Automatic walking device and method for self-driving hose winding and unwinding

Abstract

The present invention relates to an automatic walking device, comprising: a frame; a winch and a self-driven hose winding and unwinding mechanism, the self-driven hose winding and unwinding mechanism comprising: a first motor and a second motor capable of outputting different speeds; a first transmission structure, comprising a first bearing and a first transmission wheel, the first transmission structure drivingly connecting the armature shaft of the first motor and the winch; a second transmission structure, comprising a second bearing and at least one second transmission wheel, the second transmission structure drivingly connecting the armature shaft of the second motor and the hose unwinding wheel assembly; a hose winding and unwinding speed control system, controlling the output speeds of the first and second motors, driving the first and second motors to rotate in the same direction and at a certain speed ratio, so that the rotation speed of the armature shaft of the first motor reaches a value capable of disengaging the transmission with the first transmission wheel; or so that the rotation speed of the armature shaft of the second motor reaches a value capable of disengaging the transmission with the second transmission wheel. Also provided is a method for self-driven hose winding and unwinding of an automatic walking device.

Description

Technical Field

[0001] The invention relates to the technical field of watering equipment, in particular to an automatic walking equipment. Background Art

[0002] At present, traditional fixed automatic walking equipment usually includes water pipes, sprinklers and other components. The water pipes are generally fixed in specific places, and the sprinklers are manually arranged or the watering pipelines are manually installed for watering. Mobile automatic walking equipment usually has water pipes and sprinklers as a whole. It can move in a straight line, but cannot bypass obstacles to operate. Each watering cycle needs to be manually rearranged, and automatic watering cannot be achieved.

[0003] In traditional technology, the water pipe retracting and releasing equipment usually only has a pipe retracting module, which is equipped with a water pipe retracting motor. The water pipe motor drives the winch to rotate to reel in the water pipe. In order to realize the automatic watering of the watering robot during movement, it is necessary to add a pipe releasing device. The existing technology uses a cable retracting and releasing device, which uses an electromagnetic clutch to disengage the motor and the transmission. Since active control is required, the structure is complex and the power consumption is large. Summary of the invention

[0004] Based on this, it is necessary to propose a problem existing in a tube retracting and releasing device, propose an automatic walking device, and also propose a method for self-driving hose retracting and releasing of an automatic walking device. An automatic walking device, the automatic walking device has a self-driven hose retracting and releasing mechanism, a frame; a winch, mounted on the frame, a water pipe is wound around the winch, and the water pipe is connected to a water source; the self-driven hose retracting and releasing mechanism comprises: a motor group, comprising a first motor and a second motor, the first motor and the second motor can output different speeds; a transmission system, comprising: a first transmission structure, comprising a first bearing and a first transmission wheel, the first transmission structure transmission-connects the armature shaft of the first motor and the winch; a second transmission structure, comprising a second bearing and at least one second transmission wheel, the second transmission structure transmission-connects the armature shaft of the second motor and a hose release wheel assembly, wherein the first and second bearings are respectively arranged between the armature shaft of the first motor and the first transmission wheel, and between the armature shaft of the second motor and the second transmission wheel; a hose retracting and releasing speed control system, comprising a controller, the controller controls the output speeds of the first and second motors, drives the first and second motors to operate in the same direction and at a certain speed ratio, so that the rotation speed of the armature shaft of the first motor reaches a speed that can be disengaged from the first transmission wheel, or the rotation speed of the armature shaft of the second motor reaches a speed that can be disengaged from the second transmission wheel.

[0005] The above-mentioned automatic walking device, by controlling the output speed of the first motor to be greater than the second motor and disengaging the transmission between the first motor and the first transmission wheel, makes the automatic walking device enter the tube release mode, and the first motor does not affect the tube release work; by controlling the output speed of the second motor to be greater than the first motor and disengaging the transmission between the second motor and the second transmission wheel, makes the automatic walking device enter the tube collection mode, and the second motor does not affect the tube release work. In this way, it can ensure that both tube collection and tube release are relatively smooth, which is conducive to the realization of automatic watering.

[0006] In one embodiment, the first and second bearings are one-way bearings, and the one-way bearings rotate in a clockwise or counterclockwise direction.

[0007] In one embodiment, the controller controls the output speed of the second motor to be greater than that of the first motor; or controls the output speed of the first motor to be greater than that of the second motor.

[0008] In one embodiment, the controller controls the speed ratio of the first and second motors to be between 1.2-1.8.

[0009] In one embodiment, the first transmission structure includes a first transmission wheel, the first transmission wheel includes a pulley portion, the first transmission structure also includes a driving pulley, a transmission belt, and a driving gear, the transmission belt connects the pulley portion of the first transmission wheel and the driving pulley, the driving gear is fixedly connected to the driving pulley, and the capstan is provided with an internal gear ring meshing with the driving gear for transmission.

[0010] In one embodiment, the pipe placing wheel assembly includes a first pipe placing wheel and a second pipe placing wheel, and a gap is formed between the first pipe placing wheel and the second pipe placing wheel to allow the water pipe to pass through.

[0011] In one of the embodiments, the tube-releasing wheel assembly further comprises a tube-releasing gear which is transmission-connected to the first tube-releasing wheel and the second tube-releasing wheel respectively.

[0012] In one embodiment, the pipe-releasing gear meshes with the second transmission wheel for transmission, so that the water pipe passes through a gap formed between the first pipe-releasing wheel and the second pipe-releasing wheel.

[0013] In one embodiment, the first tube-releasing wheel and the second tube-releasing wheel are both rubber wheels.

[0014] A method for retracting and releasing a self-driving hose of an automatic walking device, applied to the automatic walking device, comprises the following steps:

[0015] Controlling the first and second motors to run in the same direction;

[0016] Control the rotation speed of the armature shaft of the first motor to reach a value that can disengage the transmission between the first motor and the first transmission wheel. The second motor drives the pipe release wheel assembly through the second transmission structure, and the pipe release wheel assembly drives the water pipe to be released from the winch.

[0017] Control the rotation speed of the armature shaft of the second motor to reach a value that can disengage the transmission between the second motor and the second transmission wheel. The first motor drives the winch to rotate through the first transmission structure, and the winch winds up the water pipe. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings forming a part of this application are used to provide a further understanding of the present invention. The schematic embodiments and descriptions thereof of the present invention are used to explain the present invention and do not constitute an improper limitation to the present invention.

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0020] Figure 1 The bottom view of the automatic walking device according to an embodiment of the present invention.

[0021] Figure 2 The side view of the automatic walking device according to an embodiment of the present invention.

[0022] Figure 3 The bottom view of the automatic walking device according to an embodiment of the present invention, where the position of the water pipe is schematically shown by a dashed line.

[0023] Figure 4 The side view of the automatic walking device according to an embodiment of the present invention.

[0024] Figure 5 For Figure 4 The partial cross-sectional structure schematic diagram of the automatic walking device shown, schematically showing the transmission mechanism between the walking motor and the walking wheel.

[0025] Figure 6 For Figure 4 The partial cross-sectional structure schematic diagram of the automatic walking device shown, schematically showing the state when the pipe receiving module, the aspect module, the water pipe, and the winch are installed on the frame.

[0026] Figure 7 The partial cross-sectional structure schematic diagram in the horizontal direction when the automatic walking device according to an embodiment of the present invention is placed on the ground.

[0027] Figure 8 For Figure 7Enlarged view of part Y in China.

[0028] Figure 9 For Figure 7 Schematic diagram of the partial sectional structure of the intermediate amplifier tube module.

[0029] Figure 10 For Figure 7 Schematic diagram of the internal transmission structure of the intermediate amplifier tube module.

[0030] Figure 11 Flowchart of the method for self-driving hose retraction and extension of an automatic walking device in an embodiment.

[0031] The corresponding numbers of the relevant components in the figure are as follows:

[0032] 100, automatic walking device; 10, frame; 20, winch; 210, water pipe; 220, nozzle module; 230, internal gear ring; 30, pipe receiving module; 310, first motor; 311, first armature shaft; 320, first transmission structure; 321, first transmission wheel; 3211, pulley part; 322, driving pulley; 323, transmission belt; 324, driving gear; 330, first bearing; 331, first inner ring; 332, first outer ring; 40, pipe releasing module; 410, second motor; 411, second armature shaft; 420, second transmission structure; 421, second transmission wheel; 422, transmission gear; 430, pipe releasing wheel assembly; 431, first pipe releasing wheel; 432, second pipe releasing wheel; 433, first pipe releasing gear; 434, second pipe releasing gear; 440, second bearing; 441, second inner ring; 442, second outer ring; 50, walking mechanism; 510, front wheel module; 520, rear wheel module; 60, hose retraction and extension speed control system; 610, controller; 70, walking motor; 80, reduction mechanism. Specific implementation manners

[0033] To make the above objects, features, and advantages of the present invention more obvious and understandable, the specific implementation manners of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description in order to fully understand the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0034] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0035] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0036] In the present invention, unless otherwise clearly specified and defined, the terms "mounted", "connected", "coupled", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] In the present invention, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0038] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or there can also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are only for illustrative purposes and do not represent the only implementation.

[0039] In the traditional automatic walking device, when a pipe receiving module and a pipe releasing module are both provided, due to the linkage relationship between the pipe receiving module and the pipe releasing module, there will be a problem that the movement of each other is affected.

[0040] In view of the above technical problems, an embodiment of the present invention provides an automatic walking device, which is provided with a self-driven hose winding and unwinding mechanism, and can effectively eliminate the problem that the pipe receiving module and the pipe releasing module in the traditional technology affect the work of each other. The self-driven hose winding and unwinding mechanism includes a motor group having a first motor and a second motor, and the first motor and the second motor perform pipe receiving and pipe releasing actions through a transmission assembly. Specifically, the first motor drives a winch to wind up a water pipe through a first transmission structure to perform a pipe receiving action, and the second motor drives a pipe releasing wheel assembly to release the water pipe from the winch through a second transmission structure to achieve a pipe releasing action.

[0041] The automatic walking device of the embodiment of the present invention can be a simple device only having a watering function, a fixed automatic walking device, or a self-mobile automatic walking device; it can also be integrated with a mowing assembly to form an intelligent lawn mower having both automatic mowing ability and watering ability at the same time. An intelligent lawn mower is a device that can automatically perform mowing operations in a set working area according to a preset program, and the concept itself is known to those skilled in the art and will not be elaborated here.

[0042] The embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0043] As Figures 1 to 6 shown, the structure of an automatic walking device 100 according to an embodiment of the present invention is schematically shown. The automatic walking device 100 includes a frame 10, and a winch 20 and a self-driven hose winding and unwinding mechanism are installed on the frame 10, and the self-driven hose winding and unwinding mechanism includes a pipe receiving module 30 and a pipe releasing module 40. In this embodiment, a walking mechanism 50 is installed at the bottom of the frame 10, and the automatic walking device 100 can walk. The walking mechanism 50 includes a front wheel module 510 and a rear wheel module 520. The front wheel module 510 specifically includes two front wheels located on both sides of the frame 10, and the rear wheel module 520 includes a rear wheel located on the central axis X of the automatic walking device 100 along the forward direction.

[0044] As Figure 6As shown, the winch 20 is rotatably mounted on the frame 10. A water pipe 210 is wound around the winch 20. Specifically, one end of the water pipe 210 is connected to the winch 20, and the other end is used to connect to the nozzle module 220. The nozzle module 220 includes nozzles controlled by on-off valves. The water pipe 210 can be a PE pipe.

[0045] The automatic walking device 100 has a pipe winding mode and a pipe unwinding mode. In the pipe winding mode, when the winch 20 rotates, it pulls the water pipe 210 to continuously wind around the winch 20 to achieve pipe winding. In the pipe unwinding mode, the pipe unwinding module 40 pulls the water pipe 210 to release the water pipe 210 from the winch 20, so as to achieve pipe unwinding, and then watering can be carried out.

[0046] As Figure 7 and Figure 8 shown, the pipe winding module 30 includes a first motor 310 and a first transmission structure 320. The first transmission structure 320 is drivingly connected to the first armature shaft 311 of the first motor 310 and the winch 20. The first transmission structure 320 includes a first transmission wheel 321. The first transmission wheel 321 is connected to the first armature shaft 311. The first transmission wheel 321 can be a belt pulley or a gear to transmit power to the winch 20 through belt drive or gear drive.

[0047] Referring also to Figure 7 、 Figure 9 and Figure 10 shown, the pipe unwinding module 40 includes a second motor 410, a second transmission structure 420, and a pipe unwinding wheel assembly 430. Among them, the second transmission structure 420 is drivingly connected to the second motor 410 and the pipe unwinding wheel assembly 430. The second transmission structure 420 includes a second transmission wheel 421. The second transmission wheel 421 is connected to the second armature shaft 411 of the second motor 410. The pipe unwinding wheel assembly 430 is used to pull the water pipe 210 during pipe unwinding to release the water pipe 210 from the winch 20. As Figure 7 and Figure 9 shown, in one example, the pipe unwinding wheel assembly 430 includes a first pipe unwinding wheel 431 and a second pipe unwinding wheel 432 with a gap formed therebetween for the water pipe 210 to pass through. Therefore, when the two pipe unwinding wheels rotate in a set direction, they can pull the water pipe 210 to continuously release from the winch 20. Preferably, both of the two pipe unwinding wheels are rubber wheels to avoid damaging the PE water pipe 210. The second transmission wheel 421 can be a gear or a belt pulley to transmit the power of the second armature shaft 411 to the pipe unwinding wheel assembly 430 through belt drive or gear drive.

[0048] The working principle of the pipe-receiving and pipe-releasing of the automatic walking device 100 in this embodiment is as follows: In the pipe-receiving mode, the first armature shaft 311 rotates actively and drives the winch 20 through the first transmission structure 320. The winch 20 provides the driving force for winding the water pipe 210. In the pipe-releasing mode, the second armature shaft 411 rotates actively and drives the pipe-releasing wheel through the second transmission structure 420. The pipe-releasing wheel pulls the water pipe 210 to continuously release from the winch 20. The active rotation in the embodiment of the present invention refers to the first armature shaft 311 and the second armature shaft 411 actively rotating under the drive of the working current.

[0049] Since there is a linkage relationship between the pipe-receiving module 30 and the pipe-releasing module 40 due to the winch 20 and the water pipe 210, when it is necessary to operate the pipe-receiving module 30 to achieve pipe-receiving, the second motor 410 will generate resistance to the first motor 310, making the pipe-receiving not smooth. On the contrary, when it is necessary to operate the pipe-releasing module 40 to achieve pipe-releasing, the first motor 310 will also generate resistance to the second motor 410, resulting in unsmooth pipe-releasing.

[0050] To solve the above problems and make both pipe-receiving and pipe-releasing smooth, and then realize automatic watering during the movement of the device, the automatic walking device 100 further includes a first bearing 330 and a second bearing 440. By the first bearing 330, the resistance generated by the pipe-receiving module 30 to the second motor 410 during pipe-releasing is reduced. By the second bearing 440, the resistance generated by the pipe-releasing module 40 to the first motor 310 during pipe-receiving is reduced.

[0051] As Figure 8 shown, the first bearing 330 and the second bearing 440 are specifically one-way bearings, which can rotate clockwise or counterclockwise. The first bearing 330 is arranged between the first armature shaft 311 of the first motor 310 and the first transmission wheel 321. The first bearing 330 realizes one-way transmission between the first armature shaft 311 and the first transmission wheel 321. Specifically, in implementation, the first inner ring 331 is installed on the first armature shaft 311, the first outer ring 332 is installed on the first transmission wheel 321, and the first inner ring 331 rotates unidirectionally relative to the first outer ring 332. When the first armature shaft 311 rotates, it can drive the first inner ring 331 to rotate, and the first inner ring 331 can drive the first outer ring 332 to rotate, and then transmit the power to the first transmission wheel 321.

[0052] As Figure 7 、 Figure 10As shown, the second bearing 440 is disposed between the second armature shaft 411 of the second motor 410 and the second transmission wheel 421, and the second bearing 440 realizes one-way transmission between the second armature shaft 411 and the second transmission wheel 421. Specifically, in implementation, the second inner ring 441 of the second bearing 440 is mounted on the second armature shaft 411, the second outer ring 442 is mounted on the second transmission wheel 421, and the second inner ring 441 rotates unidirectionally relative to the second outer ring 442. When the second armature shaft 411 rotates, it can drive the second inner ring 441 to rotate, and the second inner ring 441 can drive the second outer ring 442 to rotate, and then transmit the power to the second transmission wheel 421.

[0053] When the first bearing 330 and the second bearing 440 are provided, in the pipe-receiving mode, when the first armature shaft 311 rotates actively and drives the winch 20 to rotate through the first transmission structure 320, the second armature shaft 411 is also configured to rotate actively so as to be disengaged from the transmission with the second transmission wheel 421, so that the second armature shaft 411 does not affect the operation of the first motor 310. Similarly, in the pipe-laying mode, when the second armature shaft 411 rotates actively to cause the pipe-laying wheel to continuously release the water pipe 210 from the winch 20, the first armature shaft 311 rotates actively to be disengaged from the transmission with the first transmission wheel 321, so that the first motor 310 does not affect the operation of the second motor 410.

[0054] Specifically, taking the pipe-receiving mode as an example for detailed description. First, when in the pipe-laying mode, the rotation direction of the second armature shaft 411 is defined as the forward rotation of the second armature shaft 411. At this time, the rotation direction of the second inner ring 441 is defined as the forward rotation of the second inner ring 441. When the second inner ring 441 rotates forward, it can transmit torque to the second outer ring 442. It can be understood that when the second inner ring 441 rotates reversely, it cannot drive the second outer ring 442 to rotate. In the pipe-receiving mode, when the first motor 310 rotates, the winch 20 rotates and winds up the water pipe 210. At this time, due to the aforementioned linkage relationship between the pipe-receiving module 30 and the pipe-laying module 40, the water pipe 210 has a tendency to drive the two pipe-laying wheels to rotate reversely, resulting in a tendency for the second outer ring 442 to rotate reversely, and then a tendency for the second outer ring 442 to drive the second inner ring 441 to rotate reversely. That is, for the second bearing 440, at this time, the second outer ring 442 is the driving part, so when the second outer ring 442 rotates reversely, it will drive the second inner ring 441 to rotate reversely.

[0055] Therefore, in the pipe-receiving mode, the second armature shaft 411 is also configured to rotate actively, so that the second armature shaft 411 drives the second inner ring 441 to rotate actively in the reverse direction. In this case, when the reverse rotation speed of the second inner ring 441 is greater than the reverse rotation speed of the second outer ring 442 under the action of the water pipe 210, the second outer ring 442 is in a relatively static state, so that the second inner ring 441 and the second armature shaft 411 rotate freely relative to the second outer ring 442 together. In this way, the second armature shaft 411 will not generate resistance to the second outer ring 442, so as to achieve the purpose that the second motor 410 does not affect the operation of the first motor 310.

[0056] Similarly, in the pipe-releasing mode, since the first armature shaft 311 is also configured to rotate actively, the first armature shaft 311 drives the first inner ring 331 to rotate actively in the reverse direction. In this case, when the reverse rotation speed of the first inner ring 331 is greater than the reverse rotation speed of the first outer ring 332 under the action of the water pipe 210, the first outer ring 332 is in a relatively static state, so that the first inner ring 331 and the first armature shaft 311 rotate freely relative to the first outer ring 332 together. In this way, the first armature shaft 311 will not cause any resistance to the first outer ring 332, so as to achieve the purpose that the first motor 310 does not affect the operation of the second motor 410.

[0057] In this embodiment, in the pipe-receiving mode, the second armature shaft 411 rotates actively to disengage the transmission with the second transmission wheel 421, so as to achieve the purpose that the second motor 410 does not affect the operation of the first motor 310; in the pipe-releasing mode, the first armature shaft 311 rotates actively to disengage the transmission with the first transmission wheel 321, so as to achieve the purpose that the first motor 310 does not affect the operation of the second motor 410. Thus, it can be ensured that both the pipe-receiving and pipe-releasing are relatively smooth, which is conducive to realizing automatic watering. In order to ensure that in the pipe-receiving mode, the second armature shaft 411 is completely disengaged from the second transmission wheel 421, and in the pipe-releasing mode, the first armature shaft 311 is completely disengaged from the first transmission wheel 321. In one embodiment, in the pipe-receiving mode, the rotation speed of the second armature shaft 411 is greater than that of the first armature shaft 311; in the pipe-releasing mode, the rotation speed of the first armature shaft 311 is greater than that of the second armature shaft 411. Since the rotation speed of the second armature shaft 411 is higher in the pipe-receiving mode, it can be ensured that the reverse rotation speed of the second inner ring 441 is greater than the reverse rotation speed of the second outer ring 442, and it can be ensured that the second inner ring 441 and the second outer ring 442 are disengaged from the transmission, so that the second motor 410 and the second transmission structure 420 are disengaged from the transmission. Similarly, in the pipe-releasing mode, the rotation speed of the first armature shaft 311 is higher, which can ensure that the first inner ring 331 and the first outer ring 332 are disengaged from the transmission, so that the first motor 310 and the first transmission structure 320 are disengaged from the transmission.

[0058] It should be emphasized that both the first bearing 330 and the second bearing 440 are one-way bearings, but are not limited to the above structures and installation methods, as long as the second motor 410 is disengaged from the second transmission structure 420; and the first motor 310 is disengaged from the first transmission structure 320.

[0059] The first motor 310 and the second motor 410 can output different speeds, so that the rotation speed of the first motor 310 reaches a value at which the first motor 310 is disengaged from the first transmission structure 320; or the rotation speed of the second motor 410 reaches a value at which the second motor 410 is disengaged from the second transmission structure 420. The above different speeds include differences in linear speed, angular speed, etc.

[0060] In a preferred embodiment, in the pipe-receiving mode, the rotational speed of the second armature shaft 411 of the second motor 410 is 1.2 to 1.8 times the rotational speed of the first armature shaft 311 of the first motor 310; in the pipe-releasing mode, the rotational speed of the first armature shaft 311 of the first motor 310 is 1.2 to 1.8 times the rotational speed of the second armature shaft 411 of the second motor 410. Within the above rotational speed range, it can be ensured that in the pipe-receiving mode, the second motor 410 is completely disengaged from the second transmission structure 420, and in the pipe-releasing mode, the first motor 310 is completely disengaged from the first transmission structure 320, which can well ensure that the first motor 310 and the second motor 410 do not affect each other's work. In some embodiments, in the pipe-receiving mode, the rotation directions of the first armature shaft 311 and the second armature shaft 411 are the same; in the pipe-releasing mode, the rotation directions of the second armature shaft 411 and the first armature shaft 311 are the same. The above method facilitates setting the working states of the first motor 310 and the second motor 410. For example, in the pipe-receiving mode, the first armature shaft 311 rotates forward, and at this time, the rotation direction of the second armature shaft 411 is the same as that of the first armature shaft 311; in the pipe-releasing mode, the second armature shaft 411 rotates forward along the second armature shaft 411, and at this time, the rotation direction of the first armature shaft 311 is the same as that of the second armature shaft 411. For the first motor 310, its rotation directions in the pipe-receiving mode and the pipe-releasing mode are opposite; for the second motor 410, its rotation directions in the pipe-receiving mode and the pipe-releasing mode are also opposite. Therefore, in the pipe-receiving mode, the rotation directions of the first armature shaft 311 and the second armature shaft 411 are the same, such as both rotating counterclockwise; in the pipe-releasing mode, the rotation directions of the first armature shaft 311 and the second armature shaft 411 are the same, such as both rotating clockwise. By the above means, the current directions of the first motor 310 and the second motor 410 can be the same, which is beneficial to simplifying the circuit structure design.

[0061] Such as Figure 9As shown, in one embodiment, the second transmission wheel 421 is a gear, and the second transmission structure 420 further includes a transmission gear 422 which meshes with the second transmission wheel 421 for transmission. The pipe releasing wheel assembly 430 further includes a first pipe releasing gear 433 and a second pipe releasing gear 434. The first pipe releasing gear 433 is connected to the first pipe releasing wheel 431 and meshes with the transmission gear 422 for transmission. The second pipe releasing gear 434 is connected to the second pipe releasing wheel 432 and meshes with the first pipe releasing gear 433 for transmission. A gap is formed between the first pipe releasing wheel 431 and the second pipe releasing wheel 432 for the water pipe 210 to pass through. Specifically, in implementation, both the first pipe releasing gear 433 and the second pipe releasing gear 434 are gear shafts. The first pipe releasing wheel 431 is mounted on the shaft of the first pipe releasing gear 433, and the second pipe releasing wheel 432 is mounted on the shaft of the second pipe releasing gear 434.

[0062] The transmission gear 422 is an intermediate transmission gear located between the second transmission wheel 421 and the pipe releasing wheel assembly 430, which has the function of reversing and can be regarded as another second transmission wheel 421. At this time, with the two second transmission wheels 421, when the two pipe releasing wheels are used to traction and release the water pipe 210, the rotation direction of the second armature shaft 411 is the same as that of the first pipe releasing wheel 431. As Figure 10 shown, in the pipe releasing mode, assuming that the first pipe releasing wheel 431 can traction and release the water pipe 210 when rotating in the direction of arrow a, the rotation direction of the second armature shaft 411 is as shown by arrow b, and both arrow b and arrow a are in the clockwise direction. At this time, the rotation direction of the first armature shaft 311 is also as shown by arrow b. On this basis, in the pipe winding mode, the first armature shaft 311 rotates in the direction opposite to arrow b (counterclockwise) to drive the winch 20 to rotate for pipe winding. At the same time, the second armature shaft 411 also rotates in the direction opposite to arrow b (counterclockwise) to disengage from the second transmission structure 420.

[0063] In other embodiments, in the pipe winding mode, the rotation directions of the first armature shaft 311 and the second armature shaft 411 are opposite; in the pipe releasing mode, the rotation directions of the second armature shaft 411 and the first armature shaft 311 are opposite.

[0064] Specifically, in implementation, still refer to Figure 10, the transmission gear 422 can be omitted, that is, the first pipe-releasing gear 433 is directly meshed with the second transmission wheel 421 for transmission. In this way, in the pipe-releasing mode, when the first pipe-releasing wheel 431 rotates in the direction of arrow a to traction and release the water pipe 210, the rotation direction of the second armature shaft 411 is opposite to arrow b, and at this time, the rotation direction of the first armature shaft 311 can still be as shown by arrow b. On this basis, in the pipe-winding mode, the first armature shaft 311 rotates in the direction opposite to arrow b (counterclockwise) to drive the winch 20 to wind the pipe. At the same time, the second armature shaft 411 also rotates in the direction of arrow b (clockwise) to disengage from the second transmission structure 420.

[0065] As Figure 7 shown, in an embodiment, the first transmission wheel 321 includes a pulley part 3211. The first transmission structure 320 further includes a driving pulley 322, a transmission belt 323, and a driving gear 324. The transmission belt 323 connects the pulley part of the first transmission wheel 321 and the driving pulley 322. The driving gear 324 is fixedly connected to the driving pulley 322. The winch 20 is provided with an internal gear ring 230 that meshes with the driving gear 324 for transmission. In this embodiment, the transmission between the first motor 310 and the winch 20 is realized through belt transmission. Belt transmission has low cost and is convenient to adjust the position according to the installation environment. The first transmission wheel 321 includes a pulley part, which can be that the first transmission wheel 321 itself is a pulley, or the first transmission wheel 321 is a gear and a pulley is fixedly mounted thereon.

[0066] As Figure 6 shown, to facilitate automatic watering, the automatic walking device 100 further includes a hose winding and unwinding speed control system 60. The hose winding and unwinding speed control system 60 is configured to control the pipe-winding module 30 and the pipe-releasing module 40 to implement the pipe-winding mode or the pipe-releasing mode. The hose winding and unwinding speed control system 60 includes a controller 610, and the controller 610 can be specifically arranged at the bottom of the frame 10. In an exemplary embodiment, the controller 610 can be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components for performing the above functions.

[0067] Specifically, the first motor 310 and the second motor 410 form a motor group, and can respectively perform the work of pipe winding and pipe unwinding through the first transmission structure 320 and the second transmission structure 420. The controller 610 of the hose winding and unwinding speed control system 60 controls the output speeds of the first motor 310 and the second motor 410, and drives the first motor 310 and the second motor 410 to rotate in the same direction or in opposite directions and at a certain speed ratio, so that the rotation speed of the first armature shaft 311 of the first motor 310 reaches a value that can disengage the transmission with the first transmission wheel 321, or the rotation speed of the second armature shaft 411 of the second motor 410 reaches a value that can disengage the transmission with the second transmission wheel 421.

[0068] When the controller 610 of the hose winding and unwinding speed control system 60 controls the output rotation speed of the first motor 310 to be greater than that of the second motor 410, and the rotation speed of the first armature shaft 311 of the first motor 310 reaches a value that can disengage the transmission with the first transmission wheel 321, the second motor 410 drives the pipe unwinding wheel assembly 430 through the second transmission structure 420, and the pipe unwinding wheel assembly 430 drives the water pipe 210 to be released from the winch 20. At this time, the automatic walking device 100 enters the pipe unwinding mode. The disengagement of the transmission between the first armature shaft 311 and the first transmission wheel 321 does not affect the pipe unwinding work.

[0069] When the hose winding and unwinding speed control system 60 controls the output rotation speed of the second motor 410 to be greater than that of the first motor 310, and the rotation speed of the second armature shaft 411 of the second motor 410 reaches a value that can disengage the transmission with the second transmission wheel 421, the first motor 310 drives the winch 20 to rotate through the first transmission structure 320, and the winch 20 winds up the water pipe 210. At this time, the automatic walking device 100 enters the pipe winding mode. The second armature shaft 411 can disengage the transmission with the second transmission wheel 421, achieving the purpose that the second motor 410 does not affect the pipe winding work. Further, as Figure 5 shown, the automatic walking device 100 further includes a traveling mechanism 50 and a traveling motor 70. The traveling motor 70 is in transmission connection with the traveling mechanism 50, and the traveling motor 70 is controlled by the hose winding and unwinding speed control system 60 to work. Specifically, the traveling motor 70 is a brushless motor, and a speed reduction mechanism 80 is further provided between it and the traveling mechanism 50.

[0070] In specific implementation, the hose winding and unwinding speed control system 60 is configured as follows: in the pipe unwinding mode, the hose winding and unwinding speed control system 60 makes the traveling motor 70 work, and the traveling motor 70 drives the traveling mechanism 50. In this way, the automatic walking device 100 can walk automatically, and then realize automatic watering during the automatic walking process.

[0071] Based on the above embodiments, the automatic walking device 100 also forms part of an intelligent lawn mower. The automatic walking device 100 further includes a mowing assembly, which is controlled by a hose retracting and extending speed control system 60 to perform automatic mowing operations. In this way, in the hose releasing mode, the hose retracting and extending speed control system 60 causes the traveling motor 70 to operate, and the traveling motor 70 drives the traveling mechanism 50. At the same time, the hose retracting and extending speed control system 60 controls the mowing assembly to operate automatically. Thus, automatic watering during mowing operations is achieved.

[0072] The specific type of the mowing assembly is not limited. For example, the mowing assembly includes a rotary cutter head and a plurality of blades mounted on the cutter head, and uses the high-speed rotating blades to mow the grass.

[0073] Such as Figure 11 As shown, in an embodiment of the present invention, a method for self-driving hose retracting and extending of an automatic walking device is also proposed, which is applied to the automatic walking device. The method includes the following steps.

[0074] S100. Control the first and second motors to rotate in the same direction.

[0075] S200. Control the rotational speed of the armature shaft of the first motor 310 to reach a value such that the transmission between the first motor 310 and the first transmission wheel 321 is disengaged. The second motor 410 drives the hose releasing wheel assembly 430 through the second transmission structure 420, and the hose releasing wheel assembly 430 drives the water pipe 210 to be released from the winch 20.

[0076] S300. Control the rotational speed of the armature shaft of the second motor 410 to reach a value such that the transmission between the second motor 410 and the second transmission wheel 421 is disengaged. The first motor 310 drives the winch 20 to rotate through the first transmission structure 320, and the winch 20 winds up the water pipe 210.

[0077] In the above method, by controlling the output rotational speed of the first motor 310 to be greater than that of the second motor 410 and disengaging the transmission between the first motor 310 and the first transmission wheel 321, the automatic walking device enters the hose releasing mode, and the first motor 310 does not affect the hose releasing operation. By controlling the output rotational speed of the second motor 410 to be greater than that of the first motor 310 and disengaging the transmission between the second motor 410 and the second transmission wheel 421, the automatic walking device enters the hose winding-up mode, and the second motor 410 does not affect the hose releasing operation. Thus, it can be ensured that both hose winding-up and releasing are relatively smooth, which is conducive to realizing automatic watering.

[0078] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity in description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0079] The embodiments described above merely represent several implementation manners of the present invention. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the appended claims.

Claims

1. An automatic walking device (100), the automatic walking device (100) having a self-driven hose winding and unwinding mechanism, a frame (10); a winch (20) mounted on the frame (10), a water pipe (210) wound around the winch (20), the water pipe (210) being connected to a water source; characterized in that, The self-driven hose winding and unwinding mechanism includes: A motor set, including a first motor (310) and a second motor (410), wherein the first motor (310) and the second motor (410) can output different speeds; A transmission system, including: a first transmission structure (320), including a first bearing (330) and a first transmission wheel (321), the first transmission structure (320) is in transmission connection with the armature shaft of the first motor (310) and the winch (20); a second transmission structure (420), including a second bearing (440) and at least one second transmission wheel (421), the second transmission structure (420) is in transmission connection with the armature shaft of the second motor (410) and the hose unwinding wheel assembly (430), wherein the first and second bearings are respectively arranged between the armature shaft of the first motor (310) and the first transmission wheel (321), and the armature shaft of the second motor (410) and the second transmission wheel (421); A hose winding and unwinding speed control system (60), including a controller (610), the controller (610) controls the output speeds of the first and second motors, drives the first and second motors to rotate in the same direction and at a certain speed ratio, so that the rotational speed of the armature shaft of the first motor (310) reaches a value that can disengage the transmission with the first transmission wheel (321), or the rotational speed of the armature shaft of the second motor (410) reaches a value that can disengage the transmission with the second transmission wheel (421).

2. The automatic walking device (100) according to claim 1, characterized in that, The first and second bearings are one-way bearings, and the rotation direction of the one-way bearings is clockwise or counterclockwise.

3. The automatic walking device (100) according to claim 1, characterized in that, The controller (610) controls the output rotational speed of the second motor (410) to be greater than that of the first motor (310); or controls the output rotational speed of the first motor (310) to be greater than that of the second motor (410).

4. The automatic walking device (100) according to claim 1, characterized in that, The controller (610) controls the speed ratio of the first and second motors to take values between 1.2 and 1.

8.

5. The automatic walking device (100) according to claim 1, characterized in that, The first transmission structure (320) includes a first transmission wheel (321), the first transmission wheel (321) includes a pulley part (3211), the first transmission structure (320) further includes a driving pulley (322), a transmission belt (323), and a driving gear (324), the transmission belt (323) connects the pulley part (3211) of the first transmission wheel (321) and the driving pulley (322), the driving gear (324) is fixedly connected to the driving pulley (322), and the winch (20) is provided with an internal gear ring (230) that meshes with the driving gear (324) for transmission.

6. The automatic walking device (100) according to claim 1, characterized in that, The hose unwinding wheel assembly (430) includes a first hose unwinding wheel (431) and a second hose unwinding wheel (432), and a gap is formed between the first hose unwinding wheel (431) and the second hose unwinding wheel (432) for the water pipe (210) to pass through.

7. The automatic walking device (100) according to claim 6, characterized in that, The hose unwinding wheel assembly (430) further includes hose unwinding gears that are respectively in transmission connection with the first hose unwinding wheel (431) and the second hose unwinding wheel (432).

8. The automatic walking device (100) according to claim 7, characterized in that, The pipe-releasing gear meshes with the second transmission wheel (421) for transmission, so that the water pipe passes through the gap formed between the first pipe-releasing wheel (431) and the second pipe-releasing wheel (432).

9. The automatic walking device (100) according to claim 6, characterized in that, Both the first pipe-releasing wheel (431) and the second pipe-releasing wheel (432) are rubber wheels.

10. A method for self-driven hose winding and unwinding of an automatic walking device (100), which is applied to the automatic walking device (100) as described in claim 1, characterized in that, It includes the steps of: Controlling the first and second motors to operate in the same direction; Controlling the rotational speed of the armature shaft of the first motor (310) to reach a value such that the transmission between the first motor and the first transmission wheel (321) is disengaged. The second motor (410) drives the pipe-releasing wheel assembly (430) through the second transmission structure (420), and the pipe-releasing wheel assembly (430) drives the water pipe (210) to be released from the winch (20). Controlling the rotational speed of the armature shaft of the second motor (410) to reach a value such that the transmission between the second motor and the second transmission wheel (421) is disengaged. The first motor (310) drives the winch (20) to rotate through the first transmission structure (320), and the winch (20) winds up the water pipe (210).

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