Self-moving robot

Abstract

A self-moving robot comprises a robot body, a cutting mechanism and a protection assembly, the robot body comprises a vehicle body and a walking assembly, the vehicle body comprises a chassis assembly arranged at the bottom, and the walking assembly is arranged on the vehicle body and used for driving the vehicle body to advance; the cutting mechanism comprises a cutting assembly and a driving assembly, and the driving assembly is in transmission connection with the cutting assembly and used for driving the cutting assembly to cut an object to be cut; the protection assembly can move up and down relative to the chassis assembly, and the cutting assembly is arranged on the protection assembly and at least partially extends out of the protection assembly; the protection assembly is contained in the containing space of the chassis assembly and matched with the containing space, and the side wall of the containing space can be cleaned.

Description

Technical Field

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

[0002] When the robot works for a long time, its bottom is easily caught in the debris generated during cutting, causing the inner side of the chassis assembly to be accumulated with debris. If not handled in time, the accumulation of debris will increase, which will hinder the rotation of the cutting assembly, causing the cutting assembly to be unable to rotate normally, affecting the normal operation of the robot, and even causing the cutting assembly to get stuck, reducing the service life of the robot. Summary of the invention

[0003] The present application provides a self-moving robot, which uses a protective component to prevent debris generated by a cutting component during cutting from entering a chassis component, thereby avoiding excessive debris from accumulating in the chassis component and causing the cutting component to be unable to work normally; at the same time, the debris at the bottom of the vehicle body can be cleaned by moving the protective component up and down, thereby reducing the tediousness of debris cleaning and improving the efficiency of debris cleaning.

[0004] The present application provides a self-moving robot, comprising: 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, the vehicle body comprising a chassis assembly arranged at the bottom; A cutting mechanism, wherein the cutting mechanism comprises 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; A protection component, wherein the protection component can move up and down relative to the chassis component, and the cutting component is arranged on the protection component and at least partially extends out of the protection component; the protection component is received in the receiving space of the chassis component, is adapted to the receiving space, and can clean the side wall of the receiving space.

[0005] In a self-propelled robot according to an embodiment of the present application, the chassis assembly includes a bottom plate and side panels connected to the edges of the bottom plate, the chassis assembly is installed at the bottom of the vehicle body, the side panels and the bottom plate are combined to form a receiving space, and the protection assembly is received in the receiving space. In a self-propelled robot according to an embodiment of the present application, the protection assembly includes a seal and a protective plate, the protective plate is installed in the receiving space, the cutting assembly is arranged on a side of the protective plate away from the base plate, and the seal is arranged between the protective plate and the side panels.

[0006] In the self-propelled robot of one embodiment of the present application, the outer contour of the protective plate is adapted to the inner contour of the receiving space.

[0007] In a self-moving robot according to one embodiment of the present application, the seal comprises 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 accommodation space to fill the gap between the side panels of the protective plate.

[0008] In a self-propelled robot of one embodiment of the present application, the driving assembly includes a first driving assembly and a second driving assembly, the first driving assembly is used to drive the cutting assembly to rotate relative to the chassis assembly, and the second driving assembly is used to drive the protection assembly to move up and down.

[0009] In a self-moving robot of one embodiment of the present application, the first drive component is installed on the side of the protection component facing the chassis component and is transmission-connected to the cutting component, and the second drive component is transmission-connected to the first drive component for driving the first drive component to move up and down.

[0010] In a self-moving robot according to one embodiment of the present application, the protection component includes a planar protection plate, the first drive component is mounted on the protection plate, a receiving structure for partially covering the cutting component is formed on the protection plate, and a working part of the cutting component is exposed.

[0011] In a self-moving robot of one embodiment of the present application, the protection component includes a protection frame and a planar protection plate, the protection frame is installed on the first driving component and can be raised and lowered with the lifting and lowering of the first driving component, the protection plate is connected to the protection frame and forms a through hole structure, and at least a part of the cutting component passes through the through hole structure and is connected to the first driving component.

[0012] In a self-moving robot of one embodiment of the present application, the protective plate has a highest position and a lowest position and can reciprocate between the highest position and the lowest position, and the moving distance of the protective plate between the highest position and the lowest position is between 15 mm and 70 mm.

[0013] In the self-moving robot of one embodiment of the present application, the robot further includes a detection component, which is disposed on the bottom of the vehicle body and is used to detect the accumulation of debris on the protective plate.

[0014] In the self-moving robot of one embodiment of the present application, the detection component includes a pressure sensor, and the pressure sensor is arranged on the protective plate to monitor the weight change of the protective plate.

[0015] In the self-moving robot of one embodiment of the present application, the robot further includes a control system, and the control system controls the protective plate to move between the highest position and the lowest position according to the debris accumulation detected by the detection component.

[0016] In a self-moving robot of one embodiment of the present application, the control system includes an amplifier circuit and a filter circuit, the output signal end of the detection component is connected to the input signal end of the amplifier circuit, and the output signal end of the amplifier circuit is connected to the input signal end of the filter circuit.

[0017] In the self-moving robot of one embodiment of the present application, the robot further includes a charging base, and when the machine body returns to the charging base for charging, the protective plate moves from the highest position to the lowest position.

[0018] The technical solution provided by the embodiment of the present application may include the following beneficial effects: the present application designs a self-moving robot, including a machine body, a cutting mechanism and a protection component, the body includes a chassis component arranged at the bottom, the cutting component of the cutting mechanism is arranged on the protection component and at least partially extends out of the protection component, and the protection component is accommodated in the receiving space of the chassis component. Among them, the protection component is adapted to the receiving space so that the side wall of the receiving space can be cleaned, which can effectively prevent the accumulation of debris in the receiving space, and can also prevent the cutting component from being blocked by the debris accumulated in the receiving space, causing the cutting component to be unable to work normally; at the same time, the present application can also prevent the debris generated by the cutting component during cutting from entering the chassis component through the protection component, so as to avoid excessive debris from accumulating in the receiving space and affecting the normal operation of the cutting mechanism.

[0019] 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

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. 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 paying any creative work.

[0021] Figure 1 is a structural schematic diagram of a self-moving robot provided in one embodiment of the present application; Figure 2 yes Figure 1 A schematic diagram of the self-propelled robot in another angle; Figure 3 yes Figure 1 A cross-sectional schematic diagram of a self-propelled robot; Figure 4 yes Figure 1 A cross-sectional schematic diagram of another situation of the self-propelled robot in FIG. Figure 5 yes Figure 1 An exploded schematic diagram of a self-propelled robot in FIG. Figure 6 yes Figure 5 An exploded schematic diagram of the driving assembly and the cutting assembly in FIG. Figure 7 yes Figure 5 A schematic diagram of the structure of the protection components in FIG. Figure 8 yes Figure 5 Another schematic diagram of the protection components in FIG. Fig. 9 yes Figure 5 Schematic diagram of a cross-section of the protection components.

[0022] Description of reference numerals: 10. Machine body; 11. Vehicle body; 12. Travel assembly; 13. Chassis assembly; 131. Bottom plate; 132. Side panel; 20. Cutting mechanism; 21. Cutting assembly; 211. Cutting disc; 2111. First protrusion; 212. Cutting blade; 22. Driving assembly; 221. First driving assembly; 222. Second driving assembly; 223. Driving frame; 30. Protection assembly; 31. Protection plate; 311. Accommodation structure; 311a. Recessed structure; 311b. Through-hole structure; 3111. First groove; 3112. Second groove; 312. Cutting surface; 313. Second protrusion; 314. Protection member; 32. Sealing member; 33. Protection frame. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0024] It should also be understood that the terms used in this specification of the present application are only for 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 the orientation or position relationship based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying 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 a limitation on the present application. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0025] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0026] like Figure 1 and Figure 2 As shown, the present application provides a self-propelled robot, including a machine body 10 and a cutting mechanism 20, wherein the cutting mechanism 20 is arranged at the bottom of the machine 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, that is, the self-propelled robot can cut grass on lawns to ensure the beauty of the lawn.

[0027] In an optional embodiment, the machine body 10 includes a vehicle body 11 and a traveling assembly 12. The cutting mechanism 20 is arranged at the bottom of the vehicle body 11, and the traveling assembly 12 is arranged on the vehicle body 11, and is used to drive the vehicle body 11 to move forward, so that the vehicle 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.

[0028] In an optional embodiment, if Figures 1 to 3 As shown, the machine body 10 includes a chassis assembly 13, which is arranged at the bottom of the vehicle body 11, and a cutting mechanism 20 is installed at the lower end of the chassis assembly 13 for cutting the object to be cut.

[0029] In an optional embodiment, if Figures 2 to 4As shown, the cutting mechanism 20 includes a cutting component 21 and a driving component 22. The driving component 22 is transmission-connected to the cutting component 21 for driving the cutting component 21 to cut the object to be cut and providing cutting power for the cutting component 21, thereby greatly reducing manual operation, saving time and effort, and truly freeing people from the labor of lawn maintenance.

[0030] In an optional embodiment, if Figures 2 to 5 As shown, the cutting mechanism 20 also includes a protection component 30, which is disposed on the chassis component 13 and can move up and down relative to the chassis component 13, so that the protection component 30 can be cleaned, reducing the tediousness of debris cleaning and improving the cleaning efficiency.

[0031] In an optional embodiment, a receiving space is formed on one side of the chassis assembly 13 away from the vehicle body 11, the protection assembly 30 is received in the receiving space, and the cutting assembly 21 is arranged on the protection assembly 30 and at least partially extends out of the protection assembly 30, for cutting the object to be cut. The driving assembly 22 is arranged on the side of the protection assembly 30 facing the chassis assembly 13, so that the protection assembly 30 can isolate the driving assembly 22 from the part of the cutting assembly 21 exposed from the protection assembly 30, and prevent the debris generated by the cutting assembly 21 during cutting from entering the chassis assembly 13. Such debris will not only dirty the bottom of the chassis assembly 13, resulting in an increase in the overall weight of the vehicle body 11, but also affect the normal operation of the driving assembly 22, and even cause the motor of the driving assembly 22 to be blocked.

[0032] In an optional embodiment, the protection component 30 is adapted to the receiving space so that the side walls of the receiving space can be cleaned when the protection component 30 moves up and down relative to the chassis component 13, which can effectively prevent the accumulation of debris in the receiving space and also prevent the cutting component from being blocked by debris accumulated in the receiving space, causing the cutting component to fail to work normally.

[0033] In an optional embodiment, the protective component 30 is arranged without a gap in the circumference and the accommodating space, thereby preventing the debris generated by the cutting component 21 during cutting from entering the chassis component 13, avoiding excessive debris from accumulating in the cutting component 21, affecting the normal operation of the driving component 22, and even causing the motor of the driving component 22 to stall.

[0034] In an optional embodiment, the chassis assembly 13 includes a bottom plate 131 and side panels 132 connected to the four edges of the bottom plate 131. The bottom plate 131 is installed at the bottom of the vehicle body 11. The side panels 132 and the bottom plate 131 enclose a receiving space that is compatible with the protection assembly 30. The protection assembly 30 is received in the receiving space and can clean or scrape the inner wall of the receiving space, so that debris attached to the inner wall of the receiving space can be peeled off from the inner wall surface of the receiving space to prevent debris from adhering to the inner wall of the receiving space, thereby achieving the technical effect of cleaning the receiving space. Exemplarily, when the protection component 30 moves toward the side away from the bottom plate 131, the protection component 30 can move within the receiving space relative to the inner wall of the receiving space to scrape and clean the inner wall of the receiving space, thereby peeling off debris attached to the inner wall of the receiving space and preventing debris from accumulating on the inner wall of the receiving space, thereby achieving the technical effect of cleaning the receiving space.

[0035] In an optional embodiment, the side panel 132 can prevent other people from reaching their hands into the cutting assembly 21 through the gap between the robot and the ground when the cutting assembly 21 performs a cutting action, thereby preventing other people from being cut by the cutting assembly 21; or, when the height of the obstacles on the ground (such as hard obstacles such as stones and iron cans) is greater than the height of the cutting assembly 21 from the ground, the side panel 132 can push the obstacles away when the robot moves, or prevent the obstacles from entering the receiving space, thereby preventing the cutting assembly 21 from colliding with the obstacles and causing damage to the cutting assembly 21.

[0036] After adopting the above technical solution, since the protection component 30 can move up and down relative to the vehicle body 11, it is not only convenient to clean the protection component 30, but also convenient for the protection component 30 to scrape and clean the inner wall of the receiving space, preventing debris from accumulating on the inner wall of the receiving space. In addition, the present application can isolate the driving component 22 from the part of the cutting component 21 exposed from the protection component 30 through the protection component 30, so as to prevent the debris generated by the cutting component 21 from entering the chassis component 13 during cutting, thereby dirtying the chassis component 13, causing grass residue to enter the chassis area and wrap around the rotating shaft of the cutting component 21, affecting the normal operation of the driving component 22 and causing the motor of the driving component 22 to be blocked; and the debris on the protection component 30 can be cleaned, solving the problem that a large amount of debris accumulates at the bottom of the vehicle body 11 and is not easy to clean, saving manpower cleaning consumption, and ensuring that the self-propelled robot is not affected during the lawn trimming process.

[0037] It should be noted that the debris includes but is not limited to grass clippings generated when the robot is mowing the lawn. These grass clippings are easily accumulated at the bottom of the vehicle body 11 when the cutting component 21 is cutting, which will not only increase the overall weight of the robot, but also cause the grass clippings to accumulate at the bottom of the vehicle body 11. As a result, the grass clippings may be drawn into the rotating shaft, affecting the rotation of the cutting component 21 and reducing the cutting efficiency.

[0038] Exemplarily, when the robot needs to clean the debris at the bottom, the robot adjusts the position of the protection component 30 to the lowest position, so that the debris on the protection component 30 can be cleaned during the robot's movement. When the protection component 30 is at the lowest position, the protection component 30 can contact the object to be cut, or the protection component 30 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 mobile robot, so that the debris at the bottom of the vehicle body 11 can be quickly removed without manual cleaning, with fast cleaning speed and high efficiency, avoiding the accumulation of debris at the bottom of the mobile robot, affecting the normal operation of the robot, or even damaging the mobile robot.

[0039] It should be noted that the present application can also adjust the cutting height by adjusting the position of the protection component 30, and the present application is not limited thereto.

[0040] In an optional embodiment, if Figures 2 to 5 As shown, the protection component 30 is installed on the side of the chassis component 13 away from the vehicle body 11, the drive component 22 is arranged on the side of the protection component 30 facing the chassis component 13, and the cutting component 21 is exposed from the side of the protection component 30 away from the chassis component 13, so that the protection component 30 can prevent the debris generated by the cutting component 21 during cutting from entering the side thereof facing away from the chassis component 13, thereby avoiding affecting the drive component 22; or, the protection component 30 and the chassis component 13 can jointly block the debris generated by the cutting component 21 during cutting, thereby preventing the debris from entering into the interior of the robot, especially into the circuit area of ​​the robot, causing a short circuit in the circuit area.

[0041] In an optional embodiment, a receiving structure 311 is formed on the protection component 30, and the receiving structure 311 is used to partially cover the cutting component 21 and expose the working part of the cutting component 21 for cutting the object to be cut. The receiving structure 311 may be a through-hole structure provided on the protection component 30, or a recessed structure provided on the protection component 30, which is not limited in the present application. The main purpose is to allow the non-cutting part of the cutting component 21 to be covered by the receiving structure 311, and the working part of the cutting component 21 to be exposed from the receiving structure 311, so that the object to be cut can be cut, and the debris generated by the cutting component 21 during cutting is prevented from entering the inner side of the cutting component 21, so as to avoid the reduction of the rotation speed of the driving component 22 due to the accumulation of debris, or even the stalling phenomenon.

[0042] In an optional embodiment, if Figures 2 to 8 As shown, the protection component 30 includes a seal 32 and a protection plate 31. The protection plate 31 is installed in the receiving space. The cutting component 21 is arranged on the side of the protection plate 31 away from the bottom plate 131. The seal 32 is arranged between the protection plate 31 and the side panel 132, and is used to fill the gap between the protection plate 31 and the side panel 132 to prevent the debris generated by the cutting component 21 during cutting from entering the side thereof facing away from the chassis component 13; at the same time, it will not affect the up and down movement of the protection plate 31, and the grass sticking on the seal 32 can also be scraped off when the protection component 30 is in the lowest position to prevent grass blockage.

[0043] In an optional embodiment, the outer contour of the protective plate 31 is adapted to the inner contour of the receiving space, and the seal 32 is arranged on the outer peripheral side of the protective plate 31 and abuts against the inner side surface of the side panel 132. This can not only effectively prevent debris from entering the gap between the protective plate 31 and the side panel 132 to the side of the protective plate 31 facing the bottom plate 131, but also reduce the processing area of ​​the protective plate 31, reduce the process difficulty, and better ensure the matching accuracy of the protective plate 31 and the side panel 132.

[0044] In an optional embodiment, the seal 32 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 is contained in the receiving space to fill the gap between the side panels 132 of the protective plate 31, thereby effectively preventing the debris generated by the cutting assembly 21 during cutting from entering the side facing away from the chassis assembly 13, and does not affect the up and down movement of the protective plate 31 relative to the receiving space.

[0045] Exemplarily, the seal 32 includes a sealing strip, which is arranged on the outer peripheral side of the protective plate 31. When the protective plate 31 is installed in the receiving space, the sealing strip abuts against the inner side of the side panel 132 to fill the gap between the protective plate 31 and the side panel 132, thereby effectively preventing the debris generated by the cutting assembly 21 during cutting from entering the side facing away from the chassis assembly 13 without affecting the up and down movement of the protective plate 31 relative to the receiving space.

[0046] Exemplarily, the seal 32 includes a sealing strip, which is arranged on the outer peripheral side of the protective plate 31. When the protective plate 31 is installed in the receiving space, the sealing strip abuts against the inner side of the side panel 132 to fill the gap between the protective plate 31 and the side panel 132, thereby effectively preventing the debris generated by the cutting assembly 21 during cutting from entering the side thereof facing away from the chassis assembly 13 without affecting the up and down movement of the protective plate 31 relative to the receiving space.

[0047] It should be noted that the sealing wool strip includes but is not limited to a brush or a wool planting structure arranged on the protective plate 31, and its main purpose is to fill the gap between the protective plate 31 and the side panel 132 to prevent the debris generated by the cutting component 21 during cutting from entering the side facing away from the chassis component 13, while at the same time not affecting the lifting and lowering of the protective plate 31.

[0048] In an optional embodiment, the protective plate 31 has a planar cutting surface 312, which is a side surface away from the bottom plate 131, and at least a portion of the cutting assembly 21 is exposed from the cutting surface 312 for cutting the object to be cut. The cutting surface 312 is set to a planar structure and is adapted to the shape of the receiving space, so that it can cooperate with the chassis assembly 13 to completely cover the cutting assembly 21, which can not only prevent the cutting assembly 21 from splashing grass clippings to the inner side of the protective plate 31 during cutting, but also, compared with the cutting surface 312 set in a groove, the planar cutting surface 312 can further reduce the accumulation of grass clippings.

[0049] In an optional embodiment, the accommodating structure 311 is formed on the cutting surface 312 and corresponds to the projected position of the cutting assembly 21, and the diameter of the accommodating structure 311 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 chassis assembly 13 through the gap between the cutting assembly 21 and the protective plate 31, while not affecting the rotation of the cutting assembly 21.

[0050] In an optional embodiment, the depth of the accommodating structure 311 is adapted to the height of the connecting seat of the cutting component 21, so that the connecting seat of the cutting component 21 can be accommodated in the accommodating structure 311, and the blade 211 of the cutting component 21 can expose the cutting surface 312 from the accommodating structure 311, thereby effectively preventing debris from entering the inner side of the cutting component 21 and causing the output shaft 2211 connected to the cutting component 21 to become stuck.

[0051] In an optional embodiment, the cutting assembly 21 includes a cutter disc 211 and a cutting blade 212 for cutting an object to be cut. The cutter disc 211 includes a connecting seat and a cutter disc body connected to the connecting seat, the connecting seat is drivingly connected to an output shaft 2211 of the driving assembly 22, and the cutting blade 212 is mounted on the cutter disc body, so that the driving assembly 22 can drive the cutter disc body and the cutting blade 212 to rotate through the connection between the output shaft 2211 and the connecting seat, so as to improve the cutting efficiency and ensure the neat cutting of the lawn.

[0052] It should be noted that the driving component 22 may be, but is not limited to, a driving motor, and the cutter disc 211 is connected to the output shaft 2211 of the driving motor.

[0053] In an optional embodiment, if Figures 3 to 6 As shown, the driving assembly 22 includes a first driving assembly 221 and a second driving assembly 222; wherein the first driving assembly 221 is used to drive the cutting assembly 21 to rotate relative to the chassis assembly 13, so that the cutting assembly 21 can cut the object to be cut. The second driving assembly 222 is used to drive the protection assembly 30 to move up and down to clean the debris accumulated on the protection assembly 30.

[0054] Exemplarily, the self-propelled robot has at least two working modes: a cutting mode and a cleaning mode. In the cutting mode, the second drive component 222 controls the protection component 30 to move upward, and the first drive component 221 controls the cutting component 21 to rotate relative to the chassis component 13 and the protection component 30 to perform a cutting action; in the cleaning mode, the second drive component 222 controls the protection component 30 to move downward so that the protection component 30 can contact the object to be cut or an external cleaning component, so that the bottom of the mobile robot can be cleaned by the object to be cut or the cleaning component, and the debris on the protection component 30 can be quickly removed without manual cleaning. The cleaning speed is fast and the efficiency is high, which avoids the accumulation of debris on the bottom of the mobile robot, affecting the normal operation of the robot or even damaging the mobile robot.

[0055] In an optional embodiment, the first drive component 221 is installed on the side of the protection component 30 facing the chassis component 13 and is transmission-connected to the cutting component 21, and the second drive component 222 is transmission-connected to the first drive component 221, and is used to drive the first drive component 221 to move up and down, so that the first drive component 221 can drive the protection component 30 and the cutting component 21 to move up and down.

[0056] Exemplarily, the first drive assembly 221 and the second drive assembly 222 are independent of each other. In the cutting mode, the second drive assembly 222 drives the first drive assembly 221 to move upward, thereby driving the protection assembly 30 and the cutting assembly 21 to move upward, so that the protection assembly 30 can be located at the highest position (such as Figure 3 As shown in FIG. 2 ), the first driving assembly 221 then drives the cutting assembly 21 to rotate relative to the protection assembly 30. When the self-propelled robot switches from the cutting mode to the cleaning mode, it is necessary to control the second driving assembly 222 to drive the first driving assembly 221 to move downward, and drive the protection assembly 30 and the cutting assembly 21 to move downward on the first driving assembly 221, so that the protection assembly 30 can be in the lowest position (as shown in FIG. 2 ). Figure 4 As shown in the figure, the object to be cut or the external cleaning component can clean the debris on the protection component 30. When the protection component 30 moves between the lowest position and the highest position, the first driving component 221 can be controlled to stop driving the cutting component 21 to rotate, or the first driving component 221 can be controlled to drive the cutting component 21 to reduce the rotation speed. It should be understood that reducing the rotation speed of the cutting component 21 also helps to improve the safety of the operation and avoid potential safety hazards caused by high-speed rotation. By lowering the protection component 30 to the lowest position, it can pass through the lawn.

[0057] In an optional embodiment, the driving component 22 includes a driving frame 223, and the first driving component 221 is fixed on the driving frame 223. The driving frame 223 can reciprocate along the height direction of the vehicle body 11 under the drive of the second driving component 222, so as to drive the first driving component 221 and the protective component 30 and the cutting component 21 connected to the first driving component 221 to reciprocate, thereby realizing the automatic cleaning function of the protective component 30.

[0058] In an optional embodiment, the outer diameter of the blade disc 211 is matched with the inner diameter of the accommodating structure 311 to prevent grass clippings from entering the inner side of the blade disc 211 through the gap between the blade disc 211 and the accommodating structure 311, thereby preventing the output shaft 2211 from getting stuck due to accumulation of debris.

[0059] In an optional embodiment, the cutting diameter of the cutting blade 212 when performing the cutting action is not less than the diameter of the accommodating structure 311, that is, one end of the cutting blade 212 is fixed on the blade disc 211, and the other end of the cutting blade 212 extends to the outside of the accommodating structure 311 along the radial direction of the blade disc 211. In this way, not only can the object to be cut be cut, but also grass clippings can be prevented from entering the inside of the blade disc 211 through the gap between the blade disc 211 and the accommodating structure 311, thereby preventing the output shaft 2211 from being stuck due to the accumulation of debris.

[0060] In an optional embodiment, if Figures 5 to 9 As shown, the accommodating structure 311 is two recessed structures 311a formed on the protective disk 31, and the maximum diameter of the recessed structure 311a is adapted to the diameter of the cutter disk 211 so that at least part of the cutter disk 211 can be disposed in the recessed structure 311a.

[0061] Exemplarily, the accommodating structure 311 has a first groove 3111 and a second groove 3112, and the second groove 3112 is arranged at the bottom of the first groove 3111. The inner diameter of the second groove 3112 is smaller than the inner diameter of the first groove 3111, and the outer diameter of the blade disc 211 is matched with the outer diameter of the first groove 3111 to ensure that grass clippings will not enter the inner side of the blade disc 211 from the gap between the blade disc 211 and the accommodating structure 311, while ensuring that the blade disc 211 can rotate relative to the protective disc 31 to perform a cutting action.

[0062] In an optional embodiment, the depth of the first groove 3111 is adapted to the thickness of the blade disc body, and the connecting seat is connected to the drive assembly 22 and accommodated in the second groove 3112 to ensure that grass clippings do not enter the inner side of the blade disc body through the gap between the blade disc body and the first groove 3111, while ensuring that the blade disc body can rotate relative to the protective disc 31 to perform the cutting action.

[0063] It should be noted that the cutter body and the connection seat can be an integral structure, that is, the cutter body can also be a partial structure of the cutter 211, or the cutter body can also be the entire structure of the cutter 211, and the connection seat is the connection part of the cutter 211 facing the side of the chassis assembly 13, and is used to connect with the rotating shaft. Among them, the rotating shaft can be an integral structure with the output shaft 2211 of the driving assembly 22, and the rotating shaft can also be drivingly connected with the output shaft 2211, and is used to transmit the torque output by the output shaft 2211 to the connection seat, and then transmit the cutter body through the connection seat, and this application is not limited.

[0064] In an optional embodiment, a first protrusion 2111 is formed on the side of the blade disc body facing the second groove 3112, and a second protrusion 313 is formed on the side of the second groove 3112 facing the blade disc body. The first protrusion 2111 is arranged on the outside of the second protrusion 313 to prevent grass clippings from entering the inner side of the blade disc body through the gap between the blade disc body and the second groove 3112.

[0065] In an optional embodiment, the accommodating structure 311 is two through-hole structures 311b formed on the blade disc 211, and the two through-hole structures are spaced apart along the width direction of the vehicle body 11. The cutting assembly 21 is correspondingly installed in each through-hole structure 311b, so that the robot can drive the two cutting assemblies 21 to cut the object to be cut, thereby ensuring the cutting efficiency of the robot.

[0066] In an optional embodiment, the protection component 30 includes a protection frame 33, which is installed on the first drive component 221 and can be raised and lowered as the first drive component 221 is raised and lowered. The protection plate 31 is connected to the protection frame 33, and at least part of the cutting component 21 passes through the through hole structure 311b and is connected to the first drive component 221, so that the first drive component 221 can drive the cutting component 21 to cut the object to be cut.

[0067] In an optional embodiment, the protection component 30 includes a protective member 314, which is arranged on the side of the protection plate 31 away from the base plate 131. At least part of the structure of the cutting component 21 is located on the inner side of the protective member 314, which can effectively prevent obstacles from entering the cutting component 21 from both sides of the protection plate 31, thereby improving the safety of the cutting component 21.

[0068] In an optional embodiment, the protective member 314 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 covered above the cutting assembly 21 and connected to the cutting surface 312, so as to prevent obstacles from entering the cutting assembly 21 from both sides of the protective plate 31, thereby improving the safety of the cutting assembly 21.

[0069] In an optional embodiment, if Figures 3 to 5 As shown, the protective plate 31 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 plate 31 is at the highest position; the bottom of the machine body 10 performs a cleaning action when the protective plate 31 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 robot, and improving the work efficiency of the robot.

[0070] For example, Figure 3As shown, when the protective plate 31 moves from the lowest position to the highest position, the robot can drive the cutting mechanism 20 to cut the object to be cut, and the protective plate 31 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 132 of the chassis component 13 can prevent other people from extending their hands into the position of the cutting component 21 through the gap between the robot and the ground when the cutting component 21 performs the cutting action, resulting in cuts by the cutting component 21.

[0071] For example, Figure 4 As shown, when the robot completes the mowing action, the protective plate 31 moves from the highest position to the lowest position so that the protective plate 31 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 robot, thereby quickly removing the debris on the protective plate 31 without manual cleaning, with fast cleaning speed and high efficiency, avoiding the accumulation of debris on the bottom of the mobile robot, affecting the normal operation of the robot, or even damaging the mobile robot.

[0072] In an optional embodiment, the moving distance of the protective plate 31 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 31 is in the highest position, and can clean it when the protective plate 31 is in the lowest position, thereby avoiding the accumulation of debris at the bottom of the vehicle body 11.

[0073] In an optional embodiment, if Figures 3 to 5 As shown, the robot further includes a detection component, which is disposed on the bottom of the vehicle body 11 and is used to detect the accumulation of debris on the protective plate 31, so that the robot can raise and lower the protective plate 31 according to the accumulation of debris detected by the detection component. When the detection component detects that there are debris on the protective plate 31, the protective plate 31 is controlled to move from the highest position to the lowest position so that the debris on the protective plate 31 can be cleared.

[0074] In an optional embodiment, the detection component includes a pressure sensor, which is arranged on the protective disc 31 and is used to monitor the weight change of the blade guard disc 211 so that the robot can monitor the weight change of the blade guard disc 211. When the value detected by the pressure sensor exceeds a preset threshold value, the robot controls the cutting component 21 to stop rotating and moves the protective disc 31 from the highest position to the lowest position. The walking component 12 drives the vehicle body 11 to continue moving and cleans the grass clippings on the blade guard disc 211.

[0075] In an optional embodiment, the pressure sensor includes but is not limited to a thin film pressure sensor, which has high sensitivity and anti-interference capabilities, and can further improve the accuracy of detecting the accumulation of grass clippings.

[0076] In some other embodiments, the detection component can also detect whether there are grass clippings on the blade guard 211 through other sensors, such as infrared sensors and optical sensors; wherein the infrared light of the infrared sensor will produce different reflection or absorption characteristics when encountering different substances, so that the infrared sensor can be used to detect the intensity of the reflected light of the grass clippings, and then determine the accumulation of grass clippings.

[0077] Exemplarily, the infrared sensor is installed on the side panel 132 and is lower than the lowest position of the blade guard 211 so that it can obtain the accumulation of grass clippings on the blade guard 211 without being damaged by the movement of the blade guard 211; when the infrared sensor emits light and receives reflected light, the accumulation of grass clippings will change the surface characteristics, causing the intensity of the reflected light to change, so that the infrared sensor can determine the degree of accumulation of grass clippings by detecting this change.

[0078] In an optional embodiment, the optical sensor may be a laser sensor, which determines the degree of accumulation of grass clippings by the blade guard 211 by emitting a laser beam and measuring the time and angle of its reflection.

[0079] In an optional embodiment, the optical sensor may also be a camera, which acquires a real-time image on the blade guard disc 211 and analyzes the accumulation of grass clippings through an image processing algorithm.

[0080] In an optional embodiment, the robot further includes a control system, which controls the protective plate 31 to move between a highest position and a lowest position according to the accumulation of debris detected by the detection component, so as to be able to clean the grass clippings accumulated on the protective plate 31.

[0081] Exemplarily, the detection component is connected to the control system via a cable, and the detection component transmits the collected pressure change signal to the control system. The control system determines whether grass clippings are accumulated on the blade guard 211 based on a preset pressure threshold. When the pressure value detected by the detection component exceeds the set threshold, the control system will recognize it as grass clippings accumulation, and then control the cutting component 21 to stop rotating, and then move the blade guard 211 from the highest position to the lowest position, so that the blade guard 211 can clean up the grass clippings while the robot is moving.

[0082] In an optional embodiment, the control system includes an amplifying circuit and a filtering circuit, and the output signal end of the detection component is connected to the input signal end of the amplifying circuit, and the output signal end of the amplifying circuit is connected to the input signal end of the filtering circuit, so that the amplifying circuit can amplify the pressure change signal collected by the detection component and filter the signal interference in the pressure change signal through the filtering circuit, so as to be able to detect weak signals transmitted by the component and ensure the accuracy of the data.

[0083] For example, when the detection component transmits the collected pressure change signal to the control system, the control system amplifies and filters the pressure change signal through the amplifier circuit and the filter circuit to ensure the accuracy of the data. Then the control system determines whether grass clippings are accumulated on the blade guard 211 according to the preset pressure threshold. When the pressure value detected by the detection component exceeds the set threshold, the control system will identify it as grass clippings accumulation.

[0084] When the control system confirms that there is grass clippings accumulation on the blade guard 211, the control system will issue a control command to adjust the position of the blade guard 211 to the lowest position, and then start the cleaning program to ensure that the robot can work for a long time without affecting the operation of the blade guard 211 due to grass clippings accumulation.

[0085] In an optional embodiment, when the robot is performing a cutting action, the detection component can continuously monitor the pressure change on the blade guard 211, so that the control system can continuously receive the pressure change signal from the detection component and perform real-time analysis on the pressure change signal; when the pressure change signal exceeds a preset pressure threshold, the control system will determine that too much grass clippings have accumulated. At this time, the control system will suspend the mowing operation and prepare to start the cleaning program.

[0086] When the control system starts the cleaning program, the control system adjusts the blade guard 211 to the lowest position, and then controls the driving robot to continue moving so that the grass clippings accumulated on the blade guard 211 can be cleaned; after the grass clippings accumulated on the blade guard 211 are cleaned, the robot returns to the position point where the cleaning program was started, ends the cleaning program, and starts the cutting action.

[0087] It should be noted that the preset pressure threshold may be a multi-level pressure threshold. For example, the first-level pressure threshold triggers a warning prompt, and the second-level pressure threshold triggers a cleaning program to prevent the control system from misjudging and frequently starting the cleaning program.

[0088] In an optional embodiment, the robot also includes a charging chassis assembly 13. When the machine body 10 returns to the charging chassis assembly 13 for charging, the protective plate 31 moves from the highest position to the lowest position, so that the robot can clean the grass residue on the blade guard 211.

[0089] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be directly connected or indirectly connected through an intermediate medium. It can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0090] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0091] The disclosure above provides many different embodiments or examples to realize the different structures of the present application. In order to simplify the disclosure of the present application, the parts and settings of specific examples are described above. Of course, they are only examples, and the purpose is not to limit the present application. In addition, the present application can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplification and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the various specific processes and material examples provided by the present application, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0092] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

Claims

1. A self-propelled robot, characterized in that: include: A machine body, the machine body comprising a vehicle body and a travel assembly, the vehicle body comprising a chassis assembly arranged at the bottom, the travel assembly being arranged on the vehicle body and used for driving the vehicle body to move forward; A cutting mechanism, wherein the cutting mechanism comprises 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; A protection assembly, wherein the protection assembly is movable up and down relative to the chassis assembly, and the cutting assembly is disposed on the protection assembly and at least partially extends out of the protection assembly; The protection component is received in the receiving space of the chassis component, is adapted to the receiving space, and can clean the side wall of the receiving space.

2. The self-propelled robot according to claim 1, characterized in that: The chassis assembly includes a bottom plate and side panels connected to the edges of the bottom plate. The chassis assembly is installed at the bottom of the vehicle body. The side panels and the bottom plate are combined to form a receiving space. The protection assembly is received in the receiving space.

3. The self-propelled robot according to claim 2, characterized in that: The protection assembly includes a seal and a protection plate. The protection plate is installed in the receiving space, and the seal is arranged between the protection plate and the side panel.

4. The self-propelled robot according to claim 3, characterized in that: The outer contour of the protective plate is matched with the inner contour of the receiving space.

5. The self-propelled robot according to claim 3, characterized in that: The sealing member includes at least one of a sealing rubber strip and a sealing wool strip. The sealing rubber strip and / or the sealing wool strip are accommodated in the accommodation space to fill the gap between the protective plate and the side panels.

6. The self-propelled robot according to claim 1, characterized in that: The driving assembly includes a first driving assembly and a second driving assembly. The first driving assembly is used to drive the cutting assembly to rotate relative to the chassis assembly, and the second driving assembly is used to drive the protection assembly to move up and down.

7. The self-propelled robot according to claim 6, characterized in that: The first driving assembly is installed on the side of the protection assembly facing the chassis assembly and is transmission-connected to the cutting assembly. The second driving assembly is transmission-connected to the first driving assembly and is used to drive the first driving assembly to move up and down.

8. The self-propelled robot according to claim 6, characterized in that: The protection component includes a planar protection plate, the first drive component is mounted on the protection plate, a receiving structure for partially covering the cutting component is formed on the protection plate, and a working part of the cutting component is exposed.

9. The self-propelled robot according to claim 6, characterized in that: The protection component includes a protection frame and a planar protection plate. The protection frame is installed on the first driving component and can be raised and lowered with the lifting and lowering of the first driving component. The protection plate is connected to the protection frame and forms a through hole structure. At least a part of the cutting component passes through the through hole structure and is connected to the first driving component.

10. The self-propelled robot according to claim 1, characterized in that: The protection component has a highest position and a lowest position and can reciprocate between the highest position and the lowest position. The moving distance of the protection component between the highest position and the lowest position is between 15 mm and 70 mm.

11. The self-propelled robot according to claim 1, characterized in that: The robot further comprises a detection component, which is arranged on the bottom of the vehicle body and is used to detect the accumulation of debris on the protection component.

12. The self-propelled robot according to claim 11, characterized in that: The detection component includes a pressure sensor, which is arranged on the protection component and is used to monitor the weight change of the protection component.

13. The self-propelled robot according to claim 11, characterized in that: The robot also includes a control system, which controls the protection component to move up and down according to the accumulation of debris detected by the detection component.

14. The self-propelled robot according to claim 13, characterized in that: The control system includes an amplifier circuit and a filter circuit. The output signal end of the detection component is connected to the input signal end of the amplifier circuit, and the output signal end of the amplifier circuit is connected to the input signal end of the filter circuit.

15. The self-propelled robot according to claim 1, characterized in that: The robot further comprises a charging base, and when the machine body returns to the charging base for charging, the protection component moves from the highest position to the lowest position.

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