WO2019034144A1 - 智能割草机 - Google Patents

智能割草机 Download PDF

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Publication number
WO2019034144A1
WO2019034144A1 PCT/CN2018/101042 CN2018101042W WO2019034144A1 WO 2019034144 A1 WO2019034144 A1 WO 2019034144A1 CN 2018101042 W CN2018101042 W CN 2018101042W WO 2019034144 A1 WO2019034144 A1 WO 2019034144A1
Authority
WO
WIPO (PCT)
Prior art keywords
lawn mower
handle
casing
inner casing
intelligent lawn
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/CN2018/101042
Other languages
English (en)
French (fr)
Inventor
孔钊
韩奎
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou Cleva Precision Machinery and Technology Co Ltd
Original Assignee
Suzhou Cleva Precision Machinery and Technology Co Ltd
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 CN201721040002.9U external-priority patent/CN207496811U/zh
Priority claimed from CN201721042619.4U external-priority patent/CN207201326U/zh
Application filed by Suzhou Cleva Precision Machinery and Technology Co Ltd filed Critical Suzhou Cleva Precision Machinery and Technology Co Ltd
Priority to EP18845761.8A priority Critical patent/EP3669629A4/en
Priority to US16/639,633 priority patent/US20200170180A1/en
Publication of WO2019034144A1 publication Critical patent/WO2019034144A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
    • A01D34/81—Casings; Housings
    • 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
    • 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
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
    • A01D34/82—Other details
    • A01D34/824—Handle arrangements
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/835—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes
    • A01D34/84—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes for edges of lawns or fields, e.g. for mowing close to trees or walls
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D2101/00—Lawn-mowers

Definitions

  • the present invention relates to a garden tool, and more particularly to an intelligent lawn mower.
  • the robot mower is a smart device.
  • a USB data interface is usually provided on the body; since the mower is an outdoor device, the USB data interface is easy to enter the water, Avoiding water ingress and causing damage to the internal circuit of the machine.
  • the USB data interface is generally waterproofed with a waterproof silicone plug.
  • the waterproof silicone plug is easy to lose, the operation is inconvenient, and the waterproof reliability is poor.
  • an embodiment of the present invention provides an intelligent lawn mower, the smart lawn mower comprising a casing, a cutting mechanism and a running mechanism, and the casing includes an inner casing located at a lower portion And an outer casing connected to the inner casing and located at an upper portion, the cutting mechanism and the traveling mechanism are mounted on the inner casing, and the inner casing is provided with a handle for carrying the intelligent lawn mower, A handle is disposed adjacent the outer casing, and a projection of the handle on a horizontal plane is within a projection range of the outer casing on a horizontal plane.
  • a flexible connection is between the outer casing and the inner casing.
  • the housing is provided with a collision sensing device; when the housing is collided, the collision sensing device can be triggered to perform a preset operation.
  • the minimum distance between the handle and the outer casing is not more than 6 mm.
  • the projection of the handle on the horizontal plane is at least partially Outside the projection range of the inner casing on a horizontal plane.
  • the handle and the inner casing are integrally formed.
  • the handle extends in a ring shape, and both ends of the handle are connected to the inner casing.
  • the handles are disposed in two and respectively disposed on opposite sides of the inner casing.
  • the traveling mechanism includes a first traveling wheel and a second traveling wheel rotatably disposed on a first side of the casing, and a casing disposed on the casing A third traveling wheel and a fourth traveling wheel of the second side, wherein one of the handles is located on a first side of the housing, and the other of the handles is located on a second side of the housing.
  • one of the handles is located between the first traveling wheel and the second traveling wheel, and the other handle is located between the third traveling wheel and the fourth traveling wheel, And the direction in which the two handles extend longitudinally is perpendicular to the axis of the first traveling wheel.
  • the present invention has an advantageous effect in that a handle for carrying the smart lawn mower is provided on the inner casing.
  • a handle for carrying the smart lawn mower When you need to carry the smart mower, carry the handle for handling and make it easier to carry.
  • the handle is disposed on the inner casing, and the handle is adjacent to the outer casing, so that the smart lawn mower is transported without touching the blade, so that the smart lawn mower is safer to carry.
  • Another object of the present invention is to provide a self-propelled device that is more waterproof and reliable.
  • the present invention provides a self-propelled device, including: a body, the body is provided with a receiving cavity and an electrical connection socket adjacent to the receiving cavity, and the body is mounted with an activity a cover, the movable cover includes an upper cover and a rib fixed to one end of the upper cover and extending toward the receiving cavity, and the movable cover can pivot around the connecting portion of the upper cover and the rib. With the pivoting of the movable cover, the upper cover smashes or closes the accommodating cavity of the receiving cavity to smash or close the electrical connection socket.
  • the self-propelled device further includes a battery module that supplies power to the cutting mechanism, the traveling mechanism, and the control module, and the battery module is installed in the receiving cavity.
  • the movable cover further includes a side cover fixed to the other end of the upper cover and extending toward the receiving cavity, the side cover and the upper cover together Snoring or off Close the receiving cavity.
  • the walking direction of the self-propelled device is provided, and the side cover is disposed on a rear side of the body.
  • the rib is disposed perpendicular to the upper cover.
  • the rib is inclined at an angle of less than 30 degrees with respect to a direction perpendicular to the upper cover.
  • the electrical connection socket is surrounded by a waterproof material.
  • the rib abuts against the waterproof material to close the electrical connection socket.
  • the waterproof material comprises a foam, and the foam is adhered around the electrical connection socket.
  • a waterproof material is disposed on one of the movable cover and the electrical connection socket, the movable cover is in a closed position, and the waterproof material surrounds the electrical connection socket for one week.
  • the traveling mechanism includes at least one traveling wheel, and a pivot axis of the movable cover is parallel to an axis of rotation of the traveling wheel.
  • the self-propelled device further includes a cutting mechanism connected to the fuselage, a traveling mechanism, and a control module for coordinating the cutting mechanism and the traveling mechanism, wherein the electrical connection socket includes data An interface, the data interface is connected to the control module.
  • the beneficial effects of the present invention are: the self-propelled device of the present invention, through the movable cover, snoring and closing the electrical connection socket in the snoring and closing of the receiving cavity, preventing the use of ⁇ from Water is connected to the electrical connection socket, which is simple in structure and reliable in waterproof.
  • FIG. 1 is a transverse cross-sectional view of a smart lawn mower in a first embodiment of the present invention.
  • FIG. 2 is a top plan view of the intelligent lawn mower in the first embodiment of the present invention, wherein the casing is removed.
  • FIG. 3 is a bottom view of the intelligent lawn mower in the first embodiment of the present invention, in which the casing is removed.
  • FIG. 4 is a cross-sectional view showing a robotic lawn mower having a waterproof structure in a second embodiment of the present invention, and FIG. The movable cover is in the closed position.
  • 4a is a detailed view of a portion P1 of FIG. 4.
  • FIG. 5 is similar to FIG. 4, and the movable cover is in the snoring position.
  • 5a is a detailed view of a portion P2 of FIG. 5.
  • FIG. 6 is a schematic view showing another structure of the movable cover of the robot mower of FIG. 4.
  • FIG. 7 is a schematic view showing still another structure of the movable cover of the robot mower of FIG. 4.
  • the terms "upper”, “upper”, “lower”, “lower”, and the like, as used herein, are used to describe a relative position of the space for the purpose of illustration. The relationship of features to another unit or feature. The term relative position of the space may be intended to include different orientations of the device in use or operation other than the orientation shown in the figures. For example, if the device in the figure is turned over, the elements described as “below” or “below” other elements or features will be “above” other elements or features. therefore
  • the exemplary term "below” can encompass both orientations above and below.
  • the device can be oriented in other ways (rotated 90 degrees or other orientation) and the spatially related descriptors used herein interpreted accordingly.
  • this embodiment discloses a smart lawn mower comprising a housing 10, a cutting mechanism 12 and a running mechanism 14, wherein the housing 10 is provided for handling
  • the handle 16 of the intelligent lawn mower the projection of the handle 16 on the horizontal plane is located within the projection range of the housing 10 on a horizontal plane, that is to say the outermost side of the housing 10 protrudes from the handle 16.
  • the horizontal plane here refers to the level of the intelligent lawn mower in the working state, that is, the running mechanism 14 is supported on the ground, corresponding to the horizontal plane.
  • the cutting mechanism 12 includes a cutting blade or a grassing line.
  • a handle 16 for carrying a smart lawn mower is provided on the housing 10.
  • the outermost side of the casing 10 is disposed to protrude from the outermost side of the handle 16, which prevents the handle 16 from being collided, thereby protecting the handle 16.
  • the housing 10 includes an inner casing 18 at a lower portion and an outer casing 20 connected to the inner casing 18 and located at an upper portion, wherein the inner casing 18 is used for mounting a cutting mechanism 12 and a running mechanism 14, and the outer casing 20 is used for The inner casing 18 is covered above.
  • the handle 16 is disposed to the inner casing 18 and adjacent to the outer casing 20. That is to say, the handle 16 is disposed on the side of the inner casing 18 adjacent to the outer casing 20, so that the smart lawn mower can be transported without touching the blade, thereby making it safer to carry the smart lawn mower.
  • the handle 16 and the inner casing 18 are integrally formed.
  • the handle 16 and the inner casing 18 may also be detachably arranged separately, and connected together by screw connection or other fixed connection.
  • the handle 16 has a hollow structure, and the cross-sectional shape of the handle 16 is substantially square, circular, elliptical or the like.
  • the handle 16 extends in a ring shape, and both ends thereof are coupled to the inner casing 18, and the intermediate portion of the handle 16 is spaced apart from the inner casing 18.
  • only one end of the handle 16 may be attached to the inner casing 18, and the other end of the handle 16 is away from the free end of the inner casing 18.
  • the handle 16 may be provided in other forms, such as being connected to the inner casing 18 along its entire extension direction. Further, the handle 16 has a first portion extending outwardly from the inner casing 18 and a second portion extending obliquely downward from the first portion, the first portion, the second portion and the inner casing 18 defining a recess for receiving an operator's finger, Thus, when carrying the intelligent lawn mower, the operator can extend the hand from below into the recess and hold the handle to carry the smart lawn mower.
  • the projection of the handle 16 on a horizontal plane is within the projection range of the housing 20 on a horizontal plane, and the projection of the handle 16 on the horizontal plane is at least partially outside the projection range of the inner casing 18 on the horizontal plane. That is, the outermost side of the outer casing 20 protrudes from the outermost side of the handle 16, and the outermost side of the handle 16 protrudes from the inner casing 18. This not only protects the handle 16 from colliding, but also allows the user to hold the handle 16 for carrying the intelligent mower.
  • the outer casing 20 and the inner casing 18 are connected by an elastic member.
  • the outer casing 20 collides with an obstacle, the outer casing 20 can be displaced relative to the inner casing 18 to cushion the outer casing 18 and be installed.
  • Other components on the inner casing 18 were broken.
  • There is a certain distance between the handle 16 and the outer casing 20, so as to be displaced by the collision of the outer casing 20 Provide the margin.
  • the minimum spacing d between the handle 16 and the outer casing 20 is no more than 6 mm.
  • the handle 16 has an upper surface of the handle 16 adjacent to the outer casing 20, and the outer casing 20 has a lower surface of the outer casing 20 adjacent to the upper surface of the handle 16, and the distance between the upper surface of the handle 16 and the lower surface of the outer casing 20 is not more than 6 mm, thereby preventing the hand The insertion between the handle 16 and the outer casing 20 is mistakenly inserted, thereby further improving the safety of the intelligent lawn mower.
  • the outer casing 20 has a top portion, a bottom portion, and an outer side surface extending from the top portion to the bottom portion, and the outer side surface extends obliquely outward from the top to the bottom.
  • the outer side surface of the outer casing 20 has a downwardly inclined slope shape, which prevents the transporter from accidentally hitting the outer casing 20 by the handle 16 and damaging the outer casing 20.
  • the housing 10 is provided with a collision sensing device, and specifically, at least one displacement sensor is disposed between the inner casing 18 and the outer casing 20 for monitoring whether displacement occurs between the inner casing 18 and the outer casing 20.
  • the collision sensing device can be triggered to perform preset operations such as alarming, stopping, and the like.
  • preset operations such as alarming, stopping, and the like.
  • the handles 16 are disposed in two and disposed on opposite sides of the housing 10, respectively. Specifically, the two handles 16 are disposed on the inner casing 18, and are disposed on opposite sides of the inner casing 18, and the two handles 16 are symmetrically disposed. Of course, the two handles 16 can also be arranged on the outer casing 20. Similarly, the two handles 16 can also be arranged asymmetrically.
  • the traveling mechanism 14 includes a first traveling wheel 22 and a second traveling wheel 24 rotatably provided on a first side of the casing 10, and a third traveling wheel 26 and a second side provided on a second side of the casing 10.
  • the first traveling wheel 22 and the third traveling wheel 26 are symmetrically disposed
  • the second traveling wheel 24 and the fourth traveling wheel 28 are symmetrically disposed.
  • the two handles 16 are symmetrically disposed on the first side and the second side of the casing 10. side.
  • the first traveling wheel 22, the second traveling wheel 24, the third traveling wheel 26 and the fourth traveling wheel 28 are all disposed on the inner casing 18.
  • one of the handles 16 is located between the first traveling wheel 22 and the second traveling wheel 24, and one of the handles 16 extends longitudinally perpendicular to the axis of the first traveling wheel 22, wherein A handle 16 is located between the third traveling wheel 26 and the fourth traveling wheel 28, and the direction in which the other handle 16 extends longitudinally is also perpendicular to the axis of the first traveling wheel 22. Specifically, the longitudinal extension of the two handles 16 is parallel to the direction of travel of the intelligent mower.
  • Embodiment 2 Referring to FIG. 4 to FIG. 5, in the embodiment, the self-propelled device is described by taking a smart lawn mower as an example.
  • the intelligent lawn mower is used for automatic walking and working on the ground. It provides walking and working energy by using a cordless power source, such as a battery pack, a solar panel, etc. Of course, a wired power source can also be used to connect the utility power.
  • the intelligent lawn mower includes a fuselage 50, a cutting mechanism 12 for trimming the lawn mounted to the fuselage 50, and a traveling mechanism 14 for walking and steering.
  • the cutting mechanism 12 includes a cutting motor and a transmission coupled to the cutting motor. A shaft and a cutting blade or grass line that mates with the drive shaft.
  • the intelligent lawn mower further includes a control module for coordinating the cutting mechanism 12 and the traveling mechanism 14.
  • the control module enables the intelligent lawn mower to automatically walk on the lawn and mowing without being guarded.
  • the directional terminology involved such as front, back, left, right, up and down, etc., is in the direction of the normal forward movement of the intelligent mower as shown in FIG. For reference.
  • the running gear 14 includes a traveling wheel set and a traveling motor that drives the traveling wheel set.
  • the walking wheel set includes at least one walking wheel.
  • the control module is capable of controlling the start, stop, and rotational speed of the cutting motor and the traveling motor in accordance with a preset program.
  • the intelligent lawn mower further includes a battery module for supplying power to the cutting mechanism 12, the traveling mechanism 14 and the control module.
  • the battery module includes a rechargeable battery, and the housing is provided with a receiving cavity.
  • the receiving cavity 54 is preferably used for mounting a rechargeable battery.
  • An electrical connection receptacle is provided on the body 50 adjacent the receiving cavity 54.
  • the electrical connection receptacle can include a female end of a variety of electrically connected receptacles, such as a charging receptacle, a data outlet, and the like.
  • the electrical connection socket on the body 50 is configured as a data interface 52, and the data interface 52 is preferably a USB interface, and the intelligent lawn mower is passed through the USB interface.
  • the internal program is updated to enable the upgrade of the intelligent mower.
  • the movable cover 70 is mounted on the body, and the movable cover 70 includes an upper cover 71 and an upper cover 71 end and the upper cover 71 extends downward in an angle direction (ie, faces toward the receiving cavity)
  • the ribs 72, the movable cover 70 can be moved between the two positions relative to the body 50, that is, the snoring position, the upper cover snoring receiving cavity 54 and the rib plate 72 smashing the data interface 52;
  • the upper cover closes the receiving cavity 54 and the rib plate 7 2 closes the data interface 52. That is, with the movement of the movable cover 70, the upper cover 71 snores or closes the same rib plate 72 of the receiving cavity 54 to open or close the electrical connection socket.
  • the movable cover 70 When the movable cover 70 is smashed, the battery module is exposed from the receiving cavity 54, and the data interface 52 can also be exposed for connection; when the movable cover 70 is closed, the movable cover 70 covers the data while closing the receiving cavity 54. Interface 52. So, the intelligent lawn mower is in use. climate protection prevents water from entering the interior of the intelligent mower from the data interface 52.
  • the movable cover 70 further includes a side cover fixed to the other end of the upper cover 71 and extending downward in a direction oblique to the upper cover 71 (ie, extending toward the direction of the receiving cavity) 73, the side cover 73 and the upper cover 71 together to smash or close the receiving cavity 54, the extending direction of the rib 72 is substantially perpendicular to the upper cover 71, the movable cover 70 is in the closed position, and the data interface 52 and the receiving cavity 54 are respectively Located on both sides of the rib 72.
  • the upper cover plate 71, the ribs 72, and the side cover plates 73 may be integrally formed or may be separately manufactured and combined.
  • the side cover 73 is disposed on the rear side of the body 50 to facilitate the operation of the movable cover 70.
  • the ribs 72 are located at the front of the side cover 73, and the ribs 72 are snagging and closing with the movable cover 70 to separate or conform to the data interface 52 to prevent water from entering the data interface 52.
  • the movable cover 70 is pivotally disposed with respect to the body 50, and the pivoting portion thereof is a connecting portion of the upper cover 71 and the rib 72, and the pivot axis of the movable cover 70 and the rotation axis of the traveling wheel Parallelly, the data interface 52 is adjacent to the pivoting portion of the movable cover 70, so that the setting of the movable cover 70 is more compact, and the movable cover 70 is smashed from the rear side cover 73 of the fuselage 50 to the receiving cavity 54, and is also more Computerized, user experience is better.
  • the data interface 52 is provided with a waterproof material 56 along the circumference of the data interface 52.
  • the waterproof material 56 may be pasted on the data interface 52, or may be connected by other means, such as being wrapped around the data interface and surrounding the data. The slot in the interface settings.
  • the ribs of the movable cover 70 abut against the waterproof material 56 to close the data interface 52.
  • the waterproof material 56 can be configured as an elastic waterproof material.
  • the ribs 72 of the movable cover 70 abut against the waterproof material, and the waterproof material is elastically deformed by the pressure.
  • the waterproof performance between the ribs 72 and the data interface 52 is made better.
  • the waterproof material 56 is constructed as a foam, and may of course be rubber, silica gel or the like.
  • the movable cover 70a also includes an upper cover 71a and is fixed to the front and rear sides of the upper cover 71a and along the upper cover
  • the ribs 72a and the side cover plates 73a extending downward in the direction of the angle are different from the aforementioned movable cover in that the ribs 72a are inclined toward the inside of the movable cover, and preferably, the ribs 72a are inclined with respect to the direction of the vertical upper cover 71a.
  • the angle is less than 30 degrees, so that the movable cover 70a can be snored or closed to the snagging or closing of the data interface 52 by the gusset plate 72a.
  • the movable cover 70b also includes an upper cover 71b and is fixed to the front and rear sides of the upper cover 71b and along the upper cover
  • the ribs 72b and the side cover 73b extending downward in the direction of the angle are different from the aforementioned movable cover in that the rib 72b is inclined toward the outside of the movable cover, and preferably, the rib 72b is inclined with respect to the direction of the vertical upper cover 71b.
  • Angle is less than 30 degrees, so It is possible to realize that the movable cover 70b is snoring or closing the snagging or closing of the data interface 52 by the gusset plate 72b, and it is relatively simple to manufacture the movable cover 70b.
  • the self-propelled device may be other intelligent robots, such as an outdoor sweeping robot, a snow sweeping robot, and the like.
  • the movable cover can also be other movement modes, such as linear motion, linear motion plus rotary motion or curved motion, etc.
  • the movable cover can also be a cover for snoring or closing other parts of the body.
  • the waterproof material can also be pasted in the activity. Covered, its position corresponds to the data interface. When the movable cover is in the closed position, the waterproof material surrounds the data interface for one week.
  • the side cover is arranged to be smashed or closed by operating the side cover of the movable cover, and the side cover is disposed at the rear of the intelligent lawn mower.
  • the side cover can also be disposed on the intelligent lawn mower.
  • the two sides that is, the mouth of the data interface is oriented perpendicular to the walking direction, the pivot axis of the movable cover is parallel to the walking direction, and the movable cover only includes the upper cover plate and the rib plate, and the above various inventions can be applied.

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Harvester Elements (AREA)

Abstract

一种智能割草机，智能割草机包括壳体（10）、切割机构（12）和行走机构（14），所述壳体（10）包括位于下部的内壳（18）和与所述内壳（18）相连接且位于上部的外壳（20），所述切割机构（12）和所述行走机构（14）安装在所述内壳（18），所述内壳（18）上设有用于搬运所述智能割草机的把手（16），所述把手（16）邻近所述外壳（20）设置，且所述把手（16）在水平面上的投影位于所述外壳（20）在水平面上的投影范围内。该智能割草机搬运方便且更加安全。

Description

智能割草机
技术领域
[0001] 本发明涉及一种花园工具， 尤其涉及一种智能割草机。
背景技术
[0002] 通常， 在搬运智能割草机吋， 需要拖住底壳， 搬运很不方便。 而且底壳下面的 刀片很容易划伤人手， 非常不安全。
[0003] 另外， 机器人割草机是一个智能设备， 为了方便其升级， 通常会在其机身上设 有 USB数据接口； 由于割草机是户外设备， 所以 USB数据接口处容易进水， 为了 避免进水导致机器内部电路损坏， 目前一般是采用防水硅胶塞对 USB数据接口进 行防水处理。 但是防水硅胶塞容易遗失， 操作不方便， 防水可靠性差。
技术问题
问题的解决方案
技术解决方案
[0004] 本发明的目的在于提供一种智能割草机， 该智能割草机搬运方便且更加安全。
[0005] 为实现上述发明目的之一， 本发明一实施方式提供一种智能割草机， 所述智能 割草机包括壳体、 切割机构和行走机构， 所述壳体包括位于下部的内壳和与所 述内壳相连接且位于上部的外壳， 所述切割机构和所述行走机构安装在所述内 壳， 所述内壳上设有用于搬运所述智能割草机的把手， 所述把手邻近所述外壳 设置， 且所述把手在水平面上的投影位于所述外壳在水平面上的投影范围内。
[0006] 作为本发明一实施方式的进一步改进， 所述外壳与所述内壳之间为柔性连接。
[0007] 作为本发明一实施方式的进一步改进， 所述壳体设有碰撞感应装置； 当所述外 壳被碰撞吋可触发所述碰撞感应装置以进行预设操作。
[0008] 作为本发明一实施方式的进一步改进， 所述把手与所述外壳之间的最小间距不 大于 6 mm。
[0009] 作为本发明一实施方式的进一步改进， 所述把手在水平面上的投影至少部分位 于所述内壳在水平面上的投影范围之外。
[0010] 作为本发明一实施方式的进一步改进， 所述把手与所述内壳为一体成型结构。
[0011] 作为本发明一实施方式的进一步改进， 所述把手沿环形延伸， 所述把手的两端 均连接于所述内壳。
[0012] 作为本发明一实施方式的进一步改进， 所述把手设置为两个， 且分别设置于所 述内壳相对的两侧。
[0013] 作为本发明一实施方式的进一步改进， 所述行走机构包括可转动地设于所述壳 体的第一侧的第一行走轮和第二行走轮、 及设于所述壳体的第二侧的第三行走 轮和第四行走轮， 其中一个把手位于所述壳体的第一侧， 其中另一个把手位于 所述壳体的第二侧。
[0014] 作为本发明一实施方式的进一步改进， 其中一个把手位于所述第一行走轮和第 二行走轮之间， 其中另一个把手位于所述第三行走轮和第四行走轮之间， 且两 个把手纵长延伸的方向均垂直于所述第一行走轮的轴线。
[0015] 与现有技术相比， 本发明的有益效果在于： 通过在内壳上设置用于搬运所述智 能割草机的把手。 当需要搬运智能割草机吋， 手握把手进行搬运， 搬运更加方 便。 且把手设置于内壳， 且所述把手邻近所述外壳， 这样在搬运智能割草机吋 ， 不会碰触到刀片， 从而使得搬运该智能割草机吋更加安全。
[0016] 本发明的另一目的在于提供一种防水更加可靠的自行走设备。
[0017] 为实现上述发明目的， 本发明提供了一种自行走设备， 包括： 机身， 所述机身 上设有收容腔以及临近收容腔的电连接插座， 所述机身上安装有活动盖， 所述 活动盖包括上盖板以及固定于上盖板一端且朝向靠近所述收容腔方向延伸的筋 板， 所述活动盖能够围绕所述上盖板与筋板的连接部枢转， 随着所述活动盖的 枢转， 所述上盖板打幵或关闭所述收容腔的同吋所述筋板打幵或关闭所述电连 接插座。
[0018] 作为本发明一实施方式的进一步改进， 所述自行走设备还包括给所述切割机构 、 行走机构以及控制模块供电的电池模块， 所述电池模块安装在所述收容腔。
[0019] 作为本发明一实施方式的进一步改进， 所述活动盖还包括固定于上盖板另一端 且朝向靠近所述收容腔方向延伸的侧盖板， 所述侧盖板和上盖板一起打幵或关 闭所述收容腔。
[0020] 作为本发明一实施方式的进一步改进， 着所述自行走设备的行走方向， 所述侧 盖板设置于所述机体的后侧。
[0021] 作为本发明一实施方式的进一步改进， 所述筋板相对于所述上盖板垂直设置。
[0022] 作为本发明一实施方式的进一步改进， 所述筋板相对于垂直所述上盖板方向的 倾斜角度小于 30度。
[0023] 作为本发明一实施方式的进一步改进， 所述电连接插座周围环绕设置防水材料
， 所述筋板与所述防水材料抵接以关闭所述电连接插座。
[0024] 作为本发明一实施方式的进一步改进， 所述防水材料包括泡棉， 所述泡棉粘贴 于所述电连接插座的周围。
[0025] 作为本发明一实施方式的进一步改进， 所述活动盖和电连接插座处二者之一上 设置防水材料， 所述活动盖在关闭位置， 所述防水材料环绕所述电连接插座一 周。
[0026] 作为本发明一实施方式的进一步改进， 所述行走机构包括至少一个行走轮， 所 述活动盖的枢转轴线与所述行走轮的旋转轴线平行。
[0027] 作为本发明一实施方式的进一步改进， 所述自行走设备还包括连接于机身的切 割机构、 行走机构以及用于协调切割机构和行走机构的控制模块， 所述电连接 插座包括数据接口， 所述数据接口与所述控制模块连接。
[0028] 与现有技术相比， 本发明的有益效果在于： 本发明的自行走设备， 通过活动盖 在打幵和关闭收容腔的同吋打幵和封闭电连接插座， 防止在使用吋从电连接插 座处进水， 结构简单， 防水可靠。
发明的有益效果
对附图的简要说明
附图说明
[0029] 图 1是本发明第一实施例中智能割草机的横向剖视图。
[0030] 图 2是本发明第一实施例中智能割草机的俯视图， 此吋去除外壳。
[0031] 图 3是本发明第一实施例中智能割草机的仰视图， 此吋去除外壳。
[0032] 图 4是本发明第二实施例中具有防水结构的机器人割草机的剖视示意图， 此吋 活动盖处于关闭位置。
[0033] 图 4a是图 4中局部 P1的细节图。
[0034] 图 5与图 4类似， 此吋活动盖处于打幵位置。
[0035] 图 5a是图 5中局部 P2的细节图。
[0036] 图 6是图 4中机器人割草机的活动盖的另一种结构的示意图。
[0037] 图 7是图 4中机器人割草机的活动盖的再一种结构的示意图。
本发明的实施方式
[0038] 以下将结合附图所示的具体实施方式对本发明进行详细描述。 但这些实施方式 并不限制本发明， 本领域的普通技术人员根据这些实施方式所做出的结构、 方 法、 或功能上的变换均包含在本发明的保护范围内。
[0039] 在本申请的各个图示中， 为了便于图示， 结构或部分的某些尺寸会相对于其它 结构或部分夸大， 因此， 仅用于图示本申请的主题的基本结构。
[0040] 另外， 本文使用的例如"上"、 "上方"、 "下"、 "下方 "等表示空间相对位置的术 语是出于便于说明的目的来描述如附图中所示的一个单元或特征相对于另一个 单元或特征的关系。 空间相对位置的术语可以旨在包括设备在使用或工作中除 了图中所示方位以外的不同方位。 例如， 如果将图中的设备翻转， 则被描述为 位于其他单元或特征 "下方 "或"之下"的单元将位于其他单元或特征"上方"。 因此
， 示例性术语"下方"可以囊括上方和下方这两种方位。 设备可以以其他方式被定 向 （旋转 90度或其他朝向） ， 并相应地解释本文使用的与空间相关的描述语。
[0041] 实施例一。
[0042] 如图 1、 图 2和图 3所示， 本实施例公幵了一种智能割草机， 包括壳体 10、 切割 机构 12和行走机构 14， 其中壳体 10上设有用于搬运智能割草机的把手 16， 把手 1 6在水平面上的投影位于壳体 10在水平面上的投影范围内， 也就是说壳体 10的最 外侧突出于把手 16。 此处的水平面指智能割草机处于工作状态下， 即行走机构 1 4被支撑于地面上吋， 所对应的水平面。 其中， 切割机构 12包括切割刀片或打草 线。
[0043] 本优选实施例中， 通过在壳体 10上设置用于搬运智能割草机的把手 16。 当需要 搬运智能割草机吋， 手握把手 16进行搬运， 搬运更加方便。 且将壳体 10的最外 侧设置成突出于把手 16的最外侧， 这样可防止把手 16被碰撞到， 从而保护把手 1 6。
[0044] 进一步的， 壳体 10包括位于下部的内壳 18和与内壳 18相连接且位于上部的外壳 20， 其中内壳 18用于安装切割机构 12和行走机构 14， 外壳 20用于从上方覆盖内 壳 18。 具体的， 把手 16设置于内壳 18并且邻近外壳 20。 也就是说把手 16设置于 内壳 18上邻近外壳 20的一侧， 这样在搬运智能割草机吋， 不会碰触到刀片， 从 而使得搬运该智能割草机吋更加安全。 具体的， 把手 16与内壳 18为一体成型结 构， 当然， 把手 16与内壳 18之间也可以采用可拆卸的分体设置， 通过螺钉连接 或其他固定连接方式连接在一起。
[0045] 具体的， 把手 16为中空结构， 把手 16的横截面形状大致为方形、 圆形、 椭圆形 或其它形状等。 把手 16沿环形延伸， 其两端均连接于内壳 18上， 把手 16的中间 部分与内壳 18间隔一定间距。 当然也可仅将把手 16的一端连接于内壳 18上， 其 把手 16的另一端为远离内壳 18的自由端。
[0046] 另外， 把手 16也可以设置成其它形式， 如沿其整个延伸方向上均与内壳 18相连 接。 进一步的， 把手 16具有自内壳 18向外延伸的第一部分和自第一部分向斜下 方延伸的第二部分， 第一部分、 第二部分和内壳 18定义了容纳操作者的手指的 凹入部， 从而当搬运智能割草机吋， 操作者可将手从下方伸入凹入部并握持把 手以对智能割草机进行搬运。
[0047] 把手 16在水平面上的投影位于外壳 20在水平面上的投影范围内， 且把手 16在水 平面上的投影至少部分位于内壳 18在水平面上的投影范围之外。 也就是说， 外 壳 20的最外侧突出于把手 16的最外侧， 且把手 16的最外侧突出于内壳 18。 这样 ， 不但保护了把手 16不会碰撞到， 而且方便使用者握持把手 16进行搬运智能割 草机。
[0048] 在本实施例中， 外壳 20与内壳 18之间为柔性连接。 具体地， 外壳 20与内壳 18之 间通过弹性件连接， 当外壳 20碰撞到障碍物吋， 外壳 20能够相对于内壳 18发生 一定的位移， 起到缓冲作用， 防止内壳 18及安装在内壳 18上的其他组件遭到破 会。 把手 16与外壳 20之间具有一定间距， 从而为外壳 20被碰撞吋而产生的位移 提供余量。 具体的， 把手 16与外壳 20之间的最小间距 d不大于 6mm。 也就是， 把 手 16具有邻近外壳 20的把手 16上表面， 外壳 20具有邻近把手 16上表面的外壳 20 下表面， 把手 16上表面与外壳 20下表面之间的间距不大于 6mm， 这样可防止人 手误插进把手 16和外壳 20之间， 从而进一步提高了该智能割草机的安全性。
[0049] 进一步的， 外壳 20具有顶部、 底部和自顶部向底部延伸的外侧面， 且外侧面从 顶部到底部向外倾斜延伸。 这样， 夕卜壳 20的外侧面的形状为斜向下的斜面， 可 防止搬运人员使用把手 16进行搬运吋误碰到外壳 20而破坏外壳 20。
[0050] 另外， 壳体 10上设有碰撞感应装置， 具体地在内壳 18和外壳 20之间设有至少一 个位移传感器， 用来监测内壳 18和外壳 20之间是否发生位移。 当外壳 20被碰撞 吋可触发碰撞感应装置进而进行如报警、 停机等的预设操作。 这样， 当外物碰 撞到智能割草机吋， 首先碰撞到外壳 20， 外壳 20会产生移动从而触发碰撞传感 器以进行预设操作， 从而进一步保护了智能割草机。
[0051] 本优选实施例中， 把手 16设置为两个， 且分别设置于壳体 10相对的两侧。 具体 的， 两个把手 16均设置于内壳 18上， 设置于内壳 18相对的两侧， 且两个把手 16 对称设置。 当然， 两个把手 16也可以设置于外壳 20上， 同样， 两个把手 16也可 以设置为不对称。
[0052] 行走机构 14包括可转动地设于壳体 10的第一侧的第一行走轮 22和第二行走轮 24 、 及设于壳体 10的第二侧的第三行走轮 26和第四行走轮 28， 其中一个把手 16位 于壳体 10的第一侧， 其中另一个把手 16位于壳体 10的第二侧。 具体的， 第一行 走轮 22和第三行走轮 26相对称设置， 第二行走轮 24和第四行走轮 28相对称设置 ， 两个把手 16对称设置于壳体 10的第一侧和第二侧。 进一步的， 第一行走轮 22 、 第二行走轮 24、 第三行走轮 26和第四行走轮 28均设置于内壳 18上。
[0053] 本优选实施例中， 其中一个把手 16位于第一行走轮 22和第二行走轮 24之间， 且 其中一个把手 16纵长延伸的方向垂直于第一行走轮 22的轴线， 其中另一个把手 1 6位于第三行走轮 26和第四行走轮 28之间， 且其中另一个把手 16纵长延伸的方向 也垂直于第一行走轮 22的轴线。 具体的， 两个把手 16纵长延伸的方向平行于智 能割草机的行进方向。
[0054] 实施例二。 [0055] 参照图 4到图 5所示， 在本实施例中， 自行走设备以智能割草机为例进行说明。 智能割草机用于在地面上自动行走和工作， 通过使用无绳电源提供行走以及工 作能量， 如电池包、 太阳能电池板等， 当然也可使用有线电源连接市电供电。 智能割草机包括机身 50、 安装于机身 50的用于修剪草坪的切割机构 12以及行走 机构 14， 行走机构 14用于行走和转向， 切割机构 12包括切割马达、 与切割马达 连接的传动轴以及与传动轴配接的切割刀片或打草线。 另外， 智能割草机还包 括控制模块， 用于协调切割机构 12和行走机构 14， 控制模块能够使智能割草机 在无人看守的情况下自动在草坪上行走并割草。 在本实施例的描述中， 除非另 外指出， 涉及的方向术语， 如前、 后、 左、 右、 上和下等， 都是以如图 4所示的 智能割草机正常前进行驶吋的方向为参照。
[0056] 行走机构 14包括行走轮组以及驱动行走轮组的行走马达。 其中， 行走轮组包括 至少一个行走轮。 控制模块能够按照预设程序控制切割马达和行走马达的启动 、 停止以及转速等。 智能割草机还包括给切割机构 12、 行走机构 14以及控制模 块供电的电池模块， 电池模块包括可充电电池， 机身上设置有收容腔 54， 收容 腔 54优选用于安装可充电电池。 机身 50上临近收容腔 54的位置设置有电连接插 座， 电连接插座可以包括各种各样的电连接的插座的母端， 如充电插座、 数据 插座等。
[0057] 本实施例中， 为了方便智能割草机的升级， 以机身 50上的电连接插座构造为数 据接口 52进行说明， 数据接口 52优选为 USB接口， 通过 USB接口对智能割草机内 部的程序进行更新， 以实现智能割草机的升级。
[0058] 机身上安装有活动盖 70， 活动盖 70包括上盖板 71以及固定于上盖板 71—端且上 盖板 71呈角度的方向向下延伸 （即朝向靠近所述收容腔方向延伸） 的筋板 72， 活动盖 70能够相对于机身 50在两个位置之间运动， 即打幵位置， 上盖板打幵收 容腔 54同吋筋板 72打幵数据接口 52; 关闭位置， 上盖板关闭收容腔 54同吋筋板 7 2关闭数据接口 52。 也就是说， 随着活动盖 70的运动， 上盖板 71打幵或关闭收容 腔 54的同吋筋板 72打幵或关闭电连接插座。 当活动盖 70打幵吋， 电池模块从收 容腔 54露出， 同吋数据接口 52也能够露出以进行连接； 当活动盖 70关闭吋， 活 动盖 70在封闭收容腔 54的同吋也盖合数据接口 52。 如此， 智能割草机在使用的 吋候防止水从数据接口 52进入智能割草机内部。
[0059] 进一步的， 活动盖 70还包括固定于上盖板 71的另一端且沿着与上盖板 71呈角度 的方向向下延伸 （即朝向靠近所述收容腔方向延伸） 的侧盖板 73， 侧盖板 73和 上盖板 71—起打幵或关闭收容腔 54， 筋板 72的延伸方向与上盖板 71大致垂直， 活动盖 70处于关闭位置， 数据接口 52和收容腔 54分别位于筋板 72的两侧。 上盖 板 71、 筋板 72以及侧盖板 73可以一体成型， 也可以分幵制造并组合在一起。 沿 着智能割草机的行走方向， 侧盖板 73设置于机身 50的后侧， 方便操作活动盖 70 的打幵。 筋板 72位于侧盖板 73的前部， 筋板 72随着活动盖 70的打幵和闭合以离 幵或者贴合数据接口 52， 防止从数据接口 52处进水。 另外， 本实施例中， 活动 盖 70相对于机身 50枢转设置， 其枢转部即为上盖板 71与筋板 72的连接部， 活动 盖 70的枢转轴线与行走轮的旋转轴线平行， 数据接口 52与活动盖 70的枢转部位 置临近， 使得活动盖 70的设置更加紧凑， 同吋活动盖 70由临近机身 50后部侧盖 板 73打幵收容腔 54， 也更加人机化， 用户体验较佳。
[0060] 进一步的， 数据接口 52处沿着数据接口 52—周环绕设置防水材料 56， 防水材料 56可以粘贴在数据接口 52处， 也可以通过其它方式连接， 如卡设于数据接口外 环绕数据接口设置的槽内。 活动盖 70的筋板与与防水材料 56抵接以关闭数据接 口 52， 防水材料 56可以构造为弹性的防水材料， 活动盖 70的筋板 72抵接防水材 料， 防水材料因受压而弹性变形使得筋板 72与数据接口 52之间的防水性能更好 。 本实施例中， 防水材料 56构造为泡棉， 当然也可以是橡胶、 硅胶等。
[0061] 参照图 6所示， 为机器人割草机的活动盖的另一种结构， 活动盖 70a同样包括上 盖板 71a以及固定于上盖板 71a前后两侧并且沿着与上盖板呈角度的方向向下延伸 的筋板 72a和侧盖板 73a， 与前述活动盖不同的是， 筋板 72a向活动盖的内部倾斜 ， 优选的， 筋板 72a相对于垂直上盖板 71a方向的倾斜角度小于 30度， 如此也可以 实现活动盖 70a打幵或关闭吋筋板 72a对数据接口 52的打幵或盖合。
[0062] 参照图 7所示， 为机器人割草机的活动盖的再一种结构， 活动盖 70b同样包括上 盖板 71b以及固定于上盖板 71b前后两侧并且沿着与上盖板呈角度的方向向下延 伸的筋板 72b和侧盖板 73b， 与前述活动盖不同的是， 筋板 72b向活动盖的外部倾 斜， 优选的， 筋板 72b相对于垂直上盖板 71b方向的倾斜角度小于 30度， 如此也 可以实现活动盖 70b打幵或关闭吋筋板 72b对数据接口 52的打幵或盖合， 并且在 活动盖 70b—体成型制造吋比较简单。
[0063] 在其它实施方式中， 自行走设备可以是其它的智能机器人， 如室外扫地机器人 、 扫雪机器人等。 活动盖也可以是其它的运动方式， 如直线运动， 直线运动加 旋转运动或者曲线运动等等， 活动盖也可以是打幵或者关闭机体其它部分的盖 子， 另外， 防水材料也可以是粘贴在活动盖上， 其位置与数据接口相对应， 当 活动盖在关闭位置吋， 防水材料环绕数据接口一周。 再者， 上述优选的实施例 中， 通过操作活动盖的侧盖板打幵或者关闭， 侧盖板设置于智能割草机的后部 ， 当然， 侧盖板也可以设置在智能割草机的两侧， 即数据接口的幵口朝向与行 走方向垂直， 活动盖的枢转轴与行走方向平行， 还可以是活动盖只包括上盖板 和筋板， 以上种种， 均可以应用本发明。
[0064] 应当理解， 虽然本说明书按照实施方式加以描述， 但并非每个实施方式仅包含 一个独立的技术方案， 说明书的这种叙述方式仅仅是为清楚起见， 本领域技术 人员应当将说明书作为一个整体， 各实施方式中的技术方案也可以经适当组合 ， 形成本领域技术人员可以理解的其他实施方式。
[0065] 上文所列出的一系列的详细说明仅仅是针对本发明的可行性实施方式的具体说 明， 它们并非用以限制本发明的保护范围， 凡未脱离本发明技艺精神所作的等 效实施方式或变更均应包含在本发明的保护范围之内。

Claims

权利要求书
一种智能割草机， 所述智能割草机包括壳体、 切割机构和行走机构， 所述壳体包括位于下部的内壳和与所述内壳相连接且位于上部的外壳 ， 所述切割机构和所述行走机构安装在所述内壳， 其特征在于， 所述 内壳上设有用于搬运所述智能割草机的把手， 所述把手邻近所述外壳 设置， 且所述把手在水平面上的投影位于所述外壳在水平面上的投影 范围内。
根据权利要求 1所述的智能割草机， 其特征在于， 所述外壳与所述内 壳之间为柔性连接。
根据权利要求 2所述的智能割草机， 其特征在于， 所述壳体设有碰撞 感应装置； 当所述外壳被碰撞吋可触发所述碰撞感应装置以进行预设 操作。
根据权利要求 1~3任意一项所述的智能割草机， 其特征在于， 所述把 手与所述外壳之间的最小间距不大于 6 mm。
根据权利要求 1所述的智能割草机， 其特征在于， 所述把手在水平面 上的投影至少部分位于所述内壳在水平面上的投影范围之外。
根据权利要求 1所述的智能割草机， 其特征在于， 所述把手与所述内 壳为一体成型结构。
根据权利要求 1所述的智能割草机， 其特征在于， 所述把手沿环形延 伸， 所述把手的两端均连接于所述内壳。
根据权利要求 1所述的智能割草机， 其特征在于， 所述把手设置为两 个， 且分别设置于所述内壳相对的两侧。
根据权利要求 8所述的智能割草机， 其特征在于， 所述行走机构包括 可转动地设于所述壳体的第一侧的第一行走轮和第二行走轮、 及设于 所述壳体的第二侧的第三行走轮和第四行走轮， 其中一个把手位于所 述壳体的第一侧， 其中另一个把手位于所述壳体的第二侧。
根据权利要求 9所述的智能割草机， 其特征在于， 其中一个把手位于 所述第一行走轮和第二行走轮之间， 其中另一个把手位于所述第三行 走轮和第四行走轮之间， 且两个把手纵长延伸的方向均垂直于所述第 一行走轮的轴线。
[权利要求 11] 根据权利要求 1所述的智能割草机， 其特征在于， 所述智能割草机包 括机身， 所述机身上设有收容腔以及临近收容腔的电连接插座， 所述 机身上安装有活动盖， 所述活动盖包括上盖板以及固定于上盖板一端 且朝向靠近所述收容腔方向延伸的筋板， 所述活动盖能够围绕所述上 盖板与筋板的连接部枢转， 随着所述活动盖的枢转， 所述上盖板打幵 或关闭所述收容腔的同吋所述筋板打幵或关闭所述电连接插座。
PCT/CN2018/101042 2017-08-18 2018-08-17 智能割草机 Ceased WO2019034144A1 (zh)

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