A flexible steering mowing robot

Abstract

The utility model discloses a flexible steering mower robot, including organism and controller, the bottom rotatablely of organism is provided with the cutter head, is provided with the first motor of driving cutter head rotation on the organism, the both sides of organism are provided with a drive wheel respectively, and the axis of two drive wheels is collinear, is provided with the second motor and third motor of electric connection with controller and respectively driving two drive wheels rotation on the organism, and the start -stop and rotational speed of controller control second motor and third motor, the bottom of organism is provided with at least two support wheels, and the connecting line of the barycenter of two drive wheels is provided with at least one support wheel respectively on both sides. The utility model provides a flexible steering mower robot, in narrow corner, flower bed edge small area etc.

Description

Technical Field

[0001] This utility model relates to the field of intelligent gardening equipment technology, especially field mowing technology, and more specifically, to a flexible steering mowing robot. Background Technology

[0002] In the current field of robotic lawnmowers, most commercially available lawnmowers typically employ a design with two sets of rollers, one at the front and one at the back. One set of rollers serves as the drive wheel, providing the robot with forward propulsion, while the other set acts as the steering wheel, responsible for changing the robot's direction of travel. This structure allows the robotic lawnmower to move and operate in relatively open spaces to a certain extent.

[0003] However, the existing roller design has significant drawbacks. During robot movement, both the front and rear rollers have relatively long circumferences on their left and right sides when rotating. This characteristic results in the lawnmower robot requiring a large turning radius to turn around. For example, in typical yard environments, when encountering narrow areas or corners, existing lawnmower robots cannot directly complete a turning maneuver within these small areas due to their excessively large turning radius.

[0004] Currently, to enable a lawnmower robot to turn or change direction within a small area, it can only gradually adjust its position by repeatedly rotating back and forth until it reaches a suitable location for turning. This method not only significantly increases the time required for the lawnmower robot to complete a task, reducing its efficiency, but also increases its energy consumption due to frequent back-and-forth rotations, placing higher demands on its battery life. Furthermore, this complex and inflexible operation method greatly impacts the user experience, requiring users to spend more time waiting for the robot to complete its work, and may even necessitate manual intervention to help the robot turn in certain areas. This contradicts the original design intent of lawnmower robots to be intelligent and convenient.

[0005] For example, Chinese invention patent CN103999627A, published on August 27, 2014, includes a lawnmower robot chassis, a walking drive device mounted on the chassis, and a lawnmower height adjustment device. The walking drive device includes two drive motors, reducers connected to the motors, two rear wheels connected to the reducers, and a novel omnidirectional wheel located at the front of the chassis. The novel omnidirectional wheel includes a horizontal U-shaped omnidirectional wheel axle, an omnidirectional wheel tire, and inner and outer omnidirectional wheel covers on both sides of the omnidirectional wheel tire. The horizontal U-shaped omnidirectional wheel axle... The upper part is equipped with a vertical shaft connected to the chassis. The horizontal shaft at the bottom of the horizontal U-shaped universal wheel axle is connected to the bearing hole on the inner cover of the universal wheel and the wheel axle hole inside the outer cover of the universal wheel. The mowing height adjustment device includes a transmission screw that rotates in place relative to the chassis and a support plate that reciprocates up and down relative to the chassis. The transmission screw is engaged with a nut fixedly installed in the middle of the support plate. The support plate is triangular in shape, and three sets of mowing motors are installed on the periphery of the support plate. The lower end of the mowing motor is connected to a rotating mowing blade. A guide sleeve is provided on the periphery of the support plate, and the guide sleeve is fitted onto a guide post fixed to the chassis. The main purpose is to place the universal wheel in the middle position of the bottom of the mowing robot. When turning is required, the universal wheel rotates, which can greatly reduce the disadvantages caused by the difficulty of rotation mentioned above. However, in this design, the mowing robot is prone to tipping over when working or turning, and this disadvantage is particularly obvious on sloping surfaces.

[0006] Therefore, how to enable lawnmower robots to turn flexibly is a technical problem that the industry urgently needs to solve. Utility Model Content

[0007] The present invention aims to overcome the shortcomings of the prior art and provide a flexible turning lawn mowing robot to solve the problem that existing lawn mowing robots require a large turning radius to turn around.

[0008] The technical solution adopted by this utility model is to provide a flexible steering lawn mowing robot, including a body and a controller. A blade disc is rotatably provided at the bottom of the body. A first motor is provided on the body to drive the blade disc to rotate. A drive wheel is provided on each side of the body, and the axis of the two drive wheels is collinear. A second motor and a third motor are provided on the body to drive the two drive wheels to rotate respectively. The second motor and the third motor are electrically connected to the controller. The controller controls the start, stop and speed of the second motor and the third motor. At least two support wheels are provided at the bottom of the body, and at least one support wheel is provided on each side of the line connecting the centers of mass of the two drive wheels.

[0009] The support wheel includes a mounting base and a rotating bracket. The mounting base is rotatably equipped with wheels, and the rotating bracket is located on top of the mounting base, so that the mounting base and the machine body are rotatably connected.

[0010] In one embodiment, the rotating support includes an upper support and a lower support. The lower support is rotatably mounted below the upper support via a rotating shaft. The bottom of the upper support has a slot for the rotating shaft to be inserted. The end of the rotating shaft away from the lower support is provided with a baffle to prevent the rotating shaft from falling out of the slot, so that the wheels can adjust their orientation according to the movement trajectory of the flexible lawnmower robot.

[0011] In one configuration, the rotating shaft is mounted in a slot via a bearing, thereby ensuring smooth wheel steering.

[0012] In one embodiment, dust covers are provided at both ends of the connection between the mounting base and the wheel shaft to prevent external impurities from jamming the wheel.

[0013] In one embodiment, a fourth motor is installed on the mounting base to drive the wheels to rotate, and the fourth motor is electrically connected to the controller. When the flexible-steering lawnmower needs to turn around, the second and third motors control the drive wheels to decelerate or stop rotating, and the fourth motor controls the wheels to rotate.

[0014] In one embodiment, two support wheels are provided at the bottom of the body. Both support wheels are located on the perpendicular bisector of the line connecting the centers of mass of the two drive wheels. When the support wheels are located on the perpendicular bisector, the two support wheels can form a stable triangular support structure with the two drive wheels respectively.

[0015] In one embodiment, the bottom of the machine body is provided with three support wheels. Two of the support wheels are symmetrical about the perpendicular bisector of the line connecting the centers of mass of the two drive wheels, and the third support wheel is located on the perpendicular bisector of the line connecting the centers of mass of the two drive wheels. This makes the line connecting the centers of mass of the three support wheels form an isosceles triangle. The three support wheels and the two drive wheels together form a multi-point support structure. When the grass surface is uneven or sloping, the layout of the three support wheels can better conform to the ground through slight floating or angle adjustment, reducing the probability of a single support wheel being suspended in the air. This ensures that the machine body can maintain stable contact in complex terrain and avoids operation interruption or uneven cutting by the cutter head due to insufficient support.

[0016] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0017] This utility model provides a flexible steering lawn mowing robot that, with at least two support wheels, can easily complete steering operations even in narrow corners, flower bed edges, and other small areas. It effectively solves the core problem of traditional robots having difficulty turning around in small areas, improves the steering performance and work efficiency of the flexible steering lawn mowing robot, and thus enhances steering flexibility. Attached Figure Description

[0018] Figure 1 This is a top view of a flexible steering lawnmower robot provided in Example 1;

[0019] Figure 2 This is a top view of a flexible steering lawnmower robot provided in Example 2;

[0020] Figure 3 This is a schematic diagram of the support wheel provided in Example 1;

[0021] Figure 4 This is a schematic diagram of the rotating bracket provided in Example 1.

[0022] Label Explanation:

[0023] Machine body 100, cutter head 200, drive wheel 300, support wheel 400, mounting base 401, rotating bracket 402, upper bracket 4021, lower bracket 4022, rotating shaft 4023, slot 4024, baffle 4025, wheel 403. Detailed Implementation

[0024] The accompanying drawings are for illustrative purposes only and should not be construed as limiting the scope of this invention. To better illustrate the following embodiments, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0025] Example 1

[0026] like Figure 1-4 As shown, this embodiment provides a flexible steering lawnmower robot, including a body 100 and a controller. A blade disc 200 is rotatably mounted on the bottom of the body 100. A first motor is mounted on the body 100 to drive the blade disc 200 to rotate. When the blade disc 200 rotates, it cuts grass stems. A drive wheel 300 is mounted on each side of the body 100, and the axes of the two drive wheels 300 are collinear. A second motor and a third motor are mounted on the body 100 to drive the two drive wheels 300 to rotate, respectively. The second motor and the third motor are electrically connected to the controller. The controller controls the start, stop and speed of the second motor and the third motor. When turning is required, the second motor and the third motor control the speed of the two drive wheels 300, so that the speed of the inner drive wheel 300 is lower than the speed of the outer drive wheel 300. At least two support wheels 400 are mounted on the bottom of the body 100, and at least one support wheel 400 is mounted on each side of the connecting line of the centers of mass of the two drive wheels 300.

[0027] The support wheel 400 includes a mounting base 401 and a rotating bracket 402. The mounting base 401 is rotatably mounted with a wheel 403. The rotating bracket 402 is located on top of the mounting base 401, so that the mounting base 401 and the body 100 are rotatably connected, thereby allowing the wheel 403 to adjust its orientation according to the movement trajectory of the flexible steering lawnmower robot.

[0028] In a more specific embodiment, the rotating bracket 402 includes an upper bracket 4021 and a lower bracket 4022. The lower bracket 4022 is rotatably disposed below the upper bracket 4021 via a rotating shaft 4023. The bottom of the upper bracket 4021 has a slot 4024 for the rotating shaft 4023 to be inserted. The end of the rotating shaft 4023 away from the lower bracket 4022 is provided with a baffle 4025 to prevent the rotating shaft 4023 from falling out of the slot 4024.

[0029] In a more specific embodiment, the rotating shaft 4023 is disposed in the slot 4024 by a bearing, thereby reducing the friction between the rotating shaft 4023 and the upper bracket 4021 and ensuring smooth steering.

[0030] In a more specific embodiment, dust covers are provided at both ends of the connection between the mounting base 401 and the connecting shaft of the wheel 403. The gap between the dust cover and the wheel body is ≤0.5mm and ≥0.1mm, preferably 0.2mm, so as to prevent external impurities from getting stuck on the wheel 403.

[0031] In a more specific embodiment, a fourth motor is provided on the mounting base 401 to drive the rotation of the wheel 403, and the fourth motor is electrically connected to the controller. When the flexible steering lawnmower needs to turn around, the second motor and the third motor control the drive wheel 300 to decelerate or stop rotating, and the fourth motor controls the wheel 403 to rotate.

[0032] Example 2

[0033] In this embodiment, such as Figure 1 As shown, two support wheels 400 are provided at the bottom of the body 100, and both support wheels 400 are located on the perpendicular bisector of the line connecting the centers of mass of the two drive wheels 300.

[0034] Other solutions are consistent with Embodiment 1 and have the same technical effects as Embodiment 1, and will not be described in detail in this embodiment.

[0035] Example 3

[0036] In this embodiment, such as Figure 2As shown, the bottom of the machine body 100 is equipped with three support wheels 400. The three support wheels 400 and the two drive wheels 300 together form a multi-point support structure. When the grass surface is uneven or sloping, the layout of the three support wheels 400 can be adjusted by slight floating or angle adjustment to better fit the ground, reduce the probability of a single support wheel 400 being suspended in the air, and ensure that the machine body 100 can maintain stable contact in complex terrain, avoiding work interruption or uneven cutting by the cutter head 200 due to insufficient support.

[0037] In a more specific embodiment, two support wheels 400 are symmetrical about the perpendicular bisector of the line connecting the centers of mass of the two drive wheels 300, and another support wheel 400 is disposed on the perpendicular bisector of the line connecting the centers of mass of the two drive wheels 300, such that the line connecting the centers of mass of the three support wheels 400 forms an isosceles triangle.

[0038] Other solutions are consistent with Embodiment 1 and have the same technical effects as Embodiment 1, and will not be described in detail in this embodiment.

[0039] This flexible steering lawn mowing robot, with at least two support wheels 400, can easily complete steering operations even in narrow corners, flower bed edges, and other small areas. It effectively solves the core problem of traditional robots having difficulty turning around in small areas, improves the steering performance and work efficiency of the flexible steering lawn mowing robot, and thus enhances steering flexibility.

[0040] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the technical solution of this utility model, and are not intended to limit the specific implementation of this utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the claims of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A flexible steering lawnmower robot, characterized in that, The machine includes a body (100) and a controller. A cutter head (200) is rotatably mounted on the bottom of the body (100). A first motor is mounted on the body (100) to drive the cutter head (200) to rotate. A drive wheel (300) is mounted on each side of the body (100), and the axis lines of the two drive wheels (300) are collinear. A second motor and a third motor are mounted on the body (100) to drive the two drive wheels (300) to rotate, respectively. The second motor and the third motor are electrically connected to the controller. The controller controls the start, stop and speed of the second motor and the third motor. At least two support wheels (400) are mounted on the bottom of the body (100), and at least one support wheel (400) is mounted on each side of the connecting line of the center of mass of the two drive wheels (300). The support wheel (400) includes a mounting base (401) and a rotating bracket (402). The mounting base (401) is rotatably provided with a wheel (403), and the rotating bracket (402) is provided on the top of the mounting base (401), so that the mounting base (401) and the body (100) are rotatably connected.

2. The flexible steering lawnmower robot according to claim 1, characterized in that, The rotating bracket (402) includes an upper bracket (4021) and a lower bracket (4022). The lower bracket (4022) is rotatably disposed below the upper bracket (4021) via a rotating shaft (4023). The bottom of the upper bracket (4021) has a slot (4024) for the rotating shaft (4023) to be inserted. A baffle (4025) is provided at the end of the rotating shaft (4023) away from the lower bracket (4022) to prevent the rotating shaft (4023) from falling out of the slot (4024).

3. The flexible steering lawnmower robot according to claim 1, characterized in that, The rotating shaft (4023) is mounted in the slot (4024) via a bearing.

4. The flexible steering lawnmower robot according to claim 1, characterized in that, Dust covers are provided at both ends of the connection between the mounting base (401) and the connecting shaft of the wheel (403).

5. A flexible steering lawnmower robot according to claim 1, characterized in that, A fourth motor is provided on the mounting base (401) to drive the wheel (403) to rotate, and the fourth motor is electrically connected to the controller.

6. The flexible steering lawnmower robot according to claim 1, characterized in that, Two support wheels (400) are provided at the bottom of the body (100), and both support wheels (400) are located on the perpendicular line of the line connecting the centers of mass of the two drive wheels (300).

7. A flexible steering lawnmower robot according to claim 1, characterized in that, The bottom of the body (100) is provided with three support wheels (400), two of which are symmetrical about the perpendicular bisector of the line connecting the centers of mass of the two drive wheels (300), and the other support wheel (400) is located on the perpendicular bisector of the line connecting the centers of mass of the two drive wheels (300), so that the line connecting the centers of mass of the three support wheels (400) forms an isosceles triangle.

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