Cutting mechanism and self-moving robot

Abstract

The invention discloses a cutting mechanism and a self-moving robot, the cutting mechanism is applied to the self-moving robot, the cutting mechanism comprises a cleaning assembly, a cutting assembly and a driving assembly, the cleaning assembly comprises a first through hole, the cleaning assembly at least partially covers a chassis part of the self-moving robot, and the cutting assembly comprises a second through hole; the cutting assembly is used for cutting a to-be-cut object in a working area; the driving assembly comprises a driving part used for providing driving force, the driving part sequentially penetrates through the first through hole and the second through hole in the first direction of the cutting mechanism, the cutting assembly and the cleaning assembly are arranged in a spaced mode, and the driving part drives the cutting assembly to rotate; the cleaning assembly at least has a first operation state and a second operation state, and in the first operation state, the cutting assembly moves relatively independently during normal work; and in the second working state, the cleaning assembly passively rotates along with the cutting assembly, and the cutting efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of cutting mechanisms, and in particular to a cutting mechanism and a self-moving robot. Background Art

[0002] When a cutting mechanism such as a lawn mower is in use, the cutting mechanism is prone to the problem of debris accumulation (such as weed accumulation), and the accumulated debris needs to be cleaned up in time, otherwise the debris in this part is easily rolled into the inside of the blade rotating shaft by the blade of the cutting mechanism, thereby causing the rotation speed of the blade to decrease, making the cutting efficiency of the cutting mechanism worse. Summary of the invention

[0003] In view of this, the present application provides a cutting mechanism and a self-moving robot for improving cutting efficiency.

[0004] A first aspect of an embodiment of the present application provides a cutting mechanism, which is applied to a self-moving robot, and the cutting mechanism includes a cleaning component, a cutting component and a driving component, wherein the cleaning component includes a first through hole, the cleaning component at least partially covers the chassis part of the self-moving robot, the cutting component includes a second through hole, and the cutting component is used to cut the object to be cut in the working area; the driving component includes a driving part for providing driving force, along the first direction of the cutting mechanism, the driving part sequentially penetrates the first through hole and the second through hole, the cutting component and the cleaning component are arranged at intervals, and the driving part drives the cutting component to rotate; the cleaning component has at least a first working state and a second working state, in the first working state, the cutting component moves relatively independently during normal operation; in the second working state, the cleaning component passively rotates with the cutting component.

[0005] In the cutting mechanism provided in the present application, the cleaning component has at least a first operating state and a second operating state. In the first operating state, the cutting component moves relatively independently during normal operation to achieve a cutting effect; in the second working state, the cleaning component passively rotates with the cutting component. During the rotation, the cleaning component can throw out the debris accumulated during the cutting process of the cutting component, effectively improving the jamming problem caused by the accumulation of debris during the cutting process and improving the cutting efficiency.

[0006] A second aspect of an embodiment of the present application provides a self-moving robot, which includes a walking device, a body, and the cutting mechanism mentioned in the first aspect of the embodiment of the present application, wherein the body includes a shell assembly and a chassis assembly, wherein the shell assembly and the chassis assembly form a first accommodating space; the chassis assembly has an installation space in a direction away from the shell assembly, and the chassis assembly has an installation through hole; a driving assembly is arranged in the first accommodating space, and a cleaning assembly and a cutting assembly are arranged in the installation space; and the driving unit drives and connects the cutting assembly by penetrating the installation through hole.

[0007] It can be understood that the beneficial effects of the second aspect mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here.

[0008] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the following specifically cites the embodiments of the present application and describes them in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0010] Figure 1 This is a schematic diagram of the modules of the self-propelled robot in this application;

[0011] Figure 2 A structural diagram of a partial structure of a self-moving robot in the present application at a first viewing angle;

[0012] Figure 3 for Figure 1 An exploded view of the structure shown in the second perspective;

[0013] Figure 4 for Figure 3 A further exploded view of the structure shown in FIG. 1 from a third perspective;

[0014] Figure 5 for Figure 1 A top view of the structure shown in;

[0015] Figure 6 for Figure 5 The cross-sectional view at the AA section;

[0016] Figure 7 for Figure 6 The enlarged view of point B in the middle;

[0017] Figure 8 for Figure 2 A cleaning rotating member used in the structure shown;

[0018] Fig. 9 for Figure 8 The cross-sectional view of the CC section;

[0019] Fig.10 for Figure 2 Another cleaning rotating member used in the structure shown

[0020] Fig.11 for Fig.10Front view of

[0021] Fig.12 for Figure 2 Another cleaning rotating member used in the structure shown;

[0022] Fig.13 for Fig.12 A use state of the cleaning rotating part is shown.

[0023] Reference numerals:

[0024] 1000-self-moving robot, 1-machine body, 10-shell assembly, 11-chassis assembly, 110-installing through hole, 111-chassis, 12-first accommodating space, 13-installing space, 2-walking device, 3-cutting mechanism, 30-cleaning assembly, 300-first through hole, 301-connecting bearing, 302-cleaning rotating member, 3020-cleaning rotating part, 3021-cleaning mounting seat, 3022-installing groove, 3023-annular protrusion, 3024-bristles, 3025-scraper, 31-cutting assembly, 310-second through hole, 311-first transmission assembly, 3110-first transmission member, 312-knife disc assembly, 313-resisting convex part, 32-driving assembly, 320-driving part, 3201-output shaft, first angle-α1, X-length direction, Y-width direction, Z-height direction. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme of the embodiments of the present application is clearly and completely described below in conjunction with the drawings of the embodiments of the present application. Obviously, the described embodiments are only embodiments of a part of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work should fall within the scope of protection of this application.

[0026] Unless otherwise defined, the technical or scientific terms used herein shall have the usual meaning as understood by a person of ordinary skill in the field to which this application belongs. The words "one", "an" or "the" and the like used in this application do not indicate a quantitative limitation, but are only used to indicate the presence of at least one. The words "include" or "comprise" and the like mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. The words "connect" or "connected" and the like are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

[0027] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0028] The following will be combined with the attached examples of the present application Figure 1 -Attached Fig.13 , each technical solution in the embodiment of the present application is described clearly and completely, wherein it should be noted that the length direction X, width direction Y and height direction Z marked in multiple drawings are marked with reference to the length direction X, width direction Y and height direction Z of the cutting mechanism 3, and the directions of each drawing are kept unified for the convenience of readers' reference and understanding.

[0029] Please refer to Figures 1 to 13 The present application first provides a self-propelled robot 1000, which can be referred to Figure 1 The self-propelled robot 1000 includes a body 1, a walking device 2 and at least one cutting mechanism 3. The self-propelled robot 1000 includes but is not limited to a lawn mower, etc. The following takes the self-propelled robot 1000 as an example of a lawn mower to illustrate the invention of the present application.

[0030] For example, in the existing lawn mowers, during the use of the lawn mower, the lawn mower will have the problem of grass residue accumulation in real time, and the accumulated grass residue also needs to be cleaned up in time, otherwise the grass residue in this part will be easily rolled into the inside of the blade rotating shaft by the lawn mower's reel, thereby causing the rotation speed of the blade to decrease, making the mowing effect of the lawn mower worse.

[0031] In addition, after the lawn mower has completed an operation, in order to ensure the subsequent use effect, the user needs to manually clean the grass residues accumulated on the lawn mower. Manual cleaning is not only difficult to operate, but also has low efficiency and limited cleaning effect, and cannot completely clean the grass residues accumulated on the lawn mower. Therefore, in the subsequent use of the lawn mower, the grass residues remaining on the chassis are not only easily drawn into the rotating shaft of the cutter disc in the subsequent process, but the lawn mower will also accumulate grass residues again in the subsequent operation process, causing the load on the chassis caused by the grass residues to gradually increase, affecting the subsequent operation of the lawn mower.

[0032] You can continue to refer to Figures 2 to 7 The cutting mechanism 3 includes a cleaning component 30, a cutting component 31 and a driving component 32. The cutting mechanism 3 can be two (not shown in the figure), or three, four or other multiple schemes can be set according to the size of the self-moving device.

[0033] The cleaning assembly 30 includes a first through hole 300 . The cleaning assembly 30 at least partially covers the chassis of the self-moving robot 1000 so as to be able to clean the chassis of the self-moving robot 1000 .

[0034] The cutting component 31 includes a second through hole 310, which is connected to the first through hole 300. The cutting component 31 is used to cut the object to be cut in the working area, wherein the cutting working area refers to the range in which the cutting component 31 can cut after the mobile robot 1000 moves to the target position, from the object to be cut to the target that the cutting component 31 needs to cut, such as weeds.

[0035] The driving assembly 32 includes a driving part 320 for providing driving force. The driving part 320 includes but is not limited to a motor, a driving rod group or other structures capable of applying driving force to the cutting assembly 31 .

[0036] Along the first direction of the cutting mechanism 3 (refer to the height direction Z in the figure), the driving part 320 is sequentially penetrated by the first through hole 300 and the second through hole 310, the cutting component 31 and the cleaning component 30 are arranged at intervals, and the driving part 320 drives the cutting component 31 to rotate, so as to realize the driving effect on the cutting component 31, so that the cutting component 31 rotates. During operation, the driving part can drive the cutting component 31 to rotate at a higher speed, so as to cut the object to be cut.

[0037] The cleaning assembly 30 has at least a first operating state and a second operating state. In the first operating state of the cleaning assembly 30, the cutting assembly 31 rotates independently under the drive of the driving unit 320, that is, the motion state of the cutting assembly 31 and the motion state of the cleaning assembly 30 are relatively independent. In other words, at this time, the cleaning assembly 30 can be in a non-rotating state, and the cutting assembly 31 rotates under the drive of the driving unit 320.

[0038] In the second working state of the cleaning assembly 30 , the cleaning assembly 30 passively rotates along with the cutting assembly 31 . At this time, both the cleaning assembly 30 and the cutting assembly 31 rotate.

[0039] Exemplarily, when the cutting assembly 31 rotates, debris is generated, and part of the debris is accumulated on the surface of the cleaning assembly 30. Before the debris on the surface of the cleaning assembly 30 accumulates to a preset thickness, the cleaning assembly 30 is in a first operating state.

[0040] It should be noted that when the self-propelled robot 1000 is a lawn mower, the debris may be grass clippings. When the lawn mower is cutting the lawn, grass clippings may accumulate on the surface of the cleaning component 30 during the process of the cutting component 31 cutting the grass.

[0041] After the debris on the surface of the cleaning component 30 facing the cutting component 31 accumulates to a preset thickness, the debris creates a connection between the cleaning component 30 and the cutting component 31. When the cutting component 31 rotates, the cleaning component 30 rotates accordingly. At this time, the cleaning component 30 is in a second operating state. During the rotation of the cleaning component 30, the debris attached to the surface of the cleaning component 30 is thrown out, thereby reducing the amount of debris attached to the surface of the cleaning component 30.

[0042] Therefore, the cutting mechanism 3 provided in the present application can effectively improve the problem of the cutting mechanism 3 being stuck due to the accumulation of debris during the cutting process, thereby improving the cutting efficiency of the cutting mechanism 3.

[0043] Please refer to Figure 7 In some embodiments, the cleaning assembly 30 further includes a connecting bearing 301 having an inner ring capable of rotating independently.

[0044] The inner ring of the connecting bearing 301 is mounted on the first transmission assembly 311. In the first operating state, when the driving part 320 rotates, the first transmission assembly 311 drives the cutter disc assembly 312 to rotate independently. At this time, the cleaning assembly 30 can remain stationary, and the cleaning assembly 30 will not rotate with the rotation of the first transmission assembly 311 and the cutter disc assembly 312.

[0045] In the second working state, the cleaning component 30 is passively rotated by the connecting bearing 301 under the action of external force. At this time, the cumulative thickness of the debris on the surface of the cleaning component 30 reaches a preset thickness, and the cleaning component 30 is connected to the blade disc component 312 through the debris accumulation. Therefore, the driving force of the driving unit 320 will be transmitted to the cleaning component 30 through the blade disc component 312 and the debris accumulation, thereby causing the cleaning component 30 to rotate.

[0046] In other words, the connecting bearing 301 can separate the movement states of the cleaning component 30 and the cutting component 31. When the blade disc component 312 rotates, due to the setting of the connecting bearing 301, the cleaning component 30 can be independent of the blade disc component 312, that is, the cleaning component 30 can stop rotating. When the cleaning component 30 and the blade disc component 312 are connected due to debris accumulation, the cleaning component 30 will passively rotate with the blade disc component 312 due to friction, so that the debris accumulation is thrown out.

[0047] Since the cleaning component 30 can achieve a relatively independent movement effect with the cutter disc component 312 by directly connecting to the outer ring of the connecting bearing 301, the cleaning component 30 can be arranged on the outer periphery of the first transmission component 311, and achieve relatively independent movement with the cutter disc component 312 through the connecting bearing 301. The setting of the connecting bearing 301 not only simplifies the connection method between the cleaning component 30 and the cutter disc component 312, but also reduces the size of the cutting mechanism 3 in the height direction Z to a certain extent, that is, reduces the total volume of the cutting mechanism 3, and reduces the space occupied by the cutting mechanism 3 in the installation space 13.

[0048] Alternatively, the miniaturization of the cutting mechanism 3 can reduce the volume of the installation space 13 to a certain extent, thereby reducing the volume of the body 1 in the self-moving robot 1000 and making the self-moving robot 1000 more miniaturized.

[0049] Taking the self-propelled robot 1000 as an example of a lawn mowing robot, the robot body 1 may also need to form a certain adsorption space to accommodate the grass clippings cut by the blade assembly 312. In the above embodiment, since the setting of the connecting bearing 301 reduces the size of the cutting mechanism 3 in the height direction Z, the volume of the installation space 13 can be reduced to a certain extent. At this time, the reduced volume of the installation space 13 can be used to put it into the adsorption space, so that the lawn mowing robot can adsorb more weeds, thereby increasing the amount of mowing work in a single operation of the lawn mowing robot, reducing the time spent by the lawn mowing robot on unloading grass, and thus improving the operating efficiency of the lawn mowing robot.

[0050] Please refer to Figure 6 Optionally, the cleaning component 30 also includes a cleaning rotating member 302. Along the radial direction of the driving portion 320 (refer to the length direction X and width direction Y of the cutting mechanism 3 in the figure), the gap between the cleaning rotating member 302 and the blade disc assembly 312 gradually increases in the direction away from the connecting bearing 301. In this way, the edge of the cleaning rotating member 302 is arranged close to the chassis assembly 11. When the cleaning rotating member 302 rotates, the rotating surface formed by its edge is closer to the chassis assembly 11 than the rotating surface formed in its middle. Therefore, the edge of the cleaning rotating member 302 can further prevent debris from splashing from the gap between the chassis assembly 11 and the cleaning component 30 and adhering to the surface of the chassis assembly 11, thereby ensuring the cleanliness of the chassis assembly 11.

[0051] In addition, in the above-mentioned embodiment, since the gap between the cleaning rotating member 302 and the blade disc assembly 312 gradually increases in the direction away from the connecting bearing 301 along the radial direction of the driving portion 320 (refer to the length direction X and width direction Y of the cutting mechanism 3 in the figure), the spacing between the cleaning component 30 and the blade disc assembly 312 gradually increases along the radial direction of the driving portion 320, and the space between the two is flared. When the cleaning component 30 rotates, grass clippings are thrown out in the direction away from the driving portion 320 under the action of centrifugal force, and will not adhere to the surface portion of the cleaning component 30 away from the driving portion 320 for a second time, thereby improving the cleaning effect of the cleaning component 30.

[0052] Please refer to Figures 8 to 11 Optionally, the cleaning rotating member 302 includes a cleaning rotating portion 3020 and a cleaning mounting seat 3021, and the cleaning mounting seat 3021 is used to connect other structures to establish a connection relationship between the cleaning rotating portion 3020 and the other structures. The cleaning rotating portion 3020 is used to provide an attachment surface for debris and to cover the chassis assembly 11 to a certain extent to reduce the amount of debris attached to the surface of the chassis assembly 11.

[0053] The cleaning mounting seat 3021 is formed with a mounting groove 3022, and a portion of the connecting bearing 301 is located in the mounting groove 3022. The mounting groove 3022 provides an installation space 13 for the connecting bearing 301. In the height direction Z of the cutting assembly 31, the side wall of the mounting groove 3022 can constrain the position of the connecting bearing 301, thereby forming a certain positioning effect on the connecting bearing 301. In this way, during the rotation of the cleaning assembly 30, the cleaning rotating member 302 and the connecting bearing 301 can maintain a stable connection state.

[0054] One end of the cleaning rotating part 3020 is connected to the cleaning mounting seat 3021, and the other end extends along the radial direction of the driving part 320. When the cleaning rotating member 302 rotates, the cleaning rotating part 3020 rotates to throw out the debris attached to its surface.

[0055] Furthermore, there is a second preset distance d2 between the cleaning component 30 and the cutting component 31 (refer to Figure 7 ), the second preset distance d2 can be set in the range of 5 mm to 15 mm. Within this distance range, direct friction between the cleaning component 30 and the chassis 111 can be effectively avoided while ensuring that it is close enough to the chassis 111 to capture debris.

[0056] Optionally, the second preset distance d2 may be 5 mm to 8 mm, which can reduce the distance between the cleaning component 30 and the cutting component 31 , thereby enabling timely cleaning of grass residues and improving the cleaning efficiency of the cutting mechanism 3 .

[0057] Optionally, the second preset distance d2 is 8 mm to 12 mm, which can avoid frequent activation of the cleaning component 30 to avoid affecting the cutting efficiency of the cutting component 31.

[0058] Optionally, the second preset spacing d2 is 12 mm to 15 mm, so that the cutting mechanism 3 is suitable for the requirement of removing larger volumes of debris. This setting can maintain a wider gap between the cleaning component 30 and the chassis 111, so that the self-mobile robot 1000 is suitable for a variety of terrain conditions or can still operate stably when the mower chassis 111 is slightly tilted.

[0059] Please refer to Figure 8 and Fig. 9 Optionally, the cleaning rotating member 302 includes an annular protrusion 3023, which is protruding from the side of the cleaning rotating member 302 facing the blade disc assembly 312, and the annular protrusion 3023 and the blade disc assembly 312 are intermittently arranged to ensure that the cleaning rotating member 302 and the blade disc assembly 312 can move relatively independently.

[0060] Among them, the annular protrusion 3023 can also block the debris from approaching the transmission part to a certain extent, that is, the debris is difficult to adhere to the surface of the cleaning rotating part 302 close to the driving part 320, or the debris is difficult to splash to the driving part 320, and further prevents the debris from being rolled into the interior of the driving part 320 by the output shaft 3201, which not only reduces the difficulty of cleaning the cutting mechanism 3, but also extends the service life of the driving component 32 to a certain extent.

[0061] The cleaning rotating member 302 may have various forms. Figure 8 The cleaning rotating part 302 is a disc-shaped rotating part. During the operation of the self-mobile robot 1000, the debris formed by the cutting of the blade disc assembly 312 can splash and adhere to the surface of the cleaning rotating part 302, and can continue to accumulate until the cleaning component 30 is connected to the blade disc assembly 312 through the debris accumulation, so that the cleaning component 30 rotates and the debris accumulation is thrown out to reduce the additional load brought by the debris accumulation to the fuselage.

[0062] In some other embodiments, please refer to Fig.10 and Fig.11 The cleaning rotating member 302 is a scraper-type structure with a narrow width and an overall strip-shaped structure. When the cleaning component 30 is in the first operating state, since the cleaning rotating member 302 cannot fully cover the surface of the chassis component 11 facing the cleaning component 30, grass residues will accumulate on the surface of the chassis component 11 facing the cleaning component 30. When the cleaning component 30 is switched to the second operating state, the cleaning rotating member 302 rotates, and the scraper part of the cleaning rotating member 302 can remove the grass residues accumulated on the surface of the chassis component 11.

[0063] For reference Fig.10 The cleaning rotating member 302 may be a strip scraper. When the cleaning rotating member 302 rotates, the cleaning rotating portion 3020 of the strip scraper will drop the grass residue attached to the surface of the chassis assembly 11.

[0064] Furthermore, if Fig.11 As shown, the cleaning rotating part 3020 of the strip scraper also includes a scraper 3025, which is connected to the cleaning mounting seat 3021 and rotates with the rotation of the cleaning mounting seat 3021, wherein the scraper 3025 is used to scrape off grass residues attached to the surface of the chassis assembly 11. Fig.11 In the height direction Z shown in the figure, on the side of the cleaning rotating member 302 away from the cutting assembly 31, the surface of the scraper 3025 is set higher than the surface of the annular protrusion. In this way, when the cleaning rotating member 302 rotates, the scraper 3025 can contact the surface of the chassis assembly 11 and scrape the grass residue attached to the surface of the chassis assembly 11 away from the chassis assembly 11, thereby achieving the cleaning effect of the cleaning rotating member 302 on the chassis assembly 11.

[0065] Furthermore, a cleaning assembly 30 may be provided with a plurality of strip scrapers to increase the cleaning effect of the cleaning assembly 30 on the chassis assembly 11 .

[0066] Optionally, refer to Fig.12 The cleaning rotating member 302 can also be a strip-shaped scraper, and bristles 3024 are provided on the cleaning rotating part 3020 of the cleaning rotating member 302. The bristles 3024 are used to sweep away grass residues attached to the surface of the chassis component 11. Since the width of the cleaning rotating member 302 is narrow and the overall strip-shaped structure, when the cleaning component 30 is in the first operating state, since the cleaning rotating member 302 cannot fully cover the surface of the chassis component 11 facing the cleaning component 30, grass residues will accumulate on the surface of the chassis component 11 facing the cleaning component 30. When the cleaning component 30 is switched to the second operating state, the cleaning rotating member 302 rotates, and the scraper part of the cleaning rotating member 302 can remove the grass residues accumulated on the surface of the chassis component 11.

[0067] Optionally, a cleaning assembly 30 may be provided with a plurality of strip-shaped scraping brushes to increase the cleaning effect of the cleaning assembly 30 on the chassis assembly 11 .

[0068] Optionally, the cleaning component 30 includes both a strip scraper and a strip scraper brush to improve the cleaning effect of the cleaning component 30 on the chassis component 11 .

[0069] For reference Fig.13When the cleaning rotating member 302 is a strip-shaped scraper brush, when the cleaning component 30 is in the first working state, the ends of the bristles need to be attached to the surface of the chassis component 11, so that when the cleaning component 30 is in the second working state, the bristles can contact the chassis component 11 and sweep away the grass residues accumulated on the surface of the chassis component 11. Therefore, in some embodiments, in the height direction Z shown in the figure, when the cleaning component 30 is in the first working state, the bristles can bend and deform under the pressure of the chassis component 11, so that when the cleaning component 30 is in the second working state, the bristles can contact the surface of the chassis component 11 and sweep away the grass residues accumulated on the surface of the chassis component 11, thereby completing the cleaning operation of the chassis component 11.

[0070] Further, please refer again to Fig. 9 In the radial direction of the driving part 320, the angle between the line connecting the center area position of the cleaning rotating member 302 and the end point position of the cleaning rotating member 302 and the radial direction is between 5-15 degrees, that is, the first angle α1 in the figure is between 5-15 degrees.

[0071] In this way, the projection area of ​​the cleaning rotating member 302 in the height direction Z of the cutting component 31 is guaranteed, so that the cleaning rotating member 302 can cover a larger area of ​​the cleaning component 30. In addition, the inclined setting of the edge portion of the cleaning rotating member 302 relative to the middle portion can also block debris from splashing into the space between the cleaning component 30 and the chassis component 11 to a certain extent, further reducing the situation where debris adheres to the surface of the cleaning component 30.

[0072] Furthermore, in the second operating state of the cleaning component 30, in the extension direction of the driving part 320 (refer to the height direction Z of the cutting component 31), the projection area formed when the cleaning component 30 rotates is greater than or equal to the projection area formed when the cutting component 31 rotates. In this way, when the cutting component 31 is operating and the debris is driven by the cutting component 31 and splashed, the cleaning component 30 can cover the splashing range of the debris more comprehensively, thereby further reducing the situation where the debris splashes and adheres to the chassis component 11.

[0073] Please refer back Figure 4In some embodiments, the cutting assembly 31 has a first transmission assembly 311 and a cutter disc assembly 312 which are installed in cooperation with the output shaft 3201 of the driving unit 320, wherein the first transmission assembly 311 is used to transmit and connect the output shaft 3201 and the cutter disc assembly 312. In this way, on the first hand, when the output shaft 3201 of the driving unit 320 is small in size, or the output shaft 3201 is far away from the cutter disc assembly 312, the output shaft 3201 and the cutter disc assembly 312 cannot be directly connected. In order to avoid interference between the cutter disc assembly 312 and other structures, the distance difference between the cutter disc assembly 312 and the output shaft 3201 can be compensated by setting the first transmission assembly 311, so that the output shaft 3201 and the cutter disc assembly 312 can be driven and connected at a farther distance; on the second hand, the setting of the first transmission assembly 311 can increase the connection strength between the output shaft 3201 and the cutter disc assembly 312 to a certain extent.

[0074] The cutter disc assembly 312 is installed on the first transmission assembly 311, and the first transmission assembly 311 can transmit and connect the output shaft 3201 and the cutter disc assembly 312. When the cutting assembly 31 is working, the output shaft 3201 drives the first transmission assembly 311 to rotate, thereby driving the cutter disc assembly 312 to rotate.

[0075] Please refer to Figure 6 and Figure 7 , and refer to other drawings as appropriate. When the output shaft 3201 is directly connected to the cutter disc assembly 312, since the first transmission assembly 311 is also connected to the cutter disc assembly 312, and the first transmission assembly 311 can transmit and connect the output shaft 3201 and the cutter disc assembly 312, it is equivalent to increasing the connection area between the output shaft 3201 and the first transmission assembly 311; when the output shaft 3201 is connected to the cutter disc assembly 312 through the first transmission assembly 311, since the size of the first transmission assembly 311 can be larger than the size of the output shaft 3201, the setting of the first transmission assembly 311 can increase the contact area between the output shaft 3201 and the cutter disc assembly 312.

[0076] In summary, the arrangement of the first transmission assembly 311 can increase the connection strength between the output shaft 3201 and the cutter head assembly 312. Figure 4 In some embodiments, specifically, the first transmission assembly 311 includes a first transmission member 3110, one end of which is penetrated by a first through hole 300 and a second through hole 310 in sequence, and is connected to a cutter disc assembly 312, wherein the first transmission member 3110 transmits and connects the driving unit 320 and the cutter disc assembly 312.

[0077] Specifically, the first transmission member 3110 is located on the inner side of the connecting bearing 301 and surrounds the outer periphery of the driving part 320. The first transmission member 3110 rotates with the cutter disc assembly 312. In a first operating state, the first transmission member 3110 moves independently with the cutter disc assembly 312 relative to the cleaning assembly 30 during normal operation. In a second operating state, the cleaning assembly 30 passively rotates with the first transmission member 3110 and the cutter disc assembly 312.

[0078] Since the first transmission member 3110 is used to transmit and connect the output shaft 3201 and the blade disc assembly 312, and is located on the inner side of the connecting bearing 301 and the outer periphery of the driving part 320, a connection relationship is formed among the first transmission member 3110, the connecting bearing 301 and the cleaning assembly 30. When the output shaft 3201 drives the blade disc assembly 312 to rotate, under the action of the connecting bearing 301, the first transmission member 3110 and the cleaning assembly 30 can rotate relatively independently, thereby enabling the cleaning assembly 30 to have a first operating state and a second operating state.

[0079] Therefore, in the embodiments of this part, the relative position relationship between the first transmission member 3110, the connecting bearing 301 and the cleaning assembly 30 is set to ensure the rotation state of the cleaning assembly 30 relative to the cutting assembly 31 under different operating conditions, and also provides a relatively simple specific structural form of the cutting mechanism 3, which is conducive to the installation of the cutting mechanism 3.

[0080] Optionally, the first transmission member 3110 is a transmission flange.

[0081] The present application also provides a self-propelled robot 1000. In the self-propelled robot 1000, a body 1 includes a housing assembly 10 and a chassis assembly 11. The housing assembly 10 and the chassis assembly 11 form a first accommodation space 12 (see Figure 6 , Figure 7 ), the first accommodating space 12 is used to place the driving component 32; the chassis component 11 has an installation space 13 in the direction away from the shell component 10; the installation space 13 is toward the ground, the shell component 10 is used to provide a space for covering and installing the structure in the self-moving robot 1000, and the chassis component 11 is used to divide the internal space of the shell component 10 into a first accommodating space 12 and an installation space 13.

[0082] The chassis assembly 11 has a mounting through hole 110 , and the first accommodating space 12 is connected to the mounting space 13 through the mounting through hole 110 .

[0083] The driving component 32 is arranged in the first accommodating space 12, and the cleaning component 30 and the cutting component 31 are arranged in the installation space 13. The driving part 320 drives and connects the cutting component 31 by penetrating the installation through hole 110, that is, the driving part 320 of the driving component 32 extends into the installation space 13 by penetrating the installation through hole 110, and connects the cleaning component 30 and the cutting component 31 located in the installation space 13. Such an arrangement reduces the probability of debris splashing into the first accommodating space 12, protects the driving component 32, and avoids abnormal operation of the driving component 32 due to the entry of debris.

[0084] In the cutting mechanism 3, the driving part 320 in the driving component 32 is sequentially penetrated by the first through hole 300 and the second through hole 310 to drive the connected cutting component 31. In this way, in the installation space 13, the cleaning component 30 is located between the cutting component 31 and the chassis component 11. The cleaning component 30 can cover the surface of the chassis component 11 to a certain extent to prevent debris from adhering to the surface of the chassis 111.

[0085] Among them, the driving part 320 and the cleaning component 30 are intermittently connected. In the first working state of the cutting mechanism 3, the cutting component 31 and the driving part 320 are relatively independent, and the cutting component 31 does not rotate with the rotation of the driving part 320. In the second working state of the cutting mechanism 3, the driving part 320 drives the connected cutting component 31, and the cleaning component 30 passively rotates with the rotation of the cutting component 31.

[0086] As described above, when the self-mobile robot 1000 is operating, the driving component 32 is started, and the driving part 320 of the driving component 32 drives the cutting component 31 to rotate. The debris generated by the cutting of the cutting component 31 will adhere to the surface of the cleaning component 30. The debris will continue to accumulate on the surface of the cleaning component 30 during the operation of the self-mobile robot 1000 until one side of the debris is connected to the cleaning component 30 and the other side is connected to the cutting component 31, and a connection relationship is established between the cleaning component 30 and the cutting component 31. At this time, the cutting component 31 is driven to rotate by the driving component 32. Since there is friction between the debris deposits and the cutting component 31 due to contact, the debris deposits will rotate with the rotation of the cutting component 31. Since there is also friction generated by contact between the debris deposits and the cleaning component 30, the cleaning component 30 will be driven to rotate due to the contact friction generated by the relative rotation of the debris deposits.

[0087] Specifically, when the cleaning assembly 30, the debris accumulation and the cutting assembly 31 rotate simultaneously, even if the cleaning assembly 30 and the cutting assembly 31 undergo centrifugal motion due to their own inertia, the cleaning assembly 30 and the cutting assembly 31 will not separate from the cutting mechanism 3 due to the connection limiting function of the output shaft 3201. Since the debris accumulation will be subjected to the centrifugal effect, and since the debris accumulation is attached to the surface of the cleaning assembly 30 and the cutting assembly 31, during the rotation of the cleaning assembly 30, the cutting assembly 31 and the debris accumulation, the debris accumulation itself will only be subjected to the friction of the cleaning assembly 30 and the cutting assembly 31, and since the movement speeds of the three are gradually close, the friction applied by the cleaning assembly 30 and the cutting assembly 31 on the debris accumulation gradually decreases, while the driving force remains unchanged, so the debris accumulation will separate from the cleaning assembly 30 and the cutting assembly 31 due to the centrifugal effect generated by the driving force.

[0088] In addition, due to the gravity of the debris deposits themselves, the debris deposits will move toward the ground after being thrown out, and will not attach to the surface of the cleaning component 30 or the chassis component 11 for a second time. In this way, when the self-propelled robot 1000 is working, its own weight is always in a controllable state, and the debris deposits will not increase the weight of the self-propelled robot 1000 too much.

[0089] From the above contents, it can be known that in the present application, due to the self-cleaning effect of the cutting mechanism 3, the weight of the debris accumulated on the cleaning component 30 is controllable. Therefore, the kinetic energy range required for the self-movement of the self-moving robot 1000 using the aforementioned cutting mechanism 3 can be kept constant. Thus, the output power range of the self-moving drive motor in the self-moving robot 1000 can be kept constant and will not burn itself out due to the need to output more output power. It should be understood that the self-moving drive motor is a motor used to drive the walking device 2 in the self-moving robot.

[0090] It should be understood that the cutting mechanism 3 can be sold and packaged independently of the self-moving robot 1000 .

[0091] For ease of understanding, a lawn mowing robot in the self-propelled robot 1000 is taken as an example for explanation.

[0092] During the operation of the lawn mower robot, the cutting component 31 rotates to cut the weeds. Due to the presence of soil and water in the weed growth environment, the grass clippings (here referring to a mixture of weed clippings, water and soil) have a certain viscosity. The grass clippings are sucked by the lawn mower robot, and the grass clippings splash around and move disorderly, which will cause some of the cut grass clippings to adhere to the surface of the cleaning component 30, increasing the weight of the lawn mower robot when it moves. When the grass clippings accumulate and touch the cutting component 31, the grass clippings and the cleaning component 30 are driven by the cutting component 31 to rotate, and at least part of the grass clippings can be thrown out, reducing the amount of grass clippings adhered to the surface of the cleaning component 30. Therefore, the lawn mower robot will not adhere to too much grass clippings, and will not increase the kinetic energy required for its own movement, that is, it will not increase the output power of the self-moving drive motor in the lawn mower robot.

[0093] It should be understood that the rotation of the cutting assembly 31 is controlled by the driving assembly 32 in the cutting mechanism 3. On the one hand, even if grass clippings are attached to the surface of the cutting assembly 31, the rotation ability of the cutting assembly 31 can be improved by increasing the output power of the driving assembly 32 to ensure the rotation of the cutting assembly 31. Since the output power range of the driving assembly 32 is relatively large, increasing the output power of the driving assembly 32 will not cause the driving assembly 32 itself to be burned. On the other hand, since the cutting assembly 31 is in a rotating state, grass clippings are difficult to adhere to the surface of the cutting assembly 31, and the incremental load effect brought by the grass clippings on the cutting assembly 31 is limited and will not seriously affect the rotation of the cutting assembly 31. Therefore, in the above-mentioned embodiment, the situation of grass clippings attached to the surface of the cleaning assembly 30 is mainly considered.

[0094] Please refer to Figure 3 , Figure 4 and Figure 6 In some embodiments, the chassis assembly 11 also includes a chassis 111, which forms an installation space 13 and covers a cleaning assembly 30 and a cutting assembly 31; the end of the cleaning assembly 30 away from the driving unit 320 is fitted or spaced apart from the chassis 111, and when the cleaning assembly 30 is in the second working state, there is little friction or no friction between the cleaning assembly 30 and the chassis 111.

[0095] From other aspects, in the existing self-propelled robot 1000, the debris will mainly adhere to the chassis 111 when it splashes, and the chassis 111 will only move with the movement of the self-propelled robot 1000, and the chassis 111 itself cannot move relative to the body. Therefore, once the debris is attached to the chassis 111, unless there is human intervention, it is difficult for the debris to separate from the chassis 111. Long-term accumulation will cause the additional load on the chassis 111 to be too large. If the self-propelled drive motor drives the walking device 2 to operate according to the output power when the self-propelled robot 1000 is just started, it may cause the self-propelled robot 1000 to move slowly or even be unable to move.

[0096] If debris is always attached to the chassis 111, the self-propelled drive motor needs to output more power to drive the walking device 2 to move, but the amount of debris attached will continue to accumulate with the use of the robot, that is to say, the self-propelled drive motor needs to keep increasing the output power, which may cause the self-propelled drive motor to output too much power and burn out, causing the self-propelled robot 1000 to fail in operation.

[0097] Therefore, the setting of the cleaning component 30 can isolate the chassis 111 and the debris splashing space to a certain extent within the installation space 13, effectively reducing the degree of debris adhesion on the surface of the chassis 111, and by switching the operating state of the cleaning component 30, the debris accumulation attached to the surface of the cleaning component 30 is regularly thrown out, thereby controlling the overall weight and additional load of the self-moving robot 1000, so that the walking device 2 can operate normally within the normal output power range of the self-moving drive motor, thereby ensuring the operating effect of the self-moving robot 1000.

[0098] For reference Figure 6 Optionally, on the side of the cleaning component 30 facing the cutting component 31 , the distance between the end of the cleaning component 30 away from the driving unit 320 and the chassis 111 is smaller than the first preset distance d1 .

[0099] It should be understood that the first preset distance d1 is a proposed value, and the distance between the end of the cleaning component 30 and the chassis 111 can be 0 or greater than 0. When the distance between the end of the cleaning component 30 and the chassis 111 is greater than 0, the driving unit 320 is spaced from the chassis 111. When the cleaning component 30 is in the second working state, there is no friction between the cleaning component 30 and the chassis 111, which can ensure that the cleaning component 30 rotates relative to the chassis 111.

[0100] In some embodiments, the first preset spacing d1 is between 2 cm and 5 cm, and can be 2 cm, 3 cm, 4 cm, 5 cm and other values ​​within the range. In this way, it can ensure that there is no friction between the cleaning component 30 and the chassis 111 in the second working state, and when the debris accumulates to a certain extent, the debris accumulation can connect the cleaning component 30 and the chassis 111, so that the cleaning component 30 rotates with the chassis 111.

[0101] Specifically, when the distance between the end of the cleaning component 30 and the chassis 111 is 0, the surface of the cleaning component 30 may be attached to the surface of the chassis 111, or may just touch the surface of the chassis 111. For example, Fig.12 and Fig.13 When the cleaning component 30 is a strip-shaped scraping brush, since the bristles 3024 of the strip-shaped scraping brush are flexible and can be deformed, the bristles 3024 at the end of the strip-shaped scraping brush can just fit on the surface of the chassis 111, and can also be limited by the chassis 111 and deformed to fit on the surface of the chassis 111 (see Fig.13 ), both methods can ensure that the bristles 3024 brush the surface of the chassis 111, thereby cleaning the debris accumulation attached to the surface of the chassis 111; when the cleaning component 30 is a strip scraper or a disc cleaning component 30, considering that the cleaning component 30 needs to rotate relative to the chassis 111 in the second working state, therefore, in order to avoid the friction between the cleaning component 30 and the chassis 111 hindering the normal rotation of the cleaning component 30, the end of the cleaning component 30 away from the driving part 320 can be set to just fit the chassis 111.

[0102] Please refer to Figure 4 and Figure 7 Furthermore, a surface of the cutting component 31 facing the cleaning component 30 is provided with a resisting protrusion 313, which is located on the outer side of the second through hole 310 and is protruded toward the side where the cleaning component 30 is located; a second preset distance d2 is provided between the resisting protrusion 313 and the cleaning component 30, and in the second operating state, the resisting protrusion 313 rotates to form an annular shielding portion, and the annular shielding portion surrounds the driving portion 320.

[0103] It should be understood that the second preset spacing d2 is a predetermined value greater than 0, and the blocking protrusion 313 is used to further block the debris from splashing along the second through hole 310 and adhering to the driving part 320 , and then being drawn into the interior of the driving part 320 by the output shaft 3201 .

[0104] The spacing between the resisting protrusion 313 and the cutting assembly 31 can ensure the matching state between the cutting assembly 31 and the cleaning assembly 30. When the cleaning assembly 30 is in the first working state, since the resisting protrusion 313 is spaced from the cutting assembly 31, there is no friction between the cutting assembly 31 and the cleaning assembly 30. Therefore, in the embodiments of this part, the cutting assembly 31 can rotate independently relative to the cleaning assembly 30.

[0105] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0106] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A cutting mechanism, applied to a self-propelled robot, characterized in that: The cutting mechanism comprises: A cleaning component, the cleaning component comprising a first through hole, the cleaning component at least partially covering a chassis portion of the self-propelled robot; A cutting assembly, the cutting assembly comprising a second through hole, the cutting assembly being used to cut an object to be cut in a working area; A driving assembly, the driving assembly comprising a driving part for providing a driving force, the driving part sequentially penetrates the first through hole and the second through hole along the first direction of the cutting mechanism, the cutting assembly and the cleaning assembly are arranged at intervals, and the driving part drives the cutting assembly to rotate; The cleaning component has at least a first operating state and a second operating state. In the first operating state, the cutting component moves relatively independently during normal operation; in the second operating state, the cleaning component passively rotates with the cutting component.

2. The cutting mechanism according to claim 1, characterized in that: The cutting assembly comprises a first transmission assembly and a cutter disc assembly which are mounted in cooperation with the output shaft of the driving unit; the cutter disc assembly is mounted on the first transmission assembly.

3. The cutting mechanism according to claim 2, characterized in that: The cleaning component also includes a connecting bearing, the inner ring of which is sleeved on the first transmission component. In the first working state, when the driving part rotates, the first transmission component drives the cutter disc component to rotate independently; in the second working state, the cleaning component is passively rotated by external force through the connecting bearing.

4. The cutting mechanism according to claim 3, characterized in that: The cleaning assembly further comprises a cleaning rotating member, and along the radial direction of the driving portion, a gap between the cleaning rotating member and the cutter disc assembly gradually increases in a direction away from the connecting bearing.

5. The cutting mechanism according to claim 4, characterized in that: The cleaning rotating member comprises a cleaning rotating part and a cleaning mounting seat, the cleaning mounting seat is formed with a mounting groove, and the part connected to the bearing is located in the mounting groove; One end of the cleaning rotating part is connected to the cleaning mounting seat, and the other end extends along the radial direction of the driving part.

6. The cutting mechanism according to claim 4, characterized in that: The cleaning rotating member comprises an annular protrusion, which is protruding from a side of the cleaning rotating member facing the cutter disc assembly, and the annular protrusion is intermittently arranged with the cutter disc assembly.

7. The cutting mechanism according to any one of claims 4 to 6, characterized in that: Along the radial direction of the driving portion, an angle between a line connecting a central area position of the cleaning rotating member and an end point position of the cleaning rotating member and the radial direction is between 5 and 15 degrees.

8. The cutting mechanism according to claim 5, characterized in that: The cleaning rotating part is in a disc-shaped structure; Alternatively, the number of the cleaning rotating part is at least one, the cleaning rotating part is a scraper or a scraping brush, and one end of the cleaning rotating part is drivingly connected to the driving part.

9. The cutting mechanism according to any one of claims 1 to 6 and 8, characterized in that: In the second operating state, in the extending direction of the driving portion, a projection area formed when the cleaning component rotates is greater than or equal to a projection area formed when the cutting component rotates.

10. The cutting mechanism according to any one of claims 3 to 6 and 8, characterized in that: The first transmission assembly includes a first transmission member, one end of which is provided with the first through hole and the second through hole in sequence and is connected to the cutter head assembly; The first transmission member is located on the inner side of the connecting bearing and surrounds the outer periphery of the driving part. The first transmission member rotates with the cutter disc assembly. In the first operating state, the first transmission member moves independently with the cutter disc assembly relative to the cleaning assembly during normal operation. In the second operating state, the cleaning assembly passively rotates along with the first transmission member and the cutter disc assembly.

11. A self-propelled robot, characterized in that: The self-propelled robot comprises a walking device, a body, and a cutting mechanism as described in any one of claims 1 to 10, wherein the body comprises a shell component and a chassis component, wherein the shell component and the chassis component form a first accommodating space; the chassis component has an installation space in a direction away from the shell component, and the chassis component has an installation through hole; the driving component is arranged in the first accommodating space, and the cleaning component and the cutting component are arranged in the installation space; The driving part is driven and connected to the cutting assembly by penetrating the mounting through hole.

12. The self-propelled robot according to claim 11, characterized in that: The chassis assembly also includes a chassis, which forms the installation space and covers the cleaning assembly and the cutting assembly; the end of the cleaning assembly away from the driving part is fitted or spaced apart from the chassis.

13. The self-propelled robot according to claim 12, characterized in that: On a side of the cleaning component facing the cutting component, a distance between an end of the cleaning component away from the driving portion and the chassis is smaller than a first preset distance.

14. The self-propelled robot according to claim 13, wherein: A resisting protrusion is provided on the surface of the cutting component facing the cleaning component side, and the resisting protrusion is located on the outside of the second through hole and protrudes toward the side where the cleaning component is located; a second preset distance is provided between the resisting protrusion and the cleaning component, and in the second operating state, the resisting protrusion rotates to form an annular shielding portion, and the annular shielding portion surrounds the driving portion.

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