Robotic Cutting Disk Height Adjustment for Turf Protection
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Solution Overview
Problem
Robotic work tools with pivotable cutting disks often result in uneven cutting and risk of damaging turf due to drooping tools, especially at the start and end of cutting cycles, and attempts to fix tools rigidly compromise their functionality and safety.
Innovation Solution
A robotic work tool that adjusts the cutting disk to an elevated position before starting rotation, ensuring tools rise to the disk's level with centrifugal force, and lowers it to the desired height once rotational speed is achieved, maintaining pivotability and preventing turf damage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If tools are mounted pivotably on the cutting disk, then the tools can yield to obstacles and maintain functionality, but the tools droop below the cutting disk level causing uneven cutting and turf damage
Solution Approach 1:
The cutting disk is raised to an elevated position before starting rotation, and only lowered to the working height after the tools have reached their operating rotational speed. This preliminary action ensures tools are properly positioned before contact with vegetation, preventing drooping-related cutting issues.
Solution Approach 2:
The system dynamically adjusts the cutting disk height based on operational state: elevated during acceleration/deceleration, and at working height during steady-state cutting. This dynamic adjustment resolves the contradiction between pivotable tool adaptability and cutting precision.
2Manufacturing precision
If tools are fixed rigidly to the cutting disk, then cutting height uniformity is improved, but the tools lose their ability to yield to obstacles and safety is compromised
Solution Approach 1:
By raising the cutting disk before rotation starts and lowering it only after tools reach operating speed, the system achieves uniform cutting height without rigid tool fixation. The pivotable tools maintain their obstacle-yielding capability while the height control mechanism ensures cutting precision.
Solution Approach 2:
The cutting disk height parameter is dynamically changed based on rotational speed: elevated at low speeds, at working height at full speed. This parameter change enables precise cutting control while maintaining tool pivotability and adaptability.
3Productivity
If the cutting disk is lowered to working height immediately, then productivity is improved, but tools droop and cause turf damage during acceleration
Solution Approach 1:
The cutting disk is raised to an elevated position before rotation starts, preventing tools from drooping during acceleration. This preliminary positioning action eliminates turf damage while the disk is accelerated, and the brief time delay is acceptable compared to the harm prevention.
Solution Approach 2:
By maintaining an elevated position during acceleration and deceleration phases, the system provides a protective buffer that prevents tools from contacting vegetation when they are most likely to droop, thereby cushioning against potential turf damage.
4Speed
If the cutting disk rotates at high speed immediately, then cutting performance is improved, but tools extend below disk level and cause uneven cutting
Solution Approach 1:
The cutting disk is raised to an elevated position before rotation starts, and only lowered to working height after tools reach full rotational speed. This ensures tools are properly positioned by centrifugal force before contact with vegetation, achieving both high speed performance and cutting precision.
Solution Approach 2:
The cutting disk height parameter is coupled with rotational speed parameter: elevated at low speeds, at working height at full speed. This parameter coordination ensures tools maintain proper position relative to the disk during high-speed operation.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Ensures even cutting and prevents turf damage by keeping tools level with the cutting disk throughout the cutting process, enhancing safety and functionality by eliminating drooping issues during acceleration, deceleration, and at the end of cycles.
Implementation Method 1
The centripetal force acting on each tool is proportional to the squared angular velocity thereof and will keep each tool moving along a circular path. By centrifugal action, the mass center of each tool will follow a circular path farther away from the center of the cutting disk as the angular velocity increases.
Data Source
AI summary
A robotic work tool (1) includes a cutting disk (6), which is rotatable and height adjustable. The robotic work tool (1) is configured to obtain a final desired cutting height of the cutting disk (6); determine a first cutting height, based at least on the final desired cutting height; raise the cutting disk (6) to an elevated position above the first cutting height; start a rotation of the cutting disk (6); and lower the cutting disk (6) to the determined first cutting height.