Self-moving device

Abstract

The invention provides self-moving equipment. The self-moving equipment comprises a machine body; the cutting mechanism is connected with the machine body and used for cutting grass vegetation; the protection mechanism comprises a protection assembly and a driving assembly, the protection assembly is movably connected to the machine body and / or the cutting mechanism in the preset direction, the protection assembly is used for shielding one side of the cutting mechanism in the preset direction, and the driving assembly is connected with the protection assembly and used for driving the protection assembly to move in the preset direction; the distance of the protection assembly extending out of the fuselage is increased or decreased. According to the self-moving equipment provided by the invention, when the self-moving equipment performs mowing operation, the protection assembly can extend out of one side of the machine body, and the part, extending out of the machine body, of the protection assembly can prevent a human body from getting close to the cutting mechanism, so that the probability that the human body is damaged by the cutting mechanism when the cutting mechanism works can be reduced; and the safety of the self-moving equipment during movement and operation can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, and particularly relates to a self-moving device. BACKGROUND

[0002] The self-moving device can be arranged in a yard and applied to mowing grass in the yard. When the self-moving device works, it can travel on the grassland, and at the same time, the cutter is driven to rotate by the motor, so that the cutter cuts the vegetation on the grassland to complete the mowing work of the grassland. In order to meet the safety of the mower work, a shell or a protective piece is usually arranged to keep a certain safety distance between the cutter and the outside world, so as to avoid that people or animals easily enter the cutting area. However, the above arrangement mode causes the shell or the protective piece outside the cutter to contact with the wall or other obstacles to prevent the cutter from approaching the obstacles, so that the grass vegetation near the obstacles cannot be cut, and the effect of the mowing work is affected. SUMMARY

[0003] In view of the above, it is necessary to provide a self-moving device to solve the above defects.

[0004] Embodiments of the present application provide a self-moving device, comprising: a body; a cutting mechanism connected with the body and used for cutting grass vegetation; a protective mechanism comprising a protective component and a driving component, the protective component being movably connected to the body and / or the cutting mechanism in a preset direction, the protective component being used for shielding one side of the cutting mechanism in the preset direction, the driving component being connected with the protective component and used for driving the protective component to move in the preset direction, so that the distance of the protective component extending out of the body increases or decreases.

[0005] Optionally, the protective component comprises: a first protective piece arranged at a distance from the cutting mechanism in the preset direction and shielding one side of the cutting mechanism in the preset direction; and a second protective piece connected with the first protective piece, the second protective piece being located on the side of the cutting mechanism facing the ground in a vertical direction, the vertical direction being at an angle to the preset direction.

[0006] Optionally, when the protective component moves to a first position, one side of the protective component extending out of the body, a projection of the second protective piece in the vertical direction avoids a projection of the cutting mechanism in the vertical direction; when the protective component moves to a second position, the distance of the protective component extending out of the body is smaller than the distance of the protective component extending out of the body when the protective component is in the first position, and the second protective piece shields the cutting mechanism from the bottom.

[0007] Optionally, the second protective piece is provided with a grass combing groove, the grass combing groove penetrating through the second protective piece along the vertical direction, and the grass combing groove is used for allowing the grass vegetation to pass through, so that the cutting mechanism cuts the grass vegetation passing through the grass combing groove.

[0008] Optionally, the cutting mechanism has a cutting area, and is configured to cut the grass vegetation entering the cutting area; the first guard member has a first avoiding opening on one side thereof, and when the guard assembly is moved to the first position, the inner wall of the first avoiding opening forms a boundary outside the cutting area in the projection of the second guard member in the vertical direction.

[0009] Optionally, the guard mechanism further comprises a support fixed to the machine body and / or the cutting mechanism, and the guard assembly is movably connected to the support in the preset direction, and the driving assembly is mounted to the support.

[0010] Optionally, the guard assembly comprises a first guard member spaced apart from the cutting mechanism in the preset direction and shielding one side of the cutting mechanism in the preset direction; a first connecting member connected to the first guard member and extending between part of the structure of the cutting mechanism and the support in the preset direction, the first connecting member being movably connected to the support in the preset direction and connected to the driving assembly; and a second avoiding opening formed in the first connecting member and configured to at least partially accommodate the support.

[0011] Optionally, the guard mechanism further comprises a sliding block connected to the guard assembly, and a sliding rail connected to the support, the sliding block being slidably connected to the sliding rail in the preset direction to movably connect the guard assembly and the support.

[0012] Optionally, the guard assembly is detachably connected to the sliding block.

[0013] Optionally, the driving assembly comprises a base provided on the support and having a sliding groove formed therein; a screw rod extending in the preset direction and rotatably connected to the base; a moving member through which the screw rod extends in the preset direction and threadedly connected to the moving member, the moving member being slidably connected to the sliding groove in the preset direction, the moving member being connected to the guard assembly to synchronously move the guard assembly and the moving member; and a driving member connected to the screw rod and configured to drive the screw rod to rotate and move the moving member in the preset direction.

[0014] Optionally, the moving member and the guard assembly are spaced apart in a vertical direction, the vertical direction being at an acute angle with the preset direction, and the driving assembly further comprises a second connecting member provided on the moving member and detachably connected to the guard assembly.

[0015] Optionally, the preset direction is parallel to or at an acute angle with a horizontal plane.

[0016] When the self-moving device provided in the present application moves away from the wall and other obstacles and performs the mowing operation on the grassland, the protection assembly can extend to one side of the machine body to shield the cutting mechanism while the cutting mechanism is working, and increase the safety distance of blocking external objects from approaching the cutting mechanism. When the self-moving device performs the mowing operation near the wall and other obstacles, the driving assembly can drive the protection assembly to retract, reduce the distance of the protection assembly extending to one side of the machine body, thereby reducing the distance between the cutting mechanism and the obstacles, so that the cutting mechanism can cut the grass vegetation in the adjacent area of the obstacles, thereby reducing the cutting dead angle of the mowing operation of the self-moving device and improving the effect of the mowing operation of the self-moving device. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a top view of the self-moving device when the protection assembly is in the first position in the embodiment of the present application.

[0018] Figure 2 is a bottom view of the self-moving device when the protection assembly is in the first position in the embodiment of the present application.

[0019] Figure 3 is a bottom view of the self-moving device when the protection assembly is in the second position in the embodiment of the present application.

[0020] Figure 4 is a schematic diagram of the principle that the self-moving device blocks the human body from approaching the cutting mechanism through the protection assembly in the embodiment of the present application.

[0021] Figure 5 is a structural schematic diagram of the cutting mechanism and the protection mechanism when the protection assembly is in the first position in the embodiment of the present application.

[0022] Figure 6 is a structural schematic diagram of the cutting mechanism and the protection mechanism when the protection assembly is in the second position in the embodiment of the present application.

[0023] Figure 7 is Figure 2 is an enlarged view of VII in FIG.

[0024] Figure 8 is a partial structural schematic diagram of the self-moving device in the embodiment of the present application.

[0025] Explanation of main element symbols: 100, self-moving device; 101, body; 1011, receiving groove; 102, traveling mechanism; 103, cutting mechanism; 103A, cutting area; 1031, cutting motor; 1032, cutter head; 1033, blade; 104, protection mechanism; 10, protection assembly; 11, first protection member; 12, second protection member; 121, first avoiding opening; 122, grass combing groove; 13, first connecting member; 131, second avoiding opening; 20, driving assembly; 21, base; 211, sliding groove; 22, screw rod; 23, moving member; 24, second connecting member; 25, driving member; 30, support; 31, first support member; 32, second support member; 40, sliding block; 50, sliding rail; 200, human body. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present application will be clearly and completely described in connection with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments of the present application.

[0027] The plurality in the present application refers to two or more. In addition, it should be understood that in the description of the present application, the words "first", "second", etc. are only used for the purpose of distinguishing the description, and cannot be understood as indicating or implying relative importance, nor can it be understood as indicating or implying order.

[0028] In the description of the embodiments of the present application, the words "exemplary" or "for example" are used to mean serving as an example, instance, or illustration. Any embodiment or design solution described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of the words "exemplary" or "for example" is intended to present the relevant concept in a specific manner.

[0029] Please refer to Figure 1 and Figure 2 , Figure 1 and Figure 2 Fig. 1 shows a self-moving device 100 provided by an embodiment of the present application.

[0030] In the embodiments of the present application, the self-moving device 100 can include a body 101, a traveling mechanism 102, and a cutting mechanism 103. The body 101 can include a frame for providing mounting positions for other constituent members of the self-moving device 100, and a casing covering the frame. The traveling mechanism 102 can be mounted on the body 101, and can be supported on the ground to keep the body 101 spaced apart from the ground. The traveling mechanism 102 can move the body 101 and the members on the body 101 synchronously on the ground when the traveling mechanism 102 works.

[0031] The cutting mechanism 103 can be mounted at the bottom of the body 101 and can be located close to the side wall in the width direction or the length direction of the body 101. The cutting mechanism 103 can cut the grass on the ground when it works.

[0032] It can be understood that the cutting mechanism 103 can work synchronously during the movement of the self-moving device 100 on the lawn by the running mechanism 102, so as to cut the grass in the area covered by the self-moving device 100 during the movement, so that the grass on the lawn can be trimmed to the same or similar height, thereby realizing the mowing work of the self-moving device 100.

[0033] It can be understood that the running mechanism 102 can be a track type or a wheel type mechanism, and the track or the wheel thereof can be in contact with the ground and rotate to realize the movement of the self-moving device 100 on the ground. For example, Figure 1 As shown in FIG. 1, the running mechanism 102 can have a plurality of wheels, and the plurality of wheels can be arranged at intervals in the length direction and the width direction of the body 101.

[0034] In the embodiments of the present application, the width direction and the length direction of the self-moving device 100 can be defined as a first direction and a second direction respectively. Both the first direction and the second direction are parallel to the horizontal plane. For example, the first direction can be the X direction and the opposite direction thereof as shown in FIG. 1 and FIG. 2, and the second direction can be the Y direction and the opposite direction thereof as shown in FIG. 1 and FIG. 3. Figure 1 Figure 2 Figure 1 Figure 2

[0035] In the embodiments of the present application, the position of the cutting mechanism 103 on the body 101 is not specifically limited. For example, the cutting mechanism 103 can be located at the bottom of the body 101 and can be fixedly mounted on one side or both sides of the bottom of the body 101 in the first direction as shown in FIG. 1 and FIG. 2. For another example, the cutting mechanism 103 can be located at the bottom of the body 101 and can be fixedly mounted on one side or both sides of the bottom of the body 101 in the second direction. Figure 1 Figure 2

[0036] In the embodiments of the present application, the fixed manner of the fixed mounting and the fixed connection is not specifically limited. For example, the fixed manner can be, but is not limited to, bolt fixing, screw fixing, welding fixing, one-piece fixing and interference fixing.

[0037] ​​​​​​In one embodiment, the self-moving device 100 may further include a protective mechanism 104. The protective mechanism 104 may block the cutting mechanism 103 to prevent the human body 200 from approaching the cutting mechanism 103 when a person approaches the self-moving device 100, thereby reducing the probability of the cutting mechanism 103 injuring the human body 200 and improving the safety of the self-moving device 100.

[0038] The protective mechanism 104 may include a protective component 10 and a drive component 20. The protective component 10 is movably connected to the machine body 101 and / or the cutting mechanism 103 in a preset direction. The protective component 10 may block one side of the cutting mechanism 103 in the preset direction, and the side blocked by the protective component 10 may be adjacent to the outer periphery of the machine body 101. When the protective component 10 moves in the preset direction, it may extend out of one side of the machine body 101, and the distance by which the protective component 10 extends out of the machine body 101 may change with the movement of the protective component 10; at the same time, the distance between the part of the protective component 10 extending out of the machine body 101 and the cutting mechanism 103 in the preset direction may change with the movement of the protective component 10, and the blocking of the protective component 10 in the preset direction may be maintained during the movement of the protective component 10.

[0039] The drive component 20 can be connected to the protective component 10 and can drive the protective component 10 to move in a preset direction, thereby increasing or decreasing the distance by which the protective component 10 extends out of the body 101.

[0040] It is understood that the cutting mechanism 103 can have a stator and a mover. The stator can be fixedly installed on the machine body 101, and the mover can achieve the cutting of grass vegetation by the cutting mechanism 103 through movement.

[0041] In some cases, the protective mechanism 104 may be movably connected to the stator of the cutting mechanism 103 in a predetermined direction. In other cases, the protective mechanism 104 may be movably connected to the machine body 101 in a predetermined direction. In still other cases, the protective mechanism 104 may be movably connected to both the stator of the cutting mechanism 103 and the machine body 101 in a predetermined direction simultaneously. The embodiments of this application are not limited in this respect.

[0042] In the embodiments of this application, the preset direction can be set parallel to the horizontal plane or at an acute angle. The preset direction can also be related to the position of the cutting mechanism 103 on the machine body 101.

[0043] For example, such as Figure 2 As shown, the cutting mechanism 103 can be located on one or both sides of the bottom of the machine body 101 in the first direction. At this time, the preset direction can coincide with the first direction or form an acute angle with the first direction. The protective component 10 can block the cutting mechanism 103 from one side in the first direction and / or from the side in the direction that forms an acute angle with the first direction and is perpendicular to the second direction.

[0044] For another example, the cutting mechanism 103 can be located on one side or both sides of the bottom of the body 101 in the second direction, and the preset direction can coincide with the second direction or form an acute angle with the second direction; the protection assembly 10 can shield the cutting mechanism 103 from one side of the second direction and / or one side of a direction that is perpendicular to the first direction and forms an acute angle with the second direction.

[0045] The following embodiments can be exemplified according to the case where the preset direction coincides with the first direction.

[0046] It can be understood that, as shown in Figure 2 When the self-moving device 100 moves away from the wall and other obstacles and performs the mowing operation on the grassland, the cutting mechanism 103 works, and the protection assembly 10 can extend from one side of the body 101 to shield the cutting mechanism 103 while the cutting mechanism 103 works. The part of the protection assembly 10 extending from the body 101 can block the human body 200 (for example, the hands or feet of the personnel) from further approaching the cutting mechanism 103 when the personnel approaches the self-moving device 100, and the increased distance of the protection assembly 10 extending from the body 101 can increase the safety distance of the protection mechanism 104 for preventing the human body 200 from contacting the cutting mechanism 103, thereby reducing the probability of the human body 200 being damaged by the cutting mechanism 103 when the cutting mechanism 103 works and increasing the safety of the self-moving device 100 when moving and working.

[0047] Please refer to Figure 3 , as shown in Figure 3 When the self-moving device 100 moves close to the wall and other obstacles and performs the mowing operation on the grassland, the gap between the self-moving device 100 and the obstacles cannot accommodate the body parts of the personnel to enter, and the protection assembly 10 extending from the body 101 abuts against the obstacles to prevent the cutting mechanism 103 from approaching the obstacles and cutting the grass vegetation at the edge of the obstacles. In order to improve the cutting effect of the grass vegetation in the area close to the obstacles, the driving assembly 20 can drive the protection assembly 10 to retract, reduce the distance of the protection assembly 10 extending from one side of the body 101, thereby reducing the distance between the cutting mechanism 103 and the obstacles, so that the cutting mechanism 103 can perform the cutting operation on the grass vegetation in the area adjacent to the obstacles, thereby reducing the situation that the cutting mechanism 103 cannot approach the area near the obstacles due to the blocking of the protection assembly 10 when the self-moving device 100 performs the mowing operation, resulting in the area near the obstacles becoming a cutting dead angle of the mowing operation of the self-moving device 100, that is, the cutting dead angle of the self-moving device 100 can be reduced, and the mowing operation effect of the self-moving device 100 can be improved.

[0048] It is understandable that when the self-moving device 100 moves from an area close to an obstacle to an area far away from an obstacle, in order to enhance the protection of personnel, the drive component 20 can operate and drive the protective component 10 to extend out of the body 101, thereby increasing the distance by which the protective component 10 extends out of the body 101.

[0049] It is understandable that, in order to enable the self-moving device 100 to cut grass vegetation near obstacles, the cutting mechanism 103 can be moved to extend out of the body 101 to shorten the distance between the cutting mechanism 103 and the obstacle, thereby increasing the mowing coverage of the self-moving device 100 and reducing the cutting dead angles in its mowing operation. However, the drive motor of the cutting mechanism 103 usually needs to be set in a waterproof cavity inside the body 101. The movement of the cutting mechanism 103 may cause collisions with obstacles or damage to the robot's waterproofness, which may lead to damage to the cutting mechanism 103 and even damage to other core components located in the waterproof cavity, affecting the service life of the self-moving device 100. The cutting mechanism 103 in the self-moving device 100 provided in this application is fixed to the bottom of the body 101. By simply moving the body 101 and the protective component 10 relative to the body 101, the self-moving device 100 can reduce cutting dead angles and prevent personnel from approaching the cutting mechanism 103. At the same time, it can prevent the cutting mechanism 103 from being exposed to water or being hit by collisions due to extending out of the body 101. This can reduce the failure rate and maintenance cost of the cutting mechanism 103 and increase its service life.

[0050] Please refer to the following: Figure 4 In embodiments of this application, the protective component 10 can be moved relative to the fuselage 101 to a first position and a second position.

[0051] like Figure 4 As shown, when the protective component 10 is in the first position, the protective component 10 extends to one side of the body 101, thereby increasing the safety distance of the cutting mechanism 103 and preventing a person 200 (e.g., a person's hand or foot) from approaching the cutting mechanism 103. At this time, the self-moving device 100 can move and perform mowing operations in an area away from obstacles.

[0052] When the protective component 10 is in the second position, the distance by which the protective component 10 extends beyond the body 101 is less than the distance by which the protective component 10 extends beyond the body 101 when it is in the first position. At this time, the safe distance at which the protective component 10 blocks external objects from approaching the cutting mechanism 103 is reduced, allowing the self-moving device 100 to perform grass-cutting operations in areas near obstacles.

[0053] In the embodiments of this application, the relative positional relationship between the protective component 10 and the fuselage 101 when the protective component 10 is in the second position is not specifically limited. For example, as Figure 3As shown, when the guard assembly 10 is in the second position, the outer side of the guard assembly 10 in the preset direction (i.e. the side away from the cutting mechanism 103) can be flush with the side of the body 101 in the preset direction; at this time, when the mobile device 100 is viewed from a top view, the entire structure of the guard assembly 10 is shielded by the body 101; when the mobile device 100 is viewed from a bottom view, the side of the guard assembly 10 used for extending out of the body 101 is flush with the side of the body 101.

[0054] For example, when the guard assembly 10 is in the second position, the guard assembly 10 can be retracted to the inner side of the body 101 and be spaced apart from the side of the body 101 in the preset direction. When the mobile device 100 is viewed from a top view, the entire structure of the guard assembly 10 is shielded by the body 101; when the mobile device 100 is viewed from a bottom view, the side of the guard assembly 10 used for extending out of the body 101 is spaced apart from the side of the body 101 and is located between the side of the body 101 and the cutting mechanism 103.

[0055] For example, when the guard assembly 10 is in the second position, the guard assembly 10 can be retracted to the inner side of the body 101 and be spaced apart from the side of the body 101 in the preset direction. When the mobile device 100 is viewed from a top view, the entire structure of the guard assembly 10 is shielded by the body 101; when the mobile device 100 is viewed from a bottom view, the side of the guard assembly 10 used for extending out of the body 101 is spaced apart from the side of the body 101 and is located between the side of the body 101 and the cutting mechanism 103. Figure 3 Therefore, when the preset direction coincides with the first direction, when the guard assembly 10 is in the second position, the side of the guard assembly 10 away from the cutting mechanism 103 in the first direction is flush with the side of the body 101 close to the cutting mechanism 103 in the first direction.

[0056] It can be understood that when the guard assembly 10 is in the second position, the guard assembly 10 can not extend out of the body 101. At this time, in the preset direction, the distance between the side of the body 101 opposite to the guard assembly 10 and the cutting mechanism 103 can be equal to or greater than the distance between the side of the guard assembly 10 away from the cutting mechanism 103 and the cutting mechanism 103. In this way, when the guard assembly 10 is in the second position, the side of the body 101 opposite to the guard assembly 10 can serve as a structure for blocking external objects from approaching the cutting mechanism 103 in the preset direction, thereby replacing or cooperating with the guard assembly 10 to shield the cutting mechanism 103 in the preset direction.

[0057] The following embodiments can be exemplified according to the case that when the guard assembly 10 is in the second position, the side of the guard assembly 10 away from the cutting mechanism 103 is flush with the side of the body 101 opposite to the guard assembly 10.

[0058] Please refer to Figure 5 and Figure 6In some embodiments, the cutting mechanism 103 can include a cutting motor 1031, a cutter disc 1032, and a plurality of blades 1033. The stator of the cutting motor 1031 can be fixedly installed on the machine body 101, constituting the stator of the cutting mechanism 103. The cutter disc 1032 can be fixedly installed on the rotor of the cutting motor 1031, and can be located at the bottom of the cutting motor 1031. The plurality of blades 1033 are each fixedly installed at the bottom of the cutter disc 1032, and can be arranged at intervals in a direction surrounding the cutter disc 1032. Each blade 1033 can protrude from the outer periphery of the cutter disc 1032, and the cutting edge of the blade 1033 can extend to the position where the blade 1033 protrudes from the outer periphery of the cutter disc 1032. When the cutting mechanism 103 is working, the cutter disc 1032 and the plurality of blades 1033 rotate synchronously, and the position where each blade 1033 protrudes from the cutter disc 1032 can contact the grass vegetation, and the cutting of the grass vegetation can be achieved by rotation.

[0059] It can be understood that the cutting mechanism 103 is fixed to the bottom of the machine body 101, so that the machine body 101 can shield the cutting motor 1031, thereby reducing the occurrence of water entering or collision of the cutting motor 1031 due to the extension of the machine body 101, reducing the failure rate and maintenance cost of the cutting motor 1031, and improving the service life of the cutting motor 1031 and the cutting mechanism 103.

[0060] It can be understood that the cutting mechanism 103 can have a cutting area 103A, and the cutting mechanism 103 can perform cutting work on the grass vegetation entering the cutting area 103A.

[0061] The size specifications of each blade 1033 can be the same, the distance of each blade 1033 protruding from the cutter disc 1032 can be the same, and the straight-line distance of each blade 1033 from the center of the cutter disc 1032 can be the same. In this way, the farthest end of any blade 1033 from the center of the cutter disc 1032 forms a circular track when the blade 1033 rotates, which can form the boundary of the cutting area 103A; all positions within the circular boundary of the cutting area 103A are the cutting area 103A of the cutting mechanism 103.

[0062] It can be understood that the protection assembly 10 can be movably connected to the machine body 101 and / or the stator of the cutting motor 1031 in a preset direction.

[0063] In the embodiments of the present application, the height direction of the self-moving device 100 can be defined as the vertical direction, which is perpendicular to the horizontal plane and perpendicular to the first direction and the second direction. For example, the vertical direction can be the Z direction and the opposite direction thereof as shown. Figure 4 to Figure 6

[0064] When the preset direction coincides with the first direction, the preset direction is perpendicular to the vertical direction.​

[0065] Please refer to Figure 7 In some embodiments, the protection assembly 10 can include a first protection piece 11 and a second protection piece 12.

[0066] The first protection piece 11 can be arranged in a preset direction away from the cutting mechanism 103 and shield the first protection piece 11 from the preset direction. The first protection piece 11 is away from the cutting area 103A, so as to avoid the contact between the rotating blade 1033 of the cutting mechanism 103 and the first protection piece 11 when the cutting mechanism 103 works, and reduce the probability of damage to the first protection piece 11 and the blade 1033. Meanwhile, the grass vegetation can enter the gap between the first protection piece 11 and the cutting area 103A, and then contact the rotating blade 1033, so as to realize the cutting of the grass vegetation by the cutting mechanism 103.

[0067] The second protection piece 12 can be fixedly connected with the first protection piece 11. The second protection piece 12 can be located on the side of the cutting mechanism 103 facing the ground in the vertical direction. The second protection piece 12 can shield the cutting mechanism 103 at the bottom in the vertical direction, so as to block the external object from approaching the cutting mechanism 103 and the cutting area 103A from the bottom of the machine body 101.

[0068] It can be understood that when the protection assembly 10 is located at the first position, the entire structure of the first protection piece 11 and part of the structure of the second protection piece 12 can extend out of the side of the machine body 101 along the preset direction.

[0069] In some cases, the projection of the second protection piece 12 in the vertical direction is away from the cutting area 103A regardless of the position of the protection assembly 10. At this time, the second protection piece 12 can block the part of the external object (for example, the hand or foot of a person) at least close to the first protection piece 11 and away from the cutting area 103A in the vertical direction when the external object approaches the cutting area 103A, so as to block the external object from approaching the cutting mechanism 103 and the cutting area 103A in the vertical direction. In other cases, the projection of the second protection piece 12 in the vertical direction can coincide with the cutting mechanism 103 at least when the protection assembly 10 is located at the first position. At this time, the second protection piece 12 can block the part of the external object (for example, the hand or foot of a person) at least close to the first protection piece 11 in the vertical direction when the external object approaches the cutting area 103A, that is, the second protection piece 12 can block the external object regardless of whether the external object or part of the structure of the external object approaches or moves away from the cutting area 103A, so as to block the external object from approaching the cutting mechanism 103 and the cutting area 103A in the vertical direction. The embodiments of the present application do not limit this.

[0070] In the embodiments of this application, the positional relationship between the first protective member 11 and the second protective member 12 is not specifically limited. For example, as Figure 5 and Figure 6 As shown, both the first protective member 11 and the second protective member 12 can be plate-shaped; the height direction of the first protective member 11 can be aligned with the vertical direction, and the length direction can coincide with the second direction; the second protective member 12 can be arranged parallel to the horizontal plane, and one side of the second protective member 12 in the preset direction can be fixedly connected to the bottom of the first protective member 11, and the second protective member 12 can extend in the preset direction along the direction close to the cutting mechanism 103.

[0071] In some embodiments, when the protective component 10 is in the first position, i.e., when the first protective member 11 extends out of one side of the body 101, the projection of the second protective member 12 in the vertical direction avoids the projection of the cutting mechanism 103 in the vertical direction, and also avoids the cutting area 103A. At this time, the second protective member 12 and the cutting area 103A are mutually abutted in a preset direction, and there may be a gap between the second protective member and the boundary of the cutting area 103A in the preset direction. Grass vegetation can enter the gap and come into contact with the rotating blade 1033, thereby realizing the cutting mechanism 103 cutting the grass vegetation.

[0072] It is understood that the second protective member 12 avoids the cutting area 103A in the preset direction, which can provide a channel for grass vegetation to approach the cutting mechanism 103. This can increase the number of grass vegetation that can approach the blade 1033 and be cut in the area covered by the self-moving device 100 during its movement, thereby improving the efficiency of the cutting mechanism 103 in cutting grass vegetation and improving the effect of the self-moving device 100 in mowing operations.

[0073] In some embodiments, the second protective member 12 is positioned away from the first protective member 11 in a predetermined direction, and a first clearance opening 121 may be provided on the side facing the cutting mechanism 103. The inner wall of the first clearance opening 121 may be arc-shaped or zigzag-shaped.

[0074] When the protective component 10 is in the first position, in the vertical projection of the second protective member 12, the boundary formed by the inner wall of the first clearance opening 121 can be located outside the cutting area 103A. In this way, the opening of the first clearance opening 121 can achieve the second protective member 12 to avoid the cutting area 103A in a preset direction.

[0075] For example, the inner wall of the first avoiding opening 121 can be arc-shaped, and can enclose an open space in the shape of an incomplete circle. The diameter of the open space can be greater than or equal to the diameter of the cutting area 103A. During the movement of the self-moving device 100, when the protection assembly 10 is in the first position, after the grass vegetation contacts the inner wall of the first avoiding opening 121, the protection assembly 10 can move synchronously with the movement of the self-moving device 100, so as to move relative to the grass vegetation in contact with the inner wall of the first avoiding opening 121. At this time, the arc-shaped inner wall of the first avoiding opening 121 can guide and / or push the grass vegetation to move and / or bend, so that the grass vegetation can move along the extension direction of the inner wall of the first avoiding opening 121 to approach and enter the cutting area 103A, and / or the part of the grass vegetation above the second protection member 12 can approach and enter the cutting area 103A by bending.

[0076] It can be understood that the guidance and pushing of the inner wall of the first avoiding opening 121 to the movement of the grass vegetation, and the bending caused to the grass vegetation, can increase the number of cutting of the grass vegetation by the cutting mechanism 103, so as to improve the consistency of the height of the grass vegetation in the area passed by the self-moving device 100, and improve the effect of the mowing work of the self-moving device 100.

[0077] In other embodiments, when the protection assembly 10 is in the first position, the second protection member 12 can be partially shielded in the vertical direction from the cutting area 103A, and part of the structure of the second protection member 12 can be located at the bottom of the cutting mechanism 103. At this time, the grass vegetation can approach the cutting area 103A through the gap between the second protection member 12 and the cutting mechanism 103 in the vertical direction, so as to realize the cutting of the grass vegetation by the cutting mechanism 103.

[0078] In some embodiments, a plurality of grass combing grooves 122 can be formed on the second protection member 12. The plurality of grass combing grooves 122 can pass through the second protection member 12 in the vertical direction. The plurality of grass combing grooves 122 can be arranged at intervals. The grass combing grooves 122 can be used for the grass vegetation to pass through.

[0079] It can be understood that when the protection assembly 10 is in the second position, the second protection member 12 can be located directly below the cutting mechanism 103, so that the second protection member 12 covers at least part of the cutting area 103A from the bottom. With the movement of the self-moving device 100, the grass vegetation on the ground can pass through the grass combing grooves 122, and then approach and enter the cutting area 103A. The working cutting mechanism 103 can cut the grass vegetation passing through the grass combing grooves 122.

[0080] When the protection assembly 10 is located at the first position, and the second protection piece 12 can partially shield the cutting area 103A in the vertical direction, with the movement of the self-moving device 100, part of the grass can pass through the grass combing groove 122 opposite to the cutting area 103A in the vertical direction, and then approach and enter the cutting area 103A. The cutting mechanism 103 in operation can cut the grass passing through the grass combing groove 122. At the same time, part of the grass can approach and enter the cutting area 103A through the gap between the second protection piece 12 and the cutting mechanism 103 in the vertical direction, and the cutting mechanism 103 can simultaneously cut these grasses.

[0081] It can be understood that the arrangement of the grass combing groove 122 can at least increase the amount of grass that can be cut by the cutting mechanism 103 when the protection assembly 10 is located at the second position, thereby improving the consistency of the height of the grass in the area passed by the self-moving device 100 and improving the effect of the mowing operation of the self-moving device 100.

[0082] In the embodiments of the present application, the arrangement of the grass combing groove 122 on the second protection piece 12 is not specifically limited. For example, when the preset direction coincides with the first direction, a plurality of grass combing grooves 122 can be arranged in multiple rows in the first direction; the number of grass combing grooves 122 in each row of grass combing grooves 122 is a plurality, and the plurality of grass combing grooves 122 are arranged in the second direction; the grass combing groove 122 can extend along the second direction, and the grass combing grooves 122 close to the two sides of the second protection piece 12 in the second direction can penetrate the second protection piece 12 along the second direction.

[0083] Please refer to Figure 8 In some embodiments, the protection mechanism 104 can further include a support 30. The support 30 can be fixedly connected with the stator of the cutting mechanism 103 and / or the body 101. The protection assembly 10 can be movably connected to the support 30 in the preset direction, thereby realizing the movable connection between the body 101. The driving assembly 20 can be fixedly installed on the support 30.

[0084] For example, the bottom of the body 101 can be provided with a receiving groove 1011, and the support 30 can be received in the receiving groove 1011 and fixedly connected with the body 101. The stator of the cutting motor 1031 can be fixedly installed on the side of the support 30 facing the body 101 and received in the body 101; the rotor of the cutting motor 1031 can penetrate the support 30 in the vertical direction and be rotatably connected to the support 30 or avoid the support 30. The cutter head 1032 and the blade 1033 can be arranged on the side of the support 30 away from the body 101, and the cutter head 1032 can be rotatably connected to the support 30.

[0085] It can be understood that the rotatable connection can be achieved by a rotating connecting member, which is a connection mode that allows relative rotation of two components. In the embodiments of the present application, the type of rotating connecting member is not specifically limited. For example, the rotating connecting member can be, but is not limited to, a bearing, a pin shaft, or a hinge, etc.

[0086] In some embodiments, the protection assembly 10 can further include a first connecting member 13. The first connecting member 13 can be fixedly connected with the first protection member 11 and is spaced apart from the second protection member 12 in the vertical direction. The first connecting member 13 can extend to between the cutterhead 1032 and the support 30 in the preset direction and can be movably connected with the support 30 in the preset direction, achieving the movably connected between the protection assembly 10 and the support 30. The driving assembly 20 can be connected with the first connecting member 13, and the driving assembly 20 can drive the first connecting member 13 to move, thereby driving the protection assembly 10 to move.

[0087] The support 30 can include a first support 31 and a second support 32. The first support 31 and the second support 32 can be fixedly connected, and the second support 32 can be located on both sides of the first support 31 in the second direction. The second support 32 can be located on the side of the first support 31 in the vertical direction towards the fuselage 101 and is spaced apart from the first support 31 in the vertical direction. The stator of the cutting motor 1031 can be fixedly installed on the first support 31. The first connecting member 13 can be movably connected with the second support 32 in the preset direction. The side of the first connecting member 13 in the preset direction can be provided with a second avoiding opening 131, and the second avoiding opening 131 can penetrate through the first connecting member 13 in the vertical direction. The second avoiding opening 131 is correspondingly provided with the first support 31, and the second avoiding opening 131 can pass through the first support 31 when the first connecting member 13 moves in the preset direction.

[0088] For example, the first connecting member 13 can be plate-shaped and horizontally arranged. The side of the first connecting member 13 in the preset direction can be fixedly connected with the top of the first protection member 11. The first connecting member 13, the first protection member 11 and the second protection member 12 can be integrally formed, the first connecting member 13 can be bent from the top of the first protection member 11, and the second protection member 12 can be bent from the bottom of the first protection member 11.

[0089] For example, the first support 31 and the second support 32 are both plate-shaped and horizontally arranged. The second support 32 can be integrally formed with the first support 31. The second support 32 can be bent from both sides of the first support 31 in the second direction.

[0090] It can be understood that when the protection assembly 10 is in the first position, the first support 31 is partially accommodated in the second avoiding opening 131; when the driving assembly 20 drives the protection assembly 10 to move from the first position to the second position, the volume of the first support 31 entering the second avoiding opening 131 can gradually increase. The second avoiding opening 131 can achieve the avoiding of the first support 31 and the first connecting piece 13, and reduce the probability that the support 30 hinders the movement of the protection assembly 10.

[0091] In some embodiments, the protection mechanism 104 can further include a sliding block 40 and a sliding rail 50. The number of the sliding blocks 40 can be at least two, the sliding blocks 40 can be fixedly installed on the top of the first connecting piece 13, and at least one sliding block 40 can be arranged on each side of the second avoiding opening 131 in the second direction. The number of the sliding rails 50 can be at least two, and at least one sliding rail 50 can be fixedly installed on the bottom of each second support 32. The sliding rails 50 can extend in a preset direction. Each sliding block 40 can be slidingly connected to the corresponding sliding rail 50 in the preset direction, so as to achieve the relative movably connected between the protection assembly 10 and the support 30 in the preset direction.

[0092] It can be understood that the lifting of the second support 32 relative to the first support 31 in the vertical direction can increase the interval between the second support 32 and the first connecting piece 13 in the vertical direction, so as to provide space for the arrangement of the sliding block 40 and the sliding rail 50, and to achieve the relative movably connected between the protection assembly 10 and the support 30.

[0093] In some embodiments, the first connecting piece 13 and the sliding block 40 are detachably connected. The user or the worker can turn over the self-moving device 100 after the self-moving device 100 stops running, and detach the first connecting piece 13 from the sliding block 40, so as to achieve the disassembly of the protection assembly 10; then, the worker can maintain the protection assembly 10, and / or connect another protection assembly 10 to the sliding block 40 to achieve the replacement of the protection assembly 10.

[0094] It can be understood that when the self-moving device 100 moves on the grassland to perform the mowing operation, the grassland can have a convex terrain and / or a protruding object such as a stone, and the convex terrain and / or the protruding object can collide with the protection assembly 10 when the self-moving device 100 moves, so as to cause damage to the protection assembly 10. The user or the worker can regularly check the damage of the protection assembly 10, and can disassemble the protection assembly 10 to maintain or replace the protection assembly 10.

[0095] In the embodiments of the present application, the detachable connection manner is not specifically limited. For example, the detachable connection manner can include, but is not limited to, bolt connection, buckle connection and magnetic attraction connection.

[0096] In some embodiments, the driving assembly 20 can include a base 21, a screw rod 22, a moving piece 23, a second connecting piece 24 and a driving piece 25.

[0097] The base 21 can be fixedly installed on the support 30 and located on one side of the second support 32 facing the body 101. The base 21 can be provided with a sliding groove 211. The screw rod 22 can extend along a preset direction and be rotatably connected to the base 21. The screw rod 22 is at least partially located in the sliding groove 211. The moving piece 23 is slidingly connected to the sliding groove 211 in the preset direction, the screw rod 22 penetrates the moving piece 23 in the preset direction and is threadedly connected to the moving piece 23. The moving piece 23 is located between the corresponding second support 32 and the first connecting piece 13 in the vertical direction, i.e., is spaced apart from the first connecting piece 13 in the vertical direction. One end of the second connecting piece 24 can be connected to the moving piece 23, and the other end can be connected to the first connecting piece 13.

[0098] The driving piece 25 can be fixedly installed on the base 21 and / or the second support 32 where the base 21 is located. The output end of the driving piece 25 can be fixedly connected and coaxial with the screw rod 22. The driving piece 25 can drive the screw rod 22 to rotate, so as to move the moving piece 23 and the second connecting piece 24 in the preset direction, and synchronously move the protection assembly 10 in the preset direction.

[0099] It can be understood that the second connecting piece 24 can include two horizontal plate bodies spaced apart in the vertical direction, and a vertical plate body connected between the two horizontal plate bodies. The two horizontal plate bodies can be respectively connected to the moving piece 23 and the second connecting piece 24, so that the second connecting piece 24 can realize relative fixation of the moving piece 23 and the protection assembly 10.

[0100] In the embodiments of the present application, the type of the driving piece 25 is not specifically limited. For example, the driving piece 25 can be, but is not limited to, a motor.

[0101] In some embodiments, the second connecting piece 24 is detachably connected to the first connecting piece 13. After the self-moving device 100 stops running, a user or a worker can turn over the self-moving device 100, and detach the first connecting piece 13 from the sliding block 40 and the second connecting piece 24, so as to realize detachment of the protection assembly 10. Then, the worker can maintain the protection assembly 10, and / or connect another protection assembly 10 to the sliding block 40 to realize replacement of the protection assembly 10.

[0102] For example, the second connecting piece 24 and the first connecting piece 13 can be detachably connected through screws, and the sliding block 40 and the first connecting piece 13 can be detachably connected through screws.

[0103] When the self-moving device 100 provided by the embodiments of the present application moves away from the wall and other obstacles and performs the mowing operation on the grassland, the protection assembly 10 can extend to one side of the body 101 to shield the cutting mechanism 103 while the cutting mechanism 103 is working, and increase the safety distance of blocking the external objects from approaching the cutting mechanism 103. At this time, the part of the protection assembly 10 extending to the side of the body 101 can block the human body 200 (for example, the hands or feet of the personnel) from approaching the cutting mechanism 103, so as to reduce the probability of the human body 200 being damaged by the cutting mechanism 103 when the cutting mechanism 103 is working, and increase the safety of the self-moving device 100 when moving and working.

[0104] When the self-moving device 100 moves close to the wall and other obstacles and performs the mowing operation on the grassland, the driving assembly 20 can drive the protection assembly 10 to retract, reduce the distance of the protection assembly 10 extending to one side of the body 101, and thus reduce the distance between the cutting mechanism 103 and the obstacles, so that the cutting mechanism 103 can perform the cutting operation on the grass vegetation in the adjacent area of the obstacles, thereby reducing the cutting dead angle of the mowing operation of the self-moving device 100 and improving the effect of the mowing operation of the self-moving device 100.

[0105] It is obvious for those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and the present application can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, the above-described embodiments of the present application should be regarded as exemplary and non-limiting, and the scope of the present application is defined by the appended claims rather than the above description, and all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application.

Claims

1. A self-moving device, characterized in that, The application relates to a mower comprising: a machine body; a cutting mechanism connected to the machine body and used for cutting grass; a protection mechanism comprising a protection assembly and a driving assembly, the protection assembly being movably connected to the machine body and / or the cutting mechanism in a preset direction, the protection assembly being used for shielding one side of the cutting mechanism in the preset direction, and the driving assembly being connected to the protection assembly and used for driving the protection assembly to move in the preset direction so as to increase or decrease the distance between the protection assembly and the machine body.

2. The self-mobiling device of claim 1, wherein, The protection assembly comprises: a first protection member which is arranged in the preset direction and spaced from the cutting mechanism and is used for shielding one side of the cutting mechanism in the preset direction; a second protection member which is connected to the first protection member and is located on the side of the cutting mechanism facing the ground in a vertical direction, the vertical direction being at an angle to the preset direction.

3. The self-mobiling device of claim 2, wherein, When the protection assembly moves to a first position, one side of the protection assembly extends out of the machine body, and the projection of the second protection member in the vertical direction avoids the projection of the cutting mechanism in the vertical direction; when the protection assembly moves to a second position, the distance between the protection assembly and the machine body is smaller than that when the protection assembly is in the first position, and the second protection member shields the cutting mechanism from the bottom.

4. The self-mobiling device of claim 2, wherein, The second protection member is provided with a grass combing groove which penetrates the second protection member along the vertical direction and is used for allowing grass to pass through so that the cutting mechanism cuts the grass passing through the grass combing groove.

5. The self-mobiling device of claim 3, wherein, The cutting mechanism has a cutting area and is used for cutting the grass entering the cutting area. One side of the second protection member is provided with a first avoiding opening, and in the projection of the second protection member in the vertical direction, the boundary formed by the inner wall of the first avoiding opening is located outside the cutting area when the protection assembly moves to the first position.

6. The self-mobiling device of claim 1, wherein, The protection mechanism further comprises: a support fixed to the machine body and / or the cutting mechanism, the protection assembly being movably connected to the support in the preset direction, and the driving assembly being mounted on the support.

7. The self-mobiling device of claim 6, wherein, The protection assembly comprises: a first protection member which is arranged in the preset direction and spaced from the cutting mechanism and is used for shielding one side of the cutting mechanism in the preset direction; a first connecting member which is connected to the first protection member and extends between part of the structure of the cutting mechanism and the support in the preset direction, the first connecting member being movably connected to the support in the preset direction and being connected to the driving assembly, and the first connecting member being provided with a second avoiding opening used for at least partially accommodating the support.

8. The self-mobiling device of claim 6, wherein, The protection mechanism further comprises: a sliding block connected to the protection assembly; a sliding rail connected to the support, the sliding block being slidably connected to the sliding rail in the preset direction so as to movably connect the protection assembly and the support.

9. The self-mobiling device of claim 8, wherein, The protection assembly is detachably connected to the sliding block.

10. The self-mobiling device of claim 6, wherein, The driving assembly comprises: a base arranged on the support, and a sliding groove being formed in the base. A screw rod is arranged to extend along the preset direction and is rotatably connected to the base; A moving part is arranged to be threaded by the screw rod along the preset direction and is threadedly connected to the screw rod. The moving part is slidingly connected to the sliding groove along the preset direction. The moving part is connected to the guard assembly so that the guard assembly moves synchronously with the moving part. A driving part is connected to the screw rod and is configured to drive the screw rod to rotate so as to move the moving part along the preset direction.

11. The self-mobiling device of claim 10, wherein, The moving part and the guard assembly are arranged to be spaced apart along a vertical direction. The vertical direction forms an angle with the preset direction. The driving assembly further comprises: A second connecting part is arranged on the moving part. The second connecting part is detachably connected to the guard assembly.

12. The self-mobiling device of any of claims 1 to 11, wherein, The preset direction is parallel to a horizontal plane or forms an acute angle with the horizontal plane.

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