Autonomous mobile green ground working robot
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- ANDREAS STIHL AG & CO KG
- Filing Date
- 2021-12-17
- Publication Date
- 2026-06-16
AI Technical Summary
Existing greening ground operation robots lack a coupled design for tool height and protection height adjustment, resulting in low operation efficiency and insufficient safety, and are unable to adapt to the needs of different ground conditions.
By designing an autonomous mobile greening ground operation robot, an adjustable working tool and protective device are adopted to achieve coupled adjustment of tool height and protective height. This allows the tool height and protective height to vary within the adjustment range, ensuring that the distance between the working tool and the protective device is variable and adaptable to different ground conditions.
It improves the user-friendliness and reliability of greening ground operation robots, ensures effective protection of tools and efficient operation under different ground conditions, simplifies the robot's structural design and reduces costs.
Smart Images
Figure CN114642110B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to an autonomous, mobile robot for landscaping operations. Summary of the Invention
[0002] The objective of this invention is to provide an autonomous mobile greening ground operation robot with improved characteristics.
[0003] This invention solves this task by providing an autonomous, mobile greening ground operation robot according to the invention. Advantageous improvements and / or designs of the invention are described in other parts of this disclosure.
[0004] The autonomous mobile greening robot according to the invention, particularly electrically powered, includes or has, particularly mechanical, working tools, particularly mechanical protective devices, and particularly mechanical height adjustment devices. The tool height, particularly the value of the tool height, is adjustable. The protective devices are constructed or configured to, particularly mechanically, protect against, particularly human or animal, intrusion into the working tools. The protective height of the protective devices, particularly the value of the protective height, is adjustable. The height adjustment device is constructed or configured to adjust the tool height and the protective height in a coupled manner, particularly simultaneously, such that the tool height adjustment value, particularly spatial, and the protective height adjustment value, particularly spatial, are different, particularly not of different magnitudes, especially in at least one segment of the corresponding spatial adjustment ranges of the tool height and the protective height. Additionally, the height adjustment device is constructed or configured to, for the coupled adjustment of the tool height and the protective height, such that the spacing, particularly the spacing value, or the distance or interval between the working tools and the protective devices is changed or altered.
[0005] The tool height of the work tool can be adjusted to achieve the desired height of the plant, especially the ground to be worked on.
[0006] The adjustment of the protective height of the protective device enables the adaptation of the protective device to the working tool, especially the tool height, and / or the protection achieved by the protective device to the working tool, especially the tool height.
[0007] The tool height and protection height are coupled and adjusted to each other, enabling the greening operation robot to be user-friendly and / or relatively reliable, especially in contrast to greening operation robots not based on the present invention that do not have the coupling and adjustment of tool height and protection height.
[0008] The tool height adjustment value and the protection height adjustment value are different, or different height adjustments achieve optimized adaptation between the protection device and the working tool and optimized protection achieved by the protection device, which is particularly different from adjustments not based on the invention, i.e., the tool height adjustment value and the protection height adjustment value are not different or the same. In particular, the same adjustment in the case of a low, small, or deep tool height position can result in a protection height that is too low, too small, or too deep, and thus negatively affect the operation by means of the working tool, and / or, the same adjustment in the case of a large or high tool height position can result in a protection height that is too large or too high, and thus negatively affect the protection provided by the protection device.
[0009] The change in the spacing between the working tools and the protective devices enables the construction or structure of the greening ground operation robot to be simple and thus cost-effective.
[0010] In particular, an autonomous mobile landscaping robot can be defined as follows: the landscaping robot can be configured to move independently, automatically, self-determiningly, self-controlledly, self-guidedly, and / or independently of the user, especially on a pre-set and / or restricted surface, and / or independently, automatically, self-determiningly, self-controlledly, self-guidedly, and / or independently of the user, to perform work, especially on the surface, especially to begin and / or end work, or to begin and / or end work, especially with the aid of a work tool. Additionally or alternatively, the landscaping robot can be a gardening implement.
[0011] The ground can be, for example, free ground, especially unenclosed land, or green ground, such as a lawn.
[0012] The working tool can be configured for use on the working surface, especially for planting vegetation. Alternatively or additionally, the working tool can have a cutting tool, and in particular, the working tool can be a cutting tool. Specifically, the tool height can be the cutting height of the cutting tool.
[0013] Greening ground operation robots can have tool drive motors for driving the work tools. In particular, the motor height of the tool drive motor can be adjustable, especially in a fixed coupling with the tool height of the work tool.
[0014] The tool height is adjustable within a range of 0 cm, particularly 2 cm to 20 cm, particularly 15 cm, and particularly 10 cm, and / or adjustable in at least three steps or steplessly. Additionally or alternatively, the tool height can be the height of the lower edge of the working tool.
[0015] The protection height can be adjusted within a range of 1 cm, particularly 3 cm to 14 cm, especially 9 cm, and / or can be adjusted in at least three levels or steplessly. Additionally or alternatively, the protection height can be the height of the lower edge of the protection device.
[0016] The tool height adjustment value and the guard height adjustment value may differ by at least 1 cm, especially at least 2 cm, especially at least 5 cm, and / or by at least 10% (percentage), especially at least 20%, especially at least 50%. Additionally or alternatively, the tool height adjustment value and the guard height adjustment value need not or cannot be the same, especially not proportional to each other.
[0017] The spacing may be the distance between one end of the working tool, especially the lower edge, and the nearest end of the protective device, especially the lower edge. Additionally or alternatively, the spacing may be the length of the shortest connection between the working tool, especially the end of the working tool and / or the lower edge of the working tool, and the protective device, especially the end of the protective device and / or the lower edge of the protective device.
[0018] In particular, the corresponding lower edge can be closest to the driving plane of the greening operation robot.
[0019] In one improved embodiment of the invention, the landscaping robot defines or has a travel plane, particularly a horizontal one. The tool height and protection height are located above the travel plane, particularly in a direction orthogonal to it. Specifically, the landscaping robot may have running wheels for enabling movement of the robot, particularly on the ground, or for the movement of the robot, particularly on the ground, wherein the running wheels may define the travel plane.
[0020] In one improved embodiment of the invention, the height adjustment device is constructed or configured such that the tool height adjustment value is greater than the protection height adjustment value. This achieves a particularly optimized fit between the protection device and the working tool, and a particularly optimized protection provided by the protection device.
[0021] In one improved embodiment of the invention, the protective device is arranged, particularly horizontally, in front of the working tool, from the front of the landscaping robot toward the tail. This provides protection against intrusion into the working tool, especially during the primary forward movement of the landscaping robot. In particular, the landscaping robot may have drive wheels for driving the robot, particularly on the ground, wherein the drive wheels can be arranged closer to the tail, particularly in the area of the tail, compared to the front.
[0022] In one improved embodiment of the invention, the landscaping robot defines or has, in particular, a horizontal travel plane. The working tool is constructed or configured for movement, in particular rotation or turning, generally, in particular precisely parallel to the travel plane. This enables the working on the ground, especially on vegetation, using a so-called free-cutting method without reverse cutting sections. Specifically, the landscaping robot may have running wheels for movement on the ground, particularly for movement on the ground, wherein the running wheels may define the travel plane. Additionally or alternatively, the axis of rotation of the working tool may be generally orthogonal to the travel plane. Further additionally or alternatively, "generally parallel" may mean a deviation of a maximum of 10°, particularly a maximum of 5°, particularly a maximum of 3°, particularly an angular deviation, and / or, "generally orthogonal" may mean a deviation of a minimum of 80°, particularly a minimum of 85°, particularly a minimum of 87°, particularly an angular deviation. Further additionally or alternatively, the spacing may be the spacing between the working tool and the protective device in the nearest and / or foremost movement position, particularly the rotation position.
[0023] In one improvement of the invention, the working tool includes or has a lawn mowing tool, particularly a lawn mowing tool. The tool height is the mowing height of the lawn mowing tool. The coupled adjustment of the tool height and the guard height in the form of the mowing height (wherein the tool height adjustment value and the guard height adjustment value are different) enables optimized mowing of plants, especially grasslands, particularly grasslands of the southern states of the United States of America (such as, for example, St. Augustine and the adjacent foothills). In particular, simple supply or access of plants to the lawn mowing tool can be achieved at large or high mowing heights and / or sufficient ground clearance can be achieved at low or small or deep mowing heights, especially ground clearance relative to runners, and particularly to avoid downward pressure. Additionally or alternatively, the plant height can be the lawn height. Further additionally or alternatively, the greening ground working robot can be a lawn mowing robot, especially a ground cover mowing robot (Mulchmähroboter). Further additionally or alternatively, the lawn mowing tool can be configured for mowing the ground, especially plants, particularly grasses. Further or alternatively, the lawn mowing tool may have or include at least one trimming line, at least one plastic blade, at least one metal blade and / or metal cutting disc with at least one cutting edge and / or at least one cutting tooth.
[0024] In one improved embodiment of the invention, the protective device includes or has an open comb-like portion (Kamm), oriented particularly downwards, particularly towards the driving plane, particularly vertically, and / or downwards, particularly towards the driving plane. The protective height is the height of the comb-like portion, particularly the height of the lower edge of the comb-like portion. This achieves good protection against intrusion into the working tool, particularly by humans or animals, and / or ensures good supply or access of the plant to the working tool and / or ensures the erection of the plant and thus good operation of the plant or good operation of the plant. In particular, the comb-like portion can be an intrusion-proof protective comb-like portion and / or a drive comb-like portion and / or a lawn comb-like portion or a grass comb-like portion. Additionally or alternatively, the comb-like portion can have comb teeth or ribs, particularly parallel to each other, particularly wherein the comb teeth can be oriented downwards. In particular, the height of the comb-like portion can be the height of the comb teeth, particularly the height of the lower comb tooth end of the comb teeth, and / or the lower edge of the comb-like portion can be defined by the comb tooth end, particularly the lower comb tooth end. Further, or alternatively, the spacing may be the spacing between the working tool and the comb-like portion, especially its lower edge. Further, or alternatively, the comb-like portion may be generally, especially precisely, oriented from the right side of the landscaping robot, especially from its right side, to the left, especially towards the left, or orthogonal to the direction from the front of the landscaping robot towards its tail.
[0025] In one improvement of the invention, the height adjustment device includes or has a height adjustment coupling mechanism. The height adjustment coupling mechanism is constructed or configured for the mechanical coupling, particularly direct coupling, of the working tool and protective device, especially to each other, for the coupled adjustment of the tool height and the protective height. This enables the greening ground operation robot to be constructed or designed particularly reliably and / or simply and thus cost-effectively.
[0026] In one embodiment of the invention, the height adjustment coupling mechanism includes or has at least one, particularly unilateral or bilateral, lever for coupling adjustment of the tool height and the protection height. The landscaping robot includes or has a working tool device. The working tool device includes or has a working tool. The working tool device is mechanically coupled directly to the lever, particularly the at least one lever, when its rotation axis is a distance of a tool spacing value from the lever's axis of rotation. The protection device is mechanically coupled directly to the lever, particularly the at least one lever, when its rotation axis is a distance of a protection spacing value from the lever's axis of rotation. The tool spacing value and the protection spacing value are different. This achieves simple mechanical coupling or transmission. In particular, the rotation axis can be generally, particularly accurately, parallel to, particularly horizontal, a travel plane, particularly arranged or oriented. Additionally or alternatively, the rotation axis can be generally, particularly accurately, from the right side of the landscaping robot, particularly from its right side, to the left, particularly towards the left, or orthogonal to a direction from the front to the rear of the landscaping robot, particularly arranged or oriented. Further additionally or alternatively, the tool spacing value can be greater than the protection spacing value.
[0027] In one embodiment of the invention, a landscaping robot includes or has a working tool device, particularly the working tool device. The working tool device includes or has a working tool. The height adjustment coupling mechanism includes or has a tool guide slide for coupled adjustment of the tool height and the protection height, particularly at least one tool guide slide and a protection guide slide, particularly at least one protection guide slide. The tool guide slide, particularly the at least one tool guide slide and the protection guide slide, particularly the at least one protection guide slide, are constructed or configured for coupled, particularly parallel and / or directly adjusting, particularly moving, relative to the working tool device and the protection device, particularly with the same guide slide adjustment value, along or along at least one, particularly the same, guide direction that is not parallel to the adjustment of the tool height and the protection height, particularly orthogonal to it. The tool guide chute, especially the at least one tool guide chute, is constructed or configured for guiding, especially adjusting, working tool devices and / or by means of working tool devices (especially the adjustment of working tool devices), and has or includes a tool guide extension, especially at least one tool guide extension, having at least one section inclined to the adjustment and guiding direction of the tool height. The protective guide chute, especially the at least one protective guide chute, is constructed or configured for guiding, especially directly and / or mechanically, adjusting protective devices and / or by means of protective devices (especially the adjustment of protective devices), and has or includes a protective guide extension, especially at least one protective guide extension, having at least one section inclined to the adjustment and guiding direction of the protective height. The tool guide extension, especially the at least one tool guide extension, and the protective guide extension, especially the at least one protective guide extension, differ in at least one section of their respective extension ranges, especially in terms of size, height, or length. This achieves complex mechanical coupling or transmission. In particular, the guiding direction can be generally, especially precisely, parallel to the particularly horizontal travel plane, and can be arranged generally, especially precisely, parallel to the particularly horizontal travel plane. Additionally or alternatively, the guiding direction can be generally, especially precisely, parallel to the particularly horizontal direction from the front to the rear of the greening robot, and can be arranged generally, especially precisely, parallel to the particularly horizontal direction from the front to the rear of the greening robot. Further additionally or alternatively, the tool guide chute and / or the protective guide chute can, in particular, have slits, bridging sections (Stegs), or grooves, respectively.
[0028] In one embodiment of the invention, the tool guide groove and the protective guide groove are fixedly arranged together. In particular, the height adjustment coupling mechanism includes or has a plate, especially at least one plate. The plate has or has a tool guide groove and a protective guide groove. Additionally or alternatively, the tool guide extension and the protective guide extension are located in the same extension plane, especially arranged in the same extension plane. In particular, the extension plane may be the plate plane of the plate.
[0029] In one improved embodiment of the invention, the height adjustment coupling mechanism includes or has a driving member, particularly at least one driving member, and an adjustment limiting member, particularly at least one adjustment limiting member, particularly the driving limiting member, for coupled adjustment of the tool height and the protective height. The driving member, particularly the at least one driving member, is configured or configured to, in the case of adjustment of the tool height of the working tool, particularly directly and / or mechanically actuate the protective device for adjusting the protective height. The adjustment limiting member, particularly the at least one adjustment limiting member, is configured or configured to, particularly directly and / or mechanically limit the adjustment of the protective height, particularly to only one, particularly the section of the adjustment range, particularly the adjustment range of the tool height. Alternatively, the driving member, particularly the at least one driving member, is configured or configured to, in the case of adjustment of the protective height of the protective device, particularly directly and / or mechanically actuate the working tool for adjusting the tool height. The adjustment limiting member, particularly the at least one adjustment limiting member, is configured or configured to, particularly directly and / or mechanically limit the adjustment of the tool height, particularly to only one, particularly the section of the adjustment range, particularly the adjustment range of the protective height. This enables simple mechanical coupling or transmission.
[0030] In one improved embodiment of the invention, the landscaping robot defines or has a travel plane, particularly the aforementioned and / or horizontal travel plane. The working tools and protective devices are generally, particularly precisely, supported or arranged fixedly to each other parallel to the travel plane. This achieves simplicity in the construction or structure of the landscaping robot and thus affordability, and / or allows for variation in the distance between the working tools and protective devices, particularly by means that the tool height adjustment value and the protective device height adjustment value are different. In particular, the landscaping robot may have running wheels for moving the robot, particularly on the ground, wherein the running wheels may define the travel plane. Additionally or alternatively, "generally parallel" may indicate a deviation of a maximum of 10°, particularly a maximum of 5°, particularly a maximum of 3°, especially an angular deviation.
[0031] In one improvement of the invention, the height adjustment device includes or has a user-operable operating element for coupled adjustment of the tool height and the guard height. Additionally or alternatively, the height adjustment device includes or has at least one, especially only one, especially a single and / or electrical motor for coupled adjustment of the tool height and the guard height. In particular, the operating element or motor may be configured for mechanical coupling with the working tool, especially the working tool assembly, the guard device, and / or the height adjustment coupling mechanism, especially being mechanically coupled thereto. Additionally or alternatively, the height adjustment device may have two motors for coupled adjustment of the tool height and the guard height and has an electrical, especially electronic, control device. In particular, one of the motors may be configured for mechanical coupling with the working tool, especially being mechanically coupled thereto, and the other motor may be configured for mechanical coupling with the guard device, especially being mechanically coupled thereto. Further additionally or alternatively, the control device may be configured for controlling the motors, especially electrically coupled, especially simultaneously. Further, or alternatively, the height adjustment device may have, in particular, an electrical, user-operable input device for inputting tool height and / or safety height and / or parameters corresponding to tool height and / or safety height, and / or, in particular, an electrical and / or wireless receiving device for receiving tool height and / or safety height and / or parameters corresponding to tool height and / or safety height. In particular, the at least one motor may be configured for coupled adjustment of the tool height and safety height according to the input and / or received parameters. Attached Figure Description
[0032] Other advantages and aspects of the invention will become apparent from the claims and from the following description of embodiments of the invention, illustrated by means of the accompanying drawings. Hereinafter:
[0033] Figure 1 A perspective view of an autonomous mobile greening ground operation robot according to the present invention is shown, which has an operation tool, a protective device, and a height adjustment device for coupling adjustment of the tool height of the operation tool and the protective height of the protective device;
[0034] Figure 2 A schematic cross-sectional side view of a greening ground operation robot with different tool heights and different protection heights is shown;
[0035] Figure 3 A schematic side view showing the working tool, protective device, and height adjustment device in a low position, having a lever for coupled adjustment of the tool height and protective height.
[0036] Figure 4 The work tools, protective devices, and the equipment in a roughly central position are shown. Figure 3Another schematic side view of the height adjustment device;
[0037] Figure 5 Showing the working tools, protective devices, and those in high positions Figure 3 Another schematic side view of the height adjustment device.
[0038] Figure 6 Showing the Figure 3 A schematic top view of the height adjustment device;
[0039] Figure 7 A schematic side view showing a working tool, a protective device, and a height adjustment device for a tool guide chute and a protective guide chute, both in a low position, with the tool height and protective height coupled to each other.
[0040] Figure 8 The work tools, protective devices, and the equipment in a roughly central position are shown. Figure 7 Another schematic side view of the height adjustment device;
[0041] Figure 9 Showing the working tools, protective devices, and those in high positions Figure 7 Another schematic side view of the height adjustment device;
[0042] Figure 10 Showing the Figure 7 A schematic top view of the height adjustment device; and
[0043] Figure 11 A schematic side view showing a working tool, a protective device, and a height adjustment device with a drive for coupled adjustment of the tool height and the protective height. Detailed Implementation
[0044] Figure 1 and 2 An autonomous mobile landscaping robot 1 according to the present invention is shown. The landscaping robot 1 has working tools 2, a protective device 3, and a height adjustment device 4, such as... Figures 3 to 6As shown in Figures 7 to 10 and 11. The tool height 2H of the working tool 2 is adjustable, in particular, is adjusted. The protective device 3 is configured to protect against intrusion into the working tool 2, in particular, is protected against intrusion into the working tool. The protective height 3H of the protective device 3 is adjustable, in particular, is adjusted. The height adjustment device 4 is configured so that the tool height adjustment value 2HW for adjusting the tool height 2H and the protective height adjustment value 3HW for adjusting the protective height 3H are different, and the distance A23 between the working tool 2 and the protective device 3 changes.
[0045] In detail, the greening ground operation robot 1 has a horizontal travel plane FE in the illustrated embodiment.
[0046] like Figure 1 As shown, the greening operation robot 1 has, in particular, four running wheels for moving the greening operation robot 1, wherein the running wheels define a travel plane FE.
[0047] Furthermore, in the illustrated embodiment, the tool height 2H and the protection height 3H are located above the travel plane FE in a direction z orthogonal to the travel plane FE, particularly vertically.
[0048] Furthermore, the height adjustment device 4 is constructed such that the tool height adjustment value 2HW is greater than the protection height adjustment value 3HW.
[0049] Furthermore, in the illustrated embodiment, the protective device 3 is arranged in front of the working tool 2 in a particularly horizontal direction x, from the front of the greening operation robot 1 toward the tail.
[0050] like Figure 1 As shown, the greening operation robot 1 has, in particular, two drive wheels for driving the greening operation robot 1, especially running wheels, wherein the drive wheels are arranged closer to the tail compared to the front.
[0051] like Figure 1 and 2 As shown, the landscaping robot 1 has a front volume, which is arranged in front of, to the right of, and to the left of the protective device 3 and the working tool 2, and is particularly non-height adjustable. Furthermore, the landscaping robot 1 has a rear volume, or a diffuser, a ramp, or other protective device, which in particular has a rear comb-like section, which is arranged behind, to the right of, and to the left of the working tool 2, and is particularly non-height adjustable. Additionally, running wheels are arranged in front of, behind, to the right of, and to the left of the working tool 2. Specifically, drive wheels are arranged to the right of and to the left of the working tool 2.
[0052] Furthermore, the working tool 2 is configured to move generally parallel to the travel plane FE, and in the illustrated embodiment, to rotate, especially to move generally parallel to the travel plane FE, especially to rotate.
[0053] In addition, the working tool 2 has a lawn mowing tool 2'. The tool height 2H is the mowing height 2'H of the lawn mowing tool 2'.
[0054] Furthermore, the protective device 3 has a comb-shaped portion 3' that is oriented downwards and / or open downwards in the illustrated embodiment. The protective height 3H is the comb-shaped portion height 3'H of the comb-shaped portion 3', and in particular the comb-shaped portion height of the lower edge 3U of the comb-shaped portion.
[0055] In addition, the working tool 2 and the protective device 3 are supported roughly parallel to the travel plane FE or fixedly to each other along the direction x.
[0056] In the illustrated embodiment, the landscaping robot 1 has a support frame, particularly a travel frame or base frame, or chassis. The working tools 2 and protective devices 3 are arranged on the support frame and fixedly supported to each other via the support frame, particularly generally parallel to the travel plane FE or along the direction x. In particular, the running wheels are arranged on the support frame.
[0057] In addition, the height adjustment device 4 has a user-operable operating element 11 for the coupled adjustment of the tool height 2H and the protection height 3H.
[0058] In an alternative embodiment, the height adjustment device may additionally or alternatively have at least one motor for coupled adjustment of the tool height and the protection height.
[0059] In the illustrated embodiment, the operating element 11 is configured for mechanical coupling with the working tool 2 and thus the protective device 3, particularly with the working tool and thus the protective device.
[0060] Furthermore, the height adjustment device 4 has a height adjustment coupling mechanism 4'. The height adjustment coupling mechanism 4' is configured for mechanical coupling of the working tool 2 and the protective device 3 for the coupled adjustment of the tool height 2H and the protective height 3H, in particular for mechanically coupling the working tool and the protective device and for coupling the tool height and the protective height to each other.
[0061] In the illustrated embodiment, the height adjustment coupling mechanism 4' is arranged at the bracket.
[0062] exist Figures 3 to 6In the illustrated embodiment, the height adjustment coupling mechanism 4' has a lever 5, particularly on one side, for coupling adjustment of the tool height 2H and the protection height 3H to each other. In an alternative embodiment, the height adjustment coupling mechanism may have levers on both sides for coupling adjustment of the tool height and the protection height to each other. The landscaping robot 1 has a working tool device 2''. The working tool device 2'' has a working tool 2. The working tool device 2'' is mechanically coupled to the lever 5 at a distance of tool spacing value A25W from the rotation axis A5, which is horizontal and / or parallel to the travel plane FE in the illustrated embodiment. The protection device 3 is mechanically coupled to the lever 5 at a distance of protection spacing value A35W from the rotation axis A5. The tool spacing value A25W and the protection spacing value A35W are different.
[0063] In the illustrated embodiment, the tool spacing value A25W is greater than the protection spacing value A35W.
[0064] Furthermore, lever 5, especially the rotation axis A5, is arranged at the bracket and is supported at the bracket.
[0065] Furthermore, the working tool device 2'' is arranged on the support, and in particular supported on the support.
[0066] Specifically, the operation of the operating element 11 causes the tool height 2H to be adjusted, from Figure 3 Medium to low tool heights, especially 1.5 inches or 2.5 cm, after... Figure 4 The tool height should be roughly in the middle, especially 2.5 inches or 6.4 cm, until... Figure 5 Medium to large tool heights, especially 4 inches or 10.2 cm. Adjusting the tool height 2H causes the lever 5 to rotate. Rotation of lever 5 causes the guard height 3H to be adjusted. Figure 3 Low to medium protection height, especially the 3.3cm protection height, after Figure 4 The protection height is roughly in the middle, especially the 4.7cm protection height, until... Figure 5 The protection height of Zhongda, especially the 6.0cm protection height.
[0067] exist Figures 7 to 10In the illustrated embodiment, the landscaping robot 1 has a working tool device 2''. The working tool device 2'' has a working tool 2. The height adjustment coupling mechanism 4' has a tool guide groove 6 and a protection guide groove 7 for the coupled adjustment of the tool height 2H and the protection height 3H. The tool guide slide 6 and the protective guide slide 7 are constructed for adjusting, moving, and especially moving, in particular with the same guide slide adjustment value 67W, relative to the working tool device 2'' and the protective device 3, along at least one, especially the same, guide direction x that is not parallel to the adjustment of the tool height 2H and the protective height 3H, and especially in parallel. The tool guide chute 6 is configured to guide the working tool device 2'' and / or be guided by the working tool device 2'', and has a tool guide extension 6V having at least one section inclined in the adjustment and guidance direction x of the tool height 2H. The protective guide chute 7 is configured to guide the protective device 3 and / or be guided by the protective device 3, and has a protective guide extension 7V having at least one section inclined in the adjustment and guidance direction x of the protective height 3H. The tool guide extension 6V and the protective guide extension 7V are different.
[0068] In the illustrated embodiment, the tool guide extension 6V is greater than the protective guide extension 7V.
[0069] In detail, the tool guide slide 6 and the protective guide slide 7 are arranged fixedly to each other. In the illustrated embodiment, the height adjustment coupling mechanism 4' has a plate 8. The plate 8 has the tool guide slide 6 and the protective guide slide 7.
[0070] Alternatively or additionally, the tool guide extension 6V and the protective guide extension 7V are located in the same extension plane 67VE.
[0071] In the illustrated embodiment, the extension plane 67VE is the plate plane of plate 8.
[0072] In addition, plate 8 is arranged at the bracket, and in particular supported at the bracket.
[0073] Furthermore, the working tool device 2'' is arranged on the support, and in particular supported on the support.
[0074] Specifically, the operation of the operating element 11 causes the tool height 2H to be adjusted, from Figure 7 Low to medium tool height, especially 1.5 inches or 2.5 centimeters, after Figure 8 The tool height should be roughly in the middle, especially 2.5 inches or 6.4 cm, until... Figure 9 Medium to large tool heights, especially 4 inches or 10.2 cm. Adjusting the tool height 2H causes the tool guide slide 6, especially the plate 8, to be adjusted, and especially moved, along the guide direction x. Adjusting the tool guide slide 6 causes the protective guide slide 7 to be adjusted, and especially moved, along the guide direction x. Adjusting the protective guide slide 7 causes the protective height 3H to be adjusted from... Figure 7 Low to medium protection height, especially the 3.3cm protection height, after Figure 8 The protection height is roughly in the middle, especially the 4.7cm protection height, until... Figure 9 The protection height of Zhongda, especially the 6.0cm protection height.
[0075] exist Figure 11 In the embodiment shown, the height adjustment coupling mechanism 4' has a drive 9 and an adjustment limit 10 for the coupled adjustment of the tool height 2H and the protection height 3H to each other.
[0076] In the illustrated embodiment, the actuating member 9 is configured to actuate the protective device 3 when the tool height 2H of the working tool 2 is adjusted, particularly when the tool height of the working tool is adjusted, to actuate the protective device for adjusting the protective height 3H. The adjusting limiting member 10 is configured to limit the adjustment of the protective height 3H to, in particular, to a section of the adjustment range of the tool height 2H.
[0077] In an alternative embodiment, the drive member can be configured to drive the working tool in the event of adjustment of the protection height of the protective device, particularly for the purpose of adjusting the tool height. The adjustment limit member can be configured to restrict the adjustment of the tool height to, particularly to, a segment of the adjustment range of the protection height adjustment.
[0078] In the illustrated embodiment, the landscaping robot 1 has a working tool device 2''. The working tool device 2'' has a working tool 2.
[0079] Furthermore, the working tool device 2'' is configured to drive the drive component 9, especially the drive component.
[0080] Furthermore, the working tool device 2'' is arranged on the support, and in particular supported on the support.
[0081] In addition, the adjustment limiter 10 is specifically fixedly arranged at the bracket.
[0082] In detail, the operation of the operating element 11 causes adjustment of the tool height 2H. The adjustment of the tool height 2H causes adjustment of the drive element 9, specifically its actuation. The adjustment of the drive element 9 causes actuation of the protection device 3, and thereby causes adjustment of the protection height 3H. The adjustment limiting element 10 restricts the adjustment of the protection height 3H of the protection device 3 to a segment of the adjustment range of the tool height 2H.
[0083] In the illustrated embodiment, the adjusting limiter 10 has a spring, and in particular, the adjusting limiter is said spring. In an alternative embodiment, the adjusting limiter may additionally or alternatively be at least partially formed by a bracket.
[0084] As illustrated in the embodiments described above, the present invention provides an advantageous autonomous mobile greening operation robot with improved characteristics.
Claims
1. An autonomous mobile greening ground operation robot (1), wherein, The greening ground operation robot (1) has: -Working tool (2), wherein the tool height (2H) of the working tool (2) is adjustable; - A protective device (3), wherein the protective device (3) is configured to protect against intrusion into the working tool (2), and wherein the protection height (3H) of the protective device (3) is adjustable; and - Height adjustment device (4), wherein the height adjustment device (4) is configured for the coupled adjustment of the tool height (2H) and the protection height (3H) such that the tool height adjustment value (2HW) for adjusting the tool height (2H) and the protection height adjustment value (3HW) for adjusting the protection height (3H) are different, and the distance (A23) between the working tool (2) and the protection device (3) changes.
2. The greening ground operation robot (1) according to claim 1, -in, The greening ground operation robot (1) has a driving plane (FE), and -The tool height (2H) and the protection height (3H) are located above the travel plane (FE).
3. The greening ground operation robot (1) according to claim 1, -in, The height adjustment device (4) is configured such that the tool height adjustment value (2HW) is greater than the protection height adjustment value (3HW).
4. The greening ground operation robot (1) according to claim 1, -in, The protective device (3) is arranged in front of the working tool (2).
5. The greening ground operation robot (1) according to any one of claims 1 to 4, -in, The greening ground operation robot (1) has a driving plane (FE), and -The working tool (2) is configured to move parallel to the travel plane (FE).
6. The greening ground operation robot (1) according to any one of claims 1 to 4, -The working tool (2) includes a lawn mowing tool (2'). -in, The tool height (2H) is the trimming height (2'H) of the lawn mowing tool (2').
7. The greening ground operation robot (1) according to any one of claims 1 to 4, -in, The protective device (3) has a comb-shaped portion (3'), and - Wherein, the protection height (3H) is the comb height (3'H) of the comb-shaped portion (3').
8. The greening ground operation robot (1) according to any one of claims 1 to 4, -in, The height adjustment device (4) has a height adjustment coupling mechanism (4'), wherein the height adjustment coupling mechanism (4') is configured for mechanical coupling of the working tool (2) and the protective device (3) for the coupled adjustment of the tool height (2H) and the protective height (3H) to each other.
9. The greening ground operation robot (1) according to claim 8, -in, The height adjustment coupling mechanism (4') has a lever (5) for the coupled adjustment of the tool height (2H) and the protection height (3H) to each other. -The greening ground operation robot (1) has an operation tool device (2''), wherein the operation tool device (2'') has the operation tool (2), and wherein the operation tool device (2'') is mechanically coupled to the lever (5) at a distance of tool spacing value (A25W) from the rotation axis (A5) of the lever (5). -The protective device (3) is mechanically coupled to the lever (5) at a distance of a protective gap value (A35W) from the rotation axis (A5), and -The tool spacing value (A25W) and the protection spacing value (A35W) are different.
10. The greening ground operation robot (1) according to claim 8, -in, The greening ground operation robot (1) has an operation tool device (2''), wherein the operation tool device (2'') has the operation tool (2), -The height adjustment coupling mechanism (4') has a tool guide groove (6) and a protection guide groove (7) for the coupled adjustment of the tool height (2H) and the protection height (3H) to each other, wherein the tool guide groove (6) and the protection guide groove (7) are configured to be coupled to each other along at least one guide direction (x) that is not parallel to the adjustment of the tool height (2H) and the protection height (3H) relative to the working tool device (2'') and the protection device (3). -The tool guide chute (6) is configured to guide the working tool device (2'') and / or is constructed by the working tool device and has a tool guide extension (6V), the tool guide extension having at least one section inclined to the tool height (2H) and the guide direction (x). -The protective guide groove (7) is configured to guide the protective device (3) and / or is constructed through the protective device and has a protective guide extension (7V), the protective guide extension having at least one section inclined to the adjustment of the protective height (3H) and the guiding direction (x), and -The tool guide extension (6V) and the protective guide extension (7V) are different.
11. The greening ground operation robot (1) according to claim 10, -in, The tool guide groove (6) and the protective guide groove (7) are fixedly arranged to each other, and / or -The tool guide extension (6V) and the protective guide extension (7V) are located in the same extension plane (67VE).
12. The greening ground operation robot (1) according to any one of claims 9 to 11, -in, The height adjustment coupling mechanism (4') has a drive (9) and an adjustment limit (10) for the coupled adjustment of the tool height (2H) and the protection height (3H) to each other. - wherein the driving member (9) is configured to drive the protective device (3) for adjusting the protective height (3H) when the tool height (2H) of the working tool (2) is adjusted, and wherein the adjustment limiting member (10) is configured to limit the adjustment of the protective height (3H) to a section of the adjustment range of the tool height (2H), or - wherein the driving member is configured to drive the working tool for adjusting the tool height when the protection height of the protection device is adjusted, and wherein the adjustment limiting member is configured to limit the adjustment of the tool height to a segment of the adjustment range of the protection height adjustment.
13. The greening ground operation robot (1) according to any one of claims 1 to 4, -in, The greening ground operation robot (1) has a driving plane (FE), and -The working tool (2) and the protective device (3) are fixedly supported on each other parallel to the travel plane (FE).
14. The greening ground operation robot (1) according to any one of claims 1 to 4, -in, The height adjustment device (4) has a user-operable operating element (11) for coupled adjustment of the tool height (2H) and the protection height (3H) to each other, and / or -The height adjustment device has at least one motor for the coupled adjustment of the tool height and the protection height.
15. The greening ground operation robot (1) according to any one of claims 1 to 4, -in, The greening ground operation robot (1) has a driving plane (FE), and -The working tool (2) is configured to rotate parallel to the travel plane (FE).
16. The greening ground operation robot (1) according to any one of claims 1 to 4, -in, The protective device (3) has a downward-oriented and / or downward-opening comb-like portion, and - Wherein, the protection height (3H) is the height of the comb-shaped portion of the lower edge (3U) of the comb-shaped portion.
17. The greening ground operation robot (1) according to claim 8, -in, The height adjustment coupling mechanism (4') has a lever (5) on one side for coupling adjustment of the tool height (2H) and the protection height (3H) to each other. -The greening ground operation robot (1) has an operation tool device (2''), wherein the operation tool device (2'') has the operation tool (2), and wherein the operation tool device (2'') is mechanically coupled to the lever (5) at a distance of tool spacing value (A25W) from the rotation axis (A5) of the lever (5). -The protective device (3) is mechanically coupled to the lever (5) at a distance of a protective gap value (A35W) from the rotation axis (A5), and -The tool spacing value (A25W) and the protection spacing value (A35W) are different.
18. The greening ground operation robot (1) according to claim 8, -in, The greening ground operation robot (1) has an operation tool device (2''), wherein the operation tool device (2'') has the operation tool (2), -The height adjustment coupling mechanism (4') has a tool guide groove (6) and a protection guide groove (7) for the coupled adjustment of the tool height (2H) and the protection height (3H), wherein the tool guide groove (6) and the protection guide groove (7) are configured to move in a coupled and parallel manner with respect to the working tool device (2'') and the protection device (3) along the same guide direction (x) orthogonal to the adjustment of the tool height (2H) and the protection height (3H) with the same guide groove adjustment value (67W). -The tool guide chute (6) is configured to guide the working tool device (2'') and / or is constructed by the working tool device and has a tool guide extension (6V), the tool guide extension having at least one section inclined to the tool height (2H) and the guide direction (x). -The protective guide groove (7) is configured to guide the protective device (3) and / or is constructed through the protective device and has a protective guide extension (7V), the protective guide extension having at least one section inclined to the adjustment of the protective height (3H) and the guiding direction (x), and -The tool guide extension (6V) and the protective guide extension (7V) are different.
19. The greening ground operation robot (1) according to claim 10, -in, The tool guide groove (6) and the protective guide groove (7) are fixedly arranged to each other, wherein the height adjustment coupling mechanism (4') has a plate (8), wherein the plate (8) has the tool guide groove (6) and the protective guide groove (7), and / or -The tool guide extension (6V) and the protective guide extension (7V) are located in the same extension plane (67VE).
20. The greening ground operation robot (1) according to any one of claims 9 to 11, -in, The height adjustment coupling mechanism (4') has a drive member (9) and a drive limiter for the coupled adjustment of the tool height (2H) and the protection height (3H) to each other. - wherein the driving member (9) is configured to drive the protective device (3) for adjusting the protective height (3H) when the tool height (2H) of the working tool (2) is adjusted, and wherein the driving limiting member (10) is configured to limit the driving to a section of the adjustment range of the tool height (2H), or - wherein the driving member is configured to drive the working tool for adjusting the tool height when the protection height of the protection device is adjusted, and wherein the driving limiter is configured to limit the driving to a section of the adjustment range of the protection height adjustment.