阅读说明：本技术 自行走设备 (Self-walking equipment ) 是由 魏娟 聂恒安 陆胜富 于 2019-03-01 设计创作，主要内容包括：本发明涉及一种自行走设备,包括主体和设置在所述主体上的主动轮和工作组件,所述工作组件设置在所述主体的底面,所述主体的底面还设有凸出件,所述凸出件与水平地面之间的间隙高度不大于安全阈值；所述凸出件构造为当所述自行走设备置于水平地面时,所述凸出件在第一投影面上的投影位于所述主体在第一投影面上的投影以内、且设置在相对于所述工作组件靠近所述主动轮的一侧,其中所述第一投影面是平行于所述水平地面的平面。本发明的自行走设备具有良好地形适应性和安全性。(The invention relates to self-walking equipment which comprises a main body, a driving wheel and a working assembly, wherein the driving wheel and the working assembly are arranged on the main body; the projecting member is configured such that, when the self-propelled apparatus is placed on a horizontal ground surface, a projection of the projecting member on a first projection surface is located within a projection of the main body on the first projection surface and is disposed on a side close to the drive wheel with respect to the working assembly, wherein the first projection surface is a plane parallel to the horizontal ground surface. The self-walking equipment has good terrain adaptability and safety.)

1. A self-walking device comprises a main body, a driving wheel and a working assembly, wherein the driving wheel and the working assembly are arranged on the main body, and the working assembly is arranged on the bottom surface of the main body; the projecting member is configured such that, when the self-propelled apparatus is placed on a horizontal ground surface, a projection of the projecting member on a first projection surface is located within a projection of the main body on the first projection surface and is disposed on a side close to the drive wheel with respect to the working assembly, wherein the first projection surface is a plane parallel to the horizontal ground surface.

2. The self-propelled apparatus of claim 1, wherein the height of the gap between the projecting member and the ground level is not greater than the height of the gap between the other portion of the main body located on the side of the working assembly adjacent the drive wheel and the ground level.

3. The self-propelled apparatus of claim 1, wherein a distance from any point on said projecting member to an axis of rotation of said drive wheel is no greater than a radius of said drive wheel.

4. The self-propelled device of claim 1, wherein the body includes a housing and a body, the body configured to support the drive wheel and the working assembly, the housing configured to cover at least a portion of the top and at least a portion of the peripheral side of the body.

5. Self-propelled device according to claim 1, characterised in that said safety threshold is 38 mm.

6. The self-propelled device of claim 1, wherein the projection is configured as a roller assembly, the roller assembly including a roller.

7. The self-propelled apparatus of claim 6, wherein the roller comprises a roller body, the roller body comprising a plurality of parallel arranged annular grooves.

8. The self-propelled device of claim 6, wherein the roller assembly further comprises fixed mounts disposed at opposite ends of the roller, the fixed mounts including a roller mount and a fixed mount, the roller mount being coupled to the roller such that the roller is free to rotate, the fixed mount being fixedly coupled to the bottom surface of the body.

9. The self-propelled device of any of claims 1 to 8, wherein the self-propelled device is a mowing robot and the working assembly is configured as a cutterhead assembly; the robot that mows still includes power supply module, is used for the drive action wheel pivoted walking wheel drive assembly, is used for the drive cutterhead drive assembly of cutterhead subassembly, is used for adjusting cutterhead height adjusting part, the sensor subassembly that is used for gathering environmental signal of cutterhead subassembly ground-clearance and be used for controlling the control assembly of robot behavior mows.

10. A self-walking device comprises a main body, a driving wheel and a working assembly, wherein the driving wheel and the working assembly are arranged on the main body, and the working assembly is arranged on the bottom surface of the main body; the roller assembly includes a roller having a diameter less than a diameter of the drive wheel, and a distance between a rotational axis of the roller and a rotational axis of the drive wheel is no greater than a difference between radii of the roller and the drive wheel.

Technical Field

The invention relates to self-walking equipment, in particular to a mowing robot.

Background

The mowing robot has an automatic walking function, can perform operation within a certain working range, and is suitable for lawn trimming and maintenance in places such as family courtyards and public greenbelts. The mowing robot can autonomously finish lawn mowing work without manual direct control and operation, has low power, low noise, no pollution and exquisite and attractive appearance, and can greatly reduce the input of human resources.

Lawn mowing robots typically have a cutting device disposed at the bottom of the body for performing cutting of grass. Since the blades of the cutting device are sharp and easily cause injury to human and livestock, a housing is usually disposed outside the body of the robot mower to keep the distance from the ground small, so that the design can effectively prevent arms, legs, feet or animal limbs of a human body from entering the lower part of the body of the robot mower to touch the cutting device. However, such designs present additional problems, the most prominent of which is a substantial reduction in the terrain adaptability of the mowing robot.

Disclosure of Invention

The invention aims to provide self-walking equipment with good terrain adaptability and safety.

In order to solve the technical problem, the self-walking equipment comprises a main body, a driving wheel and a working assembly, wherein the driving wheel and the working assembly are arranged on the main body; the projecting member is configured such that, when the self-propelled apparatus is placed on a horizontal ground surface, a projection of the projecting member on a first projection surface is located within a projection of the main body on the first projection surface and is disposed on a side close to the drive wheel with respect to the working assembly, wherein the first projection surface is a plane parallel to the horizontal ground surface.

As an embodiment of the present invention, preferably, a height of a gap between the protruding member and the horizontal ground is not greater than a height of a gap between the other portion of the main body, which is located on the side of the working assembly close to the driving wheel, and the horizontal ground.

As an embodiment of the present invention, preferably, a distance from any point on the protruding member to the rotation axis of the driving wheel is not greater than a radius of the driving wheel.

As a specific embodiment of the present invention, it is preferable that the main body includes a housing configured to support the drive pulley and the working assembly, and a body configured to cover at least a part of an upper side and at least a part of a peripheral side of the body.

As a specific embodiment of the present invention, it is preferable that the safety threshold is 38 mm.

As a specific embodiment of the present invention, it is preferable that the projection is configured as a roller assembly including a roller.

As a specific embodiment of the present invention, it is preferable that the roller includes a roller body, and the roller body includes a plurality of annular grooves arranged in parallel.

As a specific embodiment of the present invention, preferably, the roller assembly further includes fixing seats provided at both ends of the roller, the fixing seats include a roller mounting part and a fixing mounting part, the roller mounting part is connected to the roller so that the roller can freely rotate, and the fixing mounting part is fixedly connected to the bottom surface of the main body.

As a specific embodiment of the present invention, it is preferable that the self-walking apparatus is a mowing robot, and the working assembly is configured as a cutter head assembly; the robot that mows still includes power supply module, is used for the drive action wheel pivoted walking wheel drive assembly, is used for the drive cutterhead drive assembly of cutterhead subassembly, is used for adjusting cutterhead height adjusting part, the sensor subassembly that is used for gathering environmental signal of cutterhead subassembly ground-clearance and be used for controlling the control assembly of robot behavior mows.

The invention also provides another self-walking device, which comprises a main body, a driving wheel and a working assembly, wherein the driving wheel and the working assembly are arranged on the main body, the working assembly is arranged on the bottom surface of the main body, the bottom surface of the main body is also provided with a roller assembly, and the height of a gap between the roller assembly and the horizontal ground is not more than a safety threshold; the roller assembly includes a roller having a diameter less than a diameter of the drive wheel, and a distance between a rotational axis of the roller and a rotational axis of the drive wheel is no greater than a difference between radii of the roller and the drive wheel.

The self-walking equipment has good terrain adaptability and safety.

Drawings

Fig. 1 is a schematic view of a mowing robot in a first embodiment.

Fig. 2 is a schematic view of an uphill state of the mowing robot in the first embodiment.

Fig. 3 is a schematic view of a downhill state of the mowing robot in the first embodiment.

Fig. 4 is a schematic view of a mowing robot in a second embodiment.

Fig. 5 is a schematic view of an uphill state of the mowing robot in the second embodiment.

Fig. 6 is a schematic view of a downhill state of the mowing robot in the second embodiment.

Fig. 7 is a bottom schematic view of a lawn mowing robot according to an embodiment of the present invention.

Fig. 8 is a schematic rear view of a mowing robot according to an embodiment of the invention.

Fig. 9 is a side view schematic of a lawn mowing robot according to an embodiment of the present invention, and a partial cross-sectional view taken along a-a in fig. 8 at a drive wheel.

FIG. 10 is a schematic view of a roller according to an embodiment of the present invention.

Fig. 11 is a sectional view taken along B-B in fig. 10.

Detailed Description

The present invention will be described in detail below with reference to specific embodiments shown in the drawings. These embodiments are not intended to limit the present invention, and structural, methodological, or functional changes made by those skilled in the art according to these embodiments are included in the scope of the present invention.

It is to be understood that the terms "first," "second," and the like in the description of the embodiments of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit indication of the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

In the embodiments of the present invention, unless otherwise explicitly stated or limited, the terms "connected" and "connected" should be interpreted broadly, e.g., as a fixed connection, a movable connection, a detachable connection, or an integral connection; can be directly connected or indirectly connected through an intermediate medium; either as communication within the two elements or as an interactive relationship of the two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In particular embodiments of the invention, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise the first and second features being in direct contact, or the first and second features being in contact, not directly, but via another feature therebetween.

In particular embodiments of the present invention, the term "plurality" means two or more unless explicitly stated or limited otherwise.

To facilitate understanding of the solution according to the invention, the same reference numerals are used for the same parts/components in the different embodiments of the detailed description.

Fig. 1 to 3 show a self-walking apparatus in a first embodiment, taking a mowing robot 201 as an example, which includes a main body 20, at least one walking wheel 26 and at least one working assembly are provided on the main body 20, wherein the walking wheel 26 is used for supporting the main body 20 on a working surface, the working assembly is configured as a cutter head assembly 28, and the cutter head assembly 28 is provided on the bottom surface of the main body 20 for performing mowing work. Specifically, the main body 20 includes a housing 22 and a body 24. The main body 24 is configured to support main functional components of the mowing robot 201. Typically, both the road wheels 26 and the cutterhead assembly 28 are provided on the fuselage 24. Wherein the traveling wheels 26 comprise at least one unpowered driven wheel 262 and at least two powered driving wheels 264, particularly the driven wheel 262 is arranged on the cutterheadThe front side of the assembly 28, and the drive wheel 264 is disposed on the rear side of the cutterhead assembly 28. The impeller assembly 28 includes an impeller 282 and an impeller shroud 284 that covers the impeller 282, the front and underside of the impeller shroud 284 being open to facilitate mowing. In addition, the machine body 24 is further provided with a power supply assembly, a traveling wheel driving assembly used for driving the driving wheel to rotate, a cutter head driving assembly used for driving the cutter head to rotate, a cutter head height adjusting assembly used for adjusting the height of the cutter head, a controller assembly used for controlling the behavior of the mowing robot, a sensor assembly used for collecting environmental signals and the like. The casing 22 covers at least a part of the upper side and at least a part of the peripheral side of the body 24 as a whole, and protects the body 24. Typically, the housing 22 forms a housing front edge 222 at the front of the fuselage 24 and the housing 22 forms a housing rear edge 224 at the rear of the fuselage 24. When the robot 201 is placed on the horizontal ground 10, the height of the gap between the front edge 222 of the housing and the horizontal ground 10 is h₁₁The height of the gap between the rear edge 224 of the housing and the horizontal floor 10 is h₁₂. To meet the safety requirements, h₁₁And h₁₂Are not greater than the safety threshold x. In a typical safety code requirement, the safety threshold x is 38 mm. In a first embodiment, h is the requirement of safety regulations₁₂38 mm. In other stricter safety specification requirements, the value of the safety threshold x may be smaller, for example, 30 mm.

When the robot lawnmower 201 of the first embodiment ascends an incline, the housing front edge 222 and the housing rear edge 224 may sequentially interfere with the ground during travel of the robot lawnmower 201 from the level ground 10 to the inclined ground 12 because the distance from the level ground 10 is small. Specifically, the front edge 222 of the housing first interferes with the inclined ground 12, and the front portion of the mowing robot 201 is acted by the force exerted by the inclined ground 12 on the front portion in the direction substantially perpendicular to the inclined ground 12, so that the pressure between the driven wheel 262 and the ground is reduced, the friction between the driven wheel 262 and the ground is reduced, and even the driven wheel 262 is completely lifted off the ground. In this case, since there is good contact between the drive wheel 264 located at the rear of the robot 201 and the ground, the robot 201 does not travelThe rear edge 224 of the housing then interferes with the inclined floor 12, the rear part of the robot lawnmower 201 is subjected to an upward force applied thereto by the horizontal floor 10 in a direction substantially perpendicular to the horizontal floor 10, the pressure between the drive wheel 264 and the floor is reduced, the friction between the free surface of the drive wheel 264 is reduced, and even the drive wheel 262 is completely lifted off the floor by inertia, in which case the traveling of the robot lawnmower 201 is severely affected or even blocked from moving due to the broken contact between the drive wheel 264 and the floor, as shown in fig. 2, the maximum inclination of the inclined floor on the uphill side to which the robot lawnmower 201 can adapt in the first embodiment is α₁₁Similarly, when going downhill, the mowing robot 201 of the first embodiment interferes with the ground from the inclined ground 12 to the level ground 10 successively, and specifically, the housing front edge 222 and the housing rear edge 224 interfere with the level ground 10 first, and the housing rear edge 224 interferes with the inclined ground 12 second, as shown in fig. 3, the maximum inclination angle of the downhill inclined ground to which the mowing robot 201 of the first embodiment can adapt is α₁₂In general, α₁₁＝α₁₂In the first example shown in the present embodiment, α₁₁＝α₁₂＝13±3°。

Fig. 4 to 6 show a mowing robot 202 in a second embodiment, which is different from the mowing robot 201 in the first embodiment described above in that when the mowing robot 201 is placed on a horizontal floor 10, a gap height h between a housing rear edge 224 and the horizontal floor 10₂₂And h is₂₂> x. Specifically, in the second embodiment, h₂₂This design can effectively improve the adaptability of the mowing robot to the terrain, and referring to fig. 5 and 6, the maximum inclination angle of the uphill slope ground which the mower 202 in the second embodiment can adapt to is α₂₁The maximum inclination angle of the downhill inclined ground that the mower 202 of the second embodiment can accommodate is α₂₂And α₂₁＞α₁₁And α₂₂＞α₁₂. In the present embodiment, the following description is providedα in the first embodiment of (1)₂₁＝α₂₂28 ± 3 °. The mowing robot 202 in the second embodiment, although having better terrain adaptability, has an excessively large gap between the housing rear edge 224 and the ground, and there is a risk that a limb of a person or animal may extend from the rear of the mowing robot into the underside of the body 24 to contact the cutterhead 282.

Fig. 7 to 11 show a mowing robot 203 in a third embodiment, which is different from the mowing robot 202 in the second embodiment described above in that the main body 20 is further provided with a projection configured to project on the first projection plane X when the mowing robot 203 is placed on a horizontal ground 10₁Is located on the first projection plane X of the shell₁Is arranged inside the projection of the cutter head assembly 28 and is arranged at one side of the cutter head assembly 28 close to the driving wheel 264, wherein the first projection plane X₁Is a plane parallel to the horizontal floor 10. When the robot 203 is placed on the horizontal ground 10, the height of the gap between the rear edge 224 of the housing and the horizontal ground 10 is h₃₂The height of the gap between the protruding member and the horizontal ground 10 is h₃₃Has the following advantages₃₂＞x≥h₃₃And h is₃₃No greater than the height of the gap between the remainder of the main body 20 on the side of the cutterhead assembly 28 adjacent the drive wheel 264 and the horizontal floor 10. In the present embodiment, the protrusion is provided on the bottom surface of the main body 20, and particularly, the protrusion is provided on the bottom surface of the body 24. Preferably, the distance from any point on the projection to the axis of rotation of drive wheel 264 is no greater than the radius of drive wheel 264. To ensure the protection effect, the protruding member is configured such that when the mowing robot 203 is placed on the horizontal ground 10, the cutter head 282 is on the second projection plane X₂The projection of the projection part falls on a second projection plane X of the projection part₂Within the projection width of, wherein the second projection plane X₂Is a plane perpendicular to the horizontal ground 10 and perpendicular to the advancing direction of the mowing robot 203.

As a further preference of the third embodiment of the invention, the projection is configured as a roller assembly 30 comprising a roller 32 and holders 34 provided at both ends of the roller 32. The roller 32 includes a substantially cylindrical roller body and shafts 324 provided at both ends of the roller body. The roller body preferably includes a plurality of annular grooves 322 disposed in parallel. FixingThe seat 34 includes a roller mounting portion 342 and a fixed mounting portion 344. The roller mounting portion 342 is configured to mate with the shaft 324 such that the roller 32 may rotate freely. The fixed mounting portion 344 is configured to be fixedly coupled to a bottom surface of the body 24. In the present embodiment, the fixing seat 34 is fixedly connected to the body 24 by a screw. In this embodiment, the diameter of the roller 32 is smaller than the diameter of the drive wheel 264, preferably the diameter of the roller 32 is smaller than the radius of the drive wheel 264, and the distance between the rotational axis of the roller 32 and the rotational axis of the drive wheel 264 is not greater than the difference between the radii of the roller 32 and the drive wheel 264. In this embodiment, the roller body is designed as a hollow structure made of hard, wear-resistant plastic. In other embodiments, the axis of rotation of the roller 32 is in the first plane of projection X₁The projection of the upper part and the rotation axis of the driving wheel 264 are on the first projection plane X₁The projections on the two planes coincide.

It should be understood that although the present description refers to embodiments, not every embodiment contains only a single technical solution, and such description is for clarity only, and those skilled in the art should make the description as a whole, and the technical solutions in the embodiments can also be combined appropriately to form other embodiments understood by those skilled in the art.

The above-listed detailed description is only a specific description of a possible embodiment of the present invention, and they are not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention should be included in the scope of the present invention.