A high-precision outdoor lawn mowing robot

Abstract

The present invention relates to the technical field of lawn mowing, and particularly to a high-precision outdoor lawn mowing robot, which includes a self-propelled vehicle, a mowing knife, a mowing driver, an adjusting arm, and a stone cleaning mechanism; the stone cleaning mechanism includes a cleaning shell, a comb roller, a collection seat, and a rotary driver; in this application, a stone cleaning mechanism is installed at the front end of the self-propelled vehicle. The core component of the stone cleaning mechanism is a rotating comb roller, which can effectively stir and gather the stones on the lawn surface through the centrifugal force and friction generated by high-speed rotation. At the same time, an adjusting arm with both height and inclination angle being flexibly adjustable is equipped. Through precise control of the adjusting arm, the height and inclination angle of the stone cleaning mechanism can be adjusted in real time according to the undulation conditions, slope changes of different mowing terrains, and the flatness differences of the lawn surface.

Description

Technical Field

[0001] The invention relates to the technical field of lawn mowing, and in particular to a high-precision outdoor lawn mowing robot. Background Art

[0002] In the field of modern garden maintenance and outdoor lawn management, lawn mowing robots are increasingly used to improve the efficiency and accuracy of lawn mowing and reduce labor costs. However, existing lawn mowing robots have significant limitations in actual work.

[0003] The current mowing robots on the market mainly rely on positioning systems to achieve their positioning and mobile operation functions in the lawn area. However, in the complex outdoor lawn environment, the lawn is often mixed with various debris, such as branches and stones. When these robots perform mowing tasks, due to their design and functional defects, they are unable to effectively identify and clean up debris such as branches and stones in the lawn.

[0004] During the lawn mowing operation, if these debris are left in place, it will cause a series of serious problems. When the robot's blade rotates at high speed to perform the mowing operation, once the blade hits hard objects such as stones and branches, the strong impact of the stone is likely to cause serious damage to the blade of the intelligent lawn mowing robot. As a key component of the mowing robot, the damage of the blade will not only lead to the interruption of the mowing work, but also require additional time and cost to replace the blade, which will bring unnecessary economic losses and time delays to the user, seriously affecting the overall efficiency and quality of lawn mowing work, and also limiting the effective application of robots in complex outdoor environments.

[0005] Therefore, the development of a high-precision outdoor lawn mowing robot that can accurately locate and effectively clean debris from the lawn has become a key technical issue that needs to be urgently solved in the current garden maintenance field. This has important practical significance and market demand for improving the automation level of lawn mowing operations, reducing maintenance costs and improving mowing quality. Summary of the invention

[0006] In view of the problems of the existing technology, a high-precision outdoor lawn mowing robot is provided. A stone cleaning mechanism is installed on the forward end of a self-propelled vehicle, and the height and inclination angle of the stone cleaning mechanism are adjusted by an adjusting arm to adapt to different mowing terrains. Before the pruning blade mows the lawn, the rotating comb roller in the stone cleaning mechanism can sweep the stones into a collecting seat, thereby solving the problem that the existing lawn mowing robot cannot clean stones in the lawn.

[0007] In order to solve the problems of the prior art, the present invention provides a high-precision outdoor lawn mowing robot, comprising a self-propelled vehicle, a pruning knife arranged at the bottom of the self-propelled vehicle, and a pruning driver for driving the pruning knife to rotate, wherein an adjusting arm is arranged at the forward end of the self-propelled vehicle, and a stone cleaning mechanism is arranged at the end of the adjusting arm; the stone cleaning mechanism comprises a cleaning shell, a combing roller, a collecting seat and a rotating driver; the cleaning shell extends along the width direction of the self-propelled vehicle, and the cleaning shell is connected to the end of the adjusting arm at one end facing the self-propelled vehicle; the combing roller is rotatably arranged in the cleaning shell, the axis of the combing roller extends along the width direction of the self-propelled vehicle, and combing needles extending in the radial direction thereof are evenly distributed on the circumferential surface of the combing roller; the collecting seat is arranged in the cleaning shell, and the collecting seat has comb teeth extending to the bottom of the combing roller along the length direction of the self-propelled vehicle, the comb teeth and the combing needles are arranged in an alternating manner, and a collecting groove is also arranged at the top of the collecting seat, and in a working state, the rotating combing needles push the stones to the top of the comb teeth and slide them into the collecting groove; the rotating driver is arranged in the cleaning shell and is transmission-connected to one end of the combing roller.

[0008] Preferably, a drawer opening is provided on one side of the collecting seat, and a collecting drawer which can slide along the length direction of the collecting groove is provided in the collecting groove, and one end of the collecting drawer extends to the outer end of the drawer opening.

[0009] Preferably, the combing roller is hollow and an elastic component is arranged inside it, the elastic component has a mounting surface extending along the axial direction of the combing roller, the mounting surface elastically abuts against the inner wall of the combing roller, the combing needle slides radially through the combing roller, and the end of the combing needle facing the axis of the combing roller is fixedly connected to the mounting surface.

[0010] Preferably, the elastic component includes a positioning rod, a mounting strip and an elastic pressure connector; the positioning rod is arranged in the inner cavity of the combing roller along the circumference of the combing roller, and the positioning rod extends along the axial direction of the combing roller; the mounting strip is arranged in the combing roller for radial sliding along the combing roller, and the mounting strip extends along the axial direction of the combing roller, and one end of the combing needle facing the axis of the combing roller is fixedly connected to the mounting strip; the elastic pressure connector respectively connects the positioning rod and the mounting strip, and the mounting strip elastically abuts against the inner wall of the combing roller.

[0011] Preferably, the elastic pressure connecting part includes a left sliding block, a right sliding block, a left connecting rod, a right connecting rod and an elastic pressure element; the left sliding block and the right sliding block are slidably arranged on the positioning rod towards each other; the two ends of the left connecting rod are rotatably connected to the left sliding block and the mounting bar respectively; the two ends of the right connecting rod are rotatably connected to the right sliding block and the mounting bar respectively; the elastic pressure element is sleeved on the positioning rod, and the elastic pressure element is located between the left sliding block and the right sliding block.

[0012] Preferably, a fitting groove extending along its length direction is provided on one side of the mounting strip facing away from the combing roller axis, a fitting strip which is interference fit therewith is provided in the fitting groove, and one end of the combing needle facing the combing roller axis is fixedly connected to the fitting strip.

[0013] Preferably, the rotary drive includes a servo motor and a synchronous transmission belt. The servo motor is arranged in the cleaning housing. End shafts coaxial with the comb roller are arranged at both ends of the comb roller. The end shafts penetrate through the cleaning housing and are rotationally connected. The synchronous transmission belt is sleeved on the output shaft of the servo motor and the end shafts.

[0014] Preferably, the adjusting arm includes a lifting member and a deflecting member. The lifting member has a lifting platform capable of adjusting and locking the height along the longitudinal direction. The deflecting member is arranged on the vertical plane of the lifting platform and is fixedly connected to the stone cleaning mechanism.

[0015] Preferably, the lifting seat is slidably arranged in the forward end of the self-propelled vehicle in the vertical direction; the lifting member further includes a bidirectional lead screw, a left lead screw slider, a right lead screw slider, a left adjusting link, a right adjusting link and an adjusting motor; the bidirectional lead screw is horizontally rotatably arranged in the forward end of the self-propelled vehicle; the left lead screw slider and the right lead screw slider are symmetrically arranged on the bidirectional lead screw, and both ends of the bidirectional lead screw are respectively threadedly connected to the left lead screw slider and the right lead screw slider; both ends of the left adjusting link are respectively rotationally connected to the lifting seat and the left lead screw slider; both ends of the right adjusting link are respectively rotationally connected to the lifting seat and the right lead screw slider; the adjusting motor is arranged on the self-propelled vehicle, and the output shaft of the adjusting motor is drivingly connected to one end of the bidirectional lead screw.

[0016] Preferably, the deflecting member includes a ball head shaft, a ball head seat and four electric push rods; the ball head shaft is perpendicularly connected to the end face of the stone cleaning mechanism facing the self-propelled vehicle; the ball head seat is fixedly connected to the side face of the lifting seat facing the stone cleaning mechanism, and the ball head shaft is rotationally connected to the ball head seat; the four electric push rods are arranged on the lifting seat along the circumferential direction of the ball head seat, and the output rods of the four electric push rods abut against the side face of the stone cleaning mechanism facing the self-propelled vehicle.

[0017] The beneficial effects of this application compared with the prior art are:

[0018] By installing a stone cleaning mechanism at the forward end of the self-propelled vehicle in this application, the core component of the stone cleaning mechanism is a rotating comb roller, which can effectively stir and gather the stones on the lawn surface through the centrifugal force and frictional force generated by high-speed rotation.

[0019] Meanwhile, an adjustment arm with both height and tilt angle adjustable is equipped. Through precise control of the adjustment arm, the height and tilt angle of the stone cleaning mechanism can be adjusted in real time according to the undulation, slope change of different pruning terrains and the flatness difference of the lawn surface. During the actual operation, when the self-propelled vehicle moves forward on the lawn, the stone cleaning mechanism located in front of the pruning knife acts on the lawn first. The comb roller rotates at high speed driven by a servo motor, sweeps the stones scattered on the lawn along a predetermined trajectory, and makes them fall smoothly into a specially designed collection seat. The collection seat can ensure that the swept-in stones are effectively collected and temporarily stored, preventing them from falling back to the lawn again, thus providing an ideal environment without stone interference for the subsequent operation of the pruning knife, greatly improving the quality and efficiency of lawn pruning, reducing the risk of equipment damage caused by stone impact on the pruning knife, and further extending the service life and maintenance cycle of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a perspective view of a high-precision outdoor lawn mowing robot of the present invention from the first perspective.

[0021] Figure 2 is a perspective view of a high-precision outdoor lawn mowing robot of the present invention from the second perspective.

[0022] Figure 3 is a perspective view of the stone cleaning mechanism in a high-precision outdoor lawn mowing robot of the present invention.

[0023] Figure 4 is a perspective view of the adjustment arm in a high-precision outdoor lawn mowing robot of the present invention.

[0024] Figure 5 is a schematic diagram of the internal structure of the stone cleaning mechanism in a high-precision outdoor lawn mowing robot of the present invention.

[0025] Figure 6 is a perspective view of the comb roller in a high-precision outdoor lawn mowing robot of the present invention.

[0026] Figure 7 is a perspective view of the collection seat in a high-precision outdoor lawn mowing robot of the present invention.

[0027] Figure 8 is a schematic diagram of the internal structure of the comb roller in a high-precision outdoor lawn mowing robot of the present invention.

[0028] Figure 9 is a perspective view of the elastic pressure connecting member in a high-precision outdoor lawn mowing robot of the present invention.

[0029] Figure 10Schematic diagram of the mounting strip and the fitting strip in a high-precision outdoor lawn mowing robot of the present invention.

[0030] In the figure, the reference numerals are: 1, self-propelled vehicle; 11, mowing knife; 2, adjusting arm; 211, lifting platform; 212, bidirectional lead screw; 213, left lead screw slider; 214, right lead screw slider; 215, left adjusting link; 216, right adjusting link; 217, adjusting motor; 221, ball head shaft; 222, ball head seat; 223, electric push rod; 3, stone cleaning mechanism; 31, cleaning shell; 32, comb roller; 321, comb needles; 322, elastic component; 3221, positioning rod; 3222, mounting strip; 3223, fitting strip; 3224, left sliding block; 3225, right sliding block; 3226, left connecting rod; 3227, right connecting rod; 3228, elastic pressure element; 33, collecting seat; 331, comb teeth; 332, collecting drawer; 341, servo motor; 342, synchronous drive belt. Detailed implementation manners

[0031] To further understand the features, technical means, and the specific purposes and functions achieved by the present invention, the present invention will be further described in detail below in conjunction with the drawings and specific implementation manners.

[0032] As Figure 1 、 Figure 2 and Figure 3 shown, the present application provides a high-precision outdoor lawn mowing robot, including a self-propelled vehicle 1, a mowing knife 11 provided at the bottom of the self-propelled vehicle 1, and a mowing drive for driving the rotation of the mowing knife 11. An adjusting arm 2 is provided at the front end of the self-propelled vehicle 1, and a stone cleaning mechanism 3 is provided at the end of the adjusting arm 2;

[0033] The stone cleaning mechanism 3 includes a cleaning shell 31, a comb roller 32, a collecting seat 33, and a rotation drive;

[0034] The cleaning shell 31 extends along the width direction of the self-propelled vehicle 1, and one end of the cleaning shell 31 facing the self-propelled vehicle 1 is connected to the end of the adjusting arm 2;

[0035] The comb roller 32 is rotatably provided in the cleaning shell 31. The axis of the comb roller 32 extends along the width direction of the self-propelled vehicle 1, and comb needles 321 extending radially are uniformly distributed on the circumferential surface of the comb roller 32;

[0036] The collecting seat 33 is provided in the cleaning shell 31. The collecting seat 33 has comb teeth 331 extending along the length direction of the self-propelled vehicle 1 to the bottom of the comb roller 32. The comb teeth 331 and the comb needles 321 are arranged alternately. A collecting groove is further provided at the top of the collecting seat 33. In the working state, the rotating comb needles 321 push the stones to the top of the comb teeth 331 and slide into the collecting groove;

[0037] The rotary drive is arranged in the cleaning housing 31 and is drivingly connected to one end of the combing roller 32 .

[0038] The self-propelled vehicle 1 is the mobile base of the entire robot, and is equipped with a pruning blade 11 at its bottom. The pruning drive is responsible for providing power for the rotation of the pruning blade 11 to ensure efficient and accurate cutting operations. At the forward end of the self-propelled vehicle 1, an adjustment arm 2 is designed. The adjustment arm 2 not only serves as a connection, but also has a flexible adjustment function. It can accurately adjust the position and angle of the stone cleaning mechanism 3 at the end according to different operating scenes and terrain conditions, thereby achieving effective cleaning of various debris on the lawn surface.

[0039] The cleaning shell 31 is in a transversely extending state, and its extending direction is consistent with the width direction of the self-driving vehicle 1, and its end facing the self-driving vehicle 1 is firmly connected to the end of the adjusting arm 2, forming a closed and stable cleaning space.

[0040] The comb roller 32 is arranged inside the cleaning shell 31 through rotating parts such as bearings, and its axis is strictly along the width direction of the self-propelled vehicle 1. On the circumferential surface of the comb roller 32, a large number of comb needles 321 extending radially are evenly distributed. The design and distribution of these comb needles 321 fully consider the size, shape and distribution characteristics of the stones, and can contact and move the stones to the maximum extent during rotation.

[0041] The collecting seat 33 is also arranged in the cleaning shell 31, and has comb teeth 331 extending along the length direction of the self-propelled vehicle 1 to the bottom of the comb roller 32. The comb teeth 331 and the comb needles 321 are arranged in a staggered manner. This structural design allows the comb needles 321 to push the stones away from the lawn surface, and the stones can slide to the top of the comb teeth 331, and further slide to the collecting groove set at the top of the collecting seat 33 under the action of gravity, thereby realizing efficient collection and centralized treatment of the stones.

[0042] The rotary driver is installed in the cleaning shell 31 and is closely connected to one end of the combing roller 32 through precise transmission connection components, such as belts, chains or gear sets, to provide strong and stable power support for the continuous and stable rotation of the combing roller 32, thereby ensuring the continuity and efficiency of the stone cleaning operation, greatly improving the operation quality and reliability of the lawn mowing robot in complex outdoor environments, reducing the risk of damage to the pruning knife 11 caused by stones and other debris, extending the service life of the equipment, and also providing a strong guarantee for the refined maintenance of the lawn.

[0043] like Figure 6 and Figure 7 As shown, a drawer opening is provided on one side of the collecting seat 33, and a collecting drawer 332 which can slide along the length direction thereof is provided in the collecting groove, and one end of the collecting drawer 332 extends to the outer end of the drawer opening.

[0044] On one side of the collection seat 33, a pull-out opening is precisely formed, effectively preventing leakage of sundries such as stones collected during operation. As the gathering area for stones, a collection drawer 332 is installed inside the collection trough. The collection drawer 332 is made of a material with a low coefficient of friction and is equipped with a guide rail structure, enabling it to slide smoothly and precisely along the length direction of the collection trough.

[0045] One end of the collection drawer 332 extends to the outer end of the pull-out opening. This design not only facilitates the operator to quickly and conveniently clean the stones in the collection drawer 332 without disassembling the entire collection seat 33, but also through a reasonable structural layout, enables the collection drawer 332 to maintain a stable posture when extending to the outer end, avoiding accidental slipping or displacement due to center of gravity shift or external force, thus improving the operational convenience and safety of the entire stone cleaning system.

[0046] As Figure 7 、 Figure 8 and Figure 9 shown, the comb roller 32 is hollow and an elastic component 322 is arranged inside it. The elastic component 322 has a mounting surface extending along the axial direction of the comb roller 32, and the mounting surface elastically abuts against the inner wall of the comb roller 32. The comb needles 321 slide through the comb roller 32 in the radial direction, and one end of the comb needle 321 facing the axis of the comb roller 32 is fixedly connected to the mounting surface.

[0047] The elastic component 322 has a mounting surface that precisely extends along the axial direction of the comb roller 32, ensuring a tight and stable elastic abutting state with the inner wall of the comb roller 32. This elastic abutting method can not only provide reliable support for the elastic component 322, but also buffer external impact forces to a certain extent, reducing damage to the comb roller 32 and internal components caused by vibration and collision, thus effectively extending the service life and stability of the entire mechanism.

[0048] One end of the comb needle 321 facing the axis of the comb roller 32 is firmly fixedly connected to the mounting surface of the elastic component 322. When the comb needle 321 contacts the stones on the lawn, the external force received can be transmitted to the elastic component 322 through the comb needle 321. The elastic component 322 will adaptively generate elastic deformation according to the magnitude and direction of the external force, and then drive the comb needle 321 to slide flexibly in the radial direction within a certain range, effectively preventing the comb needle 321 from breaking or being damaged due to excessive impact force. At the same time, it also enables the comb roller 32 to better adapt to stones of different shapes, sizes and distribution densities, greatly improving the working efficiency, reliability and adaptability of the stone cleaning mechanism 3.

[0049] As Figure 7 、 Figure 8 and Figure 9As shown, the elastic component 322 includes a positioning rod 3221, a mounting strip 3222 and an elastic pressure connector; the positioning rod 3221 is arranged in the inner cavity of the combing roller 32 along the circumference of the combing roller 32, and the positioning rod 3221 extends along the axial direction of the combing roller 32; the mounting strip 3222 is arranged in the combing roller 32 along the radial sliding direction of the combing roller 32, and the mounting strip 3222 extends along the axial direction of the combing roller 32, and the combing needle 321 is fixedly connected to the mounting strip 3222 at one end facing the axis of the combing roller 32; the elastic pressure connector respectively connects the positioning rod 3221 and the mounting strip 3222, and the mounting strip 3222 elastically abuts against the inner wall of the combing roller 32.

[0050] As one of the basic supporting structures of the elastic component 322, the positioning rod 3221 is distributed along the circumference of the combing roller 32 and is arranged in the inner cavity of the combing roller 32, and its extension direction is strictly consistent with the axial direction of the combing roller 32. This layout enables the positioning rod 3221 to provide a stable support frame for the entire elastic component 322 in the circumferential direction, ensuring that the subsequent components maintain a relatively stable position relationship when subjected to force, avoiding deflection or displacement.

[0051] The mounting strip 3222 is arranged inside the combing roller 32 in a sliding manner along the radial direction of the combing roller 32, and the end of the combing needle 321 facing the axis of the combing roller 32 is firmly and accurately fixedly connected to the mounting strip 3222. This enables the combing needle 321 to accurately transfer the force to the mounting strip 3222 when an external force is applied, thereby inducing a response action of the entire elastic component 322.

[0052] The elastic pressure connector can flexibly adjust the position of the mounting strip 3222 relative to the positioning rod 3221 according to the magnitude and direction of the external force applied to the combing needle 321, so that the mounting strip 3222 always maintains an elastic contact state with the inner wall of the combing roller 32 during the force application process. This prevents the combing roller 32 and other components from being damaged by hard collisions, thereby providing a reliable adaptive protection mechanism for the combing roller 32 in a complex and changeable stone cleaning operation environment, greatly improving the durability, reliability and adaptability of the entire stone cleaning mechanism 3 to different working conditions, and ensuring the efficient operation and long-term stable operation of the robot in outdoor lawn mowing operations.

[0053] like Figure 7 , Figure 8 and Figure 9As shown, the elastic pressure connecting part includes a left sliding block 3224, a right sliding block 3225, a left connecting rod 3226, a right connecting rod 3227 and an elastic pressure element 3228; the left sliding block 3224 and the right sliding block 3225 are slidably arranged on the positioning rod 3221 towards each other; the two ends of the left connecting rod 3226 are rotatably connected to the left sliding block 3224 and the mounting strip 3222 respectively; the two ends of the right connecting rod 3227 are rotatably connected to the right sliding block 3225 and the mounting strip 3222 respectively; the elastic pressure element 3228 is sleeved on the positioning rod 3221, and the elastic pressure element 3228 is located between the left sliding block 3224 and the right sliding block 3225.

[0054] The left sliding block 3224 and the right sliding block 3225 are installed on the positioning rod 3221 in a mutually sliding cooperation manner, which lays a solid foundation for the subsequent force transmission and elastic adjustment functions.

[0055] The two ends of the left connecting rod 3226 are respectively reliably connected to the left sliding block 3224 and the mounting strip 3222 through precise rotating connection pairs, thereby accurately converting the displacement change of the left sliding block 3224 into a force on the mounting strip 3222, thereby achieving effective transmission of force and precise change of direction.

[0056] Similarly, the two ends of the right connecting rod 3227 are respectively connected to the right sliding block 3225 and the mounting strip 3222. The right connecting rod 3227 can work together with the left connecting rod 3226 to jointly apply a precise and stable force to the mounting strip 3222, so that the mounting strip 3222 can maintain a balanced and stable state of motion when subjected to force, avoiding structural deformation or damage caused by uneven force on one side, and further improving the reliability and stability of the entire elastic component 322.

[0057] When the comb needle 321 is subjected to external force, the external force is transmitted to the left connecting rod 3226 and the right connecting rod 3227 through the mounting strip 3222, thereby pushing the left sliding block 3224 and the right sliding block 3225 to slide toward or away from each other on the positioning rod 3221. At this time, the elastic pressure element 3228 will produce corresponding elastic deformation according to the displacement change of the sliding block, absorb and store the energy input from the outside, and react to the left sliding block 3224 and the right sliding block 3225 through its own elastic restoring force, thereby realizing the elastic support and buffering adjustment function of the mounting strip 3222.

[0058] like Figure 7 , Figure 8 and Figure 9As shown in the figure, on the side of the installation strip 3222 facing away from the axis of the comb roller 32, there is a fitting groove extending along its length direction. A fitting strip 3223 that is in interference fit with it is arranged in the fitting groove. One end of the comb needle 321 facing the axis of the comb roller 32 is fixedly connected to the fitting strip 3223.

[0059] When it is necessary to replace the fitting strip 3223 or the comb needle 321, the operator can use a professional disassembly tool to apply a precisely controlled external force to overcome the frictional force generated by the interference fit and safely remove the old fitting strip 3223 from the fitting groove. Due to the high-precision machining characteristics of the fitting groove, when replacing the new fitting strip 3223, it is possible to quickly and accurately achieve an interference fit again, ensuring that the position accuracy and connection stability after the installation of the new component are the same as the initial state.

[0060] As Figure 5 shown in the figure, the rotary drive includes a servo motor 341 and a synchronous drive belt 342. The servo motor 341 is arranged in the cleaning housing 31. Both ends of the comb roller 32 are provided with end shafts coaxial with it. The end shafts penetrate through the cleaning housing 31 and are rotatably connected, and the synchronous drive belt 342 is sleeved on the output shaft of the servo motor 341 and the end shafts.

[0061] By starting the servo motor 341, the output shaft of the servo motor 341 can transmit torque to the comb roller 32 through the synchronous drive belt 342, so that the comb roller 32 can deflect the stones towards the collection seat 33 while rotating.

[0062] As Figure 3 and Figure 4 shown in the figure, the adjusting arm 2 includes a lifting member and a deflecting member. The lifting member has a lifting platform 211 that can be adjusted longitudinally and locked in height. The deflecting member is arranged on the vertical plane of the lifting platform 211 and is fixedly connected to the stone cleaning mechanism 3.

[0063] The lifting member can achieve precise height adjustment of the lifting platform 211 longitudinally. The deflecting member is installed on the vertical plane of the lifting platform 211. The deflecting member and the stone cleaning mechanism 3 are rigidly connected by high-strength bolts, and the horizontal angle of the stone cleaning mechanism 3 can be flexibly adjusted, enabling the robot to adapt to different terrain undulations and operation direction requirements of the lawn, greatly improving the accuracy and efficiency of the cleaning operation.

[0064] As Figure 3 and Figure 4As shown in the figure, the lifting seat is slidably arranged in the forward end of the self-propelled vehicle 1 in the vertical direction; the lifting member further includes a bidirectional lead screw 212, a left lead screw slider 213, a right lead screw slider 214, a left adjusting link 215, a right adjusting link 216 and an adjusting motor 217; the bidirectional lead screw 212 is horizontally rotatably arranged in the forward end of the self-propelled vehicle 1; the left lead screw slider 213 and the right lead screw slider 214 are symmetrically arranged on the bidirectional lead screw 212, and the two ends of the bidirectional lead screw 212 are respectively threadedly connected to the left lead screw slider 213 and the right lead screw slider 214; the two ends of the left adjusting link 215 are respectively rotatably connected to the lifting seat and the left lead screw slider 213; the two ends of the right adjusting link 216 are respectively rotatably connected to the lifting seat and the right lead screw slider 214; the adjusting motor 217 is arranged on the self-propelled vehicle 1, and the output shaft of the adjusting motor 217 is drivingly connected to one end of the bidirectional lead screw 212.

[0065] The left lead screw slider 213 and the right lead screw slider 214 are arranged on the bidirectional lead screw 212 according to the strict symmetric design principle. The two ends of the bidirectional lead screw 212 are respectively threadedly connected to the two with opposite thread directions. This design enables the left lead screw slider 213 and the right lead screw slider 214 to achieve linear motion towards or away from each other when the bidirectional lead screw 212 rotates.

[0066] The left adjusting link 215 and the right adjusting link 216 respectively serve as force transmission and motion conversion components, and can guide the lifting platform 211 to lift and lower in the vertical direction.

[0067] The adjusting motor 217 is installed on the self-propelled vehicle 1. By starting the adjusting motor 217, the bidirectional lead screw 212 can be guided to rotate, thereby adjusting the height of the lifting platform 211.

[0068] As Figure 4 shown in the figure, the deflecting member includes a ball head shaft 221, a ball head seat 222 and four electric push rods 223; the ball head shaft 221 is perpendicularly connected to the end face of the stone cleaning mechanism 3 facing the self-propelled vehicle 1; the ball head seat 222 is fixedly connected to the side face of the lifting seat facing the stone cleaning mechanism 3, and the ball head shaft 221 is rotatably connected to the ball head seat 222; the four electric push rods 223 are arranged on the lifting seat along the circumferential direction of the ball head seat 222, and the output rods of the four electric push rods 223 abut against the side face of the stone cleaning mechanism 3 facing the self-propelled vehicle 1.

[0069] By rotatably connecting the ball head shaft 221 with the ball head seat 222, the stone cleaning mechanism 3 can deflect relative to the self-propelled vehicle 1 in any direction. By adjusting the output of the output rods of the four electric push rods 223, the deflection direction and deflection angle of the ball head shaft 221 relative to the ball head seat 222 can be adjusted. For example, when it is necessary to deflect the stone cleaning mechanism 3 upward and to the left by a certain angle, the electric push rods 223 on the right side and the lower side extend, while the electric push rods 223 on the left side and the upper side shorten accordingly. Through precise algorithm calculation and real-time feedback adjustment, precise control of the deflection angle is achieved, and the error can be controlled within a very small degree range, so as to ensure that the stone cleaning mechanism 3 can always efficiently complete the cleaning task in the best angular attitude when facing various complex lawn operation scenarios.

[0070] The above embodiments only represent one or several implementation manners of the present invention, and the description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent for the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention shall be subject to the appended claims.

Claims

1. A high-precision outdoor lawn mowing robot, characterized in that, It includes a self-propelled vehicle (1), a trimming knife (11) provided at the bottom of the self-propelled vehicle (1), and a trimming driver for driving the rotation of the trimming knife (11). An adjusting arm (2) is provided at the forward end of the self-propelled vehicle (1), and a stone cleaning mechanism (3) is provided at the end of the adjusting arm (2). The stone cleaning mechanism (3) includes a cleaning shell (31), a comb roller (32), a collection seat (33), and a rotation driver. The cleaning shell (31) extends along the width direction of the self-propelled vehicle (1), and one end of the cleaning shell (31) facing the self-propelled vehicle (1) is connected to the end of the adjusting arm (2). The comb roller (32) is rotatably arranged in the cleaning shell (31). The axis of the comb roller (32) extends along the width direction of the self-propelled vehicle (1). Comb needles (321) extending radially are evenly distributed on the circumferential surface of the comb roller (32). The collection seat (33) is arranged in the cleaning shell (31). The collection seat (33) has comb teeth (331) extending along the length direction of the self-propelled vehicle (1) to the bottom of the comb roller (32). The comb teeth (331) and the comb needles (321) are arranged in an interleaved manner. A collection groove is also provided at the top of the collection seat (33). In the working state, the rotating comb needles (321) deflect the stones to the top of the comb teeth (331) and slide into the collection groove. The rotation driver is arranged in the cleaning shell (31) and is in transmission connection with one end of the comb roller (32). The comb roller (32) is hollow and an elastic component (322) is arranged therein. The elastic component (322) has a mounting surface extending along the axial direction of the comb roller (32). The mounting surface elastically abuts against the inner wall of the comb roller (32). The comb needles (321) slide through the comb roller (32) radially. One end of the comb needle (321) facing the axis of the comb roller (32) is fixedly connected to the mounting surface. The elastic component (322) includes a positioning rod (3221), a mounting strip (3222), and an elastic pressure connecting member. The positioning rod (3221) is arranged in the inner cavity of the comb roller (32) along the circumferential direction of the comb roller (32), and the positioning rod (3221) extends along the axial direction of the comb roller (32). The mounting strip (3222) is slidably arranged in the comb roller (32) along the radial direction of the comb roller (32). The mounting strip (3222) extends along the axial direction of the comb roller (32). One end of the comb needle (321) facing the axis of the comb roller (32) is fixedly connected to the mounting strip (3222). The elastic pressure connecting member connects the positioning rod (3221) and the mounting strip (3222) respectively, and the mounting strip (3222) elastically abuts against the inner wall of the comb roller (32). The rotation driver includes a servo motor (341) and a synchronous transmission belt (342). The servo motor (341) is arranged in the cleaning shell (31). Both ends of the comb roller (32) are provided with end shafts coaxial with it. The end shafts penetrate the cleaning shell (31) and are rotatably connected. The synchronous transmission belt (342) is sleeved on the output shaft of the servo motor (341) and the end shafts. The adjusting arm (2) includes a lifting member and a deflecting member. The lifting member has a lifting platform (211) that can adjust and lock the height longitudinally. The deflecting member is arranged on the vertical plane of the lifting platform (211) and is fixedly connected to the stone cleaning mechanism (3).

2. The high-precision outdoor lawn mowing robot according to claim 1, wherein, A draw-out opening is provided on one side of the collection seat (33), and a collection drawer (332) capable of sliding along the length direction thereof is provided in the collection groove, with one end of the collection drawer (332) extending to the outer end of the draw-out opening.

3. The high-precision outdoor lawn mowing robot according to claim 1, characterized in that, The elastic pressure connecting piece comprises a left sliding block (3224), a right sliding block (3225), a left connecting rod (3226), a right connecting rod (3227) and an elastic pressure element (3228); The left sliding block (3224) and the right sliding block (3225) are slidably disposed on the positioning rod (3221) toward each other; The two ends of the left connecting rod (3226) are rotatably connected to the left sliding block (3224) and the mounting bar (3222) respectively; The two ends of the right connecting rod (3227) are rotatably connected to the right sliding block (3225) and the mounting bar (3222) respectively; The elastic pressure element (3228) is sleeved on the positioning rod (3221), and the elastic pressure element (3228) is located between the left sliding block (3224) and the right sliding block (3225).

4. The high-precision outdoor lawn mowing robot according to claim 3, characterized in that, A fitting groove extending along the length direction of the mounting strip (3222) is provided on a side facing away from the axis of the combing roller (32), wherein a fitting strip (3223) is provided in the fitting groove for interference fit therewith, and one end of the combing needle (321) facing the axis of the combing roller (32) is fixedly connected to the fitting strip (3223).

5. The high-precision outdoor lawn mowing robot according to claim 1, wherein, The lifting seat is slidably arranged at the forward end of the self-propelled vehicle (1) in the vertical direction; the lifting member also includes a bidirectional screw rod (212), a left screw rod slider (213), a right screw rod slider (214), a left adjustment connecting rod (215), a right adjustment connecting rod (216) and an adjustment motor (217); A bidirectional screw rod (212) is disposed at the forward end of the self-propelled vehicle (1) in a lateral rotational manner; The left screw slider (213) and the right screw slider (214) are symmetrically arranged on the bidirectional screw (212), and the two ends of the bidirectional screw (212) are respectively threadedly connected to the left screw slider (213) and the right screw slider (214); The two ends of the left adjusting connecting rod (215) are rotatably connected to the lifting seat and the left screw slider (213) respectively; The two ends of the right adjusting connecting rod (216) are rotatably connected to the lifting seat and the right screw slider (214) respectively; The regulating motor (217) is arranged on the self-propelled vehicle (1), and the output shaft of the regulating motor (217) is drivingly connected to one end of the bidirectional lead screw (212).

6. The high-precision outdoor lawn mowing robot according to claim 1, wherein, The deflection member comprises a ball head shaft (221), a ball head seat (222) and four electric push rods (223); The ball head shaft (221) is vertically connected to the end surface of the stone cleaning mechanism (3) facing the self-propelled vehicle (1); The ball head seat (222) is fixedly connected to the side of the lifting seat facing the stone cleaning mechanism (3), and the ball head shaft (221) is rotatably connected to the ball head seat (222); Four electric push rods (223) are arranged on the lifting seat along the circumference of the ball head seat (222), and the output rods of the four electric push rods (223) are abutted against the side of the stone cleaning mechanism (3) facing the self-propelled vehicle (1).

Images