An edging mechanism and a lawnmower

Abstract

The application provides an edge trimming mechanism and a mower, which comprises a base connector for being arranged on a mower body; a movable seat arranged on the base connector and swinging around a first axis; an edge trimming support arranged on the movable seat and swinging around a second axis; a grass trimming assembly arranged at one end of the edge trimming support away from the movable seat and used for trimming grass; a first unpowered joint return assembly is arranged between the base connector and the movable seat, and the movable seat swinging during obstacle avoidance is returned to an initial position through the first unpowered joint return assembly; and / or a second unpowered joint return assembly is arranged between the movable seat and the edge trimming support, and the edge trimming support swinging during obstacle avoidance is returned to an initial position through the second unpowered joint return assembly. The problem that the edge trimming mechanism in the prior art is accurately controlled by a motor and a controller, resulting in a complex system and increased cost, is solved.

Description

Technical Field

[0001] This application relates to the field of lawn mowing equipment technology, and more specifically, to an edge trimming mechanism and a lawn mower. Background Technology

[0002] Traditional lawnmowers are often effective at cutting grass in the central area, but they often fail to cut grass along the sides or between the mower and obstacles such as walls, fences, steps, and trees. Therefore, some mowers are equipped with an auxiliary cutting mechanism (edge ​​trimming mechanism) to cut grass along the sides. This edge trimming mechanism, an important external module of the lawnmower, is typically used to clear grass in the boundary areas.

[0003] Existing conventional edge-trimming mechanisms are typically mounted in fixed positions on the left and / or right sides of the lawnmower body. This allows the mechanism to follow the mower's path while cutting grass, lacking obstacle avoidance capabilities. In contrast, some intelligent lawnmowers employ sensors to detect obstacles and use complex algorithms to determine the obstruction area. Motors and drive mechanisms then control the joints of the edge-trimming mechanism, allowing the trimming components to avoid the obstruction area and achieve obstacle avoidance. However, this method of precise control using motors and controllers increases the complexity of the edge-trimming mechanism, thereby increasing system cost and complexity.

[0004] Therefore, existing technologies still need to be improved and developed. Summary of the Invention

[0005] The purpose of this application is to provide an edge trimming mechanism and a lawn mower, which solves the problem that the edge trimming mechanism in the prior art is complex and costly due to the use of motors and controllers for precise control.

[0006] To achieve the above objectives, the technical solution adopted in this application is as follows: On the one hand, this application provides an edge trimming mechanism for being installed on the body of a lawnmower, wherein the edge trimming mechanism includes: a base connector for being installed on the body of the lawnmower; A movable seat is oscillating about a first axis and mounted on a base connector. The edge-forming bracket is oscillating on the movable seat around the second axis, with the first axis and the second axis being perpendicular to each other. The grass-cutting assembly is located at the end of the edge-cutting bracket away from the movable seat and is used for cutting grass; A first non-powered joint return assembly is provided between the base connector and the movable seat. The movable seat, which swings during obstacle avoidance, is returned to its initial position via the first non-powered joint return assembly. And / or, a second non-powered joint return assembly is provided between the movable seat and the edge bracket, so that the edge bracket, which swings during obstacle avoidance, can return to its initial position.

[0007] In an optional embodiment, a first non-powered joint return assembly is provided between the base connector and the movable seat; The movable seat is hinged to one end of the base connector. Under the force of the obstacle, the movable seat swings toward the side closer to the lawnmower body. The first non-powered joint return assembly includes: The first connector is disposed on the base connector or the lawnmower body; The second connector is mounted on the movable seat. The first elastic return member is connected to the first connector and the second connector.

[0008] In an optional embodiment, a second non-powered joint return assembly is provided between the movable seat and the edge bracket; The upper part of the edge-forming bracket is hinged to one end of the movable seat. Under the force of the obstacle, the edge-forming bracket swings upward. The second non-powered joint return assembly includes: The third connector is mounted on the movable seat. The fourth connector is mounted on the edge-forming bracket. The second elastic return member connects the third and fourth connecting members.

[0009] In an optional embodiment, the movable seat includes: a support connecting plate having a first side facing the base connector and a second side opposite to the first side; An upper support plate and a lower support plate are spaced apart on the first side, and an opening is formed between the upper support plate and the lower support plate facing the front and rear swing cavity of the lawnmower body. One end of the base connector is located in the front and rear swing cavity for hinge connection. An outer support plate and an inner support plate are spaced apart on the second side, forming an upward-opening upper and lower swing cavity between the outer support plate and the inner support plate. The upper part of the edge bracket is hinged in the upper and lower swing cavity.

[0010] In an optional embodiment, a stop post is provided in the inner cavity of the front and rear swing arm, the stop post being used to prevent the rotation of the base connector and thus limit the range of movement of the movable seat.

[0011] In an optional embodiment, the mowing assembly is provided with a counterweight, and the edge-trimming bracket hangs down naturally under the gravity of the counterweight to keep the mowing assembly at the cutting height.

[0012] In an optional embodiment, the mowing component is movably disposed at one end of the edge-trimming bracket away from the movable seat, and a third non-powered joint return component is provided between the edge-trimming bracket and the mowing component. The mowing component, which swings up and down during obstacle avoidance, is returned to its initial position through the third non-powered joint return component. The mowing assembly is hinged to the lower part of the edge trimming bracket via a lower hinge seat, and the lower hinge seat is located off-center from the center of the mowing assembly. Under the force of an obstacle, the mowing assembly swings upward and tilts up. The third non-powered joint return assembly includes: The fifth connector is mounted on the edge-forming bracket. The sixth connector is installed on the mowing assembly; The third elastic return member connects the fifth and sixth connecting members.

[0013] In an optional embodiment, the first elastic return member, the second elastic return member, and / or the third elastic return member are reset springs; When the grass-cutting assembly encounters an obstacle, it overcomes the preload of the return spring to generate rotation and avoid the obstacle.

[0014] In an optional embodiment, the first elastic return member, the second elastic return member, and / or the third elastic return member are magnetorheological fluid damping control devices. The magnetorheological fluid damping control devices change their elastic properties by controlling the magnitude of the magnetism, so that the magnetorheological fluid damping control devices have an elastic state and a hard state. In an elastic state, the grass-cutting component that encounters an obstacle overcomes the elastic force of the magnetorheological fluid damping control to generate rotation and avoid the obstacle. Under rigid conditions, the magnetorheological fluid damping control can maintain a predetermined distance between the mowing assembly and the mower body for mowing.

[0015] In an optional embodiment, the base connector is detachably connected to the lawnmower body via a locking member.

[0016] In an optional embodiment, the locking member includes: a fixed lock seat, which is fixedly disposed on the base connector and has a locking cavity; Screw fasteners are screwed onto the fixed lock seat; The movable locking block has one end hinged to the fixed locking seat, and the other end is located between the lock head of the screw fastener and the fixed locking seat by flipping. The movable locking block closes the locking cavity by flipping, and the other end of the movable locking block is locked by screw fasteners.

[0017] In an optional embodiment, the mowing component is provided with a handle.

[0018] On the other hand, this application also proposes a lawnmower, which includes a lawnmower body and a trimming mechanism as described above, the trimming mechanism being disposed on at least one side of the lawnmower body in the left-right direction.

[0019] The beneficial effects of the edge trimming mechanism and lawnmower provided in this application are at least as follows: A first non-powered joint return assembly is provided between the base connector and the movable seat. When an obstacle is encountered, the obstacle exerts a reaction force on the trimming component, causing the movable seat to swing around a first axis, thus moving the trimming component to move along the edge of the obstacle and avoid it. When the trimming component leaves the obstacle, the reaction force exerted by the obstacle disappears, and the restoring force of the first non-powered joint return assembly pulls the trimming component back to its initial position. Correspondingly, a second non-powered joint return assembly is provided between the movable seat and the edge trimming bracket, enabling the edge trimming bracket to swing along a second axis, thereby achieving passive obstacle avoidance in another direction. Therefore, the edge-cutting mechanism of this solution realizes the passive obstacle avoidance function of the grass-cutting component without power. It utilizes the forward power of the lawnmower body and the reaction force of the obstacle to achieve obstacle cutting through the passive movement of the first and / or second non-powered joint return components. This avoids complex sensors and motor drives and has the advantages of low cost and high reliability. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the edge-trimming mechanism provided in Embodiment 1 of this application; Figure 2 This is a schematic diagram of the locking member of an edge-trimming mechanism provided in Embodiment 1 of this application; Figure 3 This is a partial structural diagram of a edging mechanism with a first non-powered joint return component provided in Embodiment 1 of this application; Figure 4 This application provides a partial structural diagram of a edging mechanism with a second non-powered joint return component, according to Embodiment 1. Figure 5 This application provides a partial structural diagram of a edging mechanism with a third non-powered joint return component, as shown in Embodiment 1. Figure 6 This is a schematic diagram of the edge-trimming mechanism provided in Embodiment 2 of this application; Figure 7 This is a schematic diagram illustrating the working principle of a lawnmower provided in Embodiment 3 of this application, wherein... Figure 7 Figure (a) in the middle is a schematic diagram of the principle under normal lawn mowing conditions. Figure 7 Figure (b) is a schematic diagram of the principle in the obstacle avoidance and grass cutting state.

[0022] The following are the labeling elements in the figure: 10. Edge-forming mechanism; 100. Base connector; 110. Locking component; 111. Fixed lock seat; 111a. Connecting side; 111b. Protruding side; 112. Screw fastener; 113. Movable locking block; 114. Lock cavity; 120. First non-powered joint return assembly; 121. First connector; 122. Second connector; 123. First elastic return component; 200. Movable seat; 210. Support connecting plate; 220. Upper support plate; 221. Lower support plate; 223. Front and rear swing inner cavity; 230. Stop post; 240. Outer support plate; 241. Inner support plate; 242. Upper and lower swing inner cavity; 300. Side-cutting bracket; 310, upper rod; 311, middle rod; 320, second non-powered joint return assembly; 321, third connector; 322, fourth connector; 323, second elastic return component; 400, mowing assembly; 410, protective housing; 411, handle; 412, sensor; 413, protective pad; 420, motor; 430, third non-powered joint return assembly; 431, fifth connector; 432, sixth connector; 433, third elastic return component; 440, lower hinge seat; 501, return spring; 502, magnetorheological fluid damping control; 20, lawnmower body; 30, obstacle. Detailed Implementation

[0023] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0024] It should be noted that when a component is referred to as "fixed to" or "set on" another component, it may be directly or indirectly located on that other component. When a component is referred to as "connected to" another component, it may be directly or indirectly connected to that other component. The terms "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate orientations or positions based on the accompanying drawings, and are for ease of description only, and should not be construed as limiting the technical solution. The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features. "A plurality" means two or more, unless otherwise explicitly defined.

[0025] Existing obstacle avoidance mechanisms use motor-driven controllers, which not only complicates the system but also makes the electrical components of the control circuit prone to failure in harsh outdoor environments (such as rain, corrosion, and collisions), resulting in poor stability and high maintenance costs. Furthermore, the response speed of motor-driven mechanisms is slower than that of physical mechanical components. Upon encountering an obstacle, algorithms are needed to calculate, control commands are sent, and the motor is activated, all of which consume reaction time. Therefore, to address these issues, this application proposes the following embodiments: Example 1

[0026] Please refer to Figure 1 , Figure 7 Figures (a) and (b) illustrate this embodiment, which proposes an edge-trimming mechanism 10. This mechanism is mounted on the lawnmower body 20 and, when the lawnmower body 20 is mowing, drives the edge-trimming mechanism 10 to trim the edges of the mowing area. Please refer to... Figure 1 The edge trimming mechanism 10 mainly includes: a base connector 100, a movable seat 200, an edge trimming bracket 300, and a trimming assembly 400. The base connector 100 can be fixedly or detachably mounted on the lawnmower body 20 and protrudes from the left or right side of the lawnmower body 20. For ease of structural description, the structure is illustrated by taking the edge trimming mechanism 10 located on the left side of the lawnmower body 20 as an example. The base connector 100 is fixed towards the lawnmower body 20, and the movable seat 200 is hinged to the end of the base connector 100 away from the lawnmower body 20, thereby allowing the movable seat 200 to swing around the base connector 100 about a first axis P1, where P1 is vertical. Therefore, the movable seat 200 can swing clockwise or counterclockwise about the vertical direction. Please refer to [reference needed]. Figure 7Figures (a) and (b) show the oscillation direction, where the mower swings towards the rearward side of the mower body 20 or towards the frontward side of the mower body 20. The trimming bracket 300 extends downward at an angle, and its upper end is hinged to the movable seat 200, allowing it to swing around a second axis P2 (horizontal). Therefore, the trimming bracket 300 can swing upward towards the mower body 20 (simply lifting upwards) or downward towards the mower body 20 (simply lowering downwards). The trimming assembly 400 is located at the lower end of the trimming bracket 300. The trimming assembly 400 mainly includes a motor 420, trimming lines, and a protective housing. The trimming lines rotate under the drive of the motor 420. An opening is formed on the lower part and one side of the protective housing. The rotating trimming lines cut the weeds entering the opening, thus achieving mowing.

[0027] Please refer to Figure 1 , Figure 7 In Figures (a) and (b), a first non-powered joint return assembly 120 is provided between the base connector 100 and the movable seat 200. This first non-powered joint return assembly 120 allows the movable seat 200, which swings during obstacle avoidance, to return to its initial position. Please refer to... Figure 7 In Figure (b), when encountering obstacle 30, obstacle 30 exerts a reaction force on the mowing assembly 400, causing the movable seat 200 to swing around the first axis, moving the mowing assembly 400 to move so that it mows along the edge of obstacle 30, thus avoiding obstacle 30. When the mowing assembly 400 leaves obstacle 30, the reaction force exerted by obstacle 30 disappears, and the mowing assembly 400 can be pulled back to its initial position by the restoring force of the first non-powered joint return assembly 120. And / or, a second non-powered joint return assembly 320 is provided between the movable seat 200 and the edge-trimming bracket 300, through which the edge-trimming bracket 300, which swings during obstacle avoidance, returns to its initial position. Correspondingly, the second non-powered joint return assembly 320 provided between the movable seat 200 and the edge-trimming bracket 300 enables the edge-trimming bracket 300 to swing in the second axis, thereby achieving a passive obstacle avoidance function in another direction. Therefore, the edge-cutting mechanism 10 of this solution enables the passive obstacle avoidance function of the grass-cutting component 400 through its unpowered joints. Utilizing the forward momentum of the lawnmower body 20 and the reaction force of the obstacle, obstacle-cutting is achieved through the passive movement of the first unpowered joint return component 120 and / or the second unpowered joint return component 320. This achieves obstacle-avoidance grass-cutting functionality using a simple mechanical structure, resulting in excellent cost control, high reliability, and strong responsiveness and adaptability.

[0028] Please refer to Figure 1 , Figure 2In the specific structure, the base connector 100 can adopt an L-shaped connecting arm, on which multiple or various locking elements 110 can be provided. The base connector 100 is detachably connected to the lawnmower body 20 through the locking elements 110. The locking element 110 specifically includes: a fixed locking seat 111, a movable locking block 113, and a screw fastener 112. The connecting side 111a of the fixed locking seat 111 is locked to the base connector 100 by screws, and the other side protrudes from the base connector 100 to form a protruding side 111b. A semi-circular locking cavity 114 is formed on the protruding side 111b. One end of the movable locking block 113 is hinged to the end of the protruding side of the fixed locking seat 111, and the other end is flipped to face the connecting side 111a. The screw fastener 112 is screwed onto the fixed lock seat 111. The screw fastener 112 can be a lifting eye screw. The other end of the movable locking block 113 has a U-shaped slot. By flipping it, the locking head of the screw fastener 112 is positioned between the fixed lock seat 111 and the fixed lock head, so that the screw fastener 112 is located in the U-shaped slot. The movable locking block 113 also has a semi-circular locking cavity 114. By flipping the movable locking block 113, the upper and lower semi-circular locking cavities 114 can be locked onto the bracket of the lawnmower body 20. Then, the other end of the movable locking block 113 is locked by the screw fastener 112, achieving stable fixation with the bracket of the lawnmower body 20. The locking member 110 forms a quick-release locking structure, which facilitates the disassembly and assembly of the edge trimming mechanism 10.

[0029] Please refer to Figure 1 , Figure 3 In this embodiment, the movable seat 200 specifically includes a support connecting plate 210. The support connecting plate 210 has a first side facing the base connector 100 and a second side opposite to the first side. Since the entire movable seat 200 is located on a horizontal plane and is inclined to the left rear relative to the transverse base connector 100, in the initial state, the movable seat 200 forms an obtuse angle between the horizontal direction and the transverse base connector 100, thereby facilitating the unfolding of the edge bracket 300 connected to the movable seat 200. An upper support plate 220 and a lower support plate 221 are provided at intervals along the vertical direction on the first side of the support connecting plate 210. An opening is formed between the upper support plate 220 and the lower support plate 221 facing the front and rear swing cavity 223 of the lawnmower body 20. The end of the base connector 100 is hinged in the front and rear swing cavity 223. The hinge post passes through the upper support plate 220, the end of the base connector 100, and the lower support plate 221 along the vertical direction. This allows the movable seat 200 to swing back and forth at the end of the base connector 100. When swinging back and forth, the mowing assembly 400 below can move backward and closer to the lawnmower body 20 to mow the grass along the edge of the obstacle.

[0030] Please refer to Figure 3A stop post 230 is provided in the inner cavity 223 of the front and rear swing mechanism. Two stop posts 230 can be provided, spaced apart and both connected through the upper support plate 220 and the lower support plate 221. The stop posts 230 are used to prevent the rotation of the base connector 100, thereby limiting the movement range of the movable seat 200. This limits the front and rear swing of the movable seat 200, the edge trimming bracket 300, and the grass trimming assembly 400.

[0031] Please refer to Figure 1 , Figure 3 On the second side of the supporting connecting plate 210, an outer support plate 240 and an inner support plate 241 are provided at intervals. An upward-opening, swinging inner cavity 242 is formed between the outer support plate 240 and the inner support plate 241. The upper part of the edge trimming bracket 300 is hinged within the swinging inner cavity 242. A hinge post passes horizontally through the inner support plate 241, the upper part of the edge trimming bracket 300, and the outer support plate 240, allowing the edge trimming bracket 300 to swing up and down on the movable seat 200. When swinging up and down, the lower grass trimming component 400 can move upwards and cut grass along the edge of the obstacle.

[0032] Please refer to Figure 1 , Figure 3 The structure of this embodiment is described using the following example: a first non-powered joint return component 120 is provided between the base connector 100 and the movable seat 200; a second non-powered joint return component 320 is provided between the movable seat 200 and the edge trimming bracket 300; and a third non-powered joint return component 430 is provided between the edge trimming bracket 300 and the grass trimming component 400.

[0033] Please refer to Figure 1 , Figure 3 as well as Figure 7As shown in Figures (a) and (b), the first non-powered joint return assembly 120 of this embodiment specifically includes: a first connector 121, a second connector 122, and a first elastic return member 123. The first connector 121 and the second connector 122 can be connecting posts with mounting holes or hinged positions. The first connector 121 is disposed on the base connector 100 or the lawnmower body 20, and further, can be located on the upper surface of the base connector 100. The second connector 122 is disposed on the movable seat 200, and can be located on the upper surface of the upper support plate 220. The first elastic return member 123 connects the first connector 121 and the second connector 122. The first elastic return member 123 uses a return spring 501, which can be at least one tension spring. The preload of the return spring 501 keeps the movable seat 200 and the base connector 100 in a neutral initial position. When the mowing assembly 400 encounters an obstacle, it overcomes the preload of the return spring 501 to swing backward toward the mower body 20 and avoid the obstacle. Then it can mow the grass along the edge of the obstacle. When the obstacle disappears, the mowing assembly 400 returns to its original position under the action of the return spring 501.

[0034] Please refer to Figure 1 , Figure 4 The edge-trimming bracket 300 specifically includes a horizontally positioned upper rod 310 and a downwardly extending middle rod 311, which are sequentially and fixedly connected. The upper rod 310 is hinged within the swing-up / downward-swinging inner cavity 242 of the movable seat 200, allowing the edge-trimming bracket 300 to swing upward under the force of an obstacle. Specifically, the second non-powered joint return assembly 320 includes a third connector 321, a fourth connector 322, and a second elastic return member 323. The third connector 321 is fixed to the outer wall of the outer support plate 240 of the movable seat 200, the fourth connector 322 is fixed to the outer wall of the upper rod 310 of the edge-trimming bracket 300, and the second elastic return member 323 connects the third connector 321 and the fourth connector 322. The second elastic return member 323 employs a return spring 501, which can be at least one tension spring. The preload of the return spring 501 keeps the edge trimming bracket 300 and the movable seat 200 in a neutral initial position. When the trimming assembly 400 encounters an obstacle, it overcomes the preload of the return spring 501 to generate an upward swing and avoid the obstacle. It can then trim the grass along the edge of the obstacle. After the obstacle disappears, the trimming assembly 400 returns to its original position under the action of the return spring 501 and / or gravity.

[0035] Please refer to Figure 5In this embodiment, the mowing assembly 400 is movably mounted at the lower end of the edge trimming bracket 300. The third non-powered joint return assembly 430 returns the mowing assembly 400, which swings up and down during obstacle avoidance, to its initial position. Specifically, the mowing assembly 400 is hinged to the lower end of the middle rod 311 of the edge trimming bracket 300 via a lower hinge seat 440, which is located off-center from the center of the mowing assembly 400. Under the force of an obstacle, the mowing assembly 400 swings upward and tilts. The third non-powered joint return assembly 430 in this embodiment specifically includes a fifth connector 431, a sixth connector 432, and a third elastic return member 433. The fifth connector 431 is located on the back of the middle rod 311 of the edge trimming bracket 300, and the sixth connector 432 is located on the upper surface of the protective shell of the mowing assembly 400 and near the lower hinge seat 440. The third elastic return member 433 connects the fifth connector 431 and the sixth connector 432. The third elastic return component 433 employs a return spring 501, which can be at least one tension spring. The preload of the return spring 501 keeps the mowing assembly 400 and the edge trimming bracket 300 in a neutral initial position. When the mowing assembly 400 encounters an obstacle, it overcomes the preload of the return spring 501, causing the outer side of the mowing assembly 400 to tilt upwards to avoid the obstacle. It can then cut grass along the edge of the obstacle. After the obstacle disappears, the mowing assembly 400 returns to its original position under the action of the return spring 501 and / or gravity.

[0036] The mowing assembly 400 in this embodiment is equipped with a counterweight. The weight of the counterweight causes the edge trimming bracket 300 to hang naturally, maintaining the cutting height of the mowing assembly 400. Under gravity, the mowing assembly 400 on the edge trimming mechanism 10 hangs naturally, close to the ground, maintaining the cutting height even on uneven ground. The mowing assembly 400 in this embodiment is equipped with a handle 411, located on the upper surface of the protective shell, facilitating the lifting of the entire edge trimming structure for easy loading, unloading, and maintenance.

[0037] Please refer to Figure 1 , Figure 7 In Figures (a) and (b), the workflow of the reset spring 501 structure in this embodiment is as follows: Initial state: All return springs 501 are in tension balance, and the trimming mechanism 10 is in the preset extended position. Obstacle contact: The trimming assembly 400 encounters an obstacle (such as a wall, tree, or step), and the obstacle applies a reverse force F to the trimming assembly 400. Passive deformation: F overcomes the preload of the return springs 501 in that direction, causing the joint to rotate. The trimming assembly 400 moves in the opposite direction to avoid the obstacle, and the entire trimming mechanism 10 begins to bend. Obstacle-following movement: The lawnmower body 20 continues to move forward, F persists, the trimming mechanism 10 remains bent, and the trimming assembly 400, under the elastic force of the return springs 501, always moves "along" the outline of the obstacle, achieving obstacle-following cutting. Obstacle removal: The obstacle is removed, and F disappears. The restoring force of the return springs 501 pulls the entire trimming mechanism 10 back to its initial neutral position, ready to deal with the next obstacle. Example 2

[0038] Please refer to Figure 6 The difference between this embodiment and Embodiment 1 is that the first unpowered joint return assembly 120, the second unpowered joint return assembly 320, and / or the third unpowered joint return assembly 430 are magnetorheological fluid damped controllable joints. The traditional return spring 501 is replaced by a magnetorheological fluid damping control 502 (magnetorheological fluid damper). For example, the first elastic return member 123, the second elastic return member 323, and / or the third elastic return member 433 are magnetorheological fluid damping control 502. The magnetorheological fluid damping control 502 involves winding an electromagnetic coil around a damper piston, changing the elastic performance of the damper by controlling the magnitude of the magnetism. A sensor 412 (such as a microswitch or contact sensor 412) is mounted at the outermost end of the protective housing 410 of the mowing assembly 400. When the control unit receives the signal from the sensor 412 and controls the current in the electromagnetic coil of the magnetorheological fluid damping control 502, the elasticity of the damper can be changed, for example, allowing the magnetorheological fluid damping control 502 to have an elastic state and a rigid state. In the elastic state, when the mowing assembly 400 encounters an obstacle, it overcomes the elastic force of the magnetorheological fluid damping control 502 to rotate and avoid the obstacle. In the rigid state, the magnetorheological fluid damping control 502 keeps the mowing assembly 400 at a predetermined distance from the lawnmower body 20 for mowing.

[0039] The specific working process of the magnetorheological fluid damping control 502 is as follows: During normal edge trimming: the magnetorheological fluid damping control unit 502 is in an elastic state, exhibiting low damping and good elasticity. If the sensor 412 is not triggered, the control unit does not supply power to the electromagnetic coil, the magnetorheological fluid is in a liquid state, and the damping force is very small. At this time, the edge trimming mechanism 10 is very flexible and can deform with a light touch. Due to the low damping of the magnetorheological fluid damping control unit 502, it is suitable for obstacle avoidance and lawn mowing when dealing with small obstacles.

[0040] When encountering a specific obstacle (such as a wall), the magnetorheological fluid damping control 502, in a rigid state, exhibits high damping and structural locking. When the grass trimming assembly 400 contacts the obstacle, it triggers the sensor 412, and the control unit instantly applies the maximum current to the electromagnetic coil. The magnetorheological fluid becomes semi-solid, and the magnetorheological fluid damping control 502 instantly "locks," making the joint extremely rigid and undeformable, allowing the entire trimming mechanism 10 to move as a whole.

[0041] When there are large obstacles such as walls, the entire edge-cutting mechanism 10 is pushed as a whole. At this time, the entire grass-cutting mechanism becomes a rigid whole. The forward momentum of the lawnmower will push the entire edge-cutting mechanism 10 to move along the surface of the obstacle without bending itself, thus providing a stronger obstacle-cutting force.

[0042] When the edge-trimming mechanism 10 is removed from the obstacle, the sensor 412 signal disappears, the current is cut off, the damper returns to the liquid state, and the magnetorheological fluid damping control 502 is in an elastic state, so that the edge-trimming mechanism 10 returns to a flexible state.

[0043] To prevent rigid contact with obstacles during the overall movement of the edge-trimming mechanism 10, a protective pad 413 is provided on the outer edge of the protective shell to protect the edge-trimming mechanism 10 from collision. Example 3

[0044] Please refer to Figure 7 Figures (a) and (b) show that this embodiment proposes a lawnmower, including a lawnmower body 20 and the aforementioned edge trimming mechanism 10, which is disposed on at least one side of the lawnmower body 20 in the left-right direction.

[0045] In summary, the edge trimming mechanism and lawnmower provided in this application do not have active power in their joints. During the lawnmower's movement, when the edge trimming mechanism comes into contact with a non-living obstacle and moves further towards it, one or more joints of the edge trimming mechanism passively move, allowing the trimming components to travel along the obstacle. This avoids complex sensors and motor drives, offering advantages such as low cost and high reliability. The edge trimming mechanism of this application adopts a purely mechanical structure, avoiding the failure problems of electrical components in harsh outdoor environments (such as rain, corrosion, and impact), and simplifying maintenance. This edge trimming mechanism uses a mechanical mechanism to achieve a physical-level rapid response; deformation occurs immediately upon contact, requiring no calculation or reaction time, resulting in superior performance.

[0046] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A trimming mechanism for mounting on a lawnmower body, characterized in that, The edge trimming mechanism includes: a base connector, which is used to be mounted on the lawnmower body; A movable seat, which is oscillatingly mounted on the base connector about a first axis; An edge-forming bracket is oscillating on the movable seat about a second axis, wherein the first axis and the second axis are perpendicular. A mowing assembly, which is disposed at one end of the edge-trimming bracket away from the movable seat and is used for mowing grass; A first non-powered joint return component is provided between the base connector and the movable seat. The movable seat, which swings during obstacle avoidance, is returned to its initial position via the first non-powered joint return component. And / or, a second non-powered joint return assembly is provided between the movable seat and the edge-blocking bracket, so that the edge-blocking bracket, which swings during obstacle avoidance, can return to its initial position.

2. The edge-trimming mechanism as described in claim 1, characterized in that, A first non-powered joint return assembly is provided between the base connector and the movable seat; The movable seat is hinged to one end of the base connector. Under the force of the obstacle, the movable seat swings toward the side closer to the lawnmower body. The first non-powered joint return assembly includes: A first connector is disposed on the base connector or the lawnmower body; A second connector is disposed on the movable seat; A first elastic return member connects the first connector and the second connector.

3. The edge-trimming mechanism as described in claim 2, characterized in that, A second non-powered joint return assembly is provided between the movable seat and the edge bracket; The upper part of the edge-forming bracket is hinged to one end of the movable seat, and the edge-forming bracket swings upward under the force of the obstacle. The second non-powered joint return assembly includes: A third connector is disposed on the movable seat; The fourth connector is disposed on the edge-forming bracket; The second elastic return member connects the third connector and the fourth connector.

4. The edge-trimming mechanism as described in claim 3, characterized in that, The movable seat includes a front and rear swing cavity, and one end of the base connector is located in the front and rear swing cavity and is hinged therein. A stop post is provided in the inner cavity of the front and rear swing arm. The stop post is used to block the rotation of the base connector and limit the movement range of the movable seat.

5. The edge-trimming mechanism as described in claim 3, characterized in that, The mowing assembly is equipped with a counterweight. Under the influence of the counterweight, the edge trimming bracket hangs down naturally to maintain the cutting height of the mowing assembly.

6. The edge-trimming mechanism as described in claim 3, characterized in that, The mowing component is movably mounted at one end of the edge-trimming bracket away from the movable seat. A third non-powered joint return component is provided between the edge-trimming bracket and the mowing component. The mowing component, which swings up and down during obstacle avoidance, returns to its initial position.

7. The edge-trimming mechanism as described in claim 6, characterized in that, The first elastic return member, the second elastic return member, and / or the third elastic return member are reset springs; When the grass-cutting assembly encounters an obstacle, it overcomes the preload of the return spring to generate rotation and avoid the obstacle.

8. The edge-trimming mechanism as described in claim 6, characterized in that, The first elastic return element, the second elastic return element, and / or the third elastic return element are magnetorheological fluid damping control elements. The magnetorheological fluid damping control elements change their elastic properties by controlling the magnitude of the magnetism, so that the magnetorheological fluid damping control elements have an elastic state and a hard state. In the elastic state, the grass-cutting component that encounters an obstacle overcomes the elastic force of the magnetorheological fluid damping control to generate rotation and avoid the obstacle. In the rigid state, the magnetorheological fluid damping controllable control allows the mowing assembly to maintain a predetermined distance from the mower body while mowing.

9. The edge-trimming mechanism as described in any one of claims 1-8, characterized in that, The first axis is vertical, and the second axis is horizontal.

10. A lawnmower, characterized in that, It includes a lawnmower body and an edge trimming mechanism as described in any one of claims 1-9, wherein the edge trimming mechanism is disposed on at least one side of the lawnmower body in the left-right direction.

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