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WO2019158008A1 - Taille-herbe, sa tête tailleuse et procédé de commande d'enroulement pour celle-ci - Google Patents

Taille-herbe, sa tête tailleuse et procédé de commande d'enroulement pour celle-ci Download PDF

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Publication number
WO2019158008A1
WO2019158008A1 PCT/CN2019/074591 CN2019074591W WO2019158008A1 WO 2019158008 A1 WO2019158008 A1 WO 2019158008A1 CN 2019074591 W CN2019074591 W CN 2019074591W WO 2019158008 A1 WO2019158008 A1 WO 2019158008A1
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WIPO (PCT)
Prior art keywords
winding
grass
head
length
detecting unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2019/074591
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English (en)
Chinese (zh)
Inventor
郭建朋
漆芹
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanjing Chervon Industry Co Ltd
Original Assignee
Nanjing Chervon Industry Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nanjing Chervon Industry Co Ltd filed Critical Nanjing Chervon Industry Co Ltd
Publication of WO2019158008A1 publication Critical patent/WO2019158008A1/fr
Anticipated expiration legal-status Critical
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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/416—Flexible line cutters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
    • B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
    • B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/048—Monitoring; Safety

Definitions

  • the present disclosure relates to a lawnmower having an automatic winding function and a grass cutting and winding control method thereof.
  • the user When using a lawnmower, the following situation often occurs: the user needs to pay attention to the winding condition of the straw rope during the winding process, so as to prevent the straw rope from being shrunk to the inside of the casing, thereby making the laying line difficult or even impossible. line. At this point, the user needs to open the cover to remove the straw rope for re-winding.
  • a lawn mower or grass head is generally operated by an operator or a user, pressing a button to start an automatic winding, a grass cutter or a grass head to start automatic winding, and the operator generally considers observation.
  • Automatic winding condition prevents over-winding from being caused by subsequent winding or difficulty in releasing the line.
  • the operator will distract attention from other places during the work such as grassing, so the situation of paying attention to the winding in real time is often ignored, resulting in excessive winding.
  • the main object of the present disclosure is to provide a method for preventing excessive winding in the winding process and optimizing the reliability of the automatic winding.
  • the present disclosure provides a lawnmower comprising: a grass cutting head; a driving device for driving the grass head to rotate to cut vegetation; and an operating device for the user to operate To control the driving device;
  • the grass head comprises a bobbin and a head shell, the bobbin is for winding a straw rope, and the head shell is formed with a thread for passing or bypassing the grass rope a grass cutting head having a cutting mode for performing vegetation cutting and a winding mode for winding a grass rope to a bobbin, in which the driving device drives the bobbin or The head shell is rotated relative to the bobbin and the head shell to automatically wind the grass rope to the bobbin;
  • the operating device further includes an operating member or a switching device for being triggered to run around
  • the line mode further includes a winding detecting unit for detecting the winding length to detect the winding length, and determining the winding state according to the winding length to drive the operating member or the switching device to control whether to run or stop the
  • the lawnmower includes a winding operation circuit for controlling a winding
  • the switching device or the control member is disposed to be connected to the winding operation circuit, and controls the winding operation according to the winding length signal detected by the receiving winding detecting unit. Circuit switch.
  • the operating member or the switching device is configured as a first signal switch
  • the winding detecting unit includes a second signal switch, wherein the second signal switch locks or unlocks the first signal switch.
  • the winding detecting unit is disposed as an elastic clip and is disposed near the grass head or the grass head, and the operating member or the switching device is disposed on one side of the winding detecting unit, and the grass rope is set through the elastic
  • the clips are detached from the elastic clips when the winding is completed so that the elastic clip deformation triggers the operating member or the switching device to control the end of the winding mode.
  • the lawnmower further includes an extension rod connected to the grass head, the winding detection unit includes a detector, and the detector is disposed on at least one side of the grass head or the extension rod and generates detection And detecting, by the detector, the length of the straw length in the detection zone to calculate the winding length.
  • the detector is implemented as one or a combination of a photoelectric sensor, an infrared sensor, a camera, and an ultrasonic sensor.
  • the winding detecting unit includes a capacity detector disposed inside the head casing, and calculates a winding length according to a winding capacity of the grass rope inside the head casing.
  • the capacity detector is implemented as a Hall sensor, and the Hall sensor is squeezed by the grass rope to generate an electrical signal in a winding completion state, and the winding length is calculated according to the electrical signal information.
  • the capacity detector is implemented as a relatively disposed striking member and a micro-motion member, and the striking member is pressed against the micro-motion member to generate an electrical signal when the winding is completed, according to the electric
  • the signal information determines the winding state.
  • the capacity detector is implemented as one or a combination of a photoelectric sensor, an infrared sensor, a camera, and an ultrasonic sensor.
  • the driving device includes a motor, and the motor rotates to drive the grass head to perform a winding mode.
  • the winding detecting unit detects the number of rotations of the motor, and calculates the winding length according to the number of rotations of the motor.
  • the winding detecting unit includes a roller disposed on the grassing rope, the roller is driven to be rolled by the grassing rope, and the winding detecting unit detects the number of rotations of the roller and calculates the winding length.
  • the grass head includes at least one card slot, the card slot is disposed at a predetermined value L from the threading hole, and the grass rope passes through the card slot, and the driving device includes a motor, and the motor rotates to drive The grass head performs a winding mode, and the winding detecting unit detects the motor torque data to obtain a winding completion state.
  • the completion of the winding state is judged by the standard winding length, which is set according to the grass rope specification.
  • the present disclosure provides a lawnmower comprising: a grass cutting head; a driving device for driving the grass head to rotate to cut vegetation; and an operating device for the user to operate To control the driving device;
  • the grass head comprises a bobbin and a head shell, the bobbin is for winding a straw rope, and the head shell is formed with a thread for passing or bypassing the grass rope a grass cutting head having a cutting mode for performing vegetation cutting and a winding mode for winding a grass rope to a bobbin, in which the driving device drives the bobbin or The head shell is rotated relative to the bobbin and the head shell to automatically wind the grass rope to the bobbin;
  • the operating device further includes an operating member or a switching device for being triggered to transmit The line signal is in a running winding mode;
  • the controller is connected to the driving device and controls the operation of the winding mode; and further includes a winding detecting unit for detecting the winding length, determining the winding state according to the
  • the lawnmower further includes an extension rod connected to the grass head, the winding detection unit includes a detector, and the detector is disposed on at least one side of the grass head or the extension rod and generates detection And detecting, by the detector, the length of the straw length in the detection zone to calculate the winding length.
  • the detector is implemented as one or a combination of a photoelectric sensor, an infrared sensor, a camera, and an ultrasonic sensor.
  • the winding detecting unit includes a capacity detector disposed inside the head casing, and calculates a winding length according to a winding capacity of the grass rope inside the head casing.
  • the winding detecting unit includes a roller disposed on the grassing rope, the roller is driven to be rolled by the grassing rope, and the winding detecting unit detects the number of rotations of the roller and calculates the winding length.
  • the present disclosure provides a grass-crushing head for a lawnmower, the lawnmower comprising a driving device for driving the grass head to rotate to cut vegetation, and an operating device for providing a user operates to control the drive device;
  • the lawnmower has a cutting mode for performing vegetation cutting and a winding mode for winding a grass rope to a bobbin, in the winding mode, a driving device drives at least one of the bobbin and the head case to relatively rotate the bobbin and the head case to automatically wind the grass rope to the bobbin;
  • the operating device further includes an operation Or a switching device for being triggered to transmit a winding signal to run a winding mode;
  • the grass head comprising: a bobbin and a head shell, the bobbin for winding a grass rope, the head shell being formed with the a wire holding structure through which the straw rope passes or bypasses;
  • the grass head further includes a winding detecting unit for detecting the length of the winding, and determining the
  • the lawn mower includes a winding operation circuit for controlling winding, the switching device or the control member is disposed on the winding operation circuit, and controls the winding operation circuit according to the winding length detected by the receiving winding detecting unit. switch.
  • the operating member or the switching device is configured as a first signal switch
  • the winding detecting unit includes a second signal switch, wherein the second signal switch locks or unlocks the first signal switch.
  • the winding detecting unit is disposed as an elastic clip and is disposed near the grass head or the grass head, and the operating member or the switching device is disposed on one side of the winding detecting unit, and the grass rope is set through the elastic
  • the clips are detached from the elastic clips when the winding is completed so that the elastic clip deformation triggers the operating member or the switching device to control the end of the winding mode.
  • the lawnmower further includes an extension rod connected to the grass head, the winding detection unit includes a detector, and the detector is implemented by one or a combination of a photoelectric sensor, an infrared sensor, a camera, and an ultrasonic sensor. And the detector is disposed on at least one side of the grass head or the extension rod and generates a detection area, and the detector acquires the length of the straw length in the detection area to calculate the winding length.
  • the winding detecting unit includes a capacity detector disposed inside the head casing, and calculates a winding length according to a winding capacity of the grass rope inside the head casing.
  • the driving device includes a motor, and the motor rotates to drive the grass head to perform a winding mode.
  • the winding detecting unit detects the number of rotations of the motor, and calculates the winding length according to the number of rotations of the motor.
  • the winding detecting unit includes a roller disposed on the grassing rope, the roller is driven to be rolled by the grassing rope, and the winding detecting unit detects the number of rotations of the roller and calculates the winding length.
  • the present disclosure provides a grass cutting head for a grass cutter, wherein the grass cutter includes a driving device for driving the grass head to rotate to cut vegetation, and operating the device. Operated by a user to control the driving device;
  • the lawnmower has a cutting mode for performing vegetation cutting and a winding mode for winding a grass rope to a bobbin, in which the driving device drives the bobbin and the At least one of the head shells for relatively rotating the bobbin and the head shell to automatically wind the grass rope to the spool; the operating device further comprising an operating member or a switching device for being triggered Running a winding mode by transmitting a winding signal;
  • the grass head comprising: a bobbin and a head shell, the bobbin for winding a grass rope, the head shell being formed with a pass or pass for the grass rope a wire holding structure;
  • a controller connecting the motor and controlling the operation of the winding mode; further comprising a winding detecting unit for detecting a winding length, determining a winding state according to the winding length, and transmitting a detection signal; the controller And controlling the motor to operate or stop the winding mode according to the winding signal of the operating device and the detection signal of the winding
  • the operating member or the switching device is configured as a first signal switch
  • the winding detecting unit includes a second signal switch, wherein the controller controls the second signal switch to lock or unlock the first signal switch.
  • the lawnmower further includes an extension rod connected to the grass head, the winding detection unit includes a detector, and the detector is disposed on at least one side of the grass head or the extension rod and generates detection And detecting, by the detector, the length of the straw length in the detection zone, wherein the detector is implemented by one or a combination of a photoelectric sensor, an infrared sensor, a camera, and an ultrasonic sensor.
  • the winding detecting unit includes a capacity detector disposed inside the head casing, and calculates a winding length according to a winding capacity of the grass rope inside the head casing.
  • the winding detecting unit includes a capacity detector disposed inside the head casing, and calculates a winding length according to a winding capacity of the grass rope inside the head casing.
  • the present disclosure provides a winding control method based on a grass-fed device, comprising the steps of: A, turning on a winding mode and controlling the length of the detection winding; B, determining the winding when the winding length is greater than a preset value The line is completed and a detection signal is generated; C. Sending a detection signal to the operating member or the switching member controls the winding to stop.
  • the length of the winding is detected by the winding detecting unit, and the winding detecting unit is implemented as a photoelectric sensor, and the winding length is obtained according to the length of the unwinding.
  • the winding length is detected by the winding detecting unit, and the winding detecting unit is implemented as a pressure sensor or a barometric pressure sensor, and the winding length is obtained according to the pressure or air pressure generated by the straw winding.
  • the winding length is detected by the winding detecting unit, and the winding detecting unit is implemented with a capacity detector to detect the winding capacity in the head casing to obtain the winding length.
  • the winding length is detected by the winding detecting unit, and the winding detecting unit detects the number of rotations of the motor or the roller connected to the straw to obtain the winding length.
  • the winding length is detected by the winding detecting unit, which detects the motor torque change to obtain the winding length.
  • the present disclosure provides a winding control method based on a grass-fed device, comprising the steps of: A, turning on a winding mode and controlling the length of the detection winding; B, determining the winding when the winding length is greater than a preset value The line is completed, and a detection signal is generated and sent to the controller; C. The controller controls the winding mode to stop.
  • the winding length is detected by the winding detecting unit, and the winding detecting unit is implemented as one or a combination of a photoelectric sensor, a pressure sensor and a capacity detector for detecting the winding length.
  • the winding length is detected by the winding detecting unit, and the winding detecting unit detects the number of rotations of the motor or the roller connected to the straw to obtain the winding length.
  • the lawnmower provided by the present disclosure can detect the winding state, and control the end of the automatic winding when the winding is completed, or remind the user to complete the winding to complete the winding, thereby preventing the straw rope from being completely stored in the grass head, thereby It is convenient for the use of the subsequent lawn mower, and the accuracy of detecting the winding state is high, and various schemes are provided to adapt to different types of lawn mowers, thereby achieving a good effect of preventing excessive winding.
  • FIG. 1 is a schematic structural view of a lawnmower according to a first embodiment of the present disclosure
  • FIG. 2 is a schematic structural view of a grass cutting detection winding according to a first embodiment of the present disclosure
  • FIG. 3 is a schematic structural view showing a state in which a grass head winding is completed in the first embodiment of the present disclosure
  • Figure 4 is a cross-sectional view showing the grass cutting detection winding of the first embodiment of the present disclosure
  • Figure 5 is a schematic view showing the mechanical structure of the grass-controlling winding in the first embodiment of the present disclosure
  • Figure 6 is a schematic view showing the mechanical structure of the grass head to control the winding at another angle according to the first embodiment of the present disclosure
  • Figure 7 is a circuit diagram showing the control of the winding of the lawnmower according to the first embodiment of the present disclosure
  • FIG. 8 is a schematic structural view of a grass cutting detection winding according to a second embodiment of the present disclosure.
  • Figure 9 is a schematic view showing a grass cutting detection winding according to a third embodiment of the present disclosure.
  • 9A, 9B, 9C, and 9D are partial enlarged views of different embodiments of the structure A of Fig. 9, respectively;
  • FIG. 10 is a schematic view showing a grass cutting detection winding according to a fifth embodiment of the present disclosure.
  • 10A, 10B are partial enlarged views of different embodiments of the structure B of Fig. 10;
  • Figure 11 is a schematic view showing a grass cutting detection winding of a sixth embodiment of the present disclosure.
  • Figure 12 is a flow chart of a detection winding of a grass head according to a first embodiment of the present disclosure
  • Figure 13 is a flow chart showing another detection winding of the grass head according to the first embodiment of the present disclosure.
  • Figure 14 is a flow chart showing the control winding of the grass-operating device according to the first embodiment of the present disclosure
  • Figure 15 is a flow chart showing the control winding of another grassing operation device according to the first embodiment of the present disclosure.
  • Figure 16 is a flow chart of the grass cutting detection winding of the second embodiment of the present disclosure.
  • FIG. 17 is a flow chart of a grass cutting detection winding according to a third embodiment of the present disclosure.
  • FIG. 18 is a flow chart of a grass cutting detection winding according to a fourth embodiment of the present disclosure.
  • FIG. 19 is a flow chart of a grass cutting detection winding according to a fifth embodiment of the present disclosure.
  • FIG. 20 is a flow chart of a grass cutting detection winding according to a sixth embodiment of the present disclosure.
  • 21 is a schematic structural view of a lawnwife winding mode switching mechanism of a seventh embodiment of the present disclosure.
  • Figure 22 is a circuit diagram showing the control of the winding of the lawnmower of the seventh embodiment of the present disclosure.
  • Figure 23 is a circuit diagram showing the control of the winding of the lawnmower of the eighth embodiment of the present disclosure.
  • FIG. 1 is a schematic structural view of a first embodiment of the present invention
  • FIG. 2 is a first embodiment of the present disclosure.
  • the lawn mower includes a grassing head 1, a straw rope 2 and a driving device 7, and the preferred driving device 7 includes a motor connected to the grass head 1.
  • the grass head 1 is provided with a bobbin 11 for winding the straw 2, and the motor 71 can drive the grass head 1 to rotate about an axis, thereby driving the grass rope 2 to rotate and cut the vegetation.
  • the lawnmower includes a head casing 12 that houses a bobbin 11 and a portion of the straw rope 2 wound thereon to constitute a casing of the grass head 1.
  • the bobbin 11 and/or the head casing 12 are wound and unwound by the relative rotation of the motor 71 to wind the straw 2 .
  • the driving device 7 includes at least one motor 71 for driving the head casing 12, and the head casing 12 has a threading hole 21 through which the straw rope 2 passes, and the threading holes 21 are formed on opposite sides of the head shell 12 around the bobbin 11
  • the straw 2 passes through the head casing 12 from the threading hole 21, and is driven to rotate by the motor 71 to perform winding and unwinding operations with the bobbin 11 as a rotating shaft to wind the straw 2 outside the head casing 12 in the winding state.
  • the inside of the head case 12 is retracted from the threading hole 21, and the bobbin 11 is wound.
  • the lawnmower further includes an energy supply device coupled to the drive device, which is preferably implemented as a power source or as a mechanical energy storage component such as a spring, for storing a portion of the energy and releasing it during operation.
  • an energy supply device coupled to the drive device, which is preferably implemented as a power source or as a mechanical energy storage component such as a spring, for storing a portion of the energy and releasing it during operation.
  • the lawn mower further includes a winding detecting unit 3 for detecting the winding state of the lawnmower. After detecting that the straw 2 is wound, the winding completion state is judged, and the detection signal is sent to the grass. The machine control ends the winding state to prevent the winding from being excessive, so that the straw rope 2 enters the inside of the grass head 1 and is inconvenient for the subsequent threading action, which causes troubles to the use of the grass cutter.
  • the lawnmower further includes an operating component 4 and an extension rod 5, the extension rod 5 is connected to the operation component 4 and the grass head 1, and the operation component 4 is used for the user to operate to control the lawnmower or automatically control according to receiving relevant signals.
  • the extension rod 5 extends the structural length of the grass cutter to facilitate the user to control the grass cutter through the operation assembly 4 at a certain height. The user controls the opening and closing of the lawnmower through the operation component 4, as well as the switching of the winding, paying, and grassing states.
  • FIG. 3 is a schematic structural view showing a state in which the grass head winding is completed in the first embodiment of the present disclosure
  • FIG. 4 is a cross-sectional view showing the grass head detecting winding in the first embodiment of the present disclosure
  • the lawnmower is provided with a controller 6, and the controller 6 is connected to the control motor 71 for processing the operation state of the lawnmower and turning it on and off according to the signal control.
  • the controller 6 is connected to the winding detecting unit 3, and controls the stopping of the winding process according to the detection of the length of the cord 2 by the winding detecting unit 3.
  • the controller 6 includes a storage unit for storing algorithms and operation data, and the storage unit stores relevant determination conditions for determining the completion state of the winding, and the storage detection condition is read by the winding detection unit 3 for detection and determination, and the winding is performed. Send a detection signal control or reminder to stop winding when finished.
  • the controller 6 is preferably implemented as at least one circuit board, and the operation of the lawn mower is controlled by the connection of the circuit board and the motor 71.
  • the lawnmower can be implemented with one or a combination of automatic winding, grassing, and pay-off mode switching functions to realize an automatic grass-cutting mode, or can be implemented as a manual push-button switch. Switch the control mode of winding, paying and grassing mode. It will be understood by those skilled in the art that the two methods of controlling the lawn mower, in the process of winding, need to solve the problem that when the winding is excessive during the winding process, the straw rope 2 will be collected into the grass. In the case of the first head, at this time, the user also needs to open the grass head 1 and take out the straw 2 to continue using the lawnmower, which is not conducive to simplifying the operation of the user.
  • the winding length of the straw 2 is detected by the winding detecting unit 3, and the grassing machine is automatically controlled when the winding is completed. End the winding to automatically stop the winding, or send a warning or detection signal to the user, remind the user to issue a winding end command, end the current winding state and remind the user to stop the winding.
  • the winding detecting unit 3 transmits a detection signal to the controller 6, and the controller 6 controls the motor 71 to stop the winding state. It is worth mentioning that the automatic stop winding and reminder stop winding can be set at the same time to remind the user of the state of winding completion.
  • the lawnmower comprises a prompting device 8, which is connected to the controller 6 or the winding detection unit 3.
  • the winding detection unit 3 sends a detection signal to the controller 6, and the controller 6 controls the prompting device 8 to issue an alert to remind the user that the winding is completed.
  • the winding detection unit 3 can also directly send a detection signal to the prompting device 8 to remind the winding completion. status.
  • the warning can be issued by a signal light, a speaker, a switch or the like.
  • the signal light is used as the reminder component, when the winding is completed, the user blinks or changes the color to remind the user to turn off the winding state.
  • the speaker is a reminder component, the user is alerted by a voice or a special sound.
  • the selection switch is a reminder element, the current state is reminded by the way of the switch bounce or position movement.
  • the winding detecting unit 3 is implemented to include a detector 31 which is disposed on the grass head 1 or the extension rod 5, or grass At the connection pipe between the head 1 and the extension rod 5, the detector 31 corresponds to a detection area 311 which covers a portion of the threading hole 21 and/or its vicinity, and the detector 31 detects the detection area
  • the winding detecting unit 3 detects the detection result of the length of the straw 2, and if the length of the straw 2 is less than or equal to the predetermined value L, it is determined that the winding is completed, and the reminder stops the winding.
  • the wire or direct control stops the winding. Otherwise, if the rope length is greater than the predetermined value L, the winding is continued, that is, the winding is not reminded or stopped.
  • the detector 31 is implemented as a photoelectric sensor that captures the length of the straw 2 by capturing the change in the intensity of the light, and the straw 2 is rotated back into the head casing 12 during the winding process.
  • the threading hole 21 enters the inside of the head casing 12, and when it moves through the detecting area 311, the light and dark changes of the light are caused in the detecting area 311, and the detector 31 senses the change of the light to obtain the length of the straw 2 .
  • the winding state is completed, and when the winding completion state is approached, the straw 2 is wound into the head casing 12 in the head shell 12
  • the length of the outer rope is gradually reduced, and the area for blocking the light is also reduced.
  • the photoelectric sensor detects the length of the corresponding straw 2, and sends a detection signal to the controller 6 when the length of the straw 2 is less than the preset value L.
  • the motor 71 is controlled by the controller 6 to stop the winding, or the detection signal is directly sent to the operating unit 4, and the winding stop is controlled by the operating unit 4.
  • the winding detecting unit 3 is provided with an illuminating member which is disposed at a position near the detecting area 311 and projects a light source toward the detecting area 311, thereby reinforcing the grass passing rope 2
  • the detection area 311 is described, the degree of influence on the intensity of the detection area 311 is prevented, and the sensitivity of the winding detection unit 3 is prevented from being lowered on a cloudy day or a dark area.
  • the detector 31 may be configured to detect the length of the straw 2 at the threading hole 21 on both sides of the head shell 12, respectively, and the length of the straw 2 at the threading hole 21 on either side is less than a preset value. At L, the detection signal is sent to the controller 6, and the control motor 71 is stopped. Similarly, in order to save cost, the detection area 311 of the detector 31 may be disposed only on the side of the head casing 12, and the winding of the lawnmower may be obtained by detecting the length of the straw 2 near the threading hole 21 on one side. Situation and control to stop winding.
  • the detector 31 can also be configured as one or a combination of detection devices such as a camera, an infrared sensor, an ultrasonic sensor, etc., by analyzing the imaging state of the straw 2 by the camera, or by infrared laser detection by the infrared sensor. The state of the straw 2 is used, or the ultrasonic sensor detects the movement of the straw 2, and the length of the extension of the straw 2 is calculated.
  • detection devices such as a camera, an infrared sensor, an ultrasonic sensor, etc.
  • the detector 31 is light in size and does not increase the excessive load and manufacturing cost of the lawnmower, and can effectively detect the length of the extension of the straw rope, thereby analyzing the winding state, and the structure is simple and effective.
  • a lawnmower comprising a grass head 1; a driving device 7 for driving the grass head 1 to rotate to cut vegetation; and an operation component 4 for the user Operating to control the driving device 7;
  • the grass head 1 comprises a bobbin 11 for winding a straw 2, and a head shell 12 formed for the grass rope 2 to be worn a wire-holding structure that passes or bypasses;
  • the grassing head 1 has a cutting mode for performing vegetation cutting and a winding mode for winding the straw 2 to the bobbin 11, in the winding mode
  • the driving device 7 drives the bobbin 11 or the head casing 12 to relatively rotate the bobbin 11 and the head casing 12 to automatically wind the grassing rope 2 to the bobbin 11;
  • the assembly 4 further includes an operating member or switching device 41 for being triggered to operate the winding mode;
  • the winding detecting unit is installed near the grass head 1 to detect the winding length, and is determined according to the winding length Winding state to drive the operating member or switching device 41 to
  • FIG. 5 is a schematic view showing the mechanical structure of the grass-controlling winding in the first embodiment of the present disclosure
  • FIG. 6 is a schematic view showing the mechanical structure of the grass-cutting head to control the winding at another angle according to the first embodiment of the present disclosure
  • the connection relationship between the winding detecting unit and the operating member or the switching device 41 of Fig. 6 may be controlled by electrical connection or by mechanical connection. An example of a mechanical connection is now described.
  • the winding detecting unit includes a second signal switch 37, and the second signal switch 37 is a detecting switch, the winding
  • the detecting unit is disposed as a resilient clip and is disposed near the grass head 1 or the grass head 1
  • the second signal switch 37 is disposed on one side of the winding detecting unit
  • the grass rope 2 is disposed through the elastic clip and
  • the elastic clip is disengaged so that the elastic clip deformation triggers the second signal switch 37 to control the end of the winding mode.
  • the switch for controlling the winding may be set as two of the operating member or the switching device 41 and the second signal switch 37, and the user controls the opening of the winding mode by controlling the operating member or the switching device 41, and causes the straw 2 to pass through.
  • the winding detecting unit is turned on to control the opening winding mode around the second signal switch 37, and the user can control the opening and closing of the winding mode at any time by the operating member or the switching device 41.
  • the switch for controlling the winding is set to one, that is, the operating member or the switching device 41 can be set as the main switch controlled by the winding detecting unit, and can be controlled by the user. It is mechanically associated with the winding detection unit, and the winding process is directly controlled by the winding detection unit.
  • the second signal switch 37 is set to be near the grass head 1 or the grass head 1 , and the distance between the second signal switch 37 and the threading hole 21 is set to a preset value L, and the preset value L is set.
  • the grass rope 22 is wound away from the card slot 36 toward the head casing 12, the grass rope 22 is located at a line length outside the head casing 12, and the body portion of the straw rope 22 is housed in the head casing 12. .
  • the winding detecting unit is provided as an elastic clip, and the elastic clip has oppositely disposed intercepting pieces 38 and an active piece 39, and the intercepting piece 38 has a through hole through which the active piece 39 is deformed, and the active piece 39 is bent.
  • the ground is set to the "S" shape, so that the active sheet 39 and the intercepting piece 38 cooperate to form a space through which the straw 2 passes, and when the straw 2 passes through the elastic clip, the straw 2 is squeezed.
  • the active sheet 39 is caused to move the active sheet 39 away from the through hole.
  • the active sheet 39 does not trigger the second signal switch 37, and the second signal switch 37 is in an open state, and the lawn mower performs the winding process.
  • the straw 2 is taken back to the grass head 1 as the winding process is completed.
  • the active sheet 39 is no longer affected by the straw 2
  • the elastic deformation triggers the second signal switch 37 to automatically control the off winding mode.
  • the second signal switch 37 can be set to be closed when triggered by changing the structure of the elastic clip, such as changing the relative positional relationship between the active sheet 39 and the intercepting member.
  • the second signal switch 37 is triggered to be turned on, and the winding mode is controlled, and when the grass rope 2 is separated from the elastic clip, the second signal switch 37 is no longer triggered. The winding mode is turned off.
  • the elastic clip can be used as a winding detecting unit for directly triggering the winding mode.
  • the elastic clip acts as a mechanical switch that triggers the winding mode.
  • the elastic clip is used as the switch device, the structure is simple, the cost is extremely low, and it is simple and effective. Once the straw rope is detached from the elastic clip, the winding mode is immediately controlled, so that the winding completion can be quickly ended.
  • the connection relationship between the winding detecting unit and the operating member or the switching device 41 may be controlled by electrical connection, and an embodiment of electrical connection control is now given by way of example.
  • the lawnmower includes a winding operation circuit for controlling winding, the switching device or the control member is disposed on the winding operation circuit, and controls the switch of the winding operation circuit according to the winding length detected by the receiving winding detecting unit.
  • the operating member or switching device 41 is provided as a first signal switch 41, the winding detecting unit comprising a second signal switch 37, the second signal switch 37 locking or unlocking the first signal switch 41.
  • the first signal switch 41 and the second signal switch 37 are connected in series to the winding operation circuit.
  • the driving device 7 includes a motor connected to the winding operating circuit, and the winding operating circuit is connected to the power source to drive the winding with the motor energy.
  • FIG. 7 is a circuit diagram of a lawn mower control winding according to a first embodiment of the present disclosure; and FIG. 7 provides a winding operation circuit including a driving circuit connected to the motor in the winding operation circuit according to FIG.
  • the receiving signal controls the operation of the motor
  • the first signal switch 41 is a winding switch or a winding signal switch, and controls the winding of the motor through the opening and closing of the first signal switch 41 and the second signal switch 37.
  • the second signal unit 37 is controlled according to the detection signal sent from the winding detecting unit. When the winding length must belong to the winding completion state, the second signal unit 37 turns off the winding operation circuit according to the detection signal, thereby ending the winding mode.
  • the driving circuit is an analog circuit, and is implemented as one or a set of a signal conversion circuit and an operation circuit.
  • the comparator is configured to calculate a detection signal sent by the winding detection unit, and the second signal switch or the motor is controlled to open and close.
  • the second signal unit 37 is used as a detection signal output by the winding detecting unit, and can be used to directly trigger the winding mode.
  • the second signal unit 37 functions as an electronic signal switch that triggers the winding mode.
  • the user controls the operation component 4 to open the grassing mode.
  • the motor 71 rotates in the D2 direction to drive the grass rope 2 to rotate the grass; the user opens the first condition when the winding is required.
  • a signal switch 41, or the lawnmower currently needs to automatically control to open the first signal switch 41 when the wire is wound, and the second signal switch 37 is closed by default, at which time the first signal switch 41 controls the motor 71 to reverse in the D1 direction. , control to wind.
  • the detection signal is sent to the second signal switch 37, and the second signal switch 37 receives the signal and then turns off to lock or unlock the first signal switch 41 through the second signal switch 37.
  • the winding process is ended.
  • the second signal switch 37 can also be set as a control switch that can control the opening and closing of the first signal switch 41 to directly lock or unlock the first signal switch 41 through the second signal switch 37.
  • the winding running circuit can adapt to the structure of the plurality of winding detecting units 3, and can timely and effectively provide feedback according to the detection signals to prevent excessive winding.
  • first signal switch 41 and the second signal switch 37 can be implemented as mechanical switches, and can be driven to open or close or manually push and close, or can be implemented as an electronic switch, which is Turn it on or off, or be turned on and off by a mobile smart device such as a mobile phone.
  • step S11 is performed, and when the winding process is detected, the operation member or the switching device is opened, and step S12 is performed.
  • the driving device is driven to drive the grass head winding, and step S12 is performed.
  • the S13 detector detects the length of the extended grass rope and determines whether the length of the straw rope in the detection area is less than a preset value L, and performs step S14, and if S15 is transmitting a detection signal.
  • step S16 the control prompting device prompts the user to stop the winding
  • step S17 is executed, the user receives the reminder to close the winding switch, and ends.
  • step S21 is performed to open the operating member or the switching device.
  • step S22 is executed, the driving device is driven to drive the grass head winding, and step S23 is performed.
  • the S24 detector detects the length of the extended grass rope and determines whether the length of the straw rope in the detection area is less than a preset value L, and performs step S25. It is to send a detection signal to control the stop winding mode and end.
  • step S31 is performed to open the first signal switch, and step S32 is executed to drive the grass head winding.
  • step S33 is performed to detect the winding state, and step S34 is executed to determine whether the winding is completed.
  • Step S35 is executed to send a detection signal to control the second signal switch to be turned off.
  • step S41 is performed to open the first signal switch
  • step S42 is executed to drive the grass head.
  • Winding step S43 is performed to detect the winding state
  • step S44 is performed to determine whether the winding is completed. If yes, step S45 is executed to send a detection signal to the controller, and step S46 is executed to control the first signal switch or the first The two signal switches are open.
  • FIG. 8 is a schematic structural view of a grass cutting detection winding according to a second embodiment of the present disclosure; referring to FIG. 8 , a second preferred embodiment of the present disclosure detects a winding condition, and the winding detecting unit 3 includes a head casing.
  • the pressure sensor 32 on the 12, the pressure sensor 32 can also be implemented as a switch sensor, the pressure sensor 32 is disposed near the threading hole 21 on the head casing 12, and the distance between the pressure sensor 32 and the threading hole 21 is set to a preset value. L.
  • the grass rope 2 In the working state of the lawnmower winding, the grass rope 2 is driven to rotate around the grass head 1, and the straw rope 2 passes through the pressure sensor 32 and squeezes the contact of the pressure sensor 32, at which time the pressure sensor 32 is squeezed.
  • the pressure is activated to generate a voltage until the length of the straw 2 outside the threading hole 21 is less than or equal to a preset value L, at which time the straw 2 does not squeeze the pressure sensor 32, and the contact of the pressure sensor 32 is no longer
  • the voltage is generated by the pressing, and at this time, the winding detecting unit 3 transmits a detection signal to the controller 6 or the operating device 4, and the controller 6 or the operating device 4 controls the end of the winding operation.
  • a single pressure sensor 32 may be disposed in the vicinity of the threading hole 21 on one side, or two pressure sensors 32 may be disposed in the vicinity of the threading holes 21 on both sides.
  • the winding detecting unit 3 includes an air pressure sensor disposed on the head casing 12, preferably a position such that the air pressure sensor is disposed at a predetermined distance L from the threading hole 21, and the grass is detected by the air pressure sensor.
  • the flow of the airflow generated by the rotation of the straw 2 is changed to obtain the state of completion of the winding and control to stop the winding.
  • the grass rope 2 is rotated and tapered to the inside of the grass head 1 , and when the length outside the head shell 12 is less than the preset value L, the flow velocity of the grass rope 2 is reduced, thereby The real-time air pressure detected by the air pressure sensor increases. Therefore, a preset value M is set, and when the air pressure sensor detects that the air pressure is greater than the preset value M, the detection signal is sent to the controller 6 to stop the motor 71 from running.
  • the preset value M is set according to the material of the straw 2 and the winding speed.
  • a calculation function may also be established to calculate a pressure difference ratio of the detected airflow pressure change of the air pressure sensor, such as obtaining a gas pressure difference ratio ⁇ P_2/ ⁇ P_1 within an arbitrary interval of two seconds, and comparing whether the comparison is greater than a preset
  • the threshold value N when it is greater than the preset threshold value N, indicates that the air pressure value is greatly changed at this time, it is judged that the winding is completed, and the detection signal is sent to the controller 6 or the operating device 4, through the controller 6 or the operating device 4, Control ends the winding action.
  • a baffle may be disposed on the upper part of the pressure sensor 32 or the air pressure sensor, and the pressure or air pressure change caused by external factors may be hindered from interfering with the pressure sensor. 32 and the detection results of the air pressure sensor.
  • the pressure sensor 32 and the air pressure sensor are sensitive to pressure and have a low damage rate, which can effectively sense the winding process and directly send an electrical signal to control the end of the winding.
  • step S51 is executed to open the operating member or the switching device, and step S52 is executed to drive the grass head winding.
  • step S53 the pressure sensor or the air pressure sensor detects the pressure or air pressure change caused by the rotation of the grass rope, and performs step S54 to determine whether the pressure sensor contact is released or the air pressure detected by the air pressure sensor is less than a preset value M, if it is executed
  • step S55 the transmission detection signal controls to stop the winding mode and ends.
  • Figure 9 is a schematic view of a grass cutting detection winding according to a third embodiment of the present disclosure;
  • Figures 9A, 9B, 9C, and 9D are partial enlarged views of different embodiments of the structure A of Figure 9 respectively.
  • the winding detecting unit 3 includes a capacity detector 34 disposed inside the head casing 12 for detecting the winding capacity of the straw 2 inside the head casing 12.
  • the capacity detector 34 includes a Hall sensor 341 disposed on the inner side wall of the head case 12, and a magnet disposed opposite to the Hall sensor 341, the distance between the magnet and the Hall sensor 341 is set closer, and The Hall sensor 341 and the magnet are connected by a socket such that the Hall sensor 341 and the magnet can move relative to each other.
  • the capacity detector 34 is disposed from the inner side wall of the head shell 12 to extend a certain distance to the inside of the head shell 12, and the distance of the extension is determined according to the required capacity of the straw rope 2, so that when the grass rope 2 completes the winding operation, The straw 2 wound around the outermost periphery of the bobbin 11 can touch the capacity detector 34.
  • the Hall sensor 341 inductively generates an electrical signal as it approaches the magnet, and the electrical signal decreases as it moves away from the magnet. According to the position of the Hall sensor 341 and the position of the magnet, the electric signal generated by the magnet is sensed by the Hall sensor 341 to determine whether the capacity detector 34 is hit by the straw 2, thereby determining whether the control is needed.
  • the grass head 1 ends the winding mode.
  • the straw 2 is rotated by the bobbin 11 and enters the inside of the head casing 12 through the threading hole 21 to wrap the bobbin 11, and the cord 2 is gradually wound on the bobbin 11 and the bobbin is filled.
  • the space around 11 is completed in the winding state, and the outer peripheral grass rope 2 squeezes the capacity sensor with the striking action, so that the magnet is driven to move toward the Hall sensor 341, and the Hall sensor 341 senses the magnetic field change and transmits the electricity.
  • the signal is sent to the controller 6 or the operating device 4 is turned on to control the winding mode to stop operation.
  • the capacity sensor is arranged to adjust its distance from the inner wall of the head casing 12 to accommodate the accommodation space required for the straw ropes 2 of different lengths.
  • the user can set the standard winding capacity.
  • the standard winding capacity refers to the corresponding winding capacity under the condition that the winding completion is detected.
  • the grassing rope 2 wound around the bobbin 11 is detected to fill the standard winding capacity.
  • a stop signal is transmitted to the controller 6 or the operating device 4, and the controller 6 or the operating device 4 controls the end of the winding operation.
  • the corresponding detection standard of the capacity sensor is correspondingly set.
  • the standard winding capacity is set to a small value
  • the corresponding magnetic field change of the active winding completion state is set to be correspondingly small
  • the winding sensor capacity is activated to drive the Hall sensor 341 to activate the winding completion state during the winding process.
  • the controller 6 can also control the movement of the capacity sensor relative to the inner wall of the head casing 12 to change the relative vertical distance between the two to change the winding capacity of the trigger winding completion state.
  • the capacity sensor is implemented to include a micro switch 342 and a striker 343 disposed oppositely.
  • the volume detector 34 is disposed from the inner side wall of the head case 12. Extending a certain distance to the inside of the head shell 12, the distance of the extension is determined according to the required capacity of the straw rope 2, so that when the grass rope 2 is completed, the grass rope 2 wound around the outermost edge of the spool 11 can be touched.
  • the striking member 343 strikes the micro switch 342. When the striking member 343 starts to strike the micro switch 342 or strikes the micro switch 342 for more than a predetermined number of striking times, the contact of the micro switch 342 is triggered to generate an electrical signal. It is determined that the winding is completed, and a detection signal is sent to the controller 6, and the motor 71 is stopped to stop the winding or to warn the user to stop the winding.
  • the capacity sensor is implemented to include a micro switch 342 and a striker 343 disposed opposite each other, and further includes an elastic structure 344.
  • the elastic structure 344 connects the connecting member and the inner wall of the head casing 12 such that the striking member 343 releases the triggering of the micro switch 342 in a state of being hit by the straw 2 .
  • the contact of the micro switch 342 generates an electrical signal only when the straw 2 is filled with a preset capacity so that the micro switch 342 is turned off. Once the winding detecting unit 3 can detect the electric signal, it can be judged that the winding of the straw 2 is completed, and the winding mode is stopped.
  • the number of strokes of the striking member 343 is activated by setting the different micro switch 342 that is activated to activate the winding, or the controller 6 controls the movement of the capacity sensor relative to the inner wall of the head casing 12 to change The relative vertical distance between the two to change the winding capacity that triggers the winding completion state.
  • the volume detector 34 is implemented as one or a collection of photosensors, infrared sensors, cameras, ultrasonic sensors.
  • the winding completion state is obtained, and the purpose of automatically stopping the winding or reminding the user to stop the winding when the winding is completed is achieved.
  • the capacity detecting unit is disposed inside the grass cutting head, does not receive interference from external factors, is not easy to be damaged, so the service life is longer, the detection structure is accurate, and the winding end is controlled in time by electric signal conduction to prevent excessive winding. .
  • step S opening the operating member or the switching device as shown in FIG. 17, and performing step S62, the driving device is driven to drive the grass head winding
  • Step S63 is executed to detect the winding capacity
  • step S64 is executed to determine whether the winding capacity has reached the standard winding capacity. If the step S65 is performed, the transmission detection signal controls to stop the winding mode.
  • 18 is a flow chart of a grass cutting detection winding according to a fourth embodiment of the present disclosure; the winding detecting unit 3 is operated by the mounting controller 6, and the winding detecting unit 3 has a preset algorithm.
  • the calculation of the number of turns of the motor 71 can also be performed by providing a magnet on the rotor of the motor 71, setting the Hall sensor 341 near the motor 71, and causing the magnetic field to change by the rotation of the magnet by the rotor, through the Hall.
  • the sensor 341 senses the change of the magnetic field to obtain the rotation condition and the number of turns of the motor 71, and transmits the pulse electric signal caused by the induced magnetic field change to the controller 6 to acquire the rotation of the motor 71 in the corresponding time by the pulse signal data in the corresponding time.
  • Number of turns It will be understood that the number of rolling turns of the roller 35 can also be detected by providing a switch, a pressure sensor 32, a micro-motion element in the vicinity of the motor 71, and associated rotational motion of the motor 71.
  • the user can set the length of the winding corresponding to the winding completion state as the standard winding length for the subsequent winding process of the lawnmower, and the standard winding length preset by the user is used as a standard.
  • the subsequent winding process is detected, and during the winding process, the length of the winding reaches the preset standard winding length of the user, and the winding is automatically controlled to stop, or a warning or signal is sent to inform the user to stop the winding.
  • the user activates the standard winding length setting by operating the component 4, and stops the winding by the operation component 4 at the appropriate winding end position by one or more winding processes, and the winding detecting unit 3 detects The current winding length is recorded in the storage unit as a standard winding length as a reference standard for subsequent winding detection stop.
  • the controller 6 controls the lawnmower to enter the winding state, and the user controls the state of the winding machine to complete the winding state at a suitable winding completion position, and the controller 6 Recording the number of windings of the motor 71 during the winding time, it can be understood that the number of rotations of the motor 71 corresponds to the number of windings to calculate the standard winding length according to the number of windings.
  • the storage unit stores an algorithm for calculating the standard winding length according to the number of revolutions of the motor 71.
  • the standard winding length S the number of rotations of the motor 71 n*the equivalent circumference of the coil l is calculated by the controller 6 after calculating the standard winding length.
  • the storage unit stores the standard winding length.
  • the winding detecting unit 3 records the number of rotations of the motor 71 corresponding to the winding state time, and obtains the winding completion position by comparing the number of rotations of the motor 71 or the standard winding length, and is wound in the winding.
  • the motor 71 is controlled to stop by the controller 6 to end the winding state, preventing the excessive winding from completely winding the straw 2 into the grass head 1.
  • the standard winding length can also be uploaded to the storage unit by the user directly inputting, and the user operates according to the rope length parameter of the straw 2 Component 4 enters the standard winding length and serves as the rope length reference standard for subsequent winding detection.
  • the standard winding length can also be set by factory preset.
  • step S71 is performed to open the operating member or the switching device, and the starting step S72 starts the driving device to drive the grass head winding
  • step S73 the detecting unit detects the motor rotation number according to the rotation. The number of turns is used to calculate the length of the winding, and step S74 is performed to determine whether the length of the winding reaches the standard winding length. If the sending of the detection signal to stop the winding mode is performed in step S75, and the method of inputting the standard winding length is performed, step S76 is performed.
  • step S77 Activate the input standard winding length mode, execute step S77, open the operating member or the switching device, perform step S78, drive the device to drive the grass head winding, perform step S79, and the detecting unit detects the number of motor rotations, and calculates according to the number of rotations
  • step S10 is performed to close the winding mode
  • step S711 is performed to calculate the winding length and store it as the standard winding length.
  • FIGS. 10 is a schematic view showing a grass cutting detection winding according to a fifth embodiment of the present disclosure
  • FIGS. 10A and 10B are partial enlarged views of different embodiments of the structure B of FIG. 10;
  • the winding detecting unit 3 is provided with at least one roller 35 which is disposed near the threading hole 21 or near the bobbin 11, and preferably the roller 35 is disposed inside the grass head 1.
  • the roller 35 is disposed on the grass rope 2 transmission path and is designed such that the grass rope 2 passes through the roller 35 or can drive the roller 35 to roll.
  • the friction between the straw 2 and the roller 35 drives the roller 35 to roll, thereby calculating the winding length of the winding process according to the number of turns of the roller 35, thereby completing the winding.
  • the control winding action stops or alerts the user to stop winding.
  • the roller 35 is set to one, as shown in Fig. 10B, and the roller 35 is provided in plurality.
  • the roller 35 is disposed to be connected to the winding detecting unit 3, and the winding detecting unit 3 detects the number of rolling turns of the roller 35, and according to the preset algorithm of the storage unit, calculates the winding in the winding state from the number of rolling circles.
  • the length of the wire, the length of the winding S the number of revolutions of the roller 35 n * the rolling equivalent circumference l, and when the length of the winding is greater than or equal to the predetermined winding length, the control motor 71 stops or warns the user to stop the winding.
  • the detection of the number of revolutions of the roller 35 can be performed by disposing a magnet on the roller 35 and setting the Hall sensor 341 at a corresponding position, and driving the magnet to rotate when the roller 35 rotates, thereby changing the relative relationship between the magnet and the Hall sensor 341 to pass
  • the Hall sensor 341 senses the change in the magnetic field to obtain the scroll state of the roller 35, and calculates the number of scrolls of the roller 35 in a certain time interval. It can be understood that the number of rolling turns of the roller 35 can also be detected by setting a switch, the pressure sensor 32, the micro-motion element in the vicinity of the roller 35, and the rotational movement of the roller 35.
  • the user can set the preset winding length corresponding to the winding completion state as the winding length standard for detecting the winding state.
  • the user can set the preset winding length by operating the component 4, and in the course of the winding or the plurality of windings, the winding is stopped by the operating component 4 at the appropriate winding length position, and the winding detecting unit 3 detects the current roller 35.
  • the number of scroll turns calculates the preset winding length and records it in the storage unit. During the winding process, the winding detecting unit 3 detects the number of rolling circles of the roller 35.
  • the control is performed.
  • the motor 71 stops winding or sends an alert to the user to stop winding.
  • the standard winding length can also be uploaded to the storage unit by the user directly inputting, and the user inputs the standard winding length through the operating component 4 according to the rope length parameter of the straw 2, and The rope length reference standard for subsequent winding detection.
  • the standard winding length can also be set by factory preset.
  • step S81 is executed to open the operating member or the switching device, and step S82 is executed to drive the grass head winding.
  • step S83 the detecting unit detects the number of rotations of the roller, calculates the winding length according to the number of rotations of the roller, and performs step S84 to determine whether the winding length reaches the standard winding length. If the step S85 is performed, the detection signal is sent to stop the winding.
  • step S86 providing a method for inputting the standard winding length, performing step S86, activating the input standard winding length mode, performing step S87, opening the operating member or the switching device, performing step S88, driving the device to drive the grass head winding, and executing
  • the detecting unit detects the number of rotations of the roller, calculates the length of the winding according to the number of rotations, calculates the length of the winding according to the number of rotations, performs step S810, closes the winding mode, calculates the winding length, and stores the length as a standard winding length.
  • FIG 11 is a schematic view showing a grass cutting detection winding in a sixth embodiment of the present disclosure; in the present embodiment, the winding detecting unit 3 is mounted in the controller 6, and the torque variation generated by the operation of the motor 71 is detected. , get the winding completion status.
  • the grass head 1 includes a shield attached thereto for protecting the grass head 1 and the grass rope 2.
  • the shield has at least one slot 36 for the straw 2 on either or both sides of the card connector housing 12. During the winding process, the straw 2 passes through the threading holes 21 and the card slots 36 on both sides, respectively, and is driven by the motor 71 to move around the inside of the head casing 12.
  • the straw 2 is gradually contracted toward the head casing 12 until the escape slot 36 is pulled out from the slot 36, and the straw 2 is no longer subjected to the pressure of the slot 36, thereby reducing the torque required to drive the grass 2 to rotate.
  • the motor 71 is fed back to the controller 6 by current, and the controller 6 controls the stop of the winding, or the control prompting device 8 issues an alert to remind the user to stop the winding.
  • the torque of the motor 71 is equal to the winding torque plus the pressure against the straw 2 of the card slot 36, when the straw 2 is disengaged from the slot 36.
  • the torque of the motor 71 is equal to the winding torque. Therefore, the winding detecting unit 3 detects the torque of the motor 71 before and after the grass rope 2 is disengaged from the card slot 36.
  • the motor 71 torque variation ratio is greater than a predetermined value, or the motor 71 torque is reduced. After a preset value P, it is determined that the winding is completed.
  • the card slot 36 can also be disposed on the head shell 12 or connected to the grass head 1 and the distance between the card slot 36 and the threading hole 21 is set to a preset value L, a preset value L.
  • the motor 71 is implemented as a motor, and the winding detecting unit 3 is mounted in the controller 6, and the winding is obtained by detecting the torque change generated by the operation of the motor. Line completion status.
  • the grass head 1 includes a shield attached thereto for protecting the grass head 1 and the grass rope 2.
  • the shield has at least one slot 36 for the straw 2 on either or both sides of the card connector housing 12.
  • the straw 2 passes through the threading holes 21 and the card slots 36 on both sides, respectively, and is driven by the motor to orbit the inside of the head casing 12.
  • the straw 2 is gradually contracted toward the head casing 12 until the escape slot 36 is pulled out from the slot 36, and the straw 2 is no longer subjected to the pressure of the slot 36, thereby reducing the torque required to drive the grass 2 to rotate.
  • the motor is fed back to the controller 6 by current, controlled by the controller 6 to stop the winding, or fed back to the operating device 4, the control ends the winding action, or the control prompting device 8 issues an alert to remind the user to stop the winding.
  • the motor torque is equal to the winding torque plus the pressure against the straw 36 against the straw 2, when the straw 2 is disengaged from the slot 36, The motor torque is equal to the winding torque, so the winding detecting unit 3 detects the motor torque before and after the grass rope 2 is separated from the card slot 36, and when the motor torque change ratio is greater than a preset value, or the motor torque is reduced to a preset value After that, it is determined that the winding is completed.
  • the card slot 36 can also be disposed on the head shell 12 or connected to the grass head 1 and the distance between the card slot 36 and the threading hole 21 is set to a preset value L, a preset value L.
  • the straw 2 is detached from the head casing 12 from the card slot 36, the straw 2 is located at a line length outside the head casing 12, and the body portion of the straw 2 is housed in the head. Inside the shell 12. It is worth mentioning that, in this case, when the winding completion state is defined, the remaining length of the winding is less than the preset value L during the winding process, and the straw 2 is not completely wound into the head casing 12.
  • step S91 is executed to open the operating member or the switching device, and step S92 is executed to drive the grass to be wound.
  • step S93 is executed, the detecting unit detects the motor torque by the current, and executes step S94 to determine whether the motor torque is less than the preset value P. If yes, step S95 is executed to send the detection signal to control the stop winding mode.
  • FIG. 21 is a schematic structural view of a lawnwife winding mode switching mechanism of a seventh embodiment of the present disclosure.
  • Figure 22 is a circuit diagram showing the control of the winding of the lawnmower of the seventh embodiment of the present disclosure. Referring to FIG. 21 and FIG. 22, the switching between the winding mode and the grassing mode of the lawn mower disclosed in the present disclosure can be automatically performed by the operation component 4, and an embodiment is given.
  • FIG. 21 is a grasshopper of the present disclosure. Schematic diagram of the mechanism of the machine winding mode switching mechanism. As shown in FIG. 21, the operating component 4 further includes a switching mechanism 42 for controlling automatic switching between the grassing mode and the winding mode.
  • the switching mechanism 42 includes An auxiliary motor for driving the switching mechanism 42, the switching mechanism 42 may include a gear shaft 420, a gear 421 mounted on the gear shaft 420, a rack 423 associated with the gear 421, and a claw member 425 associated with the rack 423, This claw member 425 can be coupled directly or indirectly to the head case 12.
  • the switching mechanism 42 responds to the signal that the auxiliary motor in the switching mechanism 42 drives its motor shaft, and the motor shaft of the auxiliary motor is coupled with the gear shaft 420, thereby driving A gear 421 on the gear shaft 420 drives the rack 423 up and down. Since the rack 423 is coupled with the claw member 425, the claw member 425 is engaged or coupled to the head housing 12, such that the auxiliary motor drives the rack and pinion, and the rack 423 moves up and down to move the claw member 425 to engage the head shell 12 to move up and down. , that is, moving up or down in the direction of the axis.
  • the lawnmower In the grassing mode, the lawnmower is in the grassing position, the bobbin 11 is engaged with the head casing 12, and the bobbin 11 is driven by the main motor 1 to rotate at a high speed.
  • the main motor of the lawnmower rotates forward, that is, rotates in the forward direction, and is engaged by the stopper on the bobbin 11 and the stopper on the head casing 12 when the motor rotates forward, the bobbin 11 and the head shell. 12 rotates together at a high speed.
  • the mower main motor drive bobbin 11 is rotated in the forward direction, and since the bobbin 11 is engaged with the head case 12, the bobbin 11 and the head case 12 are rotated at a high speed.
  • the stop member on the bobbin 11 is composed of a stop surface and an inclined surface; the limiting member on the head shell 12 includes a limiting surface, and the stop surface of the bobbin 11 abuts when the main motor rotates forward The limiting surface of the head case 12, the bobbin 11 and the head case 12 rotate forward at a high speed.
  • the switching mechanism 42 When the switching mechanism 42 receives the winding signal, for example, the lawnmower is originally in the grassing position, after receiving the winding signal, the switching mechanism 42 drives the auxiliary motor, and the auxiliary motor drives the gear rack to be driven by the rack and pinion and the claw member.
  • the head case is moved up, for example, moved up to 7 mm, so that the head case 12 is disengaged from the bobbin 11, and the head case 12 is further engaged with the fixed case, that is, the switching mechanism 42 of the switching mechanism 42 drives the head case to move to the winding. Location, 2 files.
  • the grass cutter As shown in Fig. 9, the grass cutter is in the winding position, the head shell 12 is disengaged from the bobbin 11, and is further meshed with the fixed casing.
  • the head casing 11 Since the fixed casing is fixed, the head casing 11 is fixed together with the fixed casing, and the bobbin 11 is fixed. It is driven by the main motor and reversed at a low speed to achieve winding.
  • the length of the preset value L is specifically set according to the specific implementation manner and the type of the lawnmower, so that the lawn mower can refer to the preset value L. The appropriate time is stopped or reminded to stop the winding process during the winding process, and it is possible to effectively prevent the straw rope 2 from being completely wound into the grass head 1.
  • the winding circuit further includes a driving circuit, a driving circuit and three phases of the motor 71.
  • the electrodes U, V, and W are electrically connected to drive the motor 71 to operate.
  • the operating member or switching device is adapted to change the conduction state according to the detection signal output from the winding detecting unit 3 to output a driving signal to the three-phase electrode of the motor 71, and the driving signal controls the rotor operation of the motor 71.
  • the driving circuit has an input end and an output end.
  • the operating member or switching device includes switching elements VT1, VT2, VT3, VT4, VT5, VT6.
  • the switching elements VT1-VT6 are exemplified by a field effect transistor, and the gate end thereof is used as an input end of the driving circuit, and is electrically connected to the winding detecting unit 3 and receives a detection signal, and each drain or source of the switching element is respectively It is electrically connected to the stator of the motor 71.
  • the switching elements VT1 - VT6 sequentially change the conduction state according to the detection signal output from the winding detecting unit 3, thereby changing the voltage state of the battery pack loaded on the winding of the brushless motor 71, in the winding An alternating magnetic field is generated, and the rotor of the motor 71 is controlled by the alternating magnetic field.
  • the drive circuit has a plurality of driving states in order to rotate the brushless motor 71, and a stator generates a magnetic field in one driving state, and the winding detecting unit 3 is configured to rotate according to the rotor of the motor 71.
  • a corresponding detection signal is outputted to the driving circuit to switch the driving circuit to the driving state, thereby rotating the magnetic field generated by the stator to drive the rotor to rotate, thereby driving the brushless motor 71.
  • the rotor rotational position of the motor 71 can be obtained by position estimation of the phase current and/or bus current of the motor 71.
  • the driving device 7 can be driven by the mechanical power structure to drive the bobbin 11 or the head casing 12 in addition to the motor 71. If the driving device 7 is provided to include an elastic member having an energy storage function, the work is performed by the user and the energy is released through the switch to wind or grass.
  • the controller 6 is connected to the control motor 71, and the motor 71 is connected to the bobbin 11 or the head case 12, or simultaneously connects the bobbin 11 and the head case 12, through the controller 6
  • the control motor 71 drives the bobbin 11 to rotate or the head shell 12 to rotate, or simultaneously drives the bobbin 11 or the head shell 12 to rotate at a differential speed to achieve the purpose of winding.
  • the controller 6 receives the stop winding signal, the control motor 71 stops operating to end the winding process. It can be understood that, when the stop winding signal is received, the winding can be completed by the lock motor 71, and after the motor 71 is reversed in the rotation direction with respect to the winding mode, the motor is unlocked and reset.
  • the present disclosure also provides a lawnmower comprising: a grass head 1; a driving device 7 for driving the grass head 1 to rotate to cut vegetation; the grass head 1 comprises a bobbin 11 and a head shell 12, The bobbin 11 is used for winding a straw 2, and the head shell 12 is formed with a thread holding structure for the grass rope 2 to pass through or bypass; the grass head 1 has a cutting for vegetation cutting. a mode and a winding mode for winding the straw 2 to the bobbin 11, in which the driving device 7 drives the bobbin 11 or the head casing 12 to make the bobbin 11 and The head casing 12 is relatively rotated to automatically wind the grass rope 2 to the bobbin 11.
  • the lawnmower further includes a winding detecting unit to detect the winding length, and determine a winding state according to the winding length to transmit a detection signal to directly trigger whether to run or stop the winding mode.
  • the detection signal is sent to the controller 6 and processed by the controller 6, and the controller 6 outputs a control signal to the driving circuit according to the detection signal to control whether the motor operates or stops winding. Line mode.
  • the detection signal may also directly send a signal to the drive circuit by the wire-wound detection unit to directly control whether the motor operates or stops the winding mode.
  • FIG. 23 is a circuit diagram showing the control of the winding of the lawnmower of the eighth embodiment of the present disclosure.
  • An eighth preferred embodiment provides a lawnmower comprising a grass head 1, a driving device 7 for driving the grass head 1 to rotate to cut vegetation, and an operation component 4 for a user to operate to control the a driving device 7;
  • the grass head 1 includes a bobbin 11 for winding a straw 2, and a head shell 12 formed with a pass or pass for the grass rope 2 a wire holding structure;
  • the grass head 1 has a cutting mode for performing vegetation cutting and a winding mode for winding the straw 2 to the bobbin 11, in the winding mode, the driving device 7 driving the bobbin 11 or the head casing 12 to relatively rotate the bobbin 11 and the head casing 12 to automatically wind the grass rope 2 to the bobbin 11;
  • the operation assembly 4 further includes An operating member or switching device 41 for being triggered to transmit a winding signal to operate a winding mode; a controller 6 connecting the
  • the progress of the winding mode is controlled by a winding operation circuit including a driving circuit for controlling the operation of the motor 71, the controller 6 receiving the detection signal of the transmission by the winding detecting unit 3, and an operating member or a switching device
  • the passed winding turn-on signal is 41, and the motor 71 is controlled to operate or stop the winding mode by the drive circuit in accordance with the signal content.
  • the winding detecting unit, the controller 6, and the driving device 7 in the lawn mower can be disposed in the grass head 1 so that the grass head 1 becomes an individual for complete inspection operation and is sold separately.
  • a grassing head 1 is provided for a lawnmower, wherein the grass cutter includes a driving device 7 for driving the grass head 1 to rotate to cut vegetation.
  • the grass head 1 includes a bobbin 11 and a head shell 12 for winding a straw 2, the head shell 12 A wire holding structure for passing or bypassing the straw 2 is formed;
  • the grass head 1 has a cutting mode for performing vegetation cutting and a winding for winding the grass 2 to the bobbin 11 a line mode in which the driving device 7 drives at least one of the bobbin 11 and the head case 12 to relatively rotate the bobbin 11 and the head case 12 to thereby
  • the straw 2 is automatically wound around the spool 11;
  • the operating assembly 4 further includes an operating member or switching device for being triggered to operate the winding mode; and a winding detecting unit mounted on the grassing head Near the 1 to detect the length of the winding, determine the winding state according to the length of the winding to control the switch Set to control whether the winding mode is running.
  • the present disclosure also provides a grassing head for a lawnmower, wherein the grass cutter includes a motor for driving the grass head to rotate to cut vegetation, the grass head including a bobbin and a head shell, The bobbin is used for winding a straw rope, and the head shell is formed with a thread holding structure for the grass rope to pass through or bypass; the grass head has a cutting mode for performing vegetation cutting and one for use a winding mode in which a straw string is wound onto a bobbin, in which the motor drives at least one of the bobbin and the head shell to relatively rotate the bobbin and the head shell Automatically winding the grassing rope to the spool; the operating device further comprising an operating member or a switching device for being triggered to transmit a winding signal to operate a winding mode; a controller connecting the motor and Controlling the operation of the winding mode; further comprising a winding detecting unit for detecting the length of the winding, determining a winding state according to the length of the winding and transmit
  • the present disclosure provides a grass cutter and a grass cutting and winding control method thereof, which can effectively prevent excessive winding from causing the grass rope to be completely collected into the grass head, and optimize the winding process of the grass cutter.

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Harvester Elements (AREA)

Abstract

Cette invention concerne un taille-herbe, sa tête tailleuse et un procédé de commande d'enroulement pour celle-ci, le taille-herbe comprenant : une tête tailleuse comprenant une bobine et un boîtier de tête, la bobine étant utilisée pour enrouler un câble tailleur, et le boîtier de tête formant une structure de retenue de câble à travers laquelle passe le câble tailleur ou autour de laquelle s'enroule le câble tailleur ; un dispositif d'entraînement, qui est utilisé pour entraîner la tête tailleuse en rotation pour couper la végétation ; un dispositif d'actionnement, qui est utilisé pour un actionnement par un utilisateur de manière à commander le dispositif d'entraînement ; le dispositif d'actionnement comprenant en outre un élément de commande ou un dispositif de commutation, qui sont utilisés de façon être déclenchés pour exécuter un mode d'enroulement ; une unité de détection d'enroulement, qui détecte la longueur d'enroulement, l'état d'enroulement étant déterminé en fonction de la longueur d'enroulement pour entraîner l'élément d'actionnement ou le dispositif de commutation de sorte à commander celui-ci pour exécuter ou arrêter le mode d'enroulement. Le taille-herbe et son procédé de commande d'enroulement peuvent empêcher efficacement le câble tailleur d'être complètement tiré dans le taille-herbe en raison d'un enroulement excessif, ce qui permet d'optimiser le processus d'enroulement du taille-herbe.
PCT/CN2019/074591 2018-02-14 2019-02-02 Taille-herbe, sa tête tailleuse et procédé de commande d'enroulement pour celle-ci Ceased WO2019158008A1 (fr)

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