产生刀损、卡死、缠绕等不良问题，提高刀具的使用寿命。

Description

防护装置以及割草机
本申请要求于2022年8月2日递交的中国专利申请第202222023500.X号的优先权，在此全文引用上述中国专利申请公开的内容以作为本申请的一部分。
技术领域
本公开的实施例涉及一种防护装置以及割草机。
背景技术
园林美化所采用的割草机逐步往自动化控制方向发展，以减少人力成本。目前，市面上的割草机的刀具往往裸露在外面，例如暴露在割草机的底部，在割草机的运动过程中，如果遇到人、动物以及其他障碍时，不能有效的停止刀具工作，存在严重的安全隐患；另一方面，刀具本身也容易发生卡死、缠绕、磕碰等问题，影响刀具的正常使用及工作寿命。
发明内容
本公开至少一实施例提供一种防护装置以及割草机，该防护装置可以有效保护刀具，以减少甚至消除安全隐患，并提高刀具的使用寿命。
本公开至少一实施例提供一种割草机的防护装置，该防护装置包括刀具防护罩，刀具防护罩配置为能够罩设在所述割草机的刀具上；所述刀具防护罩包括入草面、出草面以及连接入草面和出草面的连接面；入草面包括彼此并列排布的多个第一条形栅，出草面包括出草口，连接面包括彼此并列排布的多个第二条形栅，所述多个第二条形栅的至少部分与所述多个第一条形栅的至少部分对应连接。
例如，本公开至少一实施例提供的防护装置中，所述多个第一条形栅的至少部分呈弧形；或者，所述多个第一条形栅呈线性，并且所述多个第一条形栅的至少部分分别与所述多个第二条形栅的至少部分呈角度A，则180°≥A＞90°。
例如，本公开至少一实施例提供的防护装置还包括梳草滚刷，其中，所 述梳草滚刷设置在所述刀具防护罩内，且靠近所述入草面，包括多个梳齿；或者，所述梳草滚刷设置在所述入草面外侧，包括多个梳齿。
例如，本公开至少一实施例提供的防护装置中，所述梳草滚刷还包括滚轴，所述多个梳齿配置为能够绕所述滚轴转动，所述滚轴平行于所述入草面。
例如，本公开至少一实施例提供的防护装置中，所述多个梳齿分别配置为能够在相邻的第一条形栅之间进行梳草。
例如，本公开至少一实施例提供的防护装置中，所述出草面包括彼此并列排布的多个第三条形栅，所述多个第三条形栅的至少部分与所述多个第二条形栅的至少部分对应连接，所述多个第三条形栅中相邻的第三条形栅之间的间隙构成所述出草口。
例如，本公开至少一实施例提供的防护装置中，所述多个第三条形栅的数量小于所述多个第二条形栅的数量。
本公开至少一实施例还提供一种割草机，该割草机包括刀具以及本公开实施例提供的防护装置，该防护装置的刀具防护罩罩设在所述刀具上。
例如，本公开至少一实施例提供的割草机还包括：底盘，设置在所述割草机的底部，所述刀具设置在所述底盘上或者被所述底盘暴露，所述防护装置安装于所述底盘。
例如，本公开至少一实施例提供的割草机中，所述防护装置可拆卸式安装于所述底盘。
例如，本公开至少一实施例提供的割草机中，所述刀具以及所述防护装置设置在所述底盘的前部或者中部。
例如，本公开至少一实施例提供的割草机中，所述刀具包括叠层设置的至少两层刀片以及驱动所述至少两层刀片的驱动机构，所述驱动机构配置为驱动所述至少两层刀片进行相对运动，以实现割草。
例如，本公开至少一实施例提供的割草机还包括：碰撞检测机构，配置为通过检测所述防护装置、所述刀具或者所述驱动机构的位移或者检测所述驱动机构的电流判断是否发生碰撞。
例如，本公开至少一实施例提供的割草机还包括：升降驱动机构，至少与所述刀具连接，配置为驱动所述刀具进行升降。
例如，本公开至少一实施例提供的割草机还包括：升降检测机构，配置为检测所述刀具的升降距离。
例如，本公开至少一实施例提供的割草机还包括：控制器，与所述碰撞检测机构和所述升降驱动机构通讯连接，配置为在所述碰撞检测机构检测到发生碰撞的情况下，控制所述升降驱动机构驱动所述刀具上升。
本公开实施例提供的防护装置可以罩设在刀具上，形成隐藏式刀具，由此可以对刀具提供有效的防护作用，避免因刀具外露引发的安全事件，同时还可以避免刀具产生刀损、卡死、缠绕等不良问题。
附图说明
为了更清楚地说明本公开实施例的技术方案，下面将对实施例的附图作简单地介绍，显而易见地，下面描述中的附图仅仅涉及本公开的一些实施例，而非对本公开的限制。
图1为本公开至少一实施例提供的防护装置的结构示意图；
图2为本公开至少一实施例提供的防护装置的另一结构示意图；
图3A为本公开至少一实施例提供的防护装置的侧面示意图；
图3B为本公开至少一实施例提供的防护装置的出草面的结构示意图；
图4为本公开至少一实施例提供的割草机的结构示意图；
图5为本公开至少一实施例提供的割草机的另一结构示意图；
图6-8为本公开至少一实施例提供的另一割草机的结构示意图；以及
图9-10为本公开至少一实施例提供的另一割草机的防护装置的结构示意图；
图11为本公开至少一实施例提供的另一割草机的结构示意图；
图12为本公开至少一实施例提供的另一割草机中刀具架的结构示意图；
图13为本公开至少一实施例提供的再一割草机的结构示意图；以及
图14为本公开至少一实施例提供的再一割草机中刀具架的结构示意图。
具体实施方式
为使本公开实施例的目的、技术方案和优点更加清楚，下面将结合本公开实施例的附图，对本公开实施例的技术方案进行清楚、完整地描述。显然，所描述的实施例是本公开的一部分实施例，而不是全部的实施例。基于所描述的本公开的实施例，本领域普通技术人员在无需创造性劳动的前提下所获得的所有其他实施例，都属于本公开保护的范围。
除非另外定义，本公开使用的技术术语或者科学术语应当为本公开所属领域内具有一般技能的人士所理解的通常意义。本公开中使用的“第一”、“第二”以及类似的词语并不表示任何顺序、数量或者重要性，而只是用来区分不同的组成部分。“包括”或者“包含”等类似的词语意指出现该词前面的元件或者物件涵盖出现在该词后面列举的元件或者物件及其等同，而不排除其他元件或者物件。“连接”或者“相连”等类似的词语并非限定于物理的或者机械的连接，而是可以包括电性的连接，不管是直接的还是间接的。“上”、“下”、“左”、“右”等仅用于表示相对位置关系，当被描述对象的绝对位置改变后，则该相对位置关系也可能相应地改变。
由前面所述，目前市面上的割草机的刀具往往裸露在外面，因此存在严重的安全隐患并且影响刀具的正常使用及工作寿命。
本公开至少一实施例提供一种割草机的防护装置，该防护装置包括刀具防护罩，刀具防护罩配置为能够罩设在割草机的刀具上；刀具防护罩包括入草面、出草面以及连接入草面和出草面的连接面；入草面包括彼此并列排布的多个第一条形栅，出草面包括出草口，连接面包括彼此并列排布的多个第二条形栅，多个第二条形栅的至少部分与多个第一条形栅的至少部分对应连接。
本公开至少一实施例提供的一种割草机，该割草机包括刀具以及上述防护装置，该防护装置罩设在刀具上。
本公开实施例提供的防护装置可以罩设在刀具上，形成隐藏式刀具，由此可以对刀具提供有效的防护作用，避免因刀具外露引发的安全事件，同时还可以避免刀具产生刀损、卡死、缠绕等不良问题，提高刀具的使用寿命。
下面通过几个具体的实施例对本公开实施例提供的防护装置和割草机进行说明。
本公开至少一实施例提供一种割草机的防护装置，图1和图2分别示出了该防护装置安装于割草机时在不同视角的结构示意图，如图1和图2所示，该防护装置包括刀具防护罩10，刀具防护罩10配置为能够罩设在割草机的刀具30上，以对刀具30提供有效的防护作用。
如图1和图2所示，刀具防护罩10包括入草面11、出草面12以及连接入草面11和出草面12的连接面(例如底面)13。
例如，入草面11是割草机行进的过程中与草首先接触的面，如图1和 图2所示，入草面11包括彼此并列排布的多个第一条形栅111。例如，多个第一条形栅111的延伸方向与割草机的运动方向相同，以对应草的延伸方向，以便于入草面11与草接触时，草可以沿着多个第一条形栅111进入多个第一条形栅111之间的间隙，从而多个第一条形栅111可以对草起到梳理和引导作用，以便于草行进到刀具30。
例如，出草面12包括出草口(稍后详细介绍)，用于排出被刀具30切割的草。
例如，连接面13包括彼此并列排布的多个第二条形栅131，多个第二条形栅131的至少部分与多个第一条形栅111的至少部分对应连接，例如一一对应且连接。
例如，在图1和图2的实施例中，多个第一条形栅111与多个第二条形栅131的数量相同，多个第二条形栅131与多个第一条形栅111一一对应且连接，例如多个第二条形栅131与多个第一条形栅111一一对应且一体连接，从而沿着多个第一条形栅111的间隙进入的草可以继续沿着多个第二条形栅131的间隙前进，进而到达刀具30。
例如，在另一些实施例中，多个第一条形栅111的数量与多个第二条形栅131的数量也可以不同，从而多个第一条形栅111和多个第二条形栅131可以在不同位置实现不同程度的梳理和引导作用。
例如，在一些实施例中，如图1和图2所示，入草面11的多个第一条形栅111的至少部分呈弧形，例如至少与连接面13连接的部分呈弧形，此时，多个第一条形栅111与多个第二条形栅131可以呈弧线连接，由此有利用防护装置的进草、爬坡以及避障。
例如，在另一些实施例中，如图3A所示，入草面11的多个第一条形栅111也可以呈线性，并且分别与多个第二条形栅131呈角度A，例如，角度A的取值范围可以为180°≥A＞90°，此时，入草面11与连接面13的连接方式类似于图1和2中出草面12与连接面13的连接方式。例如，在一些示例中，此时的多个第一条形栅111与多个第二条形栅131形成钝角，且该钝角大于100度，例如大于出草面12与连接面13形成的钝角，该设置也有利防护装置的进草、爬坡以及避障。例如，当多个第一条形栅111分别与多个第二条形栅131呈180°时，该防护装置从侧面看呈三角形，也即第一条形栅111与第二条形栅131形成的图形大致呈三角形。
例如，在一些实施例中，如图1和图2所示，防护装置还可以包括梳草滚刷20，梳草滚刷20设置在刀具防护罩10内，且靠近入草面11，包括多个梳齿22。例如，多个梳齿22分别朝向相邻的第一条形栅111之间的间隙延伸，以能够在相邻的第一条形栅111之间进行梳草。例如，多个梳齿22可以从相邻的第一条形栅111之间的间隙延伸至超出入草面11(如图1所示)，由此梳草滚刷20可以较大的范围内实现梳草。
例如，在另一些实施例中，多个梳齿22也可以恰好延伸至入草面11，或者延伸在入草面11以内，本公开的实施例对此不作具体限定。
例如，在一些实施例中，多个梳齿22还可以在相邻的第二条形栅131之间进行梳草。例如，多个梳齿22还可以从相邻的第二条形栅131之间的间隙延伸至超出连接面，或者恰好延伸至连接面。
例如，如图1和图2所示，梳草滚刷20还包括滚轴21，多个梳齿22的一端连接在滚轴21上(例如直接连接在滚轴21上或者通过滚筒环绕在滚轴21上)，多个梳齿22配置为能够绕滚轴21转动。例如，梳草滚刷20还可以包括驱动滚轴或者滚筒转动的驱动电极，以使多个梳齿22能够沿一定的方向和一定的速度转动。
例如，多个梳齿22排列为多排(图中示出为六排作为示例)，多排梳齿22在转动时，依次达到入草面11，以在相邻的第一条形栅111之间进行梳草，多个梳齿22可以将爬倒的草顺势梳立起来，以便于后方刀具30进行修剪。
例如，滚轴21平行于入草面11设置，从而使得位于同一排的多个梳齿22与入草面11的距离基本相同。例如，在图1和图2所示的方向上，滚轴21可以被驱动为顺时针转动或者逆时针转动，以便于将爬倒的草顺势梳立起来。
例如，在安装时，梳草滚刷20可以与刀具防护罩10固定连接，或者也可以与割草机的底盘40(稍后详细介绍)固定连接，只要可以保持梳草滚刷20与刀具防护罩10的相对位置即可。
例如，在另一些实施例中，梳草滚刷也可以设置在入草面外侧，也即刀具防护罩10外侧，待割的草先被梳草滚刷梳顺后再进入刀具防护罩10。此时，梳草滚刷也包括多个梳齿等结构，具体参见上述实施例。
例如，在一些实施例中，出草面12包括彼此并列排布的多个第三条形 栅121，多个第三条形栅121的至少部分与多个第二条形栅131的至少部分对应连接，例如一一对应且连接，多个第三条形栅121中相邻的第三条形栅121之间的间隙构成上述出草口，以允许被切割后的草被排出。
例如，在图1和图2的实施例中，多个第三条形栅121与多个第二条形栅131的数量相同，多个第二条形栅131与多个第三条形栅121一一对应且连接，例如多个第二条形栅131与多个第三条形栅121一一对应且一体连接，从而被刀具切割的草可以沿着多个第三条形栅121的间隙被排出。
例如，在另一些实施例中，多个第三条形栅121的数量也可以小于多个第二条形栅131的数量，从而相邻的第三条形栅121之间形成的缝隙更大，以便于被切割后的草排出。
例如，在一些实施例中，如图3B所示，出草面12可以仅包括两个第三条形栅121(或者只有几根第三条形栅121)，从而形成更大面积的出草口122，由于切割后的草的堆积形态多样，更大面积的出草口122有利于切割后的草顺利排出，以免在出草面12处堆积，造成防护装置堵塞。
例如，在一些实施例中，如图1和图2所示，刀具防护罩10的两侧可以采用镂空结构，由此也利于被切割后的草从两侧排除；或者，在另一些实施例中，刀具防护罩10的两侧也可以设置一定数量的条栅，以在两侧对刀具30进一步起到防护作用。
例如，在一些实施例中，刀具防护罩10可以采用金属材料或者合金材料，例如采用铝或铝合金、不锈钢等，从而具有较高的强度以及耐蚀性；梳草滚刷20的滚轴21和梳齿也可以采用金属材料或者合金材料，例如采用铝或铝合金、不锈钢等，从而具有较高的强度，以免被重量较大的草压迫变形。
本公开至少一实施例还提供一种割草机，图4和图5分别示出了该割草机在不同视角的结构示意图，如图4和图5所示，该割草机包括刀具30以及本公开实施例提供的防护装置，该防护装置的刀具防护罩10罩设在刀具30上，以对刀具30提供有效的防护作用。
例如，在一些实施例中，如图4和图5所示，割草机还包括底盘40，底盘40设置在割草机的底部，刀具30设置在底盘40上或者被底盘40暴露；例如，底盘40具有开口，刀具30可以从该开口中伸出或缩回。例如，防护装置可以安装于底盘40，例如可拆卸式安装于底盘40，例如通过卡接结构、螺栓连接件等固定于底盘40，从而可以实现快拆、快装等操作，使用更方便； 或者，防护装置也可以通过滑动连接或者其他可相对移动的形式安装于底盘40，以可相对于底盘40移动，例如相对于底盘40升降等。
例如，在一些实施例中，刀具30以及防护装置可以设置在底盘40的前部或者中部。例如，图4和图5的实施例示出了刀具30以及防护装置设置在底盘40的中部。
例如，如图4和图5所示，割草机还包括运动机构，运动机构包括前轮51(图中示出为两个前轮51)和后轮52(图中示出为两个后轮52)，刀具30以及防护装置设置在前轮51和后轮52之间。例如，图4和图5中示出的运动机构为轮式运动机构，在其他实施例中，运动机构也可以是履带运动机构等其他形式的运动机构，本公开的实施例对此不作具体限定。
例如，图6-图8示出了本公开至少一实施例的另一割草机的结构示意图。在另一些实施例中，如图6-图8所示，刀具30以及防护装置可以设置在底盘40的前部，也即刀具30以及防护装置设置在前轮51的远离后轮52的一侧，也即设置在割草机行进方向的前方，从而刀具30可以在割草机行进的同时充分与草接触，进而实现割草功能。
例如，图9和图10示出了刀具30以及防护装置设置在底盘40的前部的情况下刀具30以及防护装置的结构示意图。参考图1-图2以及图9和图10，例如，在一些实施例中，刀具30可以采用条形刀具，条形刀具的宽度可以基本等于刀具防护罩10的宽度，从而刀具30可以在较大的范围内割草，由此可以提高割草效率。
例如，在一些实施例中，参考图1-图2以及图9和图10，刀具30包括叠层设置的至少两层刀片(图中示出两层刀片31和32作为示例)以及驱动该至少两层刀片31和32的驱动机构33。例如，驱动机构33配置为驱动至少两层刀片31和32进行相对运动，以实现割草。例如，驱动机构33可以实现为电机等驱动装置。
例如，上层刀片31和下层刀片32分别包括多个刀齿，驱动机构33驱动上层刀片31向左运动，下层刀片32向右运动，或者驱动上层刀片31向右运动，下层刀片32向左运动，从而上层刀片31和下层刀片32的刀齿相互配合可以做类似于剪刀式的修剪动作，从而实现割草。
例如，在另一些实施例中，刀具30也可以采用圆盘式刀具等其他形式的刀具，本公开的实施例对此不做具体限定。
例如，在一些实施例中，为进一步提高割草机的安全性，割草机还可以包括碰撞检测机构60，碰撞检测机构60配置为通过检测防护装置(例如防护装置的刀具防护罩10和/或梳草滚刷20)、刀具30或者驱动机构33的位移或者形变或者检测驱动机构33的电流或者电压判断是否发生碰撞。
例如，在一些实施例中，碰撞检测机构60可以采用距离传感器、机械式开关、光电式红外对管、霍尔传感器等各种可以检测到位移或者形变的装置，从而可以通过检测上述各个装置是否发生位移来判断是否发生碰撞；或者，碰撞检测机构60可以采用电流/电压检测装置，从而通过检测驱动机构33的电流是否过大或者电压是否过大来判断驱动机构33是否发生堵转，进而判断是否发生碰撞。
例如，在一些实施例中，割草机还可以包括升降驱动机构34，例如升降电机，升降驱动机构34至少与刀具30连接，配置为驱动刀具30进行升降。由此，驱动刀具30可以在不同的高度处进行割草。例如，刀具30最高可以上升至底盘40以上，以完全隐藏在割草机内部，最低可以下降到与地面基本相同的高度，以基本沿地表进行割草。
例如，在一些实施例中，驱动机构33和升降驱动机构34可以集成为一个驱动装置，该驱动装置可以同时驱动刀具30进行剪切动作以及升降动作。或者，在另一些实施例中，驱动机构33和升降驱动机构34可以分别为两个独立的驱动装置，本公开的实施例对此不作具体限定。
例如，在一些实施例中，割草机还可以包括升降检测机构35，升降检测机构35配置为检测刀具30的升降距离。例如，升降检测机构35可以为距离传感器，通过检测刀具30与底盘40的距离，即刀具30伸出或缩进底盘40的长度来获得刀具30的升降距离；或者，升降检测机构35也可以通过检测升降电机旋转的方向以及旋转的圈数获得刀具30的升降距离；或者，升降检测机构35也可以通过光电传感器、霍尔传感器等检测刀具30距离底盘40的距离。本公开的实施例对升降检测机构35的具体形式不做限定。
例如，碰撞检测机构60、驱动机构33、升降驱动机构34以及升降检测机构35等结构可以固定在底盘40上，例如直接设置在底盘40上或者通过支架固定在底盘40上等，本公开的实施例对此不作具体限定。
例如，在一些实施例中，割草机还可以包括控制器(图中未示出)，控制器与碰撞检测机构60和升降驱动机构35通讯连接(例如通过有线或者无 线的方式通讯连接)，配置为在碰撞检测机构60检测到发生碰撞的情况下，控制升降驱动机构35驱动刀具30上升。例如，控制器还与升降检测机构35通讯连接，进而控制器可以根据升降检测机构35的反馈信息将刀具30上升至预定高度，例如安全高度，例如上升至底盘40之上，以对刀具30进行保护，避让障碍物损坏刀具30。
例如，在一些实施例中，防护装置的刀具保护罩10通过滑动连接或者其他可相对移动的形式安装于底盘40，例如通过升降结构(例如升降电机)连接于底盘40等，此时，防护装置与刀具30的整体可以相对于底盘40进行升降，以达到整体避障等效果。
例如，在割草机使用之前，可以将防护装置与刀具30的整体上升至割草机内部，以隐藏于割草机内部，并根据当天的割草条件设定其下降高度，当割草机运动到指定位置后，例如监测确定割草机处于安全可工作环境后，将防护装置与刀具30的整体下降至指定高度，之后开始割草工作。
例如，当碰撞检测机构60检测到某一部件(例如防护装置或者刀具30等)碰撞发生后，例如被障碍物(例如草坪喷水设备、石头等)碰撞后，控制器控制防护装置与刀具30的整体上升，例如将其收缩到割草机内部，由此起到保护作用，同时有利于复杂地形的穿越，待环境安全后控制防护装置与刀具30的整体下降至一定高度，以继续完成割草工作。例如，控制器可根据地形环境自适应地完成刀具下降高度的调节。
例如，在割草工作完成后，防护装置与刀具30的整体上升至割草机内部，割草机可自动回到原点或回到充电站以待用。
例如，图11示出了本公开至少一实施例提供的另一种割草机的结构示意图。如图11所示，该割草机包括割草机主体70，割草机主体70包括运动机构等结构，刀具30可拆卸式安装于割草机主体70的前方，也即行进时的前方，使得割草机在前行时，首先被刀具30切割。此时，防护装置的刀具防护罩罩设在刀具30上。
例如，如图11所示，割草机还包括刀具架36，刀具30、刀具防护罩以及梳草滚刷20的端部可以连接于刀具架36，刀具架36能够可拆卸式连接于割草机主体70。此时，刀具架36、刀具30、刀具防护罩以及梳草滚刷20可以作为一个整体，该整体可拆卸式连接于割草机主体70。
例如，图12示出了本公开至少一实施例提供的上述割草机中刀具架的 结构示意图。如图12所示，在一些实施例中，梳草滚刷20的滚轴21的两端还具有连接轴23，相应地，刀具架36上具有相对设置的连接孔24，连接轴23穿过该连接孔24以连接在刀具架36上。例如，连接孔24的形状可以为跑道形或者长方形等形状，此时，梳草滚刷20可被配置为沿着连接孔24移动，例如实现上下移动。
例如，在一些实施例中，如图11所示，刀具架36与割草机主体70可以采用连接结构71连接。例如，在一些示例中，连接结构71可转动连接于割草机主体70以及刀具架36，从而刀具架36可以相对于割草机主体70具有一定的移动(例如转动)自由度，以应对崎岖的路面，提高割草机整体在崎岖路面的稳定性。或者，在另一些实施例中，连接结构71也可以直接固定连接于割草机主体70以及刀具架36。例如，用于驱动刀片31和32的驱动机构33可以设置在连接结构71处。
例如，刀具架36的前方，也即远离割草机主体70的一侧还可以具有轮组80，轮组80可以引导刀具架36前进，并可以使刀具架36的整体结构更加稳定，并有助于割草机在崎岖路面实现爬坡等操作。
例如，在图12的实施例中，梳草滚刷20位于刀具防护罩内，在其他实施例中，梳草滚刷20也可以位于刀具防护罩外。
例如，图13示出了本公开至少一实施例提供的另一割草机的结构示意图，图14示出了该割草机中刀具架的结构示意图。例如，如图13和图14所示，该实施例中，梳草滚刷20位于刀具防护罩外，此时，待割的草先被梳草滚刷20梳理后再进入刀具防护罩10，进而被刀具防护罩10内的刀具30切割。
例如，在图13的实施例中，多个第一条形栅111分别与多个第二条形栅131呈180°，此时，多个第一条形栅111和多个第二条形栅131在外观上没有明确的分界线，第一条形栅111和第二条形栅131的整体形状从侧面看基本呈三角形。
对于图13和图14的实施例，割草机的其他结构可以参见图11和图12的实施例，这里不再赘述。
综上，本公开实施例提供的防护装置可以罩设在刀具上，形成隐藏式刀具，由此可以对刀具提供有效的防护作用，避免因刀具外露引发的安全事件，对割草环境中的可能出现的小孩、小动物、固定桩子、自动喷水灌溉设备等 起到良好的防护保护措施；同时还可以避免刀具自身产生刀损、卡死、缠绕等不良问题，提高刀具的使用寿命。另外，本公开实施例提供的割草机还具有控制器，其可以自动化控制割草机的工作状态，以适应复杂的割草环境，提高割草效率与安全性，降低人力成本。
还有以下几点需要说明：
(1)本公开实施例附图只涉及到与本公开实施例涉及到的结构，其他结构可参考通常设计。
(2)为了清晰起见，在用于描述本公开的实施例的附图中，层或区域的厚度被放大或缩小，即这些附图并非按照实际的比例绘制。
(3)在不冲突的情况下，本公开的实施例及实施例中的特征可以相互组合以得到新的实施例。
以上，仅为本公开的具体实施方式，但本公开的保护范围并不局限于此，本公开的保护范围应以权利要求的保护范围为准。

Claims (18)

  1. 一种割草机的防护装置，包括：
    刀具防护罩，配置为能够罩设在所述割草机的刀具上；
    其中，所述刀具防护罩包括：
    入草面，包括彼此并列排布的多个第一条形栅，
    出草面，包括出草口，以及
    连接面，连接所述入草面和所述出草面，包括彼此并列排布的多个第二条形栅，其中，所述多个第二条形栅的至少部分与所述多个第一条形栅的至少部分对应连接。
  2. 根据权利要求1所述的防护装置，其中，所述多个第一条形栅的至少部分呈弧形；或者，
    所述多个第一条形栅呈线性，并且所述多个第一条形栅的至少部分分别与所述多个第二条形栅的至少部分呈角度A，则180°≥A＞90°。
  3. 根据权利要求1或2所述的防护装置，还包括：梳草滚刷，
    其中，所述梳草滚刷设置在所述刀具防护罩内，且靠近所述入草面，包括多个梳齿；或者
    所述梳草滚刷设置在所述入草面外侧，包括多个梳齿。
  4. 根据权利要求3所述的防护装置，其中，所述梳草滚刷还包括滚轴，所述多个梳齿配置为能够绕所述滚轴转动，
    所述滚轴平行于所述入草面。
  5. 根据权利要求4所述的防护装置，其中，所述多个梳齿分别配置为能够在相邻的第一条形栅之间进行梳草。
  6. 根据权利要求1-5任一所述的防护装置，其中，所述出草面包括彼此并列排布的多个第三条形栅，所述多个第三条形栅的至少部分与所述多个第二条形栅的至少部分对应连接，
    所述多个第三条形栅中相邻的第三条形栅之间的间隙构成所述出草口。
  7. 根据权利要求6所述的防护装置，其中，所述多个第三条形栅的数量小于所述多个第二条形栅的数量。
  8. 一种割草机，包括：
    刀具，以及
    权利要求1-7任一所述的防护装置，所述防护装置的刀具防护罩罩设在所述刀具上。
  9. 根据权利要求8所述的割草机，还包括：
    底盘，设置在所述割草机的底部，所述刀具设置在所述底盘上或者被所述底盘暴露，
    所述防护装置安装于所述底盘。
  10. 根据权利要求9所述的割草机，其中，所述防护装置可拆卸式安装于所述底盘。
  11. 根据权利要求9或10所述的割草机，其中，所述刀具以及所述防护装置设置在所述底盘的前部或者中部。
  12. 根据权利要求8所述的割草机，还包括：割草机主体，
    其中，所述刀具可拆卸式安装于所述割草机主体的前方，所述防护装置的刀具防护罩罩设在所述刀具上。
  13. 根据权利要求12所述的割草机，还包括：刀具架，
    其中，所述刀具连接于所述刀具架，所述刀具架可拆卸式连接于所述割草机主体。
  14. 根据权利要求8-13任一所述的割草机，其中，所述刀具包括叠层设置的至少两层刀片以及驱动所述至少两层刀片的驱动机构，
    所述驱动机构配置为驱动所述至少两层刀片进行相对运动，以实现割草。
  15. 根据权利要求14所述的割草机，还包括：
    碰撞检测机构，配置为通过检测所述防护装置、所述刀具或者所述驱动机构的位移或者变形或者检测所述驱动机构的电流或者电压判断是否发生碰撞。
  16. 根据权利要求15所述的割草机，还包括：
    升降驱动机构，至少与所述刀具连接，配置为驱动所述刀具进行升降。
  17. 根据权利要求16所述的割草机，其特征在于，还包括：
    升降检测机构，配置为检测所述刀具的升降距离。
  18. 根据权利要求16所述的割草机，还包括：
    控制器，与所述碰撞检测机构和所述升降驱动机构通讯连接，配置为在所述碰撞检测机构检测到发生碰撞的情况下，控制所述升降驱动机构驱动所 述刀具上升。
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CN109287248A (zh) * 2018-11-06 2019-02-01 宁波大学 割刀前置气动收集式家用割草集草装置及方法
CN110446425A (zh) * 2017-09-30 2019-11-12 苏州宝时得电动工具有限公司 割草机，智能割草机及刀具组件
CN212728059U (zh) * 2020-08-28 2021-03-19 宁夏多加农业科技有限公司 一种割草机
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US4597251A (en) * 1985-05-02 1986-07-01 Cornellier Maurice H Lawnmower
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CN110446425A (zh) * 2017-09-30 2019-11-12 苏州宝时得电动工具有限公司 割草机，智能割草机及刀具组件
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CN218302269U (zh) * 2022-08-02 2023-01-17 王大炜 防护装置以及割草机

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