Utility model content
Technical problem to be solved in the utility model is, provides a kind of grass-removing robot, and described grass-removing robot is onlyNeed a drive motor can drive multiple cutterhead rotations, occupancy robot interior space is little, low cost, mowing efficiency high.
In order to solve above-mentioned technical problem, this utility model employs the following technical solutions：
Embodiment of the present utility model provides a kind of grass-removing robot, described grass-removing robot include chassis, Shang Gai, twoDriving wheel, two the first drive motor and cutting modules being used for driving described driving wheel rotation, two described driving wheels are respectivelyTo drive described grass-removing robot walking or to turn to, described chassis and Shang Gai are oppositely arranged and shape for the both sides being arranged at described chassisBecome receiving space, described first drive motor is arranged at described receiving space, described cutting module includes one second driving horseReach, transmission component, multiple cutterhead and be fixed on multiple blades on described cutterhead, described second drive motor is rotatably mountedIn described chassis, described transmission component, the plurality of cutterhead and described blade are arranged at the outside on described chassis, described second driveDynamic motor passes through described transmission component and drives the plurality of cutterhead rotation.
Wherein, described transmission component includes driving protection box, before the close described grass-removing robot of described driving protection boxThe outermost edge that the outward flange at end crosses described blade extends outward so that working as grass-removing robot described in grass cutter man-hourWhen there is hard thing lower section, the outward flange of the close described grass-removing robot front end of described driving protection box hinders this hard thing touching describedBlade, in case blade is impaired.
Wherein, described transmission component can be also include rotary shaft, the first drive, at least one second drive,One sub- axle and at least one the second sub- axle, the plurality of cutterhead includes first cutterhead and at least one the second cutterhead, describedThe number of the second drive is identical with the number of described second cutterhead, and described first drive and described second drive are located at instituteState in driving protection box；
Described driving protection box includes relative upper casing and lower casing, and described lower casing is located remotely from the side on described chassis, instituteState upper casing and described lower casing complement each other to form box body shape, coaxially connected described first drive in one end of described first sub- axle,The other end passes through described lower casing to extend to the side away from described chassis with coaxially connected described first cutterhead, and each described secondCoaxially connected described second drive in one end of sub- axle, the other end prolongs through described lower casing to the side away from described chassisStretch with coaxially connected one described second cutterhead so that driving described first cutterhead to rotate when described first drive rotates, instituteState and when the second drive rotates, drive described second cutterhead to rotate；
Described rotary shaft passes through the center of the center of described first drive and described second drive motor so that described theTwo drive motors drive described first drive to rotate by described rotary shaft, and described first drive drives described second transmissionWheel rotates.
Wherein, described transmission component can be also to include rotary shaft, the first drive, two the second drives, the first sonsAxle and two the second sub- axles, described first drive and described second drive are located in described driving protection box, the plurality ofCutterhead includes the first cutterhead, the second cutterhead and the 3rd cutterhead being separated from each other, described first cutterhead, described second cutterhead and describedLine between the central point of the 3rd cutterhead forms triangle, and described first cutterhead is located at described second cutterhead and described 3rd knifeOn the perpendicular bisector of the line between disk, described second cutterhead and described 3rd cutterhead are arranged side by side in described first cutterheadNear the side of described grass-removing robot front end, described grass-removing robot front end refers to grass cutter man-hour grass-removing robotThe one end towards direction of advance；
Described driving protection box includes relative upper casing and lower casing, and described lower casing is located remotely from the side on described chassis, instituteState upper casing and described lower casing complement each other to form box body shape, coaxially connected described first drive in one end of described first sub- axle,The other end passes through described lower casing to extend to the side away from described chassis with coaxially connected described first cutterhead, one described secondCoaxially connected described second drive in one end of sub- axle, the other end prolongs through described lower casing to the side away from described chassisStretch with coaxially connected described second cutterhead, one end another described second transmission coaxially connected of another described second sub- axleWheel, the other end passes through described lower casing to extend with coaxially connected described 3rd cutterhead so that described to the side away from described chassisFirst drive drives described first cutterhead to rotate when rotating, described second drive drives described second cutterhead and institute when rotatingState the 3rd cutterhead to rotate；
Described rotary shaft passes through the center of the center of described first drive and described second drive motor so that described theTwo drive motors drive described first drive to rotate by described rotary shaft, and described first drive drives two described secondDrive rotates.
Wherein, the distance between described second cutterhead and described 3rd cutterhead are less than the central point of described first cutterhead to instituteState the distance of the epitaxial tip of blade on the first cutterhead.
Wherein, described driving wheel is located at the close described grass-removing robot rear end of described second cutterhead and described 3rd cutterheadSide, or described driving wheel is located at the close described grass-removing robot front end of described second cutterhead and described 3rd cutterheadSide.
Wherein, described first drive and described second drive are travelling gear, described first drive with describedSecond drive contacts with each other.
Wherein, described first drive and described second drive are drive sprocket, and described first drive passes through to passDynamic chain drives described second drive.
Wherein, the upper casing of described driving protection box is fixed on described chassis by fixture.
Wherein, described grass-removing robot also includes at least one induction apparatus, and described induction apparatuss are arranged at described grass cutterThe front portion of people or bottom, for sensing barrier.
Compared with prior art, the technical solution of the utility model at least has the advantages that：
In the technical solution of the utility model, the described cutting module of described grass-removing robot includes one second driving horseReach, transmission component, multiple cutterhead and be fixed on some blades on described cutterhead, described second drive motor is rotatably mountedIn described chassis, described transmission component and described cutting assembly are arranged at the outside on described chassis, and described second drive motor is led toCross described transmission component and drive multiple described cutterhead rotations, because the technical solution of the utility model is only driven using one secondMotor, to drive multiple cutterhead rotations, accordingly, with respect to prior art, decreases the inner space that motor takies robot, that is,Decrease motor and take the receiving space that described chassis and described upper lid are oppositely arranged and are formed, thus can vacating space come forSetting miscellaneous part is to improve the performance of grass-removing robot or to realize other miscellaneous functions；And, only can be real with a motorThe cutting function of existing multiple cutterheads, greatly reduces cost.
Specific embodiment
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is carried outClearly and completely description is it is clear that described embodiment is only a part of embodiment of this utility model rather than wholeEmbodiment.Based on the embodiment in this utility model, those of ordinary skill in the art are not under the premise of making creative workThe every other embodiment being obtained, broadly falls into the scope of this utility model protection.
Refer to Fig. 1 and Fig. 2, Fig. 1 is the structural representation of grass-removing robot in this utility model embodiment, Fig. 2 is thisThe structural representation of the cutting assembly of grass-removing robot in utility model embodiment.Mow described in embodiment of the present utility modelRobot includes chassis 100,200, two driving wheels of upper lid 300, two are respectively used for driving the of described driving wheel 300 rotationOne drive motor 310, and cutting module 400.In described grass cutter man-hour, described chassis 100 is located near groundSide, and sides that upper lid 200 is then located remotely from ground.Each first drive motor 310 corresponds to a driving wheel 300, instituteState the both sides that driving wheel 300 is respectively arranged at chassis 100, under the driving of the first drive motor 310, drive described grass cutterPeople's walking or steering, to execute cutting task.Described chassis 100 is oppositely arranged and forms receiving space with upper lid 200, two theOne drive motor 310 is arranged at described receiving space, and that is, two the first drive motors 310 are contained in described chassis 100 and Shang GaiThe receiving space of 200 formation.Described grass-removing robot can also be included for the one or more sensings for sensing barrierDevice (not shown), the circuit board (not shown) for carrying various circuit and chip, the battery that energy source is provided or gasolineElectromotor (not shown), power supply or energy management system (not shown), the control mould for controlling above-mentioned part or moduleBlock (not shown) etc., wherein said circuit board, battery or petrol engine, power supply or energy management system and control module are equalIt is contained in the receiving space on described chassis 100 and the formation of upper lid 200, described induction apparatuss can be arranged at described grass-removing robotFront portion or bottom, are easy to sense barrier.
Described cutting module 400 includes second drive motor 410, transmission component 420, multiple cutterhead 430 and fixesSome blades 440 on described cutterhead 430, each cutterhead 430 is provided with least one blade 440, for example, each cutterhead2 or 4 blades 440 can be set on 430 it is preferable that described blade 440 radially arranges from the center of cutterhead 430, andStretch out, carry 400 turns of cutting blade when cutterhead 430 rotates, blade 400 is laterally cut to thick grass, reaches cutting purpose.In order thatBlade 440 on cutterhead 430 consolidates, and using screw, blade 440 can be fixed on cutterhead 430, can also be close to blade 440Top end setting one outwardly and the ring for fixing 450 of cutterhead 430 about concentric, prevent pre- stabs while blade 440 deformationPiece is damaged by hard thing.It is understood that although multiple cutterheads 430 are upward in Fig. 1, this is to read for the ease of seeing and sayBright structure, in fact, described grass cutter man-hour, multiple cutterheads 430 are directed towards lawn (ground).
Described second drive motor 410 is rotatably mounted in chassis 100, described transmission component 420, multiple cutterhead 430And the blade 440 on multiple cutterhead 430 is arranged at the outside on described chassis 100, the outside on described chassis 100 refer to chassisGrass-removing robot is when mowing towards the side on ground.Second drive motor 410 drives the plurality of knife by transmission component 420Disk 430 rotates, thus driving the blade rotation being fixed on cutterhead 430.
Specifically, described transmission component 420 includes driving protection box 421, the close described hay mover of driving protection box 421The outward flange 4211 of device people front end is crossed the outermost edge of blade 440 near described grass-removing robot front end and is extended outward,So that when grass cutter man-hour runs into the hard thing below described grass-removing robot, described driving protection box 421 closeThe outward flange 4211 of described grass-removing robot front end hinders this hard thing to touch 440 blades, prevents blade 440 impaired further.InstituteWhen stating grass-removing robot front end and referring to that described grass-removing robot is walked forward, towards direction of advance the one of described grass-removing robotEnd.It is understood that grass-removing robot rear end is mentioned below, refer to towards contrary with the direction of advance of described robot oneEnd.
Further, refer to Fig. 3, Fig. 3 is that the cutting assembly of grass-removing robot in this utility model embodiment lays down biographyStructural representation after dynamic protecting box 421.In embodiment of the present utility model, described transmission component also include rotary shaft 422,One drive 423, at least one second drive 424, the first sub- axle 425 and at least one the second sub- axle 426, the first drive423 and all of second drive 424 be respectively positioned on inside described driving protection box 421, the plurality of cutterhead 430 includes the first knifeDisk 431 and at least one the second cutterhead 432, the number phase of the number of described second drive 424 and described second cutterhead 432With.It should be noted that, although the number of the number of the second drive shown in Fig. 3 and the second cutterhead 432 is 3, but this is onlyIt is merely example, in embodiment of the present utility model, the number of the number of the second drive and the second cutterhead 432 can be itHis numerical value, such as 2 or 4.Described first cutterhead 431 and described second cutterhead 432 can identical it is also possible to different, describedFirst drive 423 and described second drive 424 can be identical, also can be different.
Please refer to Fig. 2 and Fig. 3, described driving protection box 421 includes relative upper casing 4212 and lower casing 4213, describedLower casing 4213 is away from described chassis 100 that is to say, that during the walking of described grass-removing robot, described lower casing 4213 is towards ground.InstituteState upper casing 4212 and described lower casing 4213 complements each other to form box body shape, upper casing 4212 and lower casing 4213 can be fixed by screwBoth are made to form box body it is also possible to be fixed in the edge of upper casing 4212 and lower casing 4213 setting draw-in groove and buckle.DescribedOne drive 423 and described second drive 424 are respectively positioned on described tray interior, and one end of described first sub- axle 425 coaxially connectsConnect described first drive 423, the other end extends to side away from described chassis 100 coaxially to connect through described lower casing 4213Connect described first cutterhead 431, coaxially connected described second drive 424 in one end of each described second sub- axle 426, anotherEnd extends to side away from described chassis with coaxially connected one described second cutterhead 432 or 433 through described lower casing 4213,Described first drive 423 is made to drive described first cutterhead 431 to rotate when rotating, band when described second drive 424 rotatesDynamic described second cutterhead 432 or 433 rotates.
Described rotary shaft 422 passes through the center of described first drive 423 and the center of described second drive motor 410,Described second drive motor 410 is made to drive described first drive 423 to rotate by described rotary shaft 422, described first biographyDriving wheel 423 drives described first cutterhead 431 and is fixed on blade rotation on the first cutterhead 431, meanwhile, described first drive423 all of second drives 424 of drive rotate, thus driving all second cutterheads 432 or 433 and be fixed on the second cutterheadBlade rotation on 432 or 433.
Described first drive 423 and described second drive 424 can be drive sprockets, and the first transmission 423 wheel passes throughDriving-chain 428 drives all described second drives 424.In some embodiments, described first drive 423 and describedTwo drives 424 can also be travelling gear, and described first drive 423 is contacted with each other with described second drive 424, firstDrive 423 drives the second drive 424 to rotate by the engagement of tooth.
Certainly, in embodiment of the present utility model, cutterhead 430 and blade 440 can also be shape as shown in Figure 4, that is,Cutterhead 430 can be a less center hub of volume, and the shape of each blade 440 is in elongated strip, and one end of each blade is one by oneEmbedded described center hub (cutterhead), makes this each blade radially arrange.
Specifically, so that the number of cutterhead 430 is 3 as a example the structure of described cutting module to be described.Still incorporated by reference to ginsengRead Fig. 2 and Fig. 3, described cutting module 400 include the second drive motor 410,420, three cutterheads 431,432 of transmission component and433, and it is fixed on the blade 440 on described cutterhead 431,432 and 433.Described transmission component 420 includes driving protection box421st, rotary shaft 422,423, two the second drives 424 of the first drive, the first sub- axle 425 and two the second sub- axles 426, instituteState the first cutterhead 431, the second cutterhead 432 and the 3rd cutterhead 433 that multiple cutterheads are separated from each other, described first cutterhead 431,Line between two cutterheads 432 and the central point of the 3rd cutterhead 433 forms triangle, and described first cutterhead 431 is located at described theOn the perpendicular bisector of line between two cutterheads and described 3rd cutterhead, described second cutterhead 432 and described 3rd cutterhead 433It is arranged side by side the side of the close described grass-removing robot front end in described first cutterhead 431, described grass-removing robot front end isRefer to grass cutter man-hour grass-removing robot towards one end of direction of advance.
The distance between described second cutterhead 432 and described 3rd cutterhead 433 are less than the central point of described first cutterhead 431The distance of the epitaxial tip (i.e. the end towards outside of blade 440) of the blade 440 on described first cutterhead 431, so,When described grass-removing robot is mowed, the second cutterhead 432 and the 3rd cutterhead 433 are advanced in the front of described first cutterhead 431, theKnife on two cutterheads 432 and the 3rd cutterhead 433 cuts grass in advance, and have between the second cutterhead 432 and the 3rd cutterhead 433 gap orDistance, remains unavoidably some grass and does not cut, because the distance between described second cutterhead 432 and described 3rd cutterhead 433 are less thanEpitaxial tip (the i.e. direction of blade 440 of the blade 440 on described first cutterhead 431 for the central point of described first cutterhead 431Outside end) distance, therefore, the grass not cut being remained entirely falls in cutting of the blade 440 on described first cutterhead 431Cutting scope, thus avoiding remaining the grass not cut, making lawn more attractive.Simultaneously as the presence of the first cutterhead 431, the second cutterhead432 and the 3rd the distance between cutterhead 433 on the central point less than described first cutterhead 431 to described first cutterhead 431On the premise of the distance of the epitaxial tip of blade 440, can be as big as possible, thus increasing the working width of grass-removing robot,Improve work efficiency, save energy consumption.
Described driving wheel 300 could be arranged to close described positioned at described second cutterhead 432 and described 3rd cutterhead 433The side of grass-removing robot rear end, or described driving wheel is located at the close of described second cutterhead 432 and described 3rd cutterhead 433The side of described grass-removing robot front end, to avoid described second cutterhead 432 and described 3rd cutterhead 433 and described driving wheel300 side by side, such that it is able to increase the length of blade, and then the working width of the described grass-removing robot of increase, provides mowing efficiency.
Described driving protection box 421 includes relative upper casing 4212 and lower casing 4213, and described lower casing 4213 is away from described bottomDisk 100 is that is to say, that during the walking of described grass-removing robot, described lower casing 4213 is towards ground.Described upper casing 4212 and described underShell 4213 complements each other to form box body shape, and upper casing 4212 and lower casing 4213 can be fixed by screw and make both form box body,Draw-in groove can be set at the edge of upper casing 4212 and lower casing 4213 and buckle is fixed.Described first drive 423 and describedSecond drive 424 is respectively positioned on described tray interior, coaxially connected described first drive in one end of described first sub- axle 425423, the other end extends to side away from described chassis 100 with coaxially connected described first cutterhead through described lower casing 4213431, coaxially connected second drive 424 in one end of a second sub- axle 426, the other end extends through described lower casing 4213To the side away from described chassis 100 with coaxially connected described second cutterhead 432, one end of another described second sub- axle 426Another described second drive 424 coaxially connected, the other end through described lower casing extend to side away from described chassis withCoaxially connected described 3rd cutterhead 433 so that described first drive 423 rotate when drive described first cutterhead 431 to rotate, twoIndividual described second drive 424 drives described second cutterhead 432 and described 3rd cutterhead 433 to rotate when rotating respectively.
The upper casing 4212 of described driving protection box 421 can be fixed on institute by the fixture (such as long screw) of stripState chassis 100, thus driving protection box 421 is fixing, and make driving protection box 421 and chassis 100 keep predetermined distance, withMake driving protection box 421 in place, thus preventing hard thing from damaging blade.Additionally, described driving protection box 421 can be rightFirst drive 423, the second drive 424 and driving-chain carry out spacing, it is to avoid the first drive 423, the second drive 424And/or driving-chain derailing.
Described rotary shaft 422 passes through the center of described first drive 423 and the center of described second drive motor 410,The second drive motor 410 is made to drive the first drive 423 to rotate, thus driving on the first cutterhead 431 by rotary shaft 422Blade 440 rotates and cuts grass, and meanwhile, the first drive 423 drives two described second drives 424 to rotate, thus drivingBlade 440 on second cutterhead 432 and the 3rd cutterhead 433 rotates and cuts grass that is to say, that with second drive motor410 can drive the knife on three cutterheads to rotate simultaneously and cut grass, and adopt multiple motors to drive multiple knives in prior artDisk (such as 3 cutterheads need 3 motors) is compared, and this utility model had both saved the cost buying motor, decreased motor againTake the inner space of grass-removing robot, be used for arranging the performance that miscellaneous part improves grass-removing robot such that it is able to vacating spaceOr realize more miscellaneous functions.
In the description of this specification, reference term " embodiment ", " some embodiments, " example ", " specifically showThe description of example " or " some examples " etc. means specific features, structure, material or the feature describing with reference to this embodiment or exampleIt is contained at least one embodiment of the present utility model or example.In this manual, the schematic representation to above-mentioned termIt is not necessarily referring to identical embodiment or example.And, the specific features of description, structure, material or feature can be anyOne or more embodiments or example in combine in an appropriate manner.
Embodiments described above, does not constitute the restriction to this technical scheme protection domain.Any in above-mentioned enforcementModification, equivalent and improvement of being made within the spirit of mode and principle etc., should be included in the protection model of this technical schemeWithin enclosing.