robot

Abstract

A kind of robot, including robot main body and cutting mechanism, robot main body includes car body and moving component, moving component is arranged on car body, for driving car body to travel;Cutting mechanism includes connecting component and cutting component, cutting component is connected with car body by connecting component, cutting component is located at the lateral side of car body;Wherein, cutting component includes cutter head and protective cover, cutting blade is installed on cutter head, protective cover is covered in the upper of cutter head.

Description

Technical Field

[0001] This invention relates to the field of lawn mowing equipment, and more particularly to a robot. Background Technology

[0002] As people's living standards continue to improve, they have increasingly higher requirements for their leisure environment. Private gardens, parks, and playgrounds have become the best places for people to relax and enjoy themselves. Currently, robots are used to periodically maintain the lawns in private gardens, parks, and playgrounds to ensure their aesthetic appeal.

[0003] However, the robot uses a high-speed rotating cutter head for cutting. Since the cutter head is equipped with sharp cutting blades, effective protection is needed for the cutting blades to protect them and prevent them from injuring the user, thus avoiding accidents. Summary of the Invention

[0004] This invention provides a robot that can effectively protect the cutting blade with a protective cover, preventing the cutting blade from colliding with obstacles and being damaged.

[0005] This invention provides a robot, comprising:

[0006] The robot body includes a vehicle body and a moving component, wherein the moving component is mounted on the vehicle body and is used to propel the vehicle body forward.

[0007] A cutting mechanism includes a connecting component and a cutting component, wherein the cutting component is connected to the vehicle body via the connecting component and is located on the periphery of the vehicle body;

[0008] The cutting assembly includes a cutter head and a protective cover. The cutter head is equipped with cutting blades, and the protective cover is positioned above the cutter head.

[0009] In a robot according to one embodiment of the present invention, the protective cover is rotatably mounted on one side of the cutter head.

[0010] In a robot according to one embodiment of the present invention, the protective cover includes a compressible protective strip. When the protective strip is not compressed, the projection of at least a portion of the structure of the protective cover covers the projection of the cutting area of ​​the cutting blade. When the protective strip is compressed, the projection of the protective cover approaches the projection of the cutting area of ​​the cutting blade.

[0011] In a robot according to one embodiment of the present invention, the protective cover further includes a cover body, and the protective side strip has a connecting portion and an anti-collision portion made of a flexible material, the anti-collision portion being arranged on the outside of the cover body through the connecting portion.

[0012] In a robot according to one embodiment of the present invention, the anti-collision part includes a plurality of spaced flexible units, which extend radially outward from the cover and are capable of bending under force.

[0013] In a robot according to one embodiment of the present invention, the outward extension length of the flexible unit is greater than the distance between two adjacent flexible units; and / or, the flexible unit extends obliquely in the same direction.

[0014] In a robot according to one embodiment of the present invention, the connecting part has an edge-wrapping structure made of flexible material, the edge-wrapping structure is arranged around the outer periphery of the cover, and the anti-collision part is integrally formed with the edge-wrapping structure.

[0015] In a robot according to one embodiment of the present invention, the edge-wrapping structure is provided with an annular groove, and the connecting part is sleeved on the outside of the cover through the annular groove.

[0016] In a robot according to one embodiment of the present invention, the cutting assembly includes a drive motor, the cutter head is drivenly connected to the output shaft of the drive motor, and the protective cover is rotatably connected to the drive housing of the drive motor.

[0017] In a robot according to one embodiment of the present invention, the cutting mechanism includes a bearing assembly, the protective cover is provided with a mounting hole, the outer ring of the bearing assembly is installed in the mounting hole, and the inner ring of the bearing assembly is connected to the drive housing.

[0018] In a robot according to one embodiment of the present invention, the bearing assembly includes a first rolling bearing and a second rolling bearing, and the two ends of the mounting hole are respectively provided with a first recess and a second recess. The first rolling bearing is installed in the first recess and the second rolling bearing is installed in the second recess.

[0019] In a robot according to one embodiment of the present invention, the protective device further includes a protective member disposed outside the protective cover, wherein at least a portion of the protective member extends beyond the outer contour of the protective cover in the robot's forward direction.

[0020] In a robot according to one embodiment of the present invention, a clearance opening is formed on the protective member, and the clearance opening is disposed on the side away from the robot facing the cutting mechanism, so that the protective strip located on the side of the clearance opening can be compressed when an obstacle comes into contact with it.

[0021] In a robot according to one embodiment of the present invention, the protective component includes a protective strip, which surrounds to form a semi-ring structure having the clearance opening. The semi-ring structure is fixedly connected to the drive motor and is positioned toward the forward direction of the robot.

[0022] In a robot according to one embodiment of the present invention, the cutting blade is provided with cutting sections and protective sections for preventing non-cutting objects from entering the cutting sections at intervals.

[0023] In a robot according to one embodiment of the present invention, the cutting segment has a thin sheet-like structure, and the protective segment has a thick, blunt structure and protrudes from the cutting end face of the cutting segment.

[0024] In a robot according to one embodiment of the present invention, a fan structure is provided on the side of the cutter head facing away from the cutting blade to generate an airflow blowing toward the cutting blade.

[0025] In a robot according to one embodiment of the present invention, the cutting assembly includes an abutment member disposed below the cutter head, which is used to drive the cutting blade upward when the cutting assembly contacts an obstacle.

[0026] In a robot according to one embodiment of the present invention, the side of the abutment member facing away from the cutting blade has an outwardly convex arc-shaped structure.

[0027] In a robot according to one embodiment of the present invention, the connecting assembly includes a connecting arm and a mounting assembly connected to the vehicle body, and the cutting assembly is rotatably connected to the mounting assembly via the connecting arm.

[0028] In a robot according to one embodiment of the present invention, the connecting arm includes a first link, a second link, and an adjusting member. The first link and the second link are connected between the mounting assembly and the cutting assembly, and the adjusting member is connected between the first link and the second link for adjusting the swing amplitude of the connecting arm.

[0029] In a robot according to one embodiment of the present invention, the adjusting member includes an adjusting screw and an elastic member. The first connecting rod is provided with a threaded hole, the adjusting screw is threadedly connected in the threaded hole and extends to the second connecting rod, and the elastic member is disposed between the first connecting rod and the second connecting rod.

[0030] In a robot according to one embodiment of the present invention, the mounting assembly includes a rotating part and a mounting part connected to the vehicle body, the connecting arm is connected to the rotating part and is rotatable about a first axis, the rotating part is connected to the mounting part and is rotatable about a second axis, and the first axis is perpendicular to the second axis.

[0031] In a robot according to one embodiment of the present invention, the protective cover is rotatable; the rotation axis of the protective cover is parallel to the rotation axis of the cutter head, or the angle between the rotation axis of the protective cover and the rotation axis of the cutter head is α, wherein 0 degrees < α < 45 degrees.

[0032] In a robot according to one embodiment of the present invention, the rotation axis of the cutter head is parallel to the height direction of the vehicle body.

[0033] The technical solutions provided in this application embodiment may include the following beneficial effects: This application designs a robot, including a robot body and a cutting mechanism. The cutting component includes a cutter head and a protective cover. Cutting blades are installed on the cutter head, and the protective cover is placed above the cutter head to effectively protect the cutting blades, avoid damage to the cutting blades from collisions with obstacles, and improve the service life of the cutter head and cutting blades.

[0034] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0035] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a schematic diagram of the structure of a cutting mechanism provided in one embodiment of this application;

[0037] Figure 2 yes Figure 1 A cross-sectional schematic diagram of the cutting mechanism in the diagram;

[0038] Figure 3 yes Figure 1 A schematic diagram showing the cutting mechanism deflected and extended in the horizontal plane when the vehicle body is placed horizontally.

[0039] Figure 4 yes Figure 1 A schematic diagram showing the cutting mechanism in contact with an obstacle.

[0040] Figure 5 yes Figure 1 A schematic diagram of the cutting mechanism in a compressed state;

[0041] Figure 6 yes Figure 1 A partial cross-sectional schematic diagram of the cutting mechanism in the diagram;

[0042] Figure 7 yes Figure 1 A cross-sectional schematic diagram of the cutting component in the diagram;

[0043] Figure 8 yes Figure 1 An exploded view of the cutting components;

[0044] Figure 9 yes Figure 1 An exploded view of the protective shield;

[0045] Figure 10 yes Figure 1 A schematic diagram of the cutting blade in the process;

[0046] Figure 11 yes Figure 1 An exploded view of the connecting arm in the diagram;

[0047] Figure 12 yes Figure 1 An exploded view of the installation components.

[0048] Explanation of reference numerals in the attached figures:

[0049] 1000, Cutting mechanism; 2000, Robot body;

[0050] 100. Cutting assembly; 101. First area; 102. Second area; 10. Protective cover; 11. Cover body; 111. Mounting hole; 1111. Sump structure; 12. Protective edge strip; 121. Anti-collision part; 122. Connecting part; 123. Edge wrapping structure; 20. Cutter head; 21. Cutting blade; 211. Cutting section; 212. Protective section; 213. Blade mounting part; 22. Rotating disk; 221. Fan structure; 30. Drive motor; 31. Motor body; 32. Connecting housing; 311. Output shaft; 40. Bearing assembly; 50. Abutment part; 60. Transmission part;

[0051] 200. Connecting arm; 201. First connecting rod; 2011. First connecting part; 2012. Second connecting part; 2013. Threaded hole; 202. Second connecting rod; 2021. First connecting part; 2022. Second connecting part; 203. Adjusting component; 2031. Adjusting screw; 2032. Elastic component;

[0052] 300. Mounting component; 301. Mounting part; 3011. Limiting groove; 302. Rotating part; 3021. First mounting hole; 3022. Second mounting hole; 3023. Limiting post; 303. Reset component; 304. Connecting shaft;

[0053] 400. Obstacles. Detailed Implementation

[0054] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0055] It should also be understood that the terminology used in this specification is merely for describing specific realities within the context of this application. It is important to understand that terms such as "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are used solely for the convenience of describing this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, 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 indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0056] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0057] like Figures 1 to 12 As shown, this application provides a robot, including a robot body 2000 and a cutting mechanism 1000. The robot body 2000 includes a vehicle body and a moving component. The cutting mechanism 1000 is mounted on the vehicle body, and the moving component is also mounted on the vehicle body to drive the vehicle body forward, enabling the cutting mechanism 1000 to perform cutting during movement. The cutting mechanism 1000 includes a connecting component and a cutting component 100. The cutting component 100 is connected to the vehicle body via the connecting component and is located on the periphery of the vehicle body.

[0058] In this embodiment, the cutting assembly 100 includes a cutter head 20 and a protective device. A cutting blade 21 is mounted on the cutter head 20, and the protective device is placed above the cutter head to effectively protect the cutting blade 21, prevent the cutting blade 21 from colliding with obstacles and being damaged, and improve the service life of the cutter head 20 and the cutting blade 21.

[0059] In one alternative implementation, such as Figures 1 to 4As shown, the protective device is rotatably connected so that when the robot body 2000 drives the cutting component 100 to cut objects in scenarios such as the edge of a lawn, wall surface, and fence, the protective device can rotate relative to the obstacle 400 when it comes into contact with the obstacle 400, such as the edge of a lawn, wall surface, or fence, thereby reducing the wear and tear on the protective device caused by the cutting component 100 during the cutting process.

[0060] In an optional embodiment, the protective device includes a protective cover made of at least part of a flexible material, which is rotatably connected to and covers one side of the cutting blade 21 to effectively protect the cutting blade 21 and prevent it from colliding with the obstacle 400 and being damaged.

[0061] In one optional embodiment, the protective cover includes a compressible protective strip 12. When the protective strip 12 is not compressed, the projection of at least a portion of the structure of the protective cover covers the projection of the cutting area of ​​the cutting blade 21, which can effectively protect the cutting blade 21 and prevent the cutting blade 21 from colliding with the obstacle 400 and being damaged. When the protective strip 12 is compressed, the projection of the protective cover approaches the projection of the cutting area of ​​the cutting blade 21, which can reduce the distance between the edges of the cutting blade 21 and thus effectively cut the edge of the cutting blade 21.

[0062] For example, the protective cover also includes a cover body 11 for protecting the cutting blade 21. The cover body 11 is disposed on one side of the cutting blade 21, and a protective edge strip 12 is disposed on the edge of the cover body 11. The projection of the cutting area of ​​the cutting blade 21 covers the projection of the cover body 11. When the protective edge strip 12 is not compressed, the projection of the protective cover covers the projection of the cutting area. This not only effectively protects the cutting blade 21, preventing it from colliding with the obstacle 400 and being damaged, but also allows the cutting blade 21 to be brought closer to the edge of the cover body 11 by the compressed and deformed protective edge strip 12, thus cutting the object at the edge of the cover body 11.

[0063] After adopting the above technical solution, since the protective cover has a compressible protective strip 12, when the protective strip 12 is not compressed, the projection of at least part of the structure of the protective cover covers the projection of the cutting area of ​​the cutting blade 21, so as to effectively protect the cutting blade 21 and prevent the cutting blade 21 from causing damage to the blade itself, the human body and the obstacle 400, etc. When the protective strip 12 is compressed, the projection of the protective cover approaches the projection of the cutting area of ​​the cutting blade 21, which can both prevent the cutting blade 21 from being exposed on the outside of the protective strip 12 and reduce the distance between the cutting blade 21 and the edge of the cover 11, thereby effectively cutting the cutting object on the edge of the cover 11.

[0064] For example, when the robot body 2000 drives the cutting component 100 to cut objects in scenarios such as the edge of a lawn walkway, wall surface, or fence, the cutting component 100 extends towards the edge of the walkway, wall surface, or fence under the drive of the connecting component, or the cutting component 100 comes into contact with the edge of the walkway, wall surface, or fence during the movement of the robot body 2000. At this time, the protective strip 12 deforms under the pressure of obstacles such as the edge of the walkway, wall surface, or fence, so that the cutting blade 21 can approach the edge of the obstacle such as the edge of the walkway, wall surface, or fence, thereby effectively cutting the object at the edge of the obstacle such as the edge of the walkway, wall surface, or fence. Meanwhile, when the cutting component 100 collides with the edge of the passageway, wall surface, or fence, the protective strip 12 can act as a buffer, reducing the impact force exerted on the cutting component 100 when the obstacle 400 collides with it. Then, as the robot body 2000 continues to move, the protective strip 12 compresses and adheres to the edge of the passageway, wall surface, or fence, reducing the distance between the cutting blade 21 and the edge of the protective cover, thereby effectively cutting the object at the edge of the protective cover. Furthermore, the protective cover is rotatably connected so that when it comes into contact with obstacles 400 such as the edge of the passageway, wall surface, or fence, the protective cover can rotate relative to the obstacle 400, reducing wear on the protective cover during the cutting process.

[0065] In an optional embodiment, the protective edge strip has a connecting portion 122 and an anti-collision portion 121 made of flexible material. The anti-collision portion 121 is arranged around the outside of the protective cover 10 via the connecting portion 122. The projection formed by the anti-collision portion 121 and the cover 11 approaches the projection of the cutting area. When not compressed, the projection formed by the anti-collision portion 121 and the cover 11 covers the projection of the cutting area. When compressed, the projection formed by the anti-collision portion 121 and the cover 11 approaches the projection of the cutting area. The anti-collision portion 121 and the connecting portion 122 are integrally formed, and the connecting portion 122 is sleeved on one side or around the cover 11, reducing the manufacturing cost of the protective edge strip 12 and providing advantages such as structural stability, high strength, and long service life.

[0066] In an optional embodiment, the anti-collision part 121 includes a plurality of spaced flexible units that extend radially outward from the connecting part 122 and can be compressed or bent when subjected to force, reducing the possibility of breakage of the flexible units due to friction with the obstacle 400. At the same time, it can also make the end of the cutting blade 21 approach the edge of the protective cover 10, thereby effectively cutting the cutting object at the edge of the protective cover.

[0067] In one alternative implementation, such as Figure 4 , Figure 8 and Figure 9 As shown, the outward extension length of the flexible unit is greater than the distance between two adjacent flexible units. When the robot body 2000 drives the cutting component 100 along the edge of the lawn, wall surface, fence and other obstacles, when the cutting blade 21 cuts the object, the flexible unit contacts and compresses the obstacle 400 such as the edge of the lawn, wall surface, fence and other obstacles. By setting the outward extension length of the flexible unit to be greater than the distance between two adjacent flexible units, the first compressed flexible unit can be used to press against and compress the second compressed flexible unit during the compression process. This not only buffers the first compressed flexible unit, but also avoids the second compressed flexible unit from directly colliding with the obstacle 400. Through the layered compression between the flexible units, the generation of noise can be reduced, and the stress points of the flexible unit can be distributed, thereby improving the service life of the flexible unit. In two adjacent flexible units, when the first flexible unit is compressed and deformed, the end of the first flexible unit away from the cover 11 covers the root of the second flexible unit near the cover 11. In this way, each flexible unit contacts the obstacle through its end, which can prevent the root of the flexible unit from wearing down and causing the flexible unit to break from the root, thus shortening the service life of the flexible unit.

[0068] In an optional embodiment, the flexible unit extends obliquely in the same direction as the connecting portion 122, so that when the cutting component 100 collides with the obstacle 400 during the process of the robot body 2000 driving the cutting component 100 to form, the flexible unit can play a buffering role; while the robot body 2000 continues to drive the cutting component 100 to cut the object, the flexible unit is compressed along the obstacle 400 one by one.

[0069] For example, flexible units are arranged counterclockwise on the outer peripheral surface of the protective cover, such that the compression direction of the flexible units is arranged counterclockwise along the protective cover, and one flexible unit is stacked on top of another flexible unit.

[0070] In an optional embodiment, the connecting part 122 has an edge-wrapping structure 123 made of flexible material, which is arranged around the outer periphery of the cover 11. The anti-collision part 121 is integrally formed with the edge-wrapping structure 123, so that the connecting part 122 can be firmly fixed on the outer periphery of the cover 11. At the same time, the anti-collision part 121 can also be used to buffer and reduce the distance between the cutting blade 21 and the edge of the protective cover, thereby effectively cutting the cutting object at the edge of the protective cover.

[0071] In one optional embodiment, the edging structure 123 is provided with an arc-shaped annular groove, and the connecting part 122 fixes the arc-shaped annular groove to the outside of the cover 11 by assembly; or, the edging structure 123 is injection molded onto the periphery of the cover 11 by injection molding process to achieve a fixed connection between the protective edge strip 12 and the cover 11. This can reduce the assembly process between the protective edge strip 12 and the cover 11, and by fixing the arc-shaped annular groove to the outside of the cover 11 by assembly, only the protective edge strip 12 needs to be replaced when it is damaged, without having to replace the entire protective cover 10, thus reducing the cost of use.

[0072] In one optional embodiment, the projection of the cover 11 onto the first plane is a first circle, the projection of the cutting area of ​​the cutting blade 21 onto the first plane is a second circle, and the projection of the outer boundary of the protective strip 12 onto the first plane when it is not compressed is a third circle; wherein the first circle, the second circle, and the third circle are concentric circles, and the diameter of the first circle is smaller than the diameter of the second circle, and the diameter of the second circle is smaller than the diameter of the third circle, so that the protective strip 12 can protect the cutting blade 21 when it is not compressed, and when the protective strip 12 is compressed by force, it deforms and makes the cutting blade 21 closer to the edge of the obstacle, thereby cutting the grass on the edge.

[0073] It should be noted that when the protective strip 12 is squeezed by an obstacle, it deforms, causing the diameter of the third circle to approach the diameter of the first circle. At this time, the edge of the protective cover contacts the edge of the obstacle, so that the cutting blade 21 can cut the grass on the edge.

[0074] In an alternative embodiment, at least a portion of the protective strip 12, when compressed into a preset shape, has its projection coincide with a portion of the projection of the cutting area to protect the cutting blade 21 and prevent it from colliding with obstacles.

[0075] In an optional embodiment, the cutting mechanism further includes a drive assembly for driving the cutter head 20 to rotate. The cover 11 is rotatably connected to the drive assembly, so that when cutting the edge of the lawn, wall surface, fence, etc., the cover 11 can contact the obstacle 400 such as the edge of the lawn, wall surface, fence, etc., and rotate relative to the obstacle 400 such as the edge of the lawn, wall surface, fence, etc., to reduce the wear of the protective device by the cutting assembly 100 during the cutting process.

[0076] In one optional embodiment, the drive assembly includes a drive motor 30, which is connected to the vehicle body via a connecting assembly. The drive motor 30 is drive-connected to the cutting blade 21 and is used to drive the blade 21 to rotate for cutting operations. A protective cover is rotatably connected to the drive motor 30 and is disposed on the outside of the cutting blade 21 to effectively protect the cutting blade 21 and prevent the cutting blade 21 from colliding with the obstacle 400 and being damaged.

[0077] In one alternative implementation, such as Figure 2 , Figure 11 and Figure 12 As shown, the drive motor 30 includes a drive housing 32 and a motor body 31 with an output shaft 311. The motor body 31 is installed inside the drive housing 32. The output shaft 311 is connected to the cutter head 20 via transmission. The cover 11 is rotatably connected to the drive housing 32 so that the protective cover can protect the cutter head 20 and can also move independently relative to the output shaft 311. When the protective cover is close to the edge of the passageway, the wall surface, the fence, etc., it can convert the contact friction with the edge of the passageway, the wall surface, and the fence into rolling friction, reducing the damage of friction to the protective edge strip 12.

[0078] In an optional embodiment, the cutting mechanism includes a bearing assembly 40. A mounting hole 111 is provided on the protective cover. The outer ring of the bearing assembly 40 is installed in the mounting hole 111, and the inner ring of the bearing assembly 40 is connected to the drive housing 32. This means the protective cover can rotate independently without relying on the drive motor 30. When the cutting assembly 100 approaches a passageway edge, wall surface, fence, etc., the independent rotation of the protective cover converts the contact friction between the protective cover and the edge into rolling friction, thereby reducing damage to the protective edge strip 12.

[0079] In an optional embodiment, the bearing assembly 40 includes a first rolling bearing 41 and a second rolling bearing 42. The two ends of the mounting hole 111 are respectively provided with a first recess 1111 and a second recess 1112. The first rolling bearing 41 is installed in the first recess 1111 and the second rolling bearing 42 is installed in the second recess 42 to ensure the stability of the protective cover after it is connected to the drive housing 32.

[0080] In an optional embodiment, the cutting mechanism further includes a protective member disposed on the outside of the protective cover, and at least a portion of the structure of the protective member extends in the robot's forward direction and beyond the outer contour of the protective cover, which can effectively prevent accidental frontal injury from the cutting assembly 100 at the front position, thereby improving the safety of the protective cover.

[0081] In an alternative embodiment, a protective portion is formed on the protective member, which extends toward the robot's forward direction and beyond the outer contour of the protective shield, preventing the cutting component 100 from causing frontal injury in front of the robot, thereby improving the safety of the protective shield 10.

[0082] In an optional embodiment, a clearance opening is formed on the protective member, which is located on the side away from the robot facing the cutting mechanism 1000. This allows the protective edge strip 12 located on the side of the clearance opening to contact the obstacle 400 and be compressed or bent, thereby reducing the distance between the cutting blade 21 and the edge of the protective cover, and thus effectively cutting the object at the edge of the protective cover.

[0083] In an optional embodiment, the protective component includes a protective strip that surrounds to form a semi-ring structure with a clearance opening. The semi-ring structure is fixedly connected to the drive motor 30 and is positioned towards the robot's forward direction to prevent the cutting assembly 100 from causing accidental injury from the front, thereby improving the safety of the protective cover 10. The clearance opening allows the protective strip 12 to be compressed when it comes into contact with an obstacle 400, reducing the distance between the cutting blade 21 and the edge of the protective cover, thus effectively cutting the object at the edge of the protective cover.

[0084] In an alternative embodiment, the protective element may also include irregularly shaped baffles of other shapes. At least a portion of the irregularly shaped baffles extends along the direction of the robot's movement and beyond the outer contour of the protective cover to form a protective section. At least a portion of the irregularly shaped baffles is recessed toward its inner side to form a clearance opening, so that the protective edge strip 12 located on one side of the clearance opening can contact and compress the obstacle 400, thereby reducing the distance between the cutting blade 21 and the edge of the protective cover, and thus effectively cutting the cutting object at the edge of the protective cover.

[0085] In an optional embodiment, the protective cover is disposed between the drive motor 30 and the cutter head 20 and is rotatably connected to the drive housing 32 of the drive assembly. Independent of the output shaft 311, it can not only protect the cutter head 20, but also move independently relative to the output shaft 311. When the protective cover is close to the edge of the passageway, wall surface, fence, etc., it can convert the contact friction with the edge of the passageway, wall surface and fence into rolling friction, reducing the damage of friction to the protective edge strip 12.

[0086] In an optional embodiment, the protective cover is rotatable, and the axis of rotation of the protective cover is parallel to the axis of rotation of the cutter head 20, which facilitates the rotation of the protective cover relative to the obstacle 400 when it comes into contact with or is pressed against the obstacle 400.

[0087] In an optional embodiment, the angle between the rotation axis of the protective cover and the rotation axis of the cutter head 20 is α, where 0 degrees < α < 45 degrees.

[0088] In one alternative implementation, the axis of rotation of the cutter head 20 is parallel to the height direction of the vehicle body 10.

[0089] In an optional embodiment, the cutting blade 21 is provided with a cutting section and a protective section at intervals, the protective section 212 being used to protect non-cutting objects from entering the cutting section 211.

[0090] In one alternative embodiment, the cutting segment 211 has a thin sheet structure to form a cutting blade, and the protective segment 212 has a thick, blunt structure and protrudes from the cutting end face of the cutting segment 211, which can not only protect the cutting blade, but also tear the cut object during cutting.

[0091] In one alternative implementation, such as Figure 8 and Figure 10 As shown, the blade 21 includes a blade body, a cutting section 211, and a protective section 212 disposed on a fixed edge of the blade body and extending from the fixed edge toward the cutting edge on the other side. The cutting section 211 is mainly used to cut the object, while the protective section 212 is used to protect the cutting section 211. The protective section 212 can also be used to tear the object being cut by the cutting section 211 during the cutting process. The cross-sectional area of ​​the protective section 212 gradually decreases from the fixed edge toward the cutting edge, increasing the distance between adjacent protective sections 212 along the extending direction of the protective section 212. This increases the cutting area of ​​the cutting section 211 and improves its cutting effect. Furthermore, when the cutting section 211 cuts the object, if it fails to completely sever the object in one cut, a portion of the structure of the protective section 212 located on one side of the cutting section 211 can be used for secondary tearing of the object, ensuring the robot's cutting effect.

[0092] In an alternative embodiment, the cutter head 20 has a fan structure on the side facing away from the cutting blade 21 to generate an airflow toward the cutting blade 21.

[0093] For example, the cutter head 20 includes a rotating disk 22, on which the cutting blade 21 is mounted. The rotating disk 22 is connected to the output shaft 311 of the drive motor 30 to receive the mechanical energy of the drive motor 30, enabling the cutting blade 21 to perform circular motion and thus achieve the cutting operation. A fan structure 221 is located on the side of the rotating disk 22 facing away from the cutting blade 21, generating an airflow towards the cutting blade 21. This airflow blows the broken pieces of the workpiece out of the rotating disk 22, preventing them from entering the gap between the protective cover and the rotating disk 22, thus avoiding interference with the operation of the drive motor 30 or even causing it to seize up. Furthermore, the airflow also dissipates heat from the drive motor 30, effectively preventing overheating.

[0094] In one optional embodiment, the number of cutting blades 21 can be two or more. When the number of cutting blades 21 is two, the two cutting blades 21 are symmetrically arranged on both sides of the rotating disk 22. When the number of cutting blades 21 is three or more, the three or more cutting blades 21 can be arranged in a ring array around the center of the rotating disk 22.

[0095] It should be noted that too many cutting blades 21 will cause interference between the cutting blades 21, while too few will reduce the cutting efficiency. Therefore, two to three blades are optimal.

[0096] In an optional embodiment, one end of the cutting blade 21 is provided with a blade mounting portion 213, so that the cutting blade 21 can be rotatably mounted on the rotating disk 22 via the blade mounting portion 213.

[0097] In one alternative implementation, such as Figures 6 to 8 As shown, the cutting assembly 100 includes an abutment 50, which is disposed below the cutting blade 21. The abutment 50 is used to move the cutting blade 21 upward when the cutting assembly 100 contacts the obstacle 400, so that the entire cutting assembly 100 floats upward, avoiding collision between the cutting blade 21 and the obstacle 400, thereby effectively extending the service life of the cutting blade 21. Alternatively, when the obstacle 400 enters the bottom of the abutment 50, the obstacle 400 lifts the entire cutting assembly 100, which can reduce the cutting speed of the cutting blade 21 and prevent the cutting blade 21 from suffering secondary damage.

[0098] In an optional embodiment, the side of the abutment 50 facing away from the cutting blade 21 has an outwardly convex arc-shaped structure, which can reduce the contact area between the obstacle 400 and the abutment 50, thereby ensuring that the cutting blade 21 can cut slowly when it comes into contact with the obstacle 400, avoiding secondary damage to the cutting blade 21; it can also protect the abutment 50 and the drive motor 30, reduce the friction between the abutment 50 and the obstacle 400 and the risk of damage to the drive motor 30 due to stalling, thereby improving the life of the drive motor 30.

[0099] In an optional embodiment, the cutting assembly 100 includes a transmission member 60, one end of which is connected to the output shaft 311 of the drive motor 30, and the other end of which is connected to the rotating disk 22.

[0100] In one alternative implementation, such as Figure 1 , Figure 2 and Figure 11 As shown, the connecting assembly includes a connecting arm 200 and a mounting assembly 300 connected to the vehicle body. The cutting assembly 100 is rotatably connected to the mounting assembly 300 via the connecting arm 200, allowing the cutting assembly 100 to rotate relative to the vehicle body in the horizontal and / or vertical directions, thereby enabling adjustment of the height and extension length of the cutting assembly 100.

[0101] For example, such as Figures 3 to 5 As shown, the cutting assembly 100 rotates horizontally relative to the vehicle body to form a first region 101 and a second region 102. The area of ​​the first region 101 is larger than the area of ​​the second region 102. When the cutting assembly 100 contacts the obstacle 400, the obstacle 400 applies a reverse force to the cutting assembly 100. This reverse force can force the cutting assembly 100 to deflect towards one side of the vehicle body, that is, the cutting assembly 100 moves from the first region 101 to the second region 102, and at the same time, the cutting assembly 100 can also move from the second region 102 to the first region 101. When the cutting assembly 100 is in the first region 101, the cutting assembly 100 performs the cutting operation, and the speed at which the drive motor 30 drives the rotating disk 22 to drive the blade 21 gradually decreases as the cutting assembly 100 moves from the first region 101 to the second region 102. When the cutting assembly 100 is in the second region 102, the drive motor 30 stops driving the rotating disk 22 to drive the blade 21.

[0102] In an optional implementation, the connection assembly includes a detection assembly disposed on at least one of the vehicle body, the connecting arm 200, and the mounting assembly 300, for detecting the movement position of the cutting assembly 100; when the detection assembly detects that the cutting assembly 100 is within the first region 101, the cutting assembly 100 performs cutting operations; when the detection assembly detects that it is within the second region 102, the cutting assembly 100 stops operating.

[0103] In one alternative implementation, such as Figure 1 , Figure 3 and Figure 12 As shown, the mounting assembly 300 includes a rotating part 302 and a mounting part 301 connected to the vehicle body. The connecting arm 200 is rotatably connected to the rotating part 302, and the rotating part 302 is connected to the mounting part 301, allowing the cutting assembly 100 to rotate in both the height and horizontal directions of the vehicle body. When an obstacle 400 enters the bottom of the abutment 50, the obstacle 400 can raise the height of the cutting assembly 100 through the abutment 50, effectively avoiding damage to the cutting assembly 100 caused by terrain differences or obstacles such as rocks. When the obstacle 400 contacts or collides with the protective cover 10, the obstacle 400 can force the cutting assembly 100 to deflect towards one side of the vehicle body, allowing it to cut objects at the edge of the passageway.

[0104] It should be noted that obstacle 400 can be the edge of a passageway, a wall surface, a fence, etc. Obstacle 400 can also be gravel, branches, uneven ground, etc., and this application does not impose any restrictions.

[0105] In an alternative embodiment, the connecting arm 200 is rotatable relative to the rotating part 302 about a first axis, and the rotating part 302 is rotatable relative to the mounting part 301 about a second axis, wherein the first axis is perpendicular to the second axis.

[0106] In an optional embodiment, the mounting assembly 300 further includes a connecting shaft 304, through which the rotating part 302 is rotatably connected to the mounting part 301. The mounting part 301 has a first connecting end face, and the rotating part 302 has a second connecting end face. The first connecting end face and the second connecting end face are connected in a mating manner. The connecting shaft 304 passes between the first connecting end face and the second connecting end face, and is used to rotatably mount the rotating part 302 onto the mounting part 301.

[0107] In an optional embodiment, a limiting groove 3011 is provided on the first connecting end face, and a limiting post 3023 is provided on the second connecting end face. After the rotating part 302 is installed on the mounting part 301 through the cooperation of the first connecting end face and the second connecting end face, the limiting post 3023 extends into the limiting groove 3011 to limit the rotation position of the rotating part 302 when the rotating part 302 rotates relative to the mounting part 301, so that the connecting arm 200 can switch between the first region 101 and the second region 102.

[0108] In an optional embodiment, the mounting assembly 300 further includes a reset member 303, which is used to drive the connecting arm 200 to change direction toward the first region 101. It can also provide a buffering force when the cutting assembly 100 collides with the obstacle 400, reduce the impact force applied to the cutting assembly 100 when the obstacle 400 collides, avoid damage to the cutting assembly 100, and extend the service life of the cutting assembly 100.

[0109] For example, the reset member 303 includes, but is not limited to, a torsion spring. The torsion spring is sleeved on the outside of the connecting shaft 304, and its two ends are respectively connected to the rotating part 302 and the mounting part 301, so that the rotating part 302 can always maintain an elastic force in the direction of the first region 101. When the cutting assembly 100 is in the first region 101 and in contact with the obstacle 400, the impact force of the obstacle 400 on the cutting assembly 100 is greater than the elastic force of the reset member 303. The limiting post 3023 slides from one end of the limiting groove 3011 to the other end of the limiting groove 3011. The reset member 303 deforms to buffer the impact force generated when the obstacle 400 collides with the cutting assembly 100. At the same time, the cutting assembly 100 can rotate relative to the mounting part 301 toward the second region 102 to form a clearance position for avoiding the obstacle 400. At this time, the rotation speed of the drive motor 30 driving the blade 21 gradually decreases. When the cutting assembly 100 completely enters the second region 102, the drive motor 30 stops driving the blade 21 to rotate.

[0110] In an optional embodiment, the detection component includes a force sensor electrically connected to the drive motor 30. The force sensor is disposed between the mounting part 301 and the rotating part 302 and is used to detect the force on the torsion spring, so that the drive motor 30 can control its output speed or stop working based on the force data detected by the force sensor.

[0111] For example, when the mechanical data received by the drive motor 30 is greater than a predetermined value, the drive motor 30 stops working, at which point the cutting component 100 has fully entered the second region 102; when the mechanical data received by the drive motor 30 is less than the predetermined value, the drive motor 30 controls its output speed according to the magnitude of the mechanical data, so that the cutting component 100 can cut at different speeds in the first region 101; when the mechanical data is minimum, the output speed of the drive motor 30 is maximum, and the cutting component 100 is located on the side of the first region 101 away from the second region 102; when the mechanical data approaches the predetermined value, the output speed of the drive motor 30 gradually decreases until the mechanical data equals the predetermined value, at which point the drive motor 30 stops working.

[0112] It should be noted that the detection component can also be other sensors, such as limit switches, etc., and this application does not limit them.

[0113] In one alternative implementation, such as Figure 1 , Figure 2 and Figure 11 As shown, the connecting arm 200 includes a first link 201, a second link 202, and an adjusting member 203. The first link 201 and the second link 202 are connected between the mounting assembly 300 and the cutting assembly 100. The adjusting member 203 is connected between the first link 201 and the second link 202 and is used to adjust the swing amplitude of the connecting arm so as to adjust the height of the cutting assembly 100 from the ground, thereby adjusting the cutting height of the workpiece.

[0114] For example, such as Figure 2 , Figure 11 and Figure 12 As shown, the motor body 31 is installed inside the drive housing 32. The drive housing 32 has two first connecting holes spaced apart along the height direction. The rotating part 302 has a first mounting hole 3021 and a second mounting hole 3022 spaced apart. The two ends of the first connecting rod 201 are rotatably connected to the first mounting hole 3021 and one of the first connecting holes, respectively. The two ends of the second connecting rod 202 are rotatably connected to the second mounting hole 3022 and the other first connecting hole, respectively, so that the motor body 31 can be floatingly connected to the rotating part 302 through the first connecting rod 201 and the second connecting rod 202.

[0115] For example, the first connecting rod 201 has a first connecting portion 2011 and a second connecting portion 2012 at both ends; the second connecting rod 202 has a first connecting portion 2021 and a second connecting portion 2022 at both ends. The first connecting portion 2011 and the first connecting portion 2021 are rotatably connected to two first connecting holes. The second connecting portion 2012 and the second connecting portion 2022 are correspondingly connected to the first mounting hole 3021 and the second mounting hole 3022. The adjusting member 203 is threadedly connected to the first connecting rod 201 and can extend or retract toward one side of the second connecting rod 202 so that the floating angle of the motor body 31 can be changed by adjusting the distance between the first connecting rod 201 and the second connecting rod 202, thereby adjusting the cutting height.

[0116] In an optional embodiment, the adjusting member 203 includes an adjusting screw 2031 and an elastic member 2032. The first connecting rod 201 is provided with a threaded hole 2013. The adjusting screw 2031 is threadedly connected in the threaded hole 2013 and extends to the second connecting rod 202. The elastic member 2032 is disposed between the first connecting rod 201 and the second connecting rod 202.

[0117] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. They can refer to a mechanical connection or an electrical connection. They can refer to a direct connection or an indirect connection through an intermediate medium, and they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0118] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0119] The foregoing disclosure provides many different embodiments or examples for implementing different structures of this application. To simplify the disclosure, specific examples of components and arrangements are described above. Of course, these are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this application, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0120] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

Claims

1. A robot, characterized in that, include: The robot body includes a vehicle body and a moving component, wherein the moving component is mounted on the vehicle body and is used to propel the vehicle body forward. A cutting mechanism includes a connecting component and a cutting component, wherein the cutting component is connected to the vehicle body via the connecting component and is located on the periphery of the vehicle body; The cutting assembly includes a cutter head and a protective cover. The cutter head is equipped with cutting blades, and the protective cover is positioned above the cutter head. The protective cover includes a compressible protective strip, which is rotatably mounted on one side of the cutter head. The lowest point of the protective strip is higher than the cutting height of the cutting blade, so as to utilize the compressibility of the protective strip to reduce the distance between the cutting blade and the edge of the protective cover, thereby effectively cutting the edge of the protective cover.

2. The robot according to claim 1, characterized in that, When the protective strip is not compressed, the projection of at least a portion of the structure of the protective cover covers the projection of the cutting area of ​​the cutting blade; when the protective strip is compressed, the projection of the protective cover approaches the projection of the cutting area of ​​the cutting blade.

3. The robot according to claim 1, characterized in that, The protective cover also includes a cover body, and the protective edge strip has a connecting part and an anti-collision part made of flexible material. The anti-collision part is arranged on the outside of the cover body through the connecting part.

4. The robot according to claim 3, characterized in that, The anti-collision part includes a plurality of spaced flexible units that extend radially outward from the cover and are capable of bending under stress.

5. The robot according to claim 4, characterized in that, The outward extension length of the flexible unit is greater than the spacing between two adjacent flexible units; and / or, the flexible unit extends obliquely in the same direction.

6. The robot according to claim 3, characterized in that, The connecting part has an edge-wrapping structure made of flexible material, which is arranged around the outer periphery of the cover, and the anti-collision part is integrally formed with the edge-wrapping structure.

7. The robot according to claim 6, characterized in that, The edging structure is provided with an annular groove, and the connecting part is sleeved on the outside of the cover through the annular groove.

8. The robot according to claim 1, characterized in that, The cutting assembly includes a drive motor, the cutter head is drivenly connected to the output shaft of the drive motor, and the protective cover is rotatably connected to the drive housing of the drive motor.

9. The robot according to claim 8, characterized in that, The cutting mechanism includes a bearing assembly, the protective cover is provided with a mounting hole, the outer ring of the bearing assembly is installed in the mounting hole, and the inner ring of the bearing assembly is connected to the drive housing.

10. The robot according to claim 9, characterized in that, The bearing assembly includes a first rolling bearing and a second rolling bearing. The two ends of the mounting hole are respectively provided with a first recess and a second recess. The first rolling bearing is installed in the first recess and the second rolling bearing is installed in the second recess.

11. The robot according to claim 1, characterized in that, It also includes a protective element disposed outside the protective cover, at least a portion of which extends beyond the outer contour of the protective cover in the robot's direction of travel.

12. The robot according to claim 11, characterized in that, The protective component has an clearance opening, which is located on the side away from the robot and facing the cutting mechanism, so that the protective strip located on the side of the clearance opening can be compressed when an obstacle comes into contact with it.

13. The robot according to claim 12, characterized in that, The protective component includes a protective strip that surrounds to form a semi-ring structure with the clearance opening. The semi-ring structure is fixedly connected to the drive motor of the cutting assembly and is positioned toward the robot's forward direction.

14. The robot according to claim 1, characterized in that, The cutting blade is provided with cutting sections and protective sections at intervals to prevent non-cutting objects from entering the cutting sections.

15. The robot according to claim 14, characterized in that, The cutting segment has a thin sheet-like structure, and the protective segment has a thick, blunt structure and protrudes from the cutting end face of the cutting segment.

16. The robot according to claim 1, characterized in that, The cutter head has a fan structure on the side facing away from the cutting blade, which is used to generate an airflow that blows toward the cutting blade.

17. The robot according to claim 1, characterized in that, The cutting assembly includes an abutment disposed below the cutter head, which is used to drive the cutting blade upward when the cutting assembly contacts an obstacle.

18. The robot according to claim 17, characterized in that, The side of the abutment facing away from the cutting blade has an outwardly convex arc-shaped structure.

19. The robot according to claim 1, characterized in that, The connecting assembly includes a connecting arm and a mounting assembly connected to the vehicle body, and the cutting assembly is rotatably connected to the mounting assembly via the connecting arm.

20. The robot according to claim 19, characterized in that, The connecting arm includes a first link, a second link, and an adjusting member. The first link and the second link are connected between the mounting assembly and the cutting assembly. The adjusting member is connected between the first link and the second link and is used to adjust the swing amplitude of the connecting arm.

21. The robot according to claim 20, characterized in that, The adjusting component includes an adjusting screw and an elastic element. The first connecting rod has a threaded hole, the adjusting screw is threaded into the threaded hole and extends to the second connecting rod, and the elastic element is disposed between the first connecting rod and the second connecting rod.

22. The robot according to claim 19, characterized in that, The mounting assembly includes a rotating part and a mounting part connected to the vehicle body. The connecting arm is connected to the rotating part and is rotatable about a first axis. The rotating part is connected to the mounting part and is rotatable about a second axis. The first axis is perpendicular to the second axis.

23. The robot according to any one of claims 1 to 22, characterized in that, The protective cover is rotatable; The rotation axis of the protective cover is parallel to the rotation axis of the cutter head, or the angle between the rotation axis of the protective cover and the rotation axis of the cutter head is α, where 0 degrees < α < 45 degrees.

24. The robot according to claim 23, characterized in that, The rotation axis of the cutter head is parallel to the height direction of the vehicle body.

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