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WO2017124865A1 - Lawn mower and operating method and control method therefor - Google Patents

Lawn mower and operating method and control method therefor Download PDF

Info

Publication number
WO2017124865A1
WO2017124865A1 PCT/CN2016/110351 CN2016110351W WO2017124865A1 WO 2017124865 A1 WO2017124865 A1 WO 2017124865A1 CN 2016110351 W CN2016110351 W CN 2016110351W WO 2017124865 A1 WO2017124865 A1 WO 2017124865A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor
lawnmower
bobbin
grass
wire
Prior art date
Application number
PCT/CN2016/110351
Other languages
French (fr)
Chinese (zh)
Inventor
郭建朋
李茂辉
聂方杰
山冈敏成
Original Assignee
南京德朔实业有限公公司
泉峰香港有限公司
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
Priority claimed from CN201610875071.5A external-priority patent/CN106993425B/en
Priority to JP2018557170A priority Critical patent/JP6616527B2/en
Priority to AU2016387662A priority patent/AU2016387662B2/en
Priority to CN201680023366.8A priority patent/CN108135128B/en
Priority to CA3009848A priority patent/CA3009848C/en
Priority to EP16886125.0A priority patent/EP3357320B1/en
Application filed by 南京德朔实业有限公公司, 泉峰香港有限公司 filed Critical 南京德朔实业有限公公司
Publication of WO2017124865A1 publication Critical patent/WO2017124865A1/en
Priority to US15/839,257 priority patent/US10264725B2/en
Priority to US15/994,548 priority patent/US10440882B2/en
Priority to US16/363,609 priority patent/US10849268B2/en
Priority to US16/590,535 priority patent/US11089724B2/en
Priority to US17/061,584 priority patent/US11419262B2/en
Priority to US17/859,454 priority patent/US20220400609A1/en

Links

Classifications

    • 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

Definitions

  • the present invention relates to a lawnmower, an operating method thereof and a control method thereof, and particularly to a lawnmower having an automatic loading mode, an operating method thereof and a control method thereof.
  • a lawn mower is a garden tool used to trim a lawn.
  • the lawnmower includes a grass head.
  • the grass head rotates at high speed to drive the grass rope installed on it to realize the cutting function.
  • the grass head includes a bobbin for winding the grass rope, and the grass rope is gradually consumed due to wear after the grassing operation.
  • the user needs to replace the new straw rope and wind the straw rope onto the spool.
  • the user needs to manually rotate the spool to wind the straw to the spool, which is troublesome to operate, slow in winding speed, and also poses a certain risk due to the human hand touching the grass head during the winding process.
  • a lawnmower having an automatic loading mode, an operating method thereof and a control method.
  • a lawnmower comprising: a grass head, a driving device for driving a grass head to rotate to cut vegetation; an operating device for a user to operate to control the driving device; wherein the grass head includes a bobbin and The wire holding member, the bobbin is used for winding the straw rope, and the wire holding member is formed with a wire holding structure for the grass rope to pass through or bypass; the driving device includes a motor, and the grass cutter has an automatic wire loading mode, and the wire is automatically loaded. In the mode, the motor drives at least one of the bobbin and the wire holding member to relatively rotate the bobbin and the wire holding member to automatically wind the grass rope to the bobbin.
  • the operating device includes: a first operating member for starting the motor; and a second operating member for the user to operate to select the automatic loading mode.
  • the operating device comprises: a first operating member for starting the motor to operate the motor in the first operating state; and a second operating member for starting the motor to operate the motor in the second operating state.
  • the steering of the motor in the first operating state is different from the steering of the motor in the second operating state.
  • the rotational speed of the motor in the first operating state is different from the rotational speed of the motor in the second operating state.
  • the operating device includes: a first operating member having a first preset operating state; a second operating member having a second predetermined operating state; wherein the first operating member and the second operating member are respectively located The first preset operating state and the second preset operating state enable the automatic loading mode.
  • the operating device includes: a first reset component, configured to disengage the first operating member from the first preset state after the user does not operate the first operating member.
  • the operating device comprises: a second resetting component, configured to disengage the second operating member from the second preset state after the user does not operate the second operating member.
  • the lawnmower further comprises: a damping device for damping at least one of the bobbin and the wire holding member to place the grass cutter in the automatic loading mode.
  • the damping device comprises: a damping member for applying a resistance to the rotation of the bobbin to the bobbin.
  • the damping device comprises: a damping member for applying a resistance to the rotation of the wire holding member to the wire holding member
  • the damping device comprises: a first damping member for applying a first resistance to the rotation of the damper spool; and a second damping member for applying a second resistance to the rotation of the damper member to the wire holding member.
  • the damping device comprises: a damping member for preventing the axial direction of the wire from rotating in the first direction; and the wire holding member rotates in the first direction in the automatic loading mode.
  • the damping device comprises: a damping member for preventing the wire holding member from rotating in the second direction; and the wire axially rotating in the second direction in the automatic loading mode.
  • the wire holding member is a head case accommodating the bobbin; the head case is formed with an outer threading hole through which the grass rope is passed; the wire shaft is formed with an inner threading hole for fixing or passing through the grass rope; There is also a cutting mode in which the bobbin and the head shell rotate synchronously; at the end of the cutting mode, the outer threading hole and the inner threading hole are automatically aligned in the circumferential direction.
  • the lawnmower further comprises: a wire breaking device for automatically cutting off the grass in the automatic loading mode
  • the wire breaking device includes a wire breaking component, and the grass head can rotate relative to the wire breaking component. In the automatic wire loading mode, the grass head drives the grass rope to pass the wire breaking component to cut the grass rope.
  • the wire breaking device comprises a wire breaking component, and the grass head rotates synchronously with the wire breaking component.
  • the grass head drives the grass rope to be close to the wire breaking component to cut the grass rope.
  • the lawnmower further has a cutting mode, in which the bobbin and the wire holding member rotate synchronously; the grass head rotates in the cutting direction in the cutting direction; one of the bobbin or the wire holding member is The automatic loading mode ⁇ rotates in the second direction relative to the other.
  • the driving device is in the first driving state in the cutting mode, and the driving device is in the second driving state different from the first driving state in the automatic loading mode.
  • the motor rotates in the cutting mode, and the motor is reversed in the automatic loading mode.
  • the motor rotates at a first speed in the cutting mode; the motor rotates at a second speed different from the first speed in the automatic loading mode.
  • the motor rotates in the cutting mode ⁇ at a higher first speed, and the motor rotates in the automatic loading mode ⁇ at a lower second speed.
  • the ratio of the ratio of the first rotation speed to the second rotation speed is greater than or equal to 5 and less than or equal to 300.
  • the detecting device can detect a physical quantity for determining whether the winding is completed; and the controller is configured to control the motor to exit the automatic loading mode according to the electrical signal from the detecting device.
  • the detecting device is electrically connected to the motor to detect the current of the motor.
  • the current of the controller at the motor is greater than a preset value, and the power of the motor is cut off.
  • the slope of the current of the controller at the motor is greater than a preset value, and the power of the motor is cut off.
  • the lawnmower further comprises: a magnetic body, mounted to one of the bobbin or the wire holding member; the detecting device comprises: a Hall sensor for detecting the magnetic component; the controller determining the magnetic state according to the signal of the Hall sensor The rotation speed of the body, after the rotation speed of the magnetic body reaches a preset value, causes the grass cutter to exit the automatic loading mode.
  • the lawnmower further comprises: a magnetic body, mounted to one of the bobbin or the wire holding member; the detecting device comprises: a Hall sensor for detecting the magnetic component; the controller determining the magnetic state according to the signal of the Hall sensor The number of turns of the body, when the number of revolutions of the magnetic body reaches a preset value ⁇ , causes the lawnmower to exit the automatic loading mode.
  • the detecting device detects the rotation speed of the motor, and the controller cuts off the rotation speed of the motor to a preset value. The power of the motor.
  • the detecting device detects the number of revolutions of the motor, and the controller cuts off the power of the motor when the number of revolutions of the motor reaches a preset value.
  • the detecting device comprises: a position sensor for detecting the position of the straw.
  • a method for operating a lawnwife winding comprising the steps of: providing a lawnmower comprising: a bobbin for winding a straw rope, formed with a straw rope passing or bypassing a wire holding member of the wire holding structure and a motor capable of driving at least one of the bobbin or the wire holding member; inserting the straw string through or around the wire holding member to the bobbin; and starting the motor to make the bobbin and the wire holding member Relative rotation.
  • the method further includes the steps of: turning off the motor to make the bobbin and the wire holding member relatively stationary.
  • the motor is started by triggering an operating member provided by a lawnmower.
  • the method further includes the steps of: turning off the motor to make the bobbin and the wire holding member relatively stationary;
  • the motor is started by triggering an operating member provided by a lawn mower, and the motor is turned off by releasing the operating member.
  • the method further includes the steps of: turning off the motor to make the bobbin and the wire holding member relatively stationary;
  • the motor is started by triggering an operating member provided by a lawnmower, and the motor is turned off by triggering an operating member provided by another lawnmower.
  • the method further comprises the steps of: closing the motor to make the bobbin and the wire holding member relatively stationary; wherein the motor is activated by triggering an operating member provided by the lawnmower, and the motor is turned off by triggering the operating member again.
  • a method for operating a grasshopper winding comprising the steps of: inserting a straw rope or bypassing a wire holder provided with a grass cutter to a spool provided by the grass cutter; and a starter motor The relative rotation of the bobbin and the wire holding member.
  • a method for controlling a line of a lawnmower wherein the lawnmower comprises: a bobbin for loading a straw rope; and a wire holding member formed with a wire holding structure for the grass rope to pass through or bypass;
  • the motor is capable of driving at least one of the bobbin or the wire holding member to relatively rotate the bobbin and the wire holding member; the method comprising: providing power to the motor to relatively rotate the bobbin and the wire holding member.
  • the lawnmower is operated by the user to provide power to the motor.
  • an operating member provided on the lawn mower is triggered to provide power to the motor.
  • the power supply to the motor is stopped after the operating member is released. [0050] Further, when another operating member provided by the lawnmower is triggered, the power supply to the motor is stopped.
  • the power is stopped from being supplied to the motor after the operating member is triggered again.
  • the power provided to the motor continues for a predetermined length.
  • the first relative rotational speed is less than the rotational speed of the grass cutter on the grasshopper spool.
  • the second relative rotational speed is less than the rotational speed of the grass cutter on the grasshopper spool.
  • the present invention is advantageous in that the lawnmower has an automatic loading mode that enables the grass rope to be automatically wound onto the spool by the action of the motor.
  • FIG. 1a is a schematic view of a lawnmower as an embodiment
  • FIG. 1b is a partial structural schematic view of the lawn mower in FIG.
  • FIG. 1c is an exploded view of the structure in FIG.
  • FIG. 1d is a schematic view of the spool and the head casing transmission in FIG.
  • FIG. 2a is an exploded view of a grass head and a damping device as an embodiment
  • FIG. 2b is a cross-sectional view of the grass head and the damping device of FIG. 2a; [0063] FIG.
  • FIG. 3a is a schematic view of a grass cutting head and a damping device as an embodiment
  • FIG. 3b is a schematic view of the spool and the head casing of FIG. 3a;
  • FIG. 4a is a schematic view of a lawnmower as an embodiment
  • FIG. 4b is a partial structural view of FIG. 4a;
  • FIG. 4c is a cross-sectional view of the structure of FIG. 4b; [0068] FIG.
  • FIG. 4d is an exploded view of the structure of FIG. 4b;
  • FIG. 4e is an exploded view of another perspective of the structure of FIG. 4b; [0070] FIG.
  • FIG. 4f is a schematic view of the upper cover of FIG. 4e;
  • FIG. 4g is a schematic view of the spool of FIG. 4e;
  • FIG. 4h is a schematic diagram of the plugging method of the grass head in FIG. 4a;
  • FIG. 4i is a schematic view of the operating device of FIG. 4a;
  • FIG. 4j is a schematic diagram of the first operating member and the second operating member of the operating device of FIG. 4a in a first preset operating state and a second preset operating state, respectively;
  • FIG. 4k is a schematic diagram of an operating device
  • FIG. 41 is a schematic view showing the second operating member of the operating device of FIG. 4k in a second position
  • FIG. 4m is a schematic view of a wire breaking device
  • FIG. 5a is a schematic view of a lawnmower as an embodiment
  • FIG. 5b is a schematic view of the grass cutting head and the first casing of the grass cutter of FIG. 5a;
  • FIG. 5c is a schematic view showing the separation of the grass head from the first casing in FIG. 5b;
  • FIG. 5d is an exploded view of the structure of FIG. 5b;
  • FIG. 5e is an exploded view of another perspective of the structure of FIG. 5b;
  • Figure 5f is a plan view of the structure of Figure 5b;
  • Figure 5g is a cross-sectional view of the punching structure of Figure 5 taken along line A-A;
  • FIG. 5h is a schematic view of the bobbin and the positioning member of FIG. 5d;
  • FIG. 5i is a schematic view of the lower cover of FIG. 5d;
  • FIG. 5j is a schematic view of the grass head of FIG. 5f moving upward relative to the first housing
  • FIG. 5k is a cross-sectional view of the structure of FIG. 5j taken along line B-B; [0089] FIG.
  • Figure 51 is a schematic illustration of the damping device of Figure 5a;
  • FIG. 5m is a schematic view of the first housing and the drive shaft of FIG. 5c;
  • Figure 5n is a cross-sectional view of the structure of Figure 5m taken along line C-C;
  • FIG. 5o is an exploded view of the damper device of FIG. 5a;
  • FIG. 5p is a plan view of the rotation stop of the damper device of FIG. 5a in a rotation stop position
  • FIG. 5q is a cross-sectional view of the structure of FIG. 5p taken along line D-D; [0095] FIG.
  • FIG. 6a is a schematic view of a grass head, a motor and a damping device
  • FIG. 7a is a schematic view of an electromagnet and a grass head
  • FIG. 7b is a schematic view of the head shell of FIG. 7a after moving relative to the bobbin;
  • FIG. 8a is a schematic view of a structure for moving a head case with a drawstring;
  • FIG. 8b is a schematic view of the head shell of FIG. 8a after moving relative to the bobbin;
  • FIG. 8c is a schematic view showing another structure for moving the head case with a drawstring
  • FIG. 8d is a schematic view of the head shell of FIG. 8c after moving relative to the bobbin;
  • FIG. 9a is a circuit block diagram of a lawnmower using a brushless motor
  • FIG. 9b is a schematic diagram of the driving circuit of FIG. 9a;
  • FIG. 9c is a circuit block diagram of a lawnmower using a brush motor
  • FIG. 10a is a schematic view showing the second operating member disposed on the link assembly
  • FIG. 10b is a schematic view showing the second operating member disposed on the first housing
  • FIG. 10c is a schematic view showing the second operating member disposed on the passport
  • FIG. 11a is a schematic view of a lawnmower with a wire holding member
  • FIG. 1 ib is a schematic view of the head shell of the lawn mower in FIG. 11a separated from the spool;
  • Figure 11c is a plan view of the structure of Figure 11a;
  • FIG. 1 Id is a schematic view of another wire holding member
  • FIG. 12a is a schematic view of a grass head and a wire holding member as an attachment
  • FIG. 12b is a schematic view of the wire holding member of FIG. 12a in an operating state
  • FIG. 12c is a schematic view showing the rotation of the motor drive wire frame member
  • FIG. 13a is a schematic view of an energy storage device, a motor, and a grass head
  • FIG. 13b is a partial enlarged view of FIG. 13a;
  • FIG. 14a is a flow chart of a method of controlling a line loading of a lawnmower
  • FIG. 14b is a flow chart of another method of controlling the loading of a lawnmower
  • Figure 14c is a flow chart of a method of operating a grasser winding.
  • the lawnmower 100 includes a grass head 110, a driving device 120, and an operating device 130.
  • the grass head 110 is used for installing and accommodating the straw rope 101, and the portion of the straw rope 101 is housed inside the grass head 110, and the grass head 101 is further extended to the grass head 110 for playing.
  • the grass head 110 rotates to cut the vegetation.
  • the driving device 120 can drive the grass head 110 to rotate about an axis 110a, thereby driving the grass rope 101 to rotate and cut the vegetation.
  • the operating device 130 is for the user to operate to control the lawnmower 100.
  • the drive device 120 includes a motor 121 and a drive shaft 122.
  • the drive shaft 122 is coupled to the grass head 110 to drive the grass head 110 to rotate.
  • the lawnmower 100 further includes a first housing 150, a second housing 160, and a battery pack 170.
  • the first housing 150 functions to mount and house the motor 121.
  • the battery pack 170 serves as an energy source for powering at least the motor 12 1 of the lawnmower 100, and the second housing 160 is for detachably fitting the battery pack 170.
  • the second housing 160 also houses a circuit board electrically connected to the motor 121 to power the battery pack 170 for the motor 121 and to control the motor 121.
  • the link assembly 190 connects the first housing 150 and the second housing 160.
  • the operating device 130 is secured to the linkage assembly 190.
  • the lawnmower 100 also includes an auxiliary handle 19 1 for the user to hold, and the auxiliary handle 191 is fixed to the linkage assembly 190.
  • the grass head 110 includes a bobbin 111 and a head case 112.
  • the bobbin 111 is used for winding the straw cord 101 and is housed in the head casing 112, and the bobbin 111 is provided with an inner threading hole 111a for fixing the straw cord 101 or for the straw cord 101 to pass through.
  • the head case 112 is formed with an outer threading hole 112a through which the straw 101 passes.
  • the head case 112 includes an upper cover 112b and a lower cover 112c, which facilitates the assembly of the head case 112 with the bobbin 111 and facilitates the user to swipe the head case 112 to detect the inside of the head case 112.
  • the grass head 110 further includes a spring 113 that exerts a force between the head shell 112 and the spool 111.
  • the spring 113 applies a force for moving the bobbin 111 away from the lower cover 112c.
  • the user can align the inner threading hole 111a and the outer threading hole 112a, and then pass the straw rope 101 through the outer threading hole 112a, and then enter the inner threading hole 111 la, Therefore, as long as the spool 111 and the head shell 112 can move relative to each other, the limit action of the outer threading hole 112a on the straw cord 101 causes the grass cord 101 to gradually graze along with the movement of the outer threading hole 112a relative to the spool 111.
  • the string 101 is wound around the bobbin 111.
  • the drive shaft 122 is coupled to the head casing 111, which directly drives the spool 111 to rotate about the axis 110a.
  • the bobbin 111 and the head casing 112 constitute a rotational connection, which are relatively rotatable therebetween, and the head casing 112 is movable relative to the bobbin 111 in a direction parallel to the axis 110a of the bobbin 111.
  • the bobbin 111 is provided with a first circumferential structure 111b, and the head shell 112 is provided with a second circumferential structure 112d.
  • the bobbin 111 is moved upward by the spring 113 to enable the first circumferential structure 111b.
  • the bobbin 111 and the head shell 112 are rotated in synchronization.
  • the first circumferential structure 111b The transmission surface of the second circumferential structure 112d and the axis 110a of the bobbin 111 are obliquely intersected.
  • the user can put the grass cutter 100 in a cutting mode by starting the motor 121, and if the bobbin 111 If the straw rope 101 is wound enough, the exposed straw 101 of the exposed head shell 112 will cut the vegetation in a slap.
  • the lawnmower 100 further includes a damping device 140.
  • the damping device 140 includes a friction member 141.
  • the friction member 141 is slidably coupled to the first housing 150 to be movable in the direction A.
  • the friction member 141 When the friction member 141 is moved to a position ⁇ in contact with the head case 112, the friction member 141 has a tendency to rotate relative to the bobbin 111 due to contact friction, and the first circumferential structure 111b and the second as the frictional force increases Since the circumferential structure 112d is driven by the ramp, the component of the head shell 112 in the direction of the axis 110a is sufficient to overcome the spring force of the spring 113 to move the head shell 112 upward so that the first circumferential structure 111b and the second circumferential structure 112d Disengaging, the spool 111 and the head shell 112 are relatively rotated to cause the lawnmower 100 to have an automatic loading mode in which the spool 1 11 and the head are driven by the motor 121 and the friction member 141. The shell 112 is rotated relative to each other to achieve an automatic wire loading function.
  • the bobbin 111 is wound with enough straw cord 101 and the portion exposing the head shell 112 is insufficient to cut the planthopper, so that the relative rotation of the bobbin 111 and the head shell 112 can also be used for automatic pay-off.
  • the friction member 141 functions to dampen the head case 112 to slow the rotation of the head case 112, thereby generating relative rotation with the bobbin 111.
  • the user can implement the cutting mode and the automatic loading mode of the lawn mower 100 by directly or indirectly operating the friction member 141. Of course, the user can first place the friction member 1 41 in the corresponding state of the desired mode and then start the motor 121.
  • the grass head 210 similar to the grass head 110 includes a bobbin 211 and a head shell 212; the bobbin 211 and the head shell 212 and FIGS. 1 to 3
  • the illustrated spool 111 is similar to the head housing 112; the head housing 212 includes an upper cover 212a and a lower cover 212b.
  • the damper device 240 in the embodiment shown in FIGS. 2a to 2b includes a stopper pin 241 for preventing the rotation of the head case 212.
  • the head case 212 is formed with a stopper groove 212c that engages with the stopper pin 241.
  • the stopper groove 212c is provided in the upper cover 212a.
  • the stop pin 241 is fitted into the stopper groove 212c so that the rotation of the head casing 212 with respect to the entire lawn mower is completely prevented. According to the principle as described above, the relative rotation of the bobbin 211 and the head shell 212 can realize the automatic loading function.
  • the stopper pin 241 also functions to dampen the rotation of the head case 212, except that the damping effect of the friction member 141 is to slow down the movement tendency, and the damping effect of the stopper pin 241 is to limit the displacement, which will slow down the movement tendency and limit.
  • the displacement is defined as damping; both the friction member 141 and the stop pin 241 can be considered as a damping member.
  • the grass head 310 can be driven to rotate about the axis 310a.
  • the grass head 310 includes a bobbin 311 and a head shell 312.
  • the head case 312 is formed with an outer threading hole 3 12a through which the grass rope passes, and the bobbin 311 is formed with an inner threading hole 31 la.
  • a one-way bearing 340 and a rotating support member 350 are further provided; wherein the one-way bearing 340 enables the two parts or parts to which it is connected to rotate relative to each other only in one rotation direction, In the other direction of rotation, it is impossible to rotate relative to each other.
  • the rotation support member 350 functions to rotatably connect and rotate a part of the grass head 310, and the rotation support member 350 may be a first housing for accommodating the motor in the lawnmower or other first and first shells.
  • the one-way bearing 340 is disposed between the rotation support member 350 and the head case 312 such that they constitute a one-way rotational connection, that is, with the rotation support member 350 as a reference object, the head case 312 can be One rotation rotates and cannot rotate toward the other.
  • the drive shaft 322 is coupled to the bobbin 311 in a rotationally fixed manner to enable the bobbin 311 to be bi-directionally rotated relative to the rotary support member 350. With the rotary support member 350 as a reference object, the bobbin 311 can be rotated forward or reversed.
  • the bobbin 311 is formed with a first circumferential transmission structure 311a
  • the head housing 312 is formed with a second circumferential transmission structure 312a that can cooperate with the first circumferential transmission structure 311a, with the difference that the first circumferential direction
  • At least one of the transmission-implementing transmission surfaces of the transmission structure 311a and the second circumferential transmission structure 312a is parallel to the axis 310a such that they cannot be disengaged in a rotational direction to a certain direction of rotation.
  • the motor (not shown) can be rotated forward, and the drive shaft 322 drives the bobbin 311 to rotate forward, and then the first circumferential transmission structure 311a and the second circumferential transmission structure 312a pass parallel to the axis.
  • the drive face of 310a achieves torque transmission, while the one-way circumferential direction 340 is provided to enable the head housing 312 to be relatively rotatable relative to the rotating support member 350 (i.e., relative to the overall trimmer). Then, the bobbin 311 and the head shell 312 rotate synchronously, and the grass cutter can perform the cutting mode.
  • the drive shaft 322 drives the spool 311 to reverse, and the head shell 312 causes the spool 311 and the head shell 312 to move relative to each other because the one-way bearing 340 prevents the reverse rotation thereof, and the first circumferential transmission structure
  • the first circumferential transmission structure 311a and the second circumferential transmission structure 312a cannot completely obstruct the bobbin 311 and the head because the contact surface is a slope because the contact surface is a beveled surface.
  • the relative movement of the casing 312 allows the winding shaft 311 and the head casing 312 to continuously rotate relative to each other, thereby enabling the lawnmower to perform the automatic loading mode.
  • the function of the one-way bearing 340 is similar to that of the stopper pin 241 in the foregoing embodiment, that is, the rotation of the rotor housing 312, so that the one-way bearing 340 can also be considered as a damping device; the difference is that in the foregoing two In one embodiment, it is necessary to operate or trigger the friction member 141 and the stopper pin 241 as damping members, and in the present embodiment, the damping effect of the one-way bearing 340 only needs to change the driving direction of the motor, which undoubtedly simplifies the triggering automatic loading.
  • the mechanical structure of the line mode but the simpler positive and negative control to achieve the automatic loading mode and cutting mode.
  • the lawnmower 400 includes a grass head 410, a driving device 420, and an operating device 430.
  • the grass head 410 is used for installing and accommodating the straw rope 401, and the portion of the straw rope 401 is housed inside the grass head 410, and the grass head 401 is further extended by the grass head 410 for playing.
  • the grass head 410 rotates to cut the vegetation.
  • the driving device 420 can drive the grass head 410 to rotate about an axis 410a, thereby driving the grass rope 401 to rotate and cut the vegetation.
  • the operating device 430 is for user operation to control the lawnmower 400.
  • the driving device 420 includes a motor 421 and a drive shaft 422.
  • the drive shaft 422 is non-rotatably coupled to the grass head 410 to drive the grass head 410 to rotate.
  • the lawnmower 100 further includes a first housing 450, a second housing 460, and a battery pack 470.
  • the first housing 450 functions to mount and house the motor 421.
  • Battery pack 470 as a source of energy is at least the motor in the grass cutter 400
  • the second housing 460 is for detachably adapting the battery pack 470.
  • a second circuit board 460 further houses a circuit board electrically connected to the motor 421 to power the battery pack 470 for the motor 421 and to control the motor 421.
  • the link assembly 490 connects the first housing 450 and the second housing 460
  • the operating device 130 is secured to the linkage assembly 490.
  • the lawnmower 400 also includes an auxiliary handle for the user to hold 49
  • the auxiliary handle 491 is fixed to the link assembly 490.
  • the grass rope 401 is attached to the grass head 410.
  • Shield 480 is used for safety protection to prevent grass ropes 4
  • the grass head 410 includes a bobbin 411 and a head shell 412.
  • the bobbin 411 is used to wrap the grass rope 401 and is coupled to the drive shaft 422 so as to be rotatable about the axis 41 0a by the drive shaft 422.
  • the head case 412 includes an upper cover 412a and a lower cover 412b.
  • the grass head 410 further includes: a fan 412c.
  • Fan 412c shape There are blades for generating airflow.
  • Motor 421 can drive fan 412c to rotate to create an air flow.
  • a one-way bearing 440 is provided as a damping device in the arrangement shown in FIGS. 4a to 4c.
  • the function of the one-way bearing 440 is to make the head housing 412 and the motor 421 form a one-way rotational connection.
  • a support member 452 is provided which is coupled to the motor 421 and enables the drive shaft 422 to pass therethrough, and is formed with a boss portion 452a for supporting the inner ring of the one-way bearing 440.
  • the one-way bearing 440 is not directly connected to the head case 412 but is disposed between the support member 452 and the fan 412c, so that the fan 412c can only rotate in a one-way relative direction with respect to the support member 452, and the fan 412c and the head case 412 are formed.
  • the connection is made so that the head shell 412 can only rotate in one direction with respect to the support member 452.
  • the upper cover 412a is formed with a first connecting tooth 412d
  • the fan 412c is formed with a second connecting tooth 412e with the first connecting tooth 412d.
  • the first connecting tooth 412d and the second connecting tooth 412e cooperate to realize the upper cover 412a and the fan 412c. Synchronous rotation.
  • the guiding action of the first connecting tooth 412d and the second connecting tooth 412e cooperate to enable the head shell 412 to slide along the axis 410a with respect to the fan 412c, and to enable the fan 412c to rotate with the head shell 412 about the axis 410a, that is, the fan 412c and the head
  • the housing 412 constitutes a non-rotation connection.
  • the lawnmower 400 further includes a protective cover 451.
  • the protective cover 451 is fixed to the first housing 450.
  • the protective cover 451 covers the blade of the fan 412c at least in the radial direction of the axis 410a to prevent the grass from being wound around the fan 412c.
  • the shield 451 changes the flow direction of the airflow of the fan 412c so that the airflow generated by the fan 412c can blow the grass clippings radially outward of the axis 4 10a.
  • the drive shaft 422 directly drives the bobbin 411 to rotate, and the head shell 412 can be relatively rotated with respect to the bobbin 411, and the head shell 412 can also be relatively slid relative to the bobbin 411 in the axial direction (ie, the direction of the axis 410a).
  • the upper portion of the bobbin 411 is formed with a first engaging tooth 41 la, and the lower portion is formed with a second engaging tooth 411b.
  • a first mating tooth 412f and a second mating tooth 412g are formed in the head shell 412. Specifically, the first mating teeth 412f are formed on the upper cover 412a, and the second mating teeth 412g are formed on the lower cover 412b.
  • the first mating tooth 410f and the first engaging tooth 411b cooperate to rotate the bobbin 411 to drive the head shell 412 to rotate synchronously.
  • the first engaging teeth 41 lb and the first mating teeth 410f can be driven only in one direction and relatively in opposite directions. That is, the slip due to the slope causes the bobbin 411 and the head shell 412 to continue to rotate relative to each other.
  • the second engaging teeth 41 la and the second mating teeth 412 g are in the second axial position with respect to the bobbin 411 at the head shell 412
  • the positioning of the second engaging tooth 41 la and the second engaging tooth 412g is inclined, and the second engaging tooth 411a and the second engaging tooth 412g may be slipped, so the head housing 412 is opposite.
  • the head shell 412 In the second axial position ⁇ of the bobbin 411, the head shell 412 is not fully driven by the bobbin 411, and the head shell 41 2 is still rotated relative to the bobbin 411, except that the relative rotational speed difference is matched by the second meshing teeth 411a and the second mating The fit of the teeth 412g is reduced.
  • the grass head 410 further includes a spring 410b that applies a force between the lower cover 412b and the bobbin 411 to bias the head shell 412 to an axial position that rotates in synchronization with the bobbin 411, that is, the head shell described above.
  • the 412 is in a first axial position relative to the spool 411.
  • the grass head 410 further includes a first contact 410c and a second contact 410d.
  • the spring 410b is disposed between the first contact 410d and the second contact 410e.
  • the spring 410b can directly act on the first contact 410c and the second contact 410d.
  • the first contact 410c and the second contact 410d are capable of avoiding wear of the spring 410b against the bobbin 411 and the head case 412.
  • the first contact 410d and the second contact 410e are metal members.
  • the grass head 410 further includes a knocking cap 410e, the knocking cap 410e is rotatably coupled to the lower cover 412b, and a bearing 410f is disposed between the knocking cap 410e and the lower cover 412b to enable the knocking cap 410e and the lower cover 412b.
  • the relative rotation is possible.
  • the knocking cap 410e and the lower cover 412b are synchronously moved in the direction of the axis 410a, that is, the position of the knocking cap 410e is changed, and the lower cover 412b can also move together, that is, the head shell. 412 will change the axial position by tapping the tapping cap 410e.
  • the knocking cap 410e is freely rotatable relative to the lower cover 412b under the action of the bearing 410f, reducing wear of the grass head 410.
  • the spring 410b applies a force to the head shell 412 to move the head shell 412 downward relative to the spool 411.
  • a shock absorbing member 410g for mitigating an impact between the upper cover 412a and the bobbin 411 is provided between the upper cover 412a and the bobbin 411.
  • the shock absorbing member 410g is a rubber gasket.
  • the bobbin 411 is formed with an inner threading hole 411c for fixing the straw cord 401.
  • the head case 412 is formed with an outer threading hole 412h through which the grass rope 4 01 is passed from the inside of the head case 412 to the outside of the head case 412. At the end of the cutting mode, the outer threading hole 412h and the inner threading hole 411c are automatically aligned in the circumferential direction.
  • the grass head 410 is not installed with the straw 401, the motor 421 is stopped, and the outer threading hole 412h and the inner threading hole 411c are automatically aligned in the circumferential direction.
  • the bobbin 411 is formed with a plurality of inner threading holes 411c, and the number of the inner threading holes 411c is an even number.
  • the plurality of inner threading holes 411c are evenly distributed in the circumferential direction of the axis 410a of the bobbin 411.
  • the number of the first meshing teeth 411a corresponds to the number of the inner threading holes 411c.
  • the number of the second meshing teeth 411b corresponds to the number of the inner threading holes 411c.
  • the bobbin 411 is formed with six inner threading holes 411c.
  • the bobbin 411 is formed with six first meshing teeth 41 la and six second meshing teeth 41 lb.
  • the bobbin 411 is formed with a guiding jaw 411d for guiding the grassing cord 401 into the inner threading hole 411c, and the guiding jaw 411d is gradually enlarged in the radial direction of the rotation axis of the bobbin 411.
  • the first engaging teeth 41 la are formed with a slope.
  • the maximum dimension L1 of the guiding jaw 411d in the circumferential direction of the axis 410a is larger than the maximum dimension L2 of the two first engaging teeth in the circumferential direction of the axis 410a.
  • the transmission surfaces of the first engaging teeth 41 la and the first engaging teeth 412f are disposed such that the outer threading hole 412h and the inner threading hole 41 lc are circumferentially stopped when the motor 421 is stopped.
  • Automatic alignment means that the straw rope 401 passing through the outer threading hole 412h can be directly guided into the inner threading hole 411c.
  • Both ends of the bobbin 411 are respectively formed with a first flange 41 le and a second flange 41 lf.
  • a partition plate 411g is formed in the middle of the bobbin 411.
  • a first winding portion for winding and accommodating the straw rope 40 1 is formed between the first flange 41 le and the partitioning plate 41 lg; a second flange 41 If and the partitioning plate 41 lg are formed for winding and The second winding portion of the straw cord 4 01 is accommodated.
  • the driving shaft 422 rotates to drive the bobbin 411 to rotate, and the bobbin 411 drives the upper cover 412a to rotate.
  • the fan 412c is rotated by the upper cover 412a.
  • the fan 412c is rotatable relative to the second housing 460 in the first direction (refer to the direction indicated by arrow B in Fig. 4b).
  • the motor 421 is rotated in the forward direction to drive the bobbin 411, and the head shell 412 is rotated in the first direction.
  • the user can pass the two ends of a straw 401 through the two opposite outer threading holes 412h of the head casing 412, and then play the straw rope.
  • the ends of the 401 are respectively extended Into the bobbin 411 two opposite inner threading holes 411c.
  • the user can also insert two straw ropes 401 into the two inner threading holes 411c.
  • the user controls the lawnmower 400 to cause the lawnmower 400 to perform the automatic loading mode.
  • the reverse rotation of the motor 421 drives the bobbin 411 to rotate in a second direction opposite to the first direction.
  • the fan 412c cannot rotate in the second reverse direction, and the fan 412c and the head shell 412 pass through A connecting tooth 412d and a second connecting tooth 412d are connected, that is, the head case 412 cannot be rotated in the second direction, and the bobbin 411 is rotated in the second direction with respect to the head case 412 by the driving shaft 422 to realize automatic wire loading.
  • the second mating tooth 410g is a helical tooth, and the inclined surface of the helical tooth does not prevent the spool 411 from rotating relative to the head shell 412.
  • the bobbin 411 has been wound with enough straw ropes 401 ⁇ , and the user needs to cut off the long straw rope 401 that has not been wound.
  • the lawnmower 400 also includes a wire breaking device 481.
  • the wire breaking device 481 automatically cuts the grass rope 401 in the automatic wire loading mode.
  • the wire breaking device 481 includes a wire breaking member 482 that is rotatable relative to the wire breaking member 482.
  • the wire break component 482 is secured to the shield 480.
  • the grass rope 401 can be driven by the grass head 410 in the automatic loading mode to pass through the wire breaking element 482, and the grass rope 401 is tensioned and then cut by the wire breaking element 482.
  • the thread breaking member 482 can interrupt the grass rope 401, and the middle portion of the straw rope 401 is broken to become two straw ropes 401.
  • the straw rope 401 can be directly tightened on the outer side of the head shell 412, and the straw rope can be broken by tapping.
  • the operating device 430 includes: a first operating member 431 and a second operating member 432.
  • the first operating member 431 has an initial state and a first preset operating state.
  • the second operating member 432 has an initial state and a second preset operating state.
  • the first operating member 431 and the second operating member 431 of Fig. 4i are in an initial state.
  • the first operating member of Figure 4j is in a first predetermined operational state.
  • the second operating member 432 is in the second preset operating state.
  • the operation device 430 includes: a first reset component 433 and a second reset component 434.
  • the first reset component 433 releases the first operating member 431 from the first preset state after the user does not operate the first operating member 431.
  • Second reset group The piece 434 releases the second operating member 432 from the second preset state after the user does not operate the second operating member 432.
  • the user does not operate the second operating member 432, but only operates the first operating member 431, that is, when the second operating member 432 is not in the second preset operating state, the first operating member 431 is operated to move to the first operating member 431.
  • the mower 400 In a predetermined operational state, the mower 400 is in a cutting mode.
  • the operating device 730 includes a first operating member 731 and a second operating member 732.
  • the first operating member 731 is used to start the motor.
  • the second operating member 732 is operable by the user to select the automatic loading mode of the lawnmower.
  • the second operating member 732 has a first position and a second position. As shown in Figure 4k, the second operating member 732 is in a first position that corresponds to the automatic loading mode of the lawnmower. In this operation, the first operating member 731 starts the motor, and the lawnmower enters the automatic loading mode. As shown in Fig. 41, the second operating member 7 32 is located at the second position corresponding to the cutting mode of the lawnmower. Thereafter, the first operating member 731 operates the motor, and the lawn mower enters the cutting mode.
  • the wire breaking device 781 automatically cuts the grass rope 701 in the automatic loading mode.
  • the wire breaking device 781 includes a wire breaking member 782, and the grass head 710 rotates in synchronism with the wire breaking member 782.
  • the grass head 710 drives the grass rope 701 to approach the wire breaking member 782 to cut the grass rope 701.
  • the wire breaking member 782 is fixed to the head case 712.
  • the straw rope 701 is placed close to the head casing 712, and when the straw rope 701 is in close contact with the cutting element 782, the straw cord 7 is cut by the cutting element 782.
  • the head case 412 is formed with an outer threading hole 412h.
  • the relative rotation of the head case 412 and the bobbin 411 occurs, and the head case 412 is equivalent to a simulated human hand.
  • the winding thread 412h is equivalent to the function of the user's finger for holding the straw rope; therefore, the head shell 4 12 can be defined as a thread holding member, that is, holding the straw rope to make the straw rope.
  • the outer threading hole 412h formed by the head shell 412 can be defined as a thread holding structure, that is, the function of the finger is to maintain a certain positioning effect on the grass rope, and the grass rope can It is continuously wound to the bobbin 411 through the threading hole 4 12h.
  • the lawnmower 500 includes a grassing head 510, a driving device 520, and an operating device 530.
  • Drive 520 includes a drive shaft 522.
  • the drive shaft 522 is coupled to the grass head 510 to drive the grass head 510 to rotate about the central axis 502.
  • Drive unit 520 includes a motor 521.
  • the drive shaft 522 is a motor 5
  • the lawnmower 500 includes a first housing 550, a second housing 560, and a battery pack 570.
  • the motor 421 is fixed to the first housing 550.
  • the battery pack 570 supplies power to the motor 521, and the battery pack 570 is detachably coupled to the second housing 560.
  • a circuit board is further disposed in the second housing 560, and the circuit board is connected to the motor 521 to control the motor 521.
  • the link assembly 590 connects the first housing 550 and the second housing 560.
  • the operating device 530 is secured to the linkage assembly 590.
  • the lawnmower 500 also includes an auxiliary handle 591 for the user to hold, and the auxiliary handle 591 is secured to the linkage assembly 590.
  • the grass rope 501 is attached to the grass head 510.
  • the shield 580 activates the safety shield to prevent the grass rope 501 from injuring the user.
  • the grass head 510 includes a bobbin 511 and a head shell 512.
  • the bobbin 511 is formed with an inner threading hole 511a for fixing the end of the grass rope 501.
  • One end of the straw rope 501 penetrates into the inner thread hole 511a.
  • the bobbin 511 is formed with two inner threading holes 511a on opposite sides. Two straw ropes 501 are inserted into the two inner threading holes 511a, respectively. It is also possible to insert two ends of a straw rope 501 into the two inner threading holes 511a, respectively.
  • the head shell 512 houses the spool 511.
  • the head case 512 includes an upper cover 512a and a lower cover 512b. The upper cover 512a and the lower cover 512b are coupled by a snap.
  • the bobbin 511 is disposed between the upper cover 512a and the lower cover 512b.
  • the head case 512 is formed with an outer threading hole 512c through which the grass rope 501 is passed out from the inside of the head case 5 12 to the outside of the head case 512.
  • the outer threaded hole 512c is formed by the lower cover 512b.
  • the grass head 510 further includes an outlet buckle 518, and the straw rope 50 1 passes through the outlet buckle 518.
  • the outlet buckle 518 is fixed to the lower cover 512b.
  • the outlet buckle 518 is made of a metal material. It can prevent the grass rope 501 from wearing the lower cover 512b.
  • the lawnmower 500 further includes a one-way bearing 513.
  • the one-way bearing 513 rotates the crucible in one direction, and the inner ring rotates synchronously with the outer ring to rotate the crucible in the opposite direction, and the inner ring and the outer ring rotate relative to each other.
  • the drive shaft 522 is rotated in one direction
  • the one-way bearing 513 rotates the head shell 512 in synchronization with the bobbin 511
  • the drive shaft 522 rotates in the opposite direction
  • the one-way bearing 513 causes the head shell 512 to rotate relative to the bobbin 511.
  • the grass head 510 further includes an elastic member 514 that applies a force to the head shell 512 away from the first housing 550 or the motor 521. A force is applied between the head case 512 and the bobbin 511.
  • the elastic member 514 is disposed between the lower cover 512b and the bobbin 511, and both ends of the elastic member 514 apply a force to the lower cover 512b and the bobbin 511, respectively. Both ends of the elastic member 514 may directly connect the lower cover 512b and the bobbin 511 to apply a force thereto, or may indirectly exert a force on other parts.
  • the grass head 510 further includes a spacer 514a disposed between the elastic member 514 and the bobbin 511, and the force of the elastic member 514 is transmitted to the bobbin 511 through the spacer 514a.
  • the resilient member 514 will rotate relative to the spool 511, which can prevent the resilient member 514 from causing wear on the spool 511.
  • the elastic member 514 is compressed, and the head case 512 moves toward the first housing 550 or the motor 521. Referring to FIG. 5b, the head case 512 moves upward.
  • the elastic member 514 applies a force to the lower cover 512b to move downward or to move away from the first housing 550 or the motor 521. Achieve tapping and release.
  • the lawnmower 500 also includes a fan 515, which may be formed by the head shell 512 or may be constructed as a separate component. Specifically, the fan 515 is a separate component, and the fan 515 is coupled to the drive shaft 522, which is driven by the drive shaft 522 to rotate. As a further embodiment, the fan may also be coupled to the head housing, rotated by the head housing or formed by the head housing.
  • the fan 515 is formed with a plurality of blades 515a.
  • the grass head 510 also includes an end cap 515b that is secured to the fan 515.
  • the end cap 515b is secured to the fan blade 515a.
  • End cap 5 15b is annular and drive shaft 522 is passed through end cap 515b.
  • the fan 515 is disposed between the motor 521 and the head case 512.
  • the fan 515 is disposed between the first housing 550 and the head housing 512.
  • the fan 515 is disposed between the first housing 550 and the spool 511.
  • the upper cover 512a is disposed between the fan 515 and the lower cover 512b.
  • the upper cover 512a is disposed between the fan 515 and the bobbin 511, and it can be understood that the fan 515 is disposed above the head case 512.
  • the bobbin 511 is coupled to the drive shaft 522 to effect simultaneous rotation of the bobbin 511 and the drive shaft 522.
  • the fan 51 5 rotates in synchronization with the drive shaft 522 and the fan 515 rotates in synchronization with the spool 511.
  • the spool 511 is secured to the drive shaft 522 by a locating nut 522a that limits the axial position of the spool 511 relative to the drive shaft 522.
  • the grass head 510 further includes a connector 516 formed with a plurality of payout teeth 516a for payout.
  • the head shell 512 is formed with mating teeth 5124 that cooperate with the payout teeth 516a.
  • the mating teeth 512d and the payout teeth 516a cooperate to control the tapping payout.
  • the grassing head 510 further includes a connecting shaft 513a fixed to the driving shaft 522, and the fan 515 is fixed to the connecting shaft 513a, so that the driving shaft 522 drives the fan 515 to rotate.
  • the one-way bearing 513 is fixed to the connecting shaft 513 a.
  • the connecting shaft 513 a is disposed on the inner ring of the one-way bearing 513 , so that the inner ring of the one-way bearing 513 is rotated by the driving shaft 522 , and the inner ring of the one-way bearing 513 Rotation in synchronization with the drive shaft 522.
  • the connecting shaft 513a limits the axial position of the one-way bearing 513 with respect to the drive shaft 522.
  • the connector 516 is fixed to The outer ring of the one-way bearing 513 rotates synchronously with the outer ring of the one-way bearing 513.
  • the screw 513b fixes the one-way bearing 5 13 and the connecting member 516, restricting the displacement of the one-way bearing 513 and the connecting member 516 in the axial direction.
  • the connecting member 516 and the head shell 512 are realized by the cooperation of the paying teeth 516a and the engaging teeth 512d, and the connecting member 516 drives the head shell 512 to rotate.
  • the grass head 510 further includes: a positioning member 517.
  • the positioning member 517 is used for aligning the inner threading hole 511a and the outer threading hole 512c of the head shell 512.
  • the user can conveniently rotate the head shell 512 and the spool 511 to the inside.
  • the threading hole 511a and the outer threading hole 512c of the head shell 512 correspond to each other.
  • the straw thread 501 passes through the outer threading hole 512c of the head shell 512 into the inner threading hole 511a.
  • the positioning member 517 is fixed to the bobbin 511.
  • the grass head 510 includes a positioning platen 517a, and the positioning platen 5 17a fixes the positioning member 517 to the bobbin 511.
  • the lower cover 512b is formed with a positioning hole 512e that cooperates with the positioning member 517. When the positioning member 517 partially penetrates into the positioning hole 512e, the inner threading hole 511a is aligned with the outer threading hole 51 2c of the head case 512.
  • the grass head 510 shown in Figs. 5f and 5g is in a free state without a hammer, and the grass head 510 shown in Figs. 27 and 28 is in a state of being knocked and compressed.
  • the lower cover 512b contacts the ground, and an upward force is applied to the lower cover 512b by the ground, so that the lower cover 512b and the upper cover 512a move upward relative to the bobbin 51 1 as shown in FIG. 5j and FIG. 5k.
  • the upper cover 512a and the lower cover 512b are moved upward relative to the fan 515 to the state shown in FIGS.
  • This pay-off mode is also called tapping and paying mode.
  • the pay-off mode means that one end of the straw rope is extended from the axial head shell 512. Alternatively, by increasing the length of the straw rope 501 located outside the head shell 512, it can be said that the length of the portion of the straw rope 501 that can be used for grassing is increased.
  • the grass head 510 is rotated along the direction of the arrow in FIG. 5b. That is, both the bobbin 511 and the head case 512 are rotated in the direction of the hammer.
  • the straw 501 is fixed relative to the grass head 510, or the spool 511 is fixed relative to the head shell 512.
  • the grass machine 500 also has an automatic loading mode in which the straw 501 is wound around the bobbin 511 in the automatic loading mode. In the automatic loading mode ⁇ , the straw 501 located outside the head casing 512 is gradually wound onto the bobbin 511.
  • the spool 511 is rotated relative to the head housing 512.
  • the rotation direction of the spool 511 is opposite to the rotation direction of the cutting mode spool 511.
  • the head case 512 is fixed to prevent the head case 512 from rotating in one direction. Specifically, in the automatic loading mode, the rotation of the head case 512 in the same direction along the bobbin 511 is blocked. That is to say, the rotation of the head shell 512 in the direction of the counter-needle is prevented.
  • the lawnmower 500 further includes a damping device 540.
  • the first housing 550 is used to secure the damping device 540.
  • Damping device 540 includes a stop member 541.
  • the rotation stop 541 is a damper.
  • the rotation preventing member 541 is for preventing the head case 512 from rotating in one direction with respect to the first casing 550.
  • the damping device 540 also includes a trigger member 542 and a return spring 543.
  • the trigger member 542 controls the rotation stopper 541. It is used to control the rotation stop 541 in different positions.
  • the return spring 543 applies a force to the rotation stopper 541 to return it to the initial state ⁇ .
  • the lawnmower 500 also includes a protective cover 551.
  • the protective cover 551 is fixed to the first housing 550.
  • Both ends of the return spring 543 are separated from the rotation preventing member 541 and the protective cover 551.
  • the return spring 543 exerts a force between the boot 55 1 and the stopper 541.
  • the damper 540 also includes a guard 544 and a guide 545 that covers the surface of the trigger 542 for the user to operate the trigger 542.
  • the guide member 545 cooperates with the rotation stop member 541 and the trigger member 542 to guide the direction of movement of the rotation preventing member 541 and the trigger member 542.
  • the guide member 5 45 is fixed to the first housing 550.
  • the guide member 545 can be integrally formed with the protective cover 551 or the first housing 550.
  • the protective cover 551 can also be integrally formed with the first housing 550.
  • the protective cover 551, the first housing 550 and the guide member 545 can also be constructed as one piece integrally formed.
  • the head case 512 is formed with a stopper projection 512f which cooperates with the rotation stopper 541 for stopping the rotation of the head housing 512 with respect to the bobbin 511.
  • the stopper projection 512f is formed by the upper cover 512a and is provided at the edge of the upper cover 51a.
  • the rotation stop 541 has a first position and a second position with respect to the grass head 510 or the first housing 550.
  • the first position ⁇ that is, the initial position of the rotation preventing member 541, referring to the state shown in Figs. 19 and 31, the rotation preventing member 54 1 is separated from the head case 512, and the rotation preventing member 541 is not engaged with the stopper projection 512f.
  • the head shell 512 is prevented from rotating in one direction. Or the rotation stop 541 does not protrude downward.
  • the second position that is, the rotation stop position, in the rotation stop position ⁇
  • the rotation preventing member 541 is in contact with the head case 512
  • the rotation head case 512 is opposite to the first
  • the housing 550 is rotated in one direction.
  • the rotation of the rotation preventing member 541 with the stopper projection 512f can prevent the head housing 512 from rotating toward the reverse rotation needle in the direction indicated by the arrow in FIG.
  • the rotation preventing member 541 can slide relative to the grass head 510 or the first casing 550, and the rotation preventing member 541 can slide in the rotation axis direction of the grass head 510 or the sliding direction of the rotation preventing member 541 is parallel with the grass head.
  • the rotation stop member 541 is also rotatable relative to the first housing 550, and the rotation axis of the rotation stop member 541 is parallel to the rotation axis of the grass head 510 or the rotation axis of the drive shaft 522.
  • the rotation preventing member 541 is formed with a guide rib 541a
  • the guide member 545 is formed with a guide groove 545a.
  • the rotation preventing member 541 slides relative to the first housing 550, and the guide rib 5411 slides in the guide groove 545a.
  • the engagement of the guide groove 545a with the guide rib 541a prevents the rotation of the rotation preventing member 541 with respect to the first housing 550.
  • the trigger member 542 is also provided with a finite stop rib 542a, and the engagement of the limit rib 542a with the guide groove 545a prevents the rotation of the trigger member 542 relative to the first housing 550.
  • the trigger member 542 is formed with a driving surface 542b, and the rotation preventing member 541 is formed with a fitting surface 54 lb. Specifically, the driving surface 542b is formed at the bottom of the trigger member 542. The mating surface 541b is formed with a top portion of the guide rib 541a.
  • the triggering member 542 presses the rotation preventing member 541 downward, the guiding rib 541a of the rotation preventing member 541 slides along the guiding groove 545a and finally disengages from the guiding groove 545a, and the limiting rib of the triggering member 542
  • the 542a is still within the guide slot 545a, thereby preventing the trigger member 542 from rotating relative to the first housing 550.
  • the driving surface 5422 of the triggering member 542 cooperates with the mating surface 5412 of the rotation preventing member 541.
  • the driving surface 5422 and the mating surface 5412 form a mating surface, so that the rotation preventing member 541 is opposite to the triggering member 542 or relative to the first
  • the housing 550 rotates and eventually reaches the stop position.
  • the user controls the grass head 510 to enter the cutting mode or the pay-off mode, and the grass head 510 is rotated in one direction.
  • the direction of rotation of the motor in the cutting mode of the lawnmower 500 is different from the direction of rotation of the motor in the automatic loading mode.
  • the direction of rotation of the motor in the pay-off mode is different from the direction of rotation of the motor in the auto-loading mode.
  • the motor-driven grass head 510 rotates in the opposite direction.
  • the skull case 512 is rotated along the direction of the arrow as shown by the arrow in Fig. 19. This direction is opposite to the rotation preventing member 541 which prevents the head case 512 from rotating.
  • the stopper projection 512f on the head case 512 is in contact with the rotation preventing member 541, and the rotation preventing member 541 is rotated.
  • the rotation preventing member 541 is rotated to correspond to the guide groove 545a, the rotation preventing member 541 is at the return spring. Under the action of 543, the guide rib 541a slides upward in the guide groove 545a to return to the initial position.
  • the operating device 530 includes: a first operation A piece 531 and a second operating member 533.
  • the first operating member 531 is triggered to drive the mower 500 in the cutting mode;
  • the second operating member 533 is an operating member.
  • the second operating member 533 is for the user to operate the automatic loading mode of the lawnmower 500.
  • the operating device 530 also includes a handle housing 532 for the user to hold.
  • the first operating member 531 and the second operating member 533 are coupled to the handle housing 532.
  • the first operating member 531 and the second operating member 533 are relatively close to each other for user operation.
  • the lawnmower 500 further includes a first electronic switch and a second electronic switch; the first operating member 531 controls the first electronic switch; and the second operating member 533 controls the second electronic device. Shaoguan.
  • the first operating member 531 is triggered, the second operating member 533 cannot be triggered.
  • the second operating member 533 is triggered, and the first operating member 531 cannot be triggered.
  • the first operating member 531 is triggered, the lawnmower 500 is in the cutting mode, and the second operating member 533 is operated without releasing the first operating member 531, and the lawnmower 500 cannot enter the automatic loading mode.
  • the lawnmower 500 is in the automatic loading mode ⁇ , and the first operating member 531 is operated without releasing the second operating member 533, and the lawnmower 500 cannot enter the pay-off mode.
  • the lawnmower further includes a first electronic switch, and the first electronic switch can be controlled by the first operating member and the second operating member.
  • the first operating member 531 activates the motor, the first operating member 531 activates the motor 521, and the motor 521 operates in the first operating state.
  • the second operating member 533 activates the motor 521, and the second operating member 533 activates the motor 521A, and the motor 521 operates in the second operating state.
  • the motor 521 in the first operating state is turned by the motor 521 that is different from the second operating state.
  • the motor 521 in the first operating state has a different rotational speed than the motor 521 in the second operating state.
  • the motor 521 in the first operating state has a different rotational speed than the motor 521 in the second operating state.
  • the motor 521 operates in the second operating state.
  • the motor 521 operates in the first operating state.
  • the rotation speed of the motor 521 is 4000 rpm or more and 8000 rpm or less.
  • the lawn mower 500 is in the automatic loading mode, and the rotation speed of the bobbin 511 is greater than or equal to 100 rpm and less than or equal to 2000 rpm.
  • the rotational speed of the bobbin 511 is 300 rpm or more and 800 rpm or less.
  • the rotational speed of the bobbin 511 is 30 rpm or more and 600 rpm or less.
  • the rotational speed of the bobbin 511 is greater than or equal to 60 ⁇ 1 ⁇ ", which is equal to 300 pm.
  • the ratio of the rotational speed of the cutting mode spool 511 to the rotational speed of the spool 511 in the automatic loading mode is 5 or more and 300 or less.
  • the rotation speed of the bobbin 511 is The ratio of the rotational speed of the bobbin 511 in the automatic loading mode is 10 or more and 200 or less.
  • FIG. 6a shows a scheme in which the drive shaft 622 of the motor 621 drives the head housing 612 and the one-way bearing 640 dampens the bobbin 611.
  • the drive device 620 includes a motor 621.
  • the grass head 610 includes a bobbin 611 and a head shell 612.
  • the rotation support 650 is configured as a housing that can accommodate the motor 621, and the one-way bearing 640 is provided with a bobbin 6
  • the bobbin 611 is relatively unidirectionally rotatable relative to the rotation support member 650.
  • the drive shaft 622 passes through the bobbin 611 but does not directly drive the bobbin 611, that is, the torque is not directly transmitted between the bobbins 611; the drive shaft 622 is connected to the head housing 612 to directly drive the head housing 612, and the head housing 612 is similarly
  • the bobbin 611 and the head housing 612 can be rotated synchronously to perform the cutting mode, then when the motor 621 is rotated in the reverse direction, the bobbin 611 and the head The housing 612 can be rotated relative to perform an automatic loading mode.
  • the damper member can not only dampen the resistance of the head shell to its rotation, but also apply a resistance to the bobbin to dampen its rotation.
  • the damper device can apply damping to both the bobbin and the head shell, for example, based on FIG. 6a, a deceleration can be provided in the auto-loading mode to make the head shell 612 also damped by contact.
  • the damper device may include a first damper member and a second damper member.
  • the first damper applies a first resistance to the bobbin to dampen the rotation of the bobbin.
  • the second damper applies a second resistance to the rotation of the head casing to the head shell. Due to the action of the first resistance and the second resistance, the head shell and the bobbin are relatively rotatable.
  • the grass head 810 in the embodiment shown in FIGS. 7a and 7b includes a bobbin 811 and a head shell 812 similar to the previous scheme, the drive shaft 822 being directly coupled to the bobbin 811 to drive the bobbin 811 to rotate, the bobbin 811 and the head
  • the housings 812 respectively form a mating transmission structure 811a and 812a.
  • the transmission structures 811a, 812a cooperate to enable the rotating bobbin 811 to rotate the head housing 812.
  • the transmission structures 811a, 812a are disengaged. If the skull housing 812 is subjected to damping, the bobbin 811 and the head housing 812 are relatively rotated.
  • an electromagnet 813 is further provided in the solution shown in FIG. 7a and a magnetic member 812b is fixed on the head case 812; a support member 814 may be provided to mount the electromagnet 813.
  • the support 814 can be a shroud of a lawnmower, a motor housing, or other component that is fixedly coupled thereto.
  • the electromagnet 813 is energized to generate the magnetic field attracting magnetic member 812b, thereby changing the axial position of the head case 812, and the control motor causes the drive shaft 822 to drive the bobbin 811, so that the bobbin 81 is made. 1 and the head shell 812 are relatively rotated.
  • the electromagnet 813 no longer generates a magnetic field, and the head casing 812 is axially moved to a position where the transmission structures 811a, 812a are engaged, so that the bobbin 811 drives the head casing 812 to rotate synchronously.
  • the magnetic member 812b may be a ring-shaped part.
  • the electromagnet 813 can be placed at the corresponding position.
  • the grass head 810' in the embodiment shown in FIGS. 8a and 8b directly pulls the head shell 812' with a drawstring 813' that passes through the drive shaft 822' to effect a change in its position, thereby causing the spool 811. 'Can rotate relative to the head shell 812'.
  • the grass head 810" in the embodiment shown in FIGS. 8c and 8d uses the pull cord 813" to pull the head shell 812" directly from the top draw cord 813" to effect a change in its position, thereby causing the spool 811. "Can rotate relative to the head shell 812". Of course, it is also possible to drive the head drive and change the position of the spool in a similar manner to achieve the above functions.
  • a clutch device is provided, which is mainly used to disengage the bobbin and the head shell at the required time.
  • the drive shaft drives only one of them to cause relative rotation of the bobbin and the head casing, and when they are required to rotate synchronously, a drive fit is formed between the bobbin and the head casing, causing one of them to drive the other.
  • the lawnmower 900 includes a brushless motor 901, a drive circuit 902, a controller 903, a detecting device 904, a power circuit 905, and a power source 906.
  • the brushless motor 901 includes three-phase windings that form a Y-connection.
  • the three-phase windings may also be connected by a triangle.
  • the driving circuit 902 is used to drive the brushless motor 901.
  • the driving circuit 902 includes six-arm full-bridge circuits composed of six semiconductor switches Q1 to Q6, and windings of the brushless motor 901.
  • the terminals are respectively connected between the two semiconductor switches corresponding to the driving circuit 902.
  • the semiconductor switches Q 1 through Q6 of the drive circuit 902 can be driven by respective electrical signals to conduct the circuit there with a certain duty cycle, thereby causing current to pass through the respective windings, thereby driving the brushless motor.
  • the control signal can control the current of the brushless motor by controlling the duty ratio of the semiconductor switches Q1 to Q6, thereby controlling the rotation speed of the brushless motor.
  • the function of the controller 903 is to control the driving circuit, and further, to issue a control signal to the driving circuit, the controller 903 can be mainly composed of a main chip for performing arithmetic and signal output and one main for outputting the driving signal to The driving chip of the driving circuit is configured.
  • the main chip controls the driving circuit by controlling the driving chip.
  • the controller 903 can also be composed entirely of one chip.
  • the detecting device 904 may include a Hall sensor including a plurality of Hall elements, and the detecting device 904 may determine the rotational speed of the rotor of the brushless motor 901 based on a change in the signal of the detecting Hall element.
  • the detecting device 904 can also detect the voltage and current of the windings in the brushless motor and feed back to the controller 903 as a basis for the controller 903 to achieve control.
  • the power supply circuit 905 is mainly used to adjust the voltage from the power supply to enable the controller 903 to obtain a suitable power source.
  • the 906 is primarily used to power the entire lawnmower 900.
  • the power source 906 is a battery device that is repeatedly charged.
  • a physical switch 907 can be disposed between the controller 903 and the power supply circuit 905, which can be controlled by the user to turn on or off the electrical connection between the controller 903 and the power supply circuit 905.
  • the controller 903 cannot drive the brushless motor 901.
  • the physical switch 907 can be used as a master control for the lawnmower 900 for user operation to control whether the brushless motor 901 is activated.
  • a signal switch 908 can also be provided.
  • the signal can be turned off to send different signals, and the controller 903 can issue the signal according to the signal 908.
  • Different control modes of the signal output make the brushless motor have different rotation states. Therefore, the signal switch 908 can be used as an operation member for mode selection by the user, so that the user can select the cutting mode or the automatic loading mode.
  • the signal switch 908 issues a first signal, and then the user controls the physical switch 907 to power on the controller 903, and the controller 903 is in accordance with the received first signal.
  • the drive signal is output to the drive circuit 902 to cause the brushless motor 901 to rotate forward at a higher rotational speed.
  • the signal switch 908 emits a second signal different from the first signal, so that the controller 903 can be in the second control mode according to the second signal, and the output control signal causes the brushless motor 901 to The lower speed reverses the rotation.
  • the control of the rotational speed may be implemented by the controller 903 in the first control mode and the second control mode, the duty ratio of the signal for driving the drive circuit 902, and the controller 903 may be in the first control mode.
  • a relatively high drive signal is vacated, while a second control mode ⁇ outputs a signal with a lower duty cycle.
  • the detecting device 904 can detect the current of the brushless motor 901.
  • the wire is inserted as shown in FIG. 4h, the grass rope will be tightened after the winding is completed.
  • the current of the brushless motor 901 suddenly increases, and the controller 903 can judge whether or not the tension is caused by the threshold value of the current threshold or the current slope to stop the brushless motor 901 in the automatic loading mode.
  • the load of the brushless motor 901 becomes larger due to the increase in the mass of the straw rope, which causes the current of the brushless motor to also increase, so a current threshold can also be set. Determine if the winding is complete.
  • the rotational speed of the motor also decreases. Therefore, it is also possible to set a threshold value of the rotational speed or a threshold of the rotational speed slope as a criterion for whether or not the winding is completed.
  • the controller 903 judges that the automatic loading is completed.
  • a position sensor or an optical sensor or the like may be used to judge the position and state of the straw rope to end the automatic loading mode.
  • the user may operate the automatic loading mode by mistake, and the controller 903 may be reversed to start the automatic loading mode.
  • the controller 903 determines that the current situation is not suitable for running the automatic loading mode, and then stops driving the brushless motor 901, and prompts by sound or light signal. user.
  • the controller 903 can determine the load of the brushless motor 901 according to the rotational speed or current of the brushless motor.
  • controller 903 can implement the following control methods:
  • the lawnmower 900 as shown in FIG. 9c adopts a brush motor 90A.
  • a switching switch 902' can be set to directly switch between the brush motor 90 and the power supply 903'. The connection mode is then activated in the operation master switch 904' to enable the brush motor 90 to rotate.
  • the lawnmower 910 shown in FIG. 10a is different from the lawnmower 500 of FIG. 5a in that the position of the second operating member is different.
  • the second operating member 911 is disposed on the link assembly 912, and the second operating member 911 is adjacent to the grassing head 913.
  • the second operating member 921 of the lawnmower 920 can also be disposed in the first housing 922.
  • the second operating member 931 of the lawnmower 930 may also be disposed on the shield 932.
  • the operating member is disposed close to the grass head, so that the user can easily start the automatic loading line after the straw string is inserted into the grass head.
  • the first operating member that initiates the cutting function is remote from the second operating member, and the user is not in danger of touching the first operating member after performing the automatic loading. Similarly, the user does not accidentally touch the second operating member while performing the cutting function.
  • the grass head 940 shown in FIGS. 11a to 11c includes: a bobbin 941, a head case 942, and a wire frame member 943.
  • the bobbin 941 can be driven to rotate by a motor.
  • the head case 942 includes a detachable upper case 942a and a lower case 942b, and the head case 942 is rotatable relative to the bobbin 941.
  • the wire frame member 943 can be mounted to the head casing 942 in a detachable or non-removable manner, particularly to the upper casing 942a.
  • the wire frame member 943 is rotatable relative to the bobbin 941 after being mounted to the upper case 942a, and further, the wire frame member 943 is rotated in synchronization with the head case 942 composed of the upper case 942a and the lower case 942b after being mounted to the upper case 942a.
  • the lower case 942 is removed and the upper case 942a is rotated in synchronization.
  • the wire frame member 943 can also be mounted to other components that are rotatable relative to the spool 941.
  • the wire frame member 943 is formed with a wire frame structure 943a through which the straw string can pass, and a connecting arm 943b connecting the wire frame structure 943a to the wire frame structure 943a outside the bobbin 941, specifically, if the wire shaft 941 The axis of rotation is the axial direction, and the connecting arm 943b causes the wire frame structure 943a to be located outside the circumferential direction of the bobbin 941.
  • the user can use the non-smashing head case 942, that is, without separating the upper case 942a and the lower case 942b constituting the head case 942.
  • the line which is similar to the threading method previously described, allows the straw string to pass through the threading hole 942c of the head shell 942, and since the wire frame member 943 and the head shell 942 cannot rotate relative to each other, the thread of the wire frame member 943 can be disposed.
  • the frame structure 943a and the head shell 942 are worn.
  • the wire holes 942c are correspondingly positioned so that the grass rope passing through the threading holes 942c can also pass through the wire frame structure 943a, and then the grass rope is inserted into the wire shaft 941, so that when the wire loading mode is entered, regardless of the driving wire shaft 941
  • the drive head casing 942 and the wire frame member 943 are integrally formed, and the bobbin 941 is rotated with respect to the threading hole 942c or the wire frame structure 943a, so that the grass rope is wound around the bobbin 941. This has the advantage that the user can complete the winding without having to hit the head casing 94 2 .
  • the user can also realize the winding by means of the smashing head shell 942.
  • the user first smashes the lower shell 942b of the head shell 942, thereby exposing the bobbin 941 and the wire frame member 943, and then passing the straw rope through the line.
  • the wire frame structure 943a of the frame member 943 is inserted into the bobbin 941.
  • the user can operate the grass cutter to realize the relative rotation of the shaft 941 and the wire frame member 943, so that the grass rope is continuously passed through the wire frame structure 943a to be wound around the wire shaft 941 until the wire is completed.
  • the user can install the lower case 942b back. This has the advantage that the user can easily observe the winding condition of the bobbin 941, thereby controlling according to the winding condition.
  • the head shell 942 may be made of a transparent material in whole or in part without using the wire frame member 943, and the purpose of observing the winding condition can also be achieved.
  • the wire frame member 943 can also be used as a detachable attachment, and the user can punch the head casing 942, separate the lower casing 942b, and then attach the wire frame member 943 to the upper casing. 942a or other component that is rotatable for spool 941, such as housing 944 for housing a motor. After the installation is completed, the user can pass the straw string through the wire frame structure 943a of the wire frame member 943, and then insert it into the bobbin 913, and then the driving axis 941 is rotated. Of course, the wire frame member 943 can also be driven to rotate, and the relative rotation bobbin 941 can be driven.
  • the wire frame member 943 enables the grass rope to be wound around the bobbin 941. Then, the wire frame member 943 as an attachment is detached, and the free end of the straw string is taken out from the inside and the outside of the threading hole 942c of the lower case 942b, and the lower case 942b is attached and coupled to the upper case 942a, thereby completing the wire loading.
  • the upper case 942a and the lower case 942b may each be formed as one half of the threading hole 94 2c. When the upper case 942a and the lower case 942b are combined into a unitary body, a complete threading hole is formed, which is equivalent to the upper case 942a and the lower case 942b, respectively. Two slots are formed.
  • the straw string is positioned in the groove of the upper case 942a or the lower case 942b, and then the upper case 942a and the lower case 942b are combined as a whole.
  • the threading hole formed after the combination it is convenient for the user to let the free end of the straw rope pass through the head shell 942 from the inside to the outside.
  • the detachable wire frame member 943 is advantageous in that, for the grass omniable machine in which the head case 942 can be integrally or partially detached, the bobbin 941 can be exposed by disassembling the head case 942, and then configured as an attachment. Installed The wire frame member 943 (may not be mounted to the head casing 942, and may be directly mounted to other relatively fixed components of the motor relative to the lawnmower, such as the motor casing or the shield), and the spool 941 can be driven at a lower speed. Automatically loading the wire, which enables the lawnmower that does not have the automatic wire loading function to have the corresponding automatic assembly hardware structure after being equipped with the wire frame member 943 as an accessory. Of course, the motor of the drive spool 941 needs to be adjusted. So that the automatic loading of the spool 941 is at a lower speed to ensure user safety.
  • the wire frame member 943 forms a wire frame structure 943a.
  • the wire frame member 943 is rotated relative to the bobbin 941, and the wire frame member 943 is equivalent to a simulated human hand.
  • the wire frame structure 943a is equivalent to the function of the user's finger for holding the straw rope; therefore, the wire frame member 943 can be defined as a wire holding member, that is, holding the grass rope to make grass
  • the wire frame structure 943a formed by the wire frame member 943 can be defined as a wire-holding structure, that is, the function of the finger is to maintain a certain positioning function on the grass rope, and the grass is also used to make grass.
  • the cord can be continuously wound to the bobbin 941 through the wire frame structure 943a.
  • the bobbin 94 and the head shell 942' in the grass head 940' shown in FIG. 1 Id may adopt the same scheme as the grass head 940 shown in FIGS. 1a to 1 lc, with the difference that, in FIG. 11c The wire frame member 943 is replaced with a winding pin 943'.
  • the head case 942' may be composed of a detachable upper case 942a' and a lower case 942b'. Similar to the wire frame member 943, the winding pin 943' may be detachable or non-removable, and may be mounted to the upper case 942a' or to other members rotatable relative to the bobbin 941'. The difference is that the winding pin 943' is not formed with the wire frame structure 943a like the wire frame member 943, but forms a recessed portion 943a' which can be used to bypass the winding pin 943' from there. The grass rope is fixedly positioned, and the winding pin 943' is rotated relative to the bobbin 94 ⁇ .
  • the recessed portion 943a' can drive the grass rope by friction, thereby realizing the automatic loading. Therefore, the winding pin 943' can also be defined as a wire holding member, and the recess portion 943a' can be defined as a wire holding structure.
  • the wire frame member 953 can function as a separate functional accessory from the grass head 950.
  • the wire frame member 953 includes a wire frame structure 953a, and a fixing seat 953c in addition to the connecting arm 953b, and the fixing seat 953c is connected to the connecting arm 953b.
  • the user can insert the straw string into the bobbin 951 through the wire frame structure 953a, and then drive the motor of the grass cutter to drive the bobbin 951, and the bobbin 951 rotates relative to the wire frame member 953, thereby realizing automatic loading.
  • the lawnmower or the spool 951 can also be fixed by using an auxiliary device such as a bracket, and then the wire frame member 953 is driven by the additional motor 954 to rotate relative to the spool 951, thereby realizing automatic operation. Install the line.
  • the wire frame member 953 as a separate accessory or its combination with the corresponding driving device can be used to realize automatic loading without having to fight grass. The machine made more improvements.
  • the lawnmower further includes a grass head 961, a motor 962, and an energy storage device 963.
  • the motor 962 drives the grass head 961 to rotate for cutting.
  • the grass head 961 includes a bobbin and a head shell.
  • the head housing houses the spool.
  • the specific structure of the grass head 961 can be referred to the grass head 410 shown in Figs. 4a to 4d.
  • the lawnmower includes a housing 964 that houses a motor 962.
  • motor 962 is a motor.
  • the motor is provided with a motor shaft 966 for outputting power.
  • the lawnmower has an automatic loading function.
  • the relative rotation of the bobbin and the head shell automatically winds the grass rope to the bobbin for automatic thread loading.
  • the energy storage device 963 drives one of the bobbins or the head casing to rotate relative to the other to realize the automatic loading function. Rotation of motor 962 causes energy storage device 963 to store energy, and then user controls energy storage device 963 to release stored energy for automated wire loading.
  • the energy storage device 963 is disposed within the housing 964.
  • the energy storage device 963 is mounted to the top of the motor 962.
  • the energy storage device 963 includes a resilient member 965.
  • the elastic member 965 is a coil spring.
  • One end of the coil spring is coupled to the motor shaft 966.
  • the motor shaft 966 is rotated to move one end of the coil spring in the direction indicated by arrow 967.
  • the other end of the coil spring is fixed.
  • This ⁇ stores the elastic potential energy by the coil spring.
  • the motor shaft 966 rotates in the reverse direction.
  • the motor shaft 966 is connected to the bobbin or the head shell, and the motor shaft 966 drives one of the bobbin or the head shell to rotate relative to the other. . This enables automatic loading.
  • the lawn mower includes at least: a bobbin, a wire holding member and a motor; wherein the bobbin is used for loading a straw rope, and specifically, the bobbin may be wound in a form of a straw rope or The grass rope is loaded by other forms such as storage; the main function of the wire holding member is similar to the effect of winding the grass rope on the spool by hand, the finger on the grass rope, that is, the grass rope has a certain limit function.
  • the wire holding member may be configured in the form of a casing that accommodates the bobbin.
  • the head shell acts as a wire holder.
  • the control method includes: S101: powering a motor to relatively rotate the bobbin and the wire holding member. More specifically, the control method provides power to the motor when the lawnmower is operated by the user. What is supplied to the motor can be electrical energy.
  • the lawnmower further includes a controller and an operating member, the controller can be used to control whether to power the motor, and when the operating member is triggered by the user, the controller controls the lawnmower to power the motor. . Alternatively, if the operating member is triggered again, the controller can be controlled to stop the lawnmower from powering the motor.
  • the lawnmower further includes another operating member, and when the operating member is started by the user, the controller can control the grass cutter to stop supplying power to the motor.
  • the user is required to press two different operating members of the lawnmower to enable the controller to control the lawnmower to power the motor.
  • the motor can be stopped in an automatic manner.
  • the operation method includes: S101: powering the motor; S102: determining whether the slope of the motor load is greater than a preset value; S103: stopping supplying power to the motor.
  • the controller determines whether to stop powering the motor according to the slope of the load of the motor (the slope in the present application should be considered to include a mathematical definition indicating a growth trend such as a derivative), when the slope of the motor load is greater than a preset value ⁇
  • the lawnmower can be automatically controlled to stop powering the motor; when it is judged that the slope of the motor load is not greater than the preset value, the lawnmower is controlled to continue to power the motor.
  • the load can be judged based on the rotational speed of the motor.
  • the slope of the motor can be judged. When the slope of the motor speed is lower than the preset value, the controller stops supplying power to the motor.
  • the control method may be controlled in a fixed manner, the control method includes: S201: powering the motor; S202: performing counting; S203: judging the daytime Whether the preset length is satisfied; S204: Stop powering the motor. Specifically, when the controller controls the hit The grass machine starts to provide power to the motor, and when the length of the meter meets the preset length, the lawn mower is controlled to stop powering the motor. When the length of the meter does not meet the preset length, the control mower continues to power the motor.
  • different power may be supplied to the motor to relatively rotate the bobbin and the wire holding member at the first relative rotational speed and the second relative rotational speed, respectively.
  • the rotational speed of the motor can be varied so that the relative rotational speed between the spool and the wire retaining member can vary.
  • the relative rotation speed between the spool and the wire holding member should be less than the speed at which the grasser hits the grass, or the speed of the spool.
  • the method mainly includes the following steps:
  • a lawnmower comprising: a bobbin for winding the straw rope, a wire holding member formed with a wire holding structure for the grass rope to pass through, and a driveable spool or a motor that holds at least one of the wire members
  • the lawnmower provided in this step may also be the lawnmower in the various schemes described above. It should be noted that the wire holding member is detachable.
  • the straw string is inserted or passed around the wire holder to the spool; whether it is passed or bypassed, depending on the specific form of the wire holding member and the wire holding structure,
  • the introduced lawnmower solution likewise, the insertion to the spool can be understood as a hole or groove formed in the spool, or other structure that can limit the end of the straw.
  • This step enables the bobbin and the thread holding member to act on the grass rope to prepare the straw.
  • the user can activate the motor of the lawnmower by the action member or an action of a sensor capable of triggering the setting of the lawnmower to relatively rotate the spool and the wire holding member.
  • the user can turn off the motor to make the spool and the wire holding member relatively stationary.
  • the motor can be activated by triggering an operating member provided by a lawnmower; the motor can be turned off by triggering the operating member again, or the motor can be turned off by triggering another operating member.

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Abstract

Disclosed are a lawn mower (100, 400, 500, 900) and an operating method and a control method therefor, the lawn mower (100, 400, 500, 900) comprising a mower head (110, 210, 310, 410, 510, 610, 710, 810, 810', 810", 913, 940, 940', 950, 961), a driving device (120, 420, 520, 620) for driving the mower head (110, 210, 310, 410, 510, 610, 710, 810, 810', 810", 913, 940, 940', 950, 961) to rotate, and an operating device (130, 430, 530, 730) for a user to operate to control the driving device (120, 420, 520, 620). The mower head (110, 210, 310, 410, 510, 610, 710, 810, 810', 810", 913, 940, 940', 950, 961) comprises a line shaft (111, 211, 311, 411, 511, 611, 811, 811', 941, 941', 951) and a line holding member, wherein the line shaft (111, 211, 311, 411, 511, 611, 811, 811', 941, 941', 951) is used for winding a mower rope (101, 401, 501, 701), and the line holding member forms a line holding structure for the mower rope (101, 401, 501, 701) to pass through or bypass; the driving device (120, 420, 520, 620) comprises a motor (121, 421, 521, 621, 954, 962), the lawn mower (100, 400, 500, 900) has an automatic line loading mode, under the automatic line loading mode, the motor (121, 421, 521, 621, 954, 962) drives at least one of the line shaft (111, 211, 311, 411, 511, 611, 811, 811', 941, 941', 951) and the line holding member to enable the line shaft (111, 211, 311, 411, 511, 611, 811, 811', 941, 941', 951) and the line holding member to rotate oppositely so as to automatically wind the mower rope (101, 401, 501, 701) on the line shaft (111, 211, 311, 411, 511, 611, 811, 811', 941, 941', 951). The operating method comprises the mower rope (101, 401, 501, 701) passing through or bypassing the line holding member to be inserted into the line shaft (111, 211, 311, 411, 511, 611, 811, 811', 941, 941', 951) and starting the motor (121, 421, 521, 621, 954, 962) to enable the line shaft (111, 211, 311, 411, 511, 611, 811, 811', 941, 941', 951) and the line holding member to rotate oppositely. The control method comprises providing power for the motor (121, 421, 521, 621, 954, 962) to enable the line shaft (111, 211, 311, 411, 511, 611, 811, 811', 941, 941', 951) and the line holding member to rotate oppositely. The lawn mower (100, 400, 500, 900) has an automatic line loading mode, and enables the mower rope (101, 401, 501, 701) to automatically wind on the line shaft (111, 211, 311, 411, 511, 611, 811, 811', 941, 941', 951) under the action of the motor (121, 421, 521, 621, 954, 962).

Description

说明书 发明名称：打草机及其操作方法和控制方法 技术领域  Description: The name of the invention: lawn mower and its operation method and control method
[0001] 本发明涉及一种打草机及其操作方法和控制方法， 具体涉及一种具有自动装线 模式的打草机及其操作方法和控制方法。  [0001] The present invention relates to a lawnmower, an operating method thereof and a control method thereof, and particularly to a lawnmower having an automatic loading mode, an operating method thereof and a control method thereof.
背景技术  Background technique
[0002] 打草机是一种园林工具， 用于对草坪进行修剪。 打草机包括有打草头。 打草头 高速转动带动安装在其上的打草绳旋转实现对切割功能。  [0002] A lawn mower is a garden tool used to trim a lawn. The lawnmower includes a grass head. The grass head rotates at high speed to drive the grass rope installed on it to realize the cutting function.
技术问题  technical problem
[0003] 打草头包括有用于供打草绳缠绕的线轴， 在进行打草作业吋， 打草绳由于磨损 而逐渐被消耗。 在进行一段吋间的作业， 用户需要更换新的打草绳， 将打草绳 缠绕到线轴上。 传统的打草绳， 用户需要去手动转动线轴以使打草绳缠绕到线 轴， 操作麻烦， 缠绕速度慢， 也由于人手在缠绕过程中接触打草头从而带来一 定的风险。  [0003] The grass head includes a bobbin for winding the grass rope, and the grass rope is gradually consumed due to wear after the grassing operation. During a period of work, the user needs to replace the new straw rope and wind the straw rope onto the spool. In the traditional straw rope, the user needs to manually rotate the spool to wind the straw to the spool, which is troublesome to operate, slow in winding speed, and also poses a certain risk due to the human hand touching the grass head during the winding process.
问题的解决方案  Problem solution
技术解决方案  Technical solution
[0004] 为解决现有技术的不足， 本发明的目的在于提供一种具有自动装线模式的打草 机及其操作方法和控制方法。  In order to solve the deficiencies of the prior art, it is an object of the present invention to provide a lawnmower having an automatic loading mode, an operating method thereof and a control method.
[0005] 为了实现上述目标， 本发明采用如下的技术方案： [0005] In order to achieve the above object, the present invention adopts the following technical solutions:
[0006] 一种打草机， 包括： 打草头， 驱动装置， 用于驱动打草头转动以切割植被； 操 作装置， 用于供用户操作以控制驱动装置； 其中， 打草头包括线轴和持线件， 线轴用于缠绕打草绳， 持线件形成有供打草绳穿过或绕过的持线结构； 驱动装 置包括马达， 打草机具有一个自动装线模式， 在自动装线模式下， 马达驱动线 轴和持线件中的至少一个以使线轴和持线件相对转动从而将打草绳自动地缠绕 至线轴。  [0006] A lawnmower comprising: a grass head, a driving device for driving a grass head to rotate to cut vegetation; an operating device for a user to operate to control the driving device; wherein the grass head includes a bobbin and The wire holding member, the bobbin is used for winding the straw rope, and the wire holding member is formed with a wire holding structure for the grass rope to pass through or bypass; the driving device includes a motor, and the grass cutter has an automatic wire loading mode, and the wire is automatically loaded. In the mode, the motor drives at least one of the bobbin and the wire holding member to relatively rotate the bobbin and the wire holding member to automatically wind the grass rope to the bobbin.
[0007] 进一步地， 操作装置包括： 第一操作件， 用于启动马达； 第二操作件， 用于供 用户操作以选择自动装线模式。 [0008] 进一步地， 操作装置包括： 第一操作件， 用于启动马达以使马达以第一运行状 态运转； 第二操作件， 用于启动马达以使马达以第二运行状态运转。 Further, the operating device includes: a first operating member for starting the motor; and a second operating member for the user to operate to select the automatic loading mode. [0008] Further, the operating device comprises: a first operating member for starting the motor to operate the motor in the first operating state; and a second operating member for starting the motor to operate the motor in the second operating state.
[0009] 进一步地， 在第一运行状态下马达的转向异于在第二运行状态下马达的转向。 [0009] Further, the steering of the motor in the first operating state is different from the steering of the motor in the second operating state.
[0010] 进一步地， 在第一运行状态下马达的转速异于在第二运行状态下马达的转速。 [0010] Further, the rotational speed of the motor in the first operating state is different from the rotational speed of the motor in the second operating state.
[0011] 进一步地， 操作装置包括： 第一操作件， 具有一个第一预设操作状态； 第二操 作件， 具有一个第二预设操作状态； 在第一操作件和第二操作件分别处于第一 预设操作状态和第二预设操作状态吋打草机能启动自动装线模式。 [0011] Further, the operating device includes: a first operating member having a first preset operating state; a second operating member having a second predetermined operating state; wherein the first operating member and the second operating member are respectively located The first preset operating state and the second preset operating state enable the automatic loading mode.
[0012] 进一步地， 操作装置包括： 第一复位组件， 用于在用户不操作第一操作件吋使 第一操作件脱离第一预设状态。  [0012] Further, the operating device includes: a first reset component, configured to disengage the first operating member from the first preset state after the user does not operate the first operating member.
[0013] 进一步地， 操作装置包括： 第二复位组件， 用于在用户不操作第二操作件吋使 第二操作件脱离第二预设状态。 [0013] Further, the operating device comprises: a second resetting component, configured to disengage the second operating member from the second preset state after the user does not operate the second operating member.
[0014] 进一步地， 打草机还包括： 阻尼装置， 用于阻尼线轴和持线件中的至少一个以 使打草机处于自动装线模式。 [0014] Further, the lawnmower further comprises: a damping device for damping at least one of the bobbin and the wire holding member to place the grass cutter in the automatic loading mode.
[0015] 进一步地， 阻尼装置包括： 阻尼件， 用于向线轴施加阻尼线轴转动的阻力。 [0015] Further, the damping device comprises: a damping member for applying a resistance to the rotation of the bobbin to the bobbin.
[0016] 进一步地， 阻尼装置包括： 阻尼件， 用于向持线件施加阻尼持线件转动的阻力 [0016] Further, the damping device comprises: a damping member for applying a resistance to the rotation of the wire holding member to the wire holding member
[0017] 进一步地， 阻尼装置包括： 第一阻尼件， 用于向线轴施加阻尼线轴转动的第一 阻力； 第二阻尼件， 用于向持线件施加阻尼持线件转动的第二阻力。 [0017] Further, the damping device comprises: a first damping member for applying a first resistance to the rotation of the damper spool; and a second damping member for applying a second resistance to the rotation of the damper member to the wire holding member.
[0018] 进一步地， 阻尼装置包括： 用于阻止线轴向第一方向转动的阻尼件； 在自动装 线模式下持线件向第一方向转动。  Further, the damping device comprises: a damping member for preventing the axial direction of the wire from rotating in the first direction; and the wire holding member rotates in the first direction in the automatic loading mode.
[0019] 进一步地， 阻尼装置包括： 用于阻止持线件向第二方向转动的阻尼件； 在自动 装线模式下线轴向第二方向转动。  Further, the damping device comprises: a damping member for preventing the wire holding member from rotating in the second direction; and the wire axially rotating in the second direction in the automatic loading mode.
[0020] 进一步地， 持线件为容纳线轴的头壳； 头壳形成有供打草绳穿过的外穿线孔； 线轴形成有用于固定或穿过打草绳的内穿线孔； 打草机还具有一个切割模式， 在切割模式下， 线轴和头壳同步转动； 在切割模式结束吋， 外穿线孔与内穿线 孔在周向上自动对齐。  [0020] Further, the wire holding member is a head case accommodating the bobbin; the head case is formed with an outer threading hole through which the grass rope is passed; the wire shaft is formed with an inner threading hole for fixing or passing through the grass rope; There is also a cutting mode in which the bobbin and the head shell rotate synchronously; at the end of the cutting mode, the outer threading hole and the inner threading hole are automatically aligned in the circumferential direction.
[0021] 进一步地， 打草机还包括： 断线装置， 用于在自动装线模式吋自动地切断打草 [0022] 进一步地， 断线装置包括断线元件， 打草头能相对断线元件转动， 在自动装线 模式下， 打草头带动打草绳经过断线元件以切断打草绳。 [0021] Further, the lawnmower further comprises: a wire breaking device for automatically cutting off the grass in the automatic loading mode [0022] Further, the wire breaking device includes a wire breaking component, and the grass head can rotate relative to the wire breaking component. In the automatic wire loading mode, the grass head drives the grass rope to pass the wire breaking component to cut the grass rope.
[0023] 进一步地， 断线装置包括断线元件， 打草头与断线元件同步转动， 在自动装线 模式下， 打草头带动打草绳靠近断线元件以切断打草绳。 [0023] Further, the wire breaking device comprises a wire breaking component, and the grass head rotates synchronously with the wire breaking component. In the automatic wire loading mode, the grass head drives the grass rope to be close to the wire breaking component to cut the grass rope.
[0024] 进一步地， 打草机还具有一个切割模式， 在切割模式下， 线轴和持线件同步转 动； 打草头在切割模式吋向第一方向转动； 线轴或持线件中的一个在自动装线 模式吋相对另一个向第二方向转动。  [0024] Further, the lawnmower further has a cutting mode, in which the bobbin and the wire holding member rotate synchronously; the grass head rotates in the cutting direction in the cutting direction; one of the bobbin or the wire holding member is The automatic loading mode 转动 rotates in the second direction relative to the other.
[0025] 进一步地， 驱动装置在切割模式吋处于第一驱动状态， 驱动装置在自动装线模 式吋处于异于第一驱动状态的第二驱动状态。  [0025] Further, the driving device is in the first driving state in the cutting mode, and the driving device is in the second driving state different from the first driving state in the automatic loading mode.
[0026] 进一步地， 马达在切割模式吋正转， 马达在自动装线模式吋反转。 Further, the motor rotates in the cutting mode, and the motor is reversed in the automatic loading mode.
[0027] 进一步地， 马达在切割模式吋以第一速度转动； 马达在自动装线模式吋以异于 第一速度的第二速度转动。 [0027] Further, the motor rotates at a first speed in the cutting mode; the motor rotates at a second speed different from the first speed in the automatic loading mode.
[0028] 进一步地， 马达在切割模式吋， 以较高的第一速度正向转动， 马达在自动装线 模式吋， 以较低的第二速度反向转动。 [0028] Further, the motor rotates in the cutting mode 正向 at a higher first speed, and the motor rotates in the automatic loading mode 反向 at a lower second speed.
[0029] 进一步地， 第一转速和第二转速的比值的取值范围大于等于 5小于等于 300。 [0029] Further, the ratio of the ratio of the first rotation speed to the second rotation speed is greater than or equal to 5 and less than or equal to 300.
[0030] 进一步地， 检测装置， 能检测一个用于判断绕线是否完成的物理量； 控制器， 用于根据来自检测装置的电信号控制马达使打草机退出自动装线模式。 [0030] Further, the detecting device can detect a physical quantity for determining whether the winding is completed; and the controller is configured to control the motor to exit the automatic loading mode according to the electrical signal from the detecting device.
[0031] 进一步地， 检测装置电连接至马达以检测马达的电流。 [0031] Further, the detecting device is electrically connected to the motor to detect the current of the motor.
[0032] 进一步地， 控制器在马达的电流大于一个预设值吋切断马达的电源。 [0032] Further, the current of the controller at the motor is greater than a preset value, and the power of the motor is cut off.
[0033] 进一步地， 控制器在马达的电流的斜率大于一个预设值吋切断马达的电源。 [0033] Further, the slope of the current of the controller at the motor is greater than a preset value, and the power of the motor is cut off.
[0034] 进一步地， 打草机还包括： 磁性体， 安装至线轴或持线件中的一个； 检测装置 包括： 霍尔传感器， 用于检测磁性件； 控制器根据霍尔传感器的信号判断磁性 体的转速， 在磁性体的转速达到一个预设值吋， 使打草机退出自动装线模式。 [0034] Further, the lawnmower further comprises: a magnetic body, mounted to one of the bobbin or the wire holding member; the detecting device comprises: a Hall sensor for detecting the magnetic component; the controller determining the magnetic state according to the signal of the Hall sensor The rotation speed of the body, after the rotation speed of the magnetic body reaches a preset value, causes the grass cutter to exit the automatic loading mode.
[0035] 进一步地， 打草机还包括： 磁性体， 安装至线轴或持线件中的一个； 检测装置 包括： 霍尔传感器， 用于检测磁性件； 控制器根据霍尔传感器的信号判断磁性 体的旋转的圈数， 在磁性体的旋转的圈数达到一个预设值吋， 使打草机退出自 动装线模式。 [0035] Further, the lawnmower further comprises: a magnetic body, mounted to one of the bobbin or the wire holding member; the detecting device comprises: a Hall sensor for detecting the magnetic component; the controller determining the magnetic state according to the signal of the Hall sensor The number of turns of the body, when the number of revolutions of the magnetic body reaches a preset value 吋, causes the lawnmower to exit the automatic loading mode.
[0036] 进一步地， 检测装置检测马达的转速， 控制器在马达的转速达到预设值吋切断 马达的电源。 [0036] Further, the detecting device detects the rotation speed of the motor, and the controller cuts off the rotation speed of the motor to a preset value. The power of the motor.
[0037] 进一步地， 检测装置检测马达的转动圈数， 控制器在马达的转动圈数达到预设 值吋切断马达的电源。  Further, the detecting device detects the number of revolutions of the motor, and the controller cuts off the power of the motor when the number of revolutions of the motor reaches a preset value.
[0038] 进一步地， 检测装置包括： 位置传感器， 用于检测打草绳的位置。 [0038] Further, the detecting device comprises: a position sensor for detecting the position of the straw.
[0039] 一种操作打草机绕线的方法， 包括以下步骤： 提供一种打草机， 打草机包括： 用于缠绕打草绳的线轴、 形成有供打草绳穿过或绕过的持线结构的持线件和能 驱动线轴或持线件中的至少一个的马达； 将打草绳穿过或绕过持线件插装至线 轴； 和启动马达以使线轴和持线件相对转动。 [0039] A method for operating a lawnwife winding, comprising the steps of: providing a lawnmower comprising: a bobbin for winding a straw rope, formed with a straw rope passing or bypassing a wire holding member of the wire holding structure and a motor capable of driving at least one of the bobbin or the wire holding member; inserting the straw string through or around the wire holding member to the bobbin; and starting the motor to make the bobbin and the wire holding member Relative rotation.
[0040] 进一步地， 还包括以下步骤： 关闭马达以使线轴和持线件相对静止。 [0040] Further, the method further includes the steps of: turning off the motor to make the bobbin and the wire holding member relatively stationary.
[0041] 进一步地， 通过触发一个打草机所设置的操作件启动马达。 [0041] Further, the motor is started by triggering an operating member provided by a lawnmower.
[0042] 进一步地， 方法还包括以下步骤： 关闭马达以使线轴和持线件相对静止； 其中[0042] Further, the method further includes the steps of: turning off the motor to make the bobbin and the wire holding member relatively stationary;
， 通过触发一个打草机所设置的操作件启动马达， 通过释放操作件关闭马达。 The motor is started by triggering an operating member provided by a lawn mower, and the motor is turned off by releasing the operating member.
[0043] 进一步地， 方法还包括以下步骤： 关闭马达以使线轴和持线件相对静止； 其中[0043] Further, the method further includes the steps of: turning off the motor to make the bobbin and the wire holding member relatively stationary;
， 通过触发一个打草机所设置的操作件启动马达， 通过触发另一个打草机所设 置的操作件关闭马达。 The motor is started by triggering an operating member provided by a lawnmower, and the motor is turned off by triggering an operating member provided by another lawnmower.
[0044] 进一步地， 方法还包括以下步骤： 关闭马达以使线轴和持线件相对静止； 其中 ， 通过触发一个打草机所设置的操作件启动马达， 通过再次触发操作件关闭马 达。  [0044] Further, the method further comprises the steps of: closing the motor to make the bobbin and the wire holding member relatively stationary; wherein the motor is activated by triggering an operating member provided by the lawnmower, and the motor is turned off by triggering the operating member again.
[0045] 一种操作打草机绕线的方法， 包括以下步骤： 将打草绳穿过或绕过打草机设置 有的持线件插装至打草机设置有的线轴； 和启动马达以使线轴和持线件相对转 动。  [0045] A method for operating a grasshopper winding, comprising the steps of: inserting a straw rope or bypassing a wire holder provided with a grass cutter to a spool provided by the grass cutter; and a starter motor The relative rotation of the bobbin and the wire holding member.
[0046] 一种控制打草机装线的方法， 其中， 打草机包括： 线轴， 用于装载打草绳； 持 线件， 形成有供打草绳穿过或绕过的持线结构； 马达， 能驱动线轴或持线件中 的至少一个以使线轴和持线件相对转动； 方法包括： 向马达提供动力以使线轴 和持线件相对转动。  [0046] A method for controlling a line of a lawnmower, wherein the lawnmower comprises: a bobbin for loading a straw rope; and a wire holding member formed with a wire holding structure for the grass rope to pass through or bypass; The motor is capable of driving at least one of the bobbin or the wire holding member to relatively rotate the bobbin and the wire holding member; the method comprising: providing power to the motor to relatively rotate the bobbin and the wire holding member.
[0047] 进一步地， 在打草机被用户操作吋向马达提供动力。 [0047] Further, the lawnmower is operated by the user to provide power to the motor.
[0048] 进一步地， 在打草机所设置的一个操作件被触发吋向马达提供动力。 [0048] Further, an operating member provided on the lawn mower is triggered to provide power to the motor.
[0049] 进一步地， 在操作件被释放吋停止向马达提供动力。 [0050] 进- 步地， 在打草机所设置的另一个操作件被触发吋停止向马达提供动力。 [0049] Further, the power supply to the motor is stopped after the operating member is released. [0050] Further, when another operating member provided by the lawnmower is triggered, the power supply to the motor is stopped.
[0051] 进- 步地， 在操作件被再次触发吋停止向马达提供动力。  [0051] Further, the power is stopped from being supplied to the motor after the operating member is triggered again.
[0052] 进- 步地， 在马达的负载增加的斜率超过预设值吋停止向马达提供动力。  [0052] Further, the supply of power to the motor is stopped when the slope of the load increase of the motor exceeds a preset value.
[0053] 进- 步地， 向马达提供的动力持续一个预设吋长。  [0053] Further, the power provided to the motor continues for a predetermined length.
[0054] 进- 步地， 向马达提供不同的动力以使线轴和持线件分别以第一相对转速和第 二相对转速相对转动。  [0054] Further, different power is supplied to the motor to relatively rotate the bobbin and the wire holding member at the first relative rotational speed and the second relative rotational speed, respectively.
[0055] 进一步地， 第一相对转速小于打草机在打草吋线轴的转速。  [0055] Further, the first relative rotational speed is less than the rotational speed of the grass cutter on the grasshopper spool.
[0056] 进一步地， 第二相对转速小于打草机在打草吋线轴的转速。 [0056] Further, the second relative rotational speed is less than the rotational speed of the grass cutter on the grasshopper spool.
发明的有益效果  Advantageous effects of the invention
有益效果  Beneficial effect
[0057] 本发明的有益之处在于打草机具有自动装线模式， 在马达作用下能使打草绳自 动地缠绕至线轴。  [0057] The present invention is advantageous in that the lawnmower has an automatic loading mode that enables the grass rope to be automatically wound onto the spool by the action of the motor.
对附图的简要说明  Brief description of the drawing
附图说明  DRAWINGS
[0058] 图 la是一种作为实施例的打草机的示意图；  [0058] FIG. 1a is a schematic view of a lawnmower as an embodiment;
[0059] 图 lb是图 la中打草机的局部结构示意图；  [0059] FIG. 1b is a partial structural schematic view of the lawn mower in FIG.
[0060] 图 lc是图 lb中结构的爆炸图；  [0060] FIG. 1c is an exploded view of the structure in FIG.
[0061] 图 Id是图 lb中线轴与头壳传动的示意图；  [0061] FIG. 1d is a schematic view of the spool and the head casing transmission in FIG.
[0062] 图 2a是一种作为实施例的打草头与阻尼装置的爆炸图；  [0062] FIG. 2a is an exploded view of a grass head and a damping device as an embodiment;
[0063] 图 2b是图 2a中打草头与阻尼装置的剖视图；  2b is a cross-sectional view of the grass head and the damping device of FIG. 2a; [0063] FIG.
[0064] 图 3a是一种作为实施例的打草头与阻尼装置的示意图；  [0064] FIG. 3a is a schematic view of a grass cutting head and a damping device as an embodiment;
[0065] 图 3b是图 3a中线轴与头壳传动的示意图；  [0065] FIG. 3b is a schematic view of the spool and the head casing of FIG. 3a;
[0066] 图 4a是一种作为实施例的打草机的示意图；  4a is a schematic view of a lawnmower as an embodiment;
[0067] 图 4b是图 4a中的局部结构示意图；  4b is a partial structural view of FIG. 4a;
[0068] 图 4c是图 4b中结构的剖视图；  4c is a cross-sectional view of the structure of FIG. 4b; [0068] FIG.
[0069] 图 4d是图 4b中结构的爆炸图；  [0069] FIG. 4d is an exploded view of the structure of FIG. 4b;
[0070] 图 4e是图 4b中结构的另一视角的爆炸图；  4e is an exploded view of another perspective of the structure of FIG. 4b; [0070] FIG.
[0071] 图 4f是图 4e中上盖的示意图； [0072] 图 4g是图 4e中线轴的示意图； [0071] FIG. 4f is a schematic view of the upper cover of FIG. 4e; [0072] FIG. 4g is a schematic view of the spool of FIG. 4e;
[0073] 图 4h是图 4a中打草头的插线方式示意图；  [0073] FIG. 4h is a schematic diagram of the plugging method of the grass head in FIG. 4a;
[0074] 图 4i是图 4a中操作装置的示意图；  [0074] FIG. 4i is a schematic view of the operating device of FIG. 4a;
[0075] 图 4j是图 4a中操作装置的第一操作件和第二操作件分别处于第一预设操作状态 和第二预设操作状态的示意图；  [0075] FIG. 4j is a schematic diagram of the first operating member and the second operating member of the operating device of FIG. 4a in a first preset operating state and a second preset operating state, respectively;
[0076] 图 4k是一种操作装置的示意图；  [0076] FIG. 4k is a schematic diagram of an operating device;
[0077] 图 41是图 4k中操作装置的第二操作件位于第二位置的示意图；  [0077] FIG. 41 is a schematic view showing the second operating member of the operating device of FIG. 4k in a second position;
[0078] 图 4m是以一种断线装置的示意图；  [0078] FIG. 4m is a schematic view of a wire breaking device;
[0079] 图 5a是一种作为实施例的打草机的示意图；  [0079] FIG. 5a is a schematic view of a lawnmower as an embodiment;
[0080] 图 5b是图 5a中打草机的打草头与第一壳体的示意图；  [0080] FIG. 5b is a schematic view of the grass cutting head and the first casing of the grass cutter of FIG. 5a;
[0081] 图 5c图 5b中打草头与第一壳体分离的示意图；  [0081] FIG. 5c is a schematic view showing the separation of the grass head from the first casing in FIG. 5b;
[0082] 图 5d是图 5b中结构的爆炸图；  [0082] FIG. 5d is an exploded view of the structure of FIG. 5b;
[0083] 图 5e是图 5b中结构的另一视角的爆炸图；  [0083] FIG. 5e is an exploded view of another perspective of the structure of FIG. 5b;
[0084] 图 5f是图 5b中结构的平面图；  Figure 5f is a plan view of the structure of Figure 5b;
[0085] 图 5g是图 5冲结构沿 A-A线的剖视图；  Figure 5g is a cross-sectional view of the punching structure of Figure 5 taken along line A-A;
[0086] 图 5h是图 5d中线轴与定位件的示意图；  [0086] FIG. 5h is a schematic view of the bobbin and the positioning member of FIG. 5d;
[0087] 图 5i是图 5d中下盖的示意图；  [0087] FIG. 5i is a schematic view of the lower cover of FIG. 5d;
[0088] 图 5j是图 5f中打草头相对第一壳体向上运动后的示意图；  [0088] FIG. 5j is a schematic view of the grass head of FIG. 5f moving upward relative to the first housing;
[0089] 图 5k是图 5j中结构沿 B-B线的剖视图；  5k is a cross-sectional view of the structure of FIG. 5j taken along line B-B; [0089] FIG.
[0090] 图 51是图 5a中阻尼装置的示意图；  Figure 51 is a schematic illustration of the damping device of Figure 5a;
[0091] 图 5m是图 5c中第一壳体与驱动轴的示意图；  [0091] FIG. 5m is a schematic view of the first housing and the drive shaft of FIG. 5c;
[0092] 图 5n是图 5m中结构沿 C-C线的剖视图；  Figure 5n is a cross-sectional view of the structure of Figure 5m taken along line C-C;
[0093] 图 5ο是图 5a中阻尼装置的爆炸图；  [0093] FIG. 5o is an exploded view of the damper device of FIG. 5a;
[0094] 图 5p是图 5a中阻尼装置的止转件处于止转位置的平面图；  [0094] FIG. 5p is a plan view of the rotation stop of the damper device of FIG. 5a in a rotation stop position;
[0095] 图 5q是图 5p中结构沿 D-D线的剖视图；  5q is a cross-sectional view of the structure of FIG. 5p taken along line D-D; [0095] FIG.
[0096] 图 6a是一种打草头、 马达和阻尼装置的示意图；  [0096] FIG. 6a is a schematic view of a grass head, a motor and a damping device;
[0097] 图 7a是一种电磁铁与打草头的示意图；  [0097] FIG. 7a is a schematic view of an electromagnet and a grass head;
[0098] 图 7b是图 7a中头壳相对线轴运动后的示意图； [0099] 图 8a是一种采用拉绳移动头壳的结构的示意图； [0098] FIG. 7b is a schematic view of the head shell of FIG. 7a after moving relative to the bobbin; [0099] FIG. 8a is a schematic view of a structure for moving a head case with a drawstring;
[0100] 图 8b是图 8a中头壳相对线轴运动后的示意图；  [0100] FIG. 8b is a schematic view of the head shell of FIG. 8a after moving relative to the bobbin;
[0101] 图 8c是另一种采用拉绳移动头壳的结构的示意图；  [0101] FIG. 8c is a schematic view showing another structure for moving the head case with a drawstring;
[0102] 图 8d是图 8c中头壳相对线轴运动后的示意图；  [0102] FIG. 8d is a schematic view of the head shell of FIG. 8c after moving relative to the bobbin;
[0103] 图 9a是一种采用无刷电机的打草机的电路框图；  [0103] FIG. 9a is a circuit block diagram of a lawnmower using a brushless motor;
[0104] 图 9b是图 9a中驱动电路的示意图；  9b is a schematic diagram of the driving circuit of FIG. 9a;
[0105] 图 9c是一种采用有刷电机的打草机的电路框图；  [0105] FIG. 9c is a circuit block diagram of a lawnmower using a brush motor;
[0106] 图 10a是第二操作件设置于连杆组件的示意图；  [0106] FIG. 10a is a schematic view showing the second operating member disposed on the link assembly;
[0107] 图 10b是第二操作件设置于第一壳体的示意图；  [0107] FIG. 10b is a schematic view showing the second operating member disposed on the first housing;
[0108] 图 10c是第二操作件设置于护照的示意图；  [0108] FIG. 10c is a schematic view showing the second operating member disposed on the passport;
[0109] 图 11a是带有持线件的打草机的示意图；  [0109] FIG. 11a is a schematic view of a lawnmower with a wire holding member;
[0110] 图 l ib是图 11a中打草机的头壳与线轴分离的示意图;  [0110] FIG. 1 ib is a schematic view of the head shell of the lawn mower in FIG. 11a separated from the spool;
[0111] 图 11c是图 11a中结构的平面图；  Figure 11c is a plan view of the structure of Figure 11a;
[0112] 图 1 Id是另一种持线件的示意图；  [0112] FIG. 1 Id is a schematic view of another wire holding member;
[0113] 图 12a是打草头与一种作为附件的持线件的示意图；  [0113] FIG. 12a is a schematic view of a grass head and a wire holding member as an attachment;
[0114] 图 12b是图 12a中持线件处于工作状态的示意图；  [0114] FIG. 12b is a schematic view of the wire holding member of FIG. 12a in an operating state;
[0115] 图 12c是马达驱动线框件转动的示意图；  [0115] FIG. 12c is a schematic view showing the rotation of the motor drive wire frame member;
[0116] 图 13a是储能装置、 马达和打草头的示意图；  [0116] FIG. 13a is a schematic view of an energy storage device, a motor, and a grass head;
[0117] 图 13b是图 13a的局部放大图；  13b is a partial enlarged view of FIG. 13a;
[0118] 图 14a是一种控制打草机装线的方法的流程图；  [0118] FIG. 14a is a flow chart of a method of controlling a line loading of a lawnmower;
[0119] 图 14b是另一种控制打草机装线的方法的流程图；  [0119] FIG. 14b is a flow chart of another method of controlling the loading of a lawnmower;
[0120] 图 14c是操作打草机绕线的方法的流程图。 [0120] Figure 14c is a flow chart of a method of operating a grasser winding.
Figure imgf000009_0001
Figure imgf000009_0001
本发明的实施方式  Embodiments of the invention
[0121] 以下结合附图和具体实施例对本发明作具体的介绍。  The present invention will be specifically described below in conjunction with the drawings and specific embodiments.
[0122] 图 la至图 lc所示， 打草机 100包括打草头 110、 驱动装置 120和操作装置 130。  [0122] As shown in FIGS. la to lc, the lawnmower 100 includes a grass head 110, a driving device 120, and an operating device 130.
[0123] 打草头 110用于安装和收纳打草绳 101， 打草绳 101的部分收纳在打草头 110的内 部， 打草头 101还有一部分伸出打草头 110以用于在打草头 110旋转吋切割植被。 [0124] 驱动装置 120能驱动打草头 110绕一轴线 110a转动， 从而带动打草绳 101转动切 割植被。 操作装置 130用于供用户操作以控制打草机 100。 [0123] The grass head 110 is used for installing and accommodating the straw rope 101, and the portion of the straw rope 101 is housed inside the grass head 110, and the grass head 101 is further extended to the grass head 110 for playing. The grass head 110 rotates to cut the vegetation. [0124] The driving device 120 can drive the grass head 110 to rotate about an axis 110a, thereby driving the grass rope 101 to rotate and cut the vegetation. The operating device 130 is for the user to operate to control the lawnmower 100.
[0125] 具体而言， 驱动装置 120包括马达 121和驱动轴 122。 其中， 驱动轴 122连接至打 草头 110从而驱动打草头 110转动。  [0125] Specifically, the drive device 120 includes a motor 121 and a drive shaft 122. Wherein, the drive shaft 122 is coupled to the grass head 110 to drive the grass head 110 to rotate.
[0126] 打草机 100还包括第一壳体 150、 第二壳体 160和电池包 170。 第一壳体 150的作 用在于安装和容纳马达 121。 电池包 170作为能量来源至少为打草机 100中马达 12 1供电， 第二壳体 160用于可拆卸地适配电池包 170。  [0126] The lawnmower 100 further includes a first housing 150, a second housing 160, and a battery pack 170. The first housing 150 functions to mount and house the motor 121. The battery pack 170 serves as an energy source for powering at least the motor 12 1 of the lawnmower 100, and the second housing 160 is for detachably fitting the battery pack 170.
[0127] 第二壳体 160内还容纳有电路板， 该电路板电连接至马达 121使电池包 170为马 达 121供电并对马达 121进行控制。 连杆组件 190连接第一壳体 150和第二壳体 160 。 操作装置 130固定至连杆组件 190。 打草机 100还包括供用户握持的辅助把手 19 1， 辅助把手 191固定至连杆组件 190。  [0127] The second housing 160 also houses a circuit board electrically connected to the motor 121 to power the battery pack 170 for the motor 121 and to control the motor 121. The link assembly 190 connects the first housing 150 and the second housing 160. The operating device 130 is secured to the linkage assembly 190. The lawnmower 100 also includes an auxiliary handle 19 1 for the user to hold, and the auxiliary handle 191 is fixed to the linkage assembly 190.
[0128] 打草头 110包括线轴 111和头壳 112。 线轴 111用于缠绕打草绳 101并被容纳在头 壳 112内， 线轴 111设有内穿线孔 l l la， 该内穿线孔 111a用于固定打草绳 101或供 打草绳 101穿过。 头壳 112形成有供打草绳 101穿过的外穿线孔 112a。 作为一种实 现方式， 头壳 112包括上盖 112b和下盖 112c， 这样能使头壳 112便于与线轴 111装 配也便于用户打幵头壳 112检测头壳 112内部的情况。  [0128] The grass head 110 includes a bobbin 111 and a head case 112. The bobbin 111 is used for winding the straw cord 101 and is housed in the head casing 112, and the bobbin 111 is provided with an inner threading hole 111a for fixing the straw cord 101 or for the straw cord 101 to pass through. The head case 112 is formed with an outer threading hole 112a through which the straw 101 passes. As an implementation, the head case 112 includes an upper cover 112b and a lower cover 112c, which facilitates the assembly of the head case 112 with the bobbin 111 and facilitates the user to swipe the head case 112 to detect the inside of the head case 112.
[0129] 打草头 110还包括在头壳 112和线轴 111之间施加作用力的弹簧 113。 弹簧 113施 加使线轴 111远离下盖 112c的作用力。  [0129] The grass head 110 further includes a spring 113 that exerts a force between the head shell 112 and the spool 111. The spring 113 applies a force for moving the bobbin 111 away from the lower cover 112c.
[0130] 在用户需要补充新的打草绳 101吋， 用户可以使内穿线孔 111a和外穿线孔 112a 对齐， 然后使打草绳 101穿过外穿线孔 112a， 然后进入内穿线孔 l l la， 此吋只要 能使线轴 111和头壳 112发生相对运动， 外穿线孔 112a对打草绳 101的限位作用会 使打草绳 101随着外穿线孔 112a相对线轴 111的运动而逐渐将打草绳 101缠绕在线 轴 111上。 驱动轴 122连接至头壳 111， 其能直接带动线轴 111绕轴线 110a转动。  [0130] After the user needs to add a new straw cord 101, the user can align the inner threading hole 111a and the outer threading hole 112a, and then pass the straw rope 101 through the outer threading hole 112a, and then enter the inner threading hole 111 la, Therefore, as long as the spool 111 and the head shell 112 can move relative to each other, the limit action of the outer threading hole 112a on the straw cord 101 causes the grass cord 101 to gradually graze along with the movement of the outer threading hole 112a relative to the spool 111. The string 101 is wound around the bobbin 111. The drive shaft 122 is coupled to the head casing 111, which directly drives the spool 111 to rotate about the axis 110a.
[0131] 线轴 111和头壳 112构成转动连接， 它们之间是可以相对转动的， 同吋头壳 112 又能相对线轴 111在平行于线轴 111的轴线 110a的方向运动。  [0131] The bobbin 111 and the head casing 112 constitute a rotational connection, which are relatively rotatable therebetween, and the head casing 112 is movable relative to the bobbin 111 in a direction parallel to the axis 110a of the bobbin 111.
[0132] 如图 Id所示， 线轴 111设有第一周向结构 l l lb， 头壳 112设有第二周向结构 112d ， 线轴 111在弹簧 113作用下向上移动能使第一周向结构 111b与第二周向结构 112 d配合， 从而使线轴 111和头壳 112同步转动。 需要说明的是， 第一周向结构 111b 和第二周向结构 112d的传动面与线轴 111的轴线 110a是倾斜相交的。 [0132] As shown in FIG. 1D, the bobbin 111 is provided with a first circumferential structure 111b, and the head shell 112 is provided with a second circumferential structure 112d. The bobbin 111 is moved upward by the spring 113 to enable the first circumferential structure 111b. Cooperating with the second circumferential structure 112d, the bobbin 111 and the head shell 112 are rotated in synchronization. It should be noted that the first circumferential structure 111b The transmission surface of the second circumferential structure 112d and the axis 110a of the bobbin 111 are obliquely intersected.
[0133] 在第一周向结构 111b与第二周向结构 112d配合使线轴 111和头壳 112同步转动吋 ， 用户可以通过启动马达 121使打草机 100处于一个切割模式， 此吋如果线轴 111 尚缠绕有足够长度的打草绳 101， 则露出的头壳 112的打草绳 101将以抽打的方式 切割植被。 [0133] When the first circumferential structure 111b and the second circumferential structure 112d cooperate to rotate the bobbin 111 and the head shell 112 in synchronization, the user can put the grass cutter 100 in a cutting mode by starting the motor 121, and if the bobbin 111 If the straw rope 101 is wound enough, the exposed straw 101 of the exposed head shell 112 will cut the vegetation in a slap.
[0134] 如图 lb和图 lc所示， 打草机 100还包括阻尼装置 140， 具体而言， 阻尼装置 140 包括一个摩擦件 141。 摩擦件 141与第一壳体 150滑动连接至其能沿方向 A运动。 当摩擦件 141移动至与头壳 112接触的位置吋， 摩擦件 141因为接触摩擦使头壳 11 2具有相对线轴 111转动的趋势， 随着摩擦力的增加， 第一周向结构 111b和第二 周向结构 112d由于采用斜面传动， 头壳 112受到的沿轴线 110a的方向的分力足以 克服弹簧 113的弹力从而使头壳 112向上移动从而使第一周向结构 111b和第二周 向结构 112d脱幵， 使线轴 111和头壳 112产生相对转动从而使打草机 100具有一个 自动装线模式， 在该模式下， 在马达 121的驱动下和摩擦件 141的作用下， 线轴 1 11和头壳 112产生相对转动从而实现自动装线功能。  [0134] As shown in FIGS. 1b and 1c, the lawnmower 100 further includes a damping device 140. Specifically, the damping device 140 includes a friction member 141. The friction member 141 is slidably coupled to the first housing 150 to be movable in the direction A. When the friction member 141 is moved to a position 接触 in contact with the head case 112, the friction member 141 has a tendency to rotate relative to the bobbin 111 due to contact friction, and the first circumferential structure 111b and the second as the frictional force increases Since the circumferential structure 112d is driven by the ramp, the component of the head shell 112 in the direction of the axis 110a is sufficient to overcome the spring force of the spring 113 to move the head shell 112 upward so that the first circumferential structure 111b and the second circumferential structure 112d Disengaging, the spool 111 and the head shell 112 are relatively rotated to cause the lawnmower 100 to have an automatic loading mode in which the spool 1 11 and the head are driven by the motor 121 and the friction member 141. The shell 112 is rotated relative to each other to achieve an automatic wire loading function.
[0135] 当然， 在线轴 111缠绕有足够的打草绳 101且露出头壳 112的部分不足以切割植 被吋， 使线轴 111和头壳 112产生相对转动也可以用来实现自动放线。  [0135] Of course, the bobbin 111 is wound with enough straw cord 101 and the portion exposing the head shell 112 is insufficient to cut the planthopper, so that the relative rotation of the bobbin 111 and the head shell 112 can also be used for automatic pay-off.
[0136] 在本方案中， 摩擦件 141的作用是对头壳 112产生阻尼作用从而使头壳 112的转 动减缓， 从而产生与线轴 111的相对转动。 用户可以通过直接或间接的操作摩擦 件 141实现割草机 100的切割模式和自动装线模式， 当然， 用户可以先是摩擦件 1 41处于所需模式的对应状态然后在启动马达 121。  [0136] In the present embodiment, the friction member 141 functions to dampen the head case 112 to slow the rotation of the head case 112, thereby generating relative rotation with the bobbin 111. The user can implement the cutting mode and the automatic loading mode of the lawn mower 100 by directly or indirectly operating the friction member 141. Of course, the user can first place the friction member 1 41 in the corresponding state of the desired mode and then start the motor 121.
[0137] 如图 2a至图 2b所示， 作为另一种实施例方式， 打草头 210与打草头 110类似包括 线轴 211和头壳 212; 线轴 211和头壳 212与图 1至图 3所示的线轴 111和头壳 112类 似； 头壳 212包括上盖 212a和下盖 212b。  [0137] As shown in FIG. 2a to FIG. 2b, as another embodiment, the grass head 210 similar to the grass head 110 includes a bobbin 211 and a head shell 212; the bobbin 211 and the head shell 212 and FIGS. 1 to 3 The illustrated spool 111 is similar to the head housing 112; the head housing 212 includes an upper cover 212a and a lower cover 212b.
[0138] 区别在于， 图 2a至图 2b所示的方案中的阻尼装置 240包括一个止挡销 241， 止挡 销 241用于阻止头壳 212的转动。 头壳 212形成有与止挡销 241配合的止挡槽 212c。 具体而言， 止挡槽 212c设置于上盖 212a。 在自动装线模式吋， 止挡销 241嵌入与 止挡槽 212c配合， 使头壳 212相对整个打草机的转动被彻底阻止。 如前所述的原 理， 线轴 211和头壳 212相对转动可以实现自动装线功能。 [0139] 止挡销 241的作用也在于阻尼头壳 212的转动， 区别在于， 摩擦件 141的阻尼作 用是减缓运动趋势， 而止动销 241的阻尼作用则是限制位移， 将减缓运动趋势和 限制位移均定义为阻尼； 摩擦件 141和止挡销 241均可以认为是一种阻尼件。 [0138] The difference is that the damper device 240 in the embodiment shown in FIGS. 2a to 2b includes a stopper pin 241 for preventing the rotation of the head case 212. The head case 212 is formed with a stopper groove 212c that engages with the stopper pin 241. Specifically, the stopper groove 212c is provided in the upper cover 212a. In the automatic loading mode, the stop pin 241 is fitted into the stopper groove 212c so that the rotation of the head casing 212 with respect to the entire lawn mower is completely prevented. According to the principle as described above, the relative rotation of the bobbin 211 and the head shell 212 can realize the automatic loading function. [0139] The stopper pin 241 also functions to dampen the rotation of the head case 212, except that the damping effect of the friction member 141 is to slow down the movement tendency, and the damping effect of the stopper pin 241 is to limit the displacement, which will slow down the movement tendency and limit. The displacement is defined as damping; both the friction member 141 and the stop pin 241 can be considered as a damping member.
[0140] 如图 3a和图 3b所示的实施例中， 打草头 310能被驱动绕轴线 310a转动， 具体地 ， 打草头 310包括线轴 311和头壳 312。 头壳 312形成有供打草绳穿过的外穿线孔 3 12a， 线轴 311形成有内穿线孔 31 la。  [0140] In the embodiment shown in FIGS. 3a and 3b, the grass head 310 can be driven to rotate about the axis 310a. Specifically, the grass head 310 includes a bobbin 311 and a head shell 312. The head case 312 is formed with an outer threading hole 3 12a through which the grass rope passes, and the bobbin 311 is formed with an inner threading hole 31 la.
[0141] 在该实施例中还设有一个单向轴承 340和一个转动支承件 350; 其中， 单向轴承 340能使它所连接的两个零件或部分仅能在一个旋向上相对转动， 而在另一个旋 向上是无法相对转动的。 转动支承件 350的作用在于可转动地连接打草头 310中 的一部分并对其转动构成支承， 转动支撑件 350可以是打草机中容纳马达的第一 壳体也可以是其他与第一壳体固定连接的部件， 比如打草护罩。  [0141] In this embodiment, a one-way bearing 340 and a rotating support member 350 are further provided; wherein the one-way bearing 340 enables the two parts or parts to which it is connected to rotate relative to each other only in one rotation direction, In the other direction of rotation, it is impossible to rotate relative to each other. The rotation support member 350 functions to rotatably connect and rotate a part of the grass head 310, and the rotation support member 350 may be a first housing for accommodating the motor in the lawnmower or other first and first shells. A body-attached component, such as a grass cover.
[0142] 更具体而言， 单向轴承 340设置在转动支承件 350和头壳 312之间使它们构成单 向的转动连接， 即以转动支承件 350作为参照物吋， 头壳 312能向其中一个旋向 转动而不能向另一个旋向转动。  More specifically, the one-way bearing 340 is disposed between the rotation support member 350 and the head case 312 such that they constitute a one-way rotational connection, that is, with the rotation support member 350 as a reference object, the head case 312 can be One rotation rotates and cannot rotate toward the other.
[0143] 驱动轴 322止转地连接至线轴 311以使线轴 311能相对转动支撑件 350双向转动， 既以转动支承件 350作为参照物吋， 线轴 311既能正转也能反转。  The drive shaft 322 is coupled to the bobbin 311 in a rotationally fixed manner to enable the bobbin 311 to be bi-directionally rotated relative to the rotary support member 350. With the rotary support member 350 as a reference object, the bobbin 311 can be rotated forward or reversed.
[0144] 与前述类似， 线轴 311形成有第一周向传动结构 311a， 头壳 312形成有能与第一 周向传动结构 311a配合的第二周向传动结构 312a， 区别在于， 第一周向传动结构 311a和第二周向传动结构 312a的能实现传动的传动面中的至少一个是平行于轴线 310a的， 这使得它们在向某一旋向的转动吋是无法脱幵配合的。  [0144] Similar to the foregoing, the bobbin 311 is formed with a first circumferential transmission structure 311a, and the head housing 312 is formed with a second circumferential transmission structure 312a that can cooperate with the first circumferential transmission structure 311a, with the difference that the first circumferential direction At least one of the transmission-implementing transmission surfaces of the transmission structure 311a and the second circumferential transmission structure 312a is parallel to the axis 310a such that they cannot be disengaged in a rotational direction to a certain direction of rotation.
[0145] 基于以上的硬件， 可使马达 （图未示） 正转吋， 驱动轴 322带动线轴 311正转， 此吋第一周向传动结构 311a和第二周向传动结构 312a通过平行于轴线 310a的传动 面实现扭矩传动， 同吋设置单向周向 340使头壳 312能相对转动支承件 350 (即相 对打草机整体） 是可以正转的。 那么此吋， 线轴 311和头壳 312同步转动， 打草 机可以执行切割模式。 当在马达反转吋， 驱动轴 322带动线轴 311反转， 而头壳 3 12因为单向轴承 340阻止其反转而使线轴 311和头壳 312产生相对运动， 此吋第一 周向传动结构 311a和第二周向传动结构 312a脱幵配合则因为接触面为斜面的原因 ， 第一周向传动结构 311a和第二周向传动结构 312a并不能彻底阻碍线轴 311和头 壳 312的相对运动， 所以此吋线轴 311和头壳 312能连续的产生相对转动， 从而使 打草机可以执行自动装线模式。 [0145] Based on the above hardware, the motor (not shown) can be rotated forward, and the drive shaft 322 drives the bobbin 311 to rotate forward, and then the first circumferential transmission structure 311a and the second circumferential transmission structure 312a pass parallel to the axis. The drive face of 310a achieves torque transmission, while the one-way circumferential direction 340 is provided to enable the head housing 312 to be relatively rotatable relative to the rotating support member 350 (i.e., relative to the overall trimmer). Then, the bobbin 311 and the head shell 312 rotate synchronously, and the grass cutter can perform the cutting mode. When the motor is reversed, the drive shaft 322 drives the spool 311 to reverse, and the head shell 312 causes the spool 311 and the head shell 312 to move relative to each other because the one-way bearing 340 prevents the reverse rotation thereof, and the first circumferential transmission structure The first circumferential transmission structure 311a and the second circumferential transmission structure 312a cannot completely obstruct the bobbin 311 and the head because the contact surface is a slope because the contact surface is a beveled surface. The relative movement of the casing 312 allows the winding shaft 311 and the head casing 312 to continuously rotate relative to each other, thereby enabling the lawnmower to perform the automatic loading mode.
[0146] 单向轴承 340的作用与前述实施例中的止动销 241类似， 就是止转头壳 312的转 动， 所以单向轴承 340也可以认为是一种阻尼装置； 区别在于， 在前述的两个实 施例中， 都需要操作或触发作为阻尼件的摩擦件 141和止动销 241， 而在本实施 例中， 单向轴承 340的阻尼作用只需改变马达的驱动方向， 这无疑简化触发自动 装线模式的机械结构， 而是利用更简单的正反转控制来实现自动装线模式和切 割模式。 [0146] The function of the one-way bearing 340 is similar to that of the stopper pin 241 in the foregoing embodiment, that is, the rotation of the rotor housing 312, so that the one-way bearing 340 can also be considered as a damping device; the difference is that in the foregoing two In one embodiment, it is necessary to operate or trigger the friction member 141 and the stopper pin 241 as damping members, and in the present embodiment, the damping effect of the one-way bearing 340 only needs to change the driving direction of the motor, which undoubtedly simplifies the triggering automatic loading. The mechanical structure of the line mode, but the simpler positive and negative control to achieve the automatic loading mode and cutting mode.
[0147] 如图 4a至图 4c所示， 打草机 400包括打草头 410、 驱动装置 420和操作装置 430。  [0147] As shown in FIGS. 4a to 4c, the lawnmower 400 includes a grass head 410, a driving device 420, and an operating device 430.
[0148] 打草头 410用于安装和收纳打草绳 401， 打草绳 401的部分收纳在打草头 410的内 部， 打草头 401还有一部分伸出打草头 410以用于在打草头 410旋转吋切割植被。 [0148] The grass head 410 is used for installing and accommodating the straw rope 401, and the portion of the straw rope 401 is housed inside the grass head 410, and the grass head 401 is further extended by the grass head 410 for playing. The grass head 410 rotates to cut the vegetation.
[0149] 驱动装置 420能驱动打草头 410绕一轴线 410a转动， 从而带动打草绳 401转动切 割植被。 操作装置 430用于供用户操作以控制打草机 400。 [0149] The driving device 420 can drive the grass head 410 to rotate about an axis 410a, thereby driving the grass rope 401 to rotate and cut the vegetation. The operating device 430 is for user operation to control the lawnmower 400.
[0150] 具体而言， 驱动装置 420包括马达 421和驱动轴 422。 其中， 驱动轴 422止转连接 至打草头 410从而驱动打草头 410转动。 [0150] Specifically, the driving device 420 includes a motor 421 and a drive shaft 422. Wherein, the drive shaft 422 is non-rotatably coupled to the grass head 410 to drive the grass head 410 to rotate.
[0151] 打草机 100还包括第一壳体 450、 第二壳体 460和电池包 470。 第一壳体 450的作 用在于安装和容纳马达 421。 电池包 470作为能量来源至少为打草机 400中马达 42The lawnmower 100 further includes a first housing 450, a second housing 460, and a battery pack 470. The first housing 450 functions to mount and house the motor 421. Battery pack 470 as a source of energy is at least the motor in the grass cutter 400
1供电， 第二壳体 460用于可拆卸地适配电池包 470。 1 power supply, the second housing 460 is for detachably adapting the battery pack 470.
[0152] 第二壳体 460内还容纳有电路板， 该电路板电连接至马达 421使电池包 470为马 达 421供电并对马达 421进行控制。 连杆组件 490连接第一壳体 450和第二壳体 460[0152] A second circuit board 460 further houses a circuit board electrically connected to the motor 421 to power the battery pack 470 for the motor 421 and to control the motor 421. The link assembly 490 connects the first housing 450 and the second housing 460
。 操作装置 130固定至连杆组件 490。 打草机 400还包括供用户握持的辅助把手 49. The operating device 130 is secured to the linkage assembly 490. The lawnmower 400 also includes an auxiliary handle for the user to hold 49
1， 辅助把手 491固定至连杆组件 490。 1. The auxiliary handle 491 is fixed to the link assembly 490.
[0153] 打草绳 401安装至打草头 410。 护罩 480用于实现安全防护的作用， 防止打草绳 4[0153] The grass rope 401 is attached to the grass head 410. Shield 480 is used for safety protection to prevent grass ropes 4
01对用户造成伤害。 01 causes damage to the user.
[0154] 如图 4c至图 4h所示， 打草头 410包括线轴 411和头壳 412。 [0154] As shown in FIGS. 4c to 4h, the grass head 410 includes a bobbin 411 and a head shell 412.
[0155] 线轴 411用于缠绕打草绳 401并连至驱动轴 422从而能被驱动轴 422驱动绕轴线 41 0a转动。  [0155] The bobbin 411 is used to wrap the grass rope 401 and is coupled to the drive shaft 422 so as to be rotatable about the axis 41 0a by the drive shaft 422.
[0156] 头壳 412包括上盖 412a和下盖 412b。 打草头 410还包括： 风扇 412c。 风扇 412c形 成有用于产生气流的扇叶。 马达 421能够驱动风扇 412c转动以产生气流。 [0156] The head case 412 includes an upper cover 412a and a lower cover 412b. The grass head 410 further includes: a fan 412c. Fan 412c shape There are blades for generating airflow. Motor 421 can drive fan 412c to rotate to create an air flow.
[0157] 在图 4a至图 4c所示的方案中还设有一个作为阻尼装置的单向轴承 440， 单向轴 承 440的作用是使头壳 412与马达 421构成单向的转动连接。 具体而言， 设置有一 个支承件 452， 该支承件 452与马达 421并能使驱动轴 422穿过， 其形成有一个凸 台部 452a以支承单向轴承 440的内圈。 单向轴承 440并没有直接连接至头壳 412而 是设置在支承件 452与风扇 412c之间， 使风扇 412c相对支承件 452仅能单向的相对 转动， 又由于风扇 412c与头壳 412构成止转连接， 所以头壳 412相对支承件 452也 仅能单向的转动。 [0157] A one-way bearing 440 is provided as a damping device in the arrangement shown in FIGS. 4a to 4c. The function of the one-way bearing 440 is to make the head housing 412 and the motor 421 form a one-way rotational connection. Specifically, a support member 452 is provided which is coupled to the motor 421 and enables the drive shaft 422 to pass therethrough, and is formed with a boss portion 452a for supporting the inner ring of the one-way bearing 440. The one-way bearing 440 is not directly connected to the head case 412 but is disposed between the support member 452 and the fan 412c, so that the fan 412c can only rotate in a one-way relative direction with respect to the support member 452, and the fan 412c and the head case 412 are formed. The connection is made so that the head shell 412 can only rotate in one direction with respect to the support member 452.
[0158] 上盖 412a形成有第一连接齿 412d， 风扇 412c形成有与第一连接齿 412d的第二连 接齿 412e， 第一连接齿 412d与第二连接齿 412e配合实现上盖 412a和风扇 412c的同 步转动。 第一连接齿 412d与第二连接齿 412e相互配合的导向作用能使头壳 412能 够相对于风扇 412c沿轴线 410a滑动， 并且使风扇 412c能随头壳 412绕轴线 410a转 动， 即风扇 412c与头壳 412构成止转连接。  [0158] The upper cover 412a is formed with a first connecting tooth 412d, and the fan 412c is formed with a second connecting tooth 412e with the first connecting tooth 412d. The first connecting tooth 412d and the second connecting tooth 412e cooperate to realize the upper cover 412a and the fan 412c. Synchronous rotation. The guiding action of the first connecting tooth 412d and the second connecting tooth 412e cooperate to enable the head shell 412 to slide along the axis 410a with respect to the fan 412c, and to enable the fan 412c to rotate with the head shell 412 about the axis 410a, that is, the fan 412c and the head The housing 412 constitutes a non-rotation connection.
[0159] 打草机 400还包括保护罩 451。 保护罩 451固定至第一壳体 450。 保护罩 451至少 在轴线 410a的径向上覆盖风扇 412c的扇叶以起到防止草屑缠绕风扇 412c。 并且保 护罩 451改变了风扇 412c的气流流动方向， 使得风扇 412c产生的气流能够沿轴线 4 10a的径向向外吹出草屑。  [0159] The lawnmower 400 further includes a protective cover 451. The protective cover 451 is fixed to the first housing 450. The protective cover 451 covers the blade of the fan 412c at least in the radial direction of the axis 410a to prevent the grass from being wound around the fan 412c. And the shield 451 changes the flow direction of the airflow of the fan 412c so that the airflow generated by the fan 412c can blow the grass clippings radially outward of the axis 4 10a.
[0160] 驱动轴 422直接驱动线轴 411转动， 头壳 412相对线轴 411既可以发生相对转动， 头壳 412也可以相对线轴 411产生在轴向 （即轴线 410a的方向） 相对滑动。  [0160] The drive shaft 422 directly drives the bobbin 411 to rotate, and the head shell 412 can be relatively rotated with respect to the bobbin 411, and the head shell 412 can also be relatively slid relative to the bobbin 411 in the axial direction (ie, the direction of the axis 410a).
[0161] 如图 4d至图 4g所示。 线轴 411上部形成有第一啮合齿 41 la， 下部形成有第二啮 合齿 411b。 头壳 412内形成有第一配合齿 412f和第二配合齿 412g。 具体而言， 第 一配合齿 412f形成于上盖 412a， 第二配合齿 412g形成于下盖 412b。  [0161] As shown in FIGS. 4d to 4g. The upper portion of the bobbin 411 is formed with a first engaging tooth 41 la, and the lower portion is formed with a second engaging tooth 411b. A first mating tooth 412f and a second mating tooth 412g are formed in the head shell 412. Specifically, the first mating teeth 412f are formed on the upper cover 412a, and the second mating teeth 412g are formed on the lower cover 412b.
[0162] 在头壳 412处于相对于线轴 411的第一轴向位置吋， 第一配合齿 410f和第一啮合 齿 411b配合， 使线轴 411转动吋能够带动头壳 412同步转动。 具体而言， 由于第 一啮合齿 41 lb和第一配合齿 410f的传动面的设计， 使得第一啮合齿 41 lb和第一配 合齿 410f仅能单向传动， 而在以相反的方向相对转动吋， 由于斜面而打滑使得线 轴 411和头壳 412可以持续的相对转动。  [0162] In the first axial position 相对 relative to the bobbin 411, the first mating tooth 410f and the first engaging tooth 411b cooperate to rotate the bobbin 411 to drive the head shell 412 to rotate synchronously. Specifically, due to the design of the transmission surfaces of the first engaging teeth 41 lb and the first mating teeth 410f, the first engaging teeth 41 lb and the first mating teeth 410f can be driven only in one direction and relatively in opposite directions. That is, the slip due to the slope causes the bobbin 411 and the head shell 412 to continue to rotate relative to each other.
[0163] 第二啮合齿 41 la和第二配合齿 412g在头壳 412处于相对于线轴 411的第二轴向位 置吋能够构成配合， 由于第二啮合齿 41 la和第二配合齿 412g传动面采用斜面的设 计， 第二啮合齿 411a和第二配合齿 412g之间会出现打滑， 所以在头壳 412处于相 对于线轴 411的第二轴向位置吋， 头壳 412并不能被线轴 411完全的带动， 头壳 41 2还是会相对线轴 411转动， 只是相对转动的转速差被第二啮合齿 411a和第二配合 齿 412g的配合降低。 [0163] The second engaging teeth 41 la and the second mating teeth 412 g are in the second axial position with respect to the bobbin 411 at the head shell 412 The positioning of the second engaging tooth 41 la and the second engaging tooth 412g is inclined, and the second engaging tooth 411a and the second engaging tooth 412g may be slipped, so the head housing 412 is opposite. In the second axial position 线 of the bobbin 411, the head shell 412 is not fully driven by the bobbin 411, and the head shell 41 2 is still rotated relative to the bobbin 411, except that the relative rotational speed difference is matched by the second meshing teeth 411a and the second mating The fit of the teeth 412g is reduced.
[0164] 打草头 410还包括弹簧 410b， 弹簧 410b在下盖 412b和线轴 411之间施加作用力使 头壳 412被偏压向与线轴 411同步转动的轴向位置， 即以上所介绍的头壳 412处于 相对于线轴 411的第一轴向位置。  [0164] The grass head 410 further includes a spring 410b that applies a force between the lower cover 412b and the bobbin 411 to bias the head shell 412 to an axial position that rotates in synchronization with the bobbin 411, that is, the head shell described above. The 412 is in a first axial position relative to the spool 411.
[0165] 打草头 410还包括第一接触件 410c和第二接触件 410d。 弹簧 410b设置在第一接 触件 410d和第二接触件 410e之间。 弹簧 410b可以直接作用于第一接触件 410c和第 二接触件 410d。 第一接触件 410c和第二接触件 410d能够避免弹簧 410b对线轴 411 和头壳 412的磨损。 第一接触件 410d和第二接触件 410e为金属件。  [0165] The grass head 410 further includes a first contact 410c and a second contact 410d. The spring 410b is disposed between the first contact 410d and the second contact 410e. The spring 410b can directly act on the first contact 410c and the second contact 410d. The first contact 410c and the second contact 410d are capable of avoiding wear of the spring 410b against the bobbin 411 and the head case 412. The first contact 410d and the second contact 410e are metal members.
[0166] 打草头 410还包括敲击帽 410e， 敲击帽 410e转动连接至下盖 412b， 敲击帽 410e 和下盖 412b之间设有轴承 410f， 使敲击帽 410e和下盖 412b之间可以相对转动， 同 吋， 敲击帽 410e和下盖 412b在轴线 410a的方向上是同步运动， 也就是说改变敲击 帽 410e的位置， 下盖 412b也能随着一同运动， 即头壳 412会因为敲击敲击帽 410e 而改变轴向位置。  [0166] The grass head 410 further includes a knocking cap 410e, the knocking cap 410e is rotatably coupled to the lower cover 412b, and a bearing 410f is disposed between the knocking cap 410e and the lower cover 412b to enable the knocking cap 410e and the lower cover 412b. The relative rotation is possible. Similarly, the knocking cap 410e and the lower cover 412b are synchronously moved in the direction of the axis 410a, that is, the position of the knocking cap 410e is changed, and the lower cover 412b can also move together, that is, the head shell. 412 will change the axial position by tapping the tapping cap 410e.
[0167] 打草机 400在执行切割模式吋， 用户敲击打草头 410， 敲击帽 410e与地面接触促 使头壳 412滑动至使第一啮合齿 411b和第一配合齿 410f脱幵配合的位置， 从而使 它们发生相对转动， 更进一步地， 敲击使头壳 412滑动至相对于线轴 411的第二 轴向位置， 从而使头壳 412以较低的相对转速相对线轴 411转动， 从而使缠绕在 线轴 411上打草绳 401释放一部分至头壳 412之外， 使打草机 400执行一个放线模 式。 这样的好处在于， 在马达 421仍以切割模式下的转速转动吋， 头壳 412和线 轴 411相对转动的速度得到控制， 使用户能在每次敲击吋不至于放出过量的打草 绳 401。  [0167] When the lawnmower 400 performs the cutting mode, the user strikes the grass head 410, and the tapping cap 410e contacts the ground to cause the head shell 412 to slide to disengage the first engaging teeth 411b and the first mating teeth 410f. Positioning, thereby causing them to rotate relative to each other, and further, tapping causes the head shell 412 to slide to a second axial position relative to the bobbin 411, thereby causing the head shell 412 to rotate relative to the bobbin 411 at a relatively low relative rotational speed, thereby The grass cord 401 is wound on the bobbin 411 to release a portion of the straw 401 out of the head casing 412, causing the lawnmower 400 to perform a pay-off mode. This has the advantage that, while the motor 421 is still rotating at the rotational speed in the cutting mode, the relative rotational speed of the head housing 412 and the spool 411 is controlled so that the user can not release an excessive amount of the straw 401 at each stroke.
[0168] 敲击帽 410e在轴承 410f的作用下能相对于下盖 412b自由转动， 减小打草头 410 的磨损。 弹簧 410b对头壳 412施加作用力使头壳 412相对于线轴 411向下运动。 上 盖 412a和线轴 411之间设有用于减缓上盖 412a和线轴 411之间冲击的减震件 410g。 具体而言， 减震件 410g为橡胶垫圈。 [0168] The knocking cap 410e is freely rotatable relative to the lower cover 412b under the action of the bearing 410f, reducing wear of the grass head 410. The spring 410b applies a force to the head shell 412 to move the head shell 412 downward relative to the spool 411. A shock absorbing member 410g for mitigating an impact between the upper cover 412a and the bobbin 411 is provided between the upper cover 412a and the bobbin 411. Specifically, the shock absorbing member 410g is a rubber gasket.
[0169] 线轴 411形成有用于固定打草绳 401的内穿线孔 411c。 头壳 412形成有使打草绳 4 01从头壳 412的内部穿出至头壳 412外部的外穿线孔 412h。 在切割模式结束吋， 外穿线孔 412h与内穿线孔 411c在周向上自动对齐。 或者在， 打草头 410未安装打 草绳 401， 马达 421停止吋， 外穿线孔 412h与内穿线孔 411c在周向上自动对齐。  [0169] The bobbin 411 is formed with an inner threading hole 411c for fixing the straw cord 401. The head case 412 is formed with an outer threading hole 412h through which the grass rope 4 01 is passed from the inside of the head case 412 to the outside of the head case 412. At the end of the cutting mode, the outer threading hole 412h and the inner threading hole 411c are automatically aligned in the circumferential direction. Alternatively, the grass head 410 is not installed with the straw 401, the motor 421 is stopped, and the outer threading hole 412h and the inner threading hole 411c are automatically aligned in the circumferential direction.
[0170] 线轴 411形成有多个内穿线孔 411c， 内穿线孔 411c的数量为偶数。 多个内穿线 孔 411c在线轴 411的轴线 410a的周向上均匀分布。 具体而言， 第一啮合齿 411a的 数量与内穿线孔 411c的数量对应。 同样， 第二啮合齿 411b的数量与内穿线孔 411c 的数量对应。 线轴 411形成有 6个内穿线孔 411c。 线轴 411形成有 6个第一啮合齿 41 la和 6个第二啮合齿 41 lb。  [0170] The bobbin 411 is formed with a plurality of inner threading holes 411c, and the number of the inner threading holes 411c is an even number. The plurality of inner threading holes 411c are evenly distributed in the circumferential direction of the axis 410a of the bobbin 411. Specifically, the number of the first meshing teeth 411a corresponds to the number of the inner threading holes 411c. Also, the number of the second meshing teeth 411b corresponds to the number of the inner threading holes 411c. The bobbin 411 is formed with six inner threading holes 411c. The bobbin 411 is formed with six first meshing teeth 41 la and six second meshing teeth 41 lb.
[0171] 线轴 411形成有引导幵口 411d， 以引导打草绳 401进入内穿线孔 411c， 引导幵口 411d沿线轴 411的转动轴线的径向逐渐扩大。 第一啮合齿 41 la形成有斜面。  The bobbin 411 is formed with a guiding jaw 411d for guiding the grassing cord 401 into the inner threading hole 411c, and the guiding jaw 411d is gradually enlarged in the radial direction of the rotation axis of the bobbin 411. The first engaging teeth 41 la are formed with a slope.
[0172] 引导幵口 411d在轴线 410a的周向上的最大尺寸 L1大于相连两个第一啮合齿在轴 线 410a的周向上的最大尺寸 L2。  [0172] The maximum dimension L1 of the guiding jaw 411d in the circumferential direction of the axis 410a is larger than the maximum dimension L2 of the two first engaging teeth in the circumferential direction of the axis 410a.
[0173] 在割草机 400执行切割模式吋， 第一啮合齿 41 la和第一配合齿 412f的传动面的 设置使得在马达 421停止吋， 外穿线孔 412h与内穿线孔 41 lc在周向上自动对齐。 这里所指的对齐是指穿过外穿线孔 412h的打草绳 401能被直接地导引进入内穿线 孔 411c。  [0173] When the lawn mower 400 performs the cutting mode, the transmission surfaces of the first engaging teeth 41 la and the first engaging teeth 412f are disposed such that the outer threading hole 412h and the inner threading hole 41 lc are circumferentially stopped when the motor 421 is stopped. Automatic alignment. The alignment referred to herein means that the straw rope 401 passing through the outer threading hole 412h can be directly guided into the inner threading hole 411c.
[0174] 线轴 411的两端分别形成有第一法兰 41 le和第二法兰 41 lf。 线轴 411的中部形成 有分隔板 411g。 第一法兰 41 le和分隔板 41 lg之间形成有用于缠绕并容纳打草绳 40 1的第一缠绕部； 第二法兰 41 If和分隔板 41 lg之间形成有用于缠绕并容纳打草绳 4 01的第二缠绕部。  [0174] Both ends of the bobbin 411 are respectively formed with a first flange 41 le and a second flange 41 lf. A partition plate 411g is formed in the middle of the bobbin 411. A first winding portion for winding and accommodating the straw rope 40 1 is formed between the first flange 41 le and the partitioning plate 41 lg; a second flange 41 If and the partitioning plate 41 lg are formed for winding and The second winding portion of the straw cord 4 01 is accommodated.
[0175] 在切割模式吋， 驱动轴 422转动带动线轴 411转动， 线轴 411带动上盖 412a转动 。 由上盖 412a带动风扇 412c转动。 单向轴承 440的作用下， 风扇 412c能相对于第 二壳体 460沿第一方向转动 （参考图 4b中箭头 B所示的方向） 。 此吋马达 421正向 转动带动线轴 411、 头壳 412均沿第一方向转动。  [0175] In the cutting mode 吋, the driving shaft 422 rotates to drive the bobbin 411 to rotate, and the bobbin 411 drives the upper cover 412a to rotate. The fan 412c is rotated by the upper cover 412a. Under the action of the one-way bearing 440, the fan 412c is rotatable relative to the second housing 460 in the first direction (refer to the direction indicated by arrow B in Fig. 4b). The motor 421 is rotated in the forward direction to drive the bobbin 411, and the head shell 412 is rotated in the first direction.
[0176] 在用户需要补充打草绳 401吋， 参考图 4h所示， 用户可以将一根打草绳 401的两 端分别穿过头壳 412的两个相对的外穿线孔 412h， 然后打草绳 401的两端分别伸 入至线轴 411两个相对的内穿线孔 411c。 当然用户也可以将两根打草绳 401分别插 入至两个内穿线孔 411c中。 此吋用户控制打草机 400使打草机 400执行自动装线模 式。 马达 421反向转动带动线轴 411沿于第一方向相反的第二方向转动， 由于单 向轴承 440的止转作用， 风扇 412c不能沿第二反向转动， 风扇 412c与头壳 412之间 通过第一连接齿 412d和第二连接齿 412d实现连接， 即头壳 412不能向第二方向转 动， 绕线轴 411在驱动轴 422的带动下相对于头壳 412沿第二方向转动实现自动装 线。 [0176] When the user needs to replenish the straw 401, as shown in FIG. 4h, the user can pass the two ends of a straw 401 through the two opposite outer threading holes 412h of the head casing 412, and then play the straw rope. The ends of the 401 are respectively extended Into the bobbin 411 two opposite inner threading holes 411c. Of course, the user can also insert two straw ropes 401 into the two inner threading holes 411c. The user controls the lawnmower 400 to cause the lawnmower 400 to perform the automatic loading mode. The reverse rotation of the motor 421 drives the bobbin 411 to rotate in a second direction opposite to the first direction. Due to the anti-rotation of the one-way bearing 440, the fan 412c cannot rotate in the second reverse direction, and the fan 412c and the head shell 412 pass through A connecting tooth 412d and a second connecting tooth 412d are connected, that is, the head case 412 cannot be rotated in the second direction, and the bobbin 411 is rotated in the second direction with respect to the head case 412 by the driving shaft 422 to realize automatic wire loading.
[0177] 另外头壳 412与线轴 411直接的第一啮合齿 411a、 第二啮合齿 41 lb与第一配合齿  [0177] Further, the first housing 412 and the first engaging teeth 411a of the bobbin 411, the second engaging teeth 41 lb and the first mating teeth
410f、 第二配合齿 410g为斜齿， 斜齿的斜面并不能阻止线轴 411能够相对于头壳 4 12相对转动。  410f, the second mating tooth 410g is a helical tooth, and the inclined surface of the helical tooth does not prevent the spool 411 from rotating relative to the head shell 412.
[0178] 在线轴 411已经缠绕有足够多的打草绳 401吋， 用户需要切断尚未缠绕的过长的 打草绳 401。 如图 4a和图 4h所示， 打草机 400还包括断线装置 481。 断线装置 481在 自动装线模式吋自动地切断打草绳 401。  [0178] The bobbin 411 has been wound with enough straw ropes 401吋, and the user needs to cut off the long straw rope 401 that has not been wound. As shown in Figures 4a and 4h, the lawnmower 400 also includes a wire breaking device 481. The wire breaking device 481 automatically cuts the grass rope 401 in the automatic wire loading mode.
[0179] 断线装置 481包括断线元件 482， 打草头 410能相对于断线元件 482转动。 断线元 件 482固定至护罩 480。 使打草绳 401在自动装线模式吋能被打草头 410带动着经 过断线元件 482， 打草绳 401张紧后被断线元件 482切断。 在处于切割模式或者处 于放线模式吋， 断线元件 482能够将打草绳 401打断， 打草绳 401的中部被打断， 变为两段打草绳 401。  [0179] The wire breaking device 481 includes a wire breaking member 482 that is rotatable relative to the wire breaking member 482. The wire break component 482 is secured to the shield 480. The grass rope 401 can be driven by the grass head 410 in the automatic loading mode to pass through the wire breaking element 482, and the grass rope 401 is tensioned and then cut by the wire breaking element 482. When in the cutting mode or in the payout mode, the thread breaking member 482 can interrupt the grass rope 401, and the middle portion of the straw rope 401 is broken to become two straw ropes 401.
[0180] 当然， 可以直接在打草绳 401绷紧在头壳 412外侧吋采用敲击的方式敲断打草绳  [0180] Of course, the straw rope 401 can be directly tightened on the outer side of the head shell 412, and the straw rope can be broken by tapping.
401。  401.
[0181] 如图 4i和 4j所示， 操作装置 430包括： 第一操作件 431和第二操作件 432。 第一操 作件 431具有初始状态和第一预设操作状态。 第二操作件 432具有初始状态和第 二预设操作状态。 图 4i第一操作件 431和第二操作件 431处于初始状态。 图 4j第一 操作件处于第一预设操作状态。 第二操作件 432处于第二预设操作状态。 在第一 操作件 431和第二操作件 432分别处于第一预设操作状态和第二预设操作状态吋 打草机 400能启动自动装线模式。  [0181] As shown in FIGS. 4i and 4j, the operating device 430 includes: a first operating member 431 and a second operating member 432. The first operating member 431 has an initial state and a first preset operating state. The second operating member 432 has an initial state and a second preset operating state. The first operating member 431 and the second operating member 431 of Fig. 4i are in an initial state. The first operating member of Figure 4j is in a first predetermined operational state. The second operating member 432 is in the second preset operating state. When the first operating member 431 and the second operating member 432 are in the first preset operating state and the second preset operating state, respectively, the lawnmower 400 can activate the automatic loading mode.
[0182] 操作装置 430包括： 第一复位组件 433和第二复位组件 434。 第一复位组件 433在 用户不操作第一操作件 431吋使第一操作件 431脱离第一预设状态。 第二复位组 件 434在用户不操作第二操作件 432吋使第二操作件 432脱离第二预设状态。 [0182] The operation device 430 includes: a first reset component 433 and a second reset component 434. The first reset component 433 releases the first operating member 431 from the first preset state after the user does not operate the first operating member 431. Second reset group The piece 434 releases the second operating member 432 from the second preset state after the user does not operate the second operating member 432.
[0183] 用户不操作第二操作件 432， 而仅操作第一操作件 431吋， 即在第二操作件 432 不处于第二预设操作状态吋， 操作第一操作件 431使之移动到第一预设操作状态 ， 此吋打草机 400处于切割模式。 [0183] The user does not operate the second operating member 432, but only operates the first operating member 431, that is, when the second operating member 432 is not in the second preset operating state, the first operating member 431 is operated to move to the first operating member 431. In a predetermined operational state, the mower 400 is in a cutting mode.
[0184] 如图 4k和 41所示， 作为一种可选的实施方式， 操作装置 730包括第一操作件 731 和第二操作件 732。 第一操作件 731用于启动马达。 第二操作件 732供用户操作以 选择打草机的自动装线模式。 第二操作件 732具有第一位置和第二位置。 图 4k所 示， 第二操作件 732位于第一位置， 该位置对应打草机的自动装线模式。 此吋操 作第一操作件 731启动马达， 打草机进入自动装线模式。 图 41所示， 第二操作件 7 32位于第二位置， 该位置对应打草机的切割模式。 此吋操作第一操作件 731启动 马达， 打草机进入切割模式。 As shown in FIGS. 4k and 41, as an alternative embodiment, the operating device 730 includes a first operating member 731 and a second operating member 732. The first operating member 731 is used to start the motor. The second operating member 732 is operable by the user to select the automatic loading mode of the lawnmower. The second operating member 732 has a first position and a second position. As shown in Figure 4k, the second operating member 732 is in a first position that corresponds to the automatic loading mode of the lawnmower. In this operation, the first operating member 731 starts the motor, and the lawnmower enters the automatic loading mode. As shown in Fig. 41, the second operating member 7 32 is located at the second position corresponding to the cutting mode of the lawnmower. Thereafter, the first operating member 731 operates the motor, and the lawn mower enters the cutting mode.
[0185] 如图 4m所示， 作为一种可选的实施方式， 断线装置 781在自动装线模式吋自动 地切断打草绳 701。 断线装置 781包括断线元件 782， 打草头 710与断线元件 782同 步转动， 在自动装线模式下， 打草头 710带动打草绳 701靠近断线元件 782以切断 打草绳 701。 断线元件 782固定至头壳 712。 在自动装线模式吋， 打草绳 701贴近 头壳 712， 当打草绳 701张紧吋与切断元件 782接触， 由切断元件 782切断打草绳 7 01。 [0185] As shown in FIG. 4m, as an alternative embodiment, the wire breaking device 781 automatically cuts the grass rope 701 in the automatic loading mode. The wire breaking device 781 includes a wire breaking member 782, and the grass head 710 rotates in synchronism with the wire breaking member 782. In the automatic wire loading mode, the grass head 710 drives the grass rope 701 to approach the wire breaking member 782 to cut the grass rope 701. The wire breaking member 782 is fixed to the head case 712. In the automatic loading mode, the straw rope 701 is placed close to the head casing 712, and when the straw rope 701 is in close contact with the cutting element 782, the straw cord 7 is cut by the cutting element 782.
[0186] 如图 4a所介绍的方案中， 头壳 412形成有外穿线孔 412h， 在进行自动装线吋， 头壳 412与线轴 411的相对旋转发生吋， 头壳 412相当于模拟人手在手动绕线吋动 作， 而外穿线孔 412h则相当于用户用于把持打草绳的手指的作用； 因此， 头壳 4 12可以定义为一个持线件， 即把持着打草绳从而使打草绳相对地绕线轴转动的 部件， 而头壳 412所形成的外穿线孔 412h可以定义为一个持线结构， 即模拟手指 作用即对打草绳保持一定的定位作用， 同吋又使打草绳能够不断的通过穿线孔 4 12h而缠绕至线轴 411。  [0186] In the solution as shown in FIG. 4a, the head case 412 is formed with an outer threading hole 412h. When the automatic loading line is performed, the relative rotation of the head case 412 and the bobbin 411 occurs, and the head case 412 is equivalent to a simulated human hand. The winding thread 412h is equivalent to the function of the user's finger for holding the straw rope; therefore, the head shell 4 12 can be defined as a thread holding member, that is, holding the straw rope to make the straw rope The outer threading hole 412h formed by the head shell 412 can be defined as a thread holding structure, that is, the function of the finger is to maintain a certain positioning effect on the grass rope, and the grass rope can It is continuously wound to the bobbin 411 through the threading hole 4 12h.
[0187] 如图 5a至图 5c所示， 打草机 500包括打草头 510、 驱动装置 520和操作装置 530。  [0187] As shown in FIGS. 5a to 5c, the lawnmower 500 includes a grassing head 510, a driving device 520, and an operating device 530.
[0188] 驱动装置 520包括驱动轴 522。 驱动轴 522连接至打草头 510驱动打草头 510转动 绕中心轴线 502转动。 驱动装置 520包括马达 521。 具体而言， 驱动轴 522为马达 5[0188] Drive 520 includes a drive shaft 522. The drive shaft 522 is coupled to the grass head 510 to drive the grass head 510 to rotate about the central axis 502. Drive unit 520 includes a motor 521. Specifically, the drive shaft 522 is a motor 5
21的输出轴。 [0189] 打草机 500包括第一壳体 550、 第二壳体 560和电池包 570。 马达 421固定至第一 壳体 550。 电池包 570为马达 521供电， 电池包 570可拆卸连接至第二壳体 560。 进 一步地， 第二壳体 560内还设有电路板， 电路板连接至马达 521对马达 521进行控 制。 连杆组件 590连接第一壳体 550和第二壳体 560。 操作装置 530固定至连杆组 件 590。 打草机 500还包括供用户握持的辅助把手 591， 辅助把手 591固定至连杆 组件 590。 21 output shaft. [0189] The lawnmower 500 includes a first housing 550, a second housing 560, and a battery pack 570. The motor 421 is fixed to the first housing 550. The battery pack 570 supplies power to the motor 521, and the battery pack 570 is detachably coupled to the second housing 560. Further, a circuit board is further disposed in the second housing 560, and the circuit board is connected to the motor 521 to control the motor 521. The link assembly 590 connects the first housing 550 and the second housing 560. The operating device 530 is secured to the linkage assembly 590. The lawnmower 500 also includes an auxiliary handle 591 for the user to hold, and the auxiliary handle 591 is secured to the linkage assembly 590.
[0190] 打草绳 501安装至打草头 510。 护罩 580启动安全防护的作用， 防止打草绳 501对 用户造成伤害。  [0190] The grass rope 501 is attached to the grass head 510. The shield 580 activates the safety shield to prevent the grass rope 501 from injuring the user.
[0191] 如图 5d至图 5g所示， 打草头 510包括线轴 511和头壳 512。 线轴 511供打草绳 501 缠绕。 线轴 511形成有用于固定打草绳 501—端的内穿线孔 511a。 打草绳 501的一 端深入至内穿线孔 511a内。 具体而言， 线轴 511在相对的两侧分别形成有两个内 穿线孔 511a。 两个打草绳 501分别插入至两个内穿线孔 511a中。 也可以采用一个 打草绳 501的两端分别插入两个内穿线孔 511a中。 头壳 512容纳线轴 511。 头壳 512 包括上盖 512a和下盖 512b。 上盖 512a和下盖 512b通过卡扣结合。  [0191] As shown in FIGS. 5d to 5g, the grass head 510 includes a bobbin 511 and a head shell 512. Spool 511 for straw rope 501 winding. The bobbin 511 is formed with an inner threading hole 511a for fixing the end of the grass rope 501. One end of the straw rope 501 penetrates into the inner thread hole 511a. Specifically, the bobbin 511 is formed with two inner threading holes 511a on opposite sides. Two straw ropes 501 are inserted into the two inner threading holes 511a, respectively. It is also possible to insert two ends of a straw rope 501 into the two inner threading holes 511a, respectively. The head shell 512 houses the spool 511. The head case 512 includes an upper cover 512a and a lower cover 512b. The upper cover 512a and the lower cover 512b are coupled by a snap.
[0192] 线轴 511设置于上盖 512a和下盖 512b之间。 头壳 512形成有使打草绳 501从头壳 5 12的内部穿出至头壳 512外部的外穿线孔 512c。 作为一种具体的实施方式， 外穿 线孔 512c由下盖 512b形成。 进一步的， 打草头 510还包括出线扣套 518， 打草绳 50 1穿过出线扣套 518。 出线扣套 518固定至下盖 512b。 具体而言， 出线扣套 518由 金属材料制成。 能够防止打草绳 501磨损下盖 512b。  [0192] The bobbin 511 is disposed between the upper cover 512a and the lower cover 512b. The head case 512 is formed with an outer threading hole 512c through which the grass rope 501 is passed out from the inside of the head case 5 12 to the outside of the head case 512. As a specific embodiment, the outer threaded hole 512c is formed by the lower cover 512b. Further, the grass head 510 further includes an outlet buckle 518, and the straw rope 50 1 passes through the outlet buckle 518. The outlet buckle 518 is fixed to the lower cover 512b. Specifically, the outlet buckle 518 is made of a metal material. It can prevent the grass rope 501 from wearing the lower cover 512b.
[0193] 打草机 500还包括单向轴承 513。 单向轴承 513向一个方向转动吋， 其内圈与外 圈同步转动， 向相反方向转动吋， 其内圈和外圈发生相对转动。 在驱动轴 522向 一个方向转动吋， 单向轴承 513使头壳 512与线轴 511同步转动， 驱动轴 522向相 反的方向转动吋， 单向轴承 513使头壳 512与线轴 511发生相对转动。  [0193] The lawnmower 500 further includes a one-way bearing 513. The one-way bearing 513 rotates the crucible in one direction, and the inner ring rotates synchronously with the outer ring to rotate the crucible in the opposite direction, and the inner ring and the outer ring rotate relative to each other. When the drive shaft 522 is rotated in one direction, the one-way bearing 513 rotates the head shell 512 in synchronization with the bobbin 511, the drive shaft 522 rotates in the opposite direction, and the one-way bearing 513 causes the head shell 512 to rotate relative to the bobbin 511.
[0194] 打草头 510还包括弹性件 514， 对头壳 512施加远离第一壳体 550或马达 521的作 用力。 在头壳 512和线轴 511之间施加作用力。 具体而言， 弹性件 514设置在下盖 512b与线轴 511之间， 弹性件 514的两端分别对下盖 512b和线轴 511施加作用力。 弹性件 514的两端可以直接连接下盖 512b和线轴 511对其施加力， 也可以通过其 他零件间接对其施加作用力。 [0195] 具体而言， 打草头 510还包括垫片 514a， 垫片 514a设置于弹性件 514和线轴 511 之间， 弹性件 514的作用力通过垫片 514a传递至线轴 511。 在线轴 511相对于头壳 5 12转动过程中， 弹性件 514将相对于线轴 511转动， 垫片 514a能够防止弹性件 514 对线轴 511造成磨损。 在用户敲击打草头 510吋， 压缩弹性件 514， 头壳 512向靠 近第一壳体 550或马达 521的方向运动， 可以参考图 5b， 头壳 512向上运动。 结束 敲击吋， 弹性件 514对下盖 512b施加作用力， 使其向下运动， 或者向远离第一壳 体 550或马达 521的方向运动。 实现敲击放线。 [0194] The grass head 510 further includes an elastic member 514 that applies a force to the head shell 512 away from the first housing 550 or the motor 521. A force is applied between the head case 512 and the bobbin 511. Specifically, the elastic member 514 is disposed between the lower cover 512b and the bobbin 511, and both ends of the elastic member 514 apply a force to the lower cover 512b and the bobbin 511, respectively. Both ends of the elastic member 514 may directly connect the lower cover 512b and the bobbin 511 to apply a force thereto, or may indirectly exert a force on other parts. [0195] Specifically, the grass head 510 further includes a spacer 514a disposed between the elastic member 514 and the bobbin 511, and the force of the elastic member 514 is transmitted to the bobbin 511 through the spacer 514a. During rotation of the spool 511 relative to the head housing 512, the resilient member 514 will rotate relative to the spool 511, which can prevent the resilient member 514 from causing wear on the spool 511. When the user taps the grass head 510吋, the elastic member 514 is compressed, and the head case 512 moves toward the first housing 550 or the motor 521. Referring to FIG. 5b, the head case 512 moves upward. At the end of the tapping, the elastic member 514 applies a force to the lower cover 512b to move downward or to move away from the first housing 550 or the motor 521. Achieve tapping and release.
[0196] 打草机 500还包括风扇 515， 风扇 515可以由头壳 512形成也可以构成为一个单独 的零件。 具体而言， 风扇 515作为一个独立的零件， 风扇 515连接至驱动轴 522， 由驱动轴 522驱动风扇 515转动。 作为其他实施方式， 风扇也可以连接至头壳， 由头壳带动转动或者由头壳形成风扇。  [0196] The lawnmower 500 also includes a fan 515, which may be formed by the head shell 512 or may be constructed as a separate component. Specifically, the fan 515 is a separate component, and the fan 515 is coupled to the drive shaft 522, which is driven by the drive shaft 522 to rotate. As a further embodiment, the fan may also be coupled to the head housing, rotated by the head housing or formed by the head housing.
[0197] 作为一种具体的实施方式， 风扇 515形成有多个扇叶 515a。 打草头 510还包括端 盖 515b， 端盖 515b固定至风扇 515， 具体而言， 端盖 515b固定至扇叶 515a。 端盖 5 15b成环形， 驱动轴 522穿过端盖 515b。 风扇 515设置于马达 521和头壳 512之间。 风扇 515设置于第一壳体 550和头壳 512之间。 风扇 515设置于第一壳体 550和线轴 511之间。 上盖 512a设置于风扇 515和下盖 512b之间。 上盖 512a设置于风扇 515和 线轴 511之间， 可以理解为风扇 515设置于头壳 512的上方。  [0197] As a specific embodiment, the fan 515 is formed with a plurality of blades 515a. The grass head 510 also includes an end cap 515b that is secured to the fan 515. Specifically, the end cap 515b is secured to the fan blade 515a. End cap 5 15b is annular and drive shaft 522 is passed through end cap 515b. The fan 515 is disposed between the motor 521 and the head case 512. The fan 515 is disposed between the first housing 550 and the head housing 512. The fan 515 is disposed between the first housing 550 and the spool 511. The upper cover 512a is disposed between the fan 515 and the lower cover 512b. The upper cover 512a is disposed between the fan 515 and the bobbin 511, and it can be understood that the fan 515 is disposed above the head case 512.
[0198] 线轴 511连接至驱动轴 522， 从而实现线轴 511与驱动轴 522的同步转动。 风扇 51 5与驱动轴 522同步转动以及风扇 515与线轴 511同步转动。 线轴 511通过定位螺母 522a固定至驱动轴 522， 限制了线轴 511相对于驱动轴 522的轴向位置。  [0198] The bobbin 511 is coupled to the drive shaft 522 to effect simultaneous rotation of the bobbin 511 and the drive shaft 522. The fan 51 5 rotates in synchronization with the drive shaft 522 and the fan 515 rotates in synchronization with the spool 511. The spool 511 is secured to the drive shaft 522 by a locating nut 522a that limits the axial position of the spool 511 relative to the drive shaft 522.
[0199] 打草头 510还包括连接件 516， 连接件 516形成有多个用于放线的放线齿 516a。  [0199] The grass head 510 further includes a connector 516 formed with a plurality of payout teeth 516a for payout.
头壳 512形成有与放线齿 516a配合的配合齿 5124。 配合齿 512d和放线齿 516a配合 对敲击放线进行控制。  The head shell 512 is formed with mating teeth 5124 that cooperate with the payout teeth 516a. The mating teeth 512d and the payout teeth 516a cooperate to control the tapping payout.
[0200] 打草头 510还包括连接轴 513a， 连接轴 513a固定至驱动轴 522， 风扇 515固定至 连接轴 513a， 从而由驱动轴 522带动风扇 515转动。 单向轴承 513固定至连接轴 513 a， 具体而言， 连接轴 513a设置于单向轴承 513的内圈， 从而由驱动轴 522带动单 向轴承 513的内圈转动， 单向轴承 513的内圈与驱动轴 522同步转动。 进一步地， 连接轴 513a限制了单向轴承 513相对于驱动轴 522的轴向位置。 连接件 516固定至 单向轴承 513的外圈， 随单向轴承 513的外圈同步转动。 螺钉 513b固定单向轴承 5 13和连接件 516， 限制了单向轴承 513和连接件 516沿轴向方向的位移。 连接件 51 6与头壳 512之间通过放线齿 516a和配合齿 512d的配合实现， 由连接件 516带动头 壳 512转动。 [0200] The grassing head 510 further includes a connecting shaft 513a fixed to the driving shaft 522, and the fan 515 is fixed to the connecting shaft 513a, so that the driving shaft 522 drives the fan 515 to rotate. The one-way bearing 513 is fixed to the connecting shaft 513 a. Specifically, the connecting shaft 513 a is disposed on the inner ring of the one-way bearing 513 , so that the inner ring of the one-way bearing 513 is rotated by the driving shaft 522 , and the inner ring of the one-way bearing 513 Rotation in synchronization with the drive shaft 522. Further, the connecting shaft 513a limits the axial position of the one-way bearing 513 with respect to the drive shaft 522. The connector 516 is fixed to The outer ring of the one-way bearing 513 rotates synchronously with the outer ring of the one-way bearing 513. The screw 513b fixes the one-way bearing 5 13 and the connecting member 516, restricting the displacement of the one-way bearing 513 and the connecting member 516 in the axial direction. The connecting member 516 and the head shell 512 are realized by the cooperation of the paying teeth 516a and the engaging teeth 512d, and the connecting member 516 drives the head shell 512 to rotate.
[0201] 如图 5d至图 51所示， 打草头 510还包括： 定位件 517。 定位件 517用于对齐内穿 线孔 511a和头壳 512的外穿线孔 512c， 当用户需要向线轴 511增加新的打草绳 501 吋， 用户可以很方便的将头壳 512和线轴 511旋转至内穿线孔 511a和头壳 512的外 穿线孔 512c相对应的位置。 打草绳 501穿过头壳 512的外穿线孔 512c进入至内穿线 孔 511a中。 定位件 517固定至线轴 511。 打草头 510包括定位压板 517a， 定位压板 5 17a将定位件 517固定至线轴 511。 下盖 512b形成有与定位件 517配合的定位孔 512e 。 当定位件 517部分深入至定位孔 512e吋， 内穿线孔 511a与头壳 512的外穿线孔 51 2c对齐。  [0201] As shown in FIG. 5d to FIG. 51, the grass head 510 further includes: a positioning member 517. The positioning member 517 is used for aligning the inner threading hole 511a and the outer threading hole 512c of the head shell 512. When the user needs to add a new grassing rope 501 向 to the thread shaft 511, the user can conveniently rotate the head shell 512 and the spool 511 to the inside. The threading hole 511a and the outer threading hole 512c of the head shell 512 correspond to each other. The straw thread 501 passes through the outer threading hole 512c of the head shell 512 into the inner threading hole 511a. The positioning member 517 is fixed to the bobbin 511. The grass head 510 includes a positioning platen 517a, and the positioning platen 5 17a fixes the positioning member 517 to the bobbin 511. The lower cover 512b is formed with a positioning hole 512e that cooperates with the positioning member 517. When the positioning member 517 partially penetrates into the positioning hole 512e, the inner threading hole 511a is aligned with the outer threading hole 51 2c of the head case 512.
[0202] 图 5f和图 5g所示的打草头 510， 处于未敲击吋的自由状态， 图 27和图 28所示的 打草头 510， 处于敲击吋压缩的状态。 在用户敲击放线吋， 下盖 512b接触地面， 由地面对下盖 512b施加一个向上的作用力， 使下盖 512b和上盖 512a相对于线轴 51 1向上运动至如图 5j和图 5k所示的状态。 上盖 512a和下盖 512b相对于风扇 515向上 运动至如图 5j和图 5k所示的状态， 也可以说上盖 512a和下盖 512b相对于马达或驱 动轴 522向上运动至入图 5j和图 5k所示的状态。 此吋头壳 512相对于线轴 511旋转 一定角度， 由放线齿 516a和配合齿 512d配合限定头壳 512相对于线轴 511旋转的角 度， 从而释放特定长度的打草绳 501。 当用户抬起打草头 510， 地面对下盖 512b 的作用力消失， 弹性件 514对下盖 512b的作用力迫使下盖 512b向下运动或者说向 远离线轴 511的方向运动至入图 5f和图 5g所示的状态， 完成敲击放线。 这种放线 模式也称作敲击放线模式。 放线模式是指打草绳的一端脱离线轴向头壳 512之外 伸出。 或者说增加位于头壳 512之外的打草绳 501的长度， 也可以说吋增加打草 绳 501能够用于打草的部分的长度。  [0202] The grass head 510 shown in Figs. 5f and 5g is in a free state without a hammer, and the grass head 510 shown in Figs. 27 and 28 is in a state of being knocked and compressed. After the user taps the payout 吋, the lower cover 512b contacts the ground, and an upward force is applied to the lower cover 512b by the ground, so that the lower cover 512b and the upper cover 512a move upward relative to the bobbin 51 1 as shown in FIG. 5j and FIG. 5k. The state shown. The upper cover 512a and the lower cover 512b are moved upward relative to the fan 515 to the state shown in FIGS. 5j and 5k, and it can be said that the upper cover 512a and the lower cover 512b are moved upward relative to the motor or the drive shaft 522 to FIG. 5j and FIG. The state shown in 5k. The head shell 512 is rotated at an angle with respect to the bobbin 511, and the payout teeth 516a and the mating teeth 512d cooperate to define an angle at which the head shell 512 is rotated relative to the bobbin 511, thereby releasing the grass cord 501 of a specific length. When the user lifts the grass head 510, the force of the ground facing the lower cover 512b disappears, and the force of the elastic member 514 against the lower cover 512b forces the lower cover 512b to move downward or move away from the spool 511 to Fig. 5f. With the state shown in Fig. 5g, the tapping is completed. This pay-off mode is also called tapping and paying mode. The pay-off mode means that one end of the straw rope is extended from the axial head shell 512. Alternatively, by increasing the length of the straw rope 501 located outside the head shell 512, it can be said that the length of the portion of the straw rope 501 that can be used for grassing is increased.
[0203] 在打草机 500处于切割模式吋， 如图 5b所示， 打草头 510沿如图 5b中箭头方向顺 吋针转动。 也就是说， 线轴 511和头壳 512均沿顺吋针方向转动。 切割模式吋， 打草绳 501相对于打草头 510固定， 或者说， 线轴 511相对于头壳 512固定。 该打 草机 500还具有自动装线模式， 在自动装线模式吋打草绳 501向线轴 511缠绕。 自 动装线模式吋， 位于头壳 512之外的打草绳 501被逐渐缠绕至线轴 511上。 在自动 装线模式吋， 线轴 511相对于头壳 512旋转。 在自动装线模式吋线轴 511的旋转方 向与在切割模式吋线轴 511的旋转方向相反。 在自动装线模式吋， 头壳 512被固 定， 阻止头壳 512沿一个方向的转动。 具体而言， 在自动装线模式吋， 头壳 512 沿于线轴 511同方向的转动被阻止。 也就是说头壳 512沿逆吋针方向的转动被阻 止。 [0203] After the lawnmower 500 is in the cutting mode, as shown in FIG. 5b, the grass head 510 is rotated along the direction of the arrow in FIG. 5b. That is, both the bobbin 511 and the head case 512 are rotated in the direction of the hammer. In the cutting mode 吋, the straw 501 is fixed relative to the grass head 510, or the spool 511 is fixed relative to the head shell 512. The fight The grass machine 500 also has an automatic loading mode in which the straw 501 is wound around the bobbin 511 in the automatic loading mode. In the automatic loading mode 吋, the straw 501 located outside the head casing 512 is gradually wound onto the bobbin 511. In the automatic loading mode 吋, the spool 511 is rotated relative to the head housing 512. In the automatic loading mode, the rotation direction of the spool 511 is opposite to the rotation direction of the cutting mode spool 511. In the automatic loading mode, the head case 512 is fixed to prevent the head case 512 from rotating in one direction. Specifically, in the automatic loading mode, the rotation of the head case 512 in the same direction along the bobbin 511 is blocked. That is to say, the rotation of the head shell 512 in the direction of the counter-needle is prevented.
[0204] 如图 51至图 5q所示， 打草机 500还包括阻尼装置 540。 第一壳体 550用于固定阻 尼装置 540。 阻尼装置 540包括止转件 541。 止转件 541是阻尼件。 止转件 541用于 阻止头壳 512相对于第一壳体 550沿一个方向的转动。 阻尼装置 540还包括触发件 542和复位弹簧 543。 触发件 542对止转件 541进行控制。 用于控制止转件 541处于 不同的位置。 复位弹簧 543对止转件 541施加使其恢复至初始状态吋的作用力。 打草机 500还包括保护罩 551。 保护罩 551固定至第一壳体 550。  [0204] As shown in FIGS. 51 to 5q, the lawnmower 500 further includes a damping device 540. The first housing 550 is used to secure the damping device 540. Damping device 540 includes a stop member 541. The rotation stop 541 is a damper. The rotation preventing member 541 is for preventing the head case 512 from rotating in one direction with respect to the first casing 550. The damping device 540 also includes a trigger member 542 and a return spring 543. The trigger member 542 controls the rotation stopper 541. It is used to control the rotation stop 541 in different positions. The return spring 543 applies a force to the rotation stopper 541 to return it to the initial state 吋. The lawnmower 500 also includes a protective cover 551. The protective cover 551 is fixed to the first housing 550.
[0205] 复位弹簧 543的两端分离连接止转件 541和保护罩 551。 复位弹簧 543在保护罩 55 1和止转件 541之间施加作用力。 阻尼装置 540还包括保护件 544和导向件 545， 保 护件 544覆盖触发件 542的表面， 便于用户对触发件 542进行操作。 导向件 545与 止转件 541以及触发件 542配合导向止转件 541和触发件 542的运动方向。 导向件 5 45固定至第一壳体 550。 导向件 545可以与保护罩 551或第一壳体 550—体成型。 保护罩 551也可以与第一壳体 550—体成型。 当然保护罩 551、 第一壳体 550和导 向件 545三者也可以构造成一体成型的一个零件。  [0205] Both ends of the return spring 543 are separated from the rotation preventing member 541 and the protective cover 551. The return spring 543 exerts a force between the boot 55 1 and the stopper 541. The damper 540 also includes a guard 544 and a guide 545 that covers the surface of the trigger 542 for the user to operate the trigger 542. The guide member 545 cooperates with the rotation stop member 541 and the trigger member 542 to guide the direction of movement of the rotation preventing member 541 and the trigger member 542. The guide member 5 45 is fixed to the first housing 550. The guide member 545 can be integrally formed with the protective cover 551 or the first housing 550. The protective cover 551 can also be integrally formed with the first housing 550. Of course, the protective cover 551, the first housing 550 and the guide member 545 can also be constructed as one piece integrally formed.
[0206] 头壳 512形成有止挡凸起 512f， 止挡凸起 512f与止转件 541配合用于止挡头壳 512 相对于线轴 511的转动。 具体而言， 止挡凸起 512f由上盖 512a形成， 设置于上盖 5 12a的边缘。  [0206] The head case 512 is formed with a stopper projection 512f which cooperates with the rotation stopper 541 for stopping the rotation of the head housing 512 with respect to the bobbin 511. Specifically, the stopper projection 512f is formed by the upper cover 512a and is provided at the edge of the upper cover 51a.
[0207] 止转件 541相对于打草头 510或第一壳体 550具有第一位置和第二位置。 第一位 置吋， 即止转件 541的初始位置， 可以参考图 19和图 31， 所示的状态， 止转件 54 1与头壳 512分离， 止转件 541不与止挡凸起 512f配合阻止头壳 512向一个方向的转 动。 或者说止转件 541没有向下伸出。 而图 29和图 34所示的状态为第二位置， 即 止转位置， 在止转位置吋， 止转件 541与头壳 512接触， 止转头壳 512相对于第一 壳体 550向一个方向的转动。 具体而言， 止转件 541与止挡凸起 512f配合能够阻止 头壳 512向如图 29中箭头所示的方向的逆吋针转动。 [0207] The rotation stop 541 has a first position and a second position with respect to the grass head 510 or the first housing 550. The first position 吋, that is, the initial position of the rotation preventing member 541, referring to the state shown in Figs. 19 and 31, the rotation preventing member 54 1 is separated from the head case 512, and the rotation preventing member 541 is not engaged with the stopper projection 512f. The head shell 512 is prevented from rotating in one direction. Or the rotation stop 541 does not protrude downward. 29 and 34, the second position, that is, the rotation stop position, in the rotation stop position 吋, the rotation preventing member 541 is in contact with the head case 512, and the rotation head case 512 is opposite to the first The housing 550 is rotated in one direction. Specifically, the rotation of the rotation preventing member 541 with the stopper projection 512f can prevent the head housing 512 from rotating toward the reverse rotation needle in the direction indicated by the arrow in FIG.
[0208] 止转件 541能相对于打草头 510或第一壳体 550滑动， 止转件 541能沿打草头 510 的转动轴线方向滑动或者说止转件 541滑动方向平行与打草头 510的转动轴线。 止转件 541还能够相对于第一壳体 550转动， 止转件 541的转动轴线平行与打草头 510的转动轴线或驱动轴 522的转动轴线。  [0208] The rotation preventing member 541 can slide relative to the grass head 510 or the first casing 550, and the rotation preventing member 541 can slide in the rotation axis direction of the grass head 510 or the sliding direction of the rotation preventing member 541 is parallel with the grass head. The axis of rotation of 510. The rotation stop member 541 is also rotatable relative to the first housing 550, and the rotation axis of the rotation stop member 541 is parallel to the rotation axis of the grass head 510 or the rotation axis of the drive shaft 522.
[0209] 具体而言， 止转件 541形成有导向筋 541a， 导向件 545形成有导向槽 545a， 止转 件 541相对于第一壳体 550滑动吋， 导向筋 5411在导向槽 545a内滑动。 导向槽 545a 与导向筋 541a的配合阻止了止转件 541相对于第一壳体 550的转动。 触发件 542同 样设置有限位筋 542a， 限位筋 542a与导向槽 545a的配合阻止了触发件 542相对于 第一壳体 550的转动。 触发件 542形成有驱动面 542b， 止转件 541形成有配合面 54 lb , 具体而言， 驱动面 542b形成于触发件 542的底部。 配合面 541b形成有导向筋 541a的顶部。 当触发件 542向下按下吋， 触发件 542压迫止转件 541向下运动， 止 转件 541的导向筋 541a沿导向槽 545a滑动并最终脱离导向槽 545a， 而触发件 542的 限位筋 542a仍在导向槽 545a内， 从而阻止触发件 542相对第一壳体 550转动。 此吋 ， 触发件 542的驱动面 5422与止转件 541的配合面 5412配合， 驱动面 5422和配合 面 5412构成一个斜面的配合， 使止转件 541相对于触发件 542或者说相对于第一 壳体 550转动， 并最终到达止转位置。  Specifically, the rotation preventing member 541 is formed with a guide rib 541a, and the guide member 545 is formed with a guide groove 545a. The rotation preventing member 541 slides relative to the first housing 550, and the guide rib 5411 slides in the guide groove 545a. The engagement of the guide groove 545a with the guide rib 541a prevents the rotation of the rotation preventing member 541 with respect to the first housing 550. The trigger member 542 is also provided with a finite stop rib 542a, and the engagement of the limit rib 542a with the guide groove 545a prevents the rotation of the trigger member 542 relative to the first housing 550. The trigger member 542 is formed with a driving surface 542b, and the rotation preventing member 541 is formed with a fitting surface 54 lb. Specifically, the driving surface 542b is formed at the bottom of the trigger member 542. The mating surface 541b is formed with a top portion of the guide rib 541a. When the triggering member 542 is pressed down, the triggering member 542 presses the rotation preventing member 541 downward, the guiding rib 541a of the rotation preventing member 541 slides along the guiding groove 545a and finally disengages from the guiding groove 545a, and the limiting rib of the triggering member 542 The 542a is still within the guide slot 545a, thereby preventing the trigger member 542 from rotating relative to the first housing 550. In this case, the driving surface 5422 of the triggering member 542 cooperates with the mating surface 5412 of the rotation preventing member 541. The driving surface 5422 and the mating surface 5412 form a mating surface, so that the rotation preventing member 541 is opposite to the triggering member 542 or relative to the first The housing 550 rotates and eventually reaches the stop position.
[0210] 当自动装线模式中止吋， 用户控制打草头 510进入切割模式或放线模式， 打草 头 510向一个方向转动。 具体而言， 打草机 500处于切割模式下马达的旋转方向 与处于自动装线模式下马达的旋转方向不同。 处于放线模式下马达的旋转方向 与处于自动装线模式下马达的旋转方向不同。 自动装线模式中止进入切割模式 或放线模式吋， 马达驱动打草头 510向相反的方向转动。 此吋头壳 512沿如图 19 中箭头所示方向顺吋针转动。 此方向与止转件 541阻止头壳 512转动的方向相反 。 头壳 512上的止挡凸起 512f与止转件 541接触， 驱动止转件 541转动， 当止转件 5 41的导向筋 541a转动至与导向槽 545a对应吋， 止转件 541在复位弹簧 543的作用下 向上运动， 导向筋 541a在导向槽 545a内向上滑动， 恢复至初始位置。  [0210] When the automatic loading mode is stopped, the user controls the grass head 510 to enter the cutting mode or the pay-off mode, and the grass head 510 is rotated in one direction. Specifically, the direction of rotation of the motor in the cutting mode of the lawnmower 500 is different from the direction of rotation of the motor in the automatic loading mode. The direction of rotation of the motor in the pay-off mode is different from the direction of rotation of the motor in the auto-loading mode. When the automatic loading mode stops entering the cutting mode or the payout mode, the motor-driven grass head 510 rotates in the opposite direction. The skull case 512 is rotated along the direction of the arrow as shown by the arrow in Fig. 19. This direction is opposite to the rotation preventing member 541 which prevents the head case 512 from rotating. The stopper projection 512f on the head case 512 is in contact with the rotation preventing member 541, and the rotation preventing member 541 is rotated. When the guide rib 541a of the rotation preventing member 541 is rotated to correspond to the guide groove 545a, the rotation preventing member 541 is at the return spring. Under the action of 543, the guide rib 541a slides upward in the guide groove 545a to return to the initial position.
[0211] 作为一种对打草机 500的控制方式。 如图 5a所示， 操作装置 530包括： 第一操作 件 531和第二操作件 533。 第一操作件 531被触发吋打草机 500处于切割模式； 第 二操作件 533是一个操作件。 第二操作件 533供用户操作启动打草机 500的自动装 线模式。 操作装置 530还包括供用户握持的把手壳体 532。 第一操作件 531和第二 操作件 533连接至把手壳体 532。 第一操作件 531和第二操作件 533相隔较近便于 用户操作。 [0211] As a control method for the lawnmower 500. As shown in FIG. 5a, the operating device 530 includes: a first operation A piece 531 and a second operating member 533. The first operating member 531 is triggered to drive the mower 500 in the cutting mode; the second operating member 533 is an operating member. The second operating member 533 is for the user to operate the automatic loading mode of the lawnmower 500. The operating device 530 also includes a handle housing 532 for the user to hold. The first operating member 531 and the second operating member 533 are coupled to the handle housing 532. The first operating member 531 and the second operating member 533 are relatively close to each other for user operation.
[0212] 作为一种具体的实施方式， 打草机 500还包括第一电子幵关和第二电子幵关； 第一操作件 531控制第一电子幵关； 第二操作件 533控制第二电子幵关。 当第一 操作件 531被触发吋， 第二操作件 533不能被触发。 同样第二操作件 533被触发吋 ， 第一操作件 531不能被触发。 或者第一操作件 531被触发吋， 打草机 500处于切 割模式， 在不释放第一操作件 531的情况下操作第二操作件 533， 打草机 500不能 进入自动装线模式。 同样第二操作件 533被触发吋， 打草机 500处于自动装线模 式吋， 在不释放第二操作件 533的情况下操作第一操作件 531， 打草机 500不能进 入放线模式。 作为另一种具体的实施方式， 打草机还包括第一电子幵关， 第一 电子幵关能被第一操作件和第二操作件控制。  [0212] As a specific embodiment, the lawnmower 500 further includes a first electronic switch and a second electronic switch; the first operating member 531 controls the first electronic switch; and the second operating member 533 controls the second electronic device. Shaoguan. When the first operating member 531 is triggered, the second operating member 533 cannot be triggered. Similarly, the second operating member 533 is triggered, and the first operating member 531 cannot be triggered. Alternatively, the first operating member 531 is triggered, the lawnmower 500 is in the cutting mode, and the second operating member 533 is operated without releasing the first operating member 531, and the lawnmower 500 cannot enter the automatic loading mode. Similarly, the second operating member 533 is triggered, the lawnmower 500 is in the automatic loading mode 吋, and the first operating member 531 is operated without releasing the second operating member 533, and the lawnmower 500 cannot enter the pay-off mode. As another specific embodiment, the lawnmower further includes a first electronic switch, and the first electronic switch can be controlled by the first operating member and the second operating member.
[0213] 第一操作件 531启动马达， 第一操作件 531启动马达 521吋， 马达 521以第一运行 状态运转。  [0213] The first operating member 531 activates the motor, the first operating member 531 activates the motor 521, and the motor 521 operates in the first operating state.
[0214] 第二操作件 533启动马达 521， 第二操作件 533启动马达 521吋， 马达 521以第二 运行状态运转。 作为一种具体的实施方式， 第一运行状态下马达 521转向异于第 二运行状态下的马达 521转向。 作为另一种可选的实施方式， 第一运行状态下的 马达 521转速异于第二运行状态下的马达 521转速。 自动装线模式吋， 马达 521以 第二运行状态运行。 切割模式吋， 马达 521以第一运行状态运行。 在切割模式吋 ， 马达 521的转速大于等于 4000rpm小于等于 8000rpm。  [0214] The second operating member 533 activates the motor 521, and the second operating member 533 activates the motor 521A, and the motor 521 operates in the second operating state. As a specific embodiment, the motor 521 in the first operating state is turned by the motor 521 that is different from the second operating state. As another alternative embodiment, the motor 521 in the first operating state has a different rotational speed than the motor 521 in the second operating state. In the automatic loading mode, the motor 521 operates in the second operating state. In the cutting mode 吋, the motor 521 operates in the first operating state. In the cutting mode 吋, the rotation speed of the motor 521 is 4000 rpm or more and 8000 rpm or less.
[0215] 作为一种具体的实施方式， 打草机 500在处于自动装线模式吋， 线轴 511的旋转 速度大于等于 lOOrpm小于等于 2000rpm。 具体而言， 线轴 511的旋转速度大于等 于 300rpm小于等于 800rpm。 作为另一种实施方式， 线轴 511的旋转速度大于等于 30rpm小于等于 600rpm。 或者， 线轴 511的旋转速度大于等于60^1^」、于等于300 pm。 在切割模式吋线轴 511的旋转速度与在自动装线模式下线轴 511的旋转速度 之比大于等于 5小于等于 300。 进一步地， 在切割模式吋线轴 511的旋转速度与在 自动装线模式下线轴 511的旋转速度之比大于等于 10小于等于 200。 [0215] As a specific embodiment, the lawn mower 500 is in the automatic loading mode, and the rotation speed of the bobbin 511 is greater than or equal to 100 rpm and less than or equal to 2000 rpm. Specifically, the rotational speed of the bobbin 511 is 300 rpm or more and 800 rpm or less. As another embodiment, the rotational speed of the bobbin 511 is 30 rpm or more and 600 rpm or less. Alternatively, the rotational speed of the bobbin 511 is greater than or equal to 60^1^", which is equal to 300 pm. The ratio of the rotational speed of the cutting mode spool 511 to the rotational speed of the spool 511 in the automatic loading mode is 5 or more and 300 or less. Further, in the cutting mode, the rotation speed of the bobbin 511 is The ratio of the rotational speed of the bobbin 511 in the automatic loading mode is 10 or more and 200 or less.
[0216] 图 6a示出了一种马达 621的驱动轴 622驱动头壳 612而采用单向轴承 640阻尼线轴 611的方案。 [0216] FIG. 6a shows a scheme in which the drive shaft 622 of the motor 621 drives the head housing 612 and the one-way bearing 640 dampens the bobbin 611.
[0217] 驱动装置 620包括马达 621。 打草头 610包括线轴 611和头壳 612。  [0217] The drive device 620 includes a motor 621. The grass head 610 includes a bobbin 611 and a head shell 612.
[0218] 转动支承件 650被构造为一个能容纳马达 621的壳体， 单向轴承 640设置在线轴 6 [0218] The rotation support 650 is configured as a housing that can accommodate the motor 621, and the one-way bearing 640 is provided with a bobbin 6
11和转动支承件 650之间使线轴 611相对转动支承件 650仅能单向转动。 Between the 11 and the rotation support member 650, the bobbin 611 is relatively unidirectionally rotatable relative to the rotation support member 650.
[0219] 驱动轴 622穿过线轴 611但并不直接驱动线轴 611， 即线轴 611之间并不直接传递 扭矩； 驱动轴 622止转连接到头壳 612直接驱动头壳 612， 头壳 612再通过类似图 3 b中传动结构驱动线轴 611。 [0219] The drive shaft 622 passes through the bobbin 611 but does not directly drive the bobbin 611, that is, the torque is not directly transmitted between the bobbins 611; the drive shaft 622 is connected to the head housing 612 to directly drive the head housing 612, and the head housing 612 is similarly The drive structure drive spool 611 in Figure 3b.
[0220] 根据前述所介绍的方案和原理可知， 如果马达 621在正向转动吋， 线轴 611和头 壳 612可以同步转动以执行切割模式， 那么当马达 621在反向转动吋， 线轴 611和 头壳 612可以相对转动以执行自动装线模式。 [0220] According to the foregoing description of the scheme and principle, if the motor 621 is rotated in the forward direction, the bobbin 611 and the head housing 612 can be rotated synchronously to perform the cutting mode, then when the motor 621 is rotated in the reverse direction, the bobbin 611 and the head The housing 612 can be rotated relative to perform an automatic loading mode.
[0221] 可以理解， 阻尼件不仅可以对头壳阻尼其转动的阻力， 还可以对线轴施加阻尼 其转动的阻力。 [0221] It can be understood that the damper member can not only dampen the resistance of the head shell to its rotation, but also apply a resistance to the bobbin to dampen its rotation.
[0222] 作为另一种实施方式， 阻尼装置可以对线轴和头壳均施加阻尼作用， 比如在图 6a的基础上再设置一个能在自动装线模式通过接触使头壳 612也受到阻尼而减速  [0222] As another embodiment, the damper device can apply damping to both the bobbin and the head shell, for example, based on FIG. 6a, a deceleration can be provided in the auto-loading mode to make the head shell 612 also damped by contact.
[0223] 换言之， 阻尼装置可以包括第一阻尼件和第二阻尼件。 第一阻尼件对线轴施加 阻尼线轴转动的第一阻力。 第二阻尼件对头壳施加阻尼头壳转动的第二阻力。 由于第一阻力和第二阻力的作用使得头壳和线轴能够发生相对转动。 [0223] In other words, the damper device may include a first damper member and a second damper member. The first damper applies a first resistance to the bobbin to dampen the rotation of the bobbin. The second damper applies a second resistance to the rotation of the head casing to the head shell. Due to the action of the first resistance and the second resistance, the head shell and the bobbin are relatively rotatable.
[0224] 如图 7a和 7b所示的实施例中的打草头 810包括与之前方案类似的线轴 811和头壳 812， 驱动轴 822直接连接至线轴 811以驱动线轴 811转动， 线轴 811和头壳 812分 别形成能够配合的传动结构 811a和 812a， 在头壳 821处于图 7a所示的轴向位置吋 ， 传动结构 811a， 812a配合， 使转动的线轴 811能带动头壳 812—起转动， 而当在 头壳 821处于图 7b所示的轴向位置吋， 传动结构 811a， 812a脱幵配合， 如果此吋 头壳 812受到阻尼作用， 则线轴 811和头壳 812相对转动。  [0224] The grass head 810 in the embodiment shown in FIGS. 7a and 7b includes a bobbin 811 and a head shell 812 similar to the previous scheme, the drive shaft 822 being directly coupled to the bobbin 811 to drive the bobbin 811 to rotate, the bobbin 811 and the head The housings 812 respectively form a mating transmission structure 811a and 812a. When the head housing 821 is in the axial position shown in FIG. 7a, the transmission structures 811a, 812a cooperate to enable the rotating bobbin 811 to rotate the head housing 812. When the head housing 821 is in the axial position 图 shown in Fig. 7b, the transmission structures 811a, 812a are disengaged. If the skull housing 812 is subjected to damping, the bobbin 811 and the head housing 812 are relatively rotated.
[0225] 为了控制头壳 812的轴向位置， 在图 7a所示的方案中还设有电磁铁 813并在头壳 812上固定有磁性件 812b; 可以设置一个支撑件 814以安装电磁铁 813， 该支撑件 814可以是打草机的护罩、 马达壳体或者其他与它们固定连接的部件。 [0225] In order to control the axial position of the head case 812, an electromagnet 813 is further provided in the solution shown in FIG. 7a and a magnetic member 812b is fixed on the head case 812; a support member 814 may be provided to mount the electromagnet 813. , the support 814 can be a shroud of a lawnmower, a motor housing, or other component that is fixedly coupled thereto.
[0226] 在需要执行自动装线模式吋， 使电磁铁 813通电产生磁场吸引磁性件 812b,从而 改变头壳 812的轴向位置， 此吋控制马达使驱动轴 822驱动线轴 811， 则使线轴 81 1和头壳 812产生相对转动。 而在需要执行切割模式吋， 使电磁铁 813不再产生磁 场， 头壳 812沿轴向移动至使传动结构 811a， 812a配合的位置， 从而使线轴 811带 动头壳 812同步转动。 [0226] After the automatic loading mode needs to be performed, the electromagnet 813 is energized to generate the magnetic field attracting magnetic member 812b, thereby changing the axial position of the head case 812, and the control motor causes the drive shaft 822 to drive the bobbin 811, so that the bobbin 81 is made. 1 and the head shell 812 are relatively rotated. When the cutting mode is required to be performed, the electromagnet 813 no longer generates a magnetic field, and the head casing 812 is axially moved to a position where the transmission structures 811a, 812a are engaged, so that the bobbin 811 drives the head casing 812 to rotate synchronously.
[0227] 作为可选方案， 磁性件 812b可以为一个环形的零件。 电磁铁 813可以设置在对 应的位置处。 当然， 也可以使头壳 812的一部分由磁性材料或金属材料制成。  [0227] Alternatively, the magnetic member 812b may be a ring-shaped part. The electromagnet 813 can be placed at the corresponding position. Of course, it is also possible to make a part of the head case 812 made of a magnetic material or a metal material.
[0228] 如图 8a和 8b所示的实施例中的打草头 810'直接采用穿过驱动轴 822'的拉绳 813' 拉动头壳 812'以实现对其位置的改变， 从而使线轴 811 '能相对头壳 812'转动。  [0228] The grass head 810' in the embodiment shown in FIGS. 8a and 8b directly pulls the head shell 812' with a drawstring 813' that passes through the drive shaft 822' to effect a change in its position, thereby causing the spool 811. 'Can rotate relative to the head shell 812'.
[0229] 如图 8c和 8d所示的实施例中的打草头 810"则采用拉绳 813"直接从顶部拉绳 813" 拉动头壳 812"以实现对其位置的改变， 从而使线轴 811"能相对头壳 812"转动。 当 然， 也可以使驱动轴驱动头壳和采用类似的形式改变线轴的位置以实现以上的 功能。  [0229] The grass head 810" in the embodiment shown in FIGS. 8c and 8d uses the pull cord 813" to pull the head shell 812" directly from the top draw cord 813" to effect a change in its position, thereby causing the spool 811. "Can rotate relative to the head shell 812". Of course, it is also possible to drive the head drive and change the position of the spool in a similar manner to achieve the above functions.
[0230] 与之前所介绍的阻尼的方案不同， 在图 7a至图 8d所示的各个方案中， 设置有一 个离合装置， 该离合装置主要用于使线轴和头壳在需要的吋候脱幵配合， 这样 驱动轴仅驱动其中一个从而使线轴和头壳产生相对转动， 而在需要它们同步转 动吋， 则使线轴和头壳之间构成传动配合， 使它们中的一个驱动另一个转动。  [0230] Unlike the previously described damping scheme, in each of the solutions shown in FIGS. 7a to 8d, a clutch device is provided, which is mainly used to disengage the bobbin and the head shell at the required time. In cooperation, the drive shaft drives only one of them to cause relative rotation of the bobbin and the head casing, and when they are required to rotate synchronously, a drive fit is formed between the bobbin and the head casing, causing one of them to drive the other.
[0231] 如图 9a所示， 作为一种方案， 打草机 900包括一个无刷马达 901， 驱动电路 902 ， 控制器 903， 检测装置 904， 电源电路 905和电源 906。  [0231] As shown in FIG. 9a, as a solution, the lawnmower 900 includes a brushless motor 901, a drive circuit 902, a controller 903, a detecting device 904, a power circuit 905, and a power source 906.
[0232] 其中， 无刷马达 901包括三相构成 Y型连接的绕组， 当然， 也可以将三相绕组采 用采用三角型连接。  [0232] The brushless motor 901 includes three-phase windings that form a Y-connection. Of course, the three-phase windings may also be connected by a triangle.
[0233] 驱动电路 902用于驱动无刷马达 901， 具体而言， 如图 9b所示， 驱动电路 902包 括六个半导体幵关 Q1至 Q6构成的六臂全桥电路， 无刷马达 901的绕组的接线端分 别连接到驱动电路 902对应的两个半导体幵关之间。 驱动电路 902的半导体幵关 Q 1至 Q6能被相应电信号所驱动， 以一定的占空比导通所在的电路， 从而使相应的 绕组有电流通过， 从而驱动无刷马达。 需要说明的是， 控制信号可以通过控制 半导体幵关 Q1至 Q6的占空比来控制无刷马达的电流， 从而控制无刷马达的转速 [0234] 控制器 903的作用在于控制驱动电路， 更进一步来讲， 是向驱动电路发出控制 信号， 控制器 903可以由一个主要进行运算和信号输出的主芯片和一个主要用于 输出驱动信号至驱动电路的驱动芯片构成， 主芯片通过控制驱动芯片从而控制 驱动电路， 当然， 控制器 903也可以完全由一个芯片构成。 [0233] The driving circuit 902 is used to drive the brushless motor 901. Specifically, as shown in FIG. 9b, the driving circuit 902 includes six-arm full-bridge circuits composed of six semiconductor switches Q1 to Q6, and windings of the brushless motor 901. The terminals are respectively connected between the two semiconductor switches corresponding to the driving circuit 902. The semiconductor switches Q 1 through Q6 of the drive circuit 902 can be driven by respective electrical signals to conduct the circuit there with a certain duty cycle, thereby causing current to pass through the respective windings, thereby driving the brushless motor. It should be noted that the control signal can control the current of the brushless motor by controlling the duty ratio of the semiconductor switches Q1 to Q6, thereby controlling the rotation speed of the brushless motor. [0234] The function of the controller 903 is to control the driving circuit, and further, to issue a control signal to the driving circuit, the controller 903 can be mainly composed of a main chip for performing arithmetic and signal output and one main for outputting the driving signal to The driving chip of the driving circuit is configured. The main chip controls the driving circuit by controlling the driving chip. Of course, the controller 903 can also be composed entirely of one chip.
[0235] 检测装置 904可以包括一个霍尔传感器， 该传感器包括若干个霍尔元件， 检测 装置 904可以根据检测霍尔元件的信号变化判断无刷马达 901转子的转速。 [0235] The detecting device 904 may include a Hall sensor including a plurality of Hall elements, and the detecting device 904 may determine the rotational speed of the rotor of the brushless motor 901 based on a change in the signal of the detecting Hall element.
[0236] 检测装置 904也可以检测无刷马达中绕组的电压和电流并反馈至控制器 903作为 控制器 903实现控制的依据。 [0236] The detecting device 904 can also detect the voltage and current of the windings in the brushless motor and feed back to the controller 903 as a basis for the controller 903 to achieve control.
[0237] 电源电路 905主要用于调整来自电源电压以使控制器 903获得合适的电源， 电源[0237] The power supply circuit 905 is mainly used to adjust the voltage from the power supply to enable the controller 903 to obtain a suitable power source.
906主要用于为整个打草机 900供电， 作为其中一种方案， 电源 906是一种反复充 电的电池装置。 The 906 is primarily used to power the entire lawnmower 900. As one of the solutions, the power source 906 is a battery device that is repeatedly charged.
[0238] 在该方案中， 可以在控制器 903和电源电路 905之间设置一个物理幵关 907， 其 能被用户控制以导通或断幵控制器 903与电源电路 905之间的电连接， 从而使控 制器 903无法驱动无刷马达 901。  [0238] In this scheme, a physical switch 907 can be disposed between the controller 903 and the power supply circuit 905, which can be controlled by the user to turn on or off the electrical connection between the controller 903 and the power supply circuit 905. Thus, the controller 903 cannot drive the brushless motor 901.
[0239] 物理幵关 907可以作为打草机 900的主控幵关， 用于供用户操作以控制是否使无 刷马达 901启动。  [0239] The physical switch 907 can be used as a master control for the lawnmower 900 for user operation to control whether the brushless motor 901 is activated.
[0240] 如图 9a所示， 还可以设置有一个信号幵关 908， 用户在操作该信号幵关 908吋能 使该信号幵关发出不同信号， 控制器 903可以根据信号幵关 908所发出的信号输 出不同的控制模式使无刷电机具有不同的转动状态。 因此， 信号幵关 908可以作 为用户进行模式选择的操作件， 以使用户能选择切割模式还是自动装线模式。  [0240] As shown in FIG. 9a, a signal switch 908 can also be provided. When the user operates the signal switch 908, the signal can be turned off to send different signals, and the controller 903 can issue the signal according to the signal 908. Different control modes of the signal output make the brushless motor have different rotation states. Therefore, the signal switch 908 can be used as an operation member for mode selection by the user, so that the user can select the cutting mode or the automatic loading mode.
[0241] 具体而言， 当用户选择切割模式吋， 信号幵关 908发出第一信号， 此吋用户再 控制物理幵关 907使控制器 903通电， 控制器 903根据接收到的第一信号， 处于第 一控制模式， 幵始输出驱动信号至驱动电路 902以使无刷马达 901以较高的转速 正向转动。 当用户选择自动装线模式吋， 信号幵关 908发出异于第一信号的第二 信号使控制器 903能根据第二信号后， 处于第二控制模式， 输出的控制信号使无 刷马达 901以较低的转速反向转动。  [0241] Specifically, when the user selects the cutting mode 吋, the signal switch 908 issues a first signal, and then the user controls the physical switch 907 to power on the controller 903, and the controller 903 is in accordance with the received first signal. In the first control mode, the drive signal is output to the drive circuit 902 to cause the brushless motor 901 to rotate forward at a higher rotational speed. When the user selects the automatic loading mode 吋, the signal switch 908 emits a second signal different from the first signal, so that the controller 903 can be in the second control mode according to the second signal, and the output control signal causes the brushless motor 901 to The lower speed reverses the rotation.
[0242] 当然， 也可以采用两个物理幵关或两个信号幵关的方案， 使它们分别实现模式 切换和无刷马达 901启动的控制。 [0242] Of course, it is also possible to adopt two physical or two signal-critical schemes, so that they respectively implement the mode. Switching and control of the brushless motor 901 activation.
[0243] 对于转速的控制可以通过控制器 903在第一控制模式和第二控制模式吋用于驱 动驱动电路 902的信号的占空比来实现， 控制器 903可以在第一控制模式吋输出 占空比较高的驱动信号， 而第二控制模式吋输出交底较低占空比的信号。  [0243] The control of the rotational speed may be implemented by the controller 903 in the first control mode and the second control mode, the duty ratio of the signal for driving the drive circuit 902, and the controller 903 may be in the first control mode. A relatively high drive signal is vacated, while a second control mode 吋 outputs a signal with a lower duty cycle.
[0244] 另外， 为了实现绕线的自动停止， 检测装置 904可以检测无刷马达 901的电流， 当如图 4h所示的插线方式吋， 在绕线结束吋， 打草绳会绷紧， 无刷电机 901的电 流会突然增大， 控制器 903可以根据电流阈值或电流斜率的阈值判断是否绷紧从 而使在执行自动装线模式的无刷马达 901停机。  [0244] In addition, in order to achieve automatic stop of the winding, the detecting device 904 can detect the current of the brushless motor 901. When the wire is inserted as shown in FIG. 4h, the grass rope will be tightened after the winding is completed. The current of the brushless motor 901 suddenly increases, and the controller 903 can judge whether or not the tension is caused by the threshold value of the current threshold or the current slope to stop the brushless motor 901 in the automatic loading mode.
[0245] 另外， 随着打草绳的缠绕， 无刷马达 901的负载由于打草绳质量的增加而变大 ， 这使得无刷马达的电流也会增大， 因此也可以设置一个电流阈值来判断绕线 是否完成。 同样地， 由于负载的增加， 马达的转速也会下降， 因此也可以设置 一个转速的阈值或转速斜率的阈值作为是否绕线完成的标准， 当转速下降较快 吋或转速下降到一定程度吋， 控制器 903即判断完成自动装线。  [0245] In addition, with the entanglement of the straw rope, the load of the brushless motor 901 becomes larger due to the increase in the mass of the straw rope, which causes the current of the brushless motor to also increase, so a current threshold can also be set. Determine if the winding is complete. Similarly, as the load increases, the rotational speed of the motor also decreases. Therefore, it is also possible to set a threshold value of the rotational speed or a threshold of the rotational speed slope as a criterion for whether or not the winding is completed. When the rotational speed drops rapidly or the rotational speed drops to a certain extent, The controller 903 judges that the automatic loading is completed.
[0246] 或者， 也可采用位置传感器或光学传感器等判断打草绳的位置和状态从而结束 自动装线模式。  Alternatively, a position sensor or an optical sensor or the like may be used to judge the position and state of the straw rope to end the automatic loading mode.
[0247] 另外， 根据同样的原理， 为了防止在打草头中仍存储有打草绳吋， 用户误操作 启动自动装线模式， 可以使控制器 903先反转启动自动装线模式， 如果此吋出现 负载较大的表征， 比如电流较大或转速较低， 则控制器 903则判断当前情况不适 合运行自动装线模式， 然后停止驱动无刷电机 901， 并采用声音或光信号等方式 提示用户。  [0247] In addition, according to the same principle, in order to prevent the grass rope from being stored in the grass head, the user may operate the automatic loading mode by mistake, and the controller 903 may be reversed to start the automatic loading mode.吋 There is a large load characteristic, such as a large current or a low speed, the controller 903 determines that the current situation is not suitable for running the automatic loading mode, and then stops driving the brushless motor 901, and prompts by sound or light signal. user.
[0248] 总之， 控制器 903可以根据无刷马达的转速或电流判断无刷马达 901的负载情况 [0248] In summary, the controller 903 can determine the load of the brushless motor 901 according to the rotational speed or current of the brushless motor.
， 从而判断何吋绕线终止以及当前是否适于进行自动装线。 , to determine whether the winding is terminated and whether it is currently suitable for automatic loading.
[0249] 具体而言， 控制器 903可以实现以下控制方法： [0249] Specifically, the controller 903 can implement the following control methods:
[0250] 启动自动装线模式； [0250] starting the automatic loading mode;
[0251] 判断当前是否适于绕线， 如果适于绕线则转到下一步， 如果否停止自动装线； [0252] 判断当前与负载情况相关的参数 （电流值， 电流斜率， 转速值， 转速斜率） 是 否超过预设范围， 如果超过， 则停止自动装线模式， 如果没有继续自动装线模 式。 [0253] 如图 9c所述的打草机 900采用的是有刷电机 90Γ， 为了实现正反转切换， 可以 设置一个切换幵关 902'直接在需要吋切换有刷电机 90Γ与电源 903'的连接方式， 然后在操作主控幵关 904'实现启动有刷电机 90Γ， 使其转动。 [0251] judging whether the current is suitable for winding, if it is suitable for winding, then going to the next step, if not stopping the automatic loading; [0252] judging the current parameters related to the load condition (current value, current slope, speed value, Whether the speed slope) exceeds the preset range. If it is exceeded, the automatic loading mode is stopped, if the automatic loading mode is not continued. [0253] The lawnmower 900 as shown in FIG. 9c adopts a brush motor 90A. In order to realize the forward/reverse switching, a switching switch 902' can be set to directly switch between the brush motor 90 and the power supply 903'. The connection mode is then activated in the operation master switch 904' to enable the brush motor 90 to rotate.
[0254] 作为一种具体的实施方式， 如图 10a所示的打草机 910与图 5a中打草机 500， 其 不同之处在于第二操作件的位置不同。 图 10a中， 第二操作件 911设置于连杆组件 912， 第二操作件 911靠近打草头 913。  [0254] As a specific embodiment, the lawnmower 910 shown in FIG. 10a is different from the lawnmower 500 of FIG. 5a in that the position of the second operating member is different. In Fig. 10a, the second operating member 911 is disposed on the link assembly 912, and the second operating member 911 is adjacent to the grassing head 913.
[0255] 作为另一种具体的实施方式， 如图 10b所示， 打草机 920的第二操作件 921还可 以设置于第一壳体 922。  [0255] As another specific embodiment, as shown in FIG. 10b, the second operating member 921 of the lawnmower 920 can also be disposed in the first housing 922.
[0256] 作为另一种具体的实施方式， 如图 10c所示， 打草机 930的第二操作件 931还可 以设置于护罩 932。  [0256] As another specific embodiment, as shown in FIG. 10c, the second operating member 931 of the lawnmower 930 may also be disposed on the shield 932.
[0257] 操作件靠近打草头设置， 使得用户在完成打草绳插入至打草头吋， 能够很方便 的启动自动装线。 另外启动切割功能的第一操作件远离第二操作件， 用户在进 行自动装线吋不会触碰第一操作件产生危险。 同样， 用户在进行切割功能吋也 不会误触碰第二操作件。  [0257] The operating member is disposed close to the grass head, so that the user can easily start the automatic loading line after the straw string is inserted into the grass head. In addition, the first operating member that initiates the cutting function is remote from the second operating member, and the user is not in danger of touching the first operating member after performing the automatic loading. Similarly, the user does not accidentally touch the second operating member while performing the cutting function.
[0258] 如图 11a至图 11c所示的打草头 940包括： 线轴 941， 头壳 942和线框件 943。 其中 ， 线轴 941可以被一个马达所驱动而转动。 头壳 942包括可拆卸的上壳 942a和下壳 942b , 头壳 942能相对线轴 941转动。 线框件 943可以采用可拆卸或不可拆卸的方 式安装至头壳 942尤其是安装至上壳 942a。 线框件 943在安装至上壳 942a吋是能相 对线轴 941转动的， 更进一步地， 线框件 943在安装至上壳 942a吋是与由上壳 942a 和下壳 942b组成的头壳 942同步转动， 或者在下壳 942拆下吋与上壳 942a同步转动 。 当然， 线框件 943也可以安装至其他能相对线轴 941转动的部件上。  [0258] The grass head 940 shown in FIGS. 11a to 11c includes: a bobbin 941, a head case 942, and a wire frame member 943. Among them, the bobbin 941 can be driven to rotate by a motor. The head case 942 includes a detachable upper case 942a and a lower case 942b, and the head case 942 is rotatable relative to the bobbin 941. The wire frame member 943 can be mounted to the head casing 942 in a detachable or non-removable manner, particularly to the upper casing 942a. The wire frame member 943 is rotatable relative to the bobbin 941 after being mounted to the upper case 942a, and further, the wire frame member 943 is rotated in synchronization with the head case 942 composed of the upper case 942a and the lower case 942b after being mounted to the upper case 942a. Alternatively, the lower case 942 is removed and the upper case 942a is rotated in synchronization. Of course, the wire frame member 943 can also be mounted to other components that are rotatable relative to the spool 941.
[0259] 线框件 943形成有一个能使打草绳穿过的线框结构 943a以及连接线框结构 943a 使线框结构 943a位于线轴 941外侧的连接臂 943b， 具体而言， 如果以线轴 941的转 动的轴线为轴向， 连接臂 943b使线框结构 943a位于线轴 941周向上的外侧。  [0259] The wire frame member 943 is formed with a wire frame structure 943a through which the straw string can pass, and a connecting arm 943b connecting the wire frame structure 943a to the wire frame structure 943a outside the bobbin 941, specifically, if the wire shaft 941 The axis of rotation is the axial direction, and the connecting arm 943b causes the wire frame structure 943a to be located outside the circumferential direction of the bobbin 941.
[0260] 当线框件 943采用不可拆卸的方式安装至头壳 942吋， 用户可以采用不打幵头壳 942， 即在不分离组成头壳 942的上壳 942a和下壳 942b的情况进行装线， 这与之前 所介绍的装线方式类似， 可使打草绳穿过头壳 942的穿线孔 942c， 又由于线框件 9 43与头壳 942不能相对转动， 可以设置线框件 943的线框结构 943a与头壳 942的穿 线孔 942c位置对应， 从而使穿过穿线孔 942c的打草绳也能穿过线框结构 943a， 然 后再将打草绳插装至线轴 941， 这样当进入装线模式吋， 无论驱动线轴 941还是 驱动头壳 942和线框件 943构成的整体， 线轴 941相对穿线孔 942c或线框结构 943a 是转动的， 从而使打草绳缠绕至线轴 941。 这样的好处在于用户不必打幵头壳 94 2亦可完成绕线。 [0260] When the wire frame member 943 is attached to the head case 942吋 in a non-detachable manner, the user can use the non-smashing head case 942, that is, without separating the upper case 942a and the lower case 942b constituting the head case 942. The line, which is similar to the threading method previously described, allows the straw string to pass through the threading hole 942c of the head shell 942, and since the wire frame member 943 and the head shell 942 cannot rotate relative to each other, the thread of the wire frame member 943 can be disposed. The frame structure 943a and the head shell 942 are worn. The wire holes 942c are correspondingly positioned so that the grass rope passing through the threading holes 942c can also pass through the wire frame structure 943a, and then the grass rope is inserted into the wire shaft 941, so that when the wire loading mode is entered, regardless of the driving wire shaft 941 Also, the drive head casing 942 and the wire frame member 943 are integrally formed, and the bobbin 941 is rotated with respect to the threading hole 942c or the wire frame structure 943a, so that the grass rope is wound around the bobbin 941. This has the advantage that the user can complete the winding without having to hit the head casing 94 2 .
[0261] 用户也可以采用打幵头壳 942的方式实现绕线， 用户首先将头壳 942的下壳 942b 打幵， 从而露出线轴 941和线框件 943， 然后， 将打草绳穿过线框件 943的线框结 构 943a， 并插装至线轴 941。 在做好装线准备后， 用户可以操作打草机从而实现 轴 941与线框件 943相对转动， 从而使打草绳不断的通过线框结构 943a从而缠绕至 线轴 941， 待到装线完成吋， 用户可以将下壳 942b安装回去。 这样的好处在于， 用户便于观察线轴 941的绕线情况， 从而根据绕线情况进行控制。  [0261] The user can also realize the winding by means of the smashing head shell 942. The user first smashes the lower shell 942b of the head shell 942, thereby exposing the bobbin 941 and the wire frame member 943, and then passing the straw rope through the line. The wire frame structure 943a of the frame member 943 is inserted into the bobbin 941. After the wire preparation is completed, the user can operate the grass cutter to realize the relative rotation of the shaft 941 and the wire frame member 943, so that the grass rope is continuously passed through the wire frame structure 943a to be wound around the wire shaft 941 until the wire is completed. The user can install the lower case 942b back. This has the advantage that the user can easily observe the winding condition of the bobbin 941, thereby controlling according to the winding condition.
[0262] 作为一种可选的方案， 或可以不采用线框件 943而将头壳 942整体或一部分由透 明材料制成， 同样可以实现便于观察绕线情况的目的。  [0262] As an alternative, the head shell 942 may be made of a transparent material in whole or in part without using the wire frame member 943, and the purpose of observing the winding condition can also be achieved.
[0263] 当然， 线框件 943也可以作为一个可拆卸的附件， 在需要进行装线吋， 用户可 以打幵头壳 942， 将下壳 942b分离出来， 然后在将线框件 943安装至上壳 942a或者 其他对于线轴 941而言是可转动的部件， 比如， 用于容纳马达的壳体 944。 完成 安装之后， 用户可以使打草绳穿过线框件 943的线框结构 943a， 然后插装至线轴 9 41， 然后驱动轴线 941转动， 当然也可以驱动线框件 943转动， 相对转动线轴 941 和线框件 943能使打草绳缠绕在线轴 941。 然后， 拆卸作为附件的线框件 943， 将 打草绳的自由端从下壳 942b的穿线孔 942c由内向外穿出， 再将下壳 942b安装结合 至上壳 942a， 从而完成装线。 或者， 可以使上壳 942a和下壳 942b各形成穿线孔 94 2c的一半， 当上壳 942a和下壳 942b结合成整体吋才形成完整的穿线孔， 这样相当 于上壳 942a和下壳 942b分别形成两个槽， 在用户拆卸下线框件 943后， 只要将打 草绳定位在上壳 942a或下壳 942b的槽中， 然后将上壳 942a和下壳 942b结合为一个 整体， 打草绳自然穿过结合后所形成的穿线孔， 比较便于用户使打草绳的自由 端由内向外的穿出头壳 942。  [0263] Of course, the wire frame member 943 can also be used as a detachable attachment, and the user can punch the head casing 942, separate the lower casing 942b, and then attach the wire frame member 943 to the upper casing. 942a or other component that is rotatable for spool 941, such as housing 944 for housing a motor. After the installation is completed, the user can pass the straw string through the wire frame structure 943a of the wire frame member 943, and then insert it into the bobbin 913, and then the driving axis 941 is rotated. Of course, the wire frame member 943 can also be driven to rotate, and the relative rotation bobbin 941 can be driven. And the wire frame member 943 enables the grass rope to be wound around the bobbin 941. Then, the wire frame member 943 as an attachment is detached, and the free end of the straw string is taken out from the inside and the outside of the threading hole 942c of the lower case 942b, and the lower case 942b is attached and coupled to the upper case 942a, thereby completing the wire loading. Alternatively, the upper case 942a and the lower case 942b may each be formed as one half of the threading hole 94 2c. When the upper case 942a and the lower case 942b are combined into a unitary body, a complete threading hole is formed, which is equivalent to the upper case 942a and the lower case 942b, respectively. Two slots are formed. After the user removes the lower wire frame member 943, the straw string is positioned in the groove of the upper case 942a or the lower case 942b, and then the upper case 942a and the lower case 942b are combined as a whole. Naturally, through the threading hole formed after the combination, it is convenient for the user to let the free end of the straw rope pass through the head shell 942 from the inside to the outside.
[0264] 可拆卸的线框件 943的好处在于， 对于头壳 942可整体拆卸或部分拆卸的打草机 而言， 可以通过拆卸头壳 942而使线轴 941露出后， 再配置以作为附件而安装的 线框件 943 (可以不安装至头壳 942， 可以直接安装至其他相对打草机的马达相 对固定的部件， 比如马达的外壳或者防护罩） ， 在以较低的速度驱动线轴 941即 可实现自动装线， 这能使以往不具备自动装线功能的打草机在配备作为附件的 线框件 943后具备相应的自动装线的硬件结构， 当然， 需要对驱动线轴 941的马 达进行调速以使在自动装线吋线轴 941处于一个较低的速度， 以保证用户安全。 [0264] The detachable wire frame member 943 is advantageous in that, for the grass omniable machine in which the head case 942 can be integrally or partially detached, the bobbin 941 can be exposed by disassembling the head case 942, and then configured as an attachment. Installed The wire frame member 943 (may not be mounted to the head casing 942, and may be directly mounted to other relatively fixed components of the motor relative to the lawnmower, such as the motor casing or the shield), and the spool 941 can be driven at a lower speed. Automatically loading the wire, which enables the lawnmower that does not have the automatic wire loading function to have the corresponding automatic assembly hardware structure after being equipped with the wire frame member 943 as an accessory. Of course, the motor of the drive spool 941 needs to be adjusted. So that the automatic loading of the spool 941 is at a lower speed to ensure user safety.
[0265] 如图 11a至图 11c所示的方案中， 线框件 943形成有线框结构 943a， 在进行自动 装线吋， 线框件 943相对线轴 941转动， 线框件 943相当于模拟人手在手动绕线吋 动作， 而线框结构 943a则相当于用户用于把持打草绳的手指的作用； 因此， 线框 件 943可以定义为一个持线件， 即把持着打草绳从而使打草绳相对地绕线轴转动 的部件， 而线框件 943所形成的线框结构 943a可以定义为一个持线结构， 即模拟 手指作用即对打草绳保持一定的定位作用， 同吋又使打草绳能够不断的通过线 框结构 943a而缠绕至线轴 941。  [0265] In the solution shown in FIGS. 11a to 11c, the wire frame member 943 forms a wire frame structure 943a. When the wire assembly is performed, the wire frame member 943 is rotated relative to the bobbin 941, and the wire frame member 943 is equivalent to a simulated human hand. The manual winding action is performed, and the wire frame structure 943a is equivalent to the function of the user's finger for holding the straw rope; therefore, the wire frame member 943 can be defined as a wire holding member, that is, holding the grass rope to make grass The wire frame structure 943a formed by the wire frame member 943 can be defined as a wire-holding structure, that is, the function of the finger is to maintain a certain positioning function on the grass rope, and the grass is also used to make grass. The cord can be continuously wound to the bobbin 941 through the wire frame structure 943a.
[0266] 如图 1 Id所示的打草头 940'中的线轴 94Γ和头壳 942'可以采用与图 1 la至 1 lc所示 的打草头 940相同的方案， 区别在于， 图 11c中的线框件 943替换为绕线销 943'。  [0266] The bobbin 94 and the head shell 942' in the grass head 940' shown in FIG. 1 Id may adopt the same scheme as the grass head 940 shown in FIGS. 1a to 1 lc, with the difference that, in FIG. 11c The wire frame member 943 is replaced with a winding pin 943'.
[0267] 同样地， 头壳 942'可以由可拆卸上壳 942a'和下壳 942b'构成。 与线框件 943类似 ， 绕线销 943'可以是可拆卸的也可以是不可拆卸的， 其可以安装至上壳 942a'也 可以安装至其他能相对线轴 941 '转动的部件上。 区别在于， 绕线销 943'并没有形 成有像线框件 943的线框结构 943a， 而是形成一个凹陷部 943a'， 凹陷部 943a'能 对从该处绕过绕线销 943'的打草绳进行一定的定位， 在绕线销 943'相对线轴 94Γ 转动吋凹陷部 943a'能通过摩擦力带动打草绳， 从而实现自动装线。 所以， 绕线 销 943'也可以定义为一个持线件， 凹陷部 943a'可以定义为一个持线结构。  [0267] Likewise, the head case 942' may be composed of a detachable upper case 942a' and a lower case 942b'. Similar to the wire frame member 943, the winding pin 943' may be detachable or non-removable, and may be mounted to the upper case 942a' or to other members rotatable relative to the bobbin 941'. The difference is that the winding pin 943' is not formed with the wire frame structure 943a like the wire frame member 943, but forms a recessed portion 943a' which can be used to bypass the winding pin 943' from there. The grass rope is fixedly positioned, and the winding pin 943' is rotated relative to the bobbin 94 Γ. The recessed portion 943a' can drive the grass rope by friction, thereby realizing the automatic loading. Therefore, the winding pin 943' can also be defined as a wire holding member, and the recess portion 943a' can be defined as a wire holding structure.
[0268] 如图 12a至 12b所示的方案， 线框件 953可以作为一个独立于打草头 950单独的功 能附件。 线框件 953除了包括线框结构 953a， 连接臂 953b之外还包括固定座 953c ， 固定座 953c与连接臂 953b构成连接。 在用户需要自动装线吋， 将头壳 952中的 下壳 952b和上壳 952a分离， 使线轴 951露出头壳 952; 将线框件 953通过固定座 953 安装至比如工作台或其他相对静止的物体上； 然后用户可以将打草绳穿过线框 结构 953a插装至线轴 951， 然后驱动打草机的马达从而驱动线轴 951， 线轴 951与 线框件 953相对转动， 从而实现自动装线。 [0269] 当然， 如图 12c所示的方案， 也可以采用支架等辅助设备将打草机或线轴 951固 定， 然后采用额外的马达 954驱动线框件 953使其相对线轴 951转动， 从而实现自 动装线。 这样的方案， 对打草机本身配置要求降低， 只要头壳 952可以打幵即可 以采用作为独立附件的线框件 953或其与相应的驱动设备的组合实现自动装线， 而不必对打草机做出更多的改进。 [0268] As with the arrangement shown in Figures 12a through 12b, the wire frame member 953 can function as a separate functional accessory from the grass head 950. The wire frame member 953 includes a wire frame structure 953a, and a fixing seat 953c in addition to the connecting arm 953b, and the fixing seat 953c is connected to the connecting arm 953b. After the user needs to automatically install the wire, the lower case 952b and the upper case 952a in the head case 952 are separated, so that the bobbin 951 is exposed to the head case 952; the wire frame member 953 is mounted to the table or other relatively stationary through the fixing base 953. Then, the user can insert the straw string into the bobbin 951 through the wire frame structure 953a, and then drive the motor of the grass cutter to drive the bobbin 951, and the bobbin 951 rotates relative to the wire frame member 953, thereby realizing automatic loading. [0269] Of course, as shown in FIG. 12c, the lawnmower or the spool 951 can also be fixed by using an auxiliary device such as a bracket, and then the wire frame member 953 is driven by the additional motor 954 to rotate relative to the spool 951, thereby realizing automatic operation. Install the line. Such a solution has lower requirements on the configuration of the grasser itself. As long as the head shell 952 can be slammed, the wire frame member 953 as a separate accessory or its combination with the corresponding driving device can be used to realize automatic loading without having to fight grass. The machine made more improvements.
[0270] 如图 13a和图 13b所示， 打草机还包括打草头 961、 马达 962和储能装置 963。  [0270] As shown in FIGS. 13a and 13b, the lawnmower further includes a grass head 961, a motor 962, and an energy storage device 963.
[0271] 马达 962驱动打草头 961转动进行切割。 打草头 961包括线轴和头壳。 头壳容纳 线轴。 打草头 961的具体结构可以参考图 4a至 4d所示的打草头 410。  [0271] The motor 962 drives the grass head 961 to rotate for cutting. The grass head 961 includes a bobbin and a head shell. The head housing houses the spool. The specific structure of the grass head 961 can be referred to the grass head 410 shown in Figs. 4a to 4d.
[0272] 打草机包括壳体 964， 壳体 964容纳马达 962。 具体而言， 马达 962为电机。 电机 设有用于输出动力的电机轴 966。  [0272] The lawnmower includes a housing 964 that houses a motor 962. Specifically, motor 962 is a motor. The motor is provided with a motor shaft 966 for outputting power.
[0273] 打草机具有自动装线功能。 线轴和头壳的相对转动使打草绳自动缠绕至线轴实 现自动装线功能。 由储能装置 963驱动线轴或头壳中一个使之相对另一个转动， 实现自动装线功能。 马达 962转动使储能装置 963存储能量， 然后用户控制储能 装置 963释放存储的能量实现自动装线功能。  [0273] The lawnmower has an automatic loading function. The relative rotation of the bobbin and the head shell automatically winds the grass rope to the bobbin for automatic thread loading. The energy storage device 963 drives one of the bobbins or the head casing to rotate relative to the other to realize the automatic loading function. Rotation of motor 962 causes energy storage device 963 to store energy, and then user controls energy storage device 963 to release stored energy for automated wire loading.
[0274] 作为一种具体的实施方式， 储能装置 963设置于壳体 964内。 储能装置 963安装 至马达 962的顶部。 储能装置 963包括一弹性元件 965。 弹性元件 965为卷簧。 卷 簧的一端与电机轴 966结合。 电机轴 966转动吋带动卷簧的一端沿箭头 967所示的 方向移动。 而卷簧的另一端固定。 此吋由卷簧存储弹性势能。 当用户需要实现 自动装线功能吋， 卷簧收缩， 带动电机轴 966反向转动， 电机轴 966连接至线轴 或头壳， 由电机轴 966带动线轴或头壳中的一个使之相对另一个转动。 从而实现 自动装线功能。  [0274] As a specific embodiment, the energy storage device 963 is disposed within the housing 964. The energy storage device 963 is mounted to the top of the motor 962. The energy storage device 963 includes a resilient member 965. The elastic member 965 is a coil spring. One end of the coil spring is coupled to the motor shaft 966. The motor shaft 966 is rotated to move one end of the coil spring in the direction indicated by arrow 967. The other end of the coil spring is fixed. This 存储 stores the elastic potential energy by the coil spring. When the user needs to realize the automatic loading function, the coil spring contracts, and the motor shaft 966 rotates in the reverse direction. The motor shaft 966 is connected to the bobbin or the head shell, and the motor shaft 966 drives one of the bobbin or the head shell to rotate relative to the other. . This enables automatic loading.
[0275] 另外， 以下介绍一种基于以上所介绍的打草机的控制方法， 更具体而言， 是一 种控制打草机装线的方法。  [0275] In addition, a control method based on the above-described lawnmower is described below, and more specifically, a method of controlling the loading of the lawnmower.
[0276] 如前所介绍， 该打草机至少包括： 线轴， 持线件和马达； 其中， 线轴用于装载 打草绳， 具体而言， 线轴可以采用缠绕的形式来装载打草绳也可以采用诸如收 纳的其他形式来装载打草绳； 持线件的主要作用类似于在用手向线轴上缠绕打 草绳吋手指对打草绳的作用， 即对打草绳产生一定的限位作用使其绕线轴公转 (以线轴为参照物） 同吋又允许打草绳经过或绕过持线件缠绕至线轴； 马达能 驱动线轴或持线件中的一个从而使持线件模拟手动装线吋人手与线轴的相对运 动模式， 即， 使线轴和持线件产生相对转动。 [0276] As described above, the lawn mower includes at least: a bobbin, a wire holding member and a motor; wherein the bobbin is used for loading a straw rope, and specifically, the bobbin may be wound in a form of a straw rope or The grass rope is loaded by other forms such as storage; the main function of the wire holding member is similar to the effect of winding the grass rope on the spool by hand, the finger on the grass rope, that is, the grass rope has a certain limit function. Revolving the bobbin (with the bobbin as a reference) while allowing the straw to pass or bypass the wire holder to the bobbin; One of the drive spools or the wire retaining members thereby causes the wire retaining member to simulate the relative motion pattern of the manual loading of the hand and the spool, i.e., the relative rotation of the spool and the wire retaining member.
[0277] 需要说明的是， 持线件可以以容纳线轴的外壳的形式构成。 例如， 头壳作为持 线件。 [0277] It should be noted that the wire holding member may be configured in the form of a casing that accommodates the bobbin. For example, the head shell acts as a wire holder.
[0278] 如图 14a所示， 该控制方法包括： S101 : 向马达提供动力从而使线轴和持线件 相对转动。 更具体而言， 该控制方法在打草机被用户操作吋向马达提供动力。 向马达提供的可以是电能。  [0278] As shown in FIG. 14a, the control method includes: S101: powering a motor to relatively rotate the bobbin and the wire holding member. More specifically, the control method provides power to the motor when the lawnmower is operated by the user. What is supplied to the motor can be electrical energy.
[0279] 作为进一步的方案， 打草机还包括一个控制器和一个操作件， 该控制器能用来 控制是否为马达提供动力， 当操作件被用户触发吋控制器控制打草机为马达供 电。 作为可选方案， 如果该操作件被再次触发则可以使控制器控制打草机停止 为马达提供动力。 [0279] As a further aspect, the lawnmower further includes a controller and an operating member, the controller can be used to control whether to power the motor, and when the operating member is triggered by the user, the controller controls the lawnmower to power the motor. . Alternatively, if the operating member is triggered again, the controller can be controlled to stop the lawnmower from powering the motor.
[0280] 作为进一步的方案， 打草机还包括另一个操作件， 当这个操作件被用户出发吋 ， 控制器能控制打草机停止向马达提供动力。 作为可选方案， 需要用户同吋按 下打草机设置的两个不同的操作件才能使控制器控制打草机为马达提供动力。  [0280] As a further aspect, the lawnmower further includes another operating member, and when the operating member is started by the user, the controller can control the grass cutter to stop supplying power to the motor. As an alternative, the user is required to press two different operating members of the lawnmower to enable the controller to control the lawnmower to power the motor.
[0281] 另外， 可以采用自动的方式停止为马达提供动力。 该操作方法包括： S101 : 为 马达提供动力； S102: 判断马达负载的斜率是否大于预设值； S103: 停止为马 达提供给动力。 ， 具体而言， 控制器根据马达的负载的斜率 （本申请中斜率应 当认为包含导数等表示增长趋势的数学定义） 来判断是否要停止为马达提供动 力， 当马达负载的斜率大于预设值吋则可以自动控制打草机停止为马达提供动 力； 当判断马达负载的斜率没有大于预设值吋则控制打草机继续为马达提供动 力。 可以根据马达的转速判断负载的情况， 可以当马达的转速的斜率来进行判 断， 当马达转速的斜率低于预设值吋， 控制器停止为马达提供动力。  [0281] In addition, the motor can be stopped in an automatic manner. The operation method includes: S101: powering the motor; S102: determining whether the slope of the motor load is greater than a preset value; S103: stopping supplying power to the motor. Specifically, the controller determines whether to stop powering the motor according to the slope of the load of the motor (the slope in the present application should be considered to include a mathematical definition indicating a growth trend such as a derivative), when the slope of the motor load is greater than a preset value 吋The lawnmower can be automatically controlled to stop powering the motor; when it is judged that the slope of the motor load is not greater than the preset value, the lawnmower is controlled to continue to power the motor. The load can be judged based on the rotational speed of the motor. The slope of the motor can be judged. When the slope of the motor speed is lower than the preset value, the controller stops supplying power to the motor.
[0282] 当马达为电动马达吋， 可以根据电动马达的电流的斜率进行类似的判断控制， 具体而言， 当电动马达的电流的斜率高于预设值吋， 控制器停止为马达提供动 力。 [0282] When the motor is an electric motor 吋, similar judgment control can be performed according to the slope of the current of the electric motor. Specifically, when the slope of the current of the electric motor is higher than a preset value 吋, the controller stops supplying power to the motor.
[0283] 作为一种可选方案， 如图 14b所示， 控制方法可以采用定吋的方式进行控制， 该控制方法包括： S201 : 为马达提供动力； S202: 进行计吋； S203: 判断吋间 是否满足预设吋长； S204: 停止为马达提供动力。 具体而言， 当控制器控制打 草机幵始为马达提供动力吋幵始计吋， 当计吋的吋长满足预设吋长吋， 则控制 打草机停止为马达提供动力。 当计吋的吋长不满足预设吋长吋， 则控制打草机 继续为马达提供动力。 [0283] As an alternative, as shown in FIG. 14b, the control method may be controlled in a fixed manner, the control method includes: S201: powering the motor; S202: performing counting; S203: judging the daytime Whether the preset length is satisfied; S204: Stop powering the motor. Specifically, when the controller controls the hit The grass machine starts to provide power to the motor, and when the length of the meter meets the preset length, the lawn mower is controlled to stop powering the motor. When the length of the meter does not meet the preset length, the control mower continues to power the motor.
[0284] 另外， 可以向马达提供不同的动力以使线轴和持线件分别以第一相对转速和第 二相对转速相对转动。 马达的转速可以变化， 以使线轴和持线件之间的相对转 速可以是变化的。 但是在打草机为马达提供动力进行装线吋， 线轴和持线件之 间的相对转动的速度应当小于打草机在打草吋打草绳的转速， 或者是线轴的转 速。  [0284] In addition, different power may be supplied to the motor to relatively rotate the bobbin and the wire holding member at the first relative rotational speed and the second relative rotational speed, respectively. The rotational speed of the motor can be varied so that the relative rotational speed between the spool and the wire retaining member can vary. However, when the grasser powers the motor to load the wire, the relative rotation speed between the spool and the wire holding member should be less than the speed at which the grasser hits the grass, or the speed of the spool.
[0285] 以下介绍一种操作以上打草机进行装线的方法， 如图 14c所示， 该方法主要包 括如下步骤：  [0285] The following describes a method for operating the above-mentioned lawnmower to perform wire loading. As shown in FIG. 14c, the method mainly includes the following steps:
[0286] S301 : 提供打草机 [0286] S301: providing a lawnmower
[0287] 在该步骤中， 提供一种打草机， 打草机包括： 用于缠绕打草绳的线轴、 形成有 供打草绳穿过的持线结构的持线件和能驱动线轴或持线件中的至少一个的马达  [0287] In this step, a lawnmower is provided, the grass cutter comprising: a bobbin for winding the straw rope, a wire holding member formed with a wire holding structure for the grass rope to pass through, and a driveable spool or a motor that holds at least one of the wire members
[0288] 当然， 该步骤中所提供打草机也可以是前述的各种方案中的打草机。 需要说明 的是持线件是可以拆卸的。 [0288] Of course, the lawnmower provided in this step may also be the lawnmower in the various schemes described above. It should be noted that the wire holding member is detachable.
[0289] S302: 插线 [0289] S302: Plug-in
[0290] 在该步骤中， 将打草绳穿过或绕过持线件插装至线轴； 至于是穿过还是绕过， 具体取决于持线件和持线结构的具体形式， 可以参照以上所介绍的打草机的方 案； 同样地， 插装至线轴可以理解为插装至线轴上形成的孔或槽， 或者其他可 以对打草绳端部构成一定限位的结构中。 该步骤能使线轴和持线件均作用于打 草绳， 从而做好装载打草绳的准备。  [0290] In this step, the straw string is inserted or passed around the wire holder to the spool; whether it is passed or bypassed, depending on the specific form of the wire holding member and the wire holding structure, The introduced lawnmower solution; likewise, the insertion to the spool can be understood as a hole or groove formed in the spool, or other structure that can limit the end of the straw. This step enables the bobbin and the thread holding member to act on the grass rope to prepare the straw.
[0291] S303: 启动马达 [0291] S303: Starting the motor
[0292] 用户可以通过操作件或者一个能触发打草机设置的感应器的动作启动打草机的 马达以使线轴和持线件相对转动。  [0292] The user can activate the motor of the lawnmower by the action member or an action of a sensor capable of triggering the setting of the lawnmower to relatively rotate the spool and the wire holding member.
[0293] S304: 关闭马达 [0293] S304: Turning off the motor
[0294] 用户可以关闭马达使线轴和持线件相对静止。 当然， 也可以由打草机的控制器 决定何吋关闭马达。 [0295] 作为可选方案， 可以通过触发一个打草机所设置的操作件来启动马达； 可以通 过再次触发这个操作件关闭马达， 也可以通过触发另一个操作件来关闭马达。 [0294] The user can turn off the motor to make the spool and the wire holding member relatively stationary. Of course, it is also possible to determine when the motor is turned off by the controller of the lawnmower. [0295] As an alternative, the motor can be activated by triggering an operating member provided by a lawnmower; the motor can be turned off by triggering the operating member again, or the motor can be turned off by triggering another operating member.
[0296] 以上显示和描述了本发明的基本原理、 主要特征和优点。 本行业的技术人员应 该了解， 上述实施例不以任何形式限制本发明， 凡采用等同替换或等效变换的 方式所获得的技术方案， 均落在本发明的保护范围内。  The basic principles, main features and advantages of the present invention are shown and described above. It should be understood by those skilled in the art that the above embodiments are not intended to limit the invention in any way, and the technical solutions obtained by means of equivalent replacement or equivalent transformation are all within the scope of the present invention.

Claims

权利要求书 Claim
[权利要求 1] 一种打草机， 包括：  [Claim 1] A lawnmower comprising:
打草头；  Beat the grass;
驱动装置， 用于驱动所述打草头转动以切割植被； 操作装置， 用于供用户操作以控制所述驱动装置； 其中， 所述打草头包括线轴和持线件， 所述线轴用于缠绕打草绳， 所 述持线件形成有供所述打草绳穿过或绕过的持线结构；  a driving device, configured to drive the grass head to rotate to cut vegetation; an operating device, configured to be operated by a user to control the driving device; wherein the grass head includes a bobbin and a wire holding member, wherein the wire shaft is used for Winding the grass rope, the wire holding member is formed with a wire holding structure for the grass rope to pass or bypass;
所述驱动装置包括马达， 所述打草机具有一个自动装线模式， 在所述 自动装线模式下， 所述马达驱动所述线轴和所述持线件中的至少一个 以使所述线轴和所述持线件相对转动从而将所述打草绳自动地缠绕至 所述线轴。  The driving device includes a motor, the lawnmower having an automatic loading mode, in the automatic loading mode, the motor drives at least one of the bobbin and the wire holding member to cause the spool Rotating relative to the wire holding member to automatically wind the grassing rope to the spool.
[权利要求 2] 根据权利要求 1所述的打草机， 其特征在于：  [Claim 2] The lawnmower according to claim 1, wherein:
所述操作装置包括：  The operating device includes:
第一操作件， 用于启动所述马达；  a first operating member for starting the motor;
第二操作件， 用于供用户操作以选择所述自动装线模式。  The second operating member is configured to be operated by a user to select the automatic loading mode.
[权利要求 3] 根据权利要求 1所述的打草机， 其特征在于： [Claim 3] The lawnmower according to claim 1, characterized in that:
所述操作装置包括：  The operating device includes:
第一操作件， 用于启动所述马达以使所述马达以第一运行状态运转； 第二操作件， 用于启动所述马达以使所述马达以第二运行状态运转。  a first operating member for activating the motor to operate the motor in a first operating state; and a second operating member for activating the motor to operate the motor in a second operating state.
[权利要求 4] 根据权利要求 3所述的打草机， 其特征在于： [Claim 4] The lawnmower according to claim 3, characterized in that:
在所述第一运行状态下所述马达的转向异于在所述第二运行状态下所 述马达的转向。  The steering of the motor in the first operating state is different from the steering of the motor in the second operating state.
[权利要求 5] 根据权利要求 4所述的打草机， 其特征在于：  [Claim 5] The lawnmower according to claim 4, characterized in that:
在所述第一运行状态下所述马达的转速异于在所述第二运行状态下所 述马达的转速。  The speed of the motor in the first operating state is different from the speed of the motor in the second operating state.
[权利要求 6] 根据权利要求 1所述的打草机， 其特征在于：  [Claim 6] The lawnmower according to claim 1, wherein:
所述操作装置包括：  The operating device includes:
第一操作件， 具有一个第一预设操作状态； 第二操作件， 具有一个第二预设操作状态； The first operating member has a first preset operating state; a second operating member having a second preset operating state;
在所述第一操作件和第二操作件分别处于所述第一预设操作状态和第 二预设操作状态吋所述打草机能启动所述自动装线模式。  The lawnmower can activate the automatic loading mode when the first operating member and the second operating member are in the first preset operating state and the second preset operating state, respectively.
[权利要求 7] 根据权利要求 6所述的打草机， 其特征在于： [Claim 7] The lawnmower according to claim 6, wherein:
所述操作装置包括：  The operating device includes:
第一复位组件， 用于在用户不操作所述第一操作件吋使所述第一操作 件脱离第一预设状态。  And a first reset component, configured to disengage the first operating component from the first preset state after the user does not operate the first operating component.
[权利要求 8] 根据权利要求 6所述的打草机， 其特征在于： [Claim 8] The lawnmower according to claim 6, wherein:
所述操作装置包括：  The operating device includes:
第二复位组件， 用于在用户不操作所述第二操作件吋使所述第二操作 件脱离第二预设状态。  And a second resetting component, configured to disengage the second operating member from the second preset state when the user does not operate the second operating member.
[权利要求 9] 根据权利要求 1所述的打草机， 其特征在于： [Claim 9] The lawnmower according to claim 1, wherein:
所述打草机还包括：  The lawnmower further includes:
阻尼装置， 用于阻尼所述线轴和所述持线件中的至少一个以使所述打 草机处于所述自动装线模式。  And a damping device for damping at least one of the bobbin and the wire holding member to place the lawnmower in the automatic loading mode.
[权利要求 10] 根据权利要求 9所述的打草机， 其特征在于： [Claim 10] The lawnmower according to claim 9, wherein:
所述阻尼装置包括：  The damping device comprises:
阻尼件， 用于向所述线轴施加阻尼所述线轴转动的阻力。  a damper member for applying a resistance to the bobbin to damp the rotation of the bobbin.
[权利要求 11] 根据权利要求 9所述的打草机， 其特征在于： [Claim 11] The lawnmower according to claim 9, wherein:
所述阻尼装置包括：  The damping device comprises:
阻尼件， 用于向所述持线件施加阻尼所述持线件转动的阻力。  a damper member for applying a resistance to the wire holding member to dampen rotation of the wire holding member.
[权利要求 12] 根据权利要求 9所述的打草机， 其特征在于： [Claim 12] The lawnmower according to claim 9, wherein:
所述阻尼装置包括：  The damping device comprises:
第一阻尼件， 用于向所述线轴施加阻尼所述线轴转动的第一阻力； 第二阻尼件， 用于向所述持线件施加阻尼所述持线件转动的第二阻力  a first damper for applying a first resistance to the bobbin to dampen the rotation of the bobbin; and a second damper for applying a second resistance to the wire holder for damping rotation of the wire holder
[权利要求 13] 根据权利要求 9所述的打草机， 其特征在于： [Claim 13] The lawnmower according to claim 9, wherein:
所述阻尼装置包括： 用于阻止所述线轴向第一方向转动的阻尼件； 在所述自动装线模式下所述持线件向所述第一方向转动。 The damper device includes: a damping member for preventing rotation of the wire in a first direction; The wire holding member rotates in the first direction in the automatic loading mode.
[权利要求 14] 根据权利要求 9所述的打草机， 其特征在于：  [Claim 14] The lawnmower according to claim 9, wherein:
所述阻尼装置包括： 用于阻止所述持线件向第二方向转动的阻尼件； 在所述自动装线模式下所述线轴向第二方向转动。  The damping device includes: a damping member for preventing the wire holding member from rotating in a second direction; and the wire is axially rotated in a second direction in the automatic loading mode.
[权利要求 15] 根据权利要求 1所述的打草机， 其特征在于：  [Claim 15] The lawnmower according to claim 1, wherein:
所述持线件为容纳所述线轴的头壳；  The wire holding member is a head case that accommodates the bobbin;
所述头壳形成有供所述打草绳穿过的外穿线孔； 所述线轴形成有用于固定或穿过所述打草绳的内穿线孔；  The head shell is formed with an outer threading hole through which the grass rope passes; the bobbin is formed with an inner threading hole for fixing or passing through the grass rope;
所述打草机还具有一个切割模式， 在所述切割模式下， 所述线轴和所 述头壳同步转动； 在所述切割模式结束吋， 所述外穿线孔与所述内穿 线孔在周向上自动对齐。  The lawnmower further has a cutting mode, in which the bobbin and the head shell rotate synchronously; at the end of the cutting mode, the outer threading hole and the inner threading hole are circumferentially Automatically align upwards.
[权利要求 16] 根据权利要求 1所述的打草机， 其特征在于：  [Claim 16] The lawnmower according to claim 1, wherein:
所述打草机还包括：  The lawnmower further includes:
断线装置， 用于在所述自动装线模式吋自动地切断所述打草绳。  A wire breaking device for automatically cutting the grass rope in the automatic loading mode.
[权利要求 17] 根据权利要求 16所述的打草机， 其特征在于：  [Claim 17] The lawnmower according to claim 16, characterized in that:
所述断线装置包括断线元件， 所述打草头能相对所述断线元件转动， 在所述自动装线模式下， 所述打草头带动所述打草绳经过所述断线元 件以切断所述打草绳。  The wire breaking device includes a wire breaking element, wherein the grass cutting head is rotatable relative to the wire breaking element, and in the automatic wire loading mode, the grass head drives the grass rope through the wire breaking component To cut off the grass rope.
[权利要求 18] 根据权利要求 16所述的打草机， 其特征在于：  [Claim 18] The lawnmower according to claim 16, characterized in that:
所述断线装置包括断线元件， 所述打草头与所述断线元件同步转动， 在所述自动装线模式下， 所述打草头带动所述打草绳靠近所述断线元 件以切断所述打草绳。  The wire breaking device includes a wire breaking element, and the grass head rotates synchronously with the wire breaking element, and in the automatic wire loading mode, the grass head drives the grassing rope to be close to the wire breaking component To cut off the grass rope.
[权利要求 19] 根据权利要求 1所述的打草机， 其特征在于：  [Claim 19] The lawnmower according to claim 1, wherein:
所述打草机还具有一个切割模式， 在所述切割模式下， 所述线轴和所 述持线件同步转动； 所述打草头在所述切割模式吋向第一方向转动； 所述线轴或所述持线件中的一个在所述自动装线模式吋相对另一个向 第二方向转动。  The lawnmower further has a cutting mode, in which the bobbin and the wire holding member rotate synchronously; the grass head rotates in a first direction in the cutting mode; the spool Or one of the wire holding members is rotated in the second direction in the automatic loading mode.
[权利要求 20] 根据权利要求 19所述的打草机， 其特征在于： 所述驱动装置在所述切割模式吋处于第一驱动状态， 所述驱动装置在 所述自动装线模式吋处于异于所述第一驱动状态的第二驱动状态。 根据权利要求 19所述的打草机， 其特征在于： [Claim 20] The lawnmower according to claim 19, characterized in that: The driving device is in a first driving state in the cutting mode, and the driving device is in a second driving state different from the first driving state in the automatic loading mode. A lawnmower according to claim 19, wherein:
所述马达在所述切割模式吋正转， 所述马达在所述自动装线模式吋反 转。 The motor is rotated forward in the cutting mode, and the motor is reversed in the automatic loading mode.
根据权利要求 19所述的打草机， 其特征在于： A lawnmower according to claim 19, wherein:
所述马达在所述切割模式吋以第一速度转动； 所述马达在所述自动装 线模式吋以异于所述第一速度的第二速度转动。 The motor rotates at the first speed in the cutting mode; the motor rotates at the second speed different from the first speed in the automatic assembly mode.
根据权利要求 19所述的打草机， 其特征在于： A lawnmower according to claim 19, wherein:
所述马达在所述切割模式吋， 以较高的第一速度正向转动， 所述马达 在所述自动装线模式吋， 以较低的第二速度反向转动。 The motor rotates in a forward direction at a higher first speed in the cutting mode, and the motor rotates in a reverse direction at a lower second speed in the automatic loading mode.
根据权利要求 23所述的打草机， 其特征在于： A lawnmower according to claim 23, wherein:
所述第一转速和所述第二转速的比值的取值范围大于等于 5小于等于 3 00。 The ratio of the ratio of the first rotational speed to the second rotational speed is greater than or equal to 5 and less than or equal to 30,000.
根据权利要求 1所述的打草机， 其特征在于： The lawnmower according to claim 1, wherein:
检测装置， 能检测一个用于判断绕线是否完成的物理量； The detecting device can detect a physical quantity for determining whether the winding is completed;
控制器， 用于根据来自所述检测装置的电信号控制马达使所述打草机 退出所述自动装线模式。 And a controller for controlling the motor to exit the automatic loading mode according to an electrical signal from the detecting device.
根据权利要求 25所述的打草机， 其特征在于： A lawnmower according to claim 25, wherein:
所述检测装置电连接至所述马达以检测所述马达的电流。 The detecting device is electrically connected to the motor to detect a current of the motor.
根据权利要求 26所述的打草机， 其特征在于： A lawnmower according to claim 26, wherein:
所述控制器在所述马达的电流大于一个预设值吋切断所述马达的电源 根据权利要求 26所述的打草机， 其特征在于： The controller is configured to cut off the power of the motor when the current of the motor is greater than a predetermined value. The lawnmower according to claim 26, wherein:
所述控制器在所述马达的电流的斜率大于一个预设值吋切断所述马达 的电源。 The controller cuts off power to the motor when the slope of the current of the motor is greater than a predetermined value.
根据权利要求 25所述的打草机， 其特征在于： A lawnmower according to claim 25, wherein:
所述打草机还包括： 磁性体， 安装至所述线轴或持线件中的一个； The lawnmower further includes: a magnetic body, mounted to one of the bobbin or the wire holding member;
所述检测装置包括：  The detecting device comprises:
霍尔传感器， 用于检测所述磁性件；  a Hall sensor for detecting the magnetic member;
所述控制器根据所述霍尔传感器的信号判断所述磁性体的转速， 在所 述磁性体的转速达到一个预设值吋， 使所述打草机退出所述自动装线 模式。  The controller determines the rotation speed of the magnetic body according to the signal of the Hall sensor, and when the rotation speed of the magnetic body reaches a preset value, the grass cutter is caused to exit the automatic assembly mode.
[权利要求 30] 根据权利要求 25所述的打草机， 其特征在于：  [Claim 30] The lawnmower according to claim 25, wherein:
所述打草机还包括：  The lawnmower further includes:
磁性体， 安装至所述线轴或持线件中的一个；  a magnetic body, mounted to one of the bobbin or the wire holding member;
所述检测装置包括：  The detecting device comprises:
霍尔传感器， 用于检测所述磁性件；  a Hall sensor for detecting the magnetic member;
所述控制器根据所述霍尔传感器的信号判断所述磁性体的旋转的圈数 The controller determines the number of revolutions of the magnetic body according to the signal of the Hall sensor
， 在所述磁性体的旋转的圈数达到一个预设值吋， 使所述打草机退出 所述自动装线模式。 And, when the number of revolutions of the magnetic body reaches a preset value 吋, the grass cutter is caused to exit the automatic loading mode.
[权利要求 31] 根据权利要求 25所述的打草机， 其特征在于： [Claim 31] The lawnmower according to claim 25, wherein:
所述检测装置检测所述马达的转速， 所述控制器在所述马达的转速达 到预设值吋切断所述马达的电源。  The detecting means detects the rotational speed of the motor, and the controller cuts off the power of the motor when the rotational speed of the motor reaches a preset value.
[权利要求 32] 根据权利要求 25所述的打草机， 其特征在于： [Claim 32] The lawnmower according to claim 25, wherein:
所述检测装置检测所述马达的转动圈数， 所述控制器在所述马达的转 动圈数达到预设值吋切断所述马达的电源。  The detecting means detects the number of revolutions of the motor, and the controller cuts off the power of the motor when the number of revolutions of the motor reaches a preset value.
[权利要求 33] 根据权利要求 25所述的打草机， 其特征在于： [Claim 33] The lawnmower according to claim 25, wherein:
所述检测装置包括：  The detecting device comprises:
位置传感器， 用于检测所述打草绳的位置。  a position sensor for detecting the position of the grass rope.
[权利要求 34] —种操作打草机绕线的方法， 包括以下步骤： [Claim 34] A method of operating a lawnwife winding, comprising the steps of:
提供一种打草机， 所述打草机包括： 用于缠绕打草绳的线轴、 形成有 供打草绳穿过或绕过的持线结构的持线件和能驱动所述线轴或所述持 线件中的至少一个的马达；  A lawn mower is provided, the grass cutter comprising: a bobbin for winding a straw rope, a wire holding member formed with a wire holding structure for passing the grass rope or bypassing, and capable of driving the wire shaft or the a motor that holds at least one of the wire members;
将打草绳穿过或绕过所述持线件插装至所述线轴； 和 启动所述马达以使所述线轴和所述持线件相对转动。 Inserting a straw string through or around the wire holder to the spool; and The motor is activated to rotate the spool and the wire holding member relative to each other.
根据权利要求 34所述的操作打草机绕线的方法， 其特征在于： 还包括 以下步骤： A method of operating a lawnwife winding according to claim 34, further comprising the steps of:
关闭所述马达以使所述线轴和所述持线件相对静止。 The motor is turned off to cause the spool and the wire retaining member to be relatively stationary.
根据权利要求 34所述的操作打草机绕线的方法， 其特征在于： 通过触发一个所述打草机所设置的操作件启动所述马达。 A method of operating a lawn mower winding according to claim 34, wherein: said motor is activated by triggering an operating member provided by said lawnmower.
根据权利要求 34所述的操作打草机绕线的方法， 其特征在于： 所述方法还包括以下步骤： The method of operating a lawnwife winding according to claim 34, wherein: the method further comprises the steps of:
关闭所述马达以使所述线轴和所述持线件相对静止； Closing the motor to make the spool and the wire holding member relatively stationary;
其中， 通过触发一个所述打草机所设置的操作件启动所述马达， 通过 释放所述操作件关闭所述马达。 Wherein the motor is activated by triggering an operating member provided by the lawnmower, and the motor is turned off by releasing the operating member.
根据权利要求 34所述的操作打草机绕线的方法， 其特征在于： 所述方法还包括以下步骤： The method of operating a lawnwife winding according to claim 34, wherein: the method further comprises the steps of:
关闭所述马达以使所述线轴和所述持线件相对静止； Closing the motor to make the spool and the wire holding member relatively stationary;
其中， 通过触发一个所述打草机所设置的操作件启动所述马达， 通过 触发另一个所述打草机所设置的操作件关闭所述马达。 Wherein the motor is activated by triggering an operating member provided by the lawnmower, and the motor is turned off by triggering an operating member provided by another of the lawnmowers.
根据权利要求 34所述的操作打草机绕线的方法， 其特征在于： 所述方法还包括以下步骤： The method of operating a lawnwife winding according to claim 34, wherein: the method further comprises the steps of:
关闭所述马达以使所述线轴和所述持线件相对静止； Closing the motor to make the spool and the wire holding member relatively stationary;
其中， 通过触发一个所述打草机所设置的操作件启动所述马达， 通过 再次触发所述操作件关闭所述马达。 Wherein the motor is activated by triggering an operating member provided by the lawnmower, and the motor is turned off by triggering the operating member again.
一种操作打草机绕线的方法， 包括以下步骤： A method of operating a lawn mower winding includes the following steps:
将打草绳穿过或绕过所述打草机设置有的持线件插装至所述打草机设 置有的线轴； 和 Passing a straw string through or around the wire holder provided with the grass cutter to the spool provided by the grass cutter; and
启动所述马达以使所述线轴和所述持线件相对转动。 The motor is activated to rotate the spool and the wire holding member relative to each other.
一种控制打草机装线的方法， 其中， 所述打草机包括： A method for controlling a line of a lawnmower, wherein the lawnmower comprises:
线轴， 用于装载打草绳； Spool, used to load a straw rope;
持线件， 形成有供所述打草绳穿过或绕过的持线结构； 马达， 能驱动所述线轴或所述持线件中的至少一个以使所述线轴和所 述持线件相对转动； Holding the wire member, forming a wire holding structure for the grass rope to pass through or bypass; a motor capable of driving at least one of the bobbin or the wire holding member to relatively rotate the bobbin and the wire holding member;
所述方法包括：  The method includes:
向所述马达提供动力以使所述线轴和所述持线件相对转动。  Power is provided to the motor to rotate the spool and the wire retaining member relative to each other.
[权利要求 42] 根据权利要求 41所述的方法， 其特征在于： [Claim 42] The method of claim 41, wherein:
在所述打草机被用户操作吋向所述马达提供动力。  The motor is powered by the user when the lawnmower is operated by the user.
[权利要求 43] 根据权利要求 41所述的方法， 其特征在于： [Claim 43] The method of claim 41, wherein:
在所述打草机所设置的一个操作件被触发吋向所述马达提供动力。  An operating member provided on the lawnmower is triggered to power the motor.
[权利要求 44] 根据权利要求 41所述的方法， 其特征在于： [Claim 44] The method of claim 41, wherein:
在所述操作件被释放吋停止向所述马达提供动力。  The supply of power to the motor is stopped when the operating member is released.
[权利要求 45] 根据权利要求 43所述的方法， 其特征在于： [Claim 45] The method according to claim 43, wherein:
在所述打草机所设置的另一个操作件被触发吋停止向所述马达提供动 力。  Another operating member provided by the lawnmower is triggered to stop providing power to the motor.
[权利要求 46] 根据权利要求 43所述的方法， 其特征在于：  [Claim 46] The method according to claim 43, wherein:
在所述操作件被再次触发吋停止向所述马达提供动力。  The power supply to the motor is stopped when the operating member is triggered again.
[权利要求 47] 根据权利要求 41所述的方法， 其特征在于：  [Claim 47] The method according to claim 41, characterized by:
在所述马达的负载增加的斜率超过预设值吋停止向所述马达提供动力  Stopping the motor when the slope of the load increase of the motor exceeds a preset value
[权利要求 48] 根据权利要求 41所述的方法， 其特征在于： [Claim 48] The method of claim 41, wherein:
向所述马达提供的动力持续一个预设吋长。  The power supplied to the motor continues for a predetermined length.
[权利要求 49] 根据权利要求 41所述的方法， 其特征在于： [Claim 49] The method according to claim 41, characterized by:
向所述马达提供不同的动力以使所述线轴和所述持线件分别以第一相 对转速和第二相对转速相对转动。  The motor is provided with different power to cause the spool and the wire retaining member to rotate relative to each other at a first relative rotational speed and a second relative rotational speed, respectively.
[权利要求 50] 根据权利要求 49所述的方法， 其特征在于： [Claim 50] The method according to claim 49, characterized by:
所述第一相对转速和第二相对转速均小于所述打草机在打草吋所述线 轴的转速。  The first relative rotational speed and the second relative rotational speed are both smaller than the rotational speed of the grass cutter at the grass shaft.
PCT/CN2016/110351 2016-01-22 2016-12-16 Lawn mower and operating method and control method therefor WO2017124865A1 (en)

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JP2018557170A JP6616527B2 (en) 2016-01-22 2016-12-16 Mower, its operating method and control method
AU2016387662A AU2016387662B2 (en) 2016-01-22 2016-12-16 Grass trimmer, operating method thereof and control method thereof
CN201680023366.8A CN108135128B (en) 2016-01-22 2016-12-16 Grass trimmer and operation method and control method thereof
CA3009848A CA3009848C (en) 2016-01-22 2016-12-16 A grass trimmer having an auto-winding mode
EP16886125.0A EP3357320B1 (en) 2016-01-22 2016-12-16 Grass trimmer and operating method and control method therefor
US15/839,257 US10264725B2 (en) 2016-01-22 2017-12-12 Grass trimmer, operating method thereof and control method thereof
US15/994,548 US10440882B2 (en) 2016-01-22 2018-05-31 Grass trimmer, operating method thereof and control method thereof
US16/363,609 US10849268B2 (en) 2016-01-22 2019-03-25 Grass trimmer
US16/590,535 US11089724B2 (en) 2016-01-22 2019-10-02 Grass trimmer, operating method thereof and control method thereof
US17/061,584 US11419262B2 (en) 2016-01-22 2020-10-02 Grass trimmer
US17/859,454 US20220400609A1 (en) 2016-01-22 2022-07-07 Grass trimmer

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CN113273373A (en) * 2021-06-28 2021-08-20 浙江中力工具制造有限公司 Grass-mowing rope telescopic mechanism for mower
CN113228921A (en) * 2021-06-28 2021-08-10 浙江中力工具制造有限公司 Grass cutting head structure for mower
CN118202856A (en) * 2024-03-22 2024-06-18 浙江德硕科技股份有限公司 Efficient grass mowing device

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