Patent Description:
The present invention further relates to a land maintenance method by means of said mobile device.

The use of mobile devices, such as lawnmowers, soil tillers, soil aerators or the like, manually driven or self-driving, configured to perform their functions to fully cover the work area are known in the gardening field, and generally in the field related to land maintenance.

During the work steps, some portions of the work area, for example the peripheral zones, border zones or some particular zones centrally located in the work area, can be particularly difficult to effectively reach, due to the presence of obstacles, for example hedges, flower beds, trees, or the like. Due to the presence of such obstacles, the mobile device can have difficulty reaching certain zones of the work area, resulting in lower work quality with respect to zones of the work area which are easier to access.

In the specific case in which the mobile device is moved manually, the operator can encounter difficulties in moving the mobile device in the peripheral and border zones due to the presence of the obstacles indicated above.

Moreover, the very dimensions of the mobile device, in height and/or in width, can interfere with the aforementioned obstacles, for example with a peripheral hedge, thus preventing a correct processing of the peripheral or border zones.

Furthermore, the mobile device's drive handle adjustment systems belonging to the prior art, e.g., the height adjustment, tend to wear quickly, especially if used extensively: once the adjustment system is worn, the handle tends to "fall", being in fact unusable for guiding and governing the mobile device.

<CIT> discloses a lawnmower constrained on rails, the frame of which can move transversely in the space between the rails. <CIT> describes a lawnmower in which the cutting plate can move laterally to the right and left with respect to the frame. <CIT> describes a lawnmower comprising a mechanism for coupling the cutting plate to the frame which allows a displacement of the cutting plate in a transverse direction. <CIT> and <CIT> describe a lawnmower comprising two subassemblies mutually rotatable about a vertical axis, the first sub-assembly belonging to the handlebar and the cutting tool, the second sub-assembly belonging to a pair of wheels. <CIT> describes a lawnmower with a handlebar assembly, the handlebar assembly comprising a coupling component and a grasping segment which is rotatable with respect to the coupling component. <CIT> describes a lawnmower with a grasping assembly, the grasping assembly comprising a lower portion fixed to the frame and an upper portion rotatable so as to be movable laterally to the advancement direction of the lawnmower. <CIT> discloses a lawnmower comprising a handle rotatably connected to the frame and an inclination adjustment device interposed between the handle and the frame. <CIT> describes a lawnmower the handlebar of which can rotate with respect to the frame and can be locked according to different inclinations. <CIT> describes a lawnmower the handlebar of which is connected to the frame by a joint, the joint comprising a handle fastening body, a pair of arms fastened to the frame, and selective locking means of the body with respect to the arms. <CIT> discloses a lawnmower with a handlebar height adjustment mechanism, the adjustment mechanism comprising a pair of toothed disc elements and an interconnecting disc element. <CIT> describes a lawnmower with a handlebar assembly comprising a lower structural element and an upper structural element which can be rotated with respect to the lower structural element. Document <CIT> discloses an autonomous lawn mower, comprising a housing, a movement module, a cutting mechanism and a control unit. A protecting assembly comprising a movable protecting member is located on the outer side of the cutting mechanism. A detection module configured to detect whether there is an obstacle in front and a size of the obstacle is operably connected to a movability control module of the control unit. When there is a passable obstacle in front, the movability control module controls the movable protecting member and the cutting mechanism to automatically move to avoid the obstacle and adjusts a movement distance between the movable protecting member and the cutting mechanism according to the size of the obstacle. When there is no obstacle in front, the movability control module controls the movable protecting member and the cutting mechanism to restore an original state. When there is an excessively large obstacle in front, the movability control module controls the movable protecting member and the cutting mechanism not to move and controls a stop or a steering of the autonomous lawnmower. Document <CIT> discloses a mowing machine comprising a cutting mechanism and a body, the body being provided with a side protection located at sides of the cutting mechanism and a with bottom protection located below the cutting mechanism, a grass inlet being defined in the bottom protection. The body is provided with a movable member connected to the cutting mechanism and with a driving mechanism for driving the movable member, and consequently the cutting mechanism, to move. The mowing machine comprises a sensing element for detecting the shape of obstacles in real time and for driving the driving mechanism accordingly, so that the position of the cutting mechanism is adapted to the shape of the obstacles.

Therefore, the object of the present invention is to solve at least one of the drawbacks and/or limitations of the currently-known mobile devices for land maintenance.

A first objective is to facilitate the land maintenance operations at a peripheral or border zone of the work area.

A further objective is to make the land maintenance operations more effective at a peripheral or border zone of the work area.

A further objective is to allow the mobile device to reach peripheral or border zones of the work area which cannot be reached with the common mobile devices.

A further objective is to facilitate the land maintenance operations for an operator responsible for driving and moving the present mobile device.

A further objective is to improve the land maintenance operations at a peripheral or border zone of the work area when performed by a self-driven mobile device.

A further objective is to avoid a stop of a self-driving mobile device in accordance with the present invention when it is at a peripheral or border zone of the work area.

A further objective is to provide a resistant drive handle capable of withstanding repeated adjustment cycles in height and along the lateral direction.

These and other objects, which will appear more clearly from the following description, are achieved by a self-driving mobile device for land maintenance in accordance with one or more of the appended claims.

Some embodiments and aspects of the invention will be described hereinafter with reference to the accompanying drawings, given merely for illustrative, non-limiting purposes in which:.

It should be noted that in the present detailed description, corresponding parts illustrated in the various figures are indicated with the same numerical references. The figures could illustrate the object of the invention through non-scale depictions; therefore, the parts and components illustrated in the figures related to the object of the invention could exclusively relate to schematic depictions.

The control unit can be a single unit or be formed by a plurality of different control units depending on the design choices and operational needs.

The term control unit means an electronic type component which can comprise at least one of: a digital CPU, an analogue type circuit, or a combination of one or more digital processors with one or more analogue type circuits. The control unit can be "configured" or "programmed" to carry out certain steps: in practice, this can be accomplished by any means which allow the control unit to be configured or programmed. For example, in the case of a control unit comprising one or more CPUs and one or more memories, one or more programs can be stored in appropriate memory banks connected to the CPU(s); the program(s) contains instructions which, when executed by the CPU(s), program or configure the control unit to carry out the operations described in relation to the control unit. Alternatively, if the control unit is or comprises analogue circuitry, then the circuitry of the control unit can be designed to include circuitry configured, in use, to process electrical signals so as to carry out the steps related to the control unit.

The term actuator means any device capable of causing a movement on a body, for example upon a command of the control unit, a command sent by the control unit received by the actuator. The actuator can be electrical, pneumatic, mechanical such as spring, hydraulic, or other type.

The term obstacle refers to any body or element capable of limiting, reducing or obstructing the path of the mobile device within the work area. The obstacle can be a hedge, a flowerbed, the peripheral border of the work area, an inner border of the work area, a boulder, a tree, a plant or the like. This obstacle can further comprise a safety limit, for example if the obstacle is defined by a ditch, a gully or a step. In other words, the obstacle can actively hinder the path of the mobile device, or define a limit not to be exceeded for safety reasons.

The present disclosure relates to a mobile device <NUM> configured to move and carry out maintenance operations within a work area of land, such as turfgrass, a garden or agricultural land, having an extension between <NUM> and <NUM> square meters, in particular between <NUM> and <NUM> square meters: the maintenance operations can comprise, for example, cutting turfgrass. In particular, the mobile device <NUM> can be, for example, a lawnmower as shown in the accompanying drawings.

Alternatively, the mobile device <NUM> can be a motor hoe, a tiller, an aerator or the like.

The mobile device <NUM> is a self-driving device.

It is pointed out that, since the invention as claimed in appended claims applies to self-driving mobile devices, disclosed embodiments which relate only to manually-driven mobile devices should be regarded as examples not being part of the invention as claimed in the appended claims.

If it is manually driven, the mobile device <NUM> is driven by a user: in this case the mobile device <NUM> can comprise driving movement means <NUM>, for example one or more traction wheels, adapted to determine the advancement of the mobile device <NUM>: alternatively the mobile device <NUM> can be configured to be pushed by a user. If the mobile device <NUM> is manually driven and comprises driving movement means <NUM>, the mobile device <NUM> can be a tractor comprising a driving station to accommodate the user on board, the latter being adapted to drive the tractor within the work area. Alternatively, if the mobile device <NUM> is manually driven and does not comprise driving movement means <NUM>, for example idle wheels, the mobile device <NUM> comprises a drive handle to allow the operator to move and guide the mobile device within the work area: in such a case, the mobile device has dimensions and mass consistent with the need, on the part of the user, to have to move it by pushing within the work area. In a further embodiment, the manually-driven mobile device <NUM> comprises driving movement means <NUM> adapted to determine, or contribute to, the movement of the mobile device, and a drive handle configured to be grasped by a user to allow the driving thereof within the work area.

The movement means <NUM> can comprise one or more electric motors operatively connected to a control unit <NUM> and to at least one drive wheel of the mobile device <NUM> to determine the advancement movement thereof. The electric motor of the movement means <NUM> preferably has a nominal power between <NUM> W and <NUM> W, in particular between <NUM> W and <NUM> W if it is a pushed lawnmower or between <NUM> W and <NUM> W if it is a tractor with driving station for an operator. Alternatively, the mobile device <NUM> can comprise a combustion engine, for example an Otto or Diesel cycle engine, operatively connected to the movement means <NUM> to determine the movement of the mobile device <NUM>.

The manually-driven mobile device <NUM>, comprising the drive handle and not comprising an on-board driving station, preferably has a length between <NUM> and <NUM>, and a width between <NUM> and <NUM>. Alternatively, a manually-driven mobile device <NUM>, in particular the tractor comprising an on-board driving station, preferably has a width between <NUM> and <NUM>.

In accordance with the invention, the mobile device <NUM> is self-driving, the mobile device <NUM> comprises the movement means <NUM> described above and is further configured to move and drive autonomously within the work area <NUM> by using one or more sensors, so as to orient itself and to avoid obstacles, as per the prior art. For example, the self-driving mobile device <NUM> can comprise one or more proximity sensors and/or one or more position sensors configured to send signals to a control unit <NUM> configured to command the driving movement means <NUM> to guide the mobile device <NUM> within the work area to carry out the maintenance activities.

The self-driving mobile device <NUM> preferably has a width between <NUM> and <NUM>.

The on-board battery of the mobile device <NUM> can be a rechargeable battery having a charging capacity between <NUM> Wh and <NUM> Wh. The battery can be configured to deliver a voltage preferably between <NUM> Volts for self-driving robots and <NUM> Volts for tractors. In more detail, the battery can be configured to deliver a current, during a standard operating condition, between <NUM> Amps and <NUM> Amps for self-driving robots, and between <NUM> Amps and <NUM> Amps for tractors. The battery can be a rechargeable battery via a power outlet of a home network, for example a 110V, 200V or 380V power source.

The mobile device <NUM> carries a control unit <NUM> on board, in particular a first controller, configured to carry out one or more commands in accordance with the present invention. It should be noted that in the present description, when referring to a "control unit <NUM>", the latter can be arranged on board the mobile device <NUM>, or can be carried by a remote device, such as, for example, a PC, a server, a tablet or a smartphone, distinct and separate from the mobile device <NUM>.

The mobile device <NUM> of the present invention, comprises at least one work tool <NUM>, for example one or two rotary blades, configured to carry out the maintenance operations in the work area: an electric motor <NUM> or combustion engine, optionally the same motor as the movement means <NUM>, is configured to activate the work tool <NUM>. A control unit <NUM> can be connected to the electric motor of the work tool <NUM> and configured to command the activation thereof. The mobile device <NUM> provided with the rotary blade can thus be a lawnmower. Similarly, if the mobile device is a lawnmower, the operating body is a cutting plate defining a protection volume carrying the cutting blade. In particular, the cutting plate has a bell-like shape in which the internal volume faces the ground in an operating condition.

In an embodiment, the mobile device <NUM> comprises a single electric motor <NUM> or combustion engine, operatively connected to the work tool <NUM> and to the movement means <NUM> so as to make such movement means <NUM> driving. Alternatively, the mobile device <NUM> can comprise an electric motor or combustion engine, connected to the work tool <NUM>, and a further electric motor or combustion engine, operatively connected to the driving movement means <NUM>.

In a further embodiment, the mobile device <NUM> is an electrically powered device, in which the movement means <NUM> and the work tool <NUM> are driven by one or more electric motors powered by an on-board battery.

The work tool <NUM> preferably comprises a cutting blade for cutting turfgrass, rotating about an axis A: alternatively, the work tool <NUM> can comprise an aerator configured to perform a plurality of holes in the ground, or a tiller or a motor hoe.

It should thus be noted that the present invention is not related solely to a lawnmower, but can be used in association with other devices in the field of gardening and land maintenance, such as aerators and motor hoes.

The mobile device <NUM> of the present invention comprises a support frame <NUM> carrying the movement means <NUM>, whether driven or idle, one or more work tools configured to perform the maintenance operations within the work area and an operating body <NUM> carrying and/or hosting the work tool <NUM> and defining an actuation region of the mobile device <NUM> configured to perform the maintenance operations. In detail, the movement means <NUM> can comprise wheels, in particular four wheels or tracks. The wheels can be arranged at the respective four vertices of the support frame <NUM>, to define a rectangular or square polygonal shape.

The mobile device <NUM> comprises a front portion <NUM>, a rear portion <NUM> opposite to, and distanced from, the front portion <NUM>, a left side <NUM> interposed as a connection between the front portion <NUM> and the rear portion <NUM> of the mobile device <NUM>, and a right side <NUM> interposed as a connection between the front portion <NUM> and the rear portion <NUM> of the mobile device <NUM>: the right side <NUM> is opposite and distanced from the left side <NUM>.

The words "right" and "left" are a convention which can be arbitrarily defined according to a front or rear view of the mobile device <NUM>, as long as such a convention is maintained unchanged during the reading of such a description, of the claims and of the attached aspects.

The left side <NUM> and the right side <NUM> can comprise the movement means <NUM>, in particular wheels or movement tracks: for example, the left side <NUM> and the right side <NUM> of the mobile device <NUM> can each comprise two movement wheels placed at the front portion <NUM> and the other at the rear portion <NUM>. In other words, the mobile device <NUM> can have a front wheel axle 3a placed at the front portion <NUM> and comprising a left front wheel 3a' and a right front wheel 3a", and a rear wheel axle 3b placed at the rear portion <NUM> and comprising a left rear wheel 3b' and a right rear wheel 3b".

An envelope of the four wheels, in particular an envelope defined by the left and right front wheels and the left and right rear wheels, defines a peripheral shape <NUM> of the mobile device <NUM>.

The mobile device <NUM> extends in length between the front portion <NUM> and the rear portion <NUM>, to define a longitudinal axis X of the mobile device <NUM>: in particular, the longitudinal axis X of the mobile device <NUM> crosses the front portion <NUM> and the rear portion <NUM> substantially orthogonally. In more detail, the longitudinal axis X of the mobile device <NUM> can define an axis of symmetry between the left side <NUM> and the right side <NUM> of the mobile device <NUM> and pass through a central portion of the mobile device <NUM> itself.

Similarly, a straight advancement of the mobile device <NUM> can be coincident with the longitudinal axis X of the mobile device <NUM>. Furthermore, the longitudinal axis X can be substantially orthogonal to the front and/or rear wheel axis of the mobile device <NUM> at least during a straight motion condition. Furthermore, the longitudinal axis X can be equidistant from the left and right wheels of the same axis: in such a case, the longitudinal axis defines a central longitudinal axis of the mobile device. In particular, the longitudinal axis X, in the present description, is considered centrally placed to the mobile device.

The movement means <NUM> define a support plane SP for the mobile device <NUM>: in fact, such a support plane SP coincides with the ground during an operating condition of the mobile device <NUM>. In greater detail, the support plane is passing through the points of contact between the wheels of the mobile device <NUM> and the ground on which the mobile device <NUM> is arranged. It should be noted that the rotary blade of the work tool <NUM> is movable about a rotation axis A which is transverse or substantially orthogonal to the support plane SP.

The movement means <NUM> can further define a straight advancement of the mobile device <NUM> along a longitudinal advancement direction substantially coincident with the longitudinal axis X of the mobile device <NUM>: in particular, the longitudinal advancement direction is substantially orthogonal to a rotation axis of the wheels of the mobile device <NUM>. Such a longitudinal advancement direction is substantially parallel to the support plane SP: likewise the longitudinal axis X is parallel to the support plane SP.

The mobile device <NUM> further extends in height along a vertical axis Z orthogonal to the longitudinal axis X and to the support plane SP defined by the movement means <NUM>. In other words, the longitudinal axis X is orthogonal, when the mobile device <NUM> is resting on the ground on the movement means <NUM> thereof, to the ground itself. The operating body <NUM> can be movable in height along the vertical axis Z between a distal position and a near position with respect to the support plane SP: in particular, during an operating condition, the operating body <NUM> can be movable in height along the vertical axis Z between a distal position and a near position with respect to the ground, to allow a variable cutting height. A variation along the vertical axis Z of the operating body <NUM> determines a simultaneous variation in height of the work tool <NUM>, and consequently a variation in the distance between the work tool <NUM> and the ground and/or support plane.

Similarly, the mobile device <NUM> extends in width along a transverse axis W between a left side <NUM>, interposed as a connection between the front portion <NUM> and the rear portion <NUM> of the mobile device <NUM>, and a right side <NUM>, also interposed as a connection between the front portion <NUM> and the rear portion <NUM> of the mobile device <NUM>: the right side <NUM> is opposite and distanced with respect to said left side <NUM>. In particular, the transverse axis W is orthogonal to the longitudinal axis X and to the vertical axis Z.

In other words, the longitudinal axis X, the transverse axis W, and the vertical axis Z define a reference system of the mobile device <NUM>, as shown in <FIG>. The origin of said reference system can be the mass or geometric centre of gravity of the mobile device.

In accordance with such a reference system, the rotation axis A of the rotary blade is substantially parallel or coincident with the vertical axis Z of the mobile device <NUM>.

An axis of the front and/or rear wheels is parallel to the transverse axis W and optionally substantially parallel to the support plane SP.

The mobile device <NUM>, in the case of a non-claimed manually-driven mobile device <NUM> as shown in <FIG>, can comprise a drive handle <NUM> substantially constrained at the rear portion <NUM> of the mobile device <NUM> and configured to allow an operator to drive and optionally move, for example push, the mobile device <NUM> within the work area. The drive handle <NUM> can be made of metallic material, for example steel, iron or aluminium, or plastic or composite material. The drive handle <NUM> preferably extends along an inclined direction transverse to the operating body <NUM>, in particular transverse to the support plane SP. The drive handle <NUM> defines in particular an angle with the support plane SP between <NUM>° and <NUM>°, more in particular between <NUM>° and <NUM>°. As shown in <FIG>, the handle extends at the rear of the mobile device <NUM> substantially from the rear portion <NUM> between a first end, connected at the rear portion <NUM> of the mobile device <NUM>, and a second end configured to allow gripping by an operator: in particular the drive handle <NUM>, being inclined with respect to the support plane, defines a horizontal projection on the support plane, in other words on the ground, and a vertical projection on the vertical axis of the mobile device <NUM>. The horizontal projection extends from the rear portion <NUM> of the mobile device <NUM> along and towards a direction away from the rear portion <NUM> of the mobile device <NUM>.

The handle can be directly constrained to the operating body <NUM> of the mobile device <NUM> or to the support frame <NUM>. In particular, the handle can be constrained at a first and a second hooking point to the mobile device <NUM>, for example at a left hooking point and a right hooking point.

The drive handle <NUM> defines a tool which the operator uses to push and/or guide the mobile device <NUM> within the work area.

In addition, the operator can, by means of the handle, lift at least part of the mobile device <NUM>: for example, by lowering the handle and leveraging the rear wheels of the mobile device <NUM>, the operator can lift the front wheels of the mobile device <NUM> and the operating body <NUM>. Further details of the handle are described in the disclosure below.

The operating body <NUM> defines a cover of the work tool <NUM>, in particular of the rotary blade: the operating body <NUM> covers the rotary blade at least laterally and above, while the operating body <NUM> is open below to allow contact between the grass and the rotary blade. In accordance with an embodiment, the operating body <NUM> has a circular or semicircular shape: alternatively, the operating body <NUM> can have a polygonal shape, for example rectangular or square. In particular, the operating body <NUM> comprises a disc-like upper portion carrying the motor and the relative work tool <NUM>, for example the rotary blade: the operating body <NUM> further comprises a side wall emerging transversely from the upper portion, in particular from a peripheral zone of the upper portion. The operating body <NUM> thus has a bell-like shape defining an internal volume housing the work tool <NUM>.

The operating body <NUM> can be made of metallic material, for example steel or aluminium, or plastic or composite material. It should be noted that the operating body is rigidly constrained to the work tool and to the relative motor: consequently, any movement of the operating plane forcibly determines a similar movement of the work tool and the relative motor. In other words, the operating body and the work tool are integral with each other: the only degree of freedom of the work tool with respect to the operating plane is the rotational one about the rotation axis A.

The mobile device <NUM> further comprises a discharge conduit <NUM> configured to convey the cut grass, during an operating condition, towards a rear or side portion of the mobile device <NUM> in particular, said discharge conduit <NUM> extends between a first end facing an outlet of the operating body <NUM>, and a second end adapted to discharge the cut grass and optionally to be constrained to a storage box of the cut grass.

In an embodiment schematically shown in <FIG>, the work tool <NUM> of the mobile device <NUM> comprises a first rotary blade 4a movable by rotation about a rotation axis A and a second rotary blade 4b movable by rotation about an auxiliary rotation axis A'. The first and the second rotary blade 4b are both carried by the same operating body <NUM> and arranged side by side: in particular the rotation axis A is substantially parallel and distanced with respect to the auxiliary rotation axis A'. It should be noted that the rotation axis A and the auxiliary rotation axis A' can be substantially orthogonal to the support plane defined by the movement means <NUM>.

The first and the second blade can have the same diameter, or alternatively, can have different diameters, for example in which the first rotary blade 4a has a smaller diameter with respect to the second rotary blade 4b.

The first and the second blade are preferably counter-rotating, so as to direct the cut grass towards the discharge conduit: the term counter-rotating indicates that if the first blade rotates clockwise, the second blade rotates counter-clockwise and vice versa.

In accordance with the embodiment comprising two rotary blades, the operating body <NUM> can have an elongated shape to entirely cover the two rotary blades: in particular the operating body <NUM> can have an elongated and circular shape at the lateral ends thereof as in <FIG>.

In accordance with the embodiment comprising two rotary blades, the mobile device <NUM> further comprises a flexible conduit <NUM> extending between a first end constrained to a central portion of the operating body <NUM>, and a second end constrained to an inlet of the discharge conduit. The flexible conduit is thus interposed between the discharge conduit <NUM> and the operating body <NUM> and is configured to allow the passage of the cut grass towards the discharge conduit both when the operating body <NUM> is arranged in the left lateral position and when it is arranged in the right lateral position. The flexible conduit can be bellows-shaped and made of fabric material, alternatively of plastic material.

The manually-driven mobile device <NUM> comprises the drive handle <NUM> emerging at the rear of the mobile device <NUM> and a coupling member, connected to the drive handle <NUM>, configured to allow the movement of at least part of the drive handle <NUM> along a control axis D, as shown in <FIG>, and <FIG> in accordance with a further non-claimed example.

It should be noted that the control axis D comprises at least one translational component substantially parallel with the transverse axis W: this means that the movement of the drive handle <NUM> can occur further along a vertical axis, or occur by rotation, while still comprising a movement component parallel with the transverse axis W.

The lateral movement of the drive handle allows an operator to avoid any obstacles along the path in the work area. For example, if the mobile device <NUM> were to operate near a hedge, the operator can laterally move the drive handle <NUM> away from the hedge and simultaneously keep the mobile device <NUM> against the hedge itself. In other words, such an non-claimed example allows to move the driving position of the operator to easily reach zones of the work area which are difficult to access, without at the same time compromising the ability to control driving the mobile device <NUM>.

In particular, the coupling member is configured to allow the positioning, along the control axis D, of the drive handle <NUM> in:.

The right lateral position and the left lateral position of the drive handle <NUM> define the maximum movement end limits of the drive handle <NUM> along the control axis D. In particular, the drive handle <NUM>, when arranged in the left lateral position and/or in the right lateral position, exceeds the lateral dimension limits defined by the movement means <NUM> of the mobile device <NUM>. The maximum translation value of the drive handle along the control axis D useful for the movement of the operating body <NUM> is between <NUM> and <NUM> with respect to the central position.

In an non-claimed example not shown in the accompanying drawings, the coupling member comprises a rail configured to move the drive handle for translation along the control axis <NUM>: in particular said translation being a movement of the handle along a straight trajectory and substantially orthogonal to the longitudinal axis X of the mobile device and optionally parallel to the translation axis Y of the operating body <NUM>.

In a further non-claimed example, the coupling member comprises a joint <NUM>: the drive handle <NUM> and the relative joint <NUM> are shown in detail in <FIG> in accordance with a non-claimed example, in <FIG> in accordance with a further non-claimed example, and in <FIG> in accordance with a further alternative non-claimed example: the three examples substantially differ for the architecture of the joint <NUM>.

It should be noted that each of the embodiments allow the movement of the drive handle <NUM> along the control axis D, and consequently each of the embodiments contribute to obtaining the same advantages described above related to the movement of the handle along the axis D.

The drive handle <NUM> comprises a first member <NUM> extending for a first length between a first end, constrained to a rear portion <NUM> of the mobile device <NUM>, and a second end carrying or comprising at least a first coupling element <NUM> of the joint <NUM>. The drive handle <NUM> further comprises a second member <NUM>, movable and distinct with respect to the first member <NUM> of the drive handle <NUM>, extending for a second length between a first end comprising or carrying a second coupling element <NUM> of the joint <NUM> removably constrained to the second end of the first member <NUM> of the drive handle <NUM>, and a second end comprising a gripping portion 22a configured to be grasped by an operator while driving the mobile device <NUM>.

In more detail, the first member <NUM> of the drive handle <NUM> comprises a first coupling portion 21a configured to constrain at the rear to the mobile device <NUM> and laterally towards the right side <NUM> of the mobile device <NUM>, and a second coupling portion 21b configured to constrain at the rear to the mobile device <NUM> and laterally towards the left side <NUM> of the mobile device <NUM>: the second coupling portion 21b is distinct and distanced along the transverse axis W from the first coupling portion 21a. The first member <NUM> further comprises a first section 21c extending between the first coupling portion 21a and the joint <NUM>, and a second section 21d extending between the second coupling portion 21b and the joint <NUM>. In other words, the first and the second section 21c, 21d of the first member <NUM> of the drive handle <NUM> converge centrally in the joint <NUM>: it should be noted that the drive handle comprises one and only one joint <NUM> constraining the first member <NUM> to the second member <NUM> of the drive handle <NUM>.

The first and second section 21d are joined together to define a first member <NUM> of the drive handle <NUM> in a single body: this single body comprises the first coupling portion 21a, the first section 21c, the second section 21d and the second coupling portion 21b: in particular the first member <NUM> has an arcuate "U" shape, with a concavity facing the rear portion <NUM> of the mobile device <NUM>. The first member <NUM> of the handle can be made of metallic material, for example from a metallic tubular suitably bent to define the inverted "U" shape. Alternatively, the first member <NUM> can be made of plastic or composite material.

The second member <NUM> of the handle extends laterally and in height from the joint <NUM> to define the gripping portion 22a of the drive handle <NUM>.

The drive handle <NUM>, comprising the first and the second member <NUM>, <NUM>, can define a <IMG> shape (Latin, gamma) or X shape. In general, the drive handle <NUM> centrally has a narrowing with respect to the coupling portions to the movable device <NUM> and with respect to the gripping portion 22a, in which the joint <NUM> is arranged at such central narrowing.

In particular, the joint <NUM> is centrally interposed between the first and the second coupling portion 21b of the drive handle <NUM> along the transverse axis W, in particular according to a view from the rear of the mobile device <NUM>. In particular, according to a front view with respect to a plane ZW, passing through the vertical axis Z and the transverse axis W, the joint <NUM> is centrally interposed between the movement means <NUM> and aligned along a central axis of the mobile device <NUM>.

Further, the joint <NUM> can be arranged in an intermediate zone, in terms of distances, between the coupling portions of the first member <NUM> and the gripping portion 22a of the second member <NUM>: in particular, the joint <NUM> can be substantially equidistant between the coupling portions of the first member <NUM> and the gripping portion 22a of the second member <NUM>, with a maximum difference between the two distances between <NUM>% and <NUM>%. In other words, defined as total length L of the handle, the joint <NUM> is substantially arranged at half of such length L, with a maximum difference between the length of the first member <NUM> and the length of the second member <NUM> between <NUM>% and <NUM>%.

The joint <NUM> comprises a fulcrum <NUM> defining a rotation axis B, whereby the handle is configured to rotate about the rotation axis B along a rotation plane orthogonal to the rotation axis B and transverse to the support plane SP of the mobile device <NUM>. Such rotation determines the movement of the drive handle <NUM> along the control axis D towards the left side <NUM> and/or towards the right side <NUM> of the mobile device <NUM>: in other words, a component of the rotary movement of the handle is oriented along the control axis D. The rotation plane is inclined with respect to the support plane SP by an angle between <NUM>° and <NUM>°, as shown in perspective view in the accompanying drawings <NUM>-<NUM>.

Such a fulcrum <NUM> comprises the first coupling element <NUM> firmly constrained to the first member <NUM> of the drive handle <NUM> and comprising a through hole, the second coupling element <NUM> firmly constrained to the second member <NUM> of the drive handle <NUM> and comprising a through hole, and a through pin <NUM> passing through the through hole of the first and second coupling element <NUM> and extending along the rotation axis B of the joint <NUM>. Such an architecture defines a first member <NUM> of the drive handle <NUM> fixed and constrained to the mobile device <NUM>, while the second member <NUM> of the drive handle <NUM> has at least one rotational degree of freedom about such a fulcrum <NUM> defining the rotation axis B, allowing the lateral movement of the second member <NUM> along the control axis D.

In particular the rotation axis B of the joint <NUM> is transverse to the support plane SP, and substantially parallel to, or lying on, a plane XZ passing through the longitudinal axis X and the vertical axis Z. Furthermore, the rotation axis B intersects a central axis of the mobile device <NUM> aligned with the longitudinal axis X. Furthermore, the rotation axis B is inclined, with respect to the longitudinal axis X along such a plane XZ, by an angle between <NUM>° and <NUM>°. Such a non-claimed example is shown in <FIG>.

<FIG> show a further non-claimed example in which the joint <NUM> is further configured to vary a height H of the gripping portion 22a of the drive handle <NUM> with respect to the support plane SP, as schematically shown in <FIG>: such a height is defined in particular by the distance interposed between the gripping portion 22a of the handle and the support plane SP. In accordance with such a non-claimed example, the first member <NUM> of the handle is fixed and constrained at the rear of the mobile device <NUM>, while the second member <NUM> is movable in height.

In this regard, the joint <NUM> comprises a regulating insert <NUM> having a substantially sectional wedge shape, as highlighted in <FIG> and <FIG>. The regulating insert <NUM> is interposed between the first coupling element <NUM> and the second coupling element <NUM> of the joint <NUM> and is movable in rotation about the rotation axis B with respect to the first and/or second coupling element <NUM> of the joint <NUM>. A rotation of the regulating insert <NUM> of the joint <NUM> with respect to the first and/or the second coupling element <NUM> determines a contextual variation in height of the gripping portion 22a of the drive handle <NUM> with respect to the support plane SP as in <FIG>.

The regulating insert <NUM> radially extends substantially about the rotation axis B of the joint <NUM> and extends in thickness between a first abutment plane, configured to contact the first coupling element <NUM> of the drive handle <NUM> and a second abutment plane, configured to contact the second coupling element <NUM> of the drive handle <NUM>: the first and the second abutment plane are inclined relative to each other at an angle α between <NUM>° and <NUM>°, in particular between <NUM>° and <NUM>°, more in particular between <NUM>° and <NUM>°, preferably equal to <NUM>°. In particular the first and the second abutment plane of the regulating insert <NUM> are orthogonal to the vertical axis Z, in particular in which the first and the second abutment plane of the regulating insert <NUM> are both orthogonal to a plane XZ passing through the longitudinal axis X and the vertical axis Z.

The first and second abutment plane of the regulating insert <NUM> thus determine a relative inclination between the first coupling element <NUM> and the second coupling element <NUM> and further determine the inclination of the rotation axis B of the joint <NUM> with respect to the support plane SP: such an inclination, as already specified, is projected on the plane XZ.

The regulating insert <NUM> is rotatable about the rotation axis B: a rotation of the regulating insert <NUM> with respect to the first and/or the second coupling element <NUM> of the joint <NUM> determines a contextual variation of the inclination of the rotation axis B of the joint <NUM> with respect to the support plane, and in particular with respect to the first or the second abutment element: such a variation of inclination consequently determines the height variation of the gripping portion 22a of the drive handle <NUM>, as shown in <FIG>. In fact, it should be noted that the second member <NUM>, during the variation in height thereof, defines a rotary motion about a virtual axis C: such an axis C is defined as "virtual" because the joint <NUM> does not have a physical fulcrum aligned along the axis C, but such rotation is determined by the particular wedge shape of the regulating insert rotating about the rotation axis B which is orthogonal to the virtual axis C. The virtual axis C is schematically shown in <FIG>.

In more detail, the regulating insert <NUM> defines a disc-like regulating plate 44a having a wedge-like section along the plane XZ. Furthermore, the first coupling element <NUM> also defines a first disc-like plate 42a and has a first abutment plane adapted to contact the first abutment plane of the regulating plate 44a. Similarly, the second coupling element <NUM> defines a second disc-like plate 43a, and has a second abutment plane adapted to contact the second abutment plane of the regulating plate 44a. Since the first and the second abutment plane of the regulating plate 44a are inclined relative to each other by an angle α, the first abutment plane of the first plate 42a and the second abutment plane of the second plate 43a are also inclined relative to each other by the same angle α. Consequently, a rotation of the regulating insert <NUM> about the rotation axis B of the joint <NUM> determines a contextual rotation of the second member <NUM> of the drive handle <NUM> about the virtual axis C, schematically shown in <FIG>, <FIG> and <FIG>: the rotation axis B of the joint <NUM> is transverse, and in particular orthogonal, to the virtual axis C of the second member <NUM> of the handle. In fact, the rotation of the regulating insert about the rotation axis B determines a contextual variation in height of the gripping portion 22a of the second member <NUM> of the drive handle <NUM>.

The second member <NUM> of the actuator handle <NUM> is positionable at least in:.

The inclination of the second member <NUM> of the drive handle <NUM> can vary, between the lowered position and the raised position, by an angle between <NUM>° and <NUM>°, in particular between <NUM>° and <NUM>°, more in particular between <NUM>° and <NUM>°, preferably equal to <NUM>°: the consequent variation in height of the handle thus depends on the extension in length of the second member <NUM> of the handle itself. It should be noted that such an inclination with respect to the support plane SP is measured on a plane XZ passing through the longitudinal axis X and the vertical axis Z of the mobile device <NUM>.

The joint <NUM> can further comprise a closing system, shown in <FIG>, configured to connect the regulating plate 44a, the first plate 42a and the second plate 43a of the drive handle <NUM> to each other and to define a locking condition and an adjustment condition of the joint <NUM>.

In particular, in the adjustment condition of the joint <NUM>, the regulating plate 44a is movable by rotation about the rotation axis B to vary the height of the gripping portion 22a of the drive handle <NUM>: furthermore, in the adjustment position the second member <NUM> of the drive handle is movable by rotation about the same rotation axis B to allow the movement of the gripping portion 22a along the control axis D.

Instead in the locking condition of the joint <NUM>, the relative rotation between the regulating plate 44a and at least one of the first and the second plate 43a of the drive handle <NUM> is inhibited, so as to lock both the rotation of the second member <NUM> of the handle about the rotation axis B, and the height adjustment of the handle. In the locking condition, the closing system abuts the regulating plate 44a between the first and the second plate 43a of the joint <NUM> to prevent a relative rotation between the first plate 42a, the regulating plate 44a, and the second plate 43a.

The closing system comprises a through pin <NUM> passing transversely in the respective central holes of the joint <NUM>, i.e., through the first plate 42a of the joint <NUM>, the regulating plate 44a, and the second plate 43a of the joint <NUM>. The closing system further comprises a first stop element <NUM>, for example a screwable knob for adjusting a useful length of said through pin <NUM>, engaged at a first end of the through pin <NUM> and defining an abutment against at least one of the first and the second plate 43a of the joint <NUM>, as shown in the sectional view of <FIG>. The closing system further comprises a second stop element <NUM>, for example a manually operable closing lever, engaged at a second end of the through pin <NUM> and movable between a closing position and an opening position.

In the closing position, the first plate 42a, the regulating plate 44a and the second plate 43a are forcedly compressively engaged with each other to define an axial constraint along the rotation axis B of the joint <NUM>: the first stop element <NUM> is in forced abutment against the first or second plate 43a of the joint <NUM>, while a portion of the second stop element <NUM> is in forced abutment against the other of the first and second plate 43a. The regulating plate 44a is likewise pressed along the rotation axis B of the joint <NUM> between the first and the second plate 43a: the closing position determines the locking condition of the joint <NUM>.

Instead in the opening position, the through pin <NUM> allows an axial degree of freedom, substantially along the rotation axis B, to at least one of the first plate 42a, the second plate 43a and the regulating plate 44a, so as to allow a rotational degree of freedom of the regulating plate 44a.

In other words, when the closing system is in the closing position, the central pin <NUM> crushes therebetween the regulating insert <NUM>, the first coupling element <NUM> and the second coupling element <NUM> of the joint <NUM>, to prevent the mutual rotation thereof.

Further, to prevent the mutual rotation between the regulating insert <NUM> and the first and second coupling element <NUM>, the regulating insert <NUM> comprises teeth <NUM> along at least one of the first and the second abutment plane: said teeth <NUM> comprise a sequence of protrusions and valleys extending in height and depth in a direction substantially parallel to the rotation axis B of the joint <NUM>. Similarly, the first and/or second coupling element <NUM> also comprise respective teeth <NUM> configured to cooperate with the teeth <NUM> of the regulating insert <NUM> at least in the locking condition of the joint <NUM>. The respective teeth of the regulating insert <NUM> and of the first and/or second coupling element <NUM> face each other and are configured to mesh with each other during the locking condition, so as to inhibit rotation. In other words, in such non-claimed example the second member <NUM> of the handle is locked in rotation when the closing system is in the closing position, corresponding to the locking condition of the joint <NUM>. Thus in such a non-claimed example, when the closing system is in the opening position, the drive handle <NUM> is free to rotate about the rotation axis B of the joint <NUM>, moving towards the left and towards the right, and furthermore the regulating insert <NUM> is also free to rotate about the rotation axis B with respect to the first coupling element <NUM> to further allow a variation in the height of the gripping portion (22a) of the handle. <FIG> show such a non-claimed example in which the handle can be rotated about the rotation axis B, to facilitate the maintenance operations within the work area, and moved in height by means of the regulating insert <NUM>.

In a non-claimed example shown in <FIG>, the joint comprises the first coupling element <NUM> and the second coupling element <NUM> facing each other, each comprising respective teeth configured to cooperate with each other so as to inhibit a rotation of the first coupling element <NUM> with respect to the second coupling element <NUM>: such teeth thus allow to inhibit the rotation of the second member <NUM> of the drive handle with respect to the first member <NUM> of the drive handle. The non-claimed example of <FIG> does not comprise the regulating insert <NUM>: the first and the second coupling element <NUM>, <NUM> of the joint <NUM> are thus in contact with each other to allow or inhibit mutual rotation. In such a non-claimed example, the joint <NUM> can comprise an auxiliary elastic element <NUM>, for example a compression helical spring, interposed and acting between the first plate 42a and the second plate 43a of the drive handle <NUM>: the auxiliary elastic element <NUM> is thus configured to exert a repulsive force between the first plate 42a and the second plate 43a of the drive handle <NUM> so as to decouple the teeth of the first plate 42a and the second plate 43a and consequently allow the rotation, about the rotation axis B of the joint, between the second member <NUM> and the first member <NUM>.

The joint <NUM> can further comprise an elastic regulating element <NUM>, for example a helical compression spring, interposed and acting between the regulating plate 44a and at least one of the first and the second plate 43a of the drive handle <NUM>: the elastic regulating element <NUM> is configured to exert a repulsive force between the regulating plate 44a and said at least one of the first and second plate 43a of the drive handle <NUM>. In the non-claimed example shown in the sectional view of <FIG>, the elastic regulating element <NUM> is interposed and acting between the regulating plate 44a and the second plate 43a of the second member <NUM> of the drive handle <NUM>. When the joint <NUM> is in the adjustment condition, the elastic element axially distances, along the rotation axis B of the joint <NUM>, the regulating plate 44a from the first and/or the second plate 43a of the drive handle <NUM>: such a distancing allows a rotational degree of freedom of the regulating plate 44a with respect to the first and/or second plate 43a to determine the height adjustment of the drive handle <NUM>. The elastic regulating element <NUM> is preferably concentric to the rotation axis B of the joint <NUM>.

The elastic regulating element <NUM>, combined with the teeth of the regulating insert <NUM>, allows an operator, when the joint <NUM> is in the unlocking condition, to rotate the regulating insert <NUM> at discrete steps defined by the teeth themselves, thereby improving the manoeuvrability of the regulating insert. In other words, the elastic regulating element <NUM>, combined with the teeth of the regulating insert <NUM>, determines a resistant torque on the regulating insert <NUM> during a rotation thereof about the rotation axis B.

The elastic regulating element <NUM> and the auxiliary elastic element <NUM> can be concentric with each other, in which the auxiliary elastic element <NUM> is radially internal with respect to the elastic regulating element <NUM>.

The drive handle <NUM> further comprises a constraining portion <NUM> between the joint <NUM> and at least one of the first and the second member <NUM>, <NUM> of the drive handle <NUM>: such a constraining portion determines a fixed coupling between the joint <NUM> and the first or second member <NUM> of the drive handle <NUM>. The accompanying figures show a non-claimed example in which the constraining portion <NUM> securely connects the first member <NUM> of the handle to the first coupling element <NUM> of the joint <NUM>.

In particular it should be noted that, in accordance with the non-claimed example of the accompanying drawings, the first member <NUM> of the drive handle <NUM> and the first coupling element <NUM> form a single body: in particular, the constraining portion <NUM> does not allow the rotation between the first member <NUM> of the handle and the first coupling element <NUM>.

It should further be noted that during a condition of use of the mobile device <NUM> by an operator, the drive handle <NUM> is mostly stressed in a travel direction, and along a substantially vertical direction towards the ground: in fact, to lift the front wheels of the mobile device <NUM>, the operator must apply a load on the drive handle <NUM> along a substantially vertical direction to leverage the rear wheels. Such behaviour is very often carried out by the operator during maintenance operations, thus defining a cyclic load on the handle and defining a torque momentum acting on the joint <NUM> about the virtual axis C: the fact that the joint <NUM> of the present drive handle <NUM> does not have a rotation fulcrum <NUM> aligned along the virtual axis C, thus determines a considerable advantage in terms of reliability of the joint <NUM>. In addition, even if the locking system were left loose or in the opening position, the handle would not fall to the ground even if subjected to a vertical load applied by the operator. In fact, the presence of the coupling plates 42a, 43a extending and facing each other along a plane transverse to the direction of the applied load, makes it possible to avoid such an applied load cyclically stressing the joint <NUM> by twisting, but in fact determines a tensile load on the through pin <NUM> of the closing system.

In other words, the architecture of the joint <NUM> just described allows a height adjustment of the handle, as well as a rotation thereof towards the left and right, simultaneously improving the fatigue strength of the joint <NUM> itself.

Further, the second member <NUM> is rotatable, in particular when in the unlocking position, with respect to the first member <NUM> about the rotation axis B between an operating position and a folded position. In the operating position, the second member <NUM> is arranged in one of the right lateral position, the left lateral position and the central position, as shown in <FIG>: in other words, the second member, when arranged in the operating position, is configured to be grasped by an operator to guide the mobile device within the work area. The second member <NUM>, when arranged in the left or right lateral position, is angularly rotated with respect to its central position by an angle between <NUM>° and <NUM>°, in particular between <NUM>° and <NUM>°.

Instead in the folded position, the second member is angularly rotated, with respect to its central position and about the rotation axis B, by an angle between <NUM>° and <NUM>°, in particular equal to <NUM>°, as shown in <FIG>: in other terms the second member <NUM>, with respect to the position in which the handle is configured to allow to guide the mobile device, is rotated up to being arranged above the support frame of the mobile device, i.e., above the mobile device itself and in a position near the mobile device. In particular, in the folded position, the mobile device is interposed, along the vertical axis Z, between the second member <NUM> of the drive handle <NUM> and the support plane SP.

The movement between the operating position and the folded position is allowed when the closing system is arranged in its opening position, and/or when the joint is in the adjustment condition and/or when the engagement system is in the unlocking condition.

Summarizing the above, the drive handle <NUM> is configured for:.

In accordance with the invention, the operating body <NUM> is movable, in particular for translation, along a translation axis Y horizontal to the ground. The translation axis Y is also substantially parallel to the support plane SP and substantially orthogonal to the longitudinal axis X. Furthermore, the translation axis Y can be substantially orthogonal to the vertical axis Z of the mobile device <NUM>. In other words, during an operating condition of the device, such a configuration allows the lateral movement of the operating body <NUM> as shown in <FIG> and <FIG>, defining a movement of the operating body <NUM> towards the left and towards the right. In fact, such lateral movement allows maintenance operations to be carried out in hard-to-reach areas, for example near a slope as in <FIG> or below a hedge as in <FIG>, or to avoid obstacles as shown in <FIG>.

It should be further noted that the rotation axis A of the work tool <NUM> is substantially parallel to the vertical axis of the mobile device <NUM> and orthogonal to the translation axis Y of the operating body <NUM>.

In particular, the operating body <NUM> is movable along the translation axis Y between a right lateral position and a left lateral position, in which the left and right lateral position define the maximum end limits within which the operating body <NUM> is movable along the translation axis. In the right lateral position, a first end portion 5a of the operating body <NUM> has a maximum distance with respect to the central axis of the mobile device <NUM>, while a second end portion 5b of the operating body <NUM>, opposite the first end portion 5a, has a minimum distance with respect to the central axis. The first and the second end portion 5b are placed along the translation axis Y: optionally the first end portion 5a is symmetrical with respect to the second end portion 5b with respect to the central axis of the mobile device <NUM>. When the operating body <NUM> is instead in the left lateral position, the first end portion 5a of the operating body <NUM> has a minimum distance with respect to said central axis, while the second end portion 5b of the operating body <NUM> has a maximum distance with respect to the central axis. In particular, it should be noted that a line passing through the first and the second end portion 5b of the operating body <NUM> can be aligned or parallel with the translation axis Y.

The operating body <NUM> is further positionable in a central position interposed between the left lateral position and the right lateral position: in the central position, the first and the second end portion 5b of the operating body <NUM> can be equidistant from the central axis of the mobile device <NUM>. In other words, the central position defines a median position of the operating body <NUM> between the left and right lateral position. A maximum movement value of the operating body <NUM> along the translation axis Y, with respect to the central position, is between <NUM> and <NUM>, and in particular between <NUM> and <NUM>.

In order to allow movement of the operating body <NUM> along the translation axis Y, the device comprises one or more rails <NUM> firmly constrained to the support frame <NUM> and carrying the operating body <NUM>: such rails <NUM> can be bolted or welded to the support frame <NUM> and are fixed with respect to the frame. In particular, the rails <NUM> extend in length parallel to the transverse axis W of the mobile device <NUM>. In particular, the rails <NUM> have an elongated cylindrical shape.

The mobile device <NUM> preferably comprises a first and a second rail 6a, 6b parallel to each other and extending in length along a respective direction in length parallel to the translation axis Y: the first and the second rail 6a, 6b extend in length between a respective first end facing the right side <NUM> of the mobile device <NUM>, and a second end facing the left side <NUM> of the mobile device <NUM>.

The first rail 6a is preferably arranged substantially at the front portion <NUM> of the mobile device <NUM>, while the second rail 6b is preferably arranged at the rear portion <NUM> of the mobile device <NUM>.

It should be noted that the guides support the operating body <NUM> vertically and prevent the movement thereof along the longitudinal axis X, simultaneously allowing the operating body to move along the translation axis Y.

The mobile device <NUM> further comprises one or more guides firmly constrained to the operating body <NUM> to form a single body cooperating with the respective rails <NUM>. In particular, the guides cooperating with the rails <NUM> to support the operating body <NUM> vertically and to simultaneously allow the movement thereof along the translation axis Y: the guides are thus movable together with the operating body <NUM> along the translation axis Y. It should be noted that the guides support the operating body <NUM> vertically and prevent the movement thereof along the longitudinal axis X.

In particular, the mobile device <NUM> comprises a first and a second guide 8a, 8b each comprising a respective eyelet having a through opening: the first rail 6a is inserted in the through opening of the eyelet of the first guide, while the second rail 6b is inserted in the through opening of the eyelet of the second guide. The first and the second guide 8a, 8b are thus slidable on the respective first and second rail 6a, 6b, allowing the mobility of the operating body <NUM> along the translation axis Y.

In particular, the first guide is placed at the front portion <NUM> of the mobile device <NUM>, while the second guide is placed at the rear portion <NUM> of the mobile device <NUM>.

The through opening of each eyelet defines a central axis parallel to the translation axis Y: in particular, this central axis of each eyelet is substantially coincident with the extension in length of the rail which passes through it.

The eyelet can be made of metal or plastic. In particular, a bushing of low friction material, for example plastic or polytetrafluoroethylene PTFE, can be interposed between the eyelet and the rail so as to facilitate the relative sliding. Alternatively, a recirculating ball bearing can be interposed between the eyelet and the rail so as to further improve the relative sliding.

The operating body <NUM> is movable along the translation axis Y manually or automatically.

In the embodiment in which the operating body <NUM> is movable along the translation axis Y manually, as shown in <FIG>, the mobile device <NUM> comprises an actuation system <NUM> connected to the drive handle <NUM> and configured to control the movement of the operating body <NUM> along the translation axis Y.

In a non-claimed example, the actuation system <NUM> comprises the joint <NUM> in one of the previously described forms so as to allow the movement of the drive handle <NUM> along the control axis D. In particular, the movement of the drive handle along the control axis D occurs by rotating the handle about the rotation axis B of the joint <NUM>.

The actuation system <NUM>, connected to the joint <NUM>, is then configured to determine, in response to a displacement of the drive handle <NUM> along the control axis D, the movement of the operating body <NUM> along the translation axis Y.

In accordance with a preferred non-claimed example shown in <FIG>, a movement of the drive handle <NUM> along the control axis in a first direction determines a simultaneous movement of the operating body <NUM> along the translation axis Y in a second direction opposite the first direction and vice versa. In other words, a movement of the drive handle <NUM> to the left, determines a contextual movement of the operating body <NUM> to the right: similarly, a movement of the drive handle <NUM> to the right, determines a contextual movement of the operating body <NUM> to the left.

The actuation system <NUM> is a mechanical system which physically connects the drive handle <NUM> to the operating body <NUM>.

In the non-claimed example shown in <FIG> and <FIG>, the joint <NUM> is configured to allow a rotation of the drive handle <NUM> about a rotation axis B, to determine the contextual displacement of the operating body along the translation axis Y.

The drive handle <NUM> lies on a transverse actuation plane with respect to a plane of the operating body <NUM> and is transverse with respect to the support plane. In the event of a rotation of the drive handle <NUM>, the latter rotates along said actuation plane, such that the rotation axis B of the handle is orthogonal to the actuation plane on which the drive handle <NUM> lies.

The rotation axis B of the actuation system <NUM> can be located at a median portion of the drive handle <NUM> placed between the first and the second end of the handle. In other words, the median portion is interposed between, and optionally substantially equidistant from, the first and the second end of the actuator handle <NUM>. Since the drive handle <NUM> is inclined, the actuation system <NUM> is located at a greater distance with respect to the support plane with respect to a similar distance between the first end and the support plane. In particular, the actuation system <NUM> is positioned at a distance from the support plane between <NUM> and <NUM>, in particular between <NUM> and <NUM>.

In an alternative non-claimed example to the joint <NUM>, the actuation system <NUM> comprises a control lever <NUM> carried by the handle and drivable by an operator, for example by translation or by rotation, and operatively connected to the operating body <NUM>, as shown in <FIG>. The control lever <NUM> is thus configured to determine, when moved, a simultaneous movement of the operating body <NUM> along the translation axis Y.

The actuation system <NUM> preferably comprises one or more drive cables <NUM> connecting the actuation system <NUM>, in particular the drive handle <NUM> or the control lever <NUM>, to the operating body <NUM>: the connection cables are configured to transmit a movement of the drive handle <NUM> along the control axis D, or a movement of the control lever <NUM>, to the operating body <NUM> to determine the simultaneous movement along the translation axis Y. It should be noted that a movement of the drive handle <NUM> along the control axis D results in a proportional movement in amplitude of the operating body <NUM> along the translation axis Y, in particular in which an increase of a movement of the drive handle <NUM> along the control axis D results in a proportional increase of a movement of the operating body <NUM> along the translation axis Y. In other words, the more an operator moves the drive handle <NUM> towards the left or towards the right, the more the operating body <NUM> will move accordingly.

In detail, the actuation system <NUM> can comprise a first and a second drive cable 31a, 31b, as shown in <FIG>, in which each first and second cable is placed in connection between the drive handle <NUM> and the operating body <NUM> or between the control lever <NUM> and the operating body <NUM>: the first cable 31a can be configured to pull the operating body <NUM> towards the right along the translation axis Y, while the second cable 31b can be configured to pull the operating body <NUM> towards the left along the translation axis Y. Steel cables are flexible and can be made of steel or composed of steel wires. In particular, the first drive cable 31a extends in length between a first end, constrained to a first portion of the operating body, and a second end connected to the joint, in particular to a traction element <NUM> of the joint <NUM>. Similarly, the second drive cable 31b extends in length between a first end, constrained to a second portion of the operating body, and a second end connected to the joint, in particular to a traction element <NUM> of the joint <NUM>. The first and the second portion of the operating body <NUM> to which the respective cables 31a, 31b are constrained are opposite each other with respect to the rotation axis A of the work tool: in particular the first portion is placed on the right side of the mobile device, while the second portion is arranged on the left side of the mobile device.

Alternatively, the actuation system <NUM> can comprise a single drive cable, as shown in <FIG>, extending between a first end and a second end both connected to the operating body <NUM>, and in which the single drive cable transits through the joint <NUM>: the single cable can be wound to the joint <NUM> or is constrained to a traction element <NUM> of the joint. For example, the first end of the single drive cable is connected to a right portion of the operating body, while the second end of the single drive cable is connected to a left portion of the operating body.

In a further alternative non-claimed example, the actuation system <NUM> can comprise a single drive cable, as shown in <FIG> and <FIG>, extending between a first end, connected to a portion of the operating body, and a second end connected to the control lever <NUM>. The single drive cable can pass through the joint <NUM> to reach the control lever located near or at the gripping portion 22a of the drive handle. In such a non-claimed example with a single drive cable, the actuation system <NUM> can comprise a return element, for example a traction or compression spring, interposed in connection between the operating body <NUM> and the support frame <NUM> and configured to move the operating body <NUM> along a return direction opposite a drive direction determined by the single drive cable. For example, if the single drive cable is configured to pull the operating body towards the right, the return element is configured to pull the operating body towards the left, such that when the operator releases the control lever <NUM>, the operating body is moved by the return element towards the left, for example in the central position. Similarly, if the single drive cable is configured to pull the operating body towards the left, the return element is configured to pull the operating body towards the right, such that when the operator releases the control lever <NUM>, the operating body is moved by the return element towards the right, for example in the central position.

In a further non-claimed example not shown in the accompanying drawings, the actuation system <NUM> can comprise a single drive cable, extending between a first end, connected to a portion of the operating body, and a second end connected to the joint <NUM>, such that a rotation of the drive handle about the rotation axis B drives the single drive cable to pull the operating body to the left or right side. In such a non-claimed example with a single drive cable, the actuation system <NUM> can comprise a return element, for example a traction or compression spring, interposed in connection between the operating body <NUM> and the support frame <NUM> and configured to move the operating body <NUM> along a return direction opposite a drive direction determined by the single drive cable. For example, if the single drive cable is configured to pull the operating body towards the right, the return element is configured to pull the operating body towards the left, such that when the operator releases the drive handle or returns it to a central position, the operating body is moved by the return element towards the left, for example to the respective central position. Similarly, if the single drive cable is configured to pull the operating body towards the left, the return element is configured to pull the operating body towards the right, such that when the operator releases the drive handle or returns it to a central position, the operating body is moved by the return element towards the right, for example in the central position.

In a further non-claimed example shown in <FIG>, the actuation system <NUM> can comprise one or more drive cables <NUM>, for example one or two drive cables, in which at least one end of the drive cable is constrained to a pulling portion 2a of the support frame <NUM>, and in which the drive cable passes through the operating body <NUM>. Such an actuation system can further comprise at least one sheath <NUM> for each drive cable <NUM>: the sheath <NUM> can be flexible or rigid. The drive cable <NUM> is inserted into the respective sheath <NUM> and extends between a first end <NUM>', constrained to the pulling portion 2a of the support frame a, and a second end <NUM>" connected to the control lever <NUM> or to the joint of the drive handle <NUM>: similarly the sheath <NUM> extends between a respective first end <NUM>' and second end <NUM>". The operating body <NUM> comprises a respective pulling portion <NUM> comprising a through hole for the passage of the drive cable <NUM>, in which the pulling portion <NUM> of the operating body <NUM> is interposed between the first end <NUM>' of the drive cable <NUM> and the first end <NUM>' of the sheath <NUM>: in particular the first end <NUM>' of the sheath <NUM> is abutting the pulling portion <NUM> of the operating body <NUM>. Thereby, a traction of the winding cable <NUM> determines the simultaneous movement of the operating body towards the left or right side of the mobile device, in particular so that the first end <NUM>' of the drive cable <NUM> approaches the pulling portion <NUM> of the operating body <NUM>.

In the non-claimed example of <FIG>, the actuation system <NUM> comprises a first drive cable 31a, a second drive cable 31b, a first sheath 35a mounted on the first drive cable 31a, a second sheath 35b mounted on the second drive cable 31b, a first pulling portion 2a' and a second pulling portion 2a" of the support frame <NUM>, and a first pulling portion 15a and a second pulling portion 15b of the operating body, in which:.

<FIG> show a non-claimed example of the actuation system <NUM> of the drive handle <NUM> which allows the operating body <NUM> to be moved along the translation axis Y in response to a lateral movement of the drive handle <NUM> along the control axis D. In such an embodiment, the actuation system <NUM> comprises a traction element <NUM> constrained to the drive handle <NUM> at the joint <NUM> and movable by rotation substantially about the rotation axis B of said joint <NUM>, such that a rotation of the drive handle <NUM> determines a similar rotation of the traction element <NUM>. The traction element <NUM> is thus configured to pull, during a rotation of the drive handle <NUM>, the cables <NUM> to move the operating body <NUM> along the translation axis Y towards the left side <NUM> and the right side <NUM> of the mobile device <NUM>. The traction element <NUM> has a circular or semicircular shaped side surface radially spaced from the rotation axis B of the joint <NUM>: the drive cables <NUM> are at least partially wound around the side surface of the traction element <NUM>, as shown in <FIG> and <FIG>. In particular, the first cable can be wound to a right portion of the side surface, while the second cable can be wound to a left portion of the side surface: it should be noted that the left portion of the side surface faces the left side <NUM> of the mobile device <NUM>, while the right portion of the side surface faces the right side <NUM> of the mobile device <NUM>.

In a non-claimed example, schematically shown for example in <FIG> and <FIG>, the actuation system <NUM> comprises an engagement system <NUM> active on the joint <NUM> and configurable in a locking position in which the engagement system <NUM> is configured to lock the joint <NUM> to inhibit the movement of the drive handle <NUM> along the control axis D: in particular, the rotation of the drive handle <NUM> about the rotation axis B of the joint <NUM> is inhibited when the engagement system <NUM> is in the locking position. The engagement system <NUM> is further configurable in an unlocking position in which the engagement system <NUM> is configured to release the joint <NUM> and allow the movement of the drive handle <NUM> at least along the control axis D: in particular, the rotation of the drive handle <NUM> about the rotation axis B of the joint <NUM> is permitted when the engagement system <NUM> is in the unlocking position.

The engagement system <NUM> comprises an activation element <NUM>, for example a handle or a lever, configured to be driven by an operator and to selectively arrange the engagement system <NUM> in the locking or unlocking position. The activation element <NUM> can be connected to the joint <NUM> by a connection cable interposed between the lever and the activation element <NUM>. The engagement system <NUM>, at the joint <NUM>, can comprise a movable locking element controlled by the connection cable to allow or inhibit the rotation of the drive handle about the rotation axis B. In such a non-claimed example, the movable locking element is configured to cooperate with teeth placed on at least one of the first and the second member of the drive handle, for example on the first coupling element <NUM> of the first member <NUM>.

In accordance with a non-claimed example shown in <FIG> and <FIG>, the actuation system <NUM> can comprise an epicycloidal gearbox <NUM> operatively interposed between the first member <NUM> and the second member <NUM> of the drive handle <NUM> and configured to increase or reduce, in particular increase, a lateral movement of the operating body <NUM> along the translation axis Y in response to the same rotation of the second member <NUM> of the drive handle about the rotation axis B. In other words, the epicycloidal gearset <NUM> defines a transmission relationship between the movement of the second member <NUM> of the drive handle <NUM>, and the movement of the operating body <NUM>: such a transmission relationship can be configured as a displacement multiplier or as a displacement reducer of the operating body <NUM>, depending on the configuration of the epicycloidal gearset. The non-claimed example of <FIG> and <FIG> is adapted to multiply the displacement imposed by the second member <NUM> on the operating body <NUM>.

In general terms, the epicycloidal gearset <NUM> comprises:.

In the non-claimed example of <FIG> and <FIG>, the epicycloidal gearset <NUM> comprises:.

Alternatively, the outer circular crown <NUM> can be integral with the second member <NUM>, the gear train <NUM> constrained to the first member <NUM>, and the central pinion <NUM> integral with the traction element <NUM>.

In accordance with the embodiment comprising the epicycloidal gearset, the actuation system <NUM> can further comprise the engagement system <NUM>, previously described, integral with the second member <NUM> and externally acting on the outer circular crown <NUM> of the epicycloidal gearset. In this regard, the outer circular crown <NUM> comprises teeth 39a extending radially externally and configured to cooperate with the engagement system <NUM> at least when the engagement system <NUM> is in the locking position. The joint <NUM> of the drive handle <NUM> can be further made in accordance with a further embodiment shown in <FIG>: in such a case, the joint <NUM> can operate like the actuation system <NUM> previously described to move the operating body <NUM>, or it can only allow the lateral movement of the drive handle <NUM>, without therefore necessarily driving the operating body <NUM> along the translation direction Y or along the vertical direction Z.

Alternatively, in an embodiment not shown, the actuation system <NUM> can be configured to determine, upon a displacement of the drive handle <NUM> along the control axis, the movement of the operating body <NUM> along the vertical axis Z, such as to vary a distance interposed between the work tool <NUM> and the support plane: in other words, such a variation in height determines a similar variation in the distance between the work tool <NUM> and the ground during an operating condition, such as to vary a cutting height of the turfgrass.

In an embodiment in which the device is self-driving as shown in <FIG>, the mobile device <NUM> does not comprise the drive handle <NUM>. In such a configuration, the self-driving mobile device <NUM> comprises at least one obstacle detector <NUM> configured to detect one or more obstacles in the work area during a movement of the mobile device <NUM> in the work area. In particular, the obstacle detector <NUM> can comprise at least one of a proximity sensor, for example an ultrasonic or optical sensor, a camera, or a flight time sensor. If a camera is present, a control unit <NUM> can be configured to detect and optionally recognize an obstacle <NUM>, for example, identifying the obstacle <NUM>. The control system related to self-driving can comprise a peripheral wire system, a GPS sensor guidance system, or one or more cameras. The self-driving control system will not be described in detail, as it is already part of the prior art.

The self-driving mobile device <NUM> can further comprise at least one actuator operatively connected to the operating body <NUM> and configured to move the operating body <NUM> along the translation axis Y, in particular towards the left side <NUM> or the right side <NUM> of the mobile device <NUM>: in such a configuration, such an actuator thus defines the actuation system <NUM> of the operating body <NUM>.

A control unit <NUM> of the mobile device <NUM> is operatively connected to the traction motor of the mobile device <NUM>, to the aforementioned obstacle detector <NUM> and to the actuator of the operating body <NUM>: the control unit <NUM> can be configured to receive from the obstacle detector <NUM> at least one signal representative of the presence of an obstacle <NUM> along a path of the mobile device <NUM>, and if the detector detects an obstacle <NUM>, command the actuator to move the operating body <NUM> to the central position.

The control unit <NUM> can be further configured to determine whether the obstacle <NUM> is at the left side <NUM> or right side of the mobile device <NUM>, and determine whether the operating body <NUM> is in the left lateral position or the right lateral position. The control unit <NUM> is thus configured for:.

Furthermore, if the obstacle <NUM> is established to be at the right side <NUM> and the left side <NUM> of the mobile device <NUM>, the control unit <NUM> is configured to control the actuator to move the operating body <NUM> from the right or left lateral position to the central position and optionally control stopping the movement means <NUM>.

The present invention allows to operate more easily in zones adjacent to obstacles, such as trees, hedges or flower beds. In particular, the present invention allows a greater flexibility of use of the mobile device <NUM>, in that the translation of the operating body <NUM>, in particular of the cutting plate, allows to get closer to otherwise inaccessible areas.

Claim 1:
Self-driving mobile device (<NUM>) for land maintenance, comprising a support frame (<NUM>) bearing:
- movement means (<NUM>) configured to allow or determine a movement of the mobile device (<NUM>), said movement means (<NUM>) defining a support plane (SP) for the mobile device (<NUM>);
- at least one work tool (<NUM>) configured to perform maintenance operations;
- an operating body (<NUM>) carrying and/or housing said work tool (<NUM>),
wherein said mobile device (<NUM>) extends:
- in length between a front portion (<NUM>) and a rear portion (<NUM>) to define a longitudinal axis (X) of the mobile device (<NUM>),
- in height along a vertical axis (Z) orthogonal to said longitudinal axis (X) and to said support plane (SP),
- in width along a transverse axis (W) between a left side (<NUM>), interposed as connection between the front portion (<NUM>) and the rear portion (<NUM>) of the mobile device (<NUM>), and a right side (<NUM>), also interposed as connection between the front portion (<NUM>) and the rear portion (<NUM>) of the mobile device (<NUM>), said right side (<NUM>) being opposite and positioned at a distance from said left side (<NUM>), said transverse axis (W) being orthogonal to said longitudinal axis (X),
wherein said mobile device (<NUM>) comprises at least:
- a traction motor operatively connected to the movement means (<NUM>) for driving and moving the mobile device (<NUM>),
- at least one obstacle detector (<NUM>) configured to detect one or more obstacles during a movement of the mobile device (<NUM>),
- at least one actuator effective between said operating body (<NUM>) and said support frame (<NUM>) and configured to allow said operating body (<NUM>) to be moved transversely to said support frame (<NUM>),
- at least one control unit (<NUM>) operatively connected to said traction motor, said obstacle detector (<NUM>) and said actuator,
characterised in that said mobile device (<NUM>) comprises one or more rails (<NUM>) constraining the operating body (<NUM>) to the support frame (<NUM>) and configured to allow the movement of the operating body (<NUM>) along at least one translation axis (Y),
said translation axis (Y) being parallel or coincident with said transverse axis (W) or said translation axis (Y) defining with said transverse axis (W) an angle less than <NUM>°.