A front and rear gravity center adjusting structure and method for a mowing robot

Abstract

The application discloses a front and rear gravity center adjusting structure and method for a mowing robot, which comprises a base, a first adjusting ring, a second adjusting ring and a power component, the first adjusting ring and the second adjusting ring are sleeved outside the base, the first adjusting ring is located below the second adjusting ring, the power component is used for driving the first adjusting ring and the second adjusting ring to rotate, the rotating directions of the first adjusting ring and the second adjusting ring are opposite, the front and rear gravity centers of the mowing robot can be changed when the first adjusting ring and the second adjusting ring are rotated, a first counterweight is arranged on the first adjusting ring, a second counterweight is arranged on the second adjusting ring, and the first counterweight and the second counterweight are symmetrically arranged about the central axis of the robot. The first counterweight and the second counterweight are always symmetric to the central axis of the robot when the first adjusting ring and the second adjusting ring are rotated, so that the adjustment of the front and rear gravity centers can be better realized, and the change of the left and right gravity centers of the robot will not be affected in the adjustment process.

Description

Technical Field

[0001] The present invention belongs to the technical field of lawn mowing robots, and in particular relates to a front and rear center of gravity adjustment structure and method for a lawn mowing robot. Background Art

[0002] In order to stabilize the body of a self-propelled device, a counterweight is usually installed on the body to increase the weight of the entire device, allowing the device to operate more stably. At the same time, after the counterweight component is installed on the self-propelled device, it is necessary to ensure that the center of gravity of the device is located at the center of the entire device to ensure the stability of the entire device and avoid the device from tipping over when operating on bumpy roads. Since the center of gravity of the entire device is fixed after the counterweight structure is installed and fixed, when the self-propelled device is going uphill, the horizontal distance between the center of gravity of the entire device and the drive wheel (usually the rear wheel) is shortened. When the uphill angle is large, the self-propelled device is prone to rolling backwards and causing accidents. Similarly, when the self-propelled device is going downhill, it is prone to rolling forward.

[0003] As a self-propelled device used outdoors, a lawn mower robot has many slopes in its working environment. When the lawn mower robot travels on a slope, the front and rear center of gravity changes and the robot may roll over. Summary of the Invention

[0004] In order to overcome the problems of the prior art, the present invention proposes a front and rear center of gravity adjustment structure and method for a lawn mowing robot.

[0005] The technical solutions for achieving the purpose of the present invention are:

[0006] A front and rear center of gravity adjustment structure for a lawn mowing robot includes a base, a first adjustment ring, a second adjustment ring and a power component.

[0007] The first adjusting ring and the second adjusting ring are sleeved outside the base, the first adjusting ring is located below the second adjusting ring, and the power component is used to drive the first adjusting ring and the second adjusting ring to rotate, and the rotation directions of the first adjusting ring and the second adjusting ring are opposite.

[0008] When the first adjustment ring and the second adjustment ring are rotated, the front and rear center of gravity of the lawn mowing robot can be changed.

[0009] Furthermore, a first counterweight is provided on the first adjustment ring, and a second counterweight is provided on the second adjustment ring. The first counterweight and the second counterweight are symmetrically arranged about the central axis of the robot.

[0010] Furthermore, the first counterweight is a boss with a continuously varying height arranged around the first adjustment ring, and the second counterweight is a boss with a continuously varying height arranged around the second adjustment ring.

[0011] Furthermore, it includes a plurality of rollers. The base includes a base and a positioning ring arranged on the base. A groove body is arranged around the base. The rollers are arranged in the groove body and their axes are distributed radially along the base.

[0012] Furthermore, a bayonet is provided on the side wall of the outer edge of the base, and the bayonet is an open and retractable bayonet. A guide groove is provided on the positioning ring corresponding to the bayonet position, and a rotating shaft is provided at both ends of the roller. The rotating shaft at one end of the roller is engaged with the bayonet, and the rotating shaft at the other end is embedded in the guide groove.

[0013] Furthermore, it also includes a separation ring, which is sleeved outside the positioning ring and located between the first adjustment ring and the second adjustment ring.

[0014] Furthermore, it also includes a first sliding ring, a second sliding ring and a third sliding ring which are sleeved outside the positioning ring, and a plurality of roller needles are distributed on the first sliding ring, the second sliding ring and the third sliding ring. The first adjustment ring is arranged between the roller and the first sliding ring, the separating ring is arranged between the first sliding ring and the second sliding ring, and the second adjustment ring is arranged between the second sliding ring and the third sliding ring.

[0015] Furthermore, it also includes a pressure ring that is sleeved on the outside of the positioning ring, and the pressure ring is pressed onto the upper part of the third sliding ring. The positioning ring is also provided with a limiting groove and a buckle, and a fixed platform is provided at the bottom of the pressure ring. After the pressure ring is installed on the positioning ring, the bottom surface of the fixed platform presses against the third sliding ring, and a limiting protrusion is provided on the inner side of the pressure ring corresponding to the limiting groove. When the pressure ring is sleeved on the outside of the positioning ring, the limiting protrusion is clamped in the limiting groove to determine the lower limit position, and the top of the pressure ring is clamped by the buckle to determine the upper limit position, thereby realizing the installation of the pressure ring.

[0016] Furthermore, the base is also provided with a power bracket for installing power components, and gear rings are respectively provided at the outer ring of the top surface of the first adjustment ring and the outer ring of the bottom surface of the second adjustment ring. The power bracket is a motor, and the output end of the motor is engaged with the gear rings of the first adjustment ring and the second adjustment ring through gears.

[0017] Furthermore, the base is sleeved outside the motor cavity of the lawn mowing robot.

[0018] Furthermore, a position detection unit is provided on the power bracket, and a detected unit is provided on the first adjustment ring and the second adjustment ring. When the counterweight blocks of the first adjustment ring and the second adjustment ring are in the initial position, the detected unit triggers the detection unit.

[0019] According to the above-mentioned method for adjusting the front and rear center of gravity of the front and rear center of gravity adjustment structure of the lawn mowing robot,

[0020] When the first counterweight and the second counterweight are in the initial position, the lawn mowing robot detects the pitch angle of the robot through the angle sensor. When the pitch angle of the lawn mowing robot is positive, the first counterweight and the second counterweight move toward the head of the robot. When the pitch angle of the lawn mowing robot is negative, the first counterweight and the second counterweight move toward the tail of the robot. The pitch angle indicates the degree of tilt of the robot in the front-to-back direction, that is, the front of the vehicle is lifted or the rear of the vehicle is lifted. When the pitch angle is positive, the front of the robot is lifted, and when the pitch angle is negative, the rear of the robot is lifted.

[0021] Furthermore, the initial position is a position where the first counterweight and the second counterweight are located on the left and right sides of the robot and are farthest apart from each other. When the angle sensor detects that the pitch angle of the fuselage is positive and greater than a preset threshold, the first counterweight and the second counterweight are driven by the power component to move toward the head of the robot until they reach the central axis position.

[0022] When the angle sensor detects that the pitch angle of the fuselage is negative and less than a preset threshold, the first counterweight and the second counterweight are driven by the power component to move toward the tail of the machine until they reach the center axis position.

[0023] Compared with the prior art, the present invention has the following significant advantages:

[0024] 1. The first adjusting ring of the present invention is provided with a first counterweight, and the second adjusting ring is provided with a second counterweight. The first counterweight and the second counterweight are symmetrically arranged about the central axis of the robot. When the first adjusting ring and the second adjusting ring rotate, the first counterweight and the second counterweight are always symmetrical to the central axis of the robot. Therefore, the front and rear center of gravity can be adjusted well without affecting the change of the left and right center of gravity of the robot during the adjustment process.

[0025] 2. The present invention provides a specially designed center of gravity adjustment structure. The center of gravity adjustment can be achieved by rotating two adjustment rings driven by a motor. The adjustment rings are sleeved outside the base. The overall structure is simple, ingenious and reasonable, and the operation is stable.

[0026] 3. The balance adjustment structure of the present invention is integrally mounted outside the motor cavity of the lawn mower robot, making rational use of the robot's internal space and achieving the purpose of adjusting the machine's center of gravity while minimizing the internal space of the machine;

[0027] 4. The present invention provides a specific method for adjusting the center of gravity based on the center of gravity adjustment structure. After the counterweight is adjusted to the initial position by the detection unit, the position of the counterweight can be adjusted accordingly according to the positive and negative changes of the pitch angle, thereby realizing the adjustment of the front and rear center of gravity of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 : Schematic diagram of the internal height adjustment components of a lawn mowing robot in the prior art.

[0029] Figure 2 : Schematic diagram of the installation of the front and rear center of gravity adjustment structure of the present invention.

[0030] Figure 3 : The front and rear center of gravity adjustment structure of the present invention is disassembled.

[0031] Figure 4 : Schematic diagram of the roller structure.

[0032] Figure 5 : Schematic diagram of the first adjustment ring structure.

[0033] Figure 6 : Schematic diagram of the first sliding ring structure.

[0034] Figure 7 : Schematic diagram of the pressure ring structure.

[0035] Figure 8 : Partial cross-sectional view of the balance adjustment structure of the present invention.

[0036] Figure 9 : A three-dimensional diagram of another embodiment of the adjusting ring.

[0037] Figure 10 : Side view of another embodiment of the adjusting ring.

[0038] Figure 11 : Schematic diagram of the rotation process of the two adjustment rings. DETAILED DESCRIPTION

[0039] Combine Figure 1 A mowing height adjustment component 3 is provided inside the shell 2 of the lawn mowing robot 1 for adjusting the mowing height of the mowing element. Currently, the commonly used mowing height adjustment components are mostly in the form of a motor cylinder, which is arranged in the middle position of the machine and completely occupies the space in the middle of the machine.

[0040] This embodiment provides a machine front and rear center of gravity adjustment structure based on the above machine structure, achieving the purpose of machine center of gravity adjustment while saving the internal space of the machine as much as possible.

[0041] like Figure 2 As shown, a center of gravity adjustment device 4 is sleeved on the outside of the motor cavity 101 inside the machine 1, through which the center of gravity of the machine can be adjusted. The motor cavity 101 can be used to install a mowing height adjustment component 3.

[0042] like Figure 3 The center of gravity adjustment device 4 includes a base 5, a roller 6, a first adjustment ring 7, a second adjustment ring 14, a first sliding ring 8, a second sliding ring 13, a third sliding ring 15, a pressure ring 9 and a separator ring 12, and the first adjustment ring 7 and the second adjustment ring 14 are stacked up and down.

[0043] like Figure 4 As shown, it also includes multiple rollers 6, combined with Figure 8 The base 5 includes a base 502 and a positioning ring 501 arranged on the base 502. A groove body is arranged around the base 502. The roller 6 is arranged in the groove body and its axis is distributed radially along the base 502.

[0044] A bayonet is provided on the outer side wall of the base 502, and the bayonet is an open and retractable bayonet. A guide groove is provided on the positioning ring 501 corresponding to the bayonet position. A rotating shaft 601 is provided at both ends of the roller 6. The rotating shaft 601 at one end of the roller 6 is inserted into the bayonet, and the rotating shaft 601 at the other end is embedded in the guide groove.

[0045] Figure 5 The figure shows the structure of the first adjustment ring 7. The main body of the first adjustment ring 7 is a circular ring structure, which is sleeved onto the positioning ring 501. A first counterweight 701 is installed on the outer edge of the first adjustment ring 7. The outer ring of the top surface of the first adjustment ring 7 is a gear ring 702. The counterweight 701 on the first adjustment ring 7 can be of various types. Its purpose is to deviate the center of gravity of the first adjustment ring 7 from its central axis of rotation. Figure 9-10 Shown is another form of first counterweight 701a, which is a continuously varying raised platform arranged around the first adjustment ring 7. The counterweight can also have other forms, such as unevenly spaced projections along the circumference of the first adjustment ring 7. The first adjustment ring 7 can be made of metal or an injection-molded part with a metal frame covered in plastic. A second counterweight is provided on the second adjustment ring 14. The second adjustment ring 14 differs from the first adjustment ring 7 in that the gear ring is located on the underside. The first and second counterweights are symmetrically arranged about the robot's central axis.

[0046] Combine Figure 8 , further comprising a separator ring 12, the separator ring 12 being sleeved outside the positioning ring 501 and located between the first adjustment ring 7 and the second adjustment ring 14, and further comprising a first sliding ring 8, a second sliding ring 13 and a third sliding ring 15 sleeved outside the positioning ring 501, wherein a plurality of roller needles are distributed on the first sliding ring 8, the second sliding ring 13 and the third sliding ring 15, the first adjustment ring 7 being arranged between the roller 6 and the first sliding ring 8, the separator ring 12 being arranged between the first sliding ring 8 and the second sliding ring 13, and the second adjustment ring 14 being arranged between the second sliding ring 13 and the third sliding ring 15, Figure 6 A schematic structural diagram of the first sliding ring 8 is provided, on which a plurality of needle rollers 801 are evenly distributed. The structures of the second sliding ring 13 and the third sliding ring 15 may be consistent with that of the first sliding ring 8 .

[0047] Combine Figure 7 , and also includes a pressure ring 9 sleeved on the outside of the positioning ring 501, the pressure ring 9 is pressed onto the upper part of the third sliding ring 15, and the pressure ring 9 is connected to the positioning ring 501 to limit the position. Specifically, for example, the following structure can be adopted to achieve this: a limiting groove and a buckle are also provided on the positioning ring 501, and a fixing platform 901 is provided at the bottom of the pressure ring 9. After the pressure ring 9 is installed on the positioning ring 501, the bottom surface of the fixing platform 901 presses against the third sliding ring 15, and a limiting protrusion 902 is provided on the inner side of the pressure ring 9 corresponding to the limiting groove. When the pressure ring 9 is sleeved on the outside of the positioning ring 501, the limiting protrusion 902 is clamped in the limiting groove to determine the lower limit position, and the top of the pressure ring 9 is clamped by the buckle to determine the upper limit position, thereby realizing the installation of the pressure ring 9.

[0048] The base 502 is also provided with a power bracket 509 for installing the power component 10. Gear rings are respectively provided at the outer ring of the top surface of the first adjustment ring 7 and the outer ring of the bottom surface of the second adjustment ring 14. The power bracket 509 is a motor. The output end of the motor is engaged with the gear rings of the first adjustment ring 7 and the second adjustment ring 14 through gears. The first adjustment ring 7 and the second adjustment ring 14 are both driven by the motor to rotate, and the two rotate in opposite directions.

[0049] The counterweights on the first adjustment ring 7 and the second adjustment ring 14 are initially overlapped or located on both sides of the machine (optimal solution).

[0050] A position detection unit 16 is also provided on the motor bracket for determining the position of the adjustment ring. The position detection unit 16 can be an infrared, Hall, laser or other detection unit. The corresponding detected element needs to be provided on the corresponding adjustment ring. Taking the Hall sensor as an example below, the detected element on the adjustment ring is a magnet. When the adjustment ring rotates until the detected element is aligned with the Hall sensor, the Hall sensor sends a signal. After receiving the signal, the machine main control can determine the position of the adjustment ring. According to needs, when the counterweight block is in the initial position, the Hall sensor is triggered to obtain the initial position of the adjustment ring. Subsequent adjustment of the adjustment ring can be obtained by recording the number of motor rotations, the number of motor current pulses, etc. Such methods are well known in the art and will not be described in detail here.

[0051] Each time the machine is started, the initial position of the adjustment ring needs to be determined.

[0052] like Figure 11 As shown, during the rotation of the adjustment rings 7 and 14, they are always symmetrically distributed on both sides of the machine's central axis, and the counterweight block is always symmetrical with the machine's central axis. Therefore, this adjustment device 4 can only adjust the center of gravity for the machine's front and rear tilt, that is, it can only adjust the machine's center of gravity front and back.

[0053] The following describes the method for adjusting the center of gravity using the above adjustment structure, assuming that the initial position is that the first counterweight and the second counterweight are located on the left and right sides of the robot and are at the farthest distance from each other.

[0054] 1. The mowing robot is equipped with an angle sensor to detect the pitch angle of the fuselage. When the angle sensor detects that the pitch angle of the fuselage is positive, the counterweight moves toward the head of the machine driven by the power device;

[0055] 2. When the angle sensor detects that the pitch angle of the fuselage is negative, the counterweight moves toward the tail of the machine driven by the moving parts.

[0056] The pitch angle indicates the degree of tilt of the robot in the front-to-back direction, that is, the front of the robot is raised or the rear of the robot is raised. When the pitch angle is positive, the front of the robot is raised, and when the pitch angle is negative, the rear of the robot is raised.

[0057] More specifically,

[0058] 1. The mowing robot is equipped with an angle sensor to detect the pitch angle of the fuselage. When the angle sensor detects that the pitch angle of the fuselage is positive and greater than the preset threshold, the counterweight is driven by the motor to move toward the machine head until it reaches the central axis position;

[0059] 2. When the angle sensor detects that the pitch angle of the aircraft is negative and less than the preset threshold, the counterweight moves toward the tail of the aircraft driven by the motor until it reaches the center axis position.

[0060] The adjusting device 4 in this solution has a compact structure and occupies little space, which can greatly save the internal space of the machine, and at the same time has a good center of gravity adjustment effect. Fewer power devices are used, and only one power device is needed to complete the center of gravity adjustment.

[0061] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the foregoing embodiments. The foregoing embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A front and rear center of gravity adjustment structure for a lawn mowing robot, characterized in that: It comprises a base (5), a first adjustment ring (7), a second adjustment ring (14) and a power component (10), The first adjusting ring (7) and the second adjusting ring (14) are sleeved outside the base (5), the first adjusting ring (7) is located below the second adjusting ring (14), the power component (10) is used to drive the first adjusting ring (7) and the second adjusting ring (14) to rotate, and the rotation directions of the first adjusting ring (7) and the second adjusting ring (14) are opposite. When the first adjustment ring (7) and the second adjustment ring (14) are rotated, the front and rear center of gravity of the lawn mowing robot can be changed; A first counterweight is provided on the first adjustment ring (7), and a second counterweight is provided on the second adjustment ring (14), wherein the first counterweight and the second counterweight are symmetrically arranged about the central axis of the robot; The first counterweight block is a boss with a continuously changing height and arranged around the first adjustment ring (7); the second counterweight block is a boss with a continuously changing height and arranged around the second adjustment ring (14); It also includes a plurality of rollers (6), the base (5) including a base (502) and a positioning ring (501) arranged on the base (502), a groove body is arranged around the base (502), and the rollers (6) are arranged in the groove body and their axes are distributed radially along the base (502); A bayonet is provided on the outer side wall of the base (502), and the bayonet is an open and retractable bayonet. A guide groove is provided on the positioning ring (501) at a position corresponding to the bayonet. Rotating shafts (601) are provided at both ends of the roller (6). The rotating shaft (601) at one end of the roller (6) is engaged with the bayonet, and the rotating shaft (601) at the other end is embedded in the guide groove. The base (502) is further provided with a power bracket (509) for mounting a power component (10), and a gear ring is respectively provided at the outer ring of the top surface of the first adjustment ring (7) and the outer ring of the bottom surface of the second adjustment ring (14). The power bracket (509) is a motor, and the output end of the motor is engaged with the gear rings of the first adjustment ring (7) and the second adjustment ring (14) through a gear.

2. The front and rear center of gravity adjustment structure for a lawn mowing robot according to claim 1, characterized in that: It also includes a separating ring (12), which is sleeved outside the positioning ring (501) and located between the first adjusting ring (7) and the second adjusting ring (14).

3. The front and rear center of gravity adjustment structure for a lawn mowing robot according to claim 2, characterized in that: The invention also includes a first sliding ring (8), a second sliding ring (13) and a third sliding ring (15) which are sleeved outside the positioning ring (501), wherein a plurality of roller needles are distributed on the first sliding ring (8), the second sliding ring (13) and the third sliding ring (15), the first adjusting ring (7) is arranged between the roller (6) and the first sliding ring (8), the separating ring (12) is arranged between the first sliding ring (8) and the second sliding ring (13), and the second adjusting ring (14) is arranged between the second sliding ring (13) and the third sliding ring (15).

4. The front and rear center of gravity adjustment structure for a lawn mowing robot according to claim 3, characterized in that: The invention also includes a pressure ring (9) sleeved on the outside of the positioning ring (501), the pressure ring (9) is pressed on the upper part of the third sliding ring (15), and the positioning ring (501) is also provided with a limit groove and a buckle. The bottom of the pressure ring (9) is provided with a fixed platform (901). After the pressure ring (9) is installed on the positioning ring (501), the bottom surface of the fixed platform (901) presses against the third sliding ring (15), and a limit protrusion (902) is provided on the inner side of the pressure ring (9) corresponding to the limit groove. When the pressure ring (9) is sleeved on the outside of the positioning ring (501), the limit protrusion (902) is clamped in the limit groove to determine the lower limit position, and the top of the pressure ring (9) is clamped by the buckle to determine the upper limit position, thereby realizing the installation of the pressure ring.

5. The front and rear center of gravity adjustment structure for a lawn mowing robot according to claim 1, characterized in that: The base (5) is sleeved outside the motor cavity (101) of the lawn mowing robot.

6. The front and rear center of gravity adjustment structure for a lawn mowing robot according to claim 5, characterized in that: The power bracket (509) is further provided with a position detection unit (16), and the first adjustment ring (7) and the second adjustment ring (14) are provided with a detected unit. When the counterweight blocks of the first adjustment ring (7) and the second adjustment ring (14) are in the initial position, the detected unit triggers the detection unit (16).

7. The method for adjusting the front and rear center of gravity of a lawn mower robot according to any one of claims 2 to 6, wherein: When the first counterweight and the second counterweight are in the initial position, the lawn mowing robot detects the pitch angle of the robot through the angle sensor. When the pitch angle of the lawn mowing robot is positive, the first counterweight and the second counterweight move toward the head of the robot. When the pitch angle of the lawn mowing robot is negative, the first counterweight and the second counterweight move toward the tail of the robot. The pitch angle indicates the degree of tilt of the robot in the front-to-back direction, that is, the front of the vehicle is lifted or the rear of the vehicle is lifted. When the pitch angle is positive, the front of the robot is lifted, and when the pitch angle is negative, the rear of the robot is lifted.

8. The method for adjusting the center of gravity according to claim 7, wherein: The initial position is a position where the first counterweight and the second counterweight are located on the left and right sides of the robot and are at their farthest distance from each other, and when the angle sensor detects that the pitch angle of the fuselage is positive and greater than a preset threshold, the first counterweight and the second counterweight are driven by the power component (10) to move toward the head of the machine until they reach the center axis position; When the angle sensor detects that the pitch angle of the fuselage is a negative value and is less than a preset threshold value, the first counterweight block and the second counterweight block are driven by the power component (10) to move toward the tail of the machine until they reach the center axis position.

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