Self-mobile robot

Abstract

A self-mobile robot, comprising a machine body, a cutting mechanism and a protection component. The machine body includes a vehicle body and a traveling component. The vehicle body includes a chassis component disposed at the bottom. The traveling component is disposed on the vehicle body and is used for driving the vehicle body to travel. The cutting mechanism includes a cutting component and a driving component. The driving component is in transmission connection with the cutting component and is used for driving the cutting component to cut an object to be cut. The protection component can move up and down relative to the chassis component. The cutting component is disposed on the protection component and at least partially extends out of the protection component. The protection component is received in a receiving space of the chassis component, is adapted to the receiving space, and can clean the side wall of the receiving space.

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:

[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, the vehicle body comprising a chassis assembly arranged at the bottom;

[0006] 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;

[0007] 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.

[0008] 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.

[0009] In a self - mobile robot according to an embodiment of the present application, the outer contour of the protective disk is adapted to the inner contour of the receiving space.

[0010] In a self - mobile robot according to an embodiment of the present application, the seal includes at least one of a sealing strip and a sealing wool strip. The sealing strip and / or the sealing wool strip is received in the receiving space and is used to fill the gap between the side wall plates of the protective disk.

[0011] In a self - mobile robot according to an 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.

[0012] In a self - mobile robot according to an embodiment of the present application, the first driving assembly is installed on the side of the protection assembly facing the chassis assembly and is in transmission connection with the cutting assembly. The second driving assembly is in transmission connection with the first driving assembly and is used to drive the first driving assembly to move up and down.

[0013] In a self - mobile robot according to an embodiment of the present application, the protection assembly includes a protective disk in a planar shape. The first driving assembly is installed on the protective disk. An accommodating structure for partially covering the cutting assembly is formed on the protective disk, and the working part of the cutting assembly is exposed.

[0014] In a self - mobile robot according to an embodiment of the present application, the protection assembly includes a protective frame and a protective disk in a planar shape. The protective frame is installed on the first driving assembly and can move up and down with the lifting of the first driving assembly. The protective disk is connected to the protective frame and forms a through - hole structure. At least a part of the cutting assembly passes through the through - hole structure and is then connected to the first driving assembly.

[0015] In a self - mobile robot according to an embodiment of the present application, the protective disk has a highest position and a lowest position and can reciprocate between the highest position and the lowest position. The moving distance of the protective disk between the highest position and the lowest position is between 15 mm and 70 mm.

[0016] In a self - mobile robot according to an embodiment of the present application, the robot further includes a detection assembly. The detection assembly is arranged on the bottom of the vehicle body and is used to detect the accumulation of debris on the protective disk.

[0017] In a self - mobile robot according to an embodiment of the present application, the detection assembly includes a pressure sensor. The pressure sensor is arranged on the protective disk and is used to monitor the change in the weight of the protective disk.

[0018] In a self - mobile robot according to an embodiment of the present application, the robot further includes a control system, and the control system controls the protective disk to move between the highest position and the lowest position according to the debris accumulation situation detected by the detection component.

[0019] In a self - mobile robot according to an embodiment of the present application, the control system includes an amplifier circuit and a filter circuit. The output signal terminal of the detection component is connected to the input signal terminal of the amplifier circuit, and the output signal terminal of the amplifier circuit is connected to the input signal terminal of the filter circuit.

[0020] In a self - mobile robot according to an embodiment of the present application, the robot further includes a charging base. When the machine body returns to the charging base for charging, the protective disk moves from the highest position to the lowest position.

[0021] The technical solution provided by the embodiments of the present application may include the following beneficial effects: The present application designs a self - mobile robot, including a machine body, a cutting mechanism and a protection component. The vehicle body includes a chassis component provided at the bottom. The cutting component of the cutting mechanism is provided on the protection component and at least partially protrudes from the protection component. The protection component is received in the receiving space of the chassis component. Among them, the protection component is adapted to the receiving space so as to be able to clean the side wall of the receiving space, effectively prevent debris from accumulating in the receiving space, and also avoid the cutting component from being blocked by the debris accumulated in the receiving space, resulting in the cutting component being unable to work properly. At the same time, the present application can also prevent the debris generated during the cutting of the cutting component from entering the chassis component through the protection component, avoiding excessive debris from accumulating in the receiving space and affecting the normal operation of the cutting mechanism.

[0022] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0024] Figure 1 is a schematic structural diagram of a self - mobile robot provided by an embodiment of the present application;

[0025] Figure 2 is Figure 1 a schematic diagram of the self - mobile robot in FIG.

[0026] Figure 3 is Figure 1 a schematic cross-sectional view of a self-propelled robot in

[0027] Figure 4 is Figure 1 a schematic cross-sectional view of another situation of the self-propelled robot in

[0028] Figure 5 is Figure 1 a schematic exploded view of the self-propelled robot in

[0029] Figure 6 is Figure 5 a schematic exploded view of the drive assembly and the cutting assembly in

[0030] Figure 7 is Figure 5 a schematic structural view of the protection assembly in

[0031] Figure 8 is Figure 5 another schematic view of the protection assembly in

[0032] Figure 9 is Figure 5 a schematic cross-sectional view of the protection assembly in

[0033] Explanation of reference numerals:

[0034] 10. Machine body; 11. Vehicle body; 12. Traveling assembly; 13. Chassis assembly; 131. Bottom plate; 132. Side wall plate

[0035] 20. Cutting mechanism; 21. Cutting assembly; 211. Cutter head; 2111. First protrusion; 212. Cutting blade; 22. Drive assembly; 221. First drive assembly; 222. Second drive assembly; 223. Drive frame

[0036] 30. Protection assembly; 31. Protection disc; 311. Accommodation structure; 311a. Concave structure; 311b. Through-hole structure; 3111. First groove; 3112. Second groove; 312. Cutting surface; 313. Second protrusion; 314. Protective member; 32. Sealing member; 33. Protection frame Detailed implementation manners

[0037] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts shall fall within the protection scope of the present application.

[0038] It should also be understood that the terms used in the description of the present application are merely for the purpose of describing specific embodiments. In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are 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 thus cannot be construed 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 specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present application, "a plurality" means two or more, unless otherwise specifically defined.

[0039] The following will, with reference to the accompanying drawings, elaborate on some embodiments of the present application. Without conflict, the following embodiments and the features in the embodiments may be combined with each other.

[0040] As Figure 1 and Figure 2 shown, the present application provides a self - mobile robot, including a machine body 10 and a cutting mechanism 20. The cutting mechanism 20 is arranged at the bottom of the machine body 10 and is used for cutting the object to be cut. Among them, the object to be cut includes, but is not limited to, grass on lawns, in gardens and on paths. That is, the self - mobile robot can cut the grass on the lawn to ensure the beauty of the lawn.

[0041] In an alternative 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 liberating people from the labor of lawn maintenance.

[0042] In an alternative embodiment, as Figures 1 to 3 shown, the machine body 10 includes a chassis assembly 13. The chassis assembly 13 is arranged at the bottom of the vehicle body 11, and the cutting mechanism 20 is installed at the lower end of the chassis assembly 13 and is used for cutting the object to be cut.

[0043] In an alternative embodiment, as 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] In an alternative embodiment, the chassis assembly 13 includes a bottom plate 131 and side panels 132 connected to the four peripheral edges of the bottom plate 131. The bottom plate 131 is installed at the bottom of the vehicle body 11, and the side panels 132 and the bottom plate 131 enclose a receiving space adapted to 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 the debris attached to the inner wall of the receiving space can be peeled off from the inner wall surface of the receiving space, avoiding the adhesion of the debris to the inner wall of the receiving space, and thus achieving the technical effect of cleaning the receiving space.

[0049] Exemplarily, when the protection assembly 30 moves towards the side away from the bottom plate 131, the protection assembly 30 can move relative to the inner wall of the receiving space within the receiving space to scrape and clean the inner wall of the receiving space, so that the debris attached to the inner wall of the receiving space can be peeled off from the inner wall of the receiving space, preventing the accumulation of debris on the inner wall of the receiving space, and thus achieving the technical effect of cleaning the receiving space.

[0050] In an alternative embodiment, when the cutting assembly 21 performs a cutting action, the side panel 132 can prevent other personnel from inserting their hands into the position of the cutting assembly 21 through the gap between the robot and the ground, resulting in being cut by the cutting assembly 21; or, when the height of an obstacle on the ground (such as a hard obstacle like a stone or an iron can) is greater than the height of the cutting assembly 21 from the ground, the side panel 132 can push away the obstacle when the robot is moving, or prevent the obstacle from entering the receiving space, thereby avoiding the cutting assembly 21 from colliding with the obstacle and causing damage or injury to the cutting assembly 21.

[0051] After adopting the above technical solutions, since the protection assembly 30 can move up and down relative to the vehicle body 11, this not only facilitates the cleaning of the protection assembly 30, but also enables the protection assembly 30 to scrape and clean the inner wall of the receiving space, preventing the accumulation of debris on the inner wall of the receiving space. In addition, in the present application, the protection assembly 30 can isolate the exposed parts of the driving assembly 22 and the cutting assembly 21 from the protection assembly 30, avoiding the debris generated during the cutting of the cutting assembly 21 from entering the chassis assembly 13, thereby soiling the chassis assembly 13, causing grass residue to enter the chassis area and entangle the rotating shaft of the cutting assembly 21, affecting the normal operation of the driving assembly 22 and causing the motor of the driving assembly 22 to be blocked; moreover, it can also clean the debris on the protection assembly 30, 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 the labor cost of cleaning, and also ensuring that the self - moving robot is not affected during the lawn trimming process.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] In an alternative embodiment, a receiving structure 311 is formed on the protection component 30. The receiving structure 311 is used to partially wrap the cutting component 21 and expose the working part of the cutting component 21 for cutting the object to be cut. Among them, the receiving structure 311 can be a through-hole structure provided on the protection component 30, or a recessed structure provided on the protection component 30. The present application does not limit it. The main purpose is to enable the non-cutting part of the cutting component 21 to be wrapped by the receiving structure 311, and the working part of the cutting component 21 can be exposed from the receiving structure 311, so that the object to be cut can be cut, preventing the debris generated during the cutting of the cutting component 21 from entering the inner side of the cutting component 21, and avoiding the phenomenon that the rotation speed of the driving component 22 is reduced or even blocked due to the accumulation of debris.

[0057] In an alternative embodiment, as Figures 2 to 8 shown, the protection component 30 includes a seal 32 and a protection disc 31. The protection disc 31 is installed in the receiving space. The cutting component 21 is disposed on the side of the protection disc 31 away from the bottom plate 131. The seal 32 is disposed between the protection disc 31 and the side wall plate 132 to fill the gap between the protection disc 31 and the side wall plate 132, preventing the debris generated during the cutting of the cutting component 21 from entering the side of the cutting component 21 facing away from the chassis component 13; at the same time, it will not affect the up and down movement of the protection disc 31, and can also scrape off the sticky grass on the seal 32 when the protection component 30 is in the lowest position to prevent the phenomenon of grass blocking.

[0058] In an alternative embodiment, the outer contour of the protection disc 31 is adapted to the inner contour of the receiving space. The seal 32 is disposed around the outer periphery of the protection disc 31 and abuts against the inner side surface of the side wall plate 132, which can not only effectively prevent debris from entering the side of the protection disc 31 facing the bottom plate 131 through the gap between the protection disc 31 and the side wall plate 132, but also reduce the processing area of the protection disc 31, lower the process difficulty, and better ensure the matching accuracy between the protection disc 31 and the side wall plate 132.

[0059] In an alternative embodiment, the seal 32 includes at least one of a sealing rubber strip and a sealing wool strip. The sealing rubber strip and / or the sealing wool strip is received in the receiving space to fill the gap between the protection disc 31 and the side wall plate 132, so as to effectively prevent the debris generated during the cutting of the cutting component 21 from entering the side of the cutting component 21 facing away from the chassis component 13, and does not affect the up and down movement of the protection disc 31 relative to the receiving space.

[0060] Exemplarily, the seal 32 includes a sealing strip, which is disposed around the outer peripheral side of the protection plate 31. When the protection plate 31 is installed in the receiving space, the sealing strip abuts against the inner side surface of the side wall plate 132, and is used to fill the gap between the protection plate 31 and the side wall plate 132, so as to effectively prevent the debris generated during the cutting of the cutting assembly 21 from entering the side facing away from the chassis assembly 13, and does not affect the up and down movement of the protection plate 31 relative to the receiving space.

[0061] Exemplarily, the seal 32 includes a sealing wool strip, which is disposed around the outer peripheral side of the protection plate 31. When the protection plate 31 is installed in the receiving space, the sealing wool strip abuts against the inner side surface of the side wall plate 132, and is used to fill the gap between the protection plate 31 and the side wall plate 132, so as to effectively prevent the debris generated during the cutting of the cutting assembly 21 from entering the side facing away from the chassis assembly 13, and does not affect the up and down movement of the protection plate 31 relative to the receiving space.

[0062] It should be noted that the sealing wool strip includes, but is not limited to, a brush or a flocking structure provided on the protection plate 31. Its main purpose is to fill the gap between the protection plate 31 and the side wall plate 132, prevent the debris generated during the cutting of the cutting assembly 21 from entering the side facing away from the chassis assembly 13, and at the same time, it cannot affect the lifting of the protection plate 31.

[0063] In an alternative embodiment, the protection plate 31 has a planar cutting surface 312, which is a side surface away from the bottom plate 131. At least a part of the cutting assembly 21 is exposed from the cutting surface 312 for cutting the object to be cut. Among them, the cutting surface 312 is set as 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 grass clippings from splashing to the inside of the protection plate 31 during the cutting of the cutting assembly 21, but also, compared with the cutting surface 312 provided with a groove, the planar cutting surface 312 can reduce the accumulation of grass clippings more effectively.

[0064] In an alternative embodiment, a receiving structure 311 is formed on the cutting surface 312 and corresponds to the projection position of the cutting assembly 21, and the diameter of the receiving structure 311 is adapted to the outer diameter of the cutting assembly 21 to prevent the debris generated during the cutting of the cutting assembly 21 from entering the side facing away from the chassis assembly 13 through the gap between the cutting assembly 21 and the protection plate 31, and at the same time, it does not affect the rotation of the cutting assembly 21.

[0065] In an alternative embodiment, the depth of the receiving structure 311 is adapted to the height of the connecting seat of the cutting assembly 21, such that the connecting seat of the cutting assembly 21 can be received in the receiving structure 311, and the cutter head 211 of the cutting assembly 21 can expose the cutting surface 312 from the receiving structure 311, thereby effectively preventing debris from entering the inside of the cutting assembly 21 and causing the output shaft 2211 connected to the cutting assembly 21 to become stuck.

[0066] In an alternative embodiment, the cutting assembly 21 includes a cutter head 211 and cutting blades 212 for cutting an object to be cut. Among them, the cutter head 211 includes a connecting seat and a cutter head body connected to the connecting seat. The connecting seat is in transmission connection with the output shaft 2211 of the driving assembly 22, and the cutting blades 212 are mounted on the cutter head body, such that the driving assembly 22 can drive the cutter head body and the cutting blades 212 to rotate through the connection between the output shaft 2211 and the connecting seat, so as to improve the cutting efficiency and ensure a neat cut of the lawn.

[0067] It should be noted that the driving assembly 22 can be, but is not limited to, a driving motor, and the cutter head 211 is connected to the output shaft 2211 of the driving motor.

[0068] In an alternative embodiment, as Figures 3 to 6 shown, the driving assembly 22 includes a first driving assembly 221 and a second driving assembly 222; among them, the first driving assembly 221 is used to drive the cutting assembly 21 to rotate relative to the chassis assembly 13, such 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.

[0069] Exemplarily, the self - moving robot has at least two working modes: a cutting mode and a cleaning mode. In the cutting mode, the second driving assembly 222 controls the protection assembly 30 to move upward, and the first driving assembly 221 controls the cutting assembly 21 to rotate relative to the chassis assembly 13 and the protection assembly 30 to perform a cutting action; in the cleaning mode, the second driving assembly 222 controls the protection assembly 30 to move downward, such that the protection assembly 30 can contact the object to be cut or an external cleaning assembly, thereby enabling the bottom of the mobile robot to be cleaned by the object to be cut or the cleaning assembly, quickly removing the debris on the protection assembly 30, without manual cleaning, with a fast cleaning speed and high efficiency, and avoiding the bottom of the mobile robot from being affected by debris accumulation, which may affect the normal operation of the robot or even damage the mobile robot.

[0070] In an alternative embodiment, the first drive assembly 221 is mounted on the side of the protection assembly 30 facing the chassis assembly 13 and is in driving connection with the cutting assembly 21. The second drive assembly 222 is in driving connection with the first drive assembly 221 and is configured to drive the first drive assembly 221 to move up and down, so that the first drive assembly 221 can drive the protection assembly 30 and the cutting assembly 21 to move up and down.

[0071] 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 (as Figure 3 shown). Then, the first drive assembly 221 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 drive assembly 222 to drive the first drive assembly 221 to move downward, and drive the protection assembly 30 and the cutting assembly 21 to move downward with the first drive assembly 221, so that the protection assembly 30 can be in the lowest position (as Figure 4 shown), so that the object to be cut or an external cleaning assembly can clean the debris on the protection assembly 30. Wherein, when the protection assembly 30 moves between the lowest position and the highest position, the first drive assembly 221 can be controlled to stop driving the cutting assembly 21 to rotate, or the first drive assembly 221 can be controlled to drive the cutting assembly 21 to reduce the rotation speed. It should be understood that reducing the rotation speed of the cutting assembly 21 also helps to improve the safety of the operation and avoid potential safety hazards caused by high-speed rotation. By lowering the protection assembly 30 to the lowest position, it can pass through the lawn.

[0072] In an alternative embodiment, the drive assembly 22 includes a drive frame 223. The first drive assembly 221 is fixed to the drive frame 223. The drive frame 223 can reciprocally move along the height direction of the vehicle body 11 under the drive of the second drive assembly 222, so as to drive the first drive assembly 221 and the protection assembly 30 and the cutting assembly 21 connected to the first drive assembly 221 to reciprocally move, thereby realizing the automatic cleaning function of the protection assembly 30.

[0073] In an alternative embodiment, the outer diameter of the cutter head 211 is adapted to the inner diameter of the accommodating structure 311 to prevent grass clippings from entering the inside of the cutter head 211 through the gap between the cutter head 211 and the accommodating structure 311, and to avoid the situation that the output shaft 2211 is stuck due to debris accumulation.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] In an alternative embodiment, a first protrusion 2111 is formed on one side of the cutter head body facing the second groove 3112, and a second protrusion 313 is formed on one side of the second groove 3112 facing the cutter head body. The first protrusion 2111 is disposed around the outside of the second protrusion 313 to prevent grass clippings from entering the inner side of the cutter head body through the gap between the cutter head body and the second groove 3112.

[0080] In an alternative embodiment, the accommodating structure 311 is two through-hole structures 311b formed on the cutter head 211. The two through-hole structures are spaced apart along the width direction of the vehicle body 11, and the cutting assemblies 21 are 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, ensuring the cutting efficiency of the robot.

[0081] In an alternative embodiment, the protection assembly 30 includes a protective frame 33. The protective frame 33 is installed on the first driving assembly 221 and can move up and down with the lifting of the first driving assembly 221. The protective disc 31 is connected to the protective frame 33. At least a part of the cutting assembly 21 passes through the through-hole structure 311b and is then connected to the first driving assembly 221 so that the first driving assembly 221 can drive the cutting assembly 21 to cut the object to be cut.

[0082] In an alternative embodiment, the protection assembly 30 includes a protective member 314. The protective member 314 is disposed on the side of the protective disc 31 away from the bottom plate 131. At least a part of the structure of the cutting assembly 21 is located inside the protective member 314, which can effectively prevent obstacles from entering the cutting assembly 21 from both sides of the protective disc 31, thereby improving the safety of the cutting assembly 21.

[0083] In an alternative embodiment, the protective member 314 includes a protective protrusion and a protective strip. The protective protrusion is disposed on the outside of the protective strip. At least a part of the protective strip covers the cutting assembly 21 from above and is connected to the cutting surface 312, and is used to prevent obstacles from entering the cutting assembly 21 from both sides of the protective disc 31, thereby improving the safety of the cutting assembly 21.

[0084] In an alternative embodiment, as Figures 3 to 5 shown, the protective disc 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 disc 31 is in the highest position; the bottom of the machine body 10 performs a cleaning action when the protective disc 31 is in the lowest position, 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 also improving the working efficiency of the robot.

[0085] Exemplarily, as Figure 3As shown, when the protective disk 31 moves from the lowest position to the highest position, the robot can drive the cutting mechanism 20 to perform a cutting operation on the object to be cut, while the protective disk 31 can prevent grass clippings generated during the mowing operation of the cutting mechanism 20 from entering the inside of the cutting assembly 21 and the machine body 10. The side guard plate 132 of the chassis assembly 13 can prevent other people from reaching into the position of the cutting assembly 21 through the gap between the robot and the ground when the cutting assembly 21 performs a cutting action, resulting in being cut by the cutting assembly 21.

[0086] Exemplarily, as Figure 4 shown, when the robot finishes the mowing action, the protective disk 31 moves from the highest position to the lowest position, so that the protective disk 31 can contact the object to be cut or an external cleaning assembly, enabling the object to be cut or the cleaning assembly, etc. to clean the bottom of the mobile robot, thereby quickly removing the debris on the protective disk 31 without manual cleaning, with a fast cleaning speed and high efficiency, and avoiding the bottom of the mobile robot being affected by debris accumulation, which may affect the normal operation of the robot or even damage the mobile robot.

[0087] In an alternative embodiment, the moving distance of the protective disk 31 between the highest position and the lowest position is between 15 mm and 70 mm, so that the cutting mechanism 20 can perform a cutting operation on the object to be cut when the protective disk 31 is in the highest position and can perform cleaning when the protective disk 31 is in the lowest position, avoiding debris accumulation at the bottom of the vehicle body 11.

[0088] In an alternative embodiment, as Figures 3 to 5 shown, the robot further includes a detection assembly. The detection assembly is arranged on the bottom of the vehicle body 11 and is used to detect the debris accumulation condition on the protective disk 31, enabling the robot to lift and lower the protective disk 31 according to the debris accumulation condition detected by the detection assembly. Among them, when the detection assembly detects that there is debris on the protective disk 31, it controls the protective disk 31 to move from the highest position to the lowest position so as to remove the debris on the protective disk 31.

[0089] In an alternative embodiment, the detection assembly includes a pressure sensor. The pressure sensor is arranged on the protective disk 31 and is used to monitor the weight change of the cutter guard 211, so that the robot can monitor the weight change of the cutter guard 211. When the value detected by the pressure sensor exceeds a preset threshold, the robot controls the cutting assembly 21 to stop rotating, moves the protective disk 31 from the highest position to the lowest position, and the traveling assembly 12 drives the vehicle body 11 to continue moving forward to clean the grass clippings on the cutter guard 211.

[0090] In an alternative embodiment, the pressure sensor includes, but is not limited to, a thin-film pressure sensor, which has the performance of high sensitivity and anti-interference ability, and can further improve the accuracy of detecting the grass clipping accumulation situation.

[0091] In some other embodiments, the detection component can also detect whether there are grass clippings on the cutter guard 211 through other sensors, such as infrared sensors and optical sensors, etc.; among them, the infrared light of the infrared sensor will produce different reflection or absorption characteristics when encountering different substances, so as to be able to detect the reflection light intensity of the grass clippings by using the infrared sensor, and then judge the accumulation situation of the grass clippings.

[0092] Exemplarily, the infrared sensor is installed on the side panel 132 and below the lowest position of the cutter guard 211, so as to be able to obtain the grass clipping accumulation situation of the cutter guard 211 and will not be damaged due to the movement of the cutter guard 211; when the infrared sensor emits light and receives the reflected light, the surface characteristics will change after the grass clippings accumulate, resulting in a change in the intensity of the reflected light, so that the infrared sensor can judge the accumulation degree of the grass clippings by detecting this change.

[0093] In an alternative embodiment, the optical sensor can be a laser sensor, and the laser sensor judges the accumulation degree of the grass clippings on the cutter guard 211 by emitting a laser beam and measuring the time and angle of its reflection back.

[0094] In an alternative embodiment, the optical sensor can also be a camera, and the camera analyzes the grass clipping accumulation situation through an image processing algorithm by acquiring real-time images on the cutter guard 211.

[0095] In an alternative embodiment, the robot further includes a control system, and the control system controls the protective disc 31 to move between the highest position and the lowest position according to the debris accumulation situation detected by the detection component, so as to be able to clean the grass clippings accumulated on the protective disc 31.

[0096] Exemplarily, the detection component is connected to the control system through a cable, and the detection component transmits the collected pressure change signal to the control system. The control system judges whether grass clippings are accumulated on the cutter guard 211 according to a preset pressure threshold. When the pressure value detected by the detection component exceeds the set threshold, the control system will identify it as grass clipping accumulation, and then control the cutting component 21 to stop rotating, and then move the cutter guard 211 from the highest position to the lowest position, so that the cutter guard 211 can clean the grass clippings during the movement of the robot.

[0097] In an alternative embodiment, the control system includes an amplifier circuit and a filter circuit. The output signal terminal of the detection component is connected to the input signal terminal of the amplifier circuit, and the output signal terminal of the amplifier circuit is connected to the input signal terminal of the filter circuit, so that the amplifier circuit can amplify the pressure change signal collected by the detection component, and filter out the signal interference in the pressure change signal through the filter circuit, so as to detect the weak signal transmitted by the detection component and ensure the accuracy of the data.

[0098] Exemplarily, 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 cutter guard 211 according to a preset pressure threshold. When the pressure value detected by the detection component exceeds the set threshold, the control system will identify it as grass clipping accumulation.

[0099] When the control system confirms that there is grass clipping accumulation on the cutter guard 211, the control system will issue a control command to adjust the position of the cutter guard 211 to the lowest position, and then start the cleaning program to ensure that the robot will not affect the operation of the cutter disk 211 due to grass clipping accumulation during long-term operation.

[0100] In an alternative embodiment, when the robot performs a cutting action, the detection component can continuously monitor the pressure change on the cutter guard 211, so that the control system will continuously receive the pressure change signal from the detection component and perform real-time analysis on these pressure change signals; when the pressure change signal exceeds the preset pressure threshold, the control system will determine that there is too much grass clipping accumulation. At this time, the control system will pause the mowing operation and prepare to start the cleaning program.

[0101] After the control system starts the cleaning program, the control system adjusts the cutter guard 211 to the lowest position, and then controls the robot to continue moving forward so as to clean the grass clippings accumulated on the cutter guard 211; after the grass clippings accumulated on the cutter guard 211 are cleaned, the robot retreats to the position point where the cleaning program is started, ends the cleaning program, and starts the cutting action.

[0102] It should be noted that the preset pressure threshold can be a multi-level pressure threshold. For example, the first-level pressure threshold triggers a warning prompt, and the second-level pressure threshold triggers the cleaning program to prevent the control system from misjudging and frequently starting the cleaning program, etc.

[0103] In an alternative embodiment, the robot further includes a charging chassis assembly 13. When the machine body 10 returns to the charging chassis assembly 13 for charging, the protective disk 31 moves from the highest position to the lowest position, so that the grass residue on the cutter guard 211 of the robot can be cleaned.

[0104] In the description of the present application, it should be noted that unless otherwise clearly specified or limited, the terms "installed", "connected", and "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection. It may be a mechanical connection or an electrical connection. It may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0105] In the present application, unless otherwise clearly specified or limited, the first feature being "on" or "under" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely means that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "below" and "beneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely means that the horizontal height of the first feature is lower than that of the second feature.

[0106] The above disclosure provides many different embodiments or examples for implementing different structures of the present application. To simplify the disclosure of the present application, the components and settings of specific examples are described above. Of course, they are only 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. This repetition is for the purpose of simplification 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 may be aware of the application of other processes and / or the use of other materials.

[0107] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic description 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 a suitable manner in any one or more embodiments or examples.

Claims

1. A self-mobile robot, characterized in that, Comprising: A machine main body, the machine main body includes a vehicle body and a traveling assembly, the vehicle body includes a chassis assembly disposed at the bottom, and the traveling assembly is disposed on the vehicle body for driving the vehicle body to travel; A cutting mechanism, the cutting mechanism includes a cutting assembly and a driving assembly, the driving assembly is in transmission connection with the cutting assembly for driving the cutting assembly to cut an object to be cut; A protection assembly, the protection assembly can move up and down relative to the chassis assembly, the cutting assembly is disposed on the protection assembly and at least partially protrudes from the protection assembly; The protection assembly is received in a receiving space of the chassis assembly, is adapted to the receiving space, and can clean the side wall of the receiving space; Wherein, the protection assembly includes a seal and a protection disk, the protection disk is installed in the receiving space, and the seal is disposed between the protection disk and a side panel of the chassis assembly.

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

3. The self-mobile robot according to claim 1, characterized in that, The outer contour of the protection disk is adapted to the inner contour of the receiving space.

4. The self-mobile robot according to claim 1, wherein The seal includes at least one of a sealing strip and a sealing brush strip, and the sealing strip and / or the sealing brush strip is received in the receiving space for filling the gap between the protection disk and the side panel.

5. The self-mobile 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 for driving the cutting assembly to rotate relative to the chassis assembly, and the second driving assembly is used for driving the protection assembly to move up and down.

6. The self-mobile robot according to claim 5, characterized in that, The first driving assembly is installed on one side of the protection assembly facing the chassis assembly and is in transmission connection with the cutting assembly, and the second driving assembly is in transmission connection with the first driving assembly for driving the first driving assembly to move up and down.

7. The self-mobile robot according to claim 5, wherein The protection disk is in a planar shape, the first driving assembly is installed on the protection disk, and a receiving structure for partially covering the cutting assembly is formed on the protection disk, and the working part of the cutting assembly is exposed.

8. The self-mobile robot according to claim 5, wherein The protection assembly further includes a protection frame, the protection disk is in a planar shape, the protection frame is installed on the first driving assembly and can move up and down along with the lifting of the first driving assembly, the protection disk is connected to the protection frame and forms a through-hole structure, and at least part of the cutting assembly passes through the through-hole structure and then is connected to the first driving assembly.

9. The self-mobile robot according to claim 1, wherein, The protection assembly 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 protection assembly between the highest position and the lowest position is between 15 mm and 70 mm.

10. The self-mobile robot according to claim 1, characterized in that, The robot further includes a detection assembly, the detection assembly is disposed on the bottom of the vehicle body for detecting the accumulation of debris on the protection assembly.

11. The self-mobile robot according to claim 10, characterized in that, The detection assembly includes a pressure sensor, the pressure sensor is disposed on the protection assembly for monitoring the change in the weight of the protection assembly.

12. The self-mobile robot according to claim 10, characterized in that, The robot further includes a control system, and the control system controls the up-and-down movement of the protection component according to the debris accumulation situation detected by the detection component.

13. The self-mobile robot according to claim 12, characterized in that, The control system includes an amplifier circuit and a filter circuit. The output signal terminal of the detection component is connected to the input signal terminal of the amplifier circuit, and the output signal terminal of the amplifier circuit is connected to the input signal terminal of the filter circuit.

14. The self-mobile robot according to claim 1, wherein, The robot further includes a charging base. 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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