Cutting mechanism and self-moving robot

Abstract

The application discloses a cutting mechanism and a self-moving robot, and the cutting mechanism is applied to the self-moving robot, wherein the cutting mechanism comprises a cleaning assembly, a cutting assembly and a driving assembly; the cleaning assembly comprises a first through hole, and the cleaning assembly is at least partially covered on a chassis part of the self-moving robot; the cutting assembly comprises a second through hole, and the cutting assembly is used for cutting an object to be cut in a working area; the driving assembly comprises a driving part used for providing driving force, the driving part sequentially penetrates the first through hole and the second through hole in a first direction of the cutting mechanism, the cutting assembly is arranged in a spaced mode with the cleaning assembly, and the driving part drives the cutting assembly to rotate; the cleaning assembly at least has a first working state and a second working state; in the first working state, the cutting assembly is relatively independently moved when normally working; in the second working state, the cleaning assembly is passively rotated with the cutting assembly, and the cutting efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of cutting mechanism technology, and more particularly to a cutting mechanism and a self-moving robot. Background Technology

[0002] In the use of cutting mechanisms such as lawnmowers, the cutting mechanism is prone to the problem of debris accumulation (such as weed accumulation). The accumulated debris needs to be cleaned up in time. Otherwise, the debris can be easily rolled into the inside of the blade rotating shaft of the cutting mechanism, which will reduce the speed of the blade and make the cutting efficiency of the cutting mechanism worse. Summary of the Invention

[0003] In view of this, this application provides a cutting mechanism and a self-moving robot to improve cutting efficiency.

[0004] The first aspect of this application provides a cutting mechanism applied to a self-propelled robot. The cutting mechanism includes a cleaning component, a cutting component, and a driving component. The cleaning component includes a first through hole and at least partially covers the chassis of the self-propelled robot. The cutting component includes a second through hole and 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 a first direction of the cutting mechanism, the driving part passes through the first through hole and the second through hole in sequence. The cutting component and the cleaning component are spaced apart, and the driving part drives the cutting component 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.

[0005] In the cutting mechanism provided in this application, 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 to achieve the 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 by the cutting component during the cutting process, effectively improving the jamming problem caused by debris accumulation during the cutting process and improving the cutting efficiency.

[0006] The second aspect of this application provides a self-moving robot, which includes a walking device, a body, and a cutting mechanism mentioned in the first aspect of this application. The body includes a shell assembly and a chassis assembly, which form a first accommodating space. The chassis assembly has an installation space in a direction away from the shell assembly and has an installation through hole. A drive assembly is disposed in the first accommodating space, and a cleaning assembly and a cutting assembly are disposed in the installation space. The drive assembly is driven to connect to the cutting assembly through the installation through hole.

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

[0008] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, embodiments of this application are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

[0011] Figure 2 This is a structural diagram of a self-moving robot component from a first-person perspective.

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

[0013] Figure 4 for Figure 3 Further exploded view of the structure shown in the diagram from a third-person perspective;

[0014] Figure 5 for Figure 1 Top view of the structure shown;

[0015] Figure 6 for Figure 5 Cross-sectional view at section AA;

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

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

[0018] Figure 9 for Figure 8 Cross-sectional view from section C;

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

[0020] Figure 11 for Figure 10Front view;

[0021] Figure 12 for Figure 2 Another type of cleaning rotating component used in the structure shown;

[0022] Figure 13 for Figure 12 The image shows one usage state of the cleaning rotating component.

[0023] Figure label:

[0024] 1000 - Self-moving robot, 1 - Body, 10 - Shell assembly, 11 - Chassis assembly, 110 - Mounting through hole, 111 - Chassis, 12 - First accommodating space, 13 - Mounting space, 2 - Walking device, 3 - Cutting mechanism, 30 - Cleaning assembly, 300 - First through hole, 301 - Connecting bearing, 302 - Cleaning rotating part, 3020 - Cleaning rotating part, 3021 - Cleaning mounting base, 3022 - Mounting groove, 3023 - Annular protrusion, 3024 - Brush bristles, 3025 - Scraper, 31 - Cutting assembly, 310 - Second through hole, 311 - First transmission assembly, 3110 - First transmission component, 312 - Cutter head assembly, 313 - Blocking protrusion, 32 - Drive assembly, 320 - Drive part, 3201 - Output shaft, First angle - α1, X - Length direction, Y - Width direction, Z - Height direction. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this application.

[0026] Unless otherwise defined, the technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this application pertains. The terms “an,” “a,” or “the,” as used herein, do not indicate a limitation of quantity, but are merely used to indicate the presence of at least one. Terms such as “comprising” or “including” mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as “connected” or “linked” are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

[0027] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0028] The following will refer to the appendices in the embodiments of this application. Figure 1 - Appendix Figure 13 The technical solutions in the embodiments of this application are clearly and completely described. It should be noted that the length direction X, width direction Y and height direction Z marked in the multiple drawings are all marked with reference to the length direction X, width direction Y and height direction Z of the cutting mechanism 3. The directions of each drawing are kept consistent to facilitate the reader's reference and understanding.

[0029] Please refer to all factors. Figures 1 to 13 This application first provides a self-moving robot 1000, which can be referenced first. Figure 1 The self-moving robot 1000 includes a body 1, a walking device 2, and at least one cutting mechanism 3. The self-moving robot 1000 includes, but is not limited to, a lawnmower. The following uses a lawnmower as an example to illustrate the inventive points of this application.

[0030] In existing lawnmowers, grass clippings accumulate in real time during use. These accumulated clippings need to be cleaned up promptly. Otherwise, they can easily be caught in the blades and get inside the rotating shaft of the cutter head, causing the blades to rotate slower and resulting in poorer mowing performance.

[0031] In addition, after a lawnmower finishes its work, users need to manually clean the accumulated grass debris to ensure the effectiveness of subsequent use. However, manual cleaning is not only difficult but also inefficient, and the cleaning effect is limited. It cannot completely remove the accumulated grass debris from the lawnmower. Therefore, during subsequent use of the lawnmower, the grass debris left on the chassis is not only easily drawn into the rotating shaft of the cutter head, but the lawnmower will also accumulate grass debris again during subsequent operations, causing the load on the chassis caused by grass debris to gradually increase, affecting the subsequent operation of the lawnmower.

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

[0033] The cleaning component 30 includes a first through-hole 300 and at least partially covers the chassis portion of the self-mobilizing robot 1000 to enable cleaning of the chassis portion of the self-mobilizing 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. The cutting working area refers to the range that the cutting component 31 can cut after the mobile robot 1000 moves to the target position. The object to be cut is the target that the cutting component 31 needs to cut, such as weeds.

[0035] The drive assembly 32 includes a drive unit 320 for providing driving force. The drive unit 320 includes, but is not limited to, a motor, a drive rod assembly, 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 drive unit 320 is sequentially provided with 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 drive unit 320 drives the cutting component 31 to rotate, so as to realize the driving effect on the cutting component 31 and make the cutting component 31 rotate. During operation, the drive unit can drive the cutting component 31 to rotate at a high speed, thereby cutting 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 drive 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, the cleaning assembly 30 can be in a non-rotating state at this time, while the cutting assembly 31 rotates under the drive of the drive unit 320.

[0038] In the second working state of the cleaning component 30, the cleaning component 30 is passively rotated with the cutting component 31. At this time, both the cleaning component 30 and the cutting component 31 rotate.

[0039] For example, when the cutting component 31 rotates, it generates debris. Some of the debris accumulates on the surface of the cleaning component 30. Before the debris accumulates to a preset thickness on the surface of the cleaning component 30, the cleaning component 30 is in a first operating state.

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

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

[0042] Therefore, the cutting mechanism 3 provided in this application can effectively improve the jamming problem caused by debris accumulation during the cutting process and improve 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 independent rotation.

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

[0045] In the second working state, the cleaning component 30 is passively rotated under the action of external force through the connecting bearing 301. At this time, the cumulative thickness of the debris on the surface of the cleaning component 30 reaches the preset thickness. The cleaning component 30 is connected to the cutter head assembly 312 through the debris accumulation. Therefore, the driving force of the drive unit 320 is transmitted to the cleaning component 30 through the cutter head assembly 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 of the cleaning component 30 and the cutting component 31. When the cutter head assembly 312 rotates, due to the setting of the connecting bearing 301, the cleaning component 30 can be independent of the cutter head assembly 312, that is, the cleaning component 30 can not rotate. When the cleaning component 30 and the cutter head assembly 312 are connected due to the accumulation of debris, the cleaning component 30 will be passively rotated with the cutter head assembly 312 due to friction, causing the debris to be thrown out.

[0047] Since the cleaning component 30 can achieve relatively independent movement with the cutter head assembly 312 by directly connecting to the outer ring of the connecting bearing 301, the cleaning component 30 can be located on the outer periphery of the first transmission component 311 and achieve relatively independent movement with the cutter head assembly 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 head assembly 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, miniaturizing the size 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-moving robot 1000 as an example of a lawnmower robot, the robot body 1 may also need to form a certain suction 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 volume of the reduced part of the installation space 13 can be put into the suction space, so that the lawnmower robot can absorb more grass, thereby increasing the amount of grass cutting in a single operation of the lawnmower robot, reducing the time spent by the lawnmower robot due to unloading grass, and thus improving the working efficiency of the lawnmower robot.

[0050] Please refer to Figure 6 Optionally, the cleaning assembly 30 also includes a cleaning rotating member 302. Along the radial direction of the drive unit 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 cutter head assembly 312 gradually increases in the direction away from the connecting bearing 301. Thus, the edge of the cleaning rotating member 302 is located 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 assembly 30 and adhering to the surface of the chassis assembly 11, ensuring the cleanliness of the chassis assembly 11.

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

[0052] Please refer to Figures 8 to 11 Optionally, the cleaning rotating component 302 includes a cleaning rotating part 3020 and a cleaning mounting base 3021. The cleaning mounting base 3021 is used to connect other structures so that the cleaning rotating part 3020 is connected to other structures. The cleaning rotating part 3020 is used to provide an adhesion surface for debris and to cover the chassis assembly 11 to a certain extent, reducing the amount of debris adhering to the surface of the chassis assembly 11.

[0053] The cleaning mounting base 3021 has a mounting groove 3022, and the portion of the connecting bearing 301 is located in the mounting groove 3022. The mounting groove 3022 provides a mounting space 13 for the connecting bearing 301. In the height direction Z of the cutting assembly 31, the sidewall of the mounting groove 3022 can constrain the position of the connecting bearing 301, thereby creating a certain positioning effect on the connecting bearing 301. Thus, during the rotation of the cleaning assembly 30, a stable connection can be maintained between the cleaning rotating part 302 and the connecting bearing 301.

[0054] One end of the cleaning rotating part 3020 is connected to the cleaning mounting base 3021, and the other end extends in the radial direction of the drive part 320. When the cleaning rotating part 302 rotates, the cleaning rotating part 3020 rotates to throw off the debris attached to its surface.

[0055] Furthermore, the cleaning component 30 and the cutting component 31 are separated by a second preset distance d2 (see reference). Figure 7 The second preset spacing d2 can be set in the range of 5mm to 15mm. Within this spacing 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 spacing d2 can be 5mm to 8mm, which can make the distance between the cleaning component 30 and the cutting component 31 smaller, so as to clean the grass debris in time and improve the cleaning efficiency of the cutting mechanism 3.

[0057] Optionally, the second preset spacing d2 is 8mm to 12mm, which can prevent the cleaning component 30 from starting frequently, so as not to affect the cutting efficiency of the cutting component 31.

[0058] Optionally, the second preset spacing d2 is 12mm to 15mm, so that the cutting mechanism 3 is suitable for 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-moving robot 1000 can operate stably in various terrain conditions or when the lawnmower chassis 111 is slightly tilted.

[0059] Please refer to Figure 8 and Figure 9 Optionally, the cleaning rotating component 302 includes an annular protrusion 3023, which protrudes from the side of the cleaning rotating component 302 facing the cutter head assembly 312, and the annular protrusion 3023 and the cutter head assembly 312 are arranged intermittently to ensure that the cleaning rotating component 302 and the cutter head assembly 312 can move relatively independently.

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

[0061] The cleaning rotating part 302 can have various forms, and can be selected from various options. Figure 8 The cleaning rotating component 302 is a disc-shaped rotating component. During the operation of the self-moving robot 1000, the debris formed by the cutting disc assembly 312 can splash and adhere to the surface of the cleaning rotating component 302 and can continuously accumulate until the cleaning component 30 connects to the cutting disc assembly 312 through the debris accumulation, causing the cleaning component 30 to rotate and throw out the debris accumulation, thereby reducing the additional load on the machine body brought by the debris accumulation.

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

[0063] For reference Figure 10 The cleaning rotating part 302 can be a strip scraper. When the cleaning rotating part 302 rotates, the cleaning rotating part 3020 of the strip scraper will remove the grass debris attached to the surface of the chassis assembly 11.

[0064] Furthermore, such as Figure 11 As shown, the cleaning rotating part 3020 of the strip scraper also includes a scraper 3025, which is connected to the cleaning mounting base 3021 and rotates with the rotation of the cleaning mounting base 3021. The scraper 3025 is used to scrape away grass debris adhering to the surface of the chassis assembly 11. In some embodiments, along... Figure 11 In the height direction Z shown, 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. Thus, when the cleaning rotating member 302 rotates, the scraper 3025 can contact the surface of the chassis assembly 11 and scrape the grass debris 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 component 30 may be provided with multiple strip scrapers to increase the cleaning effect of the cleaning component 30 on the chassis component 11.

[0066] Optionally, you may refer to Figure 12 The cleaning rotating component 302 can also be a strip-shaped scraper. The cleaning rotating part 3020 of the cleaning rotating component 302 is provided with bristles 3024. The bristles 3024 are used to sweep away grass debris attached to the surface of the chassis assembly 11. Since the cleaning rotating component 302 is narrow and has an overall strip structure, when the cleaning assembly 30 is in the first working state, the cleaning rotating component 302 cannot fully cover the surface of the chassis assembly 11 facing the cleaning assembly 30, and grass debris will accumulate on the surface of the chassis assembly 11 facing the cleaning assembly 30. When the cleaning assembly 30 switches to the second working state, the cleaning rotating component 302 rotates, and the scraper part of the cleaning rotating component 302 can remove the grass debris accumulated on the surface of the chassis assembly 11.

[0067] Optionally, a cleaning component 30 may be provided with multiple strip brushes to increase the cleaning effect of the cleaning component 30 on the chassis component 11.

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

[0069] For reference Figure 13When the cleaning rotating component 302 is a strip-shaped scraper, when the cleaning component 30 is in the first working state, the ends of the bristles need to be in contact with 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 debris 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. In this way, 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 debris accumulated on the surface of the chassis component 11, thus completing the cleaning operation of the chassis component 11.

[0070] Furthermore, please refer to again Figure 9 Along the radial direction of the drive unit 320, the angle between the line connecting the center region of the cleaning rotating member 302 and the end point of the cleaning rotating member 302 and the radial direction is between 5 and 15 degrees, that is, the first angle α1 in the figure is between 5 and 15 degrees.

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

[0072] Furthermore, in the second operating state of the cleaning component 30, in the extension direction of the drive unit 320 (refer to the height direction Z of the cutting component 31), the projected area formed when the cleaning component 30 rotates is greater than or equal to the projected area formed when the cutting component 31 rotates. Thus, when the cutting component 31 is operating and the debris is driven by the cutting component 31 and splashes, the cleaning component 30 can more comprehensively cover the splash range of the debris, thereby further reducing the situation where 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 head assembly 312 that are installed in conjunction with the output shaft 3201 of the drive unit 320. The first transmission assembly 311 is used to drive the output shaft 3201 and the cutter head assembly 312. Thus, firstly, when the output shaft 3201 of the drive unit 320 is small or the distance between the output shaft 3201 and the cutter head assembly 312 is far, the output shaft 3201 and the cutter head assembly 312 cannot be directly connected. In order to avoid interference between the cutter head assembly 312 and other structures, the distance difference between the cutter head 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 head assembly 312 can be driven and connected at a greater distance. Secondly, the setting of the first transmission assembly 311 can increase the connection strength between the output shaft 3201 and the cutter head assembly 312 to a certain extent.

[0074] The cutter head assembly 312 is mounted on the first transmission assembly 311. The first transmission assembly 311 can drive the output shaft 3201 and the cutter head 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 head assembly 312 to rotate.

[0075] Please refer to the following: Figure 6 and Figure 7 Referring as appropriate to other accompanying drawings, when the output shaft 3201 is directly connected to the tool disc assembly 312, since the first transmission assembly 311 is also connected to the tool disc assembly 312, and the first transmission assembly 311 can drive the connection between the output shaft 3201 and the tool 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 tool 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 arrangement of the first transmission assembly 311 can increase the contact area between the output shaft 3201 and the tool disc assembly 312.

[0076] In summary, the first transmission component 311 increases the connection strength between the output shaft 3201 and the cutter head assembly 312. Please refer back to [link / reference]. Figure 4 In some embodiments, specifically, the first transmission assembly 311 includes a first transmission member 3110, one end of which is sequentially provided with a first through hole 300 and a second through hole 310, and connected to the cutter head assembly 312, wherein the first transmission member 3110 is drivingly connected to the drive unit 320 and the cutter head assembly 312.

[0077] Specifically, the first transmission member 3110 is located inside the connecting bearing 301 and surrounds the outer periphery of the drive unit 320. The first transmission member 3110 rotates with the cutter head assembly 312. In the first working state, the first transmission member 3110 moves independently relative to the cleaning component 30 during normal operation with the cutter head assembly 312. In the second working state, the cleaning component 30 passively rotates with the first transmission member 3110 and the cutter head assembly 312.

[0078] Since the first transmission member 3110 is used to drive the output shaft 3201 and the cutter head assembly 312, and is located inside the connecting bearing 301 and on the outer periphery of the drive part 320, a connection relationship is formed between the first transmission member 3110, the connecting bearing 301 and the cleaning assembly 30. When the output shaft 3201 drives the cutter head assembly 312 to rotate, the first transmission member 3110 and the cleaning assembly 30 can rotate relatively independently under the action of the connecting bearing 301, thereby enabling the cleaning assembly 30 to have a first working state and a second working state.

[0079] Therefore, in this embodiment, the relative positional relationship between the first transmission component 3110, the connecting bearing 301 and the cleaning component 30 ensures the rotational state of the cleaning component 30 relative to the cutting component 31 under different operating conditions, and also provides a relatively simple specific structural form of the cutting mechanism 3, which is beneficial to the installation of the cutting mechanism 3.

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

[0081] This application also provides a self-moving robot 1000, in which the body 1 includes a shell assembly 10 and a chassis assembly 11, the shell assembly 10 and the chassis assembly 11 forming a first accommodating space 12 (see reference). Figure 6 , Figure 7 The first accommodating space 12 is used to place the drive assembly 32; the chassis assembly 11 has an installation space 13 in the direction away from the housing assembly 10; the installation space 13 faces the ground, the housing assembly 10 is used to provide a space for covering and mounting the structure in the self-mobile robot 1000, and the chassis assembly 11 is used to divide the internal space of the housing assembly 10 into the first accommodating space 12 and the 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 drive assembly 32 is disposed in the first accommodating space 12, and the cleaning assembly 30 and the cutting assembly 31 are disposed in the mounting space 13. The drive part 320 is driven to connect to the cutting assembly 31 through the mounting through hole 110. That is, the drive part 320 of the drive assembly 32 extends into the mounting space 13 through the mounting through hole 110 and connects to the cleaning assembly 30 and the cutting assembly 31 located in the mounting space 13. This arrangement reduces the probability of debris splashing into the first accommodating space 12, protects the drive assembly 32, and prevents the drive assembly 32 from malfunctioning due to debris entering it.

[0084] In the cutting mechanism 3, the driving part 320 in the driving assembly 32 passes through the first through hole 300 and the second through hole 310 in sequence to drive the connection of the cutting assembly 31. Thus, in the installation space 13, the cleaning assembly 30 is located between the cutting assembly 31 and the chassis assembly 11. The cleaning assembly 30 can cover the surface of the chassis assembly 11 to a certain extent, preventing debris from adhering to the surface of the chassis 111.

[0085] In this process, the drive unit 320 and the cleaning component 30 are intermittently connected. In the first operating state of the cutting mechanism 3, the cutting component 31 and the drive unit 320 are relatively independent, and the cutting component 31 does not rotate with the rotation of the drive unit 320. In the second operating state of the cutting mechanism 3, the drive unit 320 drives the connection to the 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 working, the drive component 32 is activated, and the drive part 320 of the drive component 32 drives the cutting component 31 to rotate. The debris generated by the cutting component 31 will adhere to the surface of the cleaning component 30. During the operation of the self-mobile robot 1000, the debris will continuously accumulate on the surface of the cleaning component 30 until one side of the debris is connected to the cleaning component 30 and the other side is connected to the cutting component 31. At this time, the cleaning component 30 and the cutting component 31 are connected. At this time, the cutting component 31 is driven to rotate by the drive component 32. Because there is friction between the debris accumulation and the cutting component 31 due to contact, the debris accumulation will rotate with the rotation of the cutting component 31. Since there is also friction between the debris accumulation and the cleaning component 30 due to contact, the cleaning component 30 will be driven to rotate due to the contact friction generated by the relative rotation of the debris accumulation.

[0087] Specifically, when the cleaning component 30, the debris accumulation, and the cutting component 31 rotate simultaneously, even if the cleaning component 30 and the cutting component 31 undergo centrifugal motion due to their own inertia, they will not detach from the cutting mechanism 3 due to the connection limiting effect of the output shaft 3201. Since the debris accumulation is subjected to centrifugal force, and because the debris accumulation is attached to the surfaces of the cleaning component 30 and the cutting component 31, during the rotation of the cleaning component 30, the cutting component 31, and the debris accumulation, the debris accumulation itself is only subjected to friction from the cleaning component 30 and the cutting component 31. As the speeds of the three components gradually approach each other, the friction exerted on the debris accumulation by the cleaning component 30 and the cutting component 31 gradually decreases, while the driving force remains constant. Therefore, the debris accumulation will detach from the cleaning component 30 and the cutting component 31 due to the centrifugal force generated by the driving force.

[0088] In addition, due to the gravity of the debris accumulation itself, the debris accumulation will move towards the ground after being thrown out, and will not re-attach to the surface of the cleaning component 30 or the chassis component 11. In this way, when the self-moving robot 1000 is working, its own weight is always under control, and the debris accumulation will not add too much weight to the self-moving robot 1000.

[0089] In summary, in this application, due to the self-cleaning function of the cutting mechanism 3, the weight of debris accumulated on the cleaning component 30 is controllable. Therefore, the range of kinetic energy required for the self-moving robot 1000 to move using the aforementioned cutting mechanism 3 can be constant. Consequently, the output power range of the self-moving drive motor in the self-moving robot 1000 can be constant, and it will not burn out due to the need to output more 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 sell and package independently of the self-moving robot 1000.

[0091] To make it easier to understand, we will use the lawnmower robot in the self-moving robot 1000 as an example.

[0092] During the operation of the lawnmower robot, the cutting component 31 rotates to cut weeds. Due to the presence of soil and water in the weed growing environment, the grass clippings (referring to the mixture of weed clippings, water, and soil) have a certain stickiness. The grass clippings are attracted by the lawnmower robot and move around randomly, causing some of the grass clippings to adhere to the surface of the cleaning component 30, increasing the weight of the lawnmower robot when it moves. When the grass clippings accumulate to the point of touching the cutting component 31, the grass clippings and the cleaning component 30 are driven by the cutting component 31 to rotate, and at least some of the grass clippings can be thrown out, reducing the amount of grass clippings adhering to the surface of the cleaning component 30. Thus, the lawnmower 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 lawnmower robot.

[0093] It should be understood that the rotation of the cutting component 31 is controlled by the drive component 32 in the cutting mechanism 3. On the one hand, even if grass clippings are attached to the surface of the cutting component 31, the rotation capability of the cutting component 31 can be increased by increasing the output power of the drive component 32 to ensure the rotation of the cutting component 31. Since the output power range of the drive component 32 is large, increasing the output power of the drive component 32 will not cause the drive component 32 itself to burn out. On the other hand, since the cutting component 31 is in a rotating state, grass clippings are difficult to adhere to the surface of the cutting component 31. The incremental load effect of grass clippings on the cutting component 31 is limited and will not seriously affect the rotation of the cutting component 31. Therefore, in the above embodiment, the case of grass clippings attached to the surface of the cleaning component 30 is mainly considered.

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

[0095] In other aspects, in the existing self-moving robot 1000, when debris is splashed, it mainly adheres to the chassis 111. The chassis 111 only moves with the self-moving robot 1000 and cannot move relative to the body. Therefore, once debris adheres to the chassis 111, it is difficult to remove the debris from the chassis 111 unless human intervention is required. Over time, this accumulation causes the additional load on the chassis 111 to be too large. If the self-moving drive motor drives the walking device 2 at the output power when the self-moving robot 1000 is first started, it may cause the self-moving robot 1000 to move slowly or even be unable to move.

[0096] If debris continues to adhere to the chassis 111, the self-moving drive motor will need to output more power to drive the walking device 2 to move. However, the amount of debris will continue to accumulate as the robot is used. In other words, the self-moving drive motor needs to continuously increase its output power, which may lead to the self-moving drive motor burning out due to excessive output power, causing the self-moving robot 1000 to malfunction.

[0097] Therefore, the cleaning component 30 can isolate the chassis 111 and the debris splash space within the installation space 13 to a certain extent, effectively reducing the degree of debris adhesion on the surface of the chassis 111. By switching the working state of the cleaning component 30, the debris accumulation on the surface of the cleaning component 30 is periodically thrown out, thereby controlling the overall weight and extra 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, ensuring the working 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 drive unit 320 and the chassis 111 is less than the first preset distance d1.

[0099] It should be understood that the first preset distance d1 is a predetermined value. 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 drive unit 320 is spaced apart 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 2cm and 5cm, and can be 2cm, 3cm, 4cm, 5cm and other values ​​within this range. In this way, it can be ensured that there is no friction between the cleaning component 30 and the chassis 111 when the cleaning component 30 is in the second working state, and that after the debris accumulates to a certain extent, the debris accumulation connects 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 in contact with the surface of the chassis 111 or just touching the surface of the chassis 111. For example, refer to Figure 12 and Figure 13 When the cleaning component 30 is a strip-shaped scraper, because the bristles 3024 of the strip-shaped scraper are flexible and deformable, the bristles 3024 at the end of the strip-shaped scraper can fit perfectly against the surface of the chassis 111, and can also be deformed and fitted against the surface of the chassis 111 by being limited by the chassis 111 (see details). Figure 13 Both methods ensure that the bristles 3024 brush the surface of the chassis 111, thereby cleaning the debris buildup on 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, in order to avoid the friction between the cleaning component 30 and the chassis 111 from hindering the normal rotation of the cleaning component 30, the end of the cleaning component 30 away from the drive unit 320 can be set to fit just against the chassis 111.

[0102] Please refer to Figure 4 and Figure 7 Furthermore, the surface of the cutting component 31 facing the cleaning component 30 is provided with a blocking protrusion 313. The blocking protrusion 313 is located outside the second through hole 310 and protrudes towards the side where the cleaning component 30 is located. A second preset distance d2 is provided between the blocking protrusion 313 and the cleaning component 30. In the second operating state, the blocking protrusion 313 rotates to form an annular blocking part, and the annular blocking part surrounds the driving part 320.

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

[0104] The spacing between the abutment protrusion 313 and the cutting component 31 ensures the cooperation between the cutting component 31 and the cleaning component 30. When the cleaning component 30 is in the first working state, since the abutment protrusion 313 is spaced between the cutting component 31 and the cleaning component 30, there is no friction between the cutting component 31 and the cleaning component 30. Therefore, in this embodiment, the cutting component 31 can rotate independently relative to the cleaning component 30.

[0105] It should be noted that the descriptions of each embodiment in the above embodiments have different emphases. Parts not described in detail in a certain embodiment can be referred to in the relevant descriptions of other embodiments. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0106] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A cutting mechanism applied to a self-moving robot, characterized in that, The cutting mechanism includes: A cleaning component, the cleaning component including a first through-hole, the cleaning component at least partially covering the chassis portion of the self-moving robot; A cutting assembly, the cutting assembly including a second through hole, the cutting assembly being used to cut the object to be cut in the working area; A driving assembly includes a driving part for providing driving force. Along a first direction of the cutting mechanism, the driving part sequentially passes through a first through hole and a second through hole. The cutting assembly and the cleaning assembly are spaced apart, and the driving part drives the cutting assembly to rotate. The cleaning assembly also includes a connecting bearing, the inner ring of which is sleeved on the first transmission component of the cutting assembly. The cleaning assembly has at least a first operating state and a second operating state. In the first operating state, the cutting assembly moves relatively independently during normal operation. In the second operating state, the cleaning assembly is connected to the cutting assembly through debris accumulation, so that the cleaning assembly passively rotates with the cutting assembly.

2. The cutting mechanism as described in claim 1, characterized in that, The cutting assembly has a first transmission assembly and a cutter head assembly that are mounted in conjunction with the output shaft of the drive unit; the cutter head assembly is mounted on the first transmission assembly.

3. The cutting mechanism as described in claim 2, characterized in that, In the first operating state, when the drive unit rotates, the first transmission assembly drives the cutter head assembly to rotate independently; in the second operating state, the cleaning assembly rotates passively under the action of external force through the connecting bearing.

4. The cutting mechanism as described in claim 3, characterized in that, The cleaning assembly also includes a cleaning rotating member, and the gap between the cleaning rotating member and the cutter head assembly gradually increases in the direction away from the connecting bearing along the radial direction of the drive unit.

5. The cutting mechanism as described in claim 4, characterized in that, The cleaning rotating component includes a cleaning rotating part and a cleaning mounting base, the cleaning mounting base having a mounting groove, and the portion connecting the bearing being located in the mounting groove; One end of the cleaning rotating part is connected to the cleaning mounting base, and the other end extends along the radial direction of the driving part.

6. The cutting mechanism as described in claim 4, characterized in that, The cleaning rotating component includes an annular protrusion, which is provided on the side of the cleaning rotating component facing the cutter head assembly, and the annular protrusion is intermittently arranged with the cutter head assembly.

7. The cutting mechanism as described in any one of claims 4 to 6, characterized in that, Along the radial direction of the drive unit, the angle between the line connecting the center region of the cleaning rotating member and the end point of the cleaning rotating member and the radial direction is between 5 and 15 degrees.

8. The cutting mechanism as described in claim 5, characterized in that, The cleaning rotating part has a disc-shaped structure; Alternatively, the number of the cleaning rotating parts is at least one, the cleaning rotating part is a scraper or a scraper brush, and one end of the cleaning rotating part is driven to be connected to the driving part.

9. The cutting mechanism as described in any one of claims 1 to 6 and 8, characterized in that, In the second operating state, in the extending direction of the drive unit, the projected area formed when the cleaning component rotates is greater than or equal to the projected area formed when the cutting component rotates.

10. The cutting mechanism as described in 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 passes through 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 inside the connecting bearing and surrounds the outer periphery of the drive unit. The first transmission member rotates with the cutter head assembly. In the first working state, the first transmission member moves independently relative to the cleaning assembly with the cutter head assembly during normal operation. In the second operating state, the cleaning component passively rotates with the first transmission member and the cutter head assembly.

11. A self-moving robot, characterized in that, The self-propelled robot includes a walking device, a body, and a cutting mechanism as described in any one of claims 1-10. The body includes a shell assembly and a chassis assembly, the shell assembly and the chassis assembly forming a first accommodating space. The chassis assembly has an mounting space in a direction away from the shell assembly, and the chassis assembly has a mounting through hole. The driving assembly is disposed in the first accommodating space, and the cleaning assembly and the cutting assembly are disposed in the mounting space. The drive unit is driven to connect to the cutting assembly through the mounting through hole.

12. The self-moving robot as described in claim 11, characterized in that, The chassis assembly further includes a chassis that forms the installation space and covers the cleaning component and the cutting component; the end of the cleaning component away from the drive unit is either fitted to or spaced apart from the chassis.

13. The self-moving robot as described in claim 12, characterized in that, On the side of the cleaning component facing the cutting component, the distance between the end of the cleaning component away from the drive unit and the chassis is less than a first preset distance.

14. The self-moving robot as described in claim 13, characterized in that, The cutting component has a blocking protrusion on its surface facing the cleaning component. The blocking protrusion is located outside the second through hole and protrudes towards the side where the cleaning component is located. A second preset distance is provided between the blocking protrusion and the cleaning component. In the second operating state, the blocking protrusion rotates to form an annular shielding part, and the annular shielding part surrounds the driving part.

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