Tool module, mowing robot and tool module correction method

Abstract

This application provides a blade module, a lawnmower robot, and a method for correcting the blade module. The lawnmower robot includes a blade module, which comprises: a housing, a roller blade assembly, a fixed blade assembly, a vibration sensor, and a controller. The housing includes two opposing side shells. The roller blade assembly and the fixed blade assembly are both disposed between the two opposing side shells, and the roller blade assembly and the fixed blade assembly cooperate to cut objects located between them. The vibration sensor is connected to the fixed blade assembly and is used to collect vibrations on the fixed blade assembly and generate corresponding electrical signals. The controller processes the electrical signals to obtain vibration waveforms, and when it determines that the blade module needs correction based on the vibration waveforms, it controls the execution of correction operations, thereby automating the correction operations, such as automating blade setting and sharpening operations.

Description

Technical Field

[0001] This application relates to the field of lawn mowing robot technology, and in particular to a blade module, a lawn mowing robot, and a method for modifying the blade module. Background Technology

[0002] Rotary blade lawnmowers use a combination of rotary and stationary blades to mow lawns. This typically involves adjustments to the blades, such as blade alignment and sharpening. Excessive gap between the blades results in poor mowing; conversely, insufficient gap, while providing good mowing, leads to excessive noise and significantly shortens blade life due to collisions. Therefore, a standard, small gap is necessary to achieve optimal mowing results while reducing noise and extending blade life. However, users often only notice this gap when mowing is unsatisfactory or noisy, requiring manual adjustment. Manually adjusting the gap to the standard small gap is difficult and lacks automation. Therefore, a solution is needed to identify when the gap is not at the standard small gap and to automate the alignment process to achieve the standard small gap. In addition, during lawn mowing, the blades may curl, develop micro-scratches, and cracks when they hit sand, gravel, or wood fibers on the ground. Timely sharpening is necessary to maintain the blade's sharpness and ensure good cutting quality. Traditional sharpening requires a professional to place the roller assembly on a special sharpening stand and use an external grinding mill, or to use a lawnmower to reverse the roller and apply abrasive. The sharpening effect is judged by the human eye. This method is time-consuming, labor-intensive, and requires professional operation, making it insufficiently automated. Relying on the experience of professionals to judge the sharpening effect can easily lead to inconsistent sharpening quality. Therefore, how to identify whether the blade needs sharpening and perform the sharpening operation automatically when it does is a problem that needs to be solved. Summary of the Invention

[0003] Therefore, this application provides a cutting tool module, a lawnmower robot, and a cutting tool module correction method to solve the above-mentioned technical problems.

[0004] The first aspect of this application provides a tool module, the tool module comprising: a housing, a hobbing cutter assembly, a fixed cutter assembly, a vibration sensor, and a controller;

[0005] The housing includes two opposing side shells;

[0006] Both the roller cutter assembly and the fixed cutter assembly are disposed between two opposing side shells, and the roller cutter assembly and the fixed cutter assembly cooperate with each other to cut the object located between the roller cutter assembly and the fixed cutter assembly;

[0007] The vibration sensor is connected to the fixed tool assembly, and the vibration sensor is used to collect the vibration on the fixed tool assembly and generate a corresponding electrical signal;

[0008] The controller is connected to the vibration sensor. The controller processes the electrical signal to obtain the vibration waveform, and controls the execution of the correction operation when it determines that the tool module needs to be corrected based on the vibration waveform.

[0009] A second aspect of this application provides a lawnmower robot, which includes the aforementioned blade module.

[0010] A third aspect of this application provides a tool module correction method, applicable to the aforementioned tool module, including:

[0011] The vibration on the fixed tool assembly is detected, and a corresponding electrical signal is generated;

[0012] The electrical signal is processed to obtain a vibration waveform, and when it is determined from the vibration waveform that the tool module needs to be corrected, the correction operation is controlled to be executed.

[0013] In this application, vibration is collected on the fixed tool assembly by a vibration sensor, the controller processes the electrical signal to obtain the vibration waveform, and determines whether a correction operation (such as tool setting operation and tool sharpening operation) is required based on the vibration waveform. When a correction is required, the controller controls the execution of the correction operation to automate the correction operation. Attached Figure Description

[0014] To more clearly illustrate the technical solution of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0015] Figure 1 Structural block diagrams of a lawnmower robot provided in some embodiments of this application;

[0016] Figure 2 This is a three-dimensional structural diagram of a tool module provided in some embodiments of this application;

[0017] Figure 3 Exploded views of the tool module structure provided in some embodiments of this application;

[0018] Figure 4 for Figure 2 Right view of the medium cutting tool module;

[0019] Figure 5 for Figure 2 Rear view of the cutting tool module;

[0020] Figure 6 This is a schematic diagram of the structure of a fixed-blade adjuster provided in some embodiments of this application;

[0021] Figure 7 A flowchart illustrating a tool module correction method provided in some embodiments of this application. Detailed Implementation

[0022] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0023] In the description of this application, unless otherwise expressly specified and limited, the term "connection" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium; it can also refer to the internal connection of two components; it can be a communication connection; or it can be an electrical connection. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0024] Please see Figures 1-5 , Figure 1 Structural block diagrams of a lawnmower robot provided in some embodiments of this application; Figure 2 This is a three-dimensional structural diagram of a tool module provided in some embodiments of this application; Figure 3 Exploded views of the tool module structure provided in some embodiments of this application; Figure 4 for Figure 2 Right view of the medium cutting tool module; Figure 5 for Figure 2 Rear view of the cutting tool module.

[0025] like Figure 1 As shown, this application provides a lawn mowing robot 2, which includes a blade module 1. The lawn mowing robot 2 can be used to mow grass in places such as golf courses, football fields, and home lawns.

[0026] In some embodiments, the lawnmower robot 2 has a trajectory planning function and can automatically trim the grass at various locations it passes through according to the planned trajectory. Specifically, the lawnmower robot 2 is a rotary lawnmower robot.

[0027] like Figures 2-5As shown, the tool module 1 includes a housing 10, a hobbing cutter assembly 20, a fixed-blade assembly 30, a vibration sensor 40, and a controller 50. The housing 10 includes two opposing side shells 11. The hobbing cutter assembly 20 and the fixed-blade assembly 30 are both disposed between the two opposing side shells 11, and cooperate to cut objects located between them. The vibration sensor 40 is connected to the fixed-blade assembly 30, and is used to collect vibrations on the fixed-blade assembly 30 and generate corresponding electrical signals. The controller 50 is connected to the vibration sensor 40, and is used to process the electrical signals to obtain vibration waveforms. Based on the vibration waveforms, when it is determined that the tool module 1 needs correction, the controller controls the execution of a correction operation.

[0028] In this application, vibration is collected on the fixed tool assembly 30 by vibration sensor 40, and the controller 50 is used to process the electrical signal to obtain the vibration waveform, and to determine whether a correction operation (such as tool setting operation and tool sharpening operation) is needed based on the vibration waveform. When a correction is needed, the controller executes the correction operation to automate the correction operation.

[0029] In some embodiments, the vibration sensor 40 collects vibrations at a rate of N times per second, converting the vibration amount on the fixed tool or the vibration amount on other components corresponding to the vibration amount on the fixed tool into an electrical signal. The controller 50 obtains the vibration waveform based on the correspondence between the attributes of the electrical signal (such as high or low voltage level and signal frequency) and the parameters of the vibration wave (such as vibration amplitude and vibration frequency). When higher accuracy is required, the value of N can be relatively large; when lower accuracy is required, the value of N can be relatively small. Optionally, the vibration sensor 40 can be an IMU (Inertial Measurement Unit) sensor.

[0030] In some embodiments, when the controller 50 determines that the tool module 1 needs correction based on the vibration waveform, it controls the execution of a correction operation, including: when the parameter value of the vibration waveform is within a first preset range, determining that the tool module 1 needs a tool setting operation, and controlling the execution of the tool setting operation, wherein the tool setting operation is used to correct the distance between the hobbing assembly 20 and the fixed tool assembly 30 to within a preset distance. When the parameter value of the vibration waveform is within a second preset range, determining that the tool module 1 needs a sharpening operation, and controlling the execution of the sharpening operation, wherein the sharpening operation is used to grind the hobbing assembly 20 and the fixed tool assembly 30 against each other. The parameter value of the vibration waveform includes amplitude and / or frequency. That is, the tool setting operation includes either a tool setting operation or a sharpening operation. Under the tool setting operation, the distance between the hobbing assembly 20 and the fixed tool assembly 30 is corrected to within a preset distance; under the sharpening operation, the hobbing assembly 20 and the fixed tool assembly 30 grind against each other.

[0031] Specifically, the maximum and minimum gaps that may occur between the hobbing blade 22 in the hobbing cutter assembly 20 and the fixed blade 31 in the fixed blade assembly 30 under normal use can be selected experimentally. A first experimental parameter range is obtained by measuring the parameter values ​​of the vibration waveforms corresponding to the hobbing blade 22 and the fixed blade 31 at each gap from the minimum to the maximum gap. Then, a first standard parameter range of the vibration wave when the gap between the hobbing blade 22 and the fixed blade 31 is a standard small gap is determined experimentally. The first preset range value is the range obtained by subtracting the first standard parameter range from the first experimental parameter range.

[0032] Alternatively, the second preset range value can be obtained by selecting the parameter value of the vibration waveform that may occur between the hob blade 22 in the hob assembly 20 and the fixed blade 31 in the fixed blade assembly 30 during normal use, when a sharpening operation is required.

[0033] The first preset range value and the second preset range value may partially overlap or not overlap. When the first preset range value and the second preset range value partially overlap, when the controller 50 determines that the tool module 1 needs to be corrected based on the vibration waveform, it controls the execution of the correction operation. This may further include: when the parameter value of the vibration waveform is simultaneously within both the first preset range value and the second preset range value, the controller 50 determines that the tool module 1 currently needs to undergo tool setting and sharpening operations, and controls the execution of the tool setting and sharpening operations.

[0034] In some embodiments, the priority of the sharpening operation may be higher than that of the tool setting operation. When the parameter value of the vibration waveform is simultaneously within a first preset range value and a second preset range value, the controller 50 may first control the sharpening operation and then perform the tool setting operation.

[0035] That is, in some embodiments, the correction operation may include at least one of a tool setting operation and a sharpening operation. During the tool setting operation, the distance between the hobbing assembly and the fixed-blade assembly is corrected to a preset distance. During the sharpening operation, the hobbing assembly and the fixed-blade assembly grind against each other. When the correction operation includes both a tool setting operation and a sharpening operation, the sharpening operation and the tool setting operation can be performed sequentially, i.e., the sharpening operation is performed first, followed by the tool setting operation. Therefore, in this application, the correction operation may include at least one of a tool setting operation and a sharpening operation.

[0036] In some embodiments, the hobbing cutter assembly 20 includes a rotating shaft 21 and at least one hobbing cutter blade. Two opposing through holes 12 are provided on the two opposing side shells 11, respectively. The rotating shaft 21 passes through the two opposing through holes 12 and is rotatable relative to the side shells 11. Each hobbing cutter blade 22 extends in a curved manner, and the at least one hobbing cutter blade is connected to the rotating shaft 21, with the outermost edge of each hobbing cutter blade 22 being a cutting edge.

[0037] In some embodiments, the hobbing cutter assembly 20 further includes at least one hobbing cutter support frame 23, which is fixed to the rotating shaft 21. The at least one hobbing cutter blade is fixed to the at least one hobbing cutter support frame 23 and connected to the rotating shaft 21.

[0038] In some embodiments, there are multiple hobbing cutter blades 22 and multiple hobbing cutter support frames 23. Each hobbing cutter support frame 23 is arranged around the rotation shaft 21, and the multiple hobbing cutter support frames 23 are distributed in parallel on the rotation shaft 21. Each hobbing cutter blade 22 is arranged on the multiple hobbing cutter support frames 23, and the multiple hobbing cutter blades 22 are arranged in parallel with each other on the hobbing cutter support frames 23.

[0039] Compared to a single blade, multiple blades of the rotary cutter 22 result in more uniform cutting of grass over the same travel distance. Multiple rotary cutter support frames 23 enhance the stability of the rotary cutter blades 22. The parallel arrangement of multiple rotary cutter blades 22 on the support frames 23 ensures that when all blades 22 have the same shape, and the gap between any one blade 22 and the fixed blade 31 is a standard small gap, the gaps between the other blades 22 and the fixed blade 31 also become standard small gaps.

[0040] Furthermore, multiple hob support frames 23 are evenly distributed in parallel on the rotating shaft 21, and multiple hob blades 22 are evenly distributed on the hob support frames 23.

[0041] Multiple rotary cutter support frames 23 are evenly distributed in parallel on the rotating shaft 21, which ensures a more uniform supporting force on the rotary cutter blades 22, reducing the possibility of blade breakage. The even distribution of multiple rotary cutter blades 22 on the support frames 23, compared to some blades having larger gaps than others, allows the lawnmower robot to cut the grass more evenly during uniform motion.

[0042] In some other embodiments, the at least one hobbing cutter blade may be directly mounted on the rotating shaft 21.

[0043] In some embodiments, the hobbing cutter blade 22 is a helical blade, and the outermost part of each position of the hobbing cutter blade 22 is equidistant from the axis of the rotation shaft 21.

[0044] The spiral blade 22 is more conducive to adhering to the grass than the rectangular blade body, making it easier to gather the grass during rotation. The outermost edge of each position of the spiral blade 22 is equidistant from the axis of rotation 21, ensuring that the gap between the outermost edge of any position of the spiral blade 22 and the fixed blade 31 is a standard small gap, and the gap between the outermost edge of the spiral blade 22 and the fixed blade 31 at other positions is also a standard small gap.

[0045] In some embodiments, the fixed blade assembly 30 includes a fixed blade 31, which is rotatably connected to the bottom of two opposing side shells 11 and parallel to the rotation shaft 21. When the rotation shaft 21 rotates, it drives the hobbing blade 22 to rotate, and the cutting edges of each hobbing blade 22 at different positions move sequentially to positions corresponding to the cutting edges of the fixed blade 31, so as to cut the object gathered between the hobbing blade 22 and the fixed blade 31 during rotation. The blade setting operation involves adjusting the distance between the cutting edges of the hobbing blade 22 and the fixed blade 31 to a preset distance range. That is, under the blade setting operation, the distance between the cutting edges of the hobbing blade 22 and the fixed blade 31 is corrected to a preset distance range.

[0046] The fixed blade 31 is connected to the two opposite side shell shafts at both ends, and the fixed blade 31 can rotate relative to the side shell. Thus, the gap between the fixed blade 31 and the hobbing blade 22 can be adjusted by rotating the fixed blade 31 relative to the side shell.

[0047] Please refer to the following: Figures 2-6 , Figure 6 This is a schematic diagram of the fixed-blade adjuster provided in some embodiments of this application.

[0048] like Figures 2-6 As shown, in some embodiments, the tool module 1 further includes a fixed-blade adjuster 60, and the fixed-blade assembly 30 further includes a first connector 32. The fixed-blade adjuster 60 is disposed on the housing 10, and the first connector 32 is connected between the fixed-blade blade 31 and the fixed-blade adjuster 60. The fixed-blade adjuster 60 is used to drive the first connector 32 to move, so as to further drive the fixed-blade blade 31 to rotate through the first connector 32. The controller 50 controls the fixed-blade adjuster 60 to drive the fixed-blade blade 31 to rotate, thereby controlling the execution of a tool setting operation. That is, the fixed-blade adjuster 60 is used to respond to the control of the controller 50 at least during a tool setting operation, and to drive the first connector 32 to move, so as to further drive the fixed-blade blade 31 to rotate through the first connector 32.

[0049] In some embodiments, the vibration sensor 40 is disposed in the first connector 32. For example, it may be disposed in the middle of the first connector 32, or at one end of the first connector 32 near the fixed blade 31.

[0050] The vibration sensor 40 can collect the vibration of the first connector 32 and convert it into an electrical signal. Because the first connector 32 is directly fixedly connected to the fixed blade 31, when the fixed blade 31 vibrates, the vibration amount on the first connector 32 is less different from the vibration amount on the fixed blade 31. Furthermore, placing the vibration sensor 40 in the first connector 32, rather than on the fixed blade 31, avoids damage to the vibration sensor 40. If the vibration sensor 40 is placed on the side of the fixed blade 31 closer to the rotary blade 22, it is easily damaged due to the standard small gap between the fixed blade 31 and the rotary blade 22 during mowing. Conversely, if the vibration sensor 40 is placed on the side of the fixed blade 31 further away from the rotary blade 22, it is also easily damaged when in contact with the ground. Therefore, in this application, placing the vibration sensor 40 in the first connector 32 allows for more accurate detection of vibration waves and avoids damage to the vibration sensor.

[0051] In some embodiments, the fixed-blade adjuster 60 includes a first motor 61, a gear set 62, a lead screw 63, a guide rod 64, and a movable component 65. The gear set 62 includes a first external gear 621 and a second external gear 622. The movable component 65 includes a mating part 651, a pushing part 652, and a guide hole 653. The first motor 61 is connected to the first external gear 621, and the first external gear 621 is connected to the second external gear 622. One end of the lead screw 63 is fixed to the inner wall of the second external gear 622, and the other end of the lead screw 63 passes through the mating part 651. The pushing part 652 is connected to the first connecting member 32. The guide rod 64 passes through the guide hole 653 and guides the movement of the movable component 65. The first motor 61 drives the first external gear 621 to rotate, which in turn drives the second external gear 622 to rotate. The lead screw 63 rotates with the second external gear 622. The mating part 651 moves in a first direction or a second direction with the rotation of the lead screw 63, so that the pushing part 652 pushes the first connecting member 32 to make the fixed blade 31 rotate in the direction of its blade edge or in the direction opposite to its blade edge.

[0052] The controller 50 controls the execution of the tool setting operation, including: the controller 50 issuing a callback command to the fixed tool adjuster 60, causing the first motor 61 to drive the first external gear 621 to rotate in the reverse direction, thereby driving the second external gear 622 to rotate; the lead screw 63 rotates with the second external gear 622; and the mating part 651 moves in the second direction with the rotation of the lead screw 63, so that the fixed tool blade 31 rotates in the direction opposite to its cutting edge to achieve the tool setting operation. The callback command includes the number of rotations of the first motor 61. Alternatively, the controller 50 issues a forward adjustment command to the fixed tool adjuster 60, causing the first motor 61 to drive the first external gear 621 to rotate in the forward direction, thereby driving the second external gear 622 to rotate; the lead screw 63 rotates with the second external gear 622; and the mating part 651 moves in the first direction with the rotation of the lead screw 63, so that the fixed tool blade 31 rotates in the direction of its cutting edge to achieve the tool setting operation. The forward adjustment command also includes the number of rotations of the first motor 61. The forward rotation can be... Figure 4 Rotation in a clockwise or counterclockwise direction as shown in the viewpoint, wherein the reverse rotation can be in the direction shown in the viewpoint .... The reverse rotation can be in the direction shown Figure 4 The view shown can be rotated counterclockwise or clockwise.

[0053] That is, during the tool setting operation, the first motor in the fixed tool adjuster drives the first external gear to rotate in the opposite direction, which in turn drives the second external gear to rotate. The lead screw rotates with the second external gear, and the mating part moves in the second direction with the rotation of the lead screw, so that the fixed tool blade rotates in the direction opposite to its cutting edge to achieve the tool setting operation. Alternatively, the first motor in the fixed tool adjuster drives the first external gear to rotate in the forward direction, which in turn drives the second external gear to rotate. The lead screw rotates with the second external gear, and the mating part moves in the first direction with the rotation of the lead screw, so that the fixed tool blade rotates in the direction of its cutting edge to achieve the tool setting operation.

[0054] The fixed-blade adjuster 60 further includes a housing 66, a spring 67, and a counter 68. The first motor 61, gear set 62, lead screw 63, guide rod 64, moving part 65, and spring 67 are all housed within the housing 66. Spring 67 is connected to the mating part 651, and the lead screw 63 passes through spring 67. Spring 67 is located between the mating part 651 and the housing 66, and is used to reduce errors. A planetary gear (not shown) may also be provided between the first external gear 621 and the first motor 61. The planetary gear is used for speed reduction and torque increase. Other external gears (not shown) may also be provided between the first external gear 621 and the second external gear 622. The counter 68 is connected to the second external gear 622 or the lead screw 63 and is used to record the number of rotations of the second external gear 622 or the lead screw 63.

[0055] In some embodiments, the hobbing cutter assembly 20 further includes a second motor (not shown) for driving the rotating shaft 21 to rotate, thereby causing the hobbing cutter blade 22 to rotate relative to the fixed blade 31. The controller 50 controls the execution of the sharpening operation, including: the controller 50 issuing a reverse drive command to the second motor to cause the rotating shaft 21 to rotate in the opposite direction, thereby causing the hobbing cutter blade 22 to rotate in the opposite direction relative to the fixed blade 31. That is, during the sharpening operation, the second motor responds to the control of the controller 50 and drives the rotating shaft 21 to rotate in the opposite direction, thereby causing the hobbing cutter blade 22 to rotate in the opposite direction relative to the fixed blade 31.

[0056] When the blade of the rotary blade 22 is opposite to the fixed blade 31, it can cut grass. At this time, the rotary blade 22 rotates in the forward direction relative to the fixed blade 31.

[0057] In some embodiments, the controller 50 controls the execution of the sharpening operation, further comprising: the controller 50 issuing a control command to the fixed blade adjuster 60, causing the fixed blade adjuster 60 to drive the fixed blade 31 to gradually rotate in a direction that interferes with the hobbing blade 22. That is, during the sharpening operation, the fixed blade adjuster 60 is also used to respond to the control of the controller 50 and drive the fixed blade 31 to gradually rotate in a direction that interferes with the hobbing blade 22.

[0058] During the grinding process, the interference between the fixed blade 31 and the hobbing blade 22 can be continuously increased or decreased.

[0059] In some embodiments, after the controller 50 controls the execution of the sharpening operation, it is further configured to control the stopping of the sharpening operation after the duration of the sharpening operation reaches a preset duration; or, the controller 50 determines whether the amplitude and / or frequency of the vibration collected during the sharpening operation is within the normal range, and controls the stopping of the sharpening operation when the amplitude and / or frequency of the vibration is within the normal range.

[0060] The controller 50 continues or stops the sharpening operation based on vibration control, which is more intelligent than setting a fixed duration for each sharpening operation and can improve the sharpening effect.

[0061] Please see Figure 7 , Figure 7 A flowchart illustrating a tool module correction method provided in some embodiments of this application.

[0062] like Figure 7 As shown, the tool module correction method can be applied to the aforementioned tool module, and the method includes:

[0063] S101: Detect the vibration on the fixed tool assembly and generate a corresponding electrical signal;

[0064] S102: Process the electrical signal to obtain a vibration waveform, and when it is determined based on the vibration waveform that the tool module needs to be corrected, control the execution of the correction operation.

[0065] In this application, the vibration of the fixed tool assembly is collected, the electrical signal is processed to obtain the vibration waveform, and it is determined whether a correction operation (such as tool setting operation and tool sharpening operation) is needed based on the vibration waveform. When a correction is needed, the correction operation is controlled to be executed to realize the automation of the correction operation.

[0066] In some embodiments, when step S102 determines that the tool module needs correction based on the vibration waveform, controlling the execution of the correction operation includes:

[0067] When the parameter value of the vibration waveform is within the first preset range, it is determined that a tool setting operation needs to be performed on the tool module, and the tool setting operation is controlled to be executed.

[0068] When the parameter value of the vibration waveform is within the second preset range, it is determined that the tool module needs to be sharpened, and the sharpening operation is controlled to be executed.

[0069] In some embodiments, the control performs the tool setting operation, including:

[0070] A reversal command is issued to the fixed-blade adjuster, causing the first motor to drive the first external gear to rotate in the reverse direction, which in turn drives the second external gear to rotate in the reverse direction. The lead screw rotates in the reverse direction with the second external gear, and the mating part moves in the second direction with the reverse rotation of the lead screw, so that the fixed-blade blade rotates in the direction opposite to its cutting edge. The reversal command includes the number of rotations of the first motor. Alternatively, a forward adjustment command is issued to the fixed-blade adjuster, causing the first motor to drive the first external gear to rotate in the forward direction, which in turn drives the second external gear to rotate in the forward direction. The lead screw rotates in the forward direction with the second external gear, and the mating part moves in the first direction with the forward rotation of the lead screw, so that the fixed-blade blade rotates in the direction of its cutting edge.

[0071] In some embodiments, the control to perform the sharpening operation includes:

[0072] A reverse drive command is issued to the second motor to cause the rotating shaft to rotate in the opposite direction, thereby driving the hobbing blade to rotate in the opposite direction relative to the fixed blade.

[0073] In some embodiments, the control to perform the sharpening operation further includes:

[0074] A control command is issued to the fixed tool adjuster so that the fixed tool adjuster drives the fixed tool blade to gradually rotate in the direction of interference with the hobbing tool blade.

[0075] In some embodiments, after controlling the execution of the sharpening operation, the method further includes:

[0076] The sharpening operation can be stopped after a preset duration has elapsed. Alternatively, the system can determine whether the amplitude and / or frequency of the vibration collected during the sharpening operation are within the normal range, and stop the sharpening operation when the amplitude and / or frequency are within the normal range.

[0077] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0078] The above are the implementation methods of the embodiments of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the embodiments of this application, and these improvements and modifications are also considered to be within the protection scope of this application.

Claims

1. A cutting tool module, characterized in that, The tool module includes a housing, a hobbing cutter assembly, a fixed cutter assembly, a vibration sensor, and a controller; The housing includes two opposing side shells; Both the roller cutter assembly and the fixed cutter assembly are disposed between two opposing side shells, and the roller cutter assembly and the fixed cutter assembly cooperate with each other to cut the object located between the roller cutter assembly and the fixed cutter assembly; The vibration sensor is connected to the fixed tool assembly, and the vibration sensor is used to collect the vibration on the fixed tool assembly and generate a corresponding electrical signal; The controller is connected to the vibration sensor. The controller processes the electrical signal to obtain the vibration waveform, and controls the execution of the correction operation when it determines that the tool module needs to be corrected based on the vibration waveform. Wherein, when the controller determines that the tool module needs correction based on the vibration waveform, it controls the execution of the correction operation, including: When the parameter value of the vibration waveform is within a first preset range, it is determined that the tool module needs to perform a tool setting operation, and the tool setting operation is controlled to be executed. The tool setting operation is used to correct the distance between the hobbing assembly and the fixed tool assembly to within a preset distance. Specifically, the maximum and minimum gaps between the hobbing blade in the hobbing cutter assembly and the fixed blade in the fixed cutter assembly are selected based on experiments during use. The first experimental parameter range is obtained by measuring the parameter values ​​of the vibration waveforms corresponding to the hobbing blade and the fixed blade at each gap from the minimum gap to the maximum gap. Then, the first standard parameter range of the vibration wave when the gap between the hobbing blade and the fixed blade is a standard small gap is determined based on experiments. The first preset range value is the range value obtained by subtracting the first standard parameter range from the first experimental parameter range.

2. The tool module according to claim 1, characterized in that, When the controller determines that the tool module needs correction based on the vibration waveform, it controls the execution of the correction operation, which also includes: When the parameter value of the vibration waveform is within a second preset range, it is determined that the tool module needs to be sharpened, and the sharpening operation is controlled to be executed. The sharpening operation is used to grind the hobbing assembly and the fixed tool assembly against each other.

3. The tool module according to claim 2, characterized in that, The parameter values ​​of the vibration waveform include amplitude and / or frequency.

4. The tool module according to claim 2 or 3, characterized in that, The hobbing cutter assembly includes a rotating shaft and at least one hobbing cutter blade; Two opposite through holes are provided on the two opposite side shells; The rotating shaft passes through two opposite through holes, and the rotating shaft can rotate relative to the side shell; Each hob blade is curved and extended, and the at least one hob blade is connected to the rotating shaft, with the outermost edge of each hob blade being the cutting edge.

5. The tool module according to claim 4, characterized in that, The hobbing cutter assembly further includes at least one hobbing cutter support frame, which is fixed to the rotating shaft; the at least one hobbing cutter blade is fixed to the at least one hobbing cutter support frame and connected to the rotating shaft.

6. The tool module according to claim 4, characterized in that, The hobbing cutter blade is a helical blade, and the outermost part of each position of the hobbing cutter blade is equidistant from the axis of rotation.

7. The tool module according to claim 6, characterized in that, The fixed blade assembly includes a fixed blade, which is rotatably connected to the bottom of two opposing side shells and parallel to the rotation axis. When the rotation axis rotates, it drives the hobbing blade to rotate, and the cutting edges of each hobbing blade at different positions move sequentially to positions corresponding to the cutting edges of the fixed blade, so as to cut the object that gathers between the hobbing blade and the fixed blade during the rotation. The blade setting operation is to adjust the distance between the cutting edges of the hobbing blade and the cutting edges of the fixed blade to a preset distance range.

8. The tool module according to claim 7, characterized in that, The tool module further includes a fixed tool adjuster, and the fixed tool assembly further includes a first connector; the fixed tool adjuster is disposed on the housing, and the first connector is connected between the fixed tool blade and the fixed tool adjuster; the fixed tool adjuster is used to drive the first connector to move, so as to further drive the fixed tool blade to rotate through the first connector; wherein, the controller controls the fixed tool adjuster to drive the fixed tool blade to rotate, and controls the execution of the tool setting operation.

9. The tool module according to claim 8, characterized in that, The vibration sensor is disposed in the first connector.

10. The tool module according to claim 8, characterized in that, The fixed-blade adjuster includes a first motor, a gear set, a lead screw, a guide rod, and a movable component. The gear set includes a first external gear and a second external gear, and the movable component includes a mating part, a pushing part, and a guide hole. The first motor is connected to the first external gear, the first external gear is connected to the second external gear, one end of the lead screw is fixed to the inner wall of the second external gear, the other end of the lead screw passes through the mating part, the pushing part is connected to the first connecting member, and the guide rod passes through the guide hole. The guide rod is used to guide the movement of the moving part. The first motor drives the first external gear to rotate, which in turn drives the second external gear to rotate. The lead screw rotates with the second external gear. The mating part moves in a first direction or a second direction with the rotation of the lead screw, so that the pushing part pushes the first connecting member and causes the fixed blade to rotate in the direction of its blade edge or in the direction opposite to its blade edge. The controller controls the execution of the tool setting operation, including: The controller issues a callback command to the fixed-blade adjuster, causing the first motor to drive the first external gear to rotate in the opposite direction, thereby driving the second external gear to rotate. The lead screw rotates with the second external gear, and the mating part moves in the second direction with the rotation of the lead screw, so that the fixed-blade blade rotates in the direction opposite to its cutting edge to achieve the tool setting operation. The callback command includes the number of rotations of the first motor; or The controller issues a forward adjustment command to the fixed blade adjuster, so that the first motor drives the first external gear to rotate in the forward direction, thereby driving the second external gear to rotate. The lead screw rotates with the second external gear, and the mating part moves in the first direction with the rotation of the lead screw, so that the fixed blade rotates in the direction of its blade edge to realize the tool setting operation.

11. The tool module according to claim 10, characterized in that, The hobbing cutter assembly also includes a second motor, which drives the rotating shaft to rotate so as to cause the hobbing cutter blade to rotate relative to the fixed blade. The controller controls the execution of the sharpening operation, including: The controller sends a reverse drive command to the second motor to cause the rotating shaft to rotate in the opposite direction, thereby driving the hobbing blade to rotate in the opposite direction relative to the fixed blade.

12. The tool module according to claim 11, characterized in that, The controller controls the execution of the sharpening operation and also includes: The controller sends a control command to the fixed tool adjuster, so that the fixed tool adjuster drives the fixed tool blade to gradually rotate in the direction of interference with the hobbing blade.

13. The tool module according to claim 11 or 12, characterized in that, After the controller controls the execution of the sharpening operation, it is also used to control the stopping of the sharpening operation after the duration of the sharpening operation reaches a preset duration; or The controller determines whether the amplitude and / or frequency of the vibration collected during the sharpening operation is within the normal range, and stops the sharpening operation when the amplitude and / or frequency of the vibration is within the normal range.

14. A lawnmower robot, characterized in that, The lawnmower robot includes the blade module as described in any one of claims 1-13.

15. A tool module correction method, applied to the tool module according to any one of claims 1-13, characterized in that, The method includes: The vibration on the fixed tool assembly is detected, and a corresponding electrical signal is generated. The fixed tool assembly includes a first connector. The electrical signal is processed to obtain a vibration waveform, and when it is determined from the vibration waveform that the tool module needs to be corrected, the correction operation is executed. Wherein, when it is determined based on the vibration that the tool module needs to be corrected, the correction operation is controlled to be executed, including: When the parameter value of the vibration waveform is within the first preset range, it is determined that a tool setting operation needs to be performed on the tool module, and the tool setting operation is controlled to be executed. The experiment selects the maximum and minimum gaps between the hobbing blade in the hobbing cutter assembly and the fixed blade in the fixed blade assembly during use. The experiment measures the vibration waveform parameters of the hobbing blade and the fixed blade at each gap from the minimum to the maximum gap to obtain the first experimental parameter range. Then, the experiment determines the first standard parameter range of the vibration wave when the gap between the hobbing blade and the fixed blade is the standard small gap. The first preset range value is the range value obtained by subtracting the first standard parameter range from the first experimental parameter range. The hobbing cutter assembly also includes a second motor and a rotating shaft. The second motor is used to drive the rotating shaft to rotate so that the hobbing cutter blade rotates relative to the fixed blade.

16. The tool module correction method according to claim 15, characterized in that, When it is determined based on the vibration that the tool module needs correction, the step of controlling the execution of the correction operation further includes: When the parameter value of the vibration waveform is within the second preset range, it is determined that the tool module needs to be sharpened, and the sharpening operation is controlled to be executed.

17. The tool module correction method according to claim 16, characterized in that, The tool module also includes a fixed tool adjuster, which includes a first motor, a gear set, a lead screw, a guide rod, and a movable part. The gear set includes a first external gear and a second external gear, and the movable part includes a mating part, a pushing part, and a guide hole. The first motor is connected to the first external gear, the first external gear is connected to the second external gear, one end of the lead screw is fixed to the inner wall of the second external gear, the other end of the lead screw passes through the mating part, the pushing part is connected to the first connecting member, and the guide rod passes through the guide hole. The guide rod is used to guide the movement of the moving part. The first motor drives the first external gear to rotate, which in turn drives the second external gear to rotate. The lead screw rotates with the second external gear. The mating part moves in a first direction or a second direction with the rotation of the lead screw, so that the pushing part pushes the first connecting member and causes the fixed blade to rotate in the direction of its blade edge or in the direction opposite to its blade edge. The control to perform the tool setting operation includes: A callback command is issued to the fixed-blade adjuster, causing the first motor to drive the first external gear to rotate in the opposite direction, thereby driving the second external gear to rotate. The lead screw rotates with the second external gear, and the mating part moves in the second direction with the rotation of the lead screw, so that the fixed-blade blade rotates in the direction opposite to its cutting edge. The callback command includes the number of rotations of the first motor; or A forward adjustment command is issued to the fixed blade adjuster so that the first motor drives the first external gear to rotate in the forward direction, thereby driving the second external gear to rotate. The lead screw rotates with the second external gear, and the mating part moves in the first direction with the rotation of the lead screw, so that the fixed blade rotates in the direction of its cutting edge.

18. The tool module correction method according to claim 17, characterized in that, The control to perform the sharpening operation includes: A reverse drive command is issued to the second motor to cause the rotating shaft to rotate in the opposite direction, thereby driving the hobbing blade to rotate in the opposite direction relative to the fixed blade.

19. The tool module correction method according to claim 18, characterized in that, The control for performing the sharpening operation also includes: A control command is issued to the fixed tool adjuster so that the fixed tool adjuster drives the fixed tool blade to gradually rotate in the direction of interference with the hobbing tool blade.

20. The tool module correction method according to claim 18 or 19, characterized in that, After controlling the execution of the sharpening operation, the method further includes: The sharpening operation can be stopped after the preset duration has elapsed; or the amplitude and / or frequency of the vibration collected during the sharpening operation can be determined to be within the normal range, and the sharpening operation can be stopped when the amplitude and / or frequency of the vibration are within the normal range.

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