Self-moving device

Abstract

This application provides a self-moving device, including: a body; a cutting mechanism connected to the body and used for cutting grass vegetation; and a protective mechanism including a protective component and a driving component. The protective component is movably connected to the body and / or the cutting mechanism in a preset direction, and is used to block one side of the cutting mechanism in the preset direction. The driving component is connected to the protective component and is used to drive the protective component to move in the preset direction, increasing or decreasing the distance the protective component extends beyond the body. With the self-moving device provided by this application, when the self-moving device is performing grass cutting operations, the protective component can extend to one side of the body. The part of the protective component extending beyond the body can prevent a person from approaching the cutting mechanism, thereby reducing the probability of injury to the person from the cutting mechanism during operation and increasing the safety of the self-moving device during movement and operation.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a self-moving device. Background Technology

[0002] Self-propelled moving units can be installed in yards and used for mowing lawns. When in operation, the self-propelled moving unit can travel on the grass while its motor drives the blades to cut the vegetation, completing the mowing operation. To ensure the safety of lawnmower operation, a housing or protective device is usually required to maintain a safe distance between the blades and the outside environment, preventing people or animals from easily entering the cutting area.

[0003] However, with the above setup, during the lawn mowing operation of the self-operated mobile device, the outer shell or protective part of the blade may come into contact with obstacles such as walls, preventing the blade from getting close to the obstacle. This results in the grass vegetation near the obstacle not being cut, affecting the effectiveness of the lawn mowing operation. Summary of the Invention

[0004] In view of the above, it is necessary to provide a self-moving device to address the aforementioned deficiencies.

[0005] An embodiment of this application provides a self-moving device, including: a body; a cutting mechanism connected to the body and used for cutting grass vegetation; and a protective mechanism including a protective component and a driving component. The protective component is movably connected to the body and / or the cutting mechanism in a preset direction. The protective component is used to block one side of the cutting mechanism in the preset direction. The driving component is connected to the protective component and is used to drive the protective component to move in the preset direction, thereby increasing or decreasing the distance by which the protective component extends beyond the body.

[0006] Optionally, the protective component includes: a first protective member, which is spaced apart from the cutting mechanism in a preset direction and blocks one side of the cutting mechanism in the preset direction; and a second protective member, which is connected to the first protective member and is located on the side of the cutting mechanism facing the ground in the vertical direction, with the vertical direction forming an angle with the preset direction.

[0007] Optionally, when the protective component moves to the first position, the protective component extends out of one side of the machine body, and the projection of the second protective component in the vertical direction avoids the projection of the cutting mechanism in the vertical direction; when the protective component moves to the second position, the distance by which the protective component extends out of the machine body is less than the distance by which it extends out of the machine body when it is in the first position, and the second protective component blocks the cutting mechanism from the bottom.

[0008] Optionally, the second protective member has a grass combing groove that runs vertically through the second protective member. The grass combing groove is used for grass vegetation to pass through, so that the cutting mechanism can cut the grass vegetation that passes through the grass combing groove.

[0009] Optionally, the cutting mechanism has a cutting area and is used to cut grass vegetation that enters the cutting area; a first clearance opening is opened on one side of the second protective member, and when the protective member moves to the first position, the boundary formed by the inner wall of the first clearance opening in the vertical projection of the second protective member is located outside the cutting area.

[0010] Optionally, the protective mechanism further includes: a support fixed to the machine body and / or the cutting mechanism, a protective component movably connected to the support in a preset direction, and a drive component mounted on the support.

[0011] Optionally, the protective component includes: a first protective member, which is spaced apart from the cutting mechanism in a preset direction and blocks one side of the cutting mechanism in the preset direction; a first connecting member, which is connected to the first protective member and extends along the preset direction between a portion of the structure of the cutting mechanism and the support, the first connecting member being movably connected to the support in the preset direction and connected to the drive component; and a second clearance opening is provided on the first connecting member, the second clearance opening being used to at least partially accommodate the support.

[0012] Optionally, the protective mechanism further includes: a slider connected to the protective component; and a slide rail connected to the support, wherein the slider is slidably connected to the slide rail in a preset direction to achieve a movable connection between the protective component and the support.

[0013] Optionally, the protective component is detachably attached to the slider.

[0014] Optionally, the drive assembly includes: a base disposed on a support, with a groove formed on the base; a lead screw extending in a preset direction and rotatably connected to the base; a movable member through which the lead screw passes in the preset direction and is threadedly connected to the movable member, the movable member slidingly connected to the groove in the preset direction, and the movable member connected to the protective assembly so that the protective assembly and the movable member move synchronously; and a drive member connected to the lead screw and used to drive the lead screw to rotate, so that the movable member moves in the preset direction.

[0015] Optionally, the moving part and the protective component are spaced apart in the vertical direction, and the vertical direction forms an angle with the preset direction. The driving component also includes a second connector, which is disposed on the moving part and is detachably connected to the protective component.

[0016] Optionally, the preset direction is parallel to the horizontal plane or forms an acute angle with it.

[0017] With the self-moving device provided in this application, when the self-moving device moves away from obstacles such as walls and performs lawn mowing operations, the protective component can extend to one side of the device to shield the cutting mechanism while it is working, and increase the safe distance preventing external objects from approaching the cutting mechanism. When the self-moving device is close to obstacles such as walls, the drive component can retract the protective component, reducing the distance the protective component extends from the device. This reduces the distance between the cutting mechanism and the obstacle, allowing the cutting mechanism to cut grass vegetation in the vicinity of the obstacle, thereby reducing blind spots in the self-moving device's lawn mowing operations and improving the effectiveness of lawn mowing. Attached Figure Description

[0018] Figure 1 This is a top view of the self-moving device when the protective component is in the first position in this embodiment of the application.

[0019] Figure 2 This is a bottom view of the self-moving device when the protective component is in the first position in this embodiment of the application.

[0020] Figure 3 This is a bottom view of the self-moving device when the protective component is in the second position in this embodiment of the application.

[0021] Figure 4 This is a schematic diagram illustrating the principle of how the self-moving device uses protective components to prevent a human body from approaching the cutting mechanism in an embodiment of this application.

[0022] Figure 5 This is a schematic diagram of the cutting mechanism and the protective mechanism in an embodiment of this application when the protective component is in the first position.

[0023] Figure 6 This is a schematic diagram of the cutting mechanism and the protective mechanism in an embodiment of this application when the protective component is in the second position.

[0024] Figure 7 yes Figure 2 Enlarged view of section VII.

[0025] Figure 8 This is a partial structural diagram of the self-moving device in an embodiment of this application.

[0026] Explanation of key component symbols:

[0027] 100. Self-moving device; 101. Body; 1011. Storage slot; 102. Traveling mechanism; 103. Cutting mechanism; 103A. Cutting area; 1031. Cutting motor; 1032. Cutter head; 1033. Blade; 104. Protective mechanism; 10. Protective component; 11. First protective component; 12. Second protective component; 121. First clearance opening; 122. Combing trough; 13. First connecting component; 131. Second clearance opening; 20. Drive component; 21. Base; 211. Slide groove; 22. Lead screw; 23. Moving component; 24. Second connecting component; 25. Drive component; 30. Support; 31. First support component; 32. Second support component; 40. Slider; 50. Slide rail; 200. Human body. Detailed Implementation

[0028] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments.

[0029] The term "multiple" in this application refers to two or more. Furthermore, it should be understood that the terms "first," "second," etc., used in the description of this application are used only for descriptive purposes and should not be construed as indicating or implying relative importance, nor as indicating or implying order.

[0030] In the description of the embodiments in this application, the words "exemplary" or "for example" are used to indicate that they are examples, illustrations, or descriptions. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design options. Specifically, the use of the words "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0031] Please see Figure 1 and Figure 2 , Figure 1 and Figure 2 An embodiment of this application provides a self-moving device 100.

[0032] In embodiments of this application, the self-moving device 100 may include a body 101, a traveling mechanism 102, and a cutting mechanism 103. The body 101 may include a frame for providing mounting positions for other components of the self-moving device 100, and a housing covering the frame. The traveling mechanism 102 may be mounted on the body 101 and supported on the ground, maintaining the body 101 at a distance from the ground. When the traveling mechanism 102 is in operation, it enables the body 101 and its components to move synchronously on the ground.

[0033] The cutting mechanism 103 can be installed at the bottom of the body 101, and can be located near the side wall of the body 101 in the width or length direction. When the cutting mechanism 103 is working, it can cut grass and vegetation on the ground.

[0034] It is understood that during the process of the self-moving device 100 moving on the grass via the driving mechanism 102, the cutting mechanism 103 can work synchronously to cut the grass vegetation in the area covered by the self-moving device 100 during its movement, so that the grass vegetation on the grass can be trimmed to the same or similar height, thereby realizing the grass mowing operation of the self-moving device 100.

[0035] It is understood that the driving mechanism 102 can be a tracked or wheeled mechanism, whose tracks or wheels can contact the ground and rotate, thereby enabling the self-moving device 100 to move on the ground. For example, Figure 1 As shown, the driving mechanism 102 may have multiple wheels, which may be spaced apart in the length and width directions of the body 101.

[0036] In embodiments of this application, the width and length directions of the self-moving device 100 can be defined as a first direction and a second direction, respectively. Both the first and second directions are parallel to the horizontal plane. For example, the first direction could be... Figure 1 and Figure 2 The X direction and its opposite direction are shown. The second direction can be... Figure 1 and Figure 2 The Y-direction and its opposite direction are shown.

[0037] In the embodiments of this application, the position of the cutting mechanism 103 on the machine body 101 is not specifically limited. For example, as Figure 1 and Figure 2 As shown, the cutting mechanism 103 can be located at the bottom of the machine body 101 and can be fixedly installed on one or both sides of the bottom of the machine body 101 in the first direction. For example, the cutting mechanism 103 can be located at the bottom of the machine body 101 and can be fixedly installed on one or both sides of the bottom of the machine body 101 in the second direction.

[0038] In the embodiments of this application, the fixing method for fixed installation and fixed connection is not specifically limited. For example, the fixing method can be, but is not limited to, bolt fixing, screw fixing, welding fixing, integral molding fixing, and interference fixing.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] For example, the cutting mechanism 103 can be located on one or both sides of the bottom of the machine body 101 in the second direction. In this case, the preset direction can coincide with the second direction or form an acute angle with the second direction. The protective component 10 can block the cutting mechanism 103 from one side in the second direction and / or from the side in the direction that forms an acute angle with the second direction and is perpendicular to the first direction.

[0047] The following embodiments can all be illustrated by illustrative examples based on the case where the preset direction coincides with the first direction.

[0048] Understandable, such as Figure 2 As shown, when the self-moving device 100 moves away from obstacles such as walls and performs lawn mowing operations, the cutting mechanism 103 operates. The protective component 10 can extend to one side of the body 101 to shield the cutting mechanism 103 while it is operating. The part of the protective component 10 extending from the body 101 can act as a safety device to prevent personnel from approaching the cutting mechanism 103 when they approach the self-moving device 100, thus preventing the human body 200 (e.g., a person's hand or foot) from getting further close to the cutting mechanism 103. As the distance of the protective component 10 extending from the body 101 increases, the safe distance of the protective mechanism 104 from preventing the human body 200 from contacting the cutting mechanism 103 can be increased, thereby reducing the probability of the human body 200 being injured by the cutting mechanism 103 while it is operating, and increasing the safety of the self-moving device 100 during movement and operation.

[0049] Please refer to the following: Figure 3 ,like Figure 3 As shown, when the self-moving device 100 moves near obstacles such as walls to mow the grass, the gap between the self-moving device 100 and the obstacle is insufficient to allow a person's body to enter. The protective component 10 extending from the body 101 comes into contact with the obstacle, preventing the cutting mechanism 103 from approaching the obstacle and cutting the grass at its edge. To improve the cutting effect of grass near obstacles, the drive component 20 can retract the protective component 10, reducing the distance the protective component 10 extends from the side of the body 101. This reduces the gap between the cutting mechanism 103 and the obstacle, allowing the cutting mechanism 103 to cut the grass in the area near the obstacle. This reduces the situation where the cutting mechanism 103 cannot approach the area near the obstacle due to the obstruction of the protective component 10, thus preventing the area near the obstacle from becoming a cutting blind spot for the self-moving device 100. In other words, it reduces the cutting blind spots of the self-moving device 100 and improves the effectiveness of its grass-mowing operation.

[0050] 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.

[0051] 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.

[0052] Please refer to the following: Figure 4 In the embodiments of this application, the protective component 10 can be moved relative to the fuselage 101 to a first position and a second position.

[0053] 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.

[0054] 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.

[0055] 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 protective component 10 is in the second position, the outer side of the protective component 10 in the preset direction (i.e. the side away from the cutting mechanism 103) can be flush with one side of the body 101 in the preset direction. At this time, when the self-moving device 100 is viewed from a top view, the entire structure of the protective component 10 is blocked by the body 101. When the self-moving device 100 is viewed from a bottom view, the side of the protective component 10 that extends out of the body 101 is flush with one side of the body 101.

[0056] For example, when the protective component 10 is in the second position, the protective component 10 can retract to the inside of the body 101 and be spaced apart from one side of the body 101 in a preset direction. When the self-moving device 100 is viewed from a top view, the entire structure of the protective component 10 is obscured by the body 101; when the self-moving device 100 is viewed from a bottom view, the side of the protective component 10 that extends out of the body 101 is spaced apart from one side of the body 101 and is located between that side of the body 101 and the cutting mechanism 103.

[0057] For example, such as Figure 3 Therefore, when the preset direction coincides with the first direction, when the protective component 10 is in the second position, the side of the protective component 10 away from the cutting mechanism 103 in the first direction is level with the side of the outer periphery of the machine body 101 that is close to the cutting mechanism 103 in the first direction.

[0058] It is understood that when the protective component 10 is in the second position, the protective component 10 may not extend beyond the body 101. At this time, in the preset direction, the distance from the side of the body 101 opposite to the protective component 10 to the cutting mechanism 103 can be equal to or greater than the distance from the side of the protective component 10 away from the cutting mechanism 103 to the cutting mechanism 103. Thus, when the protective component 10 is in the second position, the side of the body 101 opposite to the protective component 10 can serve as a structure to block external objects from approaching the cutting mechanism 103 in the preset direction, thereby replacing the function of the protective component 10 in blocking the cutting mechanism 103 in the preset direction, or working together with the protective component 10 to achieve the function of blocking the cutting mechanism 103 in the preset direction.

[0059] The following embodiments are all illustrated based on the situation where, when the protective component 10 is in the second position, the side of the protective component 10 away from the cutting mechanism 103 is level with the side of the machine body 101 opposite to the protective component 10.

[0060] Please refer to the following: Figure 5 and Figure 6In some embodiments, the cutting mechanism 103 may include a cutting motor 1031, a cutter head 1032, and a plurality of blades 1033. The stator of the cutting motor 1031 may be fixedly mounted on the machine body 101, forming the stator of the cutting mechanism 103. The cutter head 1032 may be fixedly mounted on the mover of the cutting motor 1031 and may be located at the bottom of the cutting motor 1031. The plurality of blades 1033 are all fixedly mounted on the bottom of the cutter head 1032 and may be spaced apart along the direction surrounding the cutter head 1032. Each blade 1033 may protrude from the outer periphery of the cutter head 1032, and the cutting edge of the blade 1033 may extend to the part of the blade 1033 that protrudes from the outer periphery of the cutter head 1032. When the cutting mechanism 103 is working, the cutter head 1032 and the plurality of blades 1033 rotate synchronously, and the part of each blade 1033 that protrudes from the cutter head 1032 may contact the grass vegetation and cut the grass vegetation as it rotates.

[0061] It is 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 ingress or collision of the cutting motor 1031 due to its extension out 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.

[0062] It is understood that the cutting mechanism 103 may have a cutting area 103A, and the cutting mechanism 103 may perform cutting operations on grass vegetation that enters the cutting area 103A.

[0063] Each blade 1033 can have the same size and specifications, the same distance each blade 1033 protrudes from the cutter head 1032, and the same straight-line distance between each blade 1033 and the center of the cutter head 1032. Thus, the circular trajectory formed by the farthest end of any blade 1033 from the center of the cutter head 1032 as the blade 1033 rotates can form the boundary of the cutting area 103A; all positions within the circular boundary of the cutting area 103A constitute the cutting area 103A of the cutting mechanism 103.

[0064] It is understood that the protective component 10 can be movably connected to the machine body 101 and / or the stator of the cutting motor 1031 in a preset direction.

[0065] In embodiments of this 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 also perpendicular to the first and second directions. For example, the vertical direction can be... Figures 4 to 6 The Z direction and its opposite direction are shown.

[0066] When the preset direction coincides with the first direction, the preset direction is perpendicular to the vertical direction.

[0067] Please refer to the following: Figure 7 In some embodiments, the protective component 10 may include a first protective element 11 and a second protective element 12.

[0068] The first protective member 11 can be spaced apart from the cutting mechanism 103 in a preset direction and can block the first protective member 11 from the preset direction. The first protective member 11 avoids the cutting area 103A, thereby preventing the rotating blade 1033 of the cutting mechanism 103 from contacting the first protective member 11 when it is working, reducing the probability of damage to the first protective member 11 and the blade 1033; at the same time, grass can enter the gap between the first protective member 11 and the cutting area 103A, and then contact the rotating blade 1033, so that the cutting mechanism 103 can cut the grass.

[0069] The second protective member 12 can be fixedly connected to the first protective member 11. The second protective member 12 can be located on the side of the cutting mechanism 103 facing the ground in the vertical direction. The second protective member 12 can block the cutting mechanism 103 at the bottom in the vertical direction, thereby preventing external objects from approaching the cutting mechanism 103 and the cutting area 103A from the bottom of the body 101.

[0070] It is understood that when the protective component 10 is in the first position, the entire structure of the first protective component 11 and part of the structure of the second protective component 12 can extend out of one side of the fuselage 101 in a preset direction.

[0071] In some cases, regardless of the position of the protective assembly 10, the vertical projection of the second protective member 12 avoids the cutting area 103A. In this case, the second protective member 12 can block the vertical movement of at least the portion of an external object (e.g., a person's hand or foot) that is close to the cutting area 103A, thereby preventing the external object from approaching the cutting mechanism 103 and the cutting area 103A in the vertical direction. In other cases, at least when the protective assembly 10 is in the first position, the vertical projection of the second protective member 12 can coincide with the cutting mechanism 103. At this time, the second protective member 12 can block the vertical movement of at least the portion of the external object near the first protective member 11 when the external object (such as a person's hand or foot) approaches the cutting area 103A. That is, regardless of whether the external object or part of its structure approaches or moves away from the cutting area 103A, the second protective member 12 can block the external object, thereby preventing the external object from approaching the cutting mechanism 103 and the cutting area 103A in the vertical direction. The embodiments of this application do not limit this.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] For example, the inner wall of the first clearance opening 121 can be arc-shaped and can enclose an incomplete circular open space. The diameter of this 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, and when the protective component 10 is in the first position, after the grass vegetation comes into contact with the inner wall of the first clearance opening 121, the protective component 10 can move synchronously with the movement of the self-moving device 100, thereby moving relative to the grass vegetation in contact with the inner wall of the first clearance opening 121. At this time, the arc-shaped inner wall of the first clearance opening 121 can guide and / or push the grass vegetation to move and / or bend, so that the grass vegetation can approach and enter the cutting area 103A along the extension direction of the inner wall of the first clearance opening 121, and / or allow the part of the grass vegetation located above the second protective component 12 to approach and enter the cutting area 103A by bending.

[0078] It is understandable that the inner wall of the first clearance opening 121 guides and propels the movement of grass vegetation, and the bending of the grass vegetation can increase the number of grass vegetation cut by the cutting mechanism 103, thereby improving the uniformity of grass vegetation height in the area traversed by the self-moving device 100 and improving the effect of the self-moving device 100's grass mowing operation.

[0079] In other embodiments, when the protective component 10 is in the first position, the second protective component 12 can partially block the cutting area 103A in the vertical direction, and part of the structure of the second protective component 12 can be located at the bottom of the cutting mechanism 103. At this time, grass vegetation can approach the cutting area 103A through the gap between the second protective component 12 and the cutting mechanism 103 in the vertical direction, so that the cutting mechanism 103 can cut the grass vegetation.

[0080] In some embodiments, a plurality of grass combing grooves 122 may be formed on the second protective member 12. The plurality of grass combing grooves 122 may extend through the second protective member 12 in a vertical direction. The plurality of grass combing grooves 122 may be arranged at intervals. The grass combing grooves 122 may allow grass vegetation to pass through.

[0081] It is understood that when the protective component 10 is in the second position, the second protective member 12 can be located directly below the cutting mechanism 103, at which point the second protective member 12 covers at least a portion of the cutting area 103A from the bottom. As the self-moving device 100 moves, grass vegetation on the ground can pass through the grass combing groove 122, then approach and enter the cutting area 103A, where the operating cutting mechanism 103 can cut the grass vegetation passing through the grass combing groove 122.

[0082] When the protective component 10 is in the first position and the second protective component 12 can partially block the cutting area 103A in the vertical direction, as the self-moving device 100 moves, some grass vegetation can pass through the combing groove 122 which is 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 vegetation that passes through the combing groove 122. At the same time, some grass vegetation can approach and enter the cutting area 103A through the gap between the second protective component 12 and the cutting mechanism 103 in the vertical direction. The cutting mechanism 103 can simultaneously cut these grass vegetation.

[0083] It is understood that the setting of the grass comb 122 can increase the number of grasses that the cutting mechanism 103 can cut, at least when the protective component 10 is in the second position, thereby improving the uniformity of grass height in the area traversed by the self-moving device 100 and improving the effect of the self-moving device 100's grass cutting operation.

[0084] In the embodiments of this application, the arrangement of the combing grooves 122 on the second protective member 12 is not specifically limited. For example, when the preset direction coincides with the first direction, multiple combing grooves 122 can be arranged in multiple rows at intervals in the first direction; the number of combing grooves 122 in each row is multiple, and the multiple combing grooves 122 are arranged at intervals in the second direction; the combing grooves 122 can extend along the second direction, and the combing grooves 122 on both sides of the second protective member 12 near the second protective member 12 in the second direction can penetrate the second protective member 12 along the second direction.

[0085] Please refer to the following: Figure 8 In some embodiments, the protective mechanism 104 may further include a support 30. The support 30 may be fixedly connected to the stator and / or the body 101 of the cutting mechanism 103. The protective component 10 may be movably connected to the support 30 in a preset direction, thereby achieving a movable connection between it and the body 101. The drive component 20 may be fixedly mounted on the support 30.

[0086] For example, a storage slot 1011 can be provided at the bottom of the machine body 101, and the support 30 can be stored in the storage slot 1011 and fixedly connected to the machine body 101. The stator of the cutting motor 1031 can be fixedly installed on the side of the support 30 facing the machine body 101 and stored inside the machine body 101; the mover of the cutting motor 1031 can penetrate the support 30 vertically and be rotatably connected to the support 30 or avoid the support 30. The cutter head 1032 and the blade 1033 can be placed on the side of the support 30 away from the machine body 101, and the cutter head 1032 can be rotatably connected to the support 30.

[0087] It is understood that a rotatable connection can be achieved through a rotating connector, allowing two components to rotate relative to each other. In the embodiments of this application, the type of rotating connector is not specifically limited. For example, a rotating connector can be, but is not limited to, a bearing, pin, or hinge.

[0088] In some embodiments, the protective component 10 may further include a first connector 13. The first connector 13 may be fixedly connected to the first protective component 11 and spaced apart from the second protective component 12 in the vertical direction. The first connector 13 may extend in a preset direction between the cutter head 1032 and the support 30, and may be movably connected to the support 30 in the preset direction, thereby realizing a movable connection between the protective component 10 and the support 30. The drive component 20 may be connected to the first connector 13, and the drive component 20 may drive the protective component 10 to move by driving the first connector 13 to move.

[0089] The support 30 may include a first support member 31 and a second support member 32. The first support member 31 and the second support member 32 may be fixedly connected, and the second support member 32 may be located on both sides of the first support member 31 in a second direction. The second support member 32 may be located on the side of the first support member 31 facing the machine body 101 in the vertical direction, and may be spaced apart from the first support member 31 in the vertical direction. The stator of the cutting motor 1031 may be fixedly installed on the first support member 31. The first connecting member 13 may be movably connected to the second support member 32 in a preset direction. A second clearance opening 131 may be opened on one side of the first connecting member 13 in the preset direction, and the second clearance opening 131 may penetrate the first connecting member 13 in the vertical direction. The second clearance opening 131 is correspondingly provided to the first support member 31, and the second clearance opening 131 may allow the first support member 31 to pass through when the first connecting member 13 moves in the preset direction.

[0090] For example, the first connector 13 can be plate-shaped and horizontally positioned. One side of the first connector 13 in a preset direction can be fixedly connected to the top of the first protective member 11. The first connector 13, the first protective member 11, and the second protective member 12 can be integrally formed. The first connector 13 can be formed by bending from the top of the first protective member 11, and the second protective member 12 can be formed by bending from the bottom of the first protective member 11.

[0091] For example, both the first support member 31 and the second support member 32 are plate-shaped and horizontally arranged. The second support member 32 can be integrally formed with the first support member 31. The second support base can be formed by bending the first support member 31 from both sides in the second direction.

[0092] It is understood that when the protective component 10 is in the first position, the first support member 31 is partially housed within the second clearance opening 131. When the drive component 20 drives the protective component 10 to move, the volume of the first support member 31 entering the second clearance opening 131 can gradually increase as the protective component 10 moves from the first position to the second position. The opening of the second clearance opening 131 allows the first support member 31 to avoid obstruction from the first connector 13, reducing the probability that the support 30 will hinder the movement of the protective component 10.

[0093] In some embodiments, the protective mechanism 104 may further include sliders 40 and slide rails 50. The number of sliders 40 may be at least two, and each slider 40 may be fixedly mounted on the top of the first connector 13, with at least one slider 40 provided on each side of the second clearance opening 131 in the second direction. The number of slide rails 50 may be at least two, and at least one slide rail 50 may be fixedly mounted on the bottom of each second support member 32. The slide rails 50 may extend along a preset direction. Each slider 40 may be slidably connected to its corresponding slide rail 50 along the preset direction, thereby enabling the protective assembly 10 to be relatively movably connected to the support 30 in the preset direction.

[0094] It is understood that the vertical lifting of the second support member 32 relative to the first support member 31 can increase the vertical distance between the second support member 32 and the first connector 13, thereby providing space for the slider 40 and the slide rail 50 to achieve a relatively movable connection between the protective assembly 10 and the support 30.

[0095] In some embodiments, the first connector 13 is detachably connected to the slider 40. After the self-moving device 100 stops operating, the user or operator can flip the self-moving device 100 over and remove the first connector 13 from the slider 40 to disassemble the protective component 10; then, the operator can maintain the protective component 10 and / or connect another protective component 10 to the slider 40 to replace the protective component 10.

[0096] It is understood that during the process of the self-moving device 100 traveling on the grass to perform lawn mowing operations, there may be raised terrain and / or protrusions such as stones in the grass. These raised terrain and / or protrusions may collide with the protective component 10 as the self-moving device 100 moves, thereby causing damage to the protective component 10. Users or staff can periodically check the damage condition of the protective component 10 and can disassemble the protective component 10 for maintenance or replacement.

[0097] In the embodiments of this application, the method of detachable connection is not specifically limited. For example, the method of detachable connection may include, but is not limited to, bolt connection, snap connection and magnetic connection.

[0098] In some embodiments, the drive assembly 20 may include a base 21, a lead screw 22, a moving part 23, a second connecting part 24, and a drive part 25.

[0099] The base 21 can be fixedly mounted on the support 30 and can be located on the side of the second support 32 facing the body 101. A groove 211 can be formed on the base 21. The lead screw 22 can extend along a preset direction and is rotatably connected to the base 21. At least a portion of the lead screw 22 is located within the groove 211. The movable member 23 is slidably connected to the groove 211 in a preset direction, and the lead screw 22 passes through the movable member 23 along the preset direction and is threadedly connected to the movable member 23. The movable member 23 is located vertically between its corresponding second support 32 and first connecting member 13, i.e., spaced apart from the first connecting member 13 in the vertical direction. One end of the second connecting member 24 can be connected to the movable member 23, and the other end can be connected to the first connecting member 13.

[0100] The drive component 25 can be fixedly mounted on the base 21 and / or the second support component 32 on which the base 21 is located. The output end of the drive component 25 can be fixedly connected to and coaxial with the lead screw 22. The drive component 25 can drive the lead screw 22 to rotate, thereby moving the moving component 23 and the second connecting component 24 in a preset direction, and making the protective assembly 10 move synchronously in the preset direction.

[0101] It is understood that the second connector 24 may include two horizontal plates spaced apart in the vertical direction, and a vertical plate connecting the two horizontal plates. The two horizontal plates may be connected to the movable member 23 and the second connector 24 respectively, so that the second connector 24 can achieve relative fixation between the movable member 23 and the protective assembly 10.

[0102] In the embodiments of this application, the type of driving element 25 is not specifically limited. For example, driving element 25 may be, but is not limited to, a motor.

[0103] In some embodiments, the second connector 24 is detachably connected to the first connector 13. After the self-moving device 100 stops operating, the user or worker can flip the self-moving device 100 over and detach the first connector 13 from the slider 40 and the second connector 24 to remove the protective component 10; then, the worker can maintain the protective component 10 and / or connect another protective component 10 to the slider 40 to replace the protective component 10.

[0104] For example, the second connector 24 and the first connector 13 can be detachably connected by screws, and the slider 40 and the first connector 13 can be detachably connected by screws.

[0105] The self-moving device 100 provided in the embodiments of this application allows the protective component 10 to extend from one side of the body 101 when the self-moving device 100 moves away from obstacles such as walls and performs lawn mowing operations. This protective component 10 shields the cutting mechanism 103 while it is operating, increasing the safe distance to prevent external objects from approaching the cutting mechanism 103. At this time, the portion of the protective component 10 extending from the body 101 can prevent a human body 200 (e.g., a person's hand or foot) from approaching the cutting mechanism 103, thereby reducing the probability of injury to the human body 200 from the cutting mechanism 103 during operation and increasing the safety of the self-moving device 100 during movement and operation.

[0106] When the self-moving device 100 moves near obstacles such as walls to mow the grass, the drive component 20 can drive the protective component 10 to retract, reducing the distance of the protective component 10 extending from the side of the body 101. This reduces the distance between the cutting mechanism 103 and the obstacle, allowing the cutting mechanism 103 to cut the grass vegetation in the vicinity of the obstacle. This reduces the cutting blind spots of the self-moving device 100 and improves the effect of the self-moving device 100's grass mowing operation.

[0107] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments described above should be considered exemplary and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this application.

Claims

1. A self-moving device, characterized in that, include: body; A cutting mechanism is connected to the machine body and is used to cut grass vegetation; the connection position between the cutting mechanism and the machine body remains unchanged. A protective mechanism includes a protective component and a driving component. The protective component is movably connected to the machine body and / or the cutting mechanism in a preset direction. The protective component is used to shield one side of the cutting mechanism in the preset direction. The driving component is connected to the protective component and is used to drive the protective component to move in the preset direction, thereby increasing or decreasing the distance by which the protective component extends out of the machine body. The preset direction is parallel to or forms an acute angle with the horizontal plane.

2. The self-moving device as described in claim 1, characterized in that, The protective components include: The first protective member is spaced apart from the cutting mechanism in the preset direction and blocks one side of the cutting mechanism in the preset direction; The second protective component is connected to the first protective component. The second protective component is located on the side of the cutting mechanism facing the ground in the vertical direction, and the vertical direction forms an angle with the preset direction.

3. The self-moving device as described in claim 2, characterized in that, When the protective component moves to the first position, the protective component extends out of one side of the machine body, and the projection of the second protective member in the vertical direction avoids the projection of the cutting mechanism in the vertical direction; when the protective component moves to the second position, the distance by which the protective component extends out of the machine body is less than the distance by which it extends out of the machine body when it is in the first position, and the second protective member blocks the cutting mechanism from the bottom.

4. The self-moving device as described in claim 2, characterized in that, The second protective member has a grass combing groove that extends through the second protective member in the vertical direction. The grass combing groove is used for grass vegetation to pass through, so that the cutting mechanism can cut the grass vegetation that passes through the grass combing groove.

5. The self-moving device as described in claim 3, characterized in that, The cutting mechanism has a cutting area and is used to cut grass vegetation that enters the cutting area; A first clearance opening is provided on one side of the second protective member. When the protective component moves to the first position, the boundary formed by the inner wall of the first clearance opening in the vertical projection of the second protective member is located outside the cutting area.

6. The self-moving device as described in claim 1, characterized in that, The protective mechanism also includes: A support is fixed to the machine body and / or the cutting mechanism, the protective component is movably connected to the support in the preset direction, and the drive component is mounted on the support.

7. The self-moving device as described in claim 6, characterized in that, The protective components include: The first protective member is spaced apart from the cutting mechanism in the preset direction and blocks one side of the cutting mechanism in the preset direction; A first connector is connected to the first protective member and extends along the preset direction to a portion of the structure of the cutting mechanism and the support. The first connector is movably connected to the support in the preset direction and is connected to the drive assembly. A second clearance opening is provided on the first connector, and the second clearance opening is used to at least partially accommodate the support.

8. The self-moving device as described in claim 6, characterized in that, The protective mechanism also includes: The slider is connected to the protective component; A slide rail is connected to the support, and the slider is slidably connected to the slide rail along the preset direction to realize the movable connection between the protective component and the support.

9. The self-moving device as described in claim 8, characterized in that, The protective component is detachably connected to the slider.

10. The self-moving device as described in claim 6, characterized in that, The driving component includes: A base is disposed on the support, and a sliding groove is provided on the base; A lead screw extends along the preset direction and is rotatably connected to the base; A movable component, wherein the lead screw passes through the movable component along the preset direction and is threadedly connected to the movable component, the movable component is slidably connected to the slide groove in the preset direction, and the movable component is connected to the protective component, so that the protective component and the movable component move synchronously; A driving component is connected to the lead screw and is used to drive the lead screw to rotate, so that the moving component moves in the preset direction.

11. The self-moving device as described in claim 10, characterized in that, The movable component and the protective assembly are spaced apart in the vertical direction, and the vertical direction forms an angle with the preset direction. The driving assembly further includes: A second connector is disposed on the movable member and is detachably connected to the protective assembly.

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