CN116508480A

CN116508480A - Robotic garden tool with manual blade height adjustment and movable blade guard

Info

Publication number: CN116508480A
Application number: CN202310093076.2A
Authority: CN
Inventors: 吴灏林
Original assignee: Techtronic Cordless GP
Current assignee: Techtronic Cordless GP
Priority date: 2022-01-31
Filing date: 2023-01-31
Publication date: 2023-08-01

Abstract

A robotic garden tool having a platform, a blade, a motor, and a blade height adjustment mechanism. The blade is movably coupled to the platform. The motor is configured to move the blades about an axis of rotation, and the axis of rotation defines an axial direction. The blade height adjustment mechanism includes a manual actuator configured to move in response to manual actuation by an operator. The manual actuator is operably coupled to the cam interface. The cam interface is disposed within a cylindrical volume defined circumferentially by the cam interface and axially bounded by an upper distal end and a lower distal end of the cam interface. The rotation axis of the blade intersects the cylindrical volume. The blade is configured to move at least partially in an axial direction in response to movement of the manual actuator.

Description

Robotic garden tool with manual blade height adjustment and movable blade guard

Cross Reference to Related Applications

The present application claims priority from co-pending U.S. provisional patent application number 63/305,048 filed 1/2022 and 31/2022, the entire contents of all of which are incorporated herein by reference.

Background

The present disclosure relates to a robotic garden tool, such as a robotic lawn mower, having movable blades for cutting grass or other plants and having blade guards.

Disclosure of Invention

In one aspect, the present disclosure provides a robotic garden tool having a platform, a blade, a motor, and a blade height adjustment mechanism. The blade is movably coupled to the platform. The motor is configured to move the blades about an axis of rotation, and the axis of rotation defines an axial direction. The blade height adjustment mechanism includes a manual actuator configured to move in response to manual actuation by an operator. The manual actuator is operably coupled to the cam interface. The cam interface is disposed within a cylindrical volume defined circumferentially by the cam interface and axially bounded by an upper distal end and a lower distal end of the cam interface. The rotation axis of the blade intersects the cylindrical volume. The blade is configured to move at least partially in an axial direction in response to movement of the manual actuator.

Alternatively or additionally, in any combination, the axis of rotation of the blade may intersect the manual actuator; the cylindrical volume may define a central axis, which may be coaxial with the rotational axis of the blade; the cylindrical volume may define a central axis, wherein the manual actuator may be rotatable about the central axis; the manual actuator may be rotatable about the axis of rotation of the blade; the cylindrical volume may define a central axis, wherein the central axis may be transverse to the rotational axis of the blade; the motor may be at least partially disposed within the cylindrical volume; the motor may be disposed within the cylindrical volume; and/or movement of the cam interface about the central axis may be such that the vane moves at least 0.25 inches in the axial direction for every 30 degrees of rotation of the cam interface.

Alternatively or additionally, in any combination, the robotic garden tool may further comprise a motor mount configured to support the motor in a substantially fixed relationship therewith, and/or the cam interface may be directly engaged between the manual actuator and the motor mount, and/or the cam interface may comprise a cam surface and a follower surface; the manual actuator may include: a ratcheting mechanism configured to provide audible and/or tactile feedback and to retain the manual actuator in a plurality of discrete angular positions; and/or at least one biasing member configured to apply a force to return the blade toward the raised position.

In another aspect, the present disclosure provides a cutting module for a robotic garden tool. The cutting module includes a motor configured to drive the blade about an axis of rotation. The rotation axis defines an axial direction. The cutting module also includes a blade height adjustment mechanism including a manual actuator configured to move in response to manual actuation by an operator. The manual actuator is operably coupled to the cam interface. The cam interface is disposed within a cylindrical volume defined circumferentially by the cam interface and axially bounded by an upper distal end and a lower distal end of the cam interface. The motor is at least partially disposed within the cylindrical volume. The manual actuator is configured to move the blade in an axial direction.

In another aspect, the present disclosure provides a robotic garden tool that is movable along a support surface. The robotic garden tool includes a platform and a cutting module supported by the platform. The cutting module includes: a driven tool; a motor configured to drive a driven tool in a path defining a volume, the driven tool passing through the volume; and a guard configured to cover at least a portion of the volume and formed as a single piece. The driven tool may be configured for height adjustment relative to the support surface. The guard may be movable independently of the height adjustment.

Alternatively or additionally, in any combination, the guard may be configured to move in a direction at least partially radial with respect to the axis of rotation; the guard may be configured to move at least partially in a direction parallel to the axis of rotation; the guard may be further configured to cover at least a portion of the second flat side of the two opposing regions with one integral piece, and/or wherein the path of the blade may be arranged between the second flat side and the motor; and/or the guard may be configured to move from a first position relative to the platform to a second position relative to the platform, and/or wherein the cutting module may further comprise at least one biasing member disposed between the guard and the platform, and/or may be configured to bias the platform toward the first position.

In another aspect, the present disclosure provides a lawn mower having a platform, a blade, a motor, and a blade height adjustment mechanism. The blade is movably coupled to the platform. The motor is configured to move the blades about an axis of rotation, and the axis of rotation defines an axial direction. The blade height adjustment mechanism includes a manual actuator configured to move in response to manual actuation by an operator. The manual actuator is operably coupled to the cam interface. The cam interface is disposed within a cylindrical volume defined circumferentially by the cam interface and axially bounded by an upper distal end and a lower distal end of the cam interface. The motor is at least partially disposed within the cylindrical volume. The blade is configured to move in an axial direction in response to movement of the manual actuator.

In another aspect, the present disclosure provides a robotic garden tool that is movable along a support surface. The robotic garden tool includes a platform and a cutting module supported by the platform. The cutting module includes: a blade; a motor configured to drive the blade about an axis of rotation; and a guard configured to cover at least a portion of the blade. The cutting module is configured to move as a unit relative to the platform.

Alternatively or additionally, in any combination, the cutting module may be mounted to a cutting module mount that is fixed to the platform, wherein a gap exists between the cutting module and the cutting module mount, and the gap may allow movement.

Other aspects of the disclosure will become apparent by consideration of the detailed description and accompanying drawings.

Drawings

Fig. 1 is a top perspective view of a first embodiment of an autonomous lawn mower embodying the present disclosure.

FIG. 2 is a cross-sectional view of the autonomous lawn mower of FIG. 1 taken through line 2-2 in FIG. 1.

Fig. 3 is a perspective view of a height adjustment mechanism of the autonomous lawn mower of fig. 1.

Fig. 4 is a bottom perspective view of a manual actuator and cam surface of the autonomous lawn mower of fig. 1.

Fig. 5 is the same bottom perspective view of the manual actuator and cam surface of fig. 3, but further illustrating the cylindrical volume.

Fig. 6 is a perspective view of a portion of the height adjustment mechanism of fig. 5.

Fig. 7 is a perspective view of the height adjustment mechanism of fig. 5 in a raised position.

Fig. 8 is a perspective view of the height adjustment mechanism of fig. 5 in a lowered position.

Fig. 9 is a perspective view of another embodiment of a height adjustment mechanism of the autonomous lawn mower of fig. 1.

Fig. 10 is a top perspective view of a second embodiment of an autonomous lawn mower embodying the present disclosure.

FIG. 11 is a cross-sectional view of the autonomous lawn mower of FIG. 10, taken through line 11-11 in FIG. 10.

Fig. 12 is a front perspective view of a cutting module of the autonomous lawn mower of fig. 10.

Fig. 13 is a side view of a blade of the cutting module of fig. 12.

Fig. 14 is a top view of the blade of fig. 13.

Fig. 15 is a rear perspective view of the cutting module of fig. 12.

Fig. 16 is a perspective view of an alternative embodiment of a guard of the cutting module of fig. 12.

Fig. 17 is a perspective view of a portion of the cutting module of fig. 12.

FIG. 18 is a schematic diagram illustrating a control system of the lawn mower of FIG. 10.

FIG. 19 is a side view of another embodiment of a cutting module of the autonomous lawn mower of FIG. 10.

Detailed Description

Before any embodiments of the disclosure are explained in detail, it is to be understood that the disclosure is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the following drawings. The disclosure is capable of other embodiments and of being practiced or of being carried out in various ways. Also, it is to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting. The terms "about," "approximately," "substantially," and the like, are to be construed as being within standard tolerances, as would be understood by one of ordinary skill in the art unless otherwise indicated herein.

Figures 1-2 illustrate a garden tool system 10. For example, the garden tool system 10 may include a garden tool 12, such as a lawn mower 12 (as shown), or in other embodiments, the garden tool system may include tools for sweeping debris, sucking debris, cleaning debris, collecting debris, moving debris, and so forth. The debris may include plants (e.g., grass, leaves, flowers, stems, weeds, twigs, branches, etc., and cuts thereof), dust, dirt, worksite debris, snow, and/or the like. For example, other embodiments of the garden tool 12 may include a vacuum cleaner, a trimmer, a string trimmer, a hedge trimmer, a sweeper, a cutter, a plow, a blower, a snow blower, and the like. In the illustrated embodiment, the garden tool system 10 includes a lawn mower 12 and a charging station 48. The garden tool 12 may be autonomous, semi-autonomous, or non-autonomous.

For example, the lawn mower may include a controller (not shown) having a programmable processor (e.g., a microprocessor, microcontroller, or another suitable programmable device), memory, and a human-machine interface. The memory may include, for example, a program memory area and a data memory area. The program storage area and the data storage area may comprise a combination of different types of memory, such as read only memory ("ROM"), random access memory ("RAM") (e.g., dynamic RAM [ "DRAM") " ]Synchronous DRAM [ "SDRAM"]Etc.), electrically erasable programmable read-only memory ("EEPROM"), flash memory, hard disk, SD cardOr other suitable magnetic memory device, optical memory device, physical memory device, electronic memory device, or other data structure. The controller may also or alternatively include integrated circuits and/or analog devices (e.g., transistors, comparators, operational amplifiers, etc.) to perform the logic and control signals described herein. The controller includes a plurality of inputs and outputs from and to a plurality of different components of the lawn mower. The controller is configured to provide control signals to the output and receive data and/or signals (e.g., sensor data, user input signals, etc.) from the input. Inputs and outputs are for example via hard-wired communication and/or wireless communication (e.g. via satellite, internet, mobile telecommunication technology, frequency, wavelength,Etc.) communicates with the controller. The controller may include a navigation system that may include one or more of a Global Positioning System (GPS), a beacon, a sensor such as an image sensor, an ultrasonic sensor, a line sensor, and an algorithm for navigating the area to be mowed. However, in other embodiments, the lawn mower may be non-autonomous.

Referring to fig. 2, the lawn mower 12 includes a platform 14 to support a number of different components of the lawn mower 12, as will be described in greater detail below. The lawn mower 12 includes at least one prime mover 16 to provide traction to move the lawn mower 12 over a support surface (e.g., a charging station 48 or a lawn to be mowed). At least one prime mover 16 may be supported by the platform 14. For example, in the illustrated embodiment, the at least one prime mover 16 may include one or more electric motors 16. However, in other embodiments, prime mover 16 may include another type of motor, gasoline engine, or the like, in any suitable number and combination.

The lawn mower 12 also includes a plurality of wheels 18 (fig. 1) that may be supported by the platform (fig. 2) for converting traction into movement of the lawn mower 12 over a supporting surface. In the illustrated embodiment, each of the plurality of wheels 18 is supported by a tire 22. However, in other embodiments, the plurality of wheels 18 may support any combination of one or more tires, continuous tracks, and the like. The plurality of wheels 18 includes two front wheels 20a and two rear wheels 20b, although other numbers of wheels may be employed in other embodiments. In the illustrated embodiment, the at least one prime mover 16 includes one of one or more electric motors dedicated to each of the two rear wheels 20b to apply torque thereto, and the two front wheels 20a are not driven. However, in other embodiments, other torque transfer devices may be used having any number and combination of driven and non-driven wheels, any number of wheels driven by a single prime mover, and any number of prime movers.

The lawn mower 12 includes a power source 24 (fig. 2), such as a battery, for powering the at least one prime mover 16 such that the lawn mower 12 can perform a lawn mowing operation in a cordless manner. Power source 24 may include a lithium ion battery and/or other battery chemistries. The power source 24 may be removable from the lawn mower 12. In other embodiments, at least one prime mover 16 may be powered by other power sources, such as solar panels, fuel cells, compressed fluid, fuel, and the like. The lawn mower 12 includes a battery charging contact 26 for receiving electrical charge from an external power source (not shown) to charge the power source 24.

The lawn mower 12 includes a cutting module 30 (a portion of which is shown in fig. 2 and a portion of which is shown in fig. 3-8, as will be described below) that may be supported by the platform 14. As best shown in fig. 3, the cutting module 30 includes a cutting module mount 32 that is fixed relative to the platform 14 or formed as part of the platform 14. Referring to fig. 2, the cutting module 30 further includes a blade 34 and a motor 36 configured to move the blade 34 about the axis of rotation a. In the illustrated embodiment, the blade 34 is a lawn mower blade; however, in other embodiments, the blade 34 includes a reciprocating trimming unit (not shown) having a linearly reciprocating trimming blade, and the motor 36 drives the trimming blade of the trimming unit to reciprocate. In yet further embodiments, the blade 34 includes a string (not shown), as in a string trimmer, and the motor 36 drives the string about the axis of rotation a. In yet further embodiments, the blades 34 comprise roller blades (not shown), such as reel blades or squirrel cage blades, and the motor 36 drives the roller blades to roll or rotate about an axis that is substantially parallel (e.g., substantially horizontal) to the support surface. In yet further embodiments, the blade 34 comprises a twist drill (not shown), such as a snow blower twist drill, and the motor 36 drives the twist drill to roll or rotate about an axis that is generally parallel (e.g., generally horizontal) to the support surface. In yet other embodiments, the blades 34 include a fan (not shown), such as a blower fan, and the motor 36 drives the fan in rotation. Other types of blades are also possible. In addition, other types of driven tools are possible, including the blade described above, as well as other non-blade tools driven by motor 36.

The motor 36 includes a rotatable drive shaft 38 operatively coupled to the blade 34. In the illustrated embodiment, the drive shaft 38 is arranged coaxially with the axis of rotation a. In other embodiments, the drive shaft 38 may be disposed parallel to (e.g., offset from) or transverse to the axis of rotation a. The rotation axis a defines an axial direction B. The axial direction B is typically a vertical direction relative to a support surface on which the lawn mower 12 is traveling, such as an up-down direction relative to gravity, when the lawn mower 12 is in use. However, in certain embodiments, the axis of rotation a may be inclined with respect to the vertical, for example, 1 to 10 degrees, preferably 3 to 8 degrees, and more preferably 5 to 6 degrees. In some embodiments, the rotation axis a may be inclined forward in the traveling direction with respect to the vertical direction. The tilting may be achieved by tilting the motor 36, or tilting the blade 34 and the motor 36.

The cutting module 30 further comprises a height adjustment mechanism 40 (fig. 3-8) for at least partially moving the blade 34 up and down in the axial direction B ("at least partially" means that the blade 34 has at least a component of movement in said direction, which component may be vertical or inclined, but may or may not additionally be movable in other directions). The height adjustment mechanism 40 includes a manual actuator 42 configured to move in response to manual actuation by an operator. The operator's hand may reach the manual actuator 42 from outside the lawn mower 12 for manual engagement, as illustrated in fig. 1. For example, the manual actuator 42 includes a gripping surface 44, such as a tab in the illustrated embodiment, that is disposed external to the lawn mower 12, as illustrated in fig. 1. In the illustrated embodiment, the manual actuator 42 is rotatable about the axis of rotation a of the blade. However, in other embodiments, the manual actuator 42 may be rotatable about a different axis, which may be parallel to or transverse to the axis of rotation a of the blade. The vane 34 is configured to move in the axial direction B in response to movement of the manual actuator 42, as will be described in more detail below. In the illustrated embodiment, the blade 34 is movable approximately 1.57 inches (40 mm) in the axial direction B between a raised position (fig. 7) in which the blade 34 is fully raised and a lowered position (fig. 8) in which the blade 34 is fully lowered. In some embodiments, the vane 34 is movable in the axial direction B by at least 1.5 inches (38.1 mm), and may be movable in the axial direction B by at least 1.57 inches (40 mm), and in some embodiments may be movable in the axial direction B by more than 1.57 inches (40 mm). In certain embodiments, the cutting height (height from the blade to the ground) varies between about 1.96 inches (50 mm) and 3.54 inches (90 mm). In certain embodiments, the cutting height varies between 0.78 inches (20 mm) and 2.36 inches (60 mm).

Manual actuator 42 is operably coupled to cam interface 50. Cam interface 50 includes a cam surface 52 and a follower surface 54. In the illustrated embodiment, the cam surface 52 is rotatable and the follower surface 54 translates. The cam interface 50 is at least partially helical. In the illustrated embodiment, the cam surface 52 includes two helical surfaces 56a, 56b, each extending 180 degrees about the axis of rotation a and having the same cam profile. In other embodiments, the cam surface 52 may have other configurations, such as one helical surface, or three or more helical surfaces. Cam surface 52 has a pitch angle of about 114.3 degrees per inch (where "about" means +/-10 degrees per inch) (pitch angle of about 4.5 degrees per millimeter). In some embodiments, the pitch angle may be between about 50.8 degrees per inch and about 152.4 degrees per inch (between about 2 degrees per millimeter and about 6 degrees per millimeter). The cam surface 52 has a radius R (from the central axis C, as shown in fig. 4) of about 2.36 inches (where "about" means +/-0.2 inches) (radius R is about 60 mm). In other embodiments, the radius R may be between about 0.78 inches and about 9.9 inches (about 20mm-250 mm), or between about 1.1 inches and about 7.9 inches (about 30mm-200 mm), or between about 1.5 inches and about 5.9 inches (about 40mm-150 mm), or between about 1.9 inches and about 3.9 inches (about 50mm-100 mm), or between about 2.3 inches and about 3.2 inches (about 60mm-80 mm). For example, the cam interface 50 is configured such that the vane 34 is displaced about 1.5 inches (38 mm) or more in the axial direction B in response to an angular range of 180 degrees of rotation of the manual actuator 42. In other embodiments, the vane 34 may be displaced about 1.57 inches (40 mm) or more in the axial direction B in response to 180 degrees of rotation of the manual actuator 42. In other embodiments, the cam surface 52 may be translatable rather than rotatable.

Referring to fig. 4-5, the cam interface 50 is disposed within a cylindrical volume 60 (shown in fig. 2, 4, and 5) defined circumferentially by the cam interface 50 (e.g., by the helical surfaces 56a, 56B) and axially (e.g., in the axial direction B) by upper and lower distal ends 62a, 62B of the cam interface 50. In the illustrated embodiment, the axis of rotation a of the blade intersects the cylindrical volume 60. In the illustrated embodiment, the cylindrical volume 60 is centered relative to the rotational axis a, e.g., the cylindrical volume 60 defines a central axis C, and the central axis C is coaxial with the rotational axis a of the blade. Thus, in the illustrated embodiment, the central axis C also defines an axial direction B. In other embodiments, the rotation axis a may be arranged at other locations intersecting the cylindrical volume 60, e.g. parallel to the central axis C or transverse to the central axis C (e.g. if the rotation axis a is tilted as described above). In yet further embodiments, the axis of rotation a may be transverse to the central axis C and need not intersect the cylindrical volume 60. In the illustrated embodiment, the blade rotation axis a intersects the manual actuator 42, and more specifically is coaxial with the manual actuator 42. Furthermore, the manual actuator 42 is rotatable about the central axis C and thus also about the rotation axis a of the blade. However, in other embodiments, other configurations of the manual actuator 42 are possible. For example, in other embodiments, the central axis C need not be coaxial with the rotational axis a of the blade, and may be parallel (offset) or transverse to the rotational axis a of the blade.

Furthermore, in the embodiment illustrated in fig. 9, the motor 36 is at least partially disposed within the cylindrical volume 60. For example, the motor 36 may be disposed partially within the cylindrical volume 60, disposed mostly within the cylindrical volume 60, or disposed entirely within the cylindrical volume 60. Placing the motor 36 at least partially within the cylindrical volume 60 provides a more compact height adjustment mechanism 40', particularly in the axial direction B. All other aspects of the height adjustment mechanism 40' illustrated in fig. 9 are the same as described with respect to fig. 1-8, and reference is made to the description of the height adjustment mechanism 40 in fig. 1-8 herein, and no further description is provided.

Returning to the embodiment of fig. 1-8, the height adjustment mechanism 40 includes a motor mount 64 (fig. 3, 7, and 8) configured to support the motor 36 in a generally fixed relationship therewith, which may include a degree of movement or damping to accommodate vibrations, external forces, etc., or may be rigidly fixed. The motor mount 64 is axially slidable in the axial direction B relative to the cutting module mount 32. The motor mount 64 may be fixed against rotational movement relative to the platform 14 such that the motor mount 64 is configured to translate in the axial direction B without rotating relative to the platform 14. The motor mount 64 is movable between a raised position (fig. 7) in which the blade 34 is fully raised and a lowered position (fig. 8) in which the blade 34 is fully lowered. In the illustrated embodiment, the motor mount 64 also supports the drive shaft 38 and the vane 34 in fixed relation thereto such that the motor mount 64, the motor 36, the drive shaft 38, and the vane 34 move together in the axial direction B as a unit in response to movement of the manual actuator 42.

In the illustrated embodiment, the motor mount 64 includes at least a portion of the cam interface 50. The motor mount 64 is operatively coupled to the follower surface 54. As illustrated, the motor mount 64 includes the follower surface 54 in a fixed relationship therewith such that the motor mount 64 and the follower surface 54 translate together as a unit. Further, the manual actuator 42 is rotatable and further includes at least a portion of the cam interface 50. Manual actuator 42 is operatively coupled to cam surface 52. As illustrated, the manual actuator 42 includes a cam surface 52 in fixed relation thereto such that the manual actuator 42 and the cam surface 52 rotate together as a unit. Thus, in the illustrated embodiment, the cam interface 50 is directly engaged between (i.e., at least partially defined by) the manual actuator 42 and the motor mount 64. However, in other embodiments, the cam interface 50 is operably disposed between the manual actuator 42 and the motor mount 64 such that movement of the manual actuator 42 directly or indirectly causes the motor mount 64 to move relative to the platform 14. In other embodiments, the manual actuator 42 may be configured to move a vane mount (not shown, but substantially identical to the motor mount 64) such that the vane 34 is configured to move relative to the drive shaft 38 (which remains stationary relative to the platform 14) in the axial direction B in response to movement of the manual actuator 42, without the motor 36 moving relative to the platform 14.

The height adjustment mechanism 40 also includes one or more biasing members 66 (fig. 3, 7, and 8), such as coil springs (as illustrated), one or more leaf springs, one or more cup springs, or the like, for biasing the motor mount 64 upward (away from the support surface) in the axial direction B. The one or more biasing members 66 restore the motor mount 64 to its uppermost position (raised position) shown in fig. 7. Specifically, one or more biasing members 66 are disposed between the cutting module mount 32 and the motor mount 64. In the illustrated embodiment, the one or more biasing members 66 are each directly engaged with the cutting module mount 32 and the motor mount 64; however, in other embodiments, indirect engagement may be employed. The one or more biasing members 66 allow the cutting module 30 to float relative to the platform 14 and may thus allow the cutting module 30 to move in more than just the axial direction B.

Referring to fig. 3 and 6, the height adjustment mechanism 40 further includes a ratcheting mechanism 70 operatively coupled to the manual actuator 42 for producing audible and/or tactile feedback and maintaining the manual actuator 42 in a plurality of discrete angular positions. Indicia (not shown), such as height indicators, may be provided at predetermined rotational intervals of the manual actuator 42 corresponding to different cutting heights. As the manual actuator 42 rotates, the manual actuator 42 is also maintained at a fixed height (in the axial direction B) relative to the platform 14. In the illustrated embodiment, the ratcheting mechanism 70 includes spring-biased spheres 72 disposed about the periphery of the manual actuator 42 and extending radially from an outer peripheral surface 74 of the manual actuator 42. The spring biased ball 72 is biased radially outwardly from the peripheral surface 74 toward the cutting module mount 32. The illustrated ratcheting mechanism 70 includes ten spring-biased spheres 72 arranged at 36 degree intervals around a peripheral surface 74; however, in other embodiments, any number and spacing of one or more spring biased spheres 72 (or other ratcheting mechanism) may be employed. The ratchet lock mechanism 70 engages the cutting module mount 32 and aligns with an aperture 76 on the cutting module mount 32. The apertures 76 on the cutting module mount 32 may include notches (as shown), recesses, grooves, pockets, and the like. In the illustrated embodiment, the cutting module mount 32 includes two diametrically opposed apertures 76; however, in other embodiments, the cutting module mount 32 may include any number of one or more apertures 76 arranged in any suitable fashion for engagement with the ratchet lock mechanism 70. In yet further embodiments, the ratcheting mechanism 70 may be disposed on the cutting module mount 32 and one or more apertures 76 may be disposed on the manual actuator 42.

The cutting module 30 also includes a guard 80 (fig. 2) that covers a portion of the blade 34. In the illustrated embodiment, the guard 80 is arranged below the blade 34 in the axial direction B, i.e. closer to the support surface than the blade 34. However, in other embodiments, the guard 80 may have any suitable configuration for covering a portion of the blade 34, and may cover a portion of the blade 34 at the bottom of the blade 34, a portion around the circumferential side of the blade 34, and/or a portion above the blade 34 in any combination. In the illustrated embodiment, the guard 80 is configured to move up and down in a fixed relationship with the vane 34 in the axial direction B in response to movement of the manual actuator 42. However, in other embodiments, the guard 80 may remain fixed relative to the platform 14 as the blade 34 is adjusted.

The cutting module 30 is modular and may be removed from the lawn mower 12 as a unit and replaced as a unit.

Referring to fig. 1 and 2, the charging station 48 includes a docking pad 82 and a battery charging terminal 84. The docking pad 82 defines a generally planar surface 86, wherein a "generally planar surface" is defined as a portion that provides a sufficient planar surface, i.e., is comprised of a single continuous surface or a plurality of separate (discontinuous) surfaces, for the lawn mower 12 to travel thereon and to support the lawn mower during a charging operation. The battery charging terminal 84 is configured to engage with the battery charging contact 26 on the lawn mower 12 to provide an electrical connection therebetween to charge the power source 24 (e.g., a battery).

In operation, blade height adjustment may be manually achieved by an operator. The operator engages the gripping surface 44 of the manual actuator 42 and moves the manual actuator 42 (e.g., rotates the manual actuator 42 in the illustrated embodiment). At predefined angular intervals (as defined by the ratcheting mechanism 70), the operator hears and/or feels feedback from the manual actuator 42. The manual actuator 42 may be held in one of the discrete angular positions by the ratcheting mechanism 70 to hold the blade 34 at a corresponding height. For every 36 degree rotational angle interval, the blade height varies by approximately 0.314 inches (8 mm) (or more in some embodiments). The blade height varies by at least 1.5 inches (38 mm) or more in response to manual actuator 42 rotating 180 degrees. In some embodiments, the blade height varies by at least 0.25 inches in the axial direction for each 30 degrees of rotation of manual actuator 42. Thus, for small manual rotations of the manual actuator 42, the blade height adjustment mechanism advantageously may achieve a perceived amount of height change. The operator rotates the manual actuator 42 in a first direction (e.g., clockwise) to lower the blade 34 and rotates the manual actuator in a second direction (e.g., counter-clockwise) to raise the blade 34. When manual actuator 42 is rotated in the second direction, biasing member 66 provides a force to return blade 34 toward the raised position.

Fig. 10-11 illustrate a second embodiment of a garden tool system 110. Any component of the garden tool system 110 may be combined in place of or in combination with similar components in the garden tool system 10, and vice versa.

The garden tool system 110 may include a garden tool 112 (e.g., a lawn mower 112) and a charging station 148. In other embodiments, the garden tool 112 may include tools for sweeping debris, sucking debris, cleaning debris, collecting debris, moving debris, and the like. The debris may include plants (e.g., grass, leaves, flowers, stems, weeds, twigs, branches, etc., and cuts thereof), dust, dirt, worksite debris, snow, and/or the like. For example, other embodiments of the garden tool 112 may include a vacuum cleaner, a trimmer, a string trimmer, a hedge trimmer, a sweeper, a cutter, a plow, a blower, a snow blower, and the like. In the illustrated embodiment, the garden tool system 110 includes a lawn mower 112 and a charging station 148. The garden tool 112 may be autonomous, semi-autonomous, or non-autonomous.

For example, as shown in fig. 18, the lawn mower 112 may include a controller 200 having a programmable location A processor 202 (e.g., a microprocessor, microcontroller, or another suitable programmable device), a memory 204, and a human interface 216 (which may include a mobile device). For example, memory 204 may include a program storage area 206 and a data storage area 208. Program storage area 206 and data storage area 208 may include a combination of different types of memory, such as read only memory ("ROM"), random access memory ("RAM") (e.g., dynamic RAM [ "DRAM";]synchronous DRAM [ "SDRAM"]Etc.), an electrically erasable programmable read-only memory ("EEPROM"), a flash memory, a hard disk, an SD card or other suitable magnetic memory device, an optical memory device, a physical memory device, an electronic memory device, or other data structure. The controller 200 may also or alternatively include integrated circuits and/or analog devices (e.g., transistors, comparators, operational amplifiers, etc.) to perform the logic and control signals described herein. The controller 200 includes a plurality of inputs 210 and outputs 212 from and to a plurality of different components of the lawn mower 112. The controller 200 is configured to provide control signals to the output 212 and receive data and/or signals (e.g., sensor data, user input signals, etc.) from the input 210. The input 210 and output 212 are communicated, for example, by hard-wired and/or wireless communication (e.g., via satellite, internet, mobile telecommunications technology, frequency, wavelength, etc.), Etc.) communicates with the controller 200. The controller 200 may include a navigation system that may include one or more of a Global Positioning System (GPS), a beacon, a sensor such as an image sensor, an ultrasonic sensor, a line sensor, and an algorithm for navigating an area to be mowed. However, in other embodiments, the lawn mower 112 may be non-autonomous.

Referring to fig. 11, the lawn mower 112 includes a platform 114 to support a plurality of different components of the lawn mower 112, as will be described in greater detail below. The lawn mower 112 includes at least one prime mover 116 to provide traction to move the lawn mower 112 over a support surface (e.g., a charging station 148 or lawn to be mowed). At least one prime mover 116 may be supported by the platform 114. For example, in the illustrated embodiment, the at least one prime mover 116 may include one or more electric motors 116. However, in other embodiments, the prime mover 116 may include another type of motor, gasoline engine, or the like, in any suitable number and combination.

The lawn mower 112 also includes a plurality of wheels 118 (fig. 10) that may be supported by the platform (fig. 11) for converting traction into movement of the lawn mower 112 over a supporting surface. In the illustrated embodiment, each of the plurality of wheels 118 is supported by a tire 122. However, in other embodiments, the plurality of wheels 118 may support any combination of one or more tires, continuous tracks, and the like. The plurality of wheels 118 includes two front wheels 120a and two rear wheels 120b, although other numbers of wheels may be employed in other embodiments. In the illustrated embodiment, each of the two rear wheels 120b is operatively coupled to its own prime mover 116 (e.g., two electric motors, one for each corresponding rear wheel 120 b) to apply torque thereto, and the two front wheels 120a are not driven. However, in other embodiments, other torque transfer devices may be used having any number and combination of driven and non-driven wheels, any number of wheels driven by a single prime mover, and any number of prime movers.

The lawn mower 112 includes a power source 124 (fig. 11), such as a battery, for powering the at least one prime mover 116 such that the lawn mower 112 can perform lawn mowing operations in a cordless manner. The power source 124 may include one or more lithium ion battery packs and/or other battery chemistries. The power source 124 may be removable from the lawn mower 112. In other embodiments, at least one prime mover 116 may be powered by other power sources, such as solar panels, fuel cells, compressed fluid, fuel, and the like. Lawn mower 112 includes battery charging contacts 126 for receiving electrical charge from an external power source (not shown) to charge power source 124.

The lawn mower 112 includes a cutting module 130 (fig. 12-17) which may be supported by a cutting module mount 132 which is fixed relative to the platform 114 or which is formed as part of the platform 114. The cutting module 130 is modular and may be removed from the lawn mower 112 as a unit and replaced as a unit. The cutting module 130 includes a driven tool (e.g., blade 134) and a motor 136 configured to drive the driven tool. In certain embodiments, the motor 136 moves the blade 134 about the axis of rotation a on a path 170 of at least 360 degrees. In some embodiments, the driven tool is a reciprocating dressing unit and the motor 136 drives the dressing blades of the dressing unit to reciprocate. In yet further embodiments, the driven tool comprises a string (not shown), as in a string trimmer, and the motor 136 drives the string about the axis of rotation a. In yet further embodiments, the driven tool includes a roller blade (not shown), such as a spool blade or a squirrel cage blade, and the motor 136 drives the roller blade to roll or rotate about an axis that is substantially parallel (e.g., substantially horizontal) to the support surface. In yet further embodiments, the driven tool comprises a twist drill (not shown), such as a snow blower twist drill, and the motor 136 drives the twist drill to roll or rotate about an axis that is substantially parallel (e.g., substantially horizontal) to the support surface. In yet other embodiments, the driven tool includes a fan (not shown), such as a blower fan, and the motor 136 drives the fan in rotation. Other types of blades are also possible. In addition, other types of driven tools are possible, including the blade described above, as well as other non-blade tools driven by motor 136.

The motor 136 includes a rotatable drive shaft 138 operatively coupled to the blades 134. In the illustrated embodiment, the drive shaft 138 is arranged coaxially with the axis of rotation a. In other embodiments, the drive shaft 138 may be disposed parallel to (e.g., offset from) or transverse to the axis of rotation a. The rotation axis a defines an axial direction B. The axial direction B is typically a vertical direction relative to a support surface on which the lawn mower 112 is traveling, such as an up-down direction relative to gravity, when the lawn mower 112 is in use. However, in certain embodiments, the axis of rotation a may be inclined with respect to the vertical, for example, 1 to 10 degrees, preferably 3 to 8 degrees, and more preferably 5 to 6 degrees. In some embodiments, the rotation axis a may be inclined forward in the direction of travel relative to the vertical.

The blade 134 (fig. 12-14) may include one or more blade tips 144 supported by a blade carrier 146. In the illustrated embodiment, the blade carrier 146 includes a plurality of blade carrier arms 156, each blade carrier arm 156 supporting one of the blade tips 144. For example, the blade carrier 146 includes three blade carrier arms 156 and three blade tips 144. However, in other embodiments, one, two, four, or more blade carrier arms 156 and corresponding blade tips 144 may be employed. In certain embodiments, the blade carrier 146 is a blade disk. Each blade tip 144 includes a blade 158 configured to cut vegetation (e.g., grass and other plants).

The path 170 of the blade 134 (best shown in fig. 13-14), which in some embodiments may be defined by the path of the blade tip 144 (as shown in fig. 13) or by the path of the blade tip 144 and blade carrier arm 156, and in other embodiments at least by the blade edge 158, includes four 90 degree regions 172a-d (fig. 14), wherein each region 172a-d has a first flat side 174, a second flat side 176, and a circumferential side 178 extending therebetween. Each region 172a-d forms a volume through which the vane 134 passes. In other embodiments, the path 170 of the blades 134 may be defined in any combination by the path of other portions of the blades 134 driven about the axis of rotation a. The first flat side 174 is disposed above the path 170 of the blade 134, i.e., between the path 170 of the blade 134 and the motor 136. The second flat side 176 is arranged below the path 170 of the blade 134, i.e. between the path 170 of the blade 134 and the support surface along which the lawn mower 112 is travelling. In other words, the path 170 of the blade is disposed between the second flat side 176 and the motor 136.

The lawn mower 112 includes a height adjustment mechanism 140 for moving the blade 134 up and down in the axial direction B. The height adjustment mechanism 140 and the height adjustment mechanism 40 are interchangeable. In other words, the height adjustment mechanism 140 may be employed with the garden tool system 10, and the height adjustment mechanism 40 may be employed with the garden tool system 110.

The height adjustment mechanism 140 includes a manual actuator 142 configured to move in response to manual actuation by an operator. The vane 134 is configured to move in the axial direction B in response to movement of the manual actuator 142. Manual actuator 142 is operably coupled to cam interface 150. Cam interface 150 includes a cam surface 152 and a follower surface 154, which will be described in more detail below. In the illustrated embodiment, the cam surface 152 is rotatable and the follower surface 154 translates. In the illustrated embodiment, the motor 136 is at least partially disposed within the manual actuator 142. For example, the motor 136 may be disposed partially within the manual actuator 142, disposed mostly within the manual actuator 142, or disposed entirely within the manual actuator 142.

The cutting module 130 includes a motor mount 164 (fig. 12, 15, and 17) configured to support the motor 136 in a fixed relationship therewith. In the illustrated embodiment, the motor mount 164 also supports the drive shaft 138 and the vane 134 such that the motor mount 164, the motor 136, the drive shaft 138, and the vane 134 move together in the axial direction B as a unit in response to movement of the manual actuator 142.

In the illustrated embodiment, the motor mount 164 includes a mounting portion 188 disposed generally perpendicular to the axis of rotation a. The mounting portion 188 directly (in other embodiments or indirectly) supports the motor 136. The motor mount 164 also includes a leaflet-like projection 190 extending from the mounting portion 188. However, in other embodiments, the leaflet-like projections 190 may project from other areas of the motor mount 164. In the illustrated embodiment, four leaflet-like projections 190 are employed; however, any number of leaflet-like projections 190 may be employed, such as one, two, three, five, or more. In some embodiments, the leaflet-like projections 190 can be formed as a single circumferential flange.

In the illustrated embodiment, the motor mount 164 includes at least a portion of the cam interface 150. The motor mount 164 is operatively coupled to the follower surface 154 that protrudes in the axial direction B away from the mounting portion 188 toward the manual actuator 142. As illustrated, the motor mount 164 includes the follower surface 154 in a fixed relationship therewith such that the motor mount 164 and the follower surface 154 translate together as a unit. Further, the manual actuator 142 is rotatable and further includes at least a portion of the cam interface 150. The manual actuator 142 is operably coupled to the cam surface 152. As illustrated, the manual actuator 142 includes a cam surface 152 in fixed relation thereto such that the manual actuator 142 and the cam surface 152 rotate together as a unit. Thus, in the illustrated embodiment, the cam interface 150 is directly engaged between (i.e., at least partially defined by) the manual actuator 142 and the motor mount 164. However, in other embodiments, the cam interface 150 is operably disposed between the manual actuator 142 and the motor mount 164 such that movement of the manual actuator 142 directly or indirectly causes movement of the motor mount 164 relative to the platform 114.

The height adjustment mechanism 140 also includes one or more biasing members 166 (fig. 15), such as coil springs (as illustrated), one or more leaf springs, one or more cup springs, or the like, for biasing the motor mount 164 upward (away from the support surface) in the axial direction B. The one or more biasing members 166 define a compression axis D (which may be parallel to the rotation axis a) and are each disposed in a corresponding leaflet-like receptacle 192 in the cutting module mount 132. Each leaflet-shaped receptacle 192 extends longitudinally parallel to the compression axis D. The one or more biasing members 166 return the motor mount 164 to its uppermost position (raised position) in which the blade 134 is furthest from the support surface. Specifically, one or more biasing members 166 are disposed between the cutting module mount 132 and the motor mount 164. In the illustrated embodiment, the one or more biasing members 166 are each directly engaged with the cutting module mount 132 and the motor mount 164; however, in other embodiments, indirect engagement may be employed. More specifically, the biasing members 166 each engage with a leaflet-like projection 190 on the motor mount 164 and with a longitudinal end of a corresponding leaflet-like receptacle 192 on the cutting module mount 132.

The cutting module 130 also includes a guard 180 fixedly coupled to the motor mount 164 for movement therewith as a unit, as illustrated in the first embodiment of fig. 12 and 15. An alternative embodiment 180a of the guard is shown in fig. 16. In the first and alternative embodiments, the guards 180, 180a may be formed as a single piece with the motor mount 164. To be formed as a single piece, the guards 180, 180a and the motor mount 164 are fixed relative to each other, and may be formed in a single process, separately formed and fixedly joined, etc. In both embodiments, the guards 180, 180a cover a portion of the path 170 of the blade 134. More specifically, in both embodiments, the guards 180, 180a cover at least a portion of the circumferential side 178 as a single piece in at least two opposing areas (e.g., 172a and 172c, which areas may be referred to as "left" and "right," or "front" and "rear," etc. with respect to the direction of travel). In the illustrated embodiment of fig. 12-15, the guard 180 covers at least a portion of the circumferential side in at least three of the four regions (e.g., 172a, 172b, and 172 c) or in yet other embodiments in all four regions 172a-172d as a single piece. As illustrated in both embodiments, the guards 180, 180a as a single piece may also cover at least a portion of the second flat side 176 of at least two opposing areas (e.g., 172a and 172 c). In the illustrated embodiment of fig. 12-15, the guard 180 as a single piece may also cover at least a portion of the second flat side 176 in at least three of the four regions (e.g., 172a, 172b, 172 c) or in yet other embodiments in all four regions 172a-172 d. In both embodiments, the guards 180, 180a as a single piece may also cover at least a portion of the first flat side 174 of at least two opposing areas (e.g., 172a and 172 c). In the illustrated embodiment of fig. 12-15, the guard 180 as a single piece may also cover at least a portion of the first flat side 174 in at least three of the four regions (e.g., 172a, 172b, 172 c) or in all four regions 172a-172 d.

More specifically, referring to fig. 13, guard 180 includes a first portion 194a (top portion) configured to cover at least a portion of first flat side 174 in one or more of regions 172a-172 d. The guard 180 also includes a second portion 194b (bottom portion) configured to cover at least a portion of the second flat side 176 in one or more of the regions 172a-172 d. The guard 180 also includes a third portion 194c (lateral portion) configured to cover at least a portion of the circumferential side 178 in one or more of the regions 172a-172d, as described above.

In other embodiments, the guards 180, 180a may cover the areas as two or more separate pieces rather than a single piece. The guards 180, 180a may be formed of a polymeric material (e.g., plastic), metal, or any other suitable material or combination thereof. The detailed construction of the guards 180, 180a is not limited by the illustrated embodiment. For example, in other embodiments, the guards 180, 180a may be formed from rods (e.g., metal rods) that may be bent and coupled together, the guards may be formed from one or more sheets (e.g., metal sheets) that may be bent and coupled together, or the guards may be formed from any suitable material in any other suitable manner.

The guards 180, 180a are configured to move up and down in a fixed relationship with the blades 134 in the axial direction B in response to movement of the manual actuator 142. However, in other embodiments, the guard 180 need not move axially with the blade 134.

As described above, the cutting module 130 is coupled to the cutting module mount 132 by way of the biasing member 166. The cutting module mount 132 is secured to or formed as part of the platform 114. In one aspect, the biasing member 166 allows for manual height adjustment of the blade 134, as described above. On the other hand, the biasing member 166 allows the guard 180, and in this case the cutting module 130 as a unit, to move relative to the cutting module mount 132 (i.e., relative to the platform 114) in a component of movement other than manual height adjustment in the axial direction B. For example, the movement from a first position relative to the platform to a second position relative to the platform may include: any horizontal movement (e.g., any movement in a plane perpendicular to the axis of rotation a of the blade 134); a pivoting movement (e.g., any two-dimensional arc movement about a pivot axis, such as but not limited to any pivot axis perpendicular to the rotational axis a, and/or any three-dimensional spherical movement (e.g., a ball joint) about any pivot point, such as but not limited to any pivot point disposed on the rotational axis a); downward (e.g., away from motor 136 in axial direction B); and any combination thereof. The movement may have at least a component radial with respect to the rotation axis a, unlike manual height adjustment of the blades 134 in the axial direction B. The amount of movement is determined by the amount of space (e.g., gap 168) between the motor mount 164 and the cutting module mount 132. Generally, the gap 168 is disposed at any suitable location between the cutting module 130 and the cutting module mount 132. In the illustrated embodiment, the gap 168 is disposed between the leaflet-like projections 190 on the motor mount 164 and the corresponding leaflet-like receptacles 192 on the cutting module mount 132. The gaps 168 are defined radially with respect to the compression axis C of the corresponding biasing member 166. In the illustrated embodiment, the gap 168 may be about 0.039 inches (+/-0.01 inches) (about 1 mm). In some embodiments, gap 168 is between about 0.019 inches (about 0.5 mm) and about 0.04 inches (about 1 mm). In other embodiments, gap 168 may be between about 0.015 inches (about 0.4 mm) and about 0.079 inches (about 2 mm). In other embodiments, gap 168 may be between about 0.011 inches (about 0.3 mm) and about 0.16 inches (about 4 mm). In other embodiments, gap 168 may be between about 0.0078 inches (about 0.2 mm) and about 0.24 inches (about 6 mm). The biasing member 166 is configured to bias the guard 180 toward the first position.

In some embodiments, a sensor 214 (fig. 18), such as a contact switch, may be actuated by contact of any portion of the cutting module 130 during movement of the cutting module 130 (preferably movement other than the height adjustment movement in the axial direction B caused by the manual actuator 142). For example, the sensor 214 senses movement of the guard 180 in addition to axial movement. More specifically, the sensor 214 (e.g., a contact switch) may be actuated in response to movement of the guard 180 caused by an external force (e.g., an external object contacting the guard 180, and the guard 180 thus moves and contacts the sensor 214). Even more specifically, the sensor 214 may be actuated in response to a radial component of movement of the guard 180 relative to the axial direction B. The sensor 214 may be mounted to the platform 114, or to any other suitable location on the lawn mower 112. The sensor 214 may transmit a signal to the controller 200, as illustrated in fig. 18, in response to which the controller 200 may be programmed to turn off the motor 136. Thus, movement of the guard 180 triggers a safety feature to stop the lawn mower 112.

Referring to fig. 10 and 11, the charging station 148 includes a docking pad 182 and a battery charging terminal 184. The docking pad 182 defines a generally planar surface 186, wherein a "generally planar surface" is defined as a portion that provides a sufficient planar surface, i.e., is comprised of a single continuous surface or a plurality of separate (discontinuous) surfaces, for the lawn mower 112 to travel thereon and to support the lawn mower during a charging operation. The battery charging terminal 184 is configured to engage with the battery charging contact 126 on the lawn mower 112 to provide an electrical connection therebetween to charge the power source 124 (e.g., a battery).

A second embodiment of a guard 180' is shown in fig. 19. In the second embodiment, only the blade guard 180 'is movable, not the entire cutting module 130'. Movement is defined as any movement other than the height adjustment movement in the axial direction B due to the manual actuator 142. For example, movement from a first position relative to the platform (or relative to the motor mount 164 ') to a second position relative to the platform 114 (or relative to the motor mount 164') may include: any horizontal movement (e.g., any movement in a plane perpendicular to the axis of rotation a of the blade 134); a pivoting movement (e.g., any two-dimensional arc movement about a pivot axis, such as but not limited to any pivot axis perpendicular to the rotational axis a, and/or any three-dimensional spherical movement (e.g., a ball joint) about any pivot point, such as but not limited to any pivot point disposed on the rotational axis a); downward (e.g., away from motor 136 in axial direction B); move upward (e.g., toward motor 136 in axial direction B); and any combination thereof. The amount of movement is determined by the space (e.g., gap 168 ') between the motor mount 164 and the guard 180'. Specifically, gap 168' is defined radially with respect to rotational axis a. In the illustrated embodiment, gap 168' may have any of the same values as described above with respect to gap 168. The biasing member 166 'is configured to bias the guard 180' toward the first position. Specifically, the biasing member 166' is disposed between the guard 180' and the motor mount 164', and may be directly engaged with the guard 180' and the motor mount 164 '. The blade guard 180' is movable relative to the blade 134. Movement is controlled to avoid contact between the blade guard 180' and the blade 134.

In the second embodiment, the motor mount 164 'and the blade guard 180' are formed as separate parts. Except for the differences described, the cutting module 130' is the same in other parts and will not be described again; instead, reference is made to the description of the cutting module 130 described herein with respect to the first embodiment of fig. 12-18.

In operation, the blade guards 180, 180a, 180' are movable by external forces (e.g., due to striking rocks or other objects on the ground, due to shape changes in the terrain itself, etc.). In some embodiments, the entire cutting module 130 (including the blade guards 180, 180 a) is movable, and in other embodiments, the blade guards 180 'are individually movable relative to the motor mount 164'. The movement improves the ability of the lawn mower 112 to travel over uneven ground, and the movement may allow triggering of a safety feature, such as a motor shutdown.

Although the present disclosure has been described in detail with reference to preferred embodiments, variations and modifications exist within the scope and spirit of one or more independent aspects of the disclosure as described.

Thus, the present disclosure provides, among other things, a lawn mower 12, such as an autonomous lawn mower, having manual blade height adjustment. The present disclosure provides, among other things, a lawn mower 112, such as an autonomous lawn mower, having movable guards 180, 180a, 180'. The present disclosure also provides a lawn mower 112, such as an autonomous lawn mower, having a movable cutting module 130.

Claims

1. A robotic garden tool, comprising:

a platform;

a blade movably coupled to the platform;

a motor configured to move the blade about a rotational axis, the rotational axis defining an axial direction;

a vane height adjustment mechanism comprising a manual actuator configured to move in response to manual actuation by an operator, the manual actuator operably coupled to a cam interface disposed within a cylindrical volume defined circumferentially by the cam interface and axially by upper and lower distal ends of the cam interface, wherein a rotational axis of the vane intersects the cylindrical volume, and wherein the vane is configured to move at least partially in the axial direction in response to movement of the manual actuator.

2. The robotic garden tool of claim 1, wherein the rotational axis of the blade intersects the manual actuator.

3. The robotic garden tool of claim 1, wherein the cylindrical volume defines a central axis, and wherein the central axis is coaxial with the rotational axis of the blade.

4. The robotic garden tool of claim 1, wherein the cylindrical volume defines a central axis, and wherein the manual actuator is rotatable about the central axis.

5. The robotic garden tool of claim 1, wherein the manual actuator is rotatable about the rotational axis of the blade.

6. The robotic garden tool of claim 1, wherein the cylindrical volume defines a central axis, and wherein the central axis is transverse to the axis of rotation of the blade.

7. The robotic garden tool of claim 1, wherein the motor is at least partially disposed within the cylindrical volume.

8. The robotic garden tool of claim 1, wherein the motor is arranged within the cylindrical volume.

9. The robotic garden tool of claim 1, further comprising a motor mount configured to support the motor in a substantially fixed relationship therewith, wherein the cam interface is directly engaged between the manual actuator and the motor mount, the cam interface comprising a cam surface and a follower surface.

10. The robotic garden tool of claim 1, wherein movement of the cam interface about a central axis causes the blade to move at least 0.25 inches in the axial direction for every 30 degrees of rotation of the cam interface.

11. The robotic garden tool of claim 1, wherein the manual actuator comprises a ratcheting mechanism configured to provide audible and/or tactile feedback and to retain the manual actuator in a plurality of discrete angular positions.

12. The robotic garden tool of claim 1, further comprising at least one biasing member configured to apply a force to return the blade toward a raised position.

13. A cutting module for robotic garden tools, comprising:

a motor configured to drive the blade about a rotational axis, the rotational axis defining an axial direction; and

a vane height adjustment mechanism comprising a manual actuator configured to move in response to manual actuation by an operator, the manual actuator operably coupled to a cam interface disposed within a cylindrical volume defined circumferentially by the cam interface and axially by upper and lower distal ends of the cam interface, wherein the motor is disposed at least partially within the cylindrical volume, and wherein the manual actuator is configured to move the vane in the axial direction.

14. The cutting module of claim 13, wherein movement of the cam interface about the central axis is such that the blade moves in the axial direction by at least 0.25 inches per 30 degrees of rotation of the cam interface.

15. The cutting module of claim 13, further comprising at least one biasing member configured to apply a force to return the blade toward the raised position.

16. A robotic garden tool movable along a support surface, the robotic garden tool comprising:

a platform; and

a cutting module supported by the platform, the cutting module comprising:

a driven tool;

a motor configured to drive the driven tool in a path defining a volume through which the driven tool passes; and

a shield configured to cover at least a portion of the volume and formed as a single piece,

wherein the driven tool is configured for a height adjustment relative to the support surface, and wherein the guard is movable independently of the height adjustment.

17. The robotic garden tool of claim 16, wherein the guard is configured to move in a direction that is at least partially radial with respect to the rotational axis.

18. The robotic garden tool of claim 16, wherein the guard is configured to move at least partially in a direction parallel to the rotational axis.

19. The robotic garden tool of claim 16, wherein the guard is further configured to cover at least a portion of the second flat side of two opposing areas with one integral piece, wherein the path of the blade is arranged between the second flat side and the motor.

20. The robotic garden tool of claim 16, wherein the guard is configured to move from a first position relative to the platform to a second position relative to the platform, and wherein the cutting module further comprises at least one biasing member disposed between the guard and the platform and configured to bias the platform toward the first position.