Automatic mower

Abstract

The application relates to the technical field of autonomous mobile robots, in particular to an automatic mower. The automatic mower comprises a first cutting assembly, a second cutting assembly, a first height adjusting module and a second height adjusting module. The first height adjusting module comprises a driving motor, is connected with the first cutting assembly and adjusts the ground clearance of the first cutting assembly. The second height adjusting module at least comprises an operating part used for receiving external force, is connected with the second cutting assembly and adjusts the ground clearance of the second cutting assembly through the external force. The above structure can save the occupied whole machine space while ensuring the passability.

Description

Technical Field

[0001] This application relates to the field of autonomous mobile robot technology, and more particularly to an automatic lawnmower. Background Technology

[0002] With the development of landscaping and the increasing demands for quality of life, automatic lawnmowers, as efficient and convenient lawn maintenance equipment, have been widely used in urban parks, golf courses, residential communities, and private gardens. Compared with traditional manual lawnmowers, intelligent lawnmowers have significant advantages such as lower labor intensity, higher work efficiency, and more consistent mowing quality, leading to a continuous increase in market demand.

[0003] In actual operation, the height of the cutting disc needs to be adjusted appropriately according to different lawn heights, grass types, and seasonal changes to ensure good mowing results and lawn health. Summary of the Invention

[0004] In view of this, this application provides an automatic lawnmower equipped with multiple height adjustment mechanisms, which can independently control and adjust the height of multiple blades.

[0005] To achieve one of the above objectives, this application provides an automatic lawn mower, comprising:

[0006] The housing, and the walking module, cutting assembly, control module, and height adjustment module installed on the housing;

[0007] The walking module is used to move the automatic lawnmower.

[0008] The cutting assembly includes: a first cutting assembly and a first cutting motor connected to and driving the cutting assembly; a second cutting assembly and a second cutting motor connected to and driving the cutting assembly;

[0009] The control module is electrically connected to the walking module and the cutting component, and controls the movement and operation of the automatic lawnmower.

[0010] The height adjustment module includes a first height adjustment module and a second height adjustment module, wherein:

[0011] The first height adjustment module includes a drive motor for providing adjustment power; and a transmission mechanism connected to the drive motor for driving the first cutting component to move in the height direction.

[0012] The second height adjustment module includes an operating part, which is at least partially located outside the housing. The operating part applies external force to the cutting assembly to adjust the height of the cutting assembly relative to the housing.

[0013] In one embodiment, the second height adjustment module further includes a guide portion that cooperates with the operating portion, wherein the operating portion is used to receive external force, and by applying external force to the operating portion, the adjustable component connected to the operating portion is displaced in the height direction.

[0014] In one embodiment, the guide portion is fixedly disposed on the housing; the operating portion is fixedly disposed with a follower portion, the follower portion contacting and engaging with the guide surface of the guide portion; when the operating portion rotates, it drives the follower portion to move along the guide surface, thereby causing the adjustable component to be displaced in the height direction.

[0015] In one embodiment, the operating part includes a first positioning element, and the guide part includes a second positioning element. The first positioning element and the second positioning element cooperate with each other to lock the relative positions of the operating part and the guide part at multiple preset positions.

[0016] In one embodiment, the second height adjustment module further includes a support portion, at least partially mounted on the housing, to provide an upward supporting force to the second cutting motor.

[0017] In one embodiment, the second cutting assembly includes a motor housing for accommodating the second cutting motor. The motor housing is in contact with the operating part, and under the action of an external force, the operating part and the motor housing together undergo a displacement in the height direction relative to the housing.

[0018] In one embodiment, the projection of the operating part on the horizontal plane at least partially overlaps with the projection of the second cutting motor on the horizontal plane.

[0019] In one embodiment, the supporting force of the support portion on the motor compartment is 30-50N.

[0020] In one embodiment, the first cutting component includes a first cutting tool, the second cutting component includes a second cutting tool, and the cutting range of the first cutting tool and the cutting range of the second cutting tool do not overlap in the horizontal projection area.

[0021] In one embodiment, the bottom of the second cutting component is at least 40 mm above the ground. Attached Figure Description

[0022] Figure 1 This is an exploded view of the second height adjustment module.

[0023] Figure 2 This is a cross-sectional view of the second height adjustment module.

[0024] Figure 3 This is a perspective view of the second height adjustment module.

[0025] Figure 4 This is a cross-sectional view of the first height adjustment module.

[0026] Figure 5 This is a rear cross-sectional view of an automatic lawnmower.

[0027] Figure 6 This is a schematic diagram of the bottom view of an automatic lawnmower.

[0028] The reference numerals in the attached figures are explained as follows: 100, Automatic lawnmower; 1, Housing; 2, Cutting assembly; 21, First cutting assembly; 22, Second cutting assembly; 211, First cutting tool; 212, First cutting motor; 221, Second cutting tool; 222, Second cutting motor; 223, Motor compartment; 3, Height adjustment module; 31, First height adjustment module; 311, Drive motor; 312, Transmission mechanism; 3121, Height adjustment spline gear; 3122, Height adjustment screw; 3123, Height adjustment linkage; 32, Second height adjustment module; 321, Operating unit; 3211, Follow-up unit; 322, Guide unit; 3221, Guide surface; 323, Support unit; 41, First positioning element; 42, Second positioning element; 43, Elastic element; 44, Mounting column; 45, Cylindrical housing; 5, Walking module. Detailed Implementation

[0029] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0030] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0031] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this application should have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "first," "second," and similar terms used in the embodiments of this application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are only used to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0032] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. The preferred embodiment of the autonomous mobile robot structure of the present invention will be described below with reference to the accompanying drawings.

[0033] As mentioned earlier, with the development of landscaping and the increasing demands for quality of life, automatic lawnmowers, as efficient and convenient lawn maintenance equipment, have been widely used in urban parks, golf courses, residential communities, and private gardens. Compared with traditional manual lawnmowers, intelligent lawnmowers have significant advantages such as low labor intensity, high work efficiency, and stable mowing quality, leading to continuous growth in market demand.

[0034] In actual operation, the height of the cutting disc needs to be adjusted appropriately according to different lawn heights, grass types, and seasonal changes to ensure good mowing results and lawn health.

[0035] A common problem with existing lawnmowers is their inability to effectively trim grass at the edges of the work area. To achieve better trimming, multiple cutting components are often required. Furthermore, due to regional and aesthetic differences, users have varying needs regarding mowing height. Therefore, structures that allow for height adjustment of the cutting components have emerged. Multiple cutting components are equipped with either independent or interconnected electrically adjustable height mechanisms, effectively solving the problem of height adjustment. However, electrically adjustable height mechanisms require more components and are more complex, occupying a larger internal space and resulting in a larger overall size and higher production costs for the automatic lawnmower. Therefore, this paper proposes an automatic lawnmower that incorporates both electrically and manually adjustable height mechanisms, significantly saving the space required for height adjustment.

[0036] Please refer to Figure 3-5 This illustration shows an embodiment of the automatic lawnmower 100 provided by the present invention, comprising a housing 1, a walking module 5, a cutting assembly 2, a control module (not shown), and a height adjustment module 3. The walking module includes walking wheels (not shown) for moving the automatic lawnmower and a drive motor (not shown) for driving the walking wheels. The control module (not shown) is electrically connected to the walking module 5 and the cutting assembly 2, controlling the movement and operation of the automatic lawnmower 100. The cutting assembly 2 is used to perform tasks such as mowing. The height adjustment module 3 is connected to the cutting assembly 2 and controls the displacement of the cutting assembly in the height direction, ensuring the automatic lawnmower 100's passability while requiring less space, thus facilitating a compact overall design.

[0037] In some embodiments, such as Figure 1-6 The cutting assembly 2 includes at least a first cutting assembly 21 and a second cutting assembly 22. The cutting assembly 2 is used to perform tasks such as mowing. The first cutting assembly 21 includes a first cutting motor 212 and a first cutting tool 211. The first cutting motor 212 is connected to the first cutting tool 211 and drives the first cutting tool 211 to work. The second cutting assembly 22 includes a second cutting motor 222 and a second cutting tool 221. The second cutting motor 222 is connected to the second cutting tool 221 and drives the second cutting tool 221 to work.

[0038] The height adjustment module 3 includes a first height adjustment module 31 and a second height adjustment module 32. The first height adjustment module 31 and the second height adjustment module 32 are respectively connected to the first cutting component 21 and the second cutting component 22, enabling the height adjustment module 3 to drive the cutting component 2 to adjust its height. The first height adjustment module 31 includes a drive motor 311 and a transmission mechanism 312. One end of the transmission mechanism 312 is connected to the drive motor 311, and the other end is connected to the first cutting component 21. The drive motor 311 provides power to the transmission mechanism 312, enabling the transmission mechanism 312 to drive the first cutting component 21 to move in the height direction. The transmission mechanism can be a lead screw and nut mechanism, a rack and pinion mechanism, or a worm gear and connecting rod structure, or a combination thereof. The choice of the transmission mechanism 312 is not limited here.

[0039] The second height adjustment module 32 includes an operating part 321 and a guide part 322. The operating part 321 is at least partially located on the outside of the housing 1. Specifically, the operating part 321 is disposed above the second cutting assembly 22 or on the side near the second cutting assembly 22. The operating part 321 includes at least a gripping part, which facilitates the user's grip to drive the second height adjustment module 32. The guide part 322 contacts and engages with the operating part 321, allowing the user to adjust the height in a preset direction when gripping the operating part 321.

[0040] In some embodiments, such as Figure 1-2 The operating part 321 is disposed above the second cutting assembly 22. In the horizontal direction, the guide part 322 is located outside the operating part 321 and is fixed relative to the housing 1. The projection of the guide part 322 on the horizontal plane covers the projection of the operating part 321 on the horizontal plane, and the projection of the guide part 322 on the plane perpendicular to the horizontal plane at least partially overlaps with the projection of the operating part 321 on the plane perpendicular to the horizontal plane.

[0041] In some embodiments, such as Figure 1-3 The guide portion 322 is provided with a guide surface 3221, and the operating portion 321 is provided with a follower portion 3211. The guide surface 3221 and the follower portion 3211 are in contact with each other. The operating portion 321 is in contact with the second cutting assembly 22. When an external force is applied to the operating portion 321, the follower portion 3211 moves relative to the guide surface 3221, thereby allowing the operating portion 321 to be displaced in the height direction relative to the guide portion 322. Optionally, the guide portion 322 is provided with the follower portion 3211, and the operating portion 321 is provided with the guide surface 3221.

[0042] In some embodiments, such as Figure 1 and Figure 3The operating part 321 includes a first positioning element 41, and the guide part 322 includes a second positioning element 42. The first positioning element 41 and the second positioning element 42 cooperate with each other to lock the relative positions of the operating part and the guide part at multiple preset positions, thereby fixing the second cutting component 22 at a preset height above the ground.

[0043] In some embodiments, the projection of the operating unit 321 on the horizontal plane overlaps at least partially with the projection of the second cutting motor on the horizontal plane, thereby saving the overall space occupied by the second height adjustment module 32.

[0044] In some embodiments, the second height adjustment module 32 further includes a support portion 323, which is at least partially mounted on the housing 1. One end of the support portion 323 remains relatively stationary with respect to the housing 1, and the other end remains relatively stationary with respect to the second cutting assembly 22. The support portion 323 provides an upward supporting force to the second cutting assembly 21. When an external force is applied to the operating portion 321, the follower portion 3211 moves relative to the guide surface 3221, thereby enabling the operating portion 321 to move relative to the guide portion 322 in the height direction. When the operating portion 321 moves upward under the action of an external force, it cooperates with the upward supporting force of the support portion 323 on the second cutting assembly 22, causing the second cutting assembly 22 to move upward. When the operating portion 321 moves downward under the action of an external force, it applies a downward force to the second cutting assembly 22, causing the second cutting assembly 22 to move downward against the supporting force of the support portion 323.

[0045] In some embodiments, such as Figure 4 The transmission mechanism 312 includes a height-adjusting spline gear 3121, a height-adjusting screw 3122, and a height-adjusting connecting rod 3123. The drive motor 311 is connected to the height-adjusting spline gear 3121, which drives the height-adjusting screw 3122 to rotate. The threaded structure (not shown) of the height-adjusting screw 3122 is located below the height-adjusting connecting rod 3123 and engages with it, enabling the height-adjusting connecting rod to move up and down. The first cutting tool 211 and the first cutting motor 212 are fixed to the other end of the height-adjusting connecting rod 3123. The up and down movement of the connecting rod enables the cutter head to be adjusted up and down. The worm gear and connecting rod structure provides higher system reliability, requires less space, and saves overall machine height space.

[0046] In some embodiments, such as Figure 1-3 The guide part 322 is a hollow column, and a guide surface 3221 is fixedly provided on the inner wall of the hollow column. The guide surface is a plane extending from the inner wall of the hollow column toward the second cutting component. The guide surface 3221 can be continuously or discontinuously spiraled upward along the inner wall of the column.

[0047] In some embodiments, such as Figure 1-3The operation unit 321 can be operated by a button, lever, or knob. Preferably, the operation unit 321 is a knob, and its shape is a cylindrical shell with at least one end closed. A follower 3211 is fixedly provided on the outer wall of the cylindrical shell. The follower 3211 is a fixed protrusion.

[0048] In some embodiments, such as Figure 1-3 A first positioning element 41 is fixedly disposed on the guide surface 3221, and a second positioning element 42 is fixedly disposed on the follower part 3211. The first positioning element 41 and the second positioning element 42 are in contact with each other. When the operating part 321 is subjected to external force, it is displaced in the height direction, thereby causing the second cutting component 22 to be displaced in the height direction. When the second cutting component 22 moves to a certain height above the ground, the first positioning element 41 and the second positioning element 42 interlock, so that the second cutting component 22 is fixed at that height above the ground. The interlocking method of the first positioning element 41 and the second positioning element 42 can be a snap connection, a latch connection, a locking connection, or a concave-convex fitting, etc., and the specific interlocking form is not limited.

[0049] In some embodiments, such as Figure 1-2 The second cutting assembly 22 includes a motor housing 223, which is used to house the second cutting motor 222. The motor housing 223 is in contact with the operating part 321. The horizontal projection of the motor housing 223 is located within the area enclosed by the outermost edge of the guide part's horizontal projection.

[0050] In some embodiments, such as Figure 1-2 The support portion 323 includes at least three elastic elements 43, which are evenly distributed about the rotation axis of the second cutting assembly. Preferably, the support portion 323 includes four elastic elements 43, which are divided into at least two sets of symmetrical units. The two elastic elements 43 of the symmetrical unit pair are arranged at 180 degrees about the rotation axis of the second cutting assembly 22. The uniform distribution makes the support portion 323 more reliable in supporting the second cutting assembly 22, and can ensure that the movement of the second cutting assembly 22 in the height direction is more stable.

[0051] In some embodiments, the mass of the second cutting component 22 affects its gravity, and the lifting force generated by the support 323 must overcome this gravity to achieve lifting. According to Hooke's Law, the spring force is related to the deformation; by designing spring parameters (such as stiffness coefficient and pre-compression), the lifting force can be adapted to the second cutting component 22 with different masses.

[0052] Optionally, the lifting force of the support part 323 is in the range of 30-50N. The measurement condition of this value is the static support force under normal temperature environment. Under this value, on the one hand, it can ensure that the operator can rotate the operating part 321 with less effort to adjust the ground height of the second cutting component 22, and on the other hand, it can ensure that the ground height of the second cutting component 22 meets a certain passability.

[0053] In some embodiments, such as Figure 1-2 The support also includes mounting posts 44 and cylindrical shells 45. Mounting posts 44 are fixedly connected to shell 1. The number of mounting posts corresponds to the number of elastic elements 43. Cylindrical shells 45 are fixedly mounted on the outer wall of the motor compartment 223, with one end closed and the other end open towards the mounting posts 44. Each mounting post 44 corresponds to one cylindrical shell 45, and the projection of each cylindrical shell 45 on the horizontal plane overlaps the projection of the mounting post 44 on the horizontal plane. One end of the elastic element 43 is sleeved on the mounting post 44, and the other end extends into the cylindrical shell 45 to limit the extension and contraction direction of the elastic element 43, thereby ensuring the stability of the motor compartment 223's displacement in the height direction.

[0054] In some embodiments, when the adjustable height range of the first cutting tool 221 overlaps with that of the second cutting tool 221, to prevent interference between the cutting tools and thus avoid damage, the cutting ranges of the first cutting tool 211 and the second cutting tool 221 have no overlapping area in their horizontal projections. If the adjustable height ranges of the first cutting tool 221 and the second cutting tool 221 do not overlap, this limitation does not apply.

[0055] In some embodiments, due to terrain and climate, North America is characterized by tall grass, while Europe is characterized by dense grass. Tall, dense grass creates resistance for the automatic lawnmower. To enable the automatic lawnmower to have better maneuverability in environments with tall, dense grass, it is necessary to limit the adjustable height of the cutting assembly. Testing has shown that, to meet maneuverability requirements, the bottom of the cutting assembly 2 must be at least 20mm above the ground.

[0056] In some embodiments, the bottom of the first cutting component 21 is at least 20 mm above the ground. Depending on the application scenario, the bottom of the first cutting component 21 may be 20-60 mm above the ground.

[0057] In some embodiments, such as Figure 6 The housing 1 includes a central axis along the moving direction of the automatic lawnmower 100. The distance between the midpoint of the cutting range formed by the first cutting component 21 and the central axis is a first distance. The distance between the midpoint of the cutting range formed by the second cutting component 22 and the central axis is a second distance. The second distance is greater than the first distance.

[0058] Furthermore, since certain parts of the human body are more likely to accidentally penetrate the bottom of the automatic lawnmower 100 and be injured by the second cutting component 22, the automatic lawnmower 100 also includes a protective cover. In the horizontal direction, the protective cover is located outside the second cutting tool 221, and in the circumferential direction, it at least partially surrounds the second cutting tool 221. To better ensure safety, the bottom of the protective cover is less than the bottom of the second cutting component.

[0059] Furthermore, since the ground clearance of the bottom of the protective cover is less than the ground clearance of the lowest point of the second cutting component, the ground clearance of the protective cover also affects the passability. In order to reserve a certain protective space for the protective cover while taking into account the passability, the ground clearance of the bottom of the second cutting component 22 is greater than or equal to 40mm. Depending on the application scenario, the ground clearance of the bottom of the second cutting component 22 can be 45mm, 55mm, or 65mm, etc.

[0060] In some embodiments, the second height adjustment module and the second cutting assembly 22 form a cutting edge assembly. The cutting edge assembly is fixedly connected to the housing 1 by screws or other devices. When it is necessary to raise the ground clearance of the second cutting tool 221 in the second cutting assembly 22, the knob 321 is manually turned. At this time, the knob 321 moves upward, and the elastic element 43 forms an upward supporting force on the motor housing 223. The motor housing 223 moves upward, and the second cutting tool 221 moves upward as well, increasing its ground clearance. When it is necessary to lower the ground clearance of the second cutting tool 221 in the second cutting assembly 22, the knob 321 is manually turned. At this time, the knob moves downward, and the knob 321 forms a downward pressure on the motor housing 223, causing the motor housing 223 to move downward, driving the second cutting tool 221 to move downward as well. At this time, the motor housing 223 applies a downward force to the elastic element 43, and the elastic element 43 is compressed.

[0061] In some embodiments, the first cutting tool 211 and the second cutting tool 221 may be in the form of a blade disc, a mowing head, a straight blade, a blade, or a combination thereof, etc., and are any structure capable of performing the mowing task, without any limitation in form. Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of this application (including the claims) is limited to these examples; within the framework of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the embodiments of this application as described above, which are not provided in detail for the sake of brevity.

[0062] Although this application has been described in conjunction with specific embodiments thereof, many substitutions, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description.

[0063] The embodiments of this application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the embodiments of this application should be included within the protection scope of this application.

Claims

1. An automatic lawnmower, characterized in that, include: The housing, and the walking module, cutting assembly, control module, and height adjustment module installed on the housing; The walking module is used to move the automatic lawnmower. The cutting assembly includes: a first cutting assembly and a first cutting motor connected to and driving the cutting assembly; a second cutting assembly and a second cutting motor connected to and driving the cutting assembly; The control module is electrically connected to the walking module and the cutting component, and controls the movement and operation of the automatic lawnmower. The height adjustment module includes a first height adjustment module and a second height adjustment module, wherein: The first height adjustment module includes a drive motor for providing adjustment power; and a transmission mechanism connected to the drive motor for driving the first cutting component to move in the height direction. The second height adjustment module includes an operating part, which is at least partially located outside the housing. The operating part applies external force to the cutting assembly to adjust the height of the cutting assembly relative to the housing.

2. The automatic lawnmower according to claim 1, characterized in that, The second height adjustment module also includes a guide section, which cooperates with the operating section. The operating section is used to receive external forces. By applying external forces to the operating section, the adjustable component connected to the operating section is displaced in the height direction.

3. The automatic lawnmower according to claim 2, characterized in that, The guide portion is fixedly disposed on the housing; the operating portion is fixedly disposed with a follower portion, the follower portion being in contact with the guide surface of the guide portion; when the operating portion rotates, it drives the follower portion to move along the guide surface, thereby causing the adjustable component to be displaced in the height direction.

4. The automatic lawnmower according to claim 3, characterized in that, The operating part includes a first positioning element, and the guide part includes a second positioning element. The first positioning element and the second positioning element cooperate with each other to lock the relative positions of the operating part and the guide part at multiple preset positions.

5. The automatic lawnmower according to claim 2, characterized in that, The second height adjustment module also includes a support portion, at least partially mounted on the housing, to provide an upward support force to the second cutting motor.

6. The automatic lawnmower according to claim 1 or 2, characterized in that, The projection of the operating part on the horizontal plane overlaps at least partially with the projection of the second cutting motor on the horizontal plane.

7. The automatic lawnmower according to claim 1, characterized in that, The first cutting component includes a first cutting tool, and the second cutting component includes a second cutting tool. The cutting range of the first cutting tool and the cutting range of the second cutting tool do not overlap in their projections on the horizontal plane.

8. The automatic lawnmower according to claim 1, characterized in that, The housing includes a central axis along the moving direction of the automatic lawnmower. The distance between the midpoint of the cutting range formed by the first cutting component and the central axis is a first distance. The distance between the midpoint of the cutting range formed by the second cutting component and the central axis is a second distance. The second distance is greater than the first distance.

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