Self-propelled robots

Abstract

A self-propelled robot includes a machine body and a cutting mechanism, wherein the machine body includes a vehicle body and a walking assembly, wherein the walking assembly is arranged on the vehicle body and is used to drive the vehicle body to move; the cutting mechanism includes a cutting assembly and a driving assembly, wherein the driving assembly is transmission-connected to the cutting assembly and is used to drive the cutting assembly to cut the object to be cut; and a protective assembly, wherein the protective assembly is arranged at the bottom of the vehicle body and forms a containing structure, wherein the containing structure is used to partially cover the cutting assembly, and the working part of the cutting assembly is exposed.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to a self-propelled robot. Background Art

[0002] When the robot is in use, its bottom is easily caught in the debris generated during cutting, causing the debris to accumulate on the inside of the cutting disc of the cutting component. If it is not processed for a long time, the debris will hinder the rotation of the cutter disc, causing the cutter disc to be unable to rotate normally, affecting the normal operation of the robot, and even causing the cutter disc to get stuck, reducing the service life of the robot. Summary of the Invention

[0003] The present application provides a self-moving robot that can prevent debris generated by a cutting component during cutting from entering the cutting component through a protective component, thereby avoiding excessive debris from accumulating in the cutting component and causing the cutting component to malfunction.

[0004] The present application provides a self-propelled robot, comprising:

[0005] A machine body, the machine body comprising a vehicle body and a traveling assembly, the traveling assembly being arranged on the vehicle body and used to drive the vehicle body to move forward;

[0006] A cutting mechanism, comprising a cutting assembly and a driving assembly, wherein the driving assembly is in transmission connection with the cutting assembly and is used to drive the cutting assembly to cut the object to be cut;

[0007] A protection component is arranged at the bottom of the vehicle body and forms a containing structure, the containing structure is used to partially cover the cutting component, and the height of the first plane of the protection component facing the ground is greater than the height of the cutting plane of the cutting component from the ground.

[0008] In the self-moving robot of one embodiment of the present application, the height difference between the first plane and the cutting plane is no more than 2 cm.

[0009] In the self-propelled robot of one embodiment of the present application, the height difference between the first plane and the cutting plane is 0.2 cm-1 cm.

[0010] In a self-propelled robot of one embodiment of the present application, the vehicle body has a base arranged at the bottom of the vehicle body, and a receiving space is formed on the side of the base away from the vehicle body. The protective component is arranged in the receiving space, and the edge shape of the protective component is adapted to the contour of the receiving space.

[0011] In the self-moving robot of one embodiment of the present application, the protection component includes a seal and a protective plate having the accommodating structure, the protective plate is installed in the accommodating space, the seal is arranged between the protective plate and the base, and the seal ensures that the protective plate can reliably cover the base when installed in the accommodating space.

[0012] In the self-moving robot of one embodiment of the present application, the cutting assembly includes a cutting blade and a cutter disc, the cutter disc is adapted to the contour of the accommodating structure, the cutting blade is fixed below the cutter disc, the cutter disc is accommodated in the accommodating structure and is transmission-connected to the drive assembly.

[0013] In a self-moving robot of one embodiment of the present application, the accommodating structure has a first groove and a second groove arranged at the bottom of the first groove, the inner diameter of the second groove is smaller than the inner diameter of the first groove, and the outer diameter of the cutter disc is adapted to the outer diameter of the first groove.

[0014] In a self-propelled robot of one embodiment of the present application, the cutter disc includes a connecting seat and a cutter disc body connected to the connecting seat, the depth of the first groove is adapted to the thickness of the cutter disc body, the connecting seat is connected to the drive assembly and accommodated in the second groove.

[0015] In a self-propelled robot according to one embodiment of the present application, a first protrusion is formed on the side of the cutter disc body facing the second groove, a second protrusion is formed on the side of the second groove facing the cutter disc body, and the first protrusion is arranged on the outside of the second protrusion.

[0016] In the self-propelled robot of one embodiment of the present application, the accommodating structure is two through-hole structures formed on the protective component, the two through-hole structures are spaced apart along the width direction of the vehicle body, and the cutting component is correspondingly installed in each of the through-hole structures.

[0017] In the self-propelled robot of one embodiment of the present application, the protection component includes a protective member, the protective member is arranged on the cutting surface, and at least a part of the structure of the cutting component is located on the inner side of the protective member.

[0018] In the self-moving robot of one embodiment of the present application, the protective member includes a protective protrusion and a protective strip, the protective protrusion is arranged on the outside of the protective strip, and at least a portion of the protective strip is covered above the cutting assembly and connected to the cutting surface.

[0019] In a self-moving robot of one embodiment of the present application, the vehicle body has a base arranged at the bottom of the vehicle body, and the protective component has a lowest position and a highest position relative to the base. When at the highest position, the cutting component performs a cutting action; when at the lowest point, the protective plate performs a cleaning action.

[0020] The technical solution provided by the embodiments of the present application may include the following beneficial effects: the present application designs a self-moving robot, including a machine body and a cutting mechanism, the cutting mechanism including a cutting component, a protective component and a driving component, the driving component is transmission-connected to the cutting component, and is used to drive the cutting component to cut the object to be cut; the protective component is arranged at the bottom of the machine body and forms a containing structure, the cutting component is arranged in the containing structure and exposed from the protective component, which can effectively prevent the debris generated by the cutting component during cutting from entering the cutting component, avoid excessive debris accumulation in the cutting component, causing the cutting component to fail to work normally, and improve the cutting efficiency of the robot.

[0021] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0023] Figure 1 This is a schematic structural diagram of a self-propelled robot provided in one embodiment of the present application;

[0024] Figure 2 yes Figure 1 Schematic diagram of the self-propelled robot from another angle;

[0025] Figure 3 yes Figure 1 A schematic cross-sectional view of the self-propelled robot in FIG. 1 , wherein the protective component is in the highest position;

[0026] Figure 4 yes Figure 1 A schematic cross-sectional view of the self-propelled robot in FIG, wherein the protective component is in the lowest position;

[0027] Figure 5 yes Figure 1 Exploded diagram of the self-propelled robot in FIG;

[0028] Figure 6 yes Figure 5Schematic diagram of the structure of the protection component in;

[0029] Figure 7 yes Figure 5 Another schematic diagram of the protection components in;

[0030] Figure 8 yes Figure 5 Schematic cross-section of the protection component.

[0031] Figure 9 yes Figure 2 A partial magnified view of the self-propelled robot;

[0032] Description of reference numerals:

[0033] 10. Machine body; 11. Vehicle body; 12. Traveling components;

[0034] 20. Cutting mechanism; 21. Cutting assembly; 211. Cutting disc; 2111. First protrusion; 212. Cutting blade; 213. Cutting plane; 22. Base; 221. Base plate; 222. Side panel; 23. Protective assembly; 23a. Protective disc; 23b. Sealing member; 231. Accommodating structure; 231a. Recessed structure; 2311. First groove; 2312. Second groove; 231b. Through-hole structure; 232. Protective member; 233. Second protrusion; 234. Cutting surface; 235. First plane; 24. Driving assembly. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0036] It should also be understood that the terms used in this specification of the present application are only for the purpose of describing specific realities. In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0037] The following describes some embodiments of the present application in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features therein may be combined with each other.

[0038] like Figure 1 and Figure 2 As shown, the present application provides a self-propelled robot, comprising a main body 10 and a cutting mechanism 20. The cutting mechanism 20 is disposed at the bottom of the main body 10 and is used to cut objects to be cut. The objects to be cut include, but are not limited to, lawns, gardens, and grass on paths. In other words, the self-propelled robot can cut grass on lawns to ensure the lawn's aesthetics.

[0039] In an optional embodiment, the self-propelled robot includes a body 11 and a walking assembly 12. The cutting mechanism 20 is arranged at the bottom of the body 11, and the walking assembly 12 is arranged on the body 11 for driving the body 11 to move forward, so that the body 11 can drive the cutting mechanism 20 to cut the grass on the lawn along a preset trajectory, thereby greatly reducing manual operation, saving time and effort, and truly freeing people from the labor of lawn maintenance.

[0040] In an optional embodiment, if Figures 2 to 4 As shown, the cutting mechanism 20 includes a cutting assembly 21 and a driving assembly 24. The driving assembly 24 is connected to the cutting assembly 21 for driving the cutting assembly 21 to cut the object to be cut, providing cutting power for the cutting assembly 21, greatly reducing manual operation, saving time and effort, and truly freeing people from the labor of lawn maintenance.

[0041] In an optional embodiment, the self-propelled robot further includes a protective assembly 23, which is disposed at the bottom of the vehicle body 11. At least a portion of the cutting assembly 21 is exposed from a side of the protective assembly 23 away from the vehicle body 11, for cutting the object to be cut. The driving assembly 24 is disposed on a side of the protective assembly 23 away from the cutting assembly 21, such that the protective assembly 23 can isolate the driving assembly 24 from the portion of the cutting assembly 21 exposed from the protective assembly 23, thereby preventing debris generated by the cutting assembly 21 during cutting from entering the bottom of the vehicle body 11. Such debris would not only dirty the bottom of the vehicle body 11, increasing the overall weight of the vehicle body 11, but would also affect the normal operation of the driving assembly 24, and even cause the motor of the driving assembly 24 to stall. The first plane 235 of the protective assembly 23 facing the ground is at a height greater than the height of the cutting plane 213 of the cutting assembly 21 from the ground.

[0042] In an optional embodiment, the height difference h between the first plane 235 and the cutting plane 213 is no greater than 2 cm; preferably, the height difference h is 0.2 cm to 1 cm. This height difference can effectively prevent debris accumulation and ensure smooth operation of the cutting assembly.

[0043] In an optional embodiment, a receiving structure 231 is formed on the protective component 23. The receiving structure 231 is used to partially cover the cutting component 21 and expose the working portion of the cutting component 21 for cutting the object to be cut. The receiving structure 231 can be a through-hole structure provided on the protective component 23, or a sink structure provided on the protective component 23. This application is not limited thereto. The main purpose is to allow at least a portion of the cutting component 21 to be accommodated in the receiving structure 231, and another portion of the cutting component 21 to be exposed from the receiving structure 231 so as to be able to cut the object to be cut. At the same time, it can also prevent debris generated by the cutting component 21 during cutting from entering the inner side of the cutting component 21, effectively preventing the debris from causing the speed of the driving component 24 to decrease or even stall.

[0044] In an optional embodiment, the protective assembly 23 can move up and down relative to the vehicle body 11 to facilitate cleaning of debris from the protective assembly 23. This prevents debris from accumulating on the protective assembly 23, which could increase the overall weight of the autonomous robot and even reduce the cutting efficiency of the cutting assembly 21. This also solves the problem of large amounts of debris accumulating at the bottom of the vehicle body 11, making it difficult to clean. This saves manpower and ensures that the autonomous robot is not affected during lawn mowing.

[0045] It should be noted that the debris includes but is not limited to grass clippings generated by the self-propelled robot when mowing the lawn. These grass clippings are easily accumulated at the bottom of the vehicle body 11 when the cutting component 21 cuts, which not only increases the overall weight of the self-propelled robot, but also causes grass clippings to accumulate at the bottom of the vehicle body 11, affecting the rotation of the cutting component 21 and reducing cutting efficiency.

[0046] For example, when the self-propelled robot needs to clean debris from the bottom, the self-propelled robot adjusts the position of the protective component 23 to the lowest position, so that the debris on the protective component 23 can be cleaned while the self-propelled robot is moving. When the protective component 23 is in the lowest position, the protective component 23 can contact the object to be cut, or the protective component 23 can also contact the cleaning component fixed on the grass, so that the object to be cut or the cleaning component can clean the bottom of the self-propelled robot, thereby quickly removing debris from the bottom of the vehicle body 11 without manual cleaning. The cleaning speed is fast and efficient, and the bottom of the self-propelled robot is prevented from accumulating debris on the bottom of the self-propelled robot, which may affect the normal operation of the self-propelled robot or even damage the self-propelled robot.

[0047] It should be noted that the present application can also adjust the cutting height by adjusting the position of the protection component 23, and the present application is not limited thereto.

[0048] In an optional embodiment, if Figures 2 to 5 As shown, the vehicle body has a base 22 arranged at the bottom of the vehicle body, and a receiving space is formed on the side of the base 22 away from the vehicle body 11, and the protection component 23 is arranged in the receiving space. The edge shape of the protection component 23 is adapted to the contour of the receiving space, and the base 22 is installed on the bottom of the vehicle body 11, and the protection component 23 is installed on the side of the base 22 away from the vehicle body 11. The drive component 24 is arranged on the side of the protection component 23 facing the base 22, and the cutting component 21 is exposed from the side of the protection component 23 away from the base 22, so that the protection component 23 can prevent the debris generated by the cutting component 21 during cutting from entering the side thereof facing away from the base 22, thereby avoiding affecting the drive component 24; or, the protection component 23 and the base 22 can jointly block the debris generated by the cutting component 21 during cutting, thereby preventing the debris from entering the interior of the self-moving robot, especially entering the circuit area of ​​the self-moving robot, causing a circuit short circuit in the circuit area.

[0049] In an optional embodiment, a receiving space is formed on the side of the base 22 away from the vehicle body 11, and the protection component 23 is received in the receiving space, so that the protection component 23 can form a gapless sliding fit with the inner wall of the receiving space. This not only prevents debris from entering the gap between the inner wall of the receiving space and the protection component 23 to the side of the protection component 23 facing the vehicle body 11; it also reduces the processing area of ​​the base 22 and the difficulty of the process. While ensuring the sealing between the protection component 23 and the inner wall of the base 22, the protection component 23 can be moved up and down without gap relative to the base 22. At the same time, the protection component 23 can also clean the inner wall of the receiving space during the up and down movement.

[0050] In an optional embodiment, the base 22 includes a base plate 221 and side panels 222 connected to the four edges of the base plate 221. The base plate 221 is installed at the bottom of the vehicle body 11. The side panels 222 and the base plate 221 are combined to form a receiving space. The protective component 23 is received in the receiving space so that the side panels 222 can protect the protective component 23 and the cutting component 21 on the protective component 23.

[0051] Illustratively, the side panels 222 can prevent other people from reaching their hands into the cutting assembly 21 through the gap between the self-propelled robot and the ground when the cutting assembly 21 is performing a cutting action, causing them to be cut by the cutting assembly 21; or, when the height of an obstacle on the ground (such as a hard obstacle such as a stone or an iron can) is greater than the height of the cutting assembly 21 from the ground, the side panels 222 can push the obstacle away when the self-propelled robot is moving, or prevent the obstacle from entering the receiving space, thereby preventing the cutting assembly 21 from colliding with the obstacle and causing damage to the cutting assembly 21.

[0052] In an optional embodiment, if Figures 2 to 8 As shown, the protection component 23 includes a seal 23b and a protection plate 23a, the protection plate 23a is installed in the receiving space, the cutting component 21 is arranged on the side of the protection plate 23a away from the base plate 221, and the seal 23b is arranged between the protection plate 23a and the side panel 222, and is used to fill the gap between the protection plate 23a and the side panel 222 to prevent the debris generated by the cutting component 21 during cutting from entering the side facing away from the base 22; at the same time, it will not affect the up and down movement of the protection plate 23a, and can also scrape off the sticky grass on the seal 23b when the protection component 23 is in the lowest position to prevent grass blockage. During the up and down movement, the seal 23b can also scrape off the debris remaining on the side panel 222 to ensure the cleanliness of the side panel 222.

[0053] In an optional embodiment, the outer contour of the protective disk 23a is adapted to the inner contour of the receiving space, and the seal 23b is arranged on the outer peripheral side of the protective disk 23a and abuts against the inner side surface of the side panel 222. This can not only effectively prevent debris from entering the side of the protective disk 23a facing the substrate 221 through the gap between the protective disk 23a and the side panel 222, but also reduce the processing area of ​​the protective disk 23a, reduce the process difficulty, and better ensure the matching accuracy of the protective disk 23a and the side panel 222.

[0054] In an optional embodiment, the seal 23b includes at least one of a sealing rubber strip and a sealing wool strip, and the sealing rubber strip and / or the sealing wool strip are accommodated in the receiving space to fill the gap between the side panels 222 of the protective plate 23a, thereby effectively preventing the debris generated by the cutting assembly 21 during cutting from entering the side facing away from the base 22, and does not affect the up and down movement of the protective plate 23a relative to the receiving space.

[0055] Exemplarily, the seal 23b includes a sealing strip, which is arranged on the outer peripheral side of the protective plate 23a. When the protective plate 23a is installed in the receiving space, the sealing strip abuts against the inner side surface of the side panel 222 to fill the gap between the protective plate 23a and the side panel 222, thereby effectively preventing the debris generated by the cutting assembly 21 during cutting from entering the side facing away from the base 22, and does not affect the up and down movement of the protective plate 23a relative to the receiving space.

[0056] Exemplarily, the seal 23b includes a sealing strip, which is arranged on the outer peripheral side of the protective plate 23a. When the protective plate 23a is installed in the receiving space, the sealing strip abuts against the inner side surface of the side panel 222, and is used to fill the gap between the protective plate 23a and the side panel 222, thereby effectively preventing the debris generated by the cutting assembly 21 during cutting from entering the side thereof facing away from the base 22, and does not affect the up and down movement of the protective plate 23a relative to the receiving space.

[0057] It should be noted that the sealing strip includes but is not limited to a brush or a hair planting structure arranged on the protective plate 23a, and its main purpose is to fill the gap between the protective plate 23a and the side panel 222, preventing the debris generated by the cutting assembly 21 during cutting from entering the side facing away from the base 22, while at the same time not affecting the lifting and lowering of the protective plate 23a.

[0058] In an optional embodiment, the protective disc 23a has a planar cutting surface 234. The cutting surface 234 is a side surface facing away from the base plate 221. At least a portion of the cutting assembly 21 is exposed from the cutting surface 234 for cutting the material to be cut. The cutting surface 234 is a planar structure that conforms to the shape of the receiving space, allowing it to cooperate with the base 22 to completely cover the cutting assembly 21. This not only prevents grass clippings from splashing onto the inside of the protective disc 23a during cutting, but also reduces the accumulation of grass clippings compared to a cutting surface 234 with a groove.

[0059] In an optional embodiment, the containing structure 231 is formed on the cutting surface 234 and corresponds to the projected position of the cutting assembly 21, and the diameter of the containing structure 231 is adapted to the outer diameter of the cutting assembly 21 to prevent the debris generated by the cutting assembly 21 during cutting from entering the side of the cutting assembly 21 facing away from the base 22 through the gap between the cutting assembly 21 and the protective disk 23a, while not affecting the rotation of the cutting assembly 21.

[0060] In an optional embodiment, the depth of the accommodating structure 231 is adapted to the height of the connecting seat of the cutting assembly 21, so that the connecting seat of the cutting assembly 21 can be accommodated in the accommodating structure 231, and the cutter disc 211 of the cutting assembly 21 can expose the cutting surface 234 from the accommodating structure 231, thereby effectively preventing debris from entering the inner side of the cutting assembly 21 and causing the output shaft connected to the cutting assembly 21 to become stuck.

[0061] In an optional embodiment, the cutter disc 211 of the cutting assembly 21 is partially accommodated in the accommodating structure 231, and the cutting surface 234 can be exposed from the accommodating structure 231. In other words, the cutter disc 211 protrudes from the accommodating structure 231, thereby effectively preventing debris from entering the inner side of the cutting assembly 21 and causing the output shaft connected to the cutting assembly 21 to become stuck.

[0062] In an optional embodiment, the cutting assembly 21 includes a cutter disc 211 and a cutting blade 212 for cutting the material to be cut. The cutter disc 211 includes a connecting seat and a cutter disc 211 body connected to the connecting seat. The connecting seat is drivingly connected to the output shaft of the drive assembly 24. The cutting blade 212 is mounted on the cutter disc 211 body. The drive assembly 24 can drive the cutter disc 211 body and the cutting blade 212 to rotate through the connection between the output shaft and the connecting seat, thereby improving cutting efficiency and ensuring a neat cut of the lawn.

[0063] It should be noted that the driving component 24 may be, but is not limited to, a driving motor, and the cutter head 211 is connected to the output shaft of the driving motor.

[0064] In an optional embodiment, the outer diameter of the blade disc 211 is adapted to the inner diameter of the containment structure 231 to prevent grass clippings from entering the inner side of the blade disc 211 through the gap between the blade disc 211 and the containment structure 231, thereby avoiding the output shaft from getting stuck due to accumulation of debris.

[0065] In an optional embodiment, the cutting diameter of the cutting blade 212 during cutting is no less than the diameter of the receiving structure 231. That is, one end of the cutting blade 212 is fixed to the blade disc 211, and the other end of the cutting blade 212 extends radially from the blade disc 211 to the outside of the receiving structure 231. This not only allows the material to be cut, but also prevents grass clippings from entering the gap between the blade disc 211 and the receiving structure 231 and entering the inside of the blade disc 211, thus preventing the output shaft from getting stuck due to accumulation of debris.

[0066] In an optional embodiment, the accommodating structure 231 is two recessed structures 231a formed on the protective disc 23a, and the maximum diameter of the recessed structure 231a is adapted to the diameter of the cutter disc 211 so that at least part of the cutter disc 211 can be set in the recessed structure 231a.

[0067] Illustratively, the recessed structure 231a includes a first groove 2311 and a second groove 2312, wherein the second groove 2312 is disposed at the bottom of the first groove 2311. The inner diameter of the second groove 2312 is smaller than the inner diameter of the first groove 2311, and the outer diameter of the blade disc 211 matches the outer diameter of the first groove 2311, thereby preventing grass clippings from entering the blade disc 211 through the gap between the blade disc 211 and the accommodating structure 231, while ensuring that the blade disc 211 can rotate relative to the protective disc 23a to perform a cutting action.

[0068] In an optional embodiment, the depth of the first groove 2311 is adapted to the thickness of the blade disc 211 body, and the connecting seat is connected to the drive assembly 24 and accommodated in the second groove 2312 to ensure that grass clippings do not enter the inner side of the blade disc 211 body through the gap between the blade disc 211 body and the first groove 2311, while ensuring that the blade disc 211 body can rotate relative to the protective disc 23a to perform the cutting action.

[0069] In an optional embodiment, a first protrusion 2111 is formed on the side of the blade disc 211 body facing the second groove 2312, and a second protrusion 233 is formed on the side of the second groove 2312 facing the blade disc 211 body. The first protrusion 2111 is arranged on the outside of the second protrusion 233 to prevent grass clippings from entering the inner side of the blade disc 211 body through the gap between the blade disc 211 body and the second groove 2312.

[0070] In an optional embodiment, the accommodating structure 231 is two through-hole structures 231b formed on the protective plate 23a. The two through-hole structures 231b are spaced apart along the width direction of the vehicle body 11, and the cutting assembly 21 is correspondingly installed in each through-hole structure 231b, so that the self-propelled robot can drive the two cutting assemblies 21 to cut the object to be cut, thereby ensuring the cutting efficiency of the self-propelled robot.

[0071] In an optional embodiment, the protection component 23 includes a protective member 232, which is arranged on the side of the protective disk 23a away from the substrate 221. At least part of the structure of the cutting component 21 is located on the inner side of the protective member 232, which can effectively prevent obstacles from entering the cutting component 21 from both sides of the protective disk 23a, thereby improving the safety of the cutting component 21.

[0072] In an optional embodiment, the protective member 232 includes a protective protrusion and a protective strip, the protective protrusion is arranged on the outside of the protective strip, and at least part of the protective strip is covered above the cutting assembly 21 and connected to the cutting surface 234, which is used to prevent obstacles from entering the cutting assembly 21 from both sides of the protective disk 23a, thereby improving the safety of the cutting assembly 21.

[0073] In an optional embodiment, if Figures 3 to 5 As shown, the protective disc 23a has a highest position and a lowest position and can reciprocate between the highest position and the lowest position. The cutting assembly 21 performs a cutting action when the protective disc 23a is at the highest position; the bottom of the machine body 10 performs a cleaning action when the protective disc 23a is at the lowest position, thereby avoiding the accumulation of debris at the bottom of the machine body 10, reducing the frequency of manual maintenance, extending the service life of the self-propelled robot, and improving the working efficiency of the self-propelled robot.

[0074] For example, Figure 3 As shown, when the protective plate 23a moves from the lowest position to the highest position, the self-propelled robot can drive the cutting mechanism 20 to cut the object to be cut, and the protective plate 23a can prevent the grass clippings generated by the cutting mechanism 20 during the mowing operation from entering the interior of the cutting component 21 and the machine body 10. The side panel 222 of the base 22 can prevent other people from reaching their hands into the position of the cutting component 21 through the gap between the self-propelled robot and the ground when the cutting component 21 performs the cutting action, causing injuries to the cutting component 21.

[0075] For example, Figure 4As shown, after the self-propelled robot completes the mowing action, the protective plate 23a moves from the highest position to the lowest position so that the protective plate 23a can contact the object to be cut or the external cleaning component, so that the object to be cut or the cleaning component can clean the bottom of the mobile self-propelled robot, thereby quickly removing the debris on the protective plate 23a without manual cleaning, with fast cleaning speed and high efficiency, avoiding the accumulation of debris on the bottom of the mobile self-propelled robot, affecting the normal operation of the self-propelled robot, and even damaging the self-propelled robot.

[0076] In an optional embodiment, the moving distance of the protective plate 23a between the highest position and the lowest position is between 15 mm and 70 mm, so that the cutting mechanism 20 can cut the object to be cut when the protective plate 23a is in the highest position, and can clean it when the protective plate 23a is in the lowest position, thereby avoiding the accumulation of debris at the bottom of the vehicle body 11.

[0077] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they can refer to fixed connections, detachable connections, or integral connections. They can refer to mechanical connections or electrical connections. They can refer to direct connections or indirect connections through an intermediary. They can refer to internal communication between two components or interactions between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0078] In this application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0079] The disclosure above provides many different embodiments or examples for realizing the different structures of the present application. In order to simplify the disclosure of the present application, the components and settings of specific examples are described above. Of course, they are merely examples and are not intended to limit the present application. In addition, the present application may repeat reference numerals and / or reference letters in different examples, and such repetition is for the purpose of simplicity and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present application provides examples of various specific processes and materials, but those of ordinary skill in the art will appreciate the application of other processes and / or the use of other materials.

[0080] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with an embodiment or example is included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Claims

1. A self-propelled robot, characterized in that: include: A machine body, the machine body comprising a vehicle body and a traveling assembly, the traveling assembly being arranged on the vehicle body and used to drive the vehicle body to move forward; A cutting mechanism, comprising a cutting assembly and a driving assembly, wherein the driving assembly is in transmission connection with the cutting assembly and is used to drive the cutting assembly to cut the object to be cut, and the cutting assembly comprises a cutter disc and a cutting blade; A protective component is arranged at the bottom of the vehicle body and forms a accommodating structure, the cutter disc is partially accommodated in the accommodating structure, the cutting blade is exposed from the accommodating structure to cut the object to be cut, and the height of the first plane of the protective component facing the ground from the ground is greater than the height of the cutting plane of the cutting component from the ground.

2. The self-propelled robot according to claim 1, characterized in that: A height difference between the first plane and the cutting plane is no greater than 2 cm.

3. The self-propelled robot according to claim 1, wherein: A height difference between the first plane and the cutting plane is 0.2 cm-1 cm.

4. The self-propelled robot according to claim 1, wherein: The vehicle body has a base arranged at the bottom of the vehicle body, a receiving space is formed on a side of the base away from the vehicle body, the protection component is arranged in the receiving space, and the edge shape of the protection component is adapted to the contour of the receiving space.

5. The self-propelled robot according to claim 2, wherein: The vehicle body has a base arranged at the bottom of the vehicle body, and a receiving space is formed on the side of the base away from the vehicle body. The protection component includes a seal and a protective plate with the receiving structure. The protective plate is installed in the receiving space, and the seal is arranged between the protective plate and the base. The seal ensures that the protective plate can reliably cover the base when it is installed in the receiving space.

6. The self-propelled robot according to claim 3, wherein: The cutting assembly includes a cutting blade and a cutter disc. The cutter disc is adapted to the contour of the accommodating structure. The cutting blade is fixed below the cutter disc. The cutter disc is accommodated in the accommodating structure and is in transmission connection with the driving assembly.

7. The self-propelled robot according to claim 4, wherein: The accommodating structure comprises a first groove and a second groove arranged at the bottom of the first groove, the inner diameter of the second groove is smaller than the inner diameter of the first groove, and the outer diameter of the cutter disc is adapted to the outer diameter of the first groove.

8. The self-propelled robot according to claim 7, wherein: The cutter disc includes a connecting seat and a cutter disc body connected to the connecting seat. The depth of the first groove is adapted to the thickness of the cutter disc body. The connecting seat is connected to the driving assembly and accommodated in the second groove.

9. The self-propelled robot according to claim 8, wherein: A first protrusion is formed on a side of the cutter disc body facing the second groove, a second protrusion is formed on a side of the second groove facing the cutter disc body, and the first protrusion is arranged around the outer side of the second protrusion.

10. The self-propelled robot according to claim 1, wherein: The accommodating structure is two through-hole structures formed on the protection component. The two through-hole structures are spaced apart along the width direction of the vehicle body, and the cutting component is correspondingly installed in each of the through-hole structures.

11. The self-propelled robot according to claim 10, wherein: The protection assembly includes a protective member, which includes a protective plate. The protective plate has a planar cutting surface. The protective member is arranged on the cutting surface. At least part of the structure of the cutting assembly is located on the inner side of the protective member.

12. The self-propelled robot according to claim 11, wherein: The protective member includes a protective protrusion and a protective strip, wherein the protective protrusion is arranged on the outside of the protective strip, and at least a portion of the protective strip is arranged above the cutting assembly and connected to the cutting surface.

13. The self-propelled robot according to claim 2, wherein: The vehicle body has a base arranged at the bottom of the vehicle body, and the protection component has a lowest position and a highest position relative to the base, and when in the highest position, the cutting component performs a cutting action; When in the lowest position, a cleaning action is performed to clean the protection component.

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