CN108323309B

CN108323309B - Mowing robot

Info

Publication number: CN108323309B
Application number: CN201710037418.3A
Authority: CN
Inventors: 孔钊; 郭宁
Original assignee: Suzhou Cleva Precision Machinery and Technology Co Ltd
Current assignee: Suzhou Cleva Precision Machinery and Technology Co Ltd
Priority date: 2017-01-19
Filing date: 2017-01-19
Publication date: 2024-08-09
Anticipated expiration: 2037-01-19
Also published as: CN108323309A

Abstract

The invention provides a mowing robot, comprising: the lawn mower comprises a machine body, a working module, a walking module and a control module, wherein the working module, the walking module and the control module are arranged on the machine body and used for coordinating the working module and the walking module, the working module comprises a cutting mechanism arranged on the lower portion of the machine body, the walking module comprises a walking wheel set arranged on the machine body and a walking motor used for driving the walking wheel set, the lawn mower further comprises a protecting piece which is at least partially movably arranged on the machine body, the protecting piece can separate the periphery of the cutting mechanism from a space communicated with the outside, a distance sensing device is arranged between the protecting piece and the machine body, the moving range of the protecting piece exceeds a preset value of the protecting piece, the distance sensing device is triggered, and the control module receives a trigger signal to control the lawn mower to stop. The distance sensing device is arranged on the mowing robot, so that the mowing robot can be prevented from hurting people or animals which enter a cutting area by mistake when the mowing robot performs mowing operation.

Description

Mowing robot

Technical Field

The present disclosure relates to mowing robots, and particularly to a mowing robot with a protective device.

Background

The mower robots have the characteristics of automatic walking, intelligent obstacle avoidance, work in a certain range and the like, simultaneously have the functions of automatic return charging, safety detection, battery power detection and the like, have certain climbing capacity, and are particularly suitable for trimming and maintaining lawns in places such as home courtyards, public greenhouses and the like. The mower robot generally comprises a cutter disc, a motor, blades, travelling wheels, a control system and other structures, the blades are arranged on the cutter disc, the motor drives the cutter disc to drive the blades to rotate so as to trim lawns, the working time of weeding workers is saved, and a large amount of human resources are reduced.

When a mowing robot of the prior art walks on a grass land, a cutting mechanism arranged below a body of the mowing robot may touch a person or an animal moving in a grass area, and damage is caused to the person or the animal.

It is known to provide a protective mechanism around the mowing blade of a mowing robot. However, when animals, humans, or other foreign matter breaks through the traditional protective mechanisms, the mowing robot cannot provide further protective measures.

Disclosure of Invention

The invention aims to provide a mowing robot with more comprehensive and safer protection.

To achieve the above object, the present invention provides a mowing robot comprising: the lawn mower comprises a machine body, a working module, a walking module and a control module, wherein the working module, the walking module and the control module are arranged on the machine body and used for coordinating the working module and the walking module, the working module comprises a cutting mechanism arranged on the lower portion of the machine body, the walking module comprises a walking wheel set arranged on the machine body and a walking motor used for driving the walking wheel set, the lawn mower further comprises a protecting piece which is at least partially movably arranged on the machine body, the protecting piece can separate the periphery of the cutting mechanism from a space communicated with the outside, a distance sensing device is arranged between the protecting piece and the machine body, the moving range of the protecting piece exceeds a preset value of the protecting piece, the distance sensing device is triggered, and the control module receives a trigger signal to control the lawn mower to stop.

As a further improvement of an embodiment of the invention, the running gear set comprises a front wheel and a rear wheel, the guard extends downwards from the space of the body between the front wheel and the rear wheel, and the distance from the bottom of the guard to the ground is smaller than the distance from the bottom of the cutting mechanism to the ground.

As a further improvement of an embodiment of the present invention, the guard includes a horizontal plate extending horizontally to both sides of the body and a vertical plate disposed vertically to the horizontal plate, the vertical plate having a lower portion having a width greater than that of an upper portion of the vertical plate, the vertical plate being unidirectionally hinged to the horizontal plate, the vertical plate being allowed to rotate in a direction away from the cutting mechanism with respect to an initial position of the vertical plate, and the vertical plate being restricted from rotating in a direction toward the cutting mechanism, and the distance sensing device being disposed between the vertical plate and the body.

As a further improvement of an embodiment of the invention, a return spring is arranged between the transverse plate and the vertical plate, and the return spring provides an elastic force for the vertical plate to move towards the cutting mechanism.

As a further improvement of one embodiment of the present invention, the guard includes a first guard plate connected to the fuselage and a second guard plate connected to the first guard plate, the second guard plate having a lower portion with a width greater than an upper portion of the second guard plate.

As a further improvement of an embodiment of the present invention, along the advancing direction of the mowing robot, end plates are provided on both front and rear sides of the first guard plate, the end plates being parallel to a tangential plane of the front wheel or the rear wheel.

As a further improvement of one embodiment of the invention, the first panel includes a bevel adjacent the fuselage and a straight portion adjacent the second panel, the straight portion being flush with the second panel.

As a further improvement of one embodiment of the present invention, the first guard plate is pivotally mounted to the fuselage, and the second guard plate is pivotally mounted to the first guard plate.

As a further improvement of one embodiment of the present invention, the first guard and the second guard are allowed to rotate in a direction toward the cutting mechanism with respect to initial positions of the first guard and the second guard, and the first guard and the second guard are restricted from rotating in a direction away from the cutting mechanism.

As a further improvement of an embodiment of the present invention, a first spring is disposed between the first guard plate and the casing, the first spring provides an elastic force for moving the first guard plate away from the casing, and a second spring is disposed between the first guard plate and the second guard plate, and the second spring provides an elastic force for moving the second guard plate away from the casing.

As a further improvement of an embodiment of the present invention, the first spring and the second spring are torsion springs, and the stiffness of the first spring is greater than the stiffness of the second spring.

As a further improvement of an embodiment of the present invention, the distance sensing device is disposed between the first guard plate and the machine body, the rotation range of the second guard plate exceeds the preset rotation angle of the second guard plate, the first guard plate is driven to rotate, and the rotation range of the first guard plate exceeds the preset rotation angle of the first guard plate, so as to trigger the distance sensing device.

As a further development of an embodiment of the invention, the guard is configured as a guard rail located in front of the cutting mechanism, which guard rail is pivotally connected to the fuselage and is configured as a fence.

As a further improvement of an embodiment of the present invention, the guard rail includes an upper section and a lower section in a vertical direction, the upper section being pivotally connected to the fuselage, the lower section being pivotally connected to the upper section.

As a further improvement of an embodiment of the present invention, the distance sensing device is disposed between the upper section and the machine body, the rotation amplitude of the lower section exceeds the preset rotation angle thereof, the upper section is driven to rotate, the rotation amplitude of the upper section exceeds the preset rotation angle thereof, and the distance sensing device is triggered.

As a further improvement of an embodiment of the present invention, the mowing robot further includes a front guard rail disposed on the body and located in front of the guard rail, the front guard rail is configured in a fence shape, a comb tooth density of the front guard rail is smaller than a comb tooth density of the guard rail, and a width of each comb tooth of the front guard rail is larger than a width of each comb tooth of the guard rail.

As a further improvement of an embodiment of the present invention, the mowing robot further includes a front guard rail located in front of the cutting mechanism, the front guard rail being fixedly connected to the body and configured in a fence shape.

As a further improvement of an embodiment of the present invention, the distance sensing device includes a switch and a trigger member, the switch is disposed on the body, a contact point of the switch corresponds to the guard member, the trigger member is disposed between the contact point of the switch and the guard member, and one end of the trigger member is connected to the contact point of the switch or the guard member.

As a further improvement of an embodiment of the present invention, the mowing robot further includes a protective barrier provided around the cutting mechanism, the protective barrier forming three-sided enclosure to the cutting mechanism from both sides and rear of the cutting mechanism along the advancing direction of the mowing robot.

As a further improvement of an embodiment of the present invention, the protective baffle includes an upper flange and a lower flange at the upper and lower ends thereof, the upper flange is turned outwards with respect to the cutting mechanism, the lower flange is turned inwards with respect to the cutting mechanism, and the protective baffle is fixedly mounted on the lower surface of the machine body through the upper flange.

As a further improvement of an embodiment of the invention, the protective baffle is mounted to the cutting mechanism, the protective baffle being adjustable with respect to the position of the machine body along with the cutting mechanism.

Compared with the prior art, the invention has the beneficial effects that: the distance sensing device is arranged on the mowing robot, so that the mowing robot can be prevented from hurting people or animals which enter a cutting area by mistake when the mowing robot performs mowing operation.

Drawings

Fig. 1 is a schematic perspective view of a robot lawnmower according to a preferred first embodiment of the present invention;

FIG. 2 is a schematic cross-sectional view of the mowing robot of FIG. 1;

FIG. 3 is a cross-sectional view taken along line A-A of FIG. 2 with the road wheels hidden;

FIG. 4 is a perspective view of the side guard of FIG. 3;

FIG. 5 is a side exploded view of the side guard of FIG. 4;

fig. 6 is a schematic perspective view of a robot lawnmower according to a preferred second embodiment of the present invention;

FIG. 7 is a schematic cross-sectional view of the lawn mowing robot in FIG. 6;

FIG. 8 is a perspective view of the guard of FIG. 7;

FIG. 9 is a schematic view of the lawn mowing robot of FIG. 6 employing another guard;

FIG. 10 is a schematic cross-sectional view of the lawn mowing robot in FIG. 9;

FIG. 11 is an exploded schematic view of the lawn mowing robot and guard mechanism of FIG. 9;

Fig. 12 is a schematic view of a mowing robot in a preferred third embodiment of the present invention;

FIG. 13 is a perspective view of the guard rail of FIG. 12;

FIG. 14 is a perspective view of the rail guard of the robot lawnmower of FIG. 12 in another configuration;

Fig. 15 is a schematic view of a mowing robot in a preferred fourth embodiment of the present invention.

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 invention and structural, methodological, or functional modifications of these embodiments that may be made by one of ordinary skill in the art are included within the scope of the invention.

Referring to fig. 1 to 3, in the preferred embodiment of the present invention, the mowing robot is used to automatically walk and work on the ground, and walking and working energy such as a battery pack, a solar panel, etc. is provided by using a cordless power source, and a wired power source can be used to connect with a mains power supply. The mowing robot comprises a machine body 10, a working module and a walking module, wherein the working module is installed on the machine body 10 and used for trimming lawns, the walking module is used for walking and steering, and the working module comprises a cutting motor 21, a transmission shaft connected with the cutting motor 21 and a cutting mechanism 22 matched and connected with the transmission shaft. In addition, the mowing robot further comprises a control module, wherein the control module is used for coordinating the working module and the walking module, and the control module can enable the mowing robot to walk on a lawn and mow the lawn automatically under the unattended condition. In the description of the present invention, unless otherwise indicated, directional terms such as front, rear, left, right, upper and lower, etc. are used with reference to a direction in which the mowing robot travels normally as shown in fig. 1.

As shown in fig. 2, the body 10 includes a housing 11 at an upper portion of the robot and a chassis 12 at a lower portion of the robot, the chassis 12 is connected to the housing 11, a recess is formed at a substantially central position of a lower surface of the chassis 12, and a through hole is formed at a substantially central position of the recess. The cutting motor 21 is preferably a cutting motor and the cutting mechanism 22 includes a blade support 221 and a blade 222 mounted on the blade support. The cutting motor is fixed to the upper surface of the chassis 12 at a substantially central position corresponding to the recess on the chassis 12. The output shaft of the cutting motor passes through the through hole in the recess downwards, and the blade holder 221 is mounted in the recess of the lower surface of the chassis 12, connected to the output shaft of the cutting motor and rotates therewith. The blade 222 is located at the periphery of the blade holder 221 and rotates with the blade holder 221. Of course, the cutting mechanism may also be a cutting blade, a cutting wire or the like driven directly by the cutting motor, which enables trimming of the lawn. The mowing robot can be further provided with a device for automatically or manually adjusting the mowing height, and the device is used for adjusting the distance between the blade and the ground so as to control the stubble-remaining height of the lawn.

The walking module of the mowing robot comprises a walking wheel set and a walking motor for driving the walking wheel set. Wherein the running gear sets are mounted on the chassis 12. In this embodiment, the traveling wheel set includes four traveling wheels 31a, 31b, 32a, 32b, which are respectively a front traveling wheel 31a, 31b provided at both sides of the front portion of the machine body and a rear traveling wheel 32a, 32b provided at both sides of the rear portion of the machine body, each having an axle independent of the other. Along the advancing direction of the mowing robot or the travelling mechanism, the front travelling wheels 31a and 31b and the rear travelling wheels 32a and 32b are respectively arranged, wherein the travelling motors enable the travelling wheels on the same side to realize synchronous transmission through the transmission mechanism, namely the left front travelling wheel 31a is synchronous with the left rear travelling wheel 32a, and the right front travelling wheel 31b is synchronous with the right rear travelling wheel 32 b. Specifically, the walking motors comprise two, the two walking motors are arranged in front or behind, the two walking motors can be arranged in front of or behind, each walking motor can drive the walking wheels on the same side to realize synchronous transmission in a belt transmission mode, and therefore a steering mechanism is not required to be arranged, and the steering is performed by utilizing the rotation speed difference of the left walking wheel and the right walking wheel. Of course, four travel motors may be used to drive the four travel wheels, respectively. The running wheel set is only a preferred mode in this embodiment, and those skilled in the art will readily recognize that the running wheels may also be crawler-type or other modes of running.

The mowing robot determines the position of the mowing robot and performs path planning through a navigation positioning system when the mowing robot walks, the navigation positioning system comprises a signal receiving and transmitting device, a turntable motor and a signal reflecting device, the signal reflecting device is usually placed in advance in a working area of the robot, for example, the signal reflecting device can be a plurality of reflecting pieces, coordinates of the reflecting pieces in the working area of the mowing robot are known, the signal receiving and transmitting device is arranged in a body of the mowing robot, the signal receiving and transmitting device can be a light beam emitter and a light beam receiver, the turntable motor drives the signal receiving and transmitting device to horizontally emit a rotating scanning light beam to the outside at a certain angular speed of 360 degrees, and the reflecting pieces form a reflecting light beam parallel to the scanning light beam when the scanning light beam sweeps each preset reflecting piece. The beam receiver receives the reflected beam, and the mowing robot has an angle sensor capable of detecting the included angle between the scanning beam and the robot in the navigation direction. The control module of the mowing robot comprises a central processing unit and a navigation algorithm preset in a memory, and the central processing unit can calculate the coordinate of the current robot in the working area by using the known coordinates and the known included angle of the reflecting piece. The central processing unit continuously recalculates the current coordinates of the robot along with the navigation and the light beam scanning process of the robot. Meanwhile, the central processing unit can control the travelling path of the mowing robot or control the moving direction and speed of the mowing robot according to the current coordinates and a navigation algorithm preset in the memory.

The navigation and positioning system is only a preferred mode in this embodiment, and the mowing robot can also use other positioning systems, such as a GPS positioning system, a DGPS positioning system, and the like.

In this embodiment, the mowing robot further includes a protection mechanism, and fig. 1 to 5 show a first embodiment of the protection mechanism, and as shown in fig. 1, the protection mechanism includes protection pieces 50 disposed on two sides of the machine body, where two sides refer to two sides of the mowing robot along a forward direction of the mowing robot, and the two sides are located on the left and right sides of the mowing robot, that is, the protection pieces can at least partially separate a space communicating with the outside from two sides of the cutting mechanism, that is, the protection pieces may be plate-shaped, mesh-shaped, grid-shaped, and the like, which do not affect air circulation but can block foreign matters. Specifically, the guard 50 is disposed on either side of the chassis 12, and for example, the guard 50 is a baffle extending generally downward from the chassis 12 between the left front wheel 31a and the left rear wheel 31b, and the distance from the bottom of the guard 50 to the ground is less than the distance from the bottom of the cutting mechanism 22 to the ground.

Further, the guard 50 includes a cross plate 51 and a riser 52 connected together, wherein the cross plate 51 is configured as a baffle extending generally horizontally to the left from between the left front wheel 31a and the right rear wheel 31b by the chassis 12; the riser 52 is configured as a baffle extending generally vertically downwardly from the left side of the cross plate 51, wherein the width of the lower portion of the riser 52 is greater than the width of the upper portion, and the distance from the bottom of the riser 52 to the ground is less than the distance from the bottom of the cutting mechanism 22 to the ground. Preferably, the transverse plate 51 and the vertical plate 52 can be hinged in a unidirectional manner, i.e. the vertical plate 52 can only swing away from the cutting mechanism 22 relative to the initial position of the vertical plate 52, so that people and animals can be prevented from entering the cutting mechanism 22 from the side, and when one-side travelling wheel passes through the raised ground or stone, the distance between the lower part of the protective piece 50 and the ground can be increased through outward swinging, and then the protective piece can smoothly pass through the raised ground or stone without being blocked. Still further, a return spring may be provided between the cross plate 51 and the riser 52, the return spring providing an elastic force to the riser 52 for movement toward the cutting mechanism 22 toward the initial position, so that when the riser swings in a direction away from the cutting mechanism 22, a more reliable return can be achieved by the action of the return spring.

As shown in fig. 2 to 5, in another structural form of the guard member in the guard mechanism of the mowing robot of the present invention, the guard mechanism includes guard members 50a provided at both sides of a body, wherein the guard members 50a include a first guard plate 53 and a second guard plate 54 connected together. The first guard 53 includes a side plate 530 and end plates 531 provided at both ends of the side plate, the side plate 530 extending downward along the body 10, the side plate 530 being substantially parallel to the advancing direction of the mowing robot, the end plates 531 being substantially parallel to the tangential plane of the road wheels or the rotation axis of the road wheels. Wherein the side panel 530 includes a diagonal portion 532 adjacent the fuselage 10 and a straight portion 533 relatively remote from the fuselage, the diagonal portion 532 is pivotally mounted to the chassis 12, and the second guard 54 is pivotally mounted to the straight portion 533, and the straight portion 533 is flush with the second guard 54. Specifically, a first shaft 534 is provided at the upper end of the inclined portion 532, a first shaft hole 121 is provided in the chassis 12, and the first shaft 534 is mounted to the first shaft hole 121 so that the first guard 53 can rotate with respect to the chassis 12. The lower end of the straight portion 533 is provided with a second shaft 535, and the upper end of the second guard plate 54 is provided with a second shaft hole 541, so that the second guard plate 54 can rotate relative to the first guard plate 53 by matching the second shaft 535 with the second shaft hole 541.

Taking the left side as an example, the first shaft hole 121 is arranged on the outer surface of the chassis 11 or the chassis 12 between the left front wheel 31a and the left rear wheel 32a, an opening with the width slightly smaller than the diameter of the first shaft 534 is arranged below the first shaft hole 121, the left side wall of the opening abuts against the first guard plate 53 to limit the first guard plate, and the first shaft 534 is arranged in the first shaft hole 121 through the opening. A first spring 536 is provided between the first guard 53 and the housing 11 or chassis 12, the first spring 536 imparting a force to rotate the first guard 53 in a direction away from the housing 11 such that the diagonal portion 532 of the first guard 53 extends downwardly and to the left and the straight portion 533 extends generally vertically downwardly. The second shaft 535 is mounted in the second shaft hole 541, and a second spring 546 is provided between the first guard 53 and the second guard 54, and the second spring 546 applies a force to rotate the second guard 54 away from the housing 11, such that the bottom of the first guard 53 abuts against the top of the second guard 54 to limit the second guard 54 to extend generally vertically downward. When not subjected to external forces, i.e., in the initial position, the straight portion 533 of the first guard 53 and the second guard 54 are substantially flush with the outer edges of the road wheels.

Further, both the first spring 536 and the second spring 546 are torsion springs, and the first spring 536 has a stiffness greater than that of the second spring 546, and the second guard 54 rotates inwardly first and then the first guard 53 rotates inwardly when a person's hand/foot or animal attempts to enter the area of the cutting mechanism 22. Due to the action of the springs, people or animals feel resistance to give up entering, and meanwhile, external force can be buffered, so that the influence of the external force on the mowing robot is reduced.

In addition, the inclined portion 532 of the protection member 50a is provided with a distance sensing device 90 near the top end, when the protection member 50a touches an animal, a person or other objects affecting the normal operation of the machine, the swing amplitude of the second protection plate 54 exceeds the preset swing angle, so as to drive the first protection plate 53 to swing, and further trigger the distance sensing device 90, and the control module controls the mowing robot to stop. The distance sensing device ensures that the mowing robot is not damaged by accident when the protective structure is broken through. Specifically, the distance sensing device includes a switch and a triggering member, wherein the switch may be disposed on the chassis 12, a contact point of the switch corresponds to the first guard plate 53, the triggering member is disposed between the contact point of the switch and the first guard plate 53, and one end of the triggering member is connected to the contact point of the switch or the first guard plate 53. Preferably, the triggering element is designed as a spring, with which the switch can be protected from impact forces. Of course, the distance sensing device may also be a proximity switch or other device capable of converting a change in distance into a signal that can be processed by the control module.

As shown in fig. 6 to 11, in a second embodiment of the protection mechanism of the mowing robot according to the present invention, the protection mechanism includes a protection piece provided at a lower portion of the body, the protection piece being configured as a protection barrier 60 surrounding the mowing mechanism on three sides, not surrounding in a forward direction of the mowing robot. The guard shield 60 is fixedly mounted to the lower surface of the chassis 12, surrounding the cutting mechanism from both sides and behind. Specifically, the guard baffle 60 is configured as a baffle having a U-shaped cross section, and the guard baffle 60 includes an upper flange 61 and a lower flange 62, wherein the upper flange is turned outward, and the upper flange includes screw holes for connection with the chassis 12; the downward flanging is turned inwards. The guard shield 60 surrounds the cutting mechanism 22 on three sides to more closely prevent human or animal or other foreign matter from entering the working area of the cutting mechanism 22 from the sides and the back, from causing injury or damage to the mower robot.

As shown in fig. 9 to 11, another preferred embodiment of the guard includes a guard plate 60a disposed at a lower portion of the body, and the guard plate 60a is also a guard member surrounded by three sides, and differs from the guard plate 60 described above in that the guard plate 60a is mounted on the cutting mechanism 22, such as on the blade holder 221, so as to be capable of ascending, descending, or swinging in synchronization with the cutting mechanism 22. In this way, the cutting mechanism 22 is ensured not to be exposed outside the protective structure when ascending, descending or swinging, and the protective effect is enhanced.

As shown in fig. 12 to 14, in the third embodiment of the protection mechanism of the mowing robot according to the present invention, the protection mechanism further comprises a guard rail 70, wherein the guard rail 70 is substantially in a fence shape, is arranged in front of the cutting mechanism 22, is hinged at the front of the chassis 12 through a third shaft 701, and can swing around the third shaft 701 in the advancing/retreating direction of the mowing robot, that is, the protection member can at least partially isolate the space communicated with the outside at the front side of the cutting mechanism, so that the cut grass is not affected to enter the cutting area, and foreign matters can be effectively blocked. Further, a distance sensing device is provided on the guard rail 70, and the control module stops the mowing robot when the guard rail swings beyond a preset angle.

Referring to fig. 14 in combination with fig. 10, in another structural form of the rail guard of the mowing robot of the present invention, the rail guard 70a is divided into an upper section 71 and a lower section 72 by an upper section frame and a lower end frame, the upper section 71 is hinged with the chassis 12 by a fourth shaft 711, the lower section 72 is hinged with the upper section 71 by a fifth shaft 712, the upper section 71 is provided with a distance sensing device 90, and the lower section 72 is provided with a maximum swing angle. The lower section 72 does not trigger a stop when it swings slightly under the action of the grass to be trimmed; when the guard rail 70a touches an animal, a person or other objects affecting the normal operation of the machine, the swing amplitude of the lower section 72 exceeds the preset swing angle, and the upper section 71 is driven to swing, so that the distance sensing device is triggered, and the automatic control system stops the machine. The distance sensing device ensures that the mowing robot is not damaged by accident when the traditional protection structure is broken through. The front wing protection structure is hinged, so that entanglement and knotting of grass can be effectively prevented, and obstacles such as stones and uneven ground can be effectively eliminated.

In particular, the distance sensing device comprises a switch and a trigger. Wherein the switch is arranged on the chassis 12, the contact of the switch corresponds to the upper section 71 of the guard rail 70a, the trigger piece is arranged between the contact of the switch and the upper section 71 of the guard rail 70a, and one end of the trigger piece is connected with the contact of the switch or the upper section 71 of the guard rail 70 a. Further, the trigger member is configured as a spring, which can protect the switch from impact force. Of course, the distance sensing device may also be a proximity switch or other device capable of converting a change in distance into a signal that can be processed by the automatic control system.

As shown in fig. 15, in the fourth embodiment of the protection mechanism of the mowing robot according to the present invention, a front rail 80 is provided in front of the guard rail 70 a. The front guard rail 80 is fixedly installed at the front end of the chassis 12 or the housing 11, or is integrally formed with the chassis 12 or the housing 11. The front rail 80 has thicker and thinner comb teeth than the guard rails 70, 70a for preliminary carding of grass in the advancing direction of the robot, further preventing the grass from being entangled and knotted.

In the above embodiments, each embodiment may be used alone or in combination with a plurality of embodiments, for example, side guards of different structures may be combined with each other, and side guards of different structures may be combined with guard rails of different structures, so that the guard mechanism has various combinations. In addition, the distance sensing device is provided for protecting the human/animal from contacting the cutting mechanism, and other distance sensors or obstacle detection sensors may be provided on the body, so long as the body is at a certain distance from the obstacle, the sensor is triggered.

It should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is for clarity only, and that the skilled artisan should recognize that the embodiments may be combined as appropriate to form other embodiments that will be understood by those skilled in the art.

The above list of detailed descriptions is only specific to practical embodiments of the present invention, and they are not intended to limit the scope of the present invention, and all equivalent embodiments or modifications that do not depart from the spirit of the present invention should be included in the scope of the present invention.

Claims

1. A robot lawnmower, comprising: the machine body (10), install in the work module of fuselage (10), walking module and be used for coordinating the control module of work module and walking module, the work module is including setting up in cutting mechanism (22) of fuselage lower part, the walking module is including installing the walking wheelset and the drive on fuselage (10) the walking motor of walking wheelset, its characterized in that: the mowing robot further comprises a protection piece which is at least partially movably arranged on the machine body, the protection piece can at least partially separate the space around the cutting mechanism, which is communicated with the outside, a distance sensing device (90) is arranged between the protection piece and the machine body, the moving range of the protection piece exceeds a preset value, the distance sensing device is triggered, and the control module receives a trigger signal to control the mowing robot to stop;

The guard piece is constructed to be located guard rail in the place ahead of cutting mechanism, guard rail pivoted joint is in fuselage (10) and is constructed to the fence form, the guard rail includes upper segment (71) and hypomere (72) along vertical direction, upper segment (71) pivoted joint in the fuselage, hypomere (72) pivoted joint in upper segment (71), distance induction system (90) set up between upper segment (71) and fuselage (10), hypomere (72) pivoted range exceeds its preset rotation angle, drives upper segment (71) rotation, upper segment (71) pivoted range exceeds its preset rotation angle, triggers distance induction system.

2. The robot lawnmower of claim 1, wherein the running gear set comprises a front wheel and a rear wheel, the guard extending downwardly from the body (10) in a space between the front wheel and the rear wheel, a bottom of the guard being less than a bottom of the cutting mechanism (22) is less than a ground distance.

3. The robot lawnmower of claim 2, wherein the guard comprises a horizontal plate (51) extending horizontally to both sides of the machine body and a vertical plate (52) disposed perpendicular to the horizontal plate, a width of a lower portion of the vertical plate (52) is larger than a width of an upper portion of the vertical plate (52), the vertical plate (52) is unidirectionally hinged to the horizontal plate (51), the vertical plate (52) is allowed to rotate in a direction away from the cutting mechanism (22) with respect to an initial position of the vertical plate (52), and the vertical plate (52) is restricted from rotating in a direction toward the cutting mechanism (22), and the distance sensing device is disposed between the vertical plate and the machine body.

4. A robot lawnmower according to claim 3, characterized in that a return spring is arranged between the cross plate (51) and the riser (52), said return spring providing an elastic force of the riser movement in the direction of the cutting mechanism (22).

5. The robot lawnmower of claim 2, wherein the guard comprises a first guard (53) coupled to the fuselage and a second guard (54) coupled to the first guard (53), the second guard (54) having a lower portion that is wider than an upper portion of the second guard (54).

6. The robot lawnmower of claim 5, wherein end plates (531) are provided on both front and rear sides of the first guard plate (53) along the advancing direction of the robot, the end plates (531) being parallel to a tangential plane of the front or rear wheels.

7. The robot lawnmower of claim 5, wherein the first guard (53) comprises a bevel (532) adjacent to the fuselage and a straight portion (533) adjacent to the second guard (54), the straight portion (533) being flush with the second guard (54).

8. The robot lawnmower of claim 5, wherein the first guard (53) is pivotally mounted to the body and the second guard (54) is pivotally mounted to the first guard (53).

9. The robot lawnmower of claim 8, wherein the first guard (53) and the second guard (54) are allowed to rotate in a direction toward the cutting mechanism (22) relative to an initial position of the first guard (53) and the second guard (54), and the first guard (53) and the second guard (54) are restricted from rotating in a direction away from the cutting mechanism (22).

10. The robot lawnmower of claim 8, wherein a first spring (536) is disposed between the first guard (53) and the housing, the first spring providing an elastic force for movement of the first guard (53) in a direction away from the housing, and a second spring (546) is disposed between the first guard (53) and the second guard (54), the second spring providing an elastic force for movement of the second guard (54) in a direction away from the housing.

11. The robot lawnmower of claim 10, wherein the first spring and the second spring are torsion springs, and the stiffness of the first spring (536) is greater than the stiffness of the second spring (546).

12. The robot lawnmower of claim 8, wherein the distance sensing device (90) is disposed between the first guard plate (53) and the airframe, and the second guard plate (54) rotates by an amount exceeding a preset rotation angle thereof, so as to drive the first guard plate (53) to rotate, and the first guard plate (53) rotates by an amount exceeding the preset rotation angle thereof, so as to trigger the distance sensing device.

13. The robot lawnmower of claim 1, further comprising a front guard rail (80) disposed on the body and located before the guard rail, the front guard rail (80) being configured in a fence shape, a comb tooth density of the front guard rail (80) being smaller than a comb tooth density of the guard rail, a width of each comb tooth of the front guard rail (80) being larger than a width of each comb tooth of the guard rail.

14. The robot lawnmower of claim 1, further comprising a front rail (80) positioned in front of the cutting mechanism, the front rail (80) fixedly connected to the body and configured in a fence-like manner.

15. The robot lawnmower of claim 1, wherein the distance sensing device comprises a switch and a trigger member, the switch is disposed on the body, a contact of the switch corresponds to the guard member, the trigger member is disposed between the contact of the switch and the guard member, and one end of the trigger member is connected to the contact of the switch or the guard member.

16. The robot lawnmower of claim 1, further comprising a protective barrier disposed around the cutting mechanism, the protective barrier forming a three-sided enclosure for the cutting mechanism from both sides and behind of the cutting mechanism (22) along the direction of advance of the robot lawnmower.

17. The robot lawnmower of claim 16, wherein the protective barrier comprises an upturned edge (61) and a downturned edge (62) at upper and lower ends thereof, the upturned edge (61) being turned outwardly relative to the cutting mechanism (22), the downturned edge (62) being turned inwardly relative to the cutting mechanism (22), the protective barrier being fixedly mounted to the lower surface of the airframe (10) by the upturned edge (61).

18. The robot lawnmower of claim 16, wherein the guard shield is mounted to the cutting mechanism (22), the guard shield being adjustable with the position of the cutting mechanism (22) relative to the body (10).