Cutter head guard, cutting mechanism and robot

Abstract

A kind of cutter guard, cutting mechanism and robot, the cutter guard includes cover body and the guard edge strip of compressible deformation, cover body is used to protect the blade being arranged in the inside of cover body, and the projection of the cutting area of blade covers the projection of cover body, reduce the edge distance of blade and cover body, so that the edge of cover body can be effectively cut;Guard edge strip is arranged at the edge of the cover body, and when not compressed, the projection of cutter guard covers the projection of cutting area, can effectively protect the blade, avoid the collision of blade and obstacle and suffer damage.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of grass cutting equipment, in particular to a cutter head protective cover, a cutting mechanism and a robot. BACKGROUND

[0002] With the continuous improvement of people's living standards, people have higher and higher requirements for leisure environment, and private gardens, parks, playgrounds and other places have become the best places for people to relax and entertain. At present, robots are used to trim the grass of private gardens, parks, playgrounds and other places at irregular intervals to ensure the beauty.

[0003] However, the robot uses a high-speed rotating cutter head for cutting. Since the cutter head is provided with sharp blades, the blades need to be effectively protected to protect the blades and prevent the blades from injuring the user, so as to avoid accidents. SUMMARY

[0004] The present application provides a cutter head protective cover, a cutting mechanism and a robot, which can effectively protect the blades by the cutter head protective cover, avoid damage caused by the collision of the blades and obstacles, and also utilize the compression performance of the protective edge strip to reduce the distance between the blades and the edge of the protective cover, so as to effectively cut the edge of the cutter head protective cover.

[0005] According to a first aspect of the present application, the present application provides a cutter head protective cover, comprising:

[0006] a cover body for protecting the blades arranged inside the cover body, and the projection of the cutting area of the blades covers the projection of the cover body;

[0007] a protective edge strip which is compressible and deformed and is arranged at the edge of the cover body, and when the protective edge strip is not compressed, the projection of the cutter head protective cover covers the projection of the cutting area.

[0008] In the cutter head protective cover of an embodiment of the present application, the protective edge strip has a connecting portion and an anti-collision portion made of a flexible material, and the anti-collision portion is arranged at the edge of the cover body through the connecting portion.

[0009] In the cutter head protective cover of an embodiment of the present application, the anti-collision portion comprises a plurality of flexible units arranged at intervals, the flexible units extend radially outward from the cover body and can be bent when subjected to force.

[0010] In the cutter head protective cover of an embodiment of the present application, the length of the outward extension of the flexible unit is greater than the interval between the adjacent two flexible units; and / or, a plurality of the flexible units extend in the same direction, and the extension direction of the flexible unit deviates from the radial direction of the cover body.

[0011] In the cutter guard according to an embodiment of the present application, the connecting portion has a hem structure made of a flexible material, the hem structure is arranged around the outer periphery of the cover body, and the anti-collision portion is integrally formed with the hem structure.

[0012] In the cutter guard according to an embodiment of the present application, an annular groove is arranged on the hem structure, and the connecting portion is sleeved on the outer side of the cover body through the annular groove.

[0013] In the cutter guard according to an embodiment of the present application, a projection of the cover body on a first plane is formed as a first circle, a projection of the cutting region of the blade on the first plane is formed as a second circle, and a projection of the outer boundary of the protective edge strip on the first plane is formed as a third circle when the protective edge strip is uncompressed, the first circle, the second circle and the third circle are concentric circles, 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.

[0014] In the cutter guard according to an embodiment of the present application, when at least part of the protective edge strip is compressed to a preset shape, a projection of the cutter guard coincides with part of a projection of the cutting region.

[0015] According to a second aspect of the present application, the present application further provides a cutting mechanism, which comprises:

[0016] a cutter disc provided with a blade;

[0017] The cutter guard as described above is arranged on one side of the cutter disc.

[0018] In the cutting mechanism according to an embodiment of the present application, the cutting mechanism further comprises a driving assembly for driving the cutter disc to rotate, and the cover body is rotationally connected with the driving assembly.

[0019] In the cutting mechanism according to an embodiment of the present application, the driving assembly comprises an output shaft and a driving housing, the cover body is rotationally connected with the driving housing, and the output shaft is in transmission connection with the cutter disc.

[0020] In the cutting mechanism according to an embodiment of the present application, the cutting mechanism further comprises a bearing assembly, the cover body is provided with a mounting hole, the bearing assembly is arranged in the mounting hole, and the driving housing of the driving motor is connected with an inner ring of the bearing assembly.

[0021] In the cutting mechanism of the embodiment of the present application, the bearing assembly comprises a first rolling bearing and a second rolling bearing, and the two ends of the mounting hole are respectively provided with a first sink and a second sink, the first rolling bearing is mounted in the first sink, and the second rolling bearing is mounted in the second sink.

[0022] In the cutting mechanism of the embodiment of the present application, the cutting mechanism further comprises a protective piece, the protective piece is arranged on the side of the cutter guard shield opposite to the cutter, and at least part of the structure of the protective piece exceeds the outer contour of the protective shield in the advancing direction of the robot.

[0023] In the cutting mechanism of the embodiment of the present application, the protective piece is formed with a avoiding opening, the avoiding opening is arranged on the side of the cutting mechanism away from the robot, so that the protective edge strip on the side of the avoiding opening can be in contact with the obstacle and be compressed or bent.

[0024] In the cutting mechanism of the embodiment of the present application, the cutter guard shield is rotatable, and the rotation axis of the cutter guard shield is parallel to the rotation axis of the cutter.

[0025] According to the third aspect of the present application, the present application further provides a robot comprising a main body and the above-mentioned cutting mechanism, and the cutting mechanism is arranged on the main body.

[0026] The technical scheme provided by the embodiments of the present application can have the following beneficial effects: the present application designs a cutter guard shield, a cutting mechanism and a robot, the cutter guard shield comprises a shield body and a compressible protective edge strip, the shield body is used for protecting the cutter blade arranged on the inner side of the shield body, and the projection of the cutting area of the cutter blade covers the projection of the shield body, so as to reduce the edge distance between the cutter blade and the shield body, effectively cut the edge of the shield body; the protective edge strip is arranged on the edge of the shield body, and when the protective edge strip is not compressed, the projection of the cutter guard shield covers the projection of the cutting area, so as to effectively protect the cutter blade and avoid damage caused by collision between the cutter blade and the obstacle.

[0027] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the technical scheme of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0029] Figure 1is a structural schematic diagram of a cutting mechanism provided by an embodiment of the present application;

[0030] Figure 2 is Figure 1 is a sectional schematic diagram of the cutting mechanism in

[0031] Figure 3 is Figure 1 is a schematic diagram of the cutting mechanism in a stretched state when the vehicle body in

[0032] Figure 4 is Figure 1 is a schematic diagram of the cutting mechanism in contact with an obstacle in

[0033] Figure 5 is Figure 1 is a schematic diagram of the cutting mechanism in a compressed state in

[0034] Figure 6 is Figure 1 is a partial sectional schematic diagram of the cutting mechanism in

[0035] Figure 7 is Figure 1 is a sectional schematic diagram of the cutting assembly in

[0036] Figure 8 is Figure 1 is an exploded schematic diagram of the cutting assembly in

[0037] Figure 9 is Figure 1 is an exploded schematic diagram of the protective cover in

[0038] Figure 10 is Figure 1 is a structural schematic diagram of the blade in

[0039] Figure 11 is Figure 1 is an exploded schematic diagram of the connecting arm in

[0040] Figure 12 is Figure 1 is an exploded schematic diagram of the mounting assembly in

[0041] BRIEF DESCRIPTION OF DRAWINGS

[0042] 1000, cutting mechanism; 2000, robot body;

[0043] 100, cutting assembly; 101, first region; 102, second region; 10, protective cover; 11, cover body; 111, mounting hole; 1111, first sink; 1112, second sink; 12, protective edge; 121, anti-collision part; 122, connecting part; 123, edge covering structure; 20, cutter head; 21, blade; 211, cutting section; 212, protection section; 213, blade mounting part; 22, rotating disc; 221, fan structure; 30, drive motor; 31, motor body; 32, drive housing; 311, output shaft; 40, bearing assembly; 41, first rolling bearing; 42, second rolling bearing; 50, abutting piece; 60, transmission piece;

[0044] 200, connecting arm; 201, first connecting rod; 2011, first connecting part; 2012, second connecting part; 2013, threaded hole; 202, second connecting rod; 2021, first engaging part; 2022, second engaging part; 203, adjusting piece; 2031, adjusting screw; 2032, elastic piece;

[0045] 300, mounting assembly; 301, mounting part; 3011, limiting groove; 302, rotating part; 3021, first mounting hole; 3022, second mounting hole; 3023, limiting column; 303, reset piece; 304, connecting shaft;

[0046] 400, obstacle. DETAILED DESCRIPTION

[0047] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work are within the protection scope of the present application.

[0048] It should also be understood that the terms used in the description of the present application are only for the purpose of describing specific embodiments of the present application and it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate the orientation or positional relationship shown in the drawings based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are only for the purpose of description and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0049] Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The following examples and features in the examples can be combined with each other without conflict.

[0050] As shown in Figures 1 to 12 The present application provides a robot, which includes a robot body 2000 and a cutting mechanism 1000, the robot body 2000 includes a vehicle body and a moving assembly, the cutting mechanism 1000 is arranged on the vehicle body, and the moving assembly is arranged on the vehicle body to drive the vehicle body to move, so that the cutting mechanism 1000 can cut during movement. Wherein, the cutting mechanism 1000 includes a connecting assembly and a cutting assembly 100, the cutting assembly 100 is connected with the vehicle body through the connecting assembly, and the cutting assembly 100 is located on the side of the vehicle body.

[0051] In the present embodiment, the cutting assembly 100 includes a cutter head 20 and a protective device, the cutter head 20 is provided with a blade 21, and the protective device is arranged above the cutter head to effectively protect the blade 21 and avoid damage caused by collision between the blade 21 and obstacles, thereby prolonging the service life of the cutter head 20 and the blade 21.

[0052] In an optional embodiment, as shown in Figures 1 to 4 When the protective device contacts the passageway edge, the wall surface or the fence obstacle 400 during cutting, the protective device can rotate relative to the passageway edge, the wall surface or the fence obstacle 400, thereby reducing the wear of the protective device during cutting by the cutting assembly 100.

[0053] In an alternative embodiment, the protection device comprises a cutter guard 10 made at least partially of a flexible material, which is rotatably connected to and covers one side of the cutter 21 to effectively protect the cutter 21 from damage caused by collision with the obstacle 400.

[0054] In an alternative embodiment, the cutter guard 10 comprises a compressible protective edge 12. When the protective edge 12 is uncompressed, the projection of at least part of the structure of the cutter guard 10 covers the projection of the cutting area of the cutter 21, effectively protecting the cutter 21 from damage caused by collision with the obstacle 400. When the protective edge 12 is compressed, the projection of the cutter guard 10 approaches the projection of the cutting area of the cutter 21, reducing the distance between the cutter 21 and the edge of the cutter guard 10, and effectively cutting the cutting object at the edge of the cutter guard 10.

[0055] For example, the cutter guard 10 further comprises a cover 11 for protecting the cutter 21, which is arranged on one side of the cutter 21, and the protective edge 12 is arranged at the edge of the cover 11. The projection of the cutting area of the cutter 21 covers the projection of the cover 11, and when the protective edge 12 is uncompressed, the projection of the cutter guard 10 covers the projection of the cutting area, effectively protecting the cutter 21 from damage caused by collision with the obstacle 400. Moreover, the cutter 21 can be made closer to the edge of the cover 11 by compressing the protective edge 12, to cut the cutting object at the edge of the cover 11.

[0056] With the above technical solution, the cutter guard 10 has a compressible protective edge 12. When the protective edge 12 is uncompressed, the projection of at least part of the structure of the cutter guard 10 covers the projection of the cutting area of the cutter 21, effectively protecting the cutter 21 from damage caused by collision with the obstacle 400. When the protective edge 12 is compressed, the projection of the cutter guard 10 approaches the projection of the cutting area of the cutter 21, avoiding the cutter 21 being completely exposed outside the protective edge 12, and reducing the distance between the cutter 21 and the edge of the cover 11, to effectively cut the cutting object at the edge of the cover 11.

[0057] For example, when the robot body 2000 drives the cutting assembly 100 to cut the cutting object in the scenarios of the edge of a passageway, a wall surface, a fence, etc., the cutting assembly 100 is driven by the connecting assembly to extend to the edge of the passageway, the wall surface, the fence, or the cutting assembly 100 is attached to the edge of the passageway, the wall surface, or the fence during the travel of the robot body 2000. At this time, the protective edge strip 12 is deformed under the extrusion of the edge of the passageway, the wall surface, the fence, or other obstacles, so that the blade 21 can approach the edge of the edge of the passageway, the wall surface, or the fence, or other obstacles, thereby effectively cutting the cutting object at the edge of the edge of the passageway, the wall surface, or the fence, or other obstacles. At the same time, when the cutting assembly 100 collides with the edge of the passageway, the wall surface, or the fence, the protective edge strip 12 can play a buffering role, reducing the impact force applied to the cutting assembly 100 when the obstacle 400 collides, and then the protective edge strip 12 is compressed and attached to the edge of the passageway, the wall surface, or the fence during the continuous travel of the robot body 2000, which can reduce the distance between the blade 21 and the edge of the cutter guard 10, thereby effectively cutting the cutting object at the edge of the cutter guard 10. In addition, the cutter guard 10 is rotatably connected, so that when the cutter guard 10 contacts the edge of the passageway, the wall surface, or the fence, or other obstacles 400, the cutter guard 10 can rotate relative to the edge of the passageway, the wall surface, or the fence, or other obstacles 400, thereby reducing the wear of the cutter guard 10 during the cutting process of the cutting assembly 100.

[0058] In an optional embodiment, the protective edge strip has a connecting portion 122 and an anti-collision portion 121 made of a flexible material, the anti-collision portion 121 is annularly arranged outside the cutter guard 10 through the connecting portion 122, the projection of the anti-collision portion 121 and the cutter guard 10 approaches the projection of the cutting area, the projection of the anti-collision portion 121 and the cutter guard 10 covers the projection of the cutting area when uncompressed, and the projection of the anti-collision portion 121 and the cutter guard 10 approaches the projection of the cutting area when compressed. The anti-collision portion 121 and the connecting portion 122 are integrally formed, and the connecting portion 122 is sleeved on one side or the circumferential side of the guard body 11, which reduces the manufacturing cost of the protective edge strip 12, and has the advantages of stable structure, high strength, long service life, etc.

[0059] In an optional embodiment, the anti-collision portion 121 includes a plurality of spaced flexible units, the flexible units extend radially outward from the connecting portion 122 and can be compressed or bent under stress, which reduces the risk of breakage of the flexible units due to friction with the obstacle 400, and also allows the end of the blade 21 to approach the edge of the cutter guard 10, thereby effectively cutting the cutting object at the edge of the cutter guard 10.

[0060] In an optional embodiment, as shown in Figure 4 ,Figure 8 and Figure 9 As shown in the figure, the length of the outward extension of the flexible unit is greater than the interval between two adjacent flexible units, so that when the robot body 2000 drives the cutting assembly 100 along the edge of the passageway, the wall surface, the fence and other obstacles, the flexible unit is in contact with the passageway edge, the wall surface, the fence and other obstacles 400 for compression when the blade 21 cuts the cutting object, and the length of the outward extension of the flexible unit is set to be greater than the interval between two adjacent flexible units, which can utilize the first compressed flexible unit to adhere to and compress the second compressed flexible unit during the compression process, so that not only can the first compressed flexible unit be buffered, but also the second compressed flexible unit can be prevented from directly colliding with the obstacle 400, the stress points of the flexible unit can be dispersed through the layer-by-layer compression between the flexible units, and the service life of the flexible unit can be improved. In the two adjacent flexible units, when the first flexible unit is extruded and deformed, the end of the first flexible unit away from the cover 11 covers the root of the second flexible unit close to the cover 11, so that each flexible unit is in contact with the obstacle through the end, and the root of the flexible unit can be prevented from being worn out, causing the flexible unit to break from the root and shortening the service life of the flexible unit.

[0061] In an optional embodiment, the flexible units are inclined to extend in the same direction along the connecting portion 122, so that when the cutting assembly 100 collides with the obstacle 400 during the process of the robot body 2000 driving the cutting assembly 100, the flexible units can play a buffering role; and when the robot body 2000 continues to drive the cutting assembly 100 to cut the cutting object, the flexible units are compressed along the obstacle 400 one by one.

[0062] For example, the flexible units are arranged in a counterclockwise direction on the outer peripheral surface of the blade guard 10, so that the compression direction of the flexible units is arranged in the counterclockwise direction of the blade guard 10, and one flexible unit is stacked on another flexible unit.

[0063] In an optional embodiment, the connecting portion 122 has a hem structure 123 made of flexible material, and the hem structure 123 is arranged around the outer periphery of the cover 11, and the anti-collision portion 121 is integrally formed with the hem structure 123, so that the connecting portion 122 can be firmly fixed on the outer periphery of the cover 11, and the anti-collision portion 121 can also play a buffering role and reduce the distance between the blade 21 and the edge of the blade guard 10, thereby effectively cutting the cutting object at the edge of the blade guard 10.

[0064] In an optional embodiment, the edge covering structure 123 is provided with an arc-shaped ring groove, and the connecting part 122 is fixed to the outer side of the cover body 11 by assembly; or the edge covering structure 123 is injection molded on the circumferential side of the cover body 11 to achieve the fixed connection between the protective edge strip 12 and the cover body 11. In this way, the assembly process between the protective edge strip 12 and the cover body 11 can be reduced, and when the protective edge strip 12 is damaged, only the protective edge strip 12 needs to be replaced without replacing the whole cutter guard 10, thereby reducing the use cost.

[0065] In an optional embodiment, the projection of the cover body 11 on the first plane is formed as a first circle, the projection of the cutting area of the blade 21 on the first plane is formed as a second circle, and the projection of the outer boundary of the protective edge strip 12 on the first plane is formed as a third circle when the protective edge strip 12 is uncompressed; 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 edge strip 12 can protect the blade 21 when uncompressed, and when the protective edge strip 12 is compressed by force, the blade 21 is deformed and closer to the edge of the obstacle, so that the blade 21 can cut the grass on the edge.

[0066] It should be noted that when the protective edge strip 12 is deformed by being pressed by the obstacle, the diameter of the third circle approaches the diameter of the first circle, at which time the edge of the cutter guard 10 contacts the edge of the obstacle, so that the blade 21 can cut the grass on the edge.

[0067] In an optional embodiment, at least part of the protective edge strip 12 is compressed to a preset shape, the projection of the cutter guard 10 overlaps part of the projection of the cutting area, so as to protect the blade 21 and avoid collision between the blade 21 and the obstacle.

[0068] In an optional embodiment, the cutting mechanism further comprises a driving assembly for driving the cutter 20 to rotate, and the cover body 11 is rotationally connected with the driving assembly, so that when the cover body 11 cuts the edge of a passageway, a wall surface, a fence or the like, the cover body 11 can contact the obstacle 400 such as the edge of the passageway, the wall surface or the fence and rotate relative to the obstacle 400, so as to reduce the wear of the protective device by the cutting assembly 100 during the cutting process.

[0069] In an alternative embodiment, the driving assembly comprises a driving motor 30 connected with the vehicle body through a connecting assembly, the driving motor 30 is in transmission connection with the blade 21 for driving the blade 21 to rotate to perform the cutting operation, the cutter guard 10 is in rotation connection with the driving motor 30 and is arranged outside the blade 21 for effectively protecting the blade 21 from being damaged by collision with the obstacle 400.

[0070] In an alternative embodiment, as shown in Figure 2 、 Figure 11 and Figure 12 , the driving motor 30 comprises a driving housing 32 and a motor body 31 with an output shaft 311, the motor body 31 is installed inside the driving housing 32, the output shaft 311 is in transmission connection with the cutter 20, the cover body 11 is in rotation connection with the driving housing 32 so that the cutter guard 10 can protect the cutter 20 while independently following the output shaft 311, when the cutter guard 10 is close to the edge of the passageway, the wall surface, the fence, etc., the cutter guard 10 can convert the contact friction force with the edge of the passageway, the wall surface and the fence, etc. into rolling friction force to reduce the damage of the protective edge strip 12 caused by friction.

[0071] In an alternative embodiment, the cutting mechanism comprises a bearing assembly 40, the cutter guard 10 is provided with a mounting hole 111, the outer ring of the bearing assembly 40 is installed in the mounting hole 111, the inner ring of the bearing assembly 40 is connected with the driving housing 32, that is, the cutter guard 10 can independently rotate without relying on the driving motor 30. When the cutting assembly 100 is close to the edge of the passageway, the wall surface, the fence, etc., the cutter guard 10 can independently rotate, so that the contact friction force between the cutter guard 10 and the edge can be converted into rolling friction force to reduce the damage of the protective edge strip 12 caused by friction.

[0072] In an alternative embodiment, the bearing assembly 40 comprises 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 connection between the cutter guard 10 and the driving housing 32.

[0073] In an alternative embodiment, the cutting mechanism further comprises a protective member arranged outside the cutter guard 10, at least part of the structure of the protective member extends in the advancing direction of the robot and beyond the outer contour of the cutter guard 10, which can effectively prevent the cutting assembly 100 from causing accidental injury in the front position, thereby improving the safety of the cutter guard 10.

[0074] In an optional embodiment, the guard member is formed with a guard portion extending towards the advancing direction of the robot and beyond the outer contour of the cutter guard 10, preventing the cutting assembly 100 from being directly in front of a person, thereby improving the safety of the cutter guard 10.

[0075] In an optional embodiment, the guard member is formed with a clearance opening arranged on the side away from the robot relative to the cutting mechanism 1000, so that the guard strip 12 on the side of the clearance opening can be in contact with and compressed by the obstacle 400, thereby reducing the distance between the blade 21 and the edge of the cutter guard 10, and effectively cutting the cutting object on the edge of the cutter guard 10.

[0076] In an optional embodiment, the guard member includes a guard strip formed in a semi-ring structure with a clearance opening, the semi-ring structure being fixedly connected to the driving motor 30 and arranged towards the advancing direction of the robot, for preventing the cutting assembly 100 from being directly in front of a person, thereby improving the safety of the cutter guard 10, and the clearance opening allowing the guard strip 12 to be compressed when in contact with the obstacle 400, thereby reducing the distance between the blade 21 and the edge of the cutter guard 10, and effectively cutting the cutting object on the edge of the cutter guard 10.

[0077] In an optional embodiment, the guard member can also include a shaped baffle of other shapes, at least a portion of the shaped baffle extending towards the advancing direction of the robot and beyond the outer contour of the cutter guard 10 to form a guard portion, and at least a portion of the shaped baffle being recessed towards the inner side to form a clearance opening, so that the guard strip 12 on the side of the clearance opening can be in contact with and compressed by the obstacle 400, thereby reducing the distance between the blade 21 and the edge of the cutter guard 10, and effectively cutting the cutting object on the edge of the cutter guard 10.

[0078] In an optional embodiment, the cutter guard 10 is arranged between the driving motor 30 and the cutter 20 and is rotationally connected to the driving housing 32 of the driving assembly, independent of the output shaft 311, so as to not only protect the cutter 20, but also independently follow the output shaft 311, when the cutter guard 10 is close to the edge of a passageway, a wall surface, a fence, etc., the contact friction force with the edge of the passageway, the wall surface and the fence, etc. can be converted into rolling friction, reducing the damage to the guard strip 12.

[0079] In an optional embodiment, the cutter guard 10 is rotatable, and the rotation axis of the cutter guard 10 is parallel to the rotation axis of the cutter 20, facilitating the rotation of the cutter guard 10 relative to the obstacle 400 when the cutter guard 10 is in contact or pressed against the obstacle 400.

[0080] In an optional embodiment, the angle between the rotation axis of the cutter guard 10 and the rotation axis of the cutter head 20 is a, wherein 0° < a < 45°.

[0081] In an optional embodiment, the rotation axis of the cutter head 20 is parallel to the height direction of the vehicle body 10.

[0082] In an optional embodiment, the cutting segments and the protection segments are arranged at intervals on the blade 21, and the protection segments 212 are used to protect non-cutting objects from entering the cutting segments 211.

[0083] In an optional embodiment, the cutting segments 211 are in a thin sheet structure to form cutting edges, and the protection segments 212 are in a thick blunt structure and protrude from the cutting end surface of the cutting segments 211, which not only protects the cutting edges, but also tears the cutting objects during cutting.

[0084] In an optional embodiment, as shown in Figure 8 and Figure 10 , the blade 21 includes a blade body, and the cutting segments 211 and the protection segments 212 are arranged on the fixed edge of the blade body and extend from the fixed edge to the cutting edge on the other side. The cutting segments 211 are mainly used for cutting the cutting objects, and the protection segments 212 are used for protecting the cutting segments 211, and the protection segments 212 can also be used for tearing the cutting objects when the cutting segments 211 cut the cutting objects. The cross-sectional area of the protection segments 212 gradually decreases in the extension direction from the fixed edge to the cutting edge, so that the spacing between two adjacent protection segments 212 increases in the extension direction of the protection segments 212, which is beneficial to increase the cutting area of the cutting segments 211 and improve the cutting effect of the cutting segments 211. In addition, when the cutting segments 211 cut the cutting objects, the cutting segments 211 cannot cut the cutting objects completely at one time, and part of the structure of the protection segments 212 on one side of the cutting segments 211 can be used for secondary tearing of the cutting objects, so as to ensure the cutting effect of the robot.

[0085] In an optional embodiment, the side of the cutter head 20 opposite to the blade 21 is provided with a fan structure for generating air flow blowing towards the blade 21.

[0086] Exemplarily, the cutter head 20 comprises a rotating disc 22, and the cutter blade 21 is mounted on the rotating disc 22. The rotating disc 22 is in transmission connection with the output shaft 311 of the driving motor 30, so as to receive the mechanical energy of the driving motor 30, so that the whole cutter blade 21 can make a circumferential motion, thereby realizing the cutting operation. The air blowing structure 221 is arranged on the side of the rotating disc 22 which is away from the cutter blade 21, for generating air flow which blows towards the cutter blade 21. The air flow can blow the cuttings after the cutting operation out of the rotating disc 22, so as to prevent the cuttings from entering into the gap between the cutter head protective cover 10 and the rotating disc 22, thereby affecting the operation of the driving motor 30, or even causing the driving motor 30 to be stuck. In addition, the air flow can also dissipate heat for the driving motor 30, so as to effectively prevent the driving motor 30 from being overheated.

[0087] In an optional embodiment, the number of cutter blades 21 can be two or more than two. When the number of cutter blades 21 is two, the two cutter blades 21 are symmetrically arranged on the two sides of the rotating disc 22. When the number of cutter blades 21 is three or more, the three or more cutter blades 21 can be arranged in an annular array around the center of the rotating disc 22 on the circumferential side of the rotating disc 22.

[0088] It should be noted that too many cutter blades 21 will cause interference between the cutter blades 21, and too few cutter blades 21 will reduce the cutting efficiency, so the number of cutter blades 21 is preferably two to three.

[0089] In an optional embodiment, one end of the cutter blade 21 is provided with a cutter blade mounting portion 213, so that the cutter blade 21 can be rotatably mounted on the rotating disc 22 through the cutter blade mounting portion 213.

[0090] In an optional embodiment, as shown in Figures 6 to 8 The cutting assembly 100 comprises an abutting piece 50 arranged below the cutter blade 21. When the cutting assembly 100 contacts the obstacle 400, the abutting piece 50 drives the cutter blade 21 to move upward, so that the whole cutting assembly 100 floats upward, thereby avoiding the collision between the cutter blade 21 and the obstacle 400, and effectively prolonging the service life of the cutter blade 21. Alternatively, when the obstacle 400 enters the bottom of the abutting piece 50, the whole cutting assembly 100 is lifted by the obstacle 400, and the cutting speed of the cutter blade 21 can be reduced, thereby avoiding the secondary damage to the cutter blade 21.

[0091] In an optional embodiment, the side of the abutting piece 50 which is away from the cutter blade 21 is an outwardly convex arc-shaped structure. The contact area between the obstacle 400 and the abutting piece 50 can be reduced, so that the cutter blade 21 can be slowly cut when contacting the obstacle 400, thereby avoiding the secondary damage to the cutter blade 21. In addition, the abutting piece 50 and the driving motor 30 can be protected, the friction between the abutting piece 50 and the obstacle 400 can be reduced, and the risk of damage to the driving motor 30 due to locked-rotor can be reduced, thereby prolonging the service life of the driving motor 30.

[0092] In an alternative embodiment, the cutting assembly 100 comprises a transmission member 60, one end of the transmission member 60 is connected with the output shaft 311 of the driving motor 30, and the other end of the transmission member 60 is connected with the rotating disc 22.

[0093] In an alternative embodiment, as shown in Figure 1 、 Figure 2 and Figure 11 , the connecting assembly comprises a connecting arm 200 and a mounting assembly 300 connected with the vehicle body, and the cutting assembly 100 is rotatably connected with the mounting assembly 300 through the connecting arm 200, so that the cutting assembly 100 can rotate relative to the vehicle body in the horizontal direction and / or the height direction, thereby adjusting the height and the extension length of the cutting assembly 100.

[0094] For example, as shown in Figures 3 to 5 , the cutting assembly 100 rotates relative to the vehicle body in the horizontal direction to form a first region 101 and a second region 102, the area of the first region 101 is larger than that 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, which can force the cutting assembly 100 to deflect towards one side of the vehicle body, i.e. the cutting assembly 100 moves from the first region 101 to the second region 102, and 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 cutting work, and the speed of the driving motor 30 driving the rotating disc 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 driving motor 30 stops driving the rotating disc 22 to drive the blade 21.

[0095] In an alternative embodiment, the connecting assembly comprises a detection assembly arranged on at least one of the vehicle body, the connecting arm 200 and the mounting assembly 300, for detecting the moving position of the cutting assembly 100; when the detection assembly detects that the cutting assembly 100 is in the first region 101, the cutting assembly 100 performs cutting work; when the detection assembly detects that the cutting assembly 100 is in the second region 102, the cutting assembly 100 stops working.

[0096] In an alternative embodiment, as shown in Figure 1 、 Figure 3 and Figure 12As shown, the mounting assembly 300 comprises a rotating part 302 and a mounting part 301 connected with the vehicle body, wherein the connecting arm 200 is rotationally connected with the rotating part 302, and the rotating part 302 is connected with the mounting part 301, so that the cutting assembly 100 can rotate in the height direction and the horizontal direction of the vehicle body. When the obstacle 400 enters the bottom of the abutting piece 50, the obstacle 400 can lift the height of the cutting assembly 100 through the abutting piece 50, so as to effectively avoid the damage of the cutting assembly 100 caused by the terrain height difference or the stone and other obstacles; when the obstacle 400 contacts or collides with the cutter head protective cover 10, the obstacle 400 can force the cutting assembly 100 to deflect towards one side of the vehicle body, so as to cut the cutting object at the edge of the passage.

[0097] It should be noted that the obstacle 400 can be a passage edge, a wall surface, a fence, etc., and the obstacle 400 can also be a stone, a branch, an uneven ground, etc., which are not limited in the present application.

[0098] In an optional embodiment, the connecting arm 200 can rotate relative to the rotating part 302 about a first axis, and the rotating part 302 can rotate relative to the mounting part 301 about a second axis, and the first axis is perpendicular to the second axis.

[0099] In an optional embodiment, the mounting assembly 300 further comprises a connecting shaft 304, and the rotating part 302 is rotationally connected to the mounting part 301 through the connecting shaft 304. The mounting part 301 is provided with a first connecting end face, and the rotating part 302 is provided with a second connecting end face, and the first connecting end face is connected with the second connecting end face in cooperation, and the connecting shaft 304 is arranged between the first connecting end face and the second connecting end face, and is used to rotationally mount the rotating part 302 on the mounting part 301.

[0100] In an optional embodiment, the first connecting end face is provided with a limiting groove 3011, and the second connecting end face is provided with a limiting column 3023. After the rotating part 302 is mounted on the mounting part 301 through the cooperation of the first connecting end face and the second connecting end face, the limiting column 3023 extends into the limiting groove 3011, and is used to limit the rotating 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 be switched between the first region 101 and the second region 102.

[0101] In an optional embodiment, the mounting assembly 300 further comprises a reset piece 303, which is used to drive the connecting arm 200 to switch in the direction of the first region 101, and also can provide a buffer force when the cutting assembly 100 collides with the obstacle 400, so as to reduce the impact force applied to the cutting assembly 100 when the obstacle 400 collides, avoid damage to the cutting assembly 100, and prolong the service life of the cutting assembly 100.

[0102] For example, the reset member 303 includes, but is not limited to, a torsion spring, which is sleeved on the outside of the connecting shaft 304 and has two ends connected with the rotating part 302 and the mounting part 301 respectively, so that the rotating part 302 can always keep the elastic force in the direction of the first area 101. When the cutting assembly 100 is in the first area 101 and contacts 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 column 3023 slides from one end of the limiting slot 3011 to the other end of the limiting slot 3011, the reset member 303 deforms to buffer the impact force generated when the cutting assembly 100 collides with the obstacle 400, and at the same time, the cutting assembly 100 can rotate relative to the mounting part 301 towards the second area 102 to form an avoiding position for avoiding the obstacle 400, at this time, the driving motor 30 gradually reduces the rotating speed of the blade 21; when the cutting assembly 100 completely enters the second area 102, the driving motor 30 stops driving the blade 21 to rotate.

[0103] In an optional embodiment, the detection assembly includes a mechanical sensor electrically connected with the driving motor 30, which is arranged between the mounting part 301 and the rotating part 302 and is used for detecting the stress of the torsion spring, so that the driving motor 30 can control its output rotating speed or stop working according to the mechanical data detected by the mechanical sensor.

[0104] For example, when the mechanical data received by the driving motor 30 is greater than a predetermined value, the driving motor 30 stops working, at this time, the cutting assembly 100 completely enters the second area 102; when the mechanical data received by the driving motor 30 is less than the predetermined value, the driving motor 30 controls its output speed according to the size of the mechanical data, so that the cutting assembly 100 can cut at different speeds in the first area 101; when the mechanical data is the smallest, the output rotating speed of the driving motor 30 is the largest, and the cutting assembly 100 is located on the side of the first area 101 far away from the second area 102; when the mechanical data approaches the predetermined value, the output rotating speed of the driving motor 30 gradually decreases, until the mechanical data is equal to the predetermined value, the driving motor 30 stops working.

[0105] It should be noted that the detection assembly can also be other sensors, such as a travel switch, which is not limited in the application.

[0106] In an optional embodiment, as Figure 1 , Figure 2 and Figure 11As shown, the connecting arm 200 comprises a first connecting rod 201, a second connecting rod 202 and an adjusting member 203, the first connecting rod 201 and the second connecting rod 202 are connected between the mounting assembly 300 and the cutting assembly 100, and the adjusting member 203 is connected between the first connecting rod 201 and the second connecting rod 202, for adjusting the amplitude of the swing of the connecting arm, so as to adjust the height of the cutting assembly 100 from the ground, and then the cutting height of the cutting object can be adjusted.

[0107] As shown in Figure 2 , Figure 11 and Figure 12 , the motor body 31 is installed on the inner side of the driving housing 32, the driving housing 32 is provided with two first connecting holes spaced apart in the height direction, the rotating part 302 is provided with a first mounting hole 3021 and a second mounting hole 3022 spaced apart, and the two ends of the first connecting rod 201 are respectively rotatably connected to the first mounting hole 3021 and one of the first connecting holes, and the two ends of the second connecting rod 202 are respectively rotatably connected to the second mounting hole 3022 and the other first connecting hole, 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.

[0108] As shown in the examples, the two ends of the first connecting rod 201 are respectively provided with a first connecting part 2011 and a second connecting part 2012; the two ends of the second connecting rod 202 are respectively provided with a first connecting part 2021 and a second connecting part 2022, the first connecting part 2011 and the first connecting part 2021 are rotatably connected to the two first connecting holes, and the second connecting part 2012 and the second connecting part 2022 are 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 be extended or retracted towards one side of the second connecting rod 202, so as to change the floating angle of the motor body 31 by adjusting the distance between the first connecting rod 201 and the second connecting rod 202, and then the cutting height can be adjusted.

[0109] In an optional embodiment, the adjusting member 203 comprises 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, and the elastic member 2032 is arranged between the first connecting rod 201 and the second connecting rod 202.

[0110] In the description of the application, it is necessary to explain that, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting" should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integrally connected. It can be mechanical connection, or electrical connection. It can be direct connection, or indirect connection through intermediate medium, or internal communication of two elements or interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0111] In the present application, unless otherwise explicitly specified and limited, the first feature "on" or "under" the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "over" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the first feature is higher in horizontal height than the second feature. The first feature "under", "below" and "under" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the first feature is lower in horizontal height than the second feature.

[0112] The above disclosure provides many different implementations or examples to implement the different structures of the present application. In order to simplify the disclosure of the present application, the components and arrangements of specific examples are described in the above. Of course, they are only examples, and the purpose is not to limit the present application. In addition, the present application can repeatedly refer to numbers and / or letters in different examples, and such repetition is for the purpose of simplification and clarity, which itself does not indicate the relationship between the various embodiments and / or arrangements discussed. In addition, the present application provides examples of various specific processes and materials, but those skilled in the art can realize the application of other processes and / or the use of other materials.

[0113] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

Claims

1. A cutter head protective cover, characterized in that, include: A cover is used to protect the blade disposed inside the cover, and the projection of the cutting area of ​​the blade covers the projection of the cover. The protective edge strip is compressible and deformable and is arranged on the edge of the cover. When the protective edge strip is not compressed, the projection of the cutter head protective cover covers the projection of the cutting area. The lowest position of the protective edge strip is higher than the cutting height of the blade. By utilizing the compressibility of the protective edge strip, the distance between the blade and the edge of the cutter head protective cover is reduced, thereby effectively cutting the edge of the cutter head protective cover.

2. The cutter head protective cover according to claim 1, characterized in that, The protective edge strip has a connecting part and an anti-collision part made of flexible material, and the anti-collision part is arranged on the edge of the cover through the connecting part.

3. The cutter head protective cover according to claim 2, 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.

4. The cutter head protective cover according to claim 3, characterized in that, The outward extension length of the flexible unit is greater than the spacing between two adjacent flexible units; and / or, multiple flexible units extend in the same direction, and the extension direction of the flexible units deviates from the radial direction of the cover.

5. The cutter head protective cover according to any one of claims 2 to 4, 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.

6. The cutter head protective cover according to claim 5, 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.

7. The cutter head protective cover according to any one of claims 1 to 6, characterized in that, The projection of the cover onto the first plane forms a first circle, the projection of the cutting area of ​​the blade onto the first plane forms a second circle, and the projection of the outer boundary of the protective strip onto the first plane when it is not compressed forms 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.

8. The cutter head protective cover according to claim 1, characterized in that, When at least a portion of the protective edge strip is compressed into a preset shape, the projection of the cutter head protective cover coincides with a portion of the projection of the cutting area.

9. A cutting mechanism, characterized in that, The cutting mechanism includes: A cutter head, wherein the cutter head is provided with blades; The cutter head protective cover as described in any one of claims 1 to 8, wherein the cutter head protective cover is disposed on one side of the cutter head.

10. The cutting mechanism according to claim 9, characterized in that, The cutting mechanism further includes a drive assembly for driving the cutter head to rotate, and the cover is rotatably connected to the drive assembly.

11. The cutting mechanism according to claim 10, characterized in that, The drive assembly includes an output shaft and a drive housing. The cover is rotatably connected to the drive housing, and the output shaft is drively connected to the cutter head.

12. The cutting mechanism according to claim 10, characterized in that, The cutting mechanism also includes a bearing assembly. The cover has a mounting hole, and the bearing assembly is disposed in the mounting hole. The drive housing of the drive assembly is connected to the inner ring of the bearing assembly.

13. The cutting mechanism according to claim 12, 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.

14. The cutting mechanism according to claim 9, characterized in that, The cutter head protective cover is rotatable, and the rotation axis of the cutter head protective cover is parallel to the rotation axis of the cutter head.

15. A robot, characterized in that, It includes a main body and a cutting mechanism as described in any one of claims 9 to 14, the cutting mechanism being disposed on the main body.

16. The robot according to claim 15, characterized in that, The cutting mechanism also includes a protective member disposed on the side of the cutter head protective cover opposite to the cutter head, and at least a portion of the structure of the protective member extends beyond the outer contour of the protective cover in the robot's forward direction.

17. The robot according to claim 16, characterized in that, The protective component has an obstacle clearance formed on it. The obstacle clearance 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 obstacle clearance can contact the obstacle and be compressed or bent.

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