Weeding robot

Abstract

The weed removing robot provided by the embodiment of the application comprises a body, a first driving mechanism, a second driving mechanism and a grass removing mechanism. The weed removing robot provided by the embodiment of the application controls the position of the second driving mechanism through the first driving mechanism, so that the trigger and the grass removing mechanism are connected or disconnected, thereby controlling the grass removing mechanism arranged on the second driving mechanism, making the grass removing mechanism perform the rope releasing operation or the grass removing operation, and then after the grass removing operation is completed, the grass removing mechanism is detached from the output shaft of the second driving mechanism, and the grass cutting knife is installed on the output shaft, so that the grass cutting operation can be realized, and the grass cutting and the grass removing operation can be realized without using multiple devices.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of lawn mowing equipment, and in particular to a lawn mowing robot. Background Art

[0002] With the advancement of technology, lawn care is increasingly dependent on mowing equipment.

[0003] Mowing equipment generally includes mowing robots and lawn mowers. Mowing robots are intelligent garden care equipment that can automatically mow large areas according to a planned path, while lawn mowers have mowing heads that can perform general mowing and edging functions.

[0004] In the existing lawn care process, the lawn is generally mowed by a lawn mower robot first. However, there is always a certain width from the lawn boundary that cannot be cut and covered. Manual lawn mowers need to be replaced to perform edge trimming operations. The use of too many equipment causes inconvenience in use. Summary of the Invention

[0005] An embodiment of the present invention provides a weeding robot that can perform edging and mowing operations without using multiple devices.

[0006] In order to solve the above technical problems, a technical solution adopted by the present invention is to provide a weeding robot, comprising:

[0007] The body comprises a chassis and a trigger, wherein the chassis is provided with a first through hole and the trigger is arranged on the chassis;

[0008] A first driving mechanism is provided on a side of the chassis away from the trigger member;

[0009] a second driving mechanism, drivingly connected to the first driving mechanism and passing through the chassis via the first through hole, and capable of reciprocating between a first position and a second position relative to the chassis under the drive of the first driving mechanism; and

[0010] a grass trimming mechanism, detachably connected to the output shaft of the second driving mechanism;

[0011] When the second driving mechanism is in the first position, the grass-cutting mechanism abuts against the trigger member, and the grass-cutting mechanism is in a rotating rope-releasing state driven by the second driving mechanism. When the second driving mechanism is in the second position, the grass-cutting mechanism is separated from the trigger member, and the grass-cutting mechanism is in a rotating grass-cutting state driven by the second driving mechanism.

[0012] In an embodiment, the weeding robot comprises a fixed frame mechanism, a trigger piece is arranged on the fixed frame mechanism, the fixed frame mechanism is arranged on an end face of the second driving mechanism close to the output shaft, the fixed frame mechanism and the grass hitting mechanism are arranged in sequence, and the trigger piece is used to press the trigger piece when the second driving mechanism is in the first position, so that the trigger piece protrudes towards the grass hitting mechanism and abuts against the grass hitting mechanism.

[0013] In an embodiment, the grass hitting mechanism comprises a housing and a winding reel, the winding reel is rotatably arranged in the housing, the output shaft of the second driving mechanism is connected with the winding reel, the output shaft is configured to have a first rotation direction and a second rotation direction, when the trigger piece abuts against the housing and the output shaft rotates in the second rotation direction, the winding reel rotates in the housing; when the trigger piece is separated from the housing and the output shaft rotates in the first rotation direction, the housing and the winding reel rotate together, wherein the first rotation direction is opposite to the second rotation direction.

[0014] In an embodiment, the fixed frame mechanism comprises a mounting plate, the mounting plate is provided with a second through hole, and the trigger piece is connected with a side wall of the second through hole.

[0015] In an embodiment, the grass hitting mechanism further comprises an elastic piece, an inner side of the housing is provided with a protruding part, the winding reel is provided with a recessed part matched with the protruding part, the elastic piece is used to keep the protruding part and the recessed part in abutment in the axial direction of the output shaft, the protruding part and the recessed part are arranged in the second rotation direction of the output shaft, in the second rotation direction, the protruding part gradually thickens, and the recessed part gradually deepens.

[0016] In an embodiment, the weeding robot further comprises a sealing mechanism, a trigger sleeve is arranged on the sealing mechanism, the trigger sleeve protrudes from the sealing mechanism, the sealing mechanism covers the first through hole, the sealing mechanism is connected with the second driving mechanism, and the trigger sleeve is used to accommodate the trigger piece and press the trigger piece.

[0017] In an embodiment, the trigger piece is provided with a positioning rack, and the grass hitting mechanism is provided with a positioning gear ring, the positioning rack is used to mesh with the positioning gear ring.

[0018] In one embodiment, a base plate, a mounting seat, a tube body and a position detection sensor are provided on the chassis, the mounting seat and the tube body are spaced apart on the base plate, the tube body passes through the base plate, the trigger member is provided on a side of the tube body away from the first driving mechanism, the first driving mechanism is provided on the mounting seat, the second driving mechanism is provided in the tube body, and the position detection sensor is used to detect the position of the second driving mechanism.

[0019] In one embodiment, a connection window is provided on the side of the tube body facing the mounting seat, a worm is provided on the first driving mechanism, and helical teeth are provided on the side wall of the second driving mechanism, and the worm is engaged with the helical teeth through the connection window.

[0020] In one embodiment, there is a third position between the first position and the second position, and a blade is provided on the chassis, with a predetermined distance between the blade and the output shaft. When the second driving mechanism is in the third position, the length of the mowing rope in the mowing mechanism exceeds the predetermined distance, the blade is used to cut the mowing rope.

[0021] The beneficial effects of the embodiments of the present invention are: different from the existing technology, the lawn mowing robot of the embodiment of the present invention controls the position of the second driving mechanism through the first driving mechanism, so that the trigger is connected or disconnected with the grass-cutting mechanism, thereby controlling the grass-cutting mechanism provided on the second driving mechanism, so that the grass-cutting mechanism performs a rope-releasing operation or a grass-cutting operation, and then after the grass-cutting is completed, the grass-cutting mechanism is removed from the output shaft of the second driving mechanism, and then the lawn mower is installed on the above-mentioned output shaft to realize the grass-cutting operation, and the edging and grass-cutting operations can be realized without using multiple devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the drawings without creative work.

[0023] Figure 1 is a first perspective view of a weeding robot according to an embodiment of the present invention;

[0024] Figure 2 for Figure 1 A schematic diagram of the structure of the first stereogram in FIG;

[0025] Figure 3 A second perspective view of the weeding robot according to an embodiment of the present invention;

[0026] Figure 4A schematic diagram of the internal structure of a weeding robot according to an embodiment of the present invention;

[0027] Figure 5 A schematic diagram of the positional relationship between the substrate and the first driving mechanism according to an embodiment of the present invention;

[0028] Figure 6 is a structural schematic diagram of a substrate according to an embodiment of the present invention;

[0029] Figure 7 is a structural schematic diagram of a fixing mechanism according to an embodiment of the present invention;

[0030] Figure 8 Schematic diagram of the sealing mechanism according to an embodiment of the present invention;

[0031] Figure 9 Schematic diagram of the structure of the pay-off mechanism of an embodiment of the present invention;

[0032] Figure 10 A schematic diagram of the structure of the pay-off mechanism according to an embodiment of the present invention;

[0033] Figure 11 A schematic structural diagram of a concave portion and a convex portion according to an embodiment of the present invention;

[0034] Figure 12 is a structural schematic diagram of the first driving mechanism of an embodiment of the present invention when it is in the second position;

[0035] Figure 13 2 is a schematic structural diagram of the first driving mechanism of an embodiment of the present invention when it is in the first position.

[0036] Description of reference numerals:

[0037] 10. Weeding robot;

[0038] 100, body; 110, chassis; 111, first through hole; 120, substrate; 130, mounting seat; 140, tube; 141, connection window; 150, position detection sensor; 160, trigger; 170, blade;

[0039] 200, first driving mechanism; 210, worm;

[0040] 300, second driving mechanism; 310, helical gear; 320, output shaft;

[0041] 400, fixing frame mechanism; 410, mounting plate; 420, second through hole; 430, trigger plate; 440, positioning rack;

[0042] 500, sealing mechanism; 510, trigger sleeve;

[0043] 600, mowing mechanism; 610, housing; 620, positioning gear ring; 630, raised portion; 640, winding reel; 650, recessed portion; 660, elastic member. DETAILED DESCRIPTION

[0044] For ease of understanding of the present invention, the present invention will be described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that when an element is described as "fixed to" another element, it can be directly on the other element, or there can be one or more centered elements therebetween. When an element is described as "connected to" another element, it can be directly connected to the other element, or there can be one or more centered elements therebetween. The terms "vertical", "horizontal", "left", "right" and similar expressions used in this specification are for illustrative purposes only.

[0045] Unless otherwise defined, all technical and scientific terms used in this specification have the same meanings as those commonly understood by those skilled in the art to which this invention belongs. The terms used in this specification and in the description of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" as used in this specification includes any and all combinations of one or more of the relevant listed items.

[0046] The embodiments of the present invention are described below with reference to the accompanying drawings.

[0047] Example 1

[0048] See also Figure 1-4 The present invention provides a lawn mowing robot 10, including: a body 100, a first driving mechanism 200, a second driving mechanism 300 and a grass trimming mechanism 600.

[0049] Regarding the above-mentioned main body 100, the main body 100 is the installation carrier of the above-mentioned components, and the main body 100 includes a chassis 110 and a trigger member 160. A first through hole 111 is provided on the chassis 110, and the first through hole 111 is used to connect the two sides of the chassis 110. The first through hole 111 can be set in the middle position of the chassis 110, so that it is easier to spatially arrange other structures when they are installed. The trigger member 160 is set on the chassis 110. The trigger member 160 can be a limiting column or a limiting plate. When the main body 100 is placed on the ground, the limiting column is set toward the ground. The function of the trigger member 160 is to connect with the grass-cutting mechanism 600, thereby changing the state of the grass-cutting mechanism 600.

[0050] It should be noted that the main body 100 is the primary component of the lawn mower robot 10. A cover may be provided on the chassis 110 to provide a relatively enclosed space within the main body 100. The chassis 110 is also equipped with tires and a corresponding drive mechanism. The drive mechanism drives the tires relative to the ground, thereby driving the main body 100.

[0051] The first driving mechanism 200 is disposed on the side of the chassis 110 away from the trigger 160. That is, the first driving mechanism 200 and the trigger 160 are disposed on opposite sides of the chassis 110. The first driving mechanism 200 is used to drive the second driving mechanism 300 to move.

[0052] Regarding the above-mentioned second driving mechanism 300, the second driving mechanism 300 is transmission-connected to the first driving mechanism 200. The second driving mechanism 300 passes through the chassis 110 via the first through hole 111, and can reciprocate between the first position and the second position relative to the chassis 110 through the first through hole 111 under the drive of the first driving mechanism 200.

[0053] The mowing mechanism 600 is detachably connected to the output shaft 320 of the second drive mechanism 300. For example, the output shaft 320 of the second drive mechanism 300 may be threaded at its distal end. The mowing mechanism 600 can be threaded through the output shaft 320 and then connected to the output shaft 320 using a nut, thereby securing the mowing mechanism 600. Rotating the output shaft 320 drives the mowing mechanism 600 to perform mowing operations or release a line.

[0054] When the second driving mechanism 300 is in the first position, the grass-cutting mechanism 600 abuts against the trigger member 160, and the grass-cutting mechanism 600 is in a rotating rope-releasing state driven by the second driving mechanism 300. When the second driving mechanism 300 is in the second position, the grass-cutting mechanism 600 is separated from the trigger member 160, and the grass-cutting mechanism 600 is in a rotating grass-cutting state driven by the second driving mechanism 300.

[0055] Therefore, the lawn mowing robot 10 of the embodiment of the present invention controls the position of the second driving mechanism 300 through the first driving mechanism 200, so that the trigger member 160 is connected to or disconnected from the grass mowing mechanism 600, thereby controlling the grass mowing mechanism 600 provided on the second driving mechanism 300, so that the grass mowing mechanism 600 performs a rope-releasing operation or a grass mowing operation, and then after the grass mowing is completed, the grass mowing mechanism 600 is removed from the output shaft 320 of the second driving mechanism 300, and then the lawn mower is installed on the above-mentioned output shaft 320 to realize the grass mowing operation, and the edge trimming and grass mowing operations can be realized without using multiple devices.

[0056] Example 2

[0057] See also Figure 8 and Figure 12-13 On the basis of the first embodiment, in order to reduce the direct contact between the trigger member 160 and the grass trimming mechanism 600 and thus reduce the wear on the trigger member 160:

[0058] The lawnmower robot 10 includes a mounting mechanism 400, which is positioned on the end surface of the second drive mechanism 300 near the output shaft 320. The mounting mechanism 400 and the mowing mechanism 600 are positioned sequentially. As an example of possible positioning, when the main body 100 is placed on the ground, the trigger 160, the mounting mechanism 400, and the mowing mechanism 600 are positioned sequentially, facing the ground. Driven by the first drive mechanism 200, the mounting mechanism 400 and the mowing mechanism 600 move toward or away from the trigger 160.

[0059] The mounting mechanism 400 can be fixed to the output shaft 320. A trigger plate 430 is provided on the mounting mechanism 400. The trigger plate 430 has a certain elasticity and can deform in the direction of the pressure when subjected to pressure. When the pressure is removed, the trigger plate 430 returns to its original state. It will be appreciated that the deformation of the trigger plate 430 under pressure can be controlled by selecting the material and controlling the thickness of the trigger plate 430, and the present invention does not impose any limitations thereto.

[0060] For example, a hole may be provided on the triggering piece 430 to make the triggering piece 430 bend more easily.

[0061] In this embodiment, when the second drive mechanism 300 moves from the second position to the first position, the trigger plate 430 gradually approaches the trigger member 160. The trigger member 160 presses the trigger plate 430, causing the trigger plate 430 to protrude toward the mowing mechanism 600, thereby abutting the mowing mechanism 600. In this embodiment, the abutment between the trigger plate 430 and the mowing mechanism 600 reduces wear on the trigger member 160 caused by multiple connections. Furthermore, the direct rigid connection between the trigger member 160 and the mowing mechanism 600 is replaced by an indirect connection via the trigger plate 430, which mitigates impact during movement and increases the lifespan of the device.

[0062] Example 3

[0063] See also Figure 9 and Figure 10 On the basis of the first or second embodiment, in order to further illustrate the structure and working principle of the grass trimming mechanism 600:

[0064] The mowing mechanism 600 includes a housing 610 and a cable reel 640 .

[0065] The outer shell 610 can be spliced ​​together by two shells. A accommodating space is provided inside the outer shell 610. The winding drum 640 is rotatably arranged in the accommodating space. A mowing rope is wound on the winding drum 640. The winding drum 640 is connected to the output shaft 320 of the second driving mechanism 300. Driven by the above-mentioned output shaft 320, the winding drum 640 can rotate in the outer shell 610 to perform the line-releasing operation.

[0066] The output shaft 320 is configured to have a first rotation direction and a second rotation direction, wherein the first direction is opposite to the second direction. As an example of the second drive mechanism 300, the second drive mechanism 300 can be a three-phase motor, and the rotation direction of the output shaft 320 can be changed by changing the wiring method.

[0067] When the trigger piece 430 abuts against the housing 610 and the output shaft 320 rotates along the second rotation direction, the winding drum 640 rotates within the housing 610, thereby performing a line-releasing operation.

[0068] When the trigger plate 430 is separated from the housing 610 and the output shaft 320 rotates in the first rotation direction, the housing 610 rotates together with the winding drum 640. As a possible example, the above-mentioned motion relationship can be achieved by installing a ratchet structure between the housing 610 and the winding drum 640.

[0069] Example 4

[0070] See also Figure 7 On the basis of the third embodiment, since the trigger piece 430 needs to abut against the housing 610, in order to facilitate the alignment of the trigger piece 430 with the trigger member 160:

[0071] The fixing frame mechanism 400 includes a mounting plate 410 . The mounting plate 410 has a certain thickness. The mounting plate 410 can pass through the output shaft 320 through the shaft hole to be connected to the end surface of the second driving mechanism 300 .

[0072] The mounting plate 410 is provided with a second through-hole 420, and a triggering piece 430 is disposed within the second through-hole 420. The number of triggering pieces 430 corresponds to the number of second through-holes 420, and one or more second through-holes 420 can be provided. When there are multiple second through-holes 420, the multiple second through-holes 420 can be evenly distributed along the circumference. When not subjected to external force, the triggering piece 430 partially connects to the sidewall of the second through-hole 420, similar to a cantilever structure.

[0073] When installing the fixing frame mechanism 400 on the above-mentioned end surface, it is only necessary to first pass the corresponding fixing frame mechanism 400 through the output shaft 320, and slide the fixing frame mechanism 400 along the output shaft 320 until it abuts against the above-mentioned end surface, and then align the second through hole 420 on the fixing frame mechanism 400 with the trigger member 160 to achieve convenient positioning.

[0074] Example 5

[0075] See also Figure 9-10 Based on any one of the third and fourth embodiments, in order to replace the ratchet mechanism and meet the requirement that the housing 610 and the winding drum 640 can rotate relative to each other and simultaneously:

[0076] As an example of the positional relationship between the recessed portion 650 and the raised portion 630, the shell 610 may be cylindrical, with a cylindrical accommodating space provided inside the shell 610, and a raised portion 630 provided on the inner side of the shell 610. The inner side of the shell 610 refers to the side of the end face of the shell 610 facing the accommodating space.

[0077] The winding reel 640 can also be a cylindrical winding reel 640, which is provided with a recessed portion 650 that cooperates with the raised portion 630. The recessed portion 650 is provided on the end face of the winding reel 640 close to the raised portion 630. The cooperation between the recessed portion 650 and the raised portion 630 means that the shapes of the recessed portion 650 and the raised portion 630 are complementary.

[0078] The raised portion 630 and the recessed portion 650 are both arranged along the second rotation direction of the output shaft 320 , that is, the raised portion 630 and the recessed portion 650 are both arc-shaped. In the second rotation direction, the raised portion 630 gradually thickens and the recessed portion 650 gradually deepens.

[0079] The grass trimming mechanism 600 further includes an elastic member 660 , which is used to keep the protrusion 630 and the recess 650 in contact with each other in the axial direction of the output shaft 320 .

[0080] When the trigger piece 430 abuts against the housing 610, the housing 610 is fixed by the trigger member 160 and cannot rotate. The housing 610 is equivalent to a fixed member. Since the winding drum 640 is connected to the output shaft 320, the winding drum 640 is a rotating member. Due to the limiting effect of the protrusion 630, the winding drum 640 can only rotate in the second direction at this time.

[0081] Driven by the output shaft 320 , the winding drum 640 rotates in the housing 610 along the second rotation direction, so that the recessed portion 650 is separated from the raised portion 630 along the second rotation direction, thereby rotating in the housing 610 to perform the line-releasing operation.

[0082] It should be noted that when the recessed portion 650 is disengaged from the raised portion 630, the housing 610 and the winding reel 640 will be offset in the axial direction of the output shaft 320. When the output shaft 320 rotates one circle in the second rotation direction, the raised portion cannot automatically fall into the recessed portion 650. Under the action of the elastic member 660, an elastic force in the above-mentioned axial direction is provided to reconnect the raised portion 630 and the recessed portion 650 in the axial direction of the output shaft 320.

[0083] When the trigger piece 430 is separated from the shell 610, the shell 610 is a movable part, the winding drum 640 is connected to the output shaft 320, and the winding drum 640 is a rotating part. The winding drum 640 rotates along the first direction and drives the protrusion 630 to rotate through the recessed portion 650, thereby realizing the common rotation of the shell 610 and the winding drum 640.

[0084] This embodiment, through the cooperation between the recessed portion 650 and the protruding portion, can meet the requirements of relative rotation and simultaneous rotation of the housing 610 and the winding reel 640. In addition, the protruding portion 630 and the recessed portion 650 are easier to process than a general ratchet mechanism, which can reduce processing costs.

[0085] Example 6

[0086] See also Figure 4-5 and Figure 8 On the basis of any one of the third embodiment or the fourth embodiment, in order to separate the grass trimming mechanism 600 from the first driving mechanism 200 and the second driving mechanism 300 in the chassis 110:

[0087] The weeding robot 10 also includes a sealing mechanism 500, which is covered on the first through hole 111. The sealing mechanism 500 can be a circular sealing sheet with a certain thickness. The sealing mechanism 500 has an axial telescopic function. In the axial direction of the sealing mechanism 500, the middle part of the sealing mechanism 500 can move relative to its circumferential edge. As an example, the circular sealing mechanism 500 can be transformed into a conical sealing mechanism 500 through the telescopic function.

[0088] Illustratively, an axial hole can be provided in the middle of the sealing mechanism 500, and the circumferential edge of the sealing mechanism 500 can be connected to the circumferential inner wall of the first through hole 111 to isolate the interior of the body 100 from the exterior of the body 100, thereby preventing grass clippings generated by the mowing operation from entering the body 100.

[0089] A trigger sleeve 510 is provided on the sealing mechanism 500. The trigger sleeve 510 is similar in shape to the trigger member 160. The size of the trigger sleeve 510 is slightly larger than that of the trigger member 160. A accommodating chamber is formed on the trigger sleeve 510. The above-mentioned accommodating chamber is used to accommodate the trigger member 160. The trigger sleeve 510 is protruded on the sealing mechanism 500.

[0090] The sealing mechanism 500 is connected to the second driving mechanism 300. When the second driving mechanism 300 is in the first position, the trigger member 160 is completely accommodated in the trigger sleeve 510. The trigger sleeve 510 applies a force toward the grass-cutting mechanism 600 to the trigger piece 430, causing the trigger member 160 to protrude toward the grass-cutting mechanism 600 and abut against the grass-cutting mechanism 600.

[0091] Example 7

[0092] See also Figure 5 、 Figure 8 and Figure 10 On the basis of the above embodiment, in order to increase the friction between the trigger piece 430 and the grass trimming mechanism 600:

[0093] A positioning rack 440 is provided on the trigger plate 430, and a positioning ring gear 620 is provided on the mowing mechanism 600. Specifically, the ring gear 620 is provided on the side of the housing 610 close to the chassis 110, and the positioning rack 440 is configured to engage with the ring gear 620. It will be appreciated that the positioning rack 440 has a certain number of teeth. The greater the number of teeth, the greater the contact area between the positioning rack 440 and the ring gear 620, thereby securing the housing 610.

[0094] Example 8

[0095] See also Figure 5-7 , based on Examples 1 to 7.

[0096] A base plate 120 , a mounting seat 130 , a tube 140 and a position detection sensor 150 are disposed on the chassis 110 .

[0097] The substrate 120 is a mounting carrier for the above components. The substrate 120 may be rectangular, and the edges of the substrate 120 may be chamfered. The substrate 120 may be fixed to the chassis 110 by bolts, or the substrate 120 may be plugged into the chassis 110 by providing a socket on the chassis 110 .

[0098] The mounting base 130 is used to mount the first driving mechanism 200, thereby ensuring the stability of the first driving mechanism 200 when the main body 100 moves. The mounting base 130 and the tube body 140 are arranged on the base plate 120 at intervals.

[0099] The tube 140 passes through the base plate 120 . The interior of the tube 140 defines a passage for the second driving mechanism 300 to move. When the base plate 120 is placed on the chassis 110 , the tube 140 extends out of the body 100 through the first through hole 111 .

[0100] In this embodiment, by providing a base plate 120 , and arranging a tube body 140 and a mounting seat 130 on the base plate 120 , the first driving mechanism 200 and the second driving mechanism 300 are reasonably positioned, and the internal space of the main body 100 can be reasonably used.

[0101] In some other embodiments, the trigger member 160 needs to abut against the housing 610. If the trigger member 160 is located on the chassis 110 at a position relatively far from the output shaft 320, the housing 610 needs to be larger in size; otherwise, the trigger member 160 cannot abut against the housing 610. For example, the trigger member 160 can be located on the side of the tube 140 near the mowing mechanism 600. By simply using a tube 140 of similar size to the mowing mechanism 600, the structural foundation for the abutment of the trigger member 160 against the housing 610 can be established.

[0102] In some other embodiments, the position detection sensor 150 is used to detect the position of the second drive mechanism 300. By obtaining the position information of the second drive mechanism 300 in real time, the accuracy of the first drive mechanism 200 driving the second drive mechanism 300 to move can be improved. For example, when the position detection sensor 150 detects that the second drive mechanism 300 moves to the first position, it immediately sends a signal to control the first drive mechanism 200 to stop moving through the controller.

[0103] Example 9

[0104] See also Figure 6 , based on Example 8.

[0105] A connection window 141 is provided on the side of the tube 140 facing the mounting base 130. A worm 210 is provided on the first drive mechanism 200, and helical teeth 310 are provided on the sidewall of the second drive mechanism 300. The worm 210 engages with the helical teeth 310 through the connection window 141. When the first drive mechanism 200 drives the worm 210 to rotate, the worm 210 drives the helical teeth 310 to rotate, thereby controlling the movement of the second drive mechanism 300.

[0106] Example 10

[0107] See also Figure 4 In the above-mentioned pay-out operation, the length of the grass-cutting rope is difficult to control. In order to ensure a reasonable length of the grass-cutting rope:

[0108] There is also a third position between the first position and the second position, and the third position is set between the first position and the second position. A blade 170 is also set on the chassis 110, and there is a predetermined distance between the blade 170 and the output shaft 320. When the second driving mechanism 300 is in the third position and the length of the mowing rope in the mowing mechanism 600 exceeds the predetermined distance, the blade 170 is used to cut the mowing rope.

[0109] The predetermined spacing can be adjusted according to actual conditions to control the length of the mowing rope. As an example, a rope length detection sensor can also be installed to detect the rope length to determine whether a rope cutting operation is required.

[0110] It should be noted that the preferred embodiments of the present invention are given in the specification and drawings of the present invention. However, the present invention can be implemented in many different forms and is not limited to the embodiments described in this specification. These embodiments are not intended to be additional limitations on the content of the present invention. The purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive. In addition, the above-mentioned technical features can be combined with each other to form various embodiments not listed above, which are all considered to be within the scope of the description of the present invention. Furthermore, it is obvious to those skilled in the art that improvements or changes can be made based on the above description, and all such improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A weeding robot, characterized in that: include: The body comprises a chassis and a trigger, wherein the chassis is provided with a first through hole and the trigger is arranged on the chassis; A first driving mechanism is provided on a side of the chassis away from the trigger member; a second driving mechanism, drivingly connected to the first driving mechanism and passing through the chassis via the first through hole, and capable of reciprocating between a first position and a second position relative to the chassis under the drive of the first driving mechanism; as well as a mowing mechanism detachably connected to the output shaft of the second drive mechanism; the mowing mechanism comprising a housing and a winding reel, the winding reel being rotatably disposed within the housing, the housing and the winding reel being capable of both relative rotation and simultaneous rotation; the output shaft of the second drive mechanism being connected to the winding reel, the output shaft being configured to have a first rotation direction and a second rotation direction; When the second driving mechanism is in the first position, the grass-cutting mechanism abuts against the trigger member, the housing is fixed by the trigger member and cannot rotate, the cable drum rotates in the housing along the second rotation direction, and the grass-cutting mechanism is in a rotating rope-releasing state driven by the second driving mechanism. When the second driving mechanism is in the second position, the grass-cutting mechanism is separated from the trigger member, the housing is a movable part, the cable drum rotates along the first rotation direction, the housing and the cable drum rotate together, and the grass-cutting mechanism is in a rotating grass-cutting state driven by the second driving mechanism.

2. The weeding robot according to claim 1, characterized in that: The lawn mowing robot includes a fixing frame mechanism, a trigger piece is provided on the fixing frame mechanism, and the fixing frame mechanism is arranged on the end surface of the second driving mechanism close to the output shaft. The fixing frame mechanism and the grass-cutting mechanism are arranged in sequence, and the trigger member is used to squeeze the trigger piece when the second driving mechanism is in the first position, so that the trigger piece protrudes toward the grass-cutting mechanism and abuts against the grass-cutting mechanism.

3. The weeding robot according to claim 2, characterized in that: When the trigger plate abuts against the housing and the output shaft rotates along the second rotation direction, the winding drum rotates inside the housing; when the trigger plate is separated from the housing and the output shaft rotates along the first rotation direction, the housing and the winding drum rotate together, wherein the first rotation direction is opposite to the second rotation direction.

4. The weeding robot according to claim 2, characterized in that: The fixing frame mechanism includes a mounting plate, the mounting plate is provided with a second through hole, and the trigger piece is partially connected to the side wall of the second through hole.

5. The weeding robot according to claim 3, characterized in that: The grass trimming mechanism also includes an elastic member, a protrusion is provided on the inner side of the shell, and a recessed portion is provided on the winding reel to cooperate with the protrusion. The elastic member is used to keep the protrusion and the recessed portion in abutment in the axial direction of the output shaft. The protrusion and the recessed portion are both arranged along the second rotation direction of the output shaft. In the second rotation direction, the protrusion gradually thickens and the recessed portion gradually deepens.

6. The weeding robot according to claim 2, characterized in that: The weeding robot also includes a sealing mechanism, which is provided with a trigger sleeve. The trigger sleeve is protruded from the sealing mechanism, and the sealing mechanism covers the first through hole. The sealing mechanism is connected to the second driving mechanism, and the trigger sleeve is used to accommodate the trigger member and squeeze the trigger sheet.

7. The weeding robot according to claim 3, characterized in that: The trigger plate is provided with a positioning rack, and the grass trimming mechanism is provided with a positioning gear ring, and the positioning rack is used to engage with the positioning gear ring.

8. The weeding robot according to claim 1, characterized in that: A base plate, a mounting seat, a tube body and a position detection sensor are provided on the chassis. The mounting seat and the tube body are spaced apart on the base plate. The tube body passes through the base plate. The trigger member is provided on a side of the tube body away from the first driving mechanism. The first driving mechanism is provided on the mounting seat. The second driving mechanism is provided in the tube body. The position detection sensor is used to detect the position of the second driving mechanism.

9. The weeding robot according to claim 8, characterized in that: A connecting window is provided on one side of the tube body facing the mounting seat, a worm is provided on the first driving mechanism, and helical teeth are provided on the side wall of the second driving mechanism. The worm is engaged with the helical teeth through the connecting window.

10. The weeding robot according to claim 1, characterized in that: There is a third position between the first position and the second position. A blade is also provided on the chassis. There is a predetermined distance between the blade and the output shaft. When the second driving mechanism is in the third position, the length of the mowing rope in the mowing mechanism exceeds the predetermined distance, the blade is used to cut the mowing rope.

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