Lawn mower, elastic member, and self-moving device

Abstract

The embodiment of the application provides a mower, an elastic element and a self-moving device. The mower comprises a body, a traveling wheel and a cutter arranged on the body, a bumper plate arranged on the outside of the body, and an elastic element having a first end and a second end, wherein the first end is connected with the body, the second end is connected with the bumper plate, and the bumper plate can move relative to the body. One of the first end and the second end is above the other, and the size of the center of the cross section of the elastic element to the edge of the cross section is different in two different directions. The mower or the self-moving device using the elastic element provided by the embodiment of the application can resist the collision force in different directions around the mower or the self-moving device, and meets the actual use requirement of the mower or the self-moving device.

Description

Technical Field

[0001] This application relates to the field of lawnmower technology, and more particularly to a lawnmower, an elastic element, and a self-moving device. Background Technology

[0002] A lawnmower, also known as a lawn trimmer, lawn mower, or lawn mower, is a mechanical tool used for trimming lawns, vegetation, etc. Currently, there are push lawnmowers, self-propelled lawnmowers (or lawnmower robots), etc., which can greatly reduce the workload of manual labor. When working on the lawn, lawnmowers sometimes collide with obstacles such as stones and walls.

[0003] The lawnmower is equipped with a crash barrier, which is supported by elastic components. The elastic deformation force of these components resists the impact force of obstacles colliding with the machine. In existing technology, the elastic deformation force of the elastic components is the same in all directions, thus its resistance to impact forces in all directions is also the same. Summary of the Invention

[0004] The embodiments of this application provide a technique for generating different elastic deformation forces in different directions to resist impact forces of varying magnitudes in different directions.

[0005] Specifically, in one embodiment of this application, a lawnmower is provided. The lawnmower includes:

[0006] The machine body is equipped with drive wheels and cutting tools;

[0007] Anti-collision plates are installed on the outside of the body;

[0008] An elastic element has a first end and a second end, the first end being connected to the body and the second end being connected to the anti-collision plate, so that the anti-collision plate can move relative to the body;

[0009] Wherein, one of the first end and the second end is above the other, and the center of the cross-section of the elastic element has different dimensions along two different directions to the edge of the cross-section.

[0010] In another embodiment of this application, an elastic element for a lawnmower is provided. The elastic element is used to connect a crash barrier of the lawnmower to the body of the lawnmower; the elastic properties of the elastic element allow the crash barrier to move relative to the body; wherein the center of the cross-section of the elastic element has different dimensions to the edge of the cross-section along two different directions, so as to have different elastic deformation forces in the two different directions.

[0011] In yet another embodiment of this application, a self-moving device is provided. The self-moving device includes:

[0012] The equipment body is equipped with traveling wheels;

[0013] A crash barrier is installed on the outside of the equipment body;

[0014] An elastic element has a first end and a second end, the first end being connected to the machine body and the second end being connected to the anti-collision plate, so that the anti-collision plate can move relative to the machine body;

[0015] Wherein, one of the first end and the second end is above the other, and the center of the cross-section of the elastic element has different dimensions along two different directions to the edge of the cross-section.

[0016] In the technical solution provided by the embodiments of this application, the dimensions from the center of the cross-section of the elastic element to the edge of the cross-section are different along two different directions, resulting in different elastic deformation forces in the two different directions. Lawn mowers or self-moving devices using the elastic element provided by the embodiments of this application can resist impact forces in different directions around the lawn mower or self-moving device, meeting the actual usage needs of the lawn mower or self-moving device. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art 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 based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of a cylindrical rubber spring in the prior art;

[0019] Figure 2 A top view of a lawnmower provided in one embodiment of this application;

[0020] Figure 3 for Figure 2 The AA-direction section is shown;

[0021] Figure 4 This is a schematic diagram of the structure of an elastic element provided in one embodiment of this application;

[0022] Figure 5 This is a schematic diagram of the appearance of a lawnmower provided in one embodiment of this application. Detailed Implementation

[0023] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0024] In some processes described in the specification, claims, and accompanying drawings of this application, multiple operations appearing in a specific order are included. These operations may be executed out of order or in parallel. Operation numbers such as 101, 102, etc., are merely used to distinguish different operations and do not represent any execution order. Furthermore, these processes may include more or fewer operations, and these operations may be executed sequentially or in parallel. It should be noted that the terms "first," "second," etc., used herein are used to distinguish different messages, devices, modules, etc., and do not represent a chronological order, nor do they limit "first" and "second" to different types. The embodiments described below are merely some embodiments of this application, not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0025] Currently, lawnmowers on the market already have related anti-collision devices, such as anti-collision plates or shells on the outside of the lawnmower. These anti-collision plates (or shells) are movable and connected to the machine body via flexible rubber connectors to buffer and reset against external impact forces. These flexible rubber connectors can also be rubber springs. For example, Figure 1 The cylindrical rubber spring shown exhibits the same deformation force in all directions. Characteristics of cylindrical rubber springs include... Figure 1 As shown, the section modulus of the cylindrical rubber spring is the same in all directions along section 1, so the bending deformation force per unit displacement is the same for this type of cylindrical rubber spring in all directions. However, during machine use, the impact force in front of the machine and the impact force in the left and right directions are different, which this type of cylindrical rubber spring cannot satisfy.

[0026] for example, Figure 2 and Figure 3 In the illustrated lawnmower example, the front, left, and right sides of the lawnmower body 2 are all surrounded by bumper plates 3. Two elastic elements are installed between the left and right sides of the body 2 and the bumper plates 3. Of course, one or two elastic elements can also be installed between the front of the lawnmower body 2 and the bumper plates 3. In this example, the elastic elements between the front of the body and the bumper plates are ignored. When the lawnmower encounters an obstacle in front, all four elastic elements 4 on the left and right sides of the body 2 deform simultaneously. However, when the body 2 encounters an obstacle on the side, such as a collision on the right, only the two elastic elements 4 on the right side deform. The two elastic elements 4 on the left side do not deform and do not participate in resisting the impact.

[0027] When the lawnmower encounters an obstacle in front, all four elastic elements 4 act together; however, when it encounters an obstacle on the side, only two elastic elements 4 are active. This shows that the lawnmower can withstand significantly less impact force on the side than in front. A smaller impact force on the side of the lawnmower is enough to trigger the machine's collision mechanisms (such as turning, reversing, or stopping). In reality, the product requirement is that the impact forces triggering the collision mechanisms in all directions should be roughly the same.

[0028] Therefore, an elastic element is needed, which has different elastic deformation forces in different directions. This allows for the goal of achieving roughly the same collision force for the triggering collision mechanism in all directions of the machine body through combination and arrangement of positions.

[0029] Figure 4 A schematic diagram of the structure of an elastic element provided in an embodiment of this application is shown. For example... Figure 4 As shown, the center of the cross-section of the elastic element 4 has different dimensions to the edge of the cross-section along two different directions, so as to have different elastic deformation forces in the two different directions.

[0030] In this embodiment, the elastic element can be used to connect the crash plate of the lawnmower to the body of the lawnmower; the elasticity of the elastic element allows the crash plate to move relative to the body.

[0031] The lawnmower or self-moving device using the elastic element provided in the embodiments of this application can resist the impact forces in different directions around the lawnmower or self-moving device, thus meeting the actual usage needs of the lawnmower or self-moving device.

[0032] In a feasible implementation, such as Figure 4 As shown, the elastic element has a first end 41, a second end 42, and an elastic segment 43, with the elastic segment 43 located between the first end 41 and the second end 42. The first end 41 and the second end 42 are respectively used to connect the body of the lawnmower (or the equipment body of the self-moving device) and the anti-collision plate.

[0033] When using the elastic element 4, one of the first end 41 and the second end 42 can be located above the other, that is, the elastic segment 43 of the elastic element 4 is in a vertical state.

[0034] The dimensions of the cross-section of the elastic segment 43 are different along two different directions to the edge of the cross-section.

[0035] For example, the cross-sectional shape of the elastic element 4 can be, but is not limited to: rectangular, racetrack-shaped (e.g., Figure 4 (As shown) or elliptical. Of course, the cross-sectional shape of the elastic element 4 can also be a symmetrical shape such as a cam shape, or it can be an irregular shape.

[0036] Furthermore, such as Figure 4 As shown, the elastic element 4 is dumbbell-shaped. The two large ends of the dumbbell shape are the first end and the second end, respectively, and the middle section is the elastic section. See also... Figure 4 As shown, with Figure 1 The cylindrical rubber elastic elements shown are different, such as Figure 4 As shown, the section modulus in the X direction is significantly higher than that in the Y direction. Therefore, for the same bending displacement, the deformation force in the X direction is significantly higher than that in the Y direction, which can meet the requirements of different deformation forces in the front and left / right directions.

[0037] Figure 5 , Figure 2 and Figure 3 A schematic diagram of a lawnmower according to an embodiment of this application is shown. Figure 5 , 2 As shown in Figure 3, the lawnmower includes: a body 2, a bumper 3, and an elastic element 4. The body 2 is equipped with travel wheels 5 and blades (not shown). The bumper 3 is disposed on the outer side of the body 2. The elastic element 4 has a first end 41 and a second end 42, the first end 41 being connected to the body 2, and the second end 42 being connected to the bumper 3, allowing the bumper 3 to move relative to the body 2. One of the first end 41 and the second end 42 is above the other, and the center of the cross-section of the elastic element 4 has different dimensions to the edge of the cross-section along two different directions.

[0038] Furthermore, the center of the cross-section of the elastic element 4 is along the first direction (e.g., Figure 4 The dimension from the Y direction in the middle to the edge of the cross-section is the first dimension; the center of the cross-section of the elastic member 4, along the second direction (e.g., the Y direction in the middle) to the edge of the cross-section is the first dimension; Figure 4 The dimension from the X direction in the cross-section to the edge of the cross-section is the second dimension;

[0039] Wherein, the first direction is perpendicular to the second direction, and the first dimension is smaller than the second dimension.

[0040] In one feasible technical solution, one of the first direction and the second direction is parallel to the direction of travel of the body 2, and the other direction is perpendicular to the direction of travel of the body 2.

[0041] See the examples above, such as Figure 2 As shown, two elastic elements 4 are installed on both the left and right sides of the lawnmower. Furthermore, as analyzed above, the impact force that the sides of the lawnmower can withstand is significantly less than that from the front. Therefore, in Figure 2 In the lawnmower shown, the first direction (e.g.) Figure 4 The Y direction in the middle is parallel to the direction of travel of the machine 2, and the second direction (such as...) is parallel to the direction of travel of the machine 2. Figure 4The X-direction of the four elastic elements 4 is perpendicular to the traveling direction of the machine body 2. Thus, the direction of the weakest bending section modulus of the four elastic elements 4 is parallel to the traveling direction of the machine body 2. The directions of the strong bending section modulus of the two elastic elements on the left and the two elastic elements on the right are perpendicular to the traveling direction of the machine body 2. The elastic deformation force formed by the sum of the four elastic elements with weak bending section modulus is the same as or substantially the same as the elastic deformation force formed by the sum of the two elastic elements with strong bending section modulus on the side. Therefore, the actual usage requirements of the lawnmower can be met, as the collision mechanism is triggered only when the same collision force occurs in each direction; and it avoids the situation where the collision mechanism is triggered only when there is a large frontal collision, but a small lateral collision can trigger the collision mechanism.

[0042] For example, the cross-sectional shape of the elastic element 4 can be, but is not limited to, a rectangle, a racetrack shape, an ellipse, a cam shape, etc. Of course, it can also be an irregular shape.

[0043] Furthermore, such as Figure 4 As shown, the elastic element 4 can be a columnar structure; the columnar structure includes: a first end 41, a second end 42, and an elastic segment 43; the elastic segment 43 is located between the first end 41 and the second end 42; the center of the cross-section of the elastic segment 43 has different dimensions to the edge of the cross-section along two different directions.

[0044] For example, the elastic element is dumbbell-shaped.

[0045] like Figure 3 In the structure shown, the first end 41 can be located above the second end 42. The first end 41 is connected to the body 2 of the lawnmower, and the second end 42 is connected to the bumper 3. Figure 3 As can be seen, the anti-collision plate 3 is located at the lower part of the body 2.

[0046] It should be noted that the elastic element in this embodiment can be implemented using the structure described in the previous elastic element embodiments. Furthermore, the specific values ​​of the cross-sectional dimensions of the elastic element, its position on the machine body, and the number of elements can be determined based on the lawnmower model and product positioning (user needs, etc.). For example, Figure 2In the example shown, the lawnmower has two elastic elements 4 on the left and two on the right, arranged symmetrically. The elastic deformation force of each elastic element 4 is proportional to its cross-sectional dimension. The dimension of each elastic element 4 parallel to the direction of travel of the mower is d1, and the dimension of each elastic element 4 perpendicular to the direction of travel of the mower is d2. Therefore, d2 can be designed to equal 2d1, so that the elastic deformation force N2 of each elastic element 4 perpendicular to the direction of travel of the mower is twice its elastic deformation force N1 parallel to the direction of travel of the mower. With the setup shown, when the lawnmower collides forward, the elastic deformation force provided by the four elastic elements is 4N1. When the forward collision force is greater than 4N1, a collision mechanism (such as the lawnmower turning, reversing, or stopping) will be triggered. When the lawnmower collides laterally, the elastic deformation force provided by the two elastic elements is 2N2 (2N2 = 4N1). When the lateral collision force is greater than 2N2, a collision mechanism (such as the lawnmower turning, reversing, or stopping) will be triggered. As can be seen, the solution adopted in this application embodiment can resist collision forces from different directions around the lawnmower or self-moving device, thus meeting the actual usage needs of the lawnmower or self-moving device.

[0047] Furthermore, the lawnmower provided in this embodiment may also include a sensor and a control device (not shown in the figure). The sensor is mounted on the body 2 and is used to generate a collision signal when the anti-collision plate 3 is touched and the elastic member 4 undergoes elastic deformation. The control device is electrically connected to the sensor and is used to control the body 2 to change its direction of travel or stop traveling in response to the collision signal.

[0048] When a lawnmower encounters an obstacle during operation, the obstacle first collides with the bumper. Under a force exceeding the elastic deformation of the elastic element, the bumper deforms, causing displacement. Sensors detect this and generate a collision signal. The control device can control the drive mechanism of the tensioner wheel to output steering power, reverse power, or stop outputting power, and can also control the lawnmower blades to stop working, ensuring safety during lawnmower operation.

[0049] The sensor in this embodiment can be a potentiometer-type displacement sensor, a Hall-effect displacement sensor, or a photoelectric displacement sensor, etc., and this embodiment does not limit it.

[0050] In this embodiment, the traveling wheels can have independent drives. For example, each traveling wheel has its own drive unit, which facilitates the rotation and movement of the lawnmower.

[0051] Furthermore, the lawnmower's body includes a chassis; tension wheels can be located on both sides of the chassis. A cutter head is also mounted on the chassis. Casters may also be installed at the front end of the chassis.

[0052] The front end of the crash barrier can be nested with a charging interface, within which a contact piece is nested. This contact piece is electrically connected to the lawnmower's battery via a wiring harness. When the charging terminal on the base station is electrically connected to the contact piece, the lawnmower's battery can be charged. The chassis also features a blade disc, which can be connected to a blade disc lifting assembly. This assembly allows the blade disc to move up and down as needed for mowing. The lawnmower can also be equipped with an infrared photoelectric switch, positioned above the casters, to monitor the casters' movement, promptly detect any jammed casters, and notify the user to resolve the issue.

[0053] Furthermore, the anti-collision plate is provided on at least one of the front, right, left and rear sides of the body; at least one elastic element is provided between the anti-collision plate and any side of the body.

[0054] Figure 2 In the example shown, the front, right, and left sides of the fuselage 2 are all equipped with anti-collision plates 3. That is, the anti-collision plates 3 are U-shaped and surround the front, right, and left sides of the fuselage 2. At least one elastic element 4 can be provided between the front side of the fuselage 2 and the anti-collision plate 3. Two elastic elements 4 are provided between the right side of the fuselage 2 and the anti-collision plate 3, and two elastic elements 4 are provided between the left side of the fuselage 2 and the anti-collision plate 3.

[0055] The elastic element provided in this application embodiment can also be used on other equipment besides lawnmowers, such as cleaning robots (e.g., sweeping robots, floor scrubbing robots, etc.) and service robots (e.g., robots that provide consultation, guidance, etc.). In another embodiment of this application, a self-moving device is provided. This self-moving device may include: a device body, a crash barrier, and an elastic element. The device body is provided with wheels. It should be noted that this embodiment does not limit the specific product form or structure of the self-moving device. The crash barrier is disposed on the outside of the device body. The elastic element has a first end and a second end. The first end is connected to the device body, and the second end is connected to the crash barrier, allowing the crash barrier to move relative to the device body. One of the first end and the second end is above the other, and the center of the elastic element's cross-section has different dimensions to the edge of the cross-section along two different directions.

[0056] The specific implementation structure of the elastic element can be found in the description above, and will not be repeated here. Furthermore, the number and location of the elastic elements need to be determined based on the specific structure of the device body.

[0057] The technical solutions provided in the embodiments of this application will be described below in conjunction with specific application scenarios.

[0058] The intelligent lawnmower uses the elastic element provided in the above embodiment. Elastic elements are symmetrically located on both the left and right sides of the lawnmower. The dimension of the elastic element along the direction of travel of the lawnmower is smaller than the dimension perpendicular to the direction of travel.

[0059] The intelligent lawnmower is working on the lawn. During its movement, it collides with an undetected low-lying rock. Elastic components on both the left and right sides of the mower resist the impact. If the collision force exceeds the sum of the elastic deformation forces provided by the left and right components, the collision mechanism is triggered. The intelligent lawnmower reverses and turns to avoid the rock.

[0060] The intelligent lawnmower continued moving forward, colliding with an unidentified object on its left side. The impact force from this object was resisted by the elastic component on the left side. Because the impact force was less than the elastic deformation force of the left-side elastic component, the collision mechanism was not triggered, and the lawnmower continued moving forward.

[0061] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A lawnmower, characterized in that, include: The machine body is equipped with traveling wheels and cutting tools; Anti-collision plates are installed on the outside of the body; An elastic element has a first end and a second end, the first end being connected to the body and the second end being connected to the anti-collision plate, so that the anti-collision plate can move relative to the body; Wherein, one of the first end and the second end is above the other, and the center of the cross-section of the elastic element has different dimensions to the edge of the cross-section along two different directions; The first dimension is the distance from the center of the cross-section of the elastic element to the edge of the cross-section along the first direction. The second dimension is the distance from the center of the cross-section of the elastic element to the edge of the cross-section along the second direction. Wherein, the first direction is perpendicular to the second direction, and the first dimension is smaller than the second dimension; One of the first direction and the second direction is parallel to the direction of travel of the machine body, and the other direction is perpendicular to the direction of travel of the machine body.

2. The lawnmower according to claim 1, characterized in that, The cross-sectional shape of the elastic element is rectangular, racetrack-shaped, or elliptical.

3. The lawnmower according to claim 1, characterized in that, The elastic element has a columnar structure; The columnar structure includes: a first end, a second end, and an elastic segment; the elastic segment is located between the first end and the second end. The center of the elastic segment cross-section has different dimensions from the edge of the cross-section along two different directions.

4. The lawnmower according to claim 3, characterized in that, The elastic element is dumbbell-shaped.

5. The lawnmower according to claim 1, characterized in that, Also includes: A sensor, mounted on the body, is used to generate a collision signal when the anti-collision plate is touched and the elastic element undergoes elastic deformation; A control device, electrically connected to the sensor, is used to control the machine to change its direction of travel or stop traveling in response to the collision signal.

6. The lawnmower according to claim 1, characterized in that, The anti-collision plate is provided on at least one of the front, right, left and rear sides of the body; At least one elastic element is provided between the anti-collision plate and the opposite side of the body.

7. An elastic element for a lawnmower, characterized in that, include: The elastic element is used to connect the lawnmower's bumper to the lawnmower's body; The elastic properties of the elastic element allow the anti-collision plate to move relative to the body; The center of the cross-section of the elastic element has different dimensions to the edge of the cross-section along two different directions, so as to have different elastic deformation forces in the two different directions; The first dimension is the distance from the center of the cross-section of the elastic element to the edge of the cross-section along the first direction. The second dimension is the distance from the center of the cross-section of the elastic element to the edge of the cross-section along the second direction. Wherein, the first direction is perpendicular to the second direction, and the first dimension is smaller than the second dimension; One of the first direction and the second direction is parallel to the direction of travel of the machine body, and the other direction is perpendicular to the direction of travel of the machine body.

8. The elastic element according to claim 7, characterized in that, The cross-sectional shape of the elastic element is rectangular, racetrack-shaped, or elliptical.

9. A self-moving device, characterized in that, include: The equipment body is equipped with traveling wheels; A crash barrier is installed on the outside of the equipment body; An elastic element has a first end and a second end, the first end being connected to the equipment body and the second end being connected to the anti-collision plate, so that the anti-collision plate can move relative to the equipment body; Wherein, one of the first end and the second end is above the other, and the center of the cross-section of the elastic element has different dimensions to the edge of the cross-section along two different directions; The first dimension is the distance from the center of the cross-section of the elastic element to the edge of the cross-section along the first direction. The second dimension is the distance from the center of the cross-section of the elastic element to the edge of the cross-section along the second direction. Wherein, the first direction is perpendicular to the second direction, and the first dimension is smaller than the second dimension; One of the first direction and the second direction is parallel to the travel direction of the device body, and the other direction is perpendicular to the travel direction of the device body.

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