lawnmower

Abstract

A lawnmower robot includes a main body, and a walking mechanism, a drive mechanism, a first cutting mechanism, and a second cutting mechanism mounted on the main body. The first and second cutting mechanisms are arranged along a first direction. The drive mechanism includes a pressing member movably connected to the main body along the first direction. The second cutting mechanism is connected to the pressing member, which selectively drives the second cutting mechanism to a position close to or away from the first cutting mechanism, allowing the lawnmower robot to be selectively in either a first mowing mode or a second mowing mode. In the first mowing mode, the drive mechanism only drives the first cutting mechanism. In the second mowing mode, the drive mechanism drives both the first and second cutting mechanisms, with the second cutting mechanism having a larger cutting range than the first cutting mechanism. This lawnmower robot helps reduce the user's workload.

Description

Technical Field

[0001] This application relates to the field of lawn mowing equipment technology, specifically to a lawn mowing robot. Background Technology

[0002] A lawnmower is an automated lawn mowing device for garden maintenance. To ensure safety, its cutting disc is typically built into the body, maintaining a safe distance from the outer edge of the machine to avoid accidental contact with human feet. However, this safety design also means that the lawnmower cannot cut the lawn at the edges of walls, fences, or other obstacles, requiring users to manually cut the lawn, increasing the burden of use. Summary of the Invention

[0003] In view of the above, this application provides a lawn mowing robot that helps reduce the user's burden.

[0004] Embodiments of this application provide a lawnmower robot, including a main body, and a walking mechanism, a drive mechanism, a first cutting mechanism, and a second cutting mechanism mounted on the main body. The walking mechanism is configured to drive the main body to move. The first and second cutting mechanisms are arranged along a first direction, with the first cutting mechanism located at the bottom of the main body and the second cutting mechanism located at the bottom of the first cutting mechanism. The drive mechanism includes a pressing member movably connected to the main body along the first direction. The second cutting mechanism is connected to the pressing member, which can selectively drive the second cutting mechanism to a position close to or away from the first cutting mechanism, so that the lawnmower robot can be selectively in a first mowing mode or a second mowing mode. In the first mowing mode, the pressing member drives the second cutting mechanism to a position close to the first cutting mechanism, and the drive mechanism only drives the first cutting mechanism to operate. In the second mowing mode, the pressing member drives the second cutting mechanism to a position away from the first cutting mechanism, and the drive mechanism drives both the first and second cutting mechanisms to operate, with the cutting range of the second cutting mechanism being larger than that of the first cutting mechanism.

[0005] In the aforementioned lawnmower robot, through the main body, walking mechanism, drive mechanism, first cutting mechanism and second cutting mechanism, and in the first mowing mode, the pressing component moves the second cutting mechanism to a position close to the first cutting mechanism, and the drive mechanism only drives the first cutting mechanism to operate. In the second mowing mode, the pressing component moves the second cutting mechanism to a position far away from the first cutting mechanism, and the drive mechanism drives both the first and second cutting mechanisms to operate. The cutting range of the second cutting mechanism is larger than that of the first cutting mechanism, thereby expanding the cutting range of the lawnmower robot. This allows the lawnmower robot to effectively cut both open and edge areas of the lawn, thus reducing the workload of the user.

[0006] In some embodiments of this application, the cutting range of the first cutting mechanism is located inside the outer contour of the main body to reduce the risk of accidental contact between the first cutting mechanism and a person's foot. At least a portion of the cutting range of the second cutting mechanism is located outside the outer contour of the main body to facilitate cutting the lawn in the edge area.

[0007] In some embodiments of this application, the drive mechanism includes a motor, a coupling, a friction element, a linkage shaft, and a clutch. The motor has a hollow output shaft, the axis of which is a first direction. The coupling is fixed to the hollow output shaft, and the friction element and the first cutting mechanism are fixed to the coupling. The linkage shaft movably passes through the shaft hole of the hollow output shaft and the coupling along the first direction. The second cutting mechanism and the clutch are fixed to the end of the linkage shaft near the first cutting mechanism, and the pressing element is fixed to the end of the linkage shaft away from the first cutting mechanism. In the first mowing mode, the clutch and the friction element are spaced apart, which cuts off the power transmission path from the friction element to the clutch, so that the drive mechanism only drives the first cutting mechanism, which helps to save energy and reduce wear. In the second mowing mode, the clutch and the friction element are abutted together. Utilizing the friction between their surfaces, the rotational motion of the friction element is transmitted to the clutch, thereby driving the second cutting mechanism to rotate synchronously, realizing the cutting of the lawn in the edge area.

[0008] In some embodiments of this application, in the first mowing mode, the distance between the pressing element and the motor along the first direction is D1; ​​in the second mowing mode, the distance between the pressing element and the motor along the first direction is D2, where D1 > D2, so as to provide a clear travel distance for the pressing element.

[0009] In some embodiments of this application, the drive mechanism includes a bearing, and the pressing member is sleeved on the linkage shaft via the bearing. The inner ring of the bearing is fixed to the linkage shaft and can rotate with the linkage shaft to transmit torque. The outer ring of the bearing allows the pressing member to move axially, so that the linear movement of the pressing member and the rotational movement of the linkage shaft do not interfere with each other, thereby improving the reliability of the cooperation between the pressing member and the linkage shaft.

[0010] In some embodiments of this application, the linkage shaft includes a protrusion extending out of the bearing along a first direction. The protrusion is configured to abut against the main body or other components fixed to the main body to brake the linkage shaft. The protrusion enables rapid and reliable braking of the linkage shaft, reduces the risk of inertial rotation of the second cutting mechanism after power cutting, and improves the safety of the lawnmower robot.

[0011] In some embodiments of this application, the lawnmower robot includes a protective mechanism movably connected to the main body. In a first mowing mode, the protective mechanism shields the outside of the first cutting mechanism. In a second mowing mode, the protective mechanism moves to a position where the second cutting mechanism is exposed outside the protective mechanism. The protective mechanism reduces the risk of accidental insertion of human feet or other body parts into the cutting area of ​​the first cutting mechanism, thus providing safety protection.

[0012] In some embodiments of this application, in a first mowing mode, at least a portion of the protective mechanism is located outside the outer contour of the main body to maximize the protection range for the first cutting mechanism. In a second mowing mode, at least a portion of the protective mechanism is located inside the outer contour of the main body to allow space for effective cutting of the lawn in the edge areas.

[0013] In some embodiments of this application, the drive mechanism includes a mounting bracket, a slider, and a power component. The mounting bracket is fixed to the main body, and the slider is slidably connected to the mounting bracket in a direction inclined relative to a first direction. One end of the slider is driven by a protective mechanism to drive the protective mechanism to move, and the other end of the slider is driven by a pressing component to drive the pressing component to move. The drive end of the power component is connected to the slider and configured to drive the slider to slide relative to the mounting bracket. The inclined sliding slider can convert a linear input into an output in two directions, synchronously controlling the extension and retraction of the protective mechanism and the lifting and lowering of the pressing component, realizing the mechanical linkage between the protective mechanism and the pressing component, ensuring precise synchronization of actions, and contributing to a compact drive mechanism structure.

[0014] In some embodiments of this application, the driving mechanism includes a first pull rod, a second pull rod, and a lever. The first pull rod is fixed to the end of the slider pointing towards the pressing member. The end of the first pull rod away from the slider is limited and connected to the second pull rod along a first direction and can slide relative to the second pull rod in a direction perpendicular to the first direction, so as to cancel the horizontal component of the slider's tilting motion through relative sliding, and to transmit the vertical component of the slider's tilting motion to the second pull rod without loss through the limiting structure. The other end of the second pull rod is hinged to the lever, and the end of the lever away from the second pull rod is hinged to the pressing member. The middle part of the lever is also rotatably connected to the main body. The force acting on the second pull rod along the first direction can be transmitted to the pressing member under the action of the lever, thereby driving the pressing member to move along the first direction. The first pull rod, the second pull rod, and the lever are configured to drive the pressing member to move along the first direction when the slider slides relative to the mounting bracket, which is beneficial to improving the stability of the linkage between the slider and the pressing member.

[0015] In some embodiments of this application, the protective mechanism includes a first protective cover, a first connecting rod, and a second connecting rod. The first connecting rod is fixed to the end of the slider pointing towards the protective mechanism, and the end of the first connecting rod away from the slider is hinged to the first protective cover. The two ends of the second connecting rod are respectively hinged to the mounting bracket and the first protective cover. The first connecting rod and the second connecting rod form a double-link structure, with the first connecting rod transmitting power and the second connecting rod providing rigid constraint. The first connecting rod and the second connecting rod are configured to drive the first protective cover to move and rotate in a first direction when the slider slides relative to the mounting bracket, which helps to improve the stability of the linkage between the slider and the first protective cover.

[0016] In some embodiments of this application, the extension direction of the rotation axis of the first protective cover is parallel to the walking direction of the lawnmower robot, so that the rotation action of the first protective cover can effectively cover the most critical danger area on the side of the lawnmower robot. At the same time, this rotation method can ensure that when the lawnmower robot is cutting close to the edges of walls, fences, etc., the first protective cover can maximize the working space and reduce the risk of interference with walls and fences.

[0017] In some embodiments of this application, the first protective cover includes a support plate and a side plate. The support plate connects a first link and a second link, and the side plate extends along the outer edge of the support plate and is perpendicular to the support plate. The support plate provides shielding in the primary direction, while the side plate provides lateral blocking. Together, they compensate for the inadequacy of protection in a single direction, thereby improving the comprehensiveness and reliability of the protection.

[0018] In some embodiments of this application, the protective mechanism includes a second protective cover connected to a second link. In the first mowing mode, the second protective cover is located between the first cutting mechanism and the side plate. The second protective cover eliminates the blind spot between the first cutting mechanism and the side plate, thereby improving the comprehensiveness and reliability of the protection.

[0019] In some embodiments of this application, the first cutting mechanism includes a cutter disc and a plurality of blades, the cutter disc being drivenly connected to a drive mechanism, and the plurality of blades being arranged on the edge of the cutter disc.

[0020] In some embodiments of this application, the second cutting mechanism includes a rope reel, an elastic element, and a trimming rope. The rope reel is driven to a drive mechanism and has a connecting shaft. The connecting shaft and the trimming rope are fixed at both ends of the elastic element, and the elastic element is configured to elastically support the trimming rope towards the connecting shaft. Through the cooperation between the elastic element and the rope reel, the automatic storage and release of the trimming rope is achieved. In the first mowing mode, the trimming rope is stored inside the rope reel. In the second mowing mode, the trimming rope is exposed outside the rope reel.

[0021] In some embodiments of this application, the second cutting mechanism includes a counterweight fixed to the end of the straw rope furthest from the elastic element. On one hand, even if accidentally struck by a hard object such as a wall or fence, the straw rope can absorb the impact through deformation, making it less prone to damage and providing self-protection. On the other hand, if the straw rope accidentally comes into contact with a person, the impact caused by the straw rope is far less than that of a rigid cutting element, effectively reducing the risk of injury. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of a lawnmower robot in one embodiment of this application.

[0023] Figure 2 This is a schematic diagram of the structure of the lawnmower robot in the first lawnmower mode in one embodiment of this application.

[0024] Figure 3 yes Figure 2 A sectional view.

[0025] Figure 4 This is a schematic diagram of the lawnmower robot in a second lawnmower mode in one embodiment of this application.

[0026] Figure 5 yes Figure 4 A sectional view.

[0027] Figure 6 This is a schematic diagram of the lawnmower robot in a second lawnmower mode in one embodiment of this application.

[0028] Figure 7 This is a schematic diagram of the structure in one embodiment of the present application, showing the separation of the first support base of the lawnmower robot from the motor.

[0029] Figure 8 This is a schematic diagram of the structure of the lawnmower robot in the first lawnmower mode in one embodiment of this application.

[0030] Figure 9 This is a schematic diagram of the structure of the lawnmower robot in the first lawnmower mode in one embodiment of this application.

[0031] Figure 10 This is a schematic diagram of the lawnmower robot in a second lawnmower mode in one embodiment of this application.

[0032] Figure 11 This is a schematic diagram of the structure of the lawnmower robot in the first lawnmower mode in one embodiment of this application.

[0033] Figure 12 This is a schematic diagram of the lawnmower robot in a second lawnmower mode in one embodiment of this application.

[0034] Figure 13This is a schematic diagram of the structure of the lawnmower robot in the first lawnmower mode in one embodiment of this application.

[0035] Figure 14 This is a schematic diagram of the lawnmower robot in a second lawnmower mode in one embodiment of this application.

[0036] Figure 15 This is a schematic diagram of the structure of the second protective cover of the lawnmower robot in one embodiment of this application.

[0037] Explanation of main component symbols

[0038] 100 lawnmower robots

[0039] Main body 10

[0040] Chassis 11

[0041] Body 12

[0042] First support seat 13

[0043] Second support 14

[0044] Slide 141

[0045] Walking mechanism 20

[0046] Front wheel assembly 21

[0047] Rear wheel assembly 22

[0048] Drive mechanism 30

[0049] Pressing element 31

[0050] Socket 311

[0051] Cantilever section 312

[0052] Motor 32

[0053] Hollow output shaft 321

[0054] Coupling 33

[0055] Friction component 34

[0056] 35 linkage shaft

[0057] Protrusion 351

[0058] Clutch 36

[0059] Bearing 37

[0060] Mounting bracket 301

[0061] Extension 301A

[0062] First connecting section 301B

[0063] Second connecting section 301C

[0064] Slider 302

[0065] First pull rod 304

[0066] Card Block 304A

[0067] Second pull rod 305

[0068] Limiting groove 305A

[0069] Leverage 306

[0070] First cutting mechanism 40

[0071] Cutterhead 41

[0072] Blade 42

[0073] Second cutting mechanism 50

[0074] Rope Disc 51

[0075] Connecting shaft 511

[0076] Elastic element 52

[0077] 53 Straw ropes

[0078] Counterweight 54

[0079] Protective equipment 60

[0080] First protective shield 61

[0081] Support plate 611

[0082] 611A clearance slot

[0083] Side panel 612

[0084] First link 62

[0085] Second link 63

[0086] Second protective shield 64

[0087] First direction Z

[0088] The following detailed description, in conjunction with the accompanying drawings, will further illustrate this application. Detailed Implementation

[0089] The technical solutions of the embodiments of this application will be described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0090] In the description of this application, it should be understood that the terms indicating orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, it should be noted that "a plurality of" means two or more, unless otherwise explicitly specified.

[0091] In the description of this application, it should be noted that, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a connection that allows communication between the two components; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0092] The embodiments of this application will be further described below with reference to the accompanying drawings.

[0093] Please refer to the following: Figure 1 , Figure 2 and Figure 3 One embodiment of this application provides a lawn mowing robot 100 for cutting lawns. The lawn mowing robot 100 can automatically cut the lawn according to a pre-set program and a planned path, or it can be pushed by a user to cut the lawn. This embodiment of the application uses the lawn mowing robot 100 automatically cutting the lawn according to a pre-set program and a planned path as an example for illustration.

[0094] The lawnmower robot 100 includes a main body 10, a walking mechanism 20, a drive mechanism 30, a first cutting mechanism 40, and a second cutting mechanism 50.

[0095] The main body 10 forms the basic framework of the lawnmower robot 100, supporting the walking mechanism 20, drive mechanism 30, first cutting mechanism 40, and second cutting mechanism 50. Specifically, the main body 10 includes a chassis 11 and a body 12. The chassis 11, as the main load-bearing platform, has high structural strength and is used to directly mount the walking mechanism 20, drive mechanism 30, and first cutting mechanism 40. The body 12 is connected to the chassis 11, together forming a closed or semi-closed shell structure, which not only provides the external shape of the lawnmower robot 100 but also protects the internal drive mechanism 30 and other mechanisms from damage caused by rain, dust, or external impacts.

[0096] The walking mechanism 20 includes a front wheel assembly 21 and a rear wheel assembly 22 spaced apart. The front wheel assembly 21 includes drive front wheels disposed on both sides of the main body 10, and the rear wheel assembly 22 includes drive rear wheels disposed on both sides of the main body 10. The walking mechanism 20 is configured to drive the main body 10 to move.

[0097] It is understood that in some embodiments, the walking mechanism 20 may also be a track.

[0098] Please refer to the following: Figure 2 and Figure 3 The first cutting mechanism 40 and the second cutting mechanism 50 are arranged along a first direction Z, wherein the first direction Z is perpendicular to the chassis 11. The first cutting mechanism 40 is located at the bottom of the main body 10, and the second cutting mechanism 50 is located at the bottom of the first cutting mechanism 40.

[0099] The drive mechanism 30 includes a pressing member 31 movably connected to the main body 10 along the first direction Z, and a second cutting mechanism 50 connected to the pressing member 31. The pressing member 31 can selectively drive the second cutting mechanism 50 to a position close to the first cutting mechanism 40 or to a position far away from the first cutting mechanism 40, so that the lawn mowing robot 100 can be selectively in a first mowing mode or a second mowing mode.

[0100] It should be noted that the pressing component 31 can be directly or indirectly connected to the second cutting mechanism 50 through a linkage mechanism to drive its movement. The pressing component 31 can be directly operated by the user or driven by a power mechanism (such as a motor or electromagnet) or a linkage mechanism.

[0101] Please refer to the following: Figure 2 and Figure 3 In the first mowing mode, the pressing element 31 drives the second cutting mechanism 50 to a position close to the first cutting mechanism 40, and the driving mechanism 30 only drives the first cutting mechanism 40 to operate. The first cutting mechanism 40 is used to cut the lawn in open areas.

[0102] Please refer to the following: Figure 4 and Figure 5 In the second mowing mode, the pressing member 31 drives the second cutting mechanism 50 to a position away from the first cutting mechanism 40. The driving mechanism 30 drives the first cutting mechanism 40 and the second cutting mechanism 50 to run. The cutting range of the second cutting mechanism 50 is greater than that of the first cutting mechanism 40. The second cutting mechanism 50 is used to cut the lawn in the edge area that the first cutting mechanism 40 cannot cut.

[0103] It should be noted that the drive mechanism 30 is connected to the second cutting mechanism 50 via a disengageable transmission mechanism (such as a clutch or a disengageable gear set). The movement of the pressing member 31 controls the displacement of the second cutting mechanism 50 on the one hand, and on the other hand, it links the transmission mechanism to engage or disengage, thereby selectively transmitting power to the second cutting mechanism 50 and realizing the switching between the two mowing modes.

[0104] Please refer to the following: Figure 4 and Figure 5 In some embodiments, the cutting range of the first cutting mechanism 40 is located inside the outer contour of the main body 10 to reduce the risk of accidental contact between the first cutting mechanism 40 and a person's foot. At least a portion of the cutting range of the second cutting mechanism 50 is located outside the outer contour of the main body 10 to facilitate cutting the lawn in the edge area. Specifically, the walking mechanism 20 can cut the lawn in the edge area by moving the main body 10 close to the edge of a wall, fence, or other structure.

[0105] Please refer to the following: Figure 3 and Figure 5 In some embodiments, the drive mechanism 30 includes a motor 32, a coupling 33, a friction element 34, a linkage shaft 35, and a clutch 36. The motor 32 has a hollow output shaft 321, the axial direction of which is a first direction Z. The coupling 33 is fixed to the hollow output shaft 321, and the friction element 34 and the first cutting mechanism 40 are fixed to the coupling 33. The power of the hollow output shaft 321 is transmitted to the friction element 34 and the first cutting mechanism 40 through the coupling 33. The linkage shaft 35 is movably axially passed through the shaft hole of the hollow output shaft 321 and the coupling 33 along the first direction Z. The second cutting mechanism 50 and the clutch 36 are fixed to the end of the linkage shaft 35 near the first cutting mechanism 40, and a pressing element 31 is fixed to the end of the linkage shaft 35 away from the first cutting mechanism 40. The pressing element 31 drives the second cutting mechanism 50 to move relative to the first cutting mechanism 40 and the clutch 36 to move relative to the friction element 34 via the linkage shaft 35.

[0106] In the first mowing mode, the clutch 36 and the friction element 34 are spaced apart. This state cuts off the power transmission path from the friction element 34 to the clutch 36, so that the drive mechanism 30 drives only the first cutting mechanism 40 to run, which helps to save energy and reduce wear.

[0107] In the second mowing mode, the clutch 36 and the friction element 34 are abutted together. Using the friction between their surfaces, the rotational motion of the friction element 34 is transmitted to the clutch 36, thereby driving the linkage shaft 35 and the second cutting mechanism 50 to rotate synchronously, so as to cut the lawn in the edge area.

[0108] In some embodiments, the contact surfaces of the friction element 34 and the clutch element 36 are treated with a high coefficient of friction to improve the stability of power transmission.

[0109] Please refer to the following: Figure 3 and Figure 5 In some embodiments, in the first mowing mode, the distance between the pressing member 31 and the motor 32 along the first direction Z is D1; ​​in the second mowing mode, the distance between the pressing member 31 and the motor 32 along the first direction Z is D2, D1 > D2, so as to provide a clear movement stroke for the pressing member 31.

[0110] Please refer to the following: Figure 3 , Figure 6 and Figure 7 In some embodiments, the main body 10 includes a first support 13 and a second support 14 located inside the vehicle body 12. The first support 13 is disposed around the motor 32 to fix the motor 32. The second support 14 is provided with a groove 141, and the pressing member 31 is movably disposed in the groove 141 along the first direction Z. The sliding fit structure between the pressing member 31 and the groove 141 provides effective guidance for the pressing member 31, which helps to improve the stability of the movement of the pressing member 31.

[0111] In some embodiments, the groove wall of the chute 141 dampens the movement of the pressing member 31 to reduce the risk of the pressing member 31 moving unexpectedly in a non-operating state, so as to keep the position of the pressing member 31 stable in the first mowing mode and the second mowing mode, thereby improving the reliability of the mowing robot 100.

[0112] Optionally, damping is achieved by one or a combination of the following methods: a transition fit or a slight interference fit is adopted between the groove wall of the slide 141 and the pressing member 31; or a flexible wear-resistant material layer is provided on the groove wall of the slide 141 or the contact surface of the pressing member 31.

[0113] Please refer to the following: Figure 3 , Figure 5 and Figure 6In some embodiments, the drive mechanism 30 includes a bearing 37, and the pressing member 31 is sleeved on the linkage shaft 35 via the bearing 37. The inner ring of the bearing 37 is fixed to the linkage shaft 35 and can rotate with the linkage shaft 35 to transmit torque. The outer ring of the bearing 37 allows the pressing member 31 to move axially (in the first direction Z), so that the linear movement of the pressing member 31 does not interfere with the rotational movement of the linkage shaft 35, thereby improving the reliability of the fit between the pressing member 31 and the linkage shaft 35.

[0114] Please refer to the following: Figure 6 and Figure 8 In some embodiments, the pressing member 31 includes a sleeve portion 311 and a cantilever portion 312. The sleeve portion 311 is sleeved on the outer ring of the bearing 37 and disposed in the slide groove 141. The cantilever portion 312 protrudes outward from the side of the sleeve portion 311 away from the motor 32. The cantilever portion 312 is used for transmission connection with other components to reduce the risk of interference between other components and the bearing 37.

[0115] Please refer to the following: Figure 6 and Figure 8 In some embodiments, the linkage shaft 35 includes a protrusion 351 extending out of the bearing 37 along a first direction Z. The protrusion 351 is configured to abut against the main body 10 or other components fixed to the main body 10 to brake the linkage shaft 35. The protrusion 351 enables rapid and reliable braking of the linkage shaft 35, reduces the risk of inertial rotation of the second cutting mechanism 50 after power cutting, and improves the safety of the lawnmower robot 100.

[0116] Please refer to the following: Figure 9 and Figure 10 In some embodiments, the first cutting mechanism 40 includes a cutter head 41 and a plurality of blades 42. The cutter head 41 is drive-connected to the drive mechanism 30, and the plurality of blades 42 are arranged on the edge of the cutter head 41. Specifically, the cutter head 41 is fixed to the coupling 33, and the power is output by the motor 32 and transmitted to the cutter head 41 through the coupling 33, ultimately driving the plurality of blades 42 to rotate to cut the lawn.

[0117] Furthermore, multiple blades 42 are arranged at equal intervals on the edge of the cutter head 41 to improve the stability of the rotation of the first cutting mechanism 40.

[0118] In some embodiments, the blade 42 is made of metal.

[0119] Please refer to the following: Figure 9 and Figure 10In some embodiments, the second cutting mechanism 50 includes a rope reel 51, an elastic element 52, and a trimming rope 53. The rope reel 51 is drively connected to the drive mechanism 30 and has a connecting shaft 511. The two ends of the elastic element 52 are respectively fixed to the connecting shaft 511 and the trimming rope 53, and the elastic element 52 is configured to elastically support the trimming rope 53 toward the connecting shaft 511. Specifically, the rope reel 51 is fixed to the linkage shaft 35.

[0120] The automatic retraction and release of the mowing rope 53 is achieved through the cooperation of the elastic element 52 and the rope reel 51. In the first mowing mode, the rope reel 51 is not driven, and the elastic resistance of the elastic element 52 pulls the mowing rope 53 back towards the connecting shaft 511, where it is retracted into the inner side of the rope reel 51. In the second mowing mode, the rope reel 51 is driven, and the centrifugal force generated by the rotating mowing rope 53 overcomes the elastic force of the elastic element 52, exposing the mowing rope 53 to the outer side of the rope reel 51, thus cutting the edge area of ​​the lawn.

[0121] Because the mowing rope 53 is made of a flexible material, it enhances the safety of the lawnmower robot 100. Firstly, even if it accidentally hits a hard object such as a wall or fence, the rope 53 can absorb the impact through deformation, making it less prone to damage and providing protection. Secondly, if the rope 53 accidentally comes into contact with a human body, the impact is far less than that from a rigid cutting component, effectively reducing the risk of injury.

[0122] In some embodiments, the elastic element 52 is a coil spring, and the number of grass-cutting ropes 53 is two. The two grass-cutting ropes 53 are symmetrically connected to the two ends of the coil spring to improve the cutting efficiency and coverage width. In addition, it can also improve the dynamic balance of the second cutting mechanism 50 and reduce vibration and wear.

[0123] In some embodiments, the second cutting mechanism 50 includes a counterweight 54, which is fixed to the end of the straw rope 53 away from the elastic member 52, so as to increase the centrifugal force of the straw rope 53 so that the straw rope 53 can be thrown out stably. The counterweight 54 can also increase the mass of the end of the straw rope 53, so that the straw rope 53 has greater kinetic energy, which is beneficial to improving the cutting efficiency.

[0124] Please refer to the following: Figure 11 and Figure 12 In some embodiments, the lawnmower robot 100 includes a protective mechanism 60 movably connected to the main body 10. In a first mowing mode, the protective mechanism 60 shields the outside of the first cutting mechanism 40. In a second mowing mode, the protective mechanism 60 moves to a position where the second cutting mechanism 50 is exposed outside the protective mechanism 60. The protective mechanism 60 reduces the risk of accidental insertion of human feet or other body parts into the cutting area of ​​the first cutting mechanism 40, thus providing safety protection.

[0125] Please refer to the following: Figure 11 and Figure 12 In some embodiments, in a first mowing mode, at least a portion of the protective mechanism 60 is located outside the outer contour of the body 10 to maximize the protection range of the first cutting mechanism 40. In a second mowing mode, at least a portion of the protective mechanism 60 is located inside the outer contour of the body 10 to allow space for effective cutting of the lawn in the edge areas.

[0126] Please refer to the following: Figure 3 , Figure 5 and Figure 7 In some embodiments, the drive mechanism 30 includes a mounting bracket 301, a slider 302, and a power component (not shown). The mounting bracket 301 is fixed to the main body 10, and the slider 302 is slidably connected to the mounting bracket 301 in a direction inclined relative to the first direction Z. One end of the slider 302 is driven to the protective mechanism 60 to drive the protective mechanism 60 to move, and the other end of the slider 302 is driven to the pressing member 31 to drive the pressing member 31 to move. Specifically, the other end of the slider 302 is driven to the cantilever portion 312 of the pressing member 31. The drive end of the power component is connected to the slider 302 and is configured to drive the slider 302 to slide relative to the mounting bracket 301. The inclined sliding slider 302 can convert a linear input into an output in two directions, synchronously controlling the extension and retraction of the protective mechanism 60 and the lifting and lowering of the pressing member 31, realizing the mechanical linkage between the protective mechanism 60 and the pressing member 31, ensuring precise synchronization of the actions, and making the drive mechanism 30 more compact.

[0127] Optionally, the power component is an electric motor or a cylinder.

[0128] Please refer to the following: Figure 3 and Figure 5 In some embodiments, the mounting bracket 301 includes an extension 301A and a first connecting section 301B. The extension 301A extends outward from the first support base 13, and the first connecting section 301B bends upward and inward relative to the extension 301A. The first connecting section 301B is inclined relative to the first direction Z, and the slider 302 is slidably connected to the first connecting section 301B.

[0129] Please refer to the following: Figure 3 , Figure 5 and Figure 7In some embodiments, the drive mechanism 30 includes a first pull rod 304, a second pull rod 305, and a lever 306. The first pull rod 304 is fixed to the end of the slider 302 pointing towards the pressing member 31. The end of the first pull rod 304 away from the slider 302 is limited and connected to the second pull rod 305 along the first direction Z and can slide relative to the second pull rod 305 in a direction perpendicular to the first direction Z, so as to cancel the horizontal component of the slider 302 tilting motion through relative sliding, and to transmit the vertical component of the slider 302 tilting motion to the second pull rod 305 without loss through the limiting structure. The other end of the second pull rod 305 is hinged to the lever 306. The end of the lever 306 away from the second pull rod 305 is hinged to the pressing member 31. The middle part of the lever 306 is also rotatably connected to the main body 10. The force acting on the second pull rod 305 along the first direction Z can be transmitted to the pressing member 31 under the action of the lever 306, thereby driving the pressing member 31 to move along the first direction Z. The first pull rod 304, the second pull rod 305, and the lever 306 are configured to drive the pressing member 31 to move along the first direction Z when the slider 302 slides relative to the mounting bracket 301, which helps to improve the stability of the linkage between the slider 302 and the pressing member 31.

[0130] In some embodiments, the second pull rod 305 is provided with a limiting groove 305A extending in a direction perpendicular to the first direction Z, and the end of the first pull rod 304 away from the slider 302 is provided with a locking block 304A. The locking block 304A is slidably engaged in the limiting groove 305A so that the end of the first pull rod 304 has a sliding degree of freedom in a direction perpendicular to the first direction Z, while forming a limiting connection with the second pull rod 305 in the first direction Z.

[0131] Please refer to the following: Figure 3 , Figure 5 and Figure 7 In some embodiments, the protective mechanism 60 includes a first protective cover 61, a first connecting rod 62, and a second connecting rod 63. The first connecting rod 62 is fixed to one end of the slider 302 pointing towards the protective mechanism 60, and the end of the first connecting rod 62 away from the slider 302 is hinged to the first protective cover 61. The two ends of the second connecting rod 63 are respectively hinged to the mounting bracket 301 and the first protective cover 61. The first connecting rod 62 and the second connecting rod 63 form a double-link structure, with the first connecting rod 62 transmitting power and the second connecting rod 63 providing rigid constraint. The first connecting rod 62 and the second connecting rod 63 are configured to drive the first protective cover 61 to move and rotate along the first direction Z when the slider 302 slides relative to the mounting bracket 301, which helps to improve the stability of the linkage between the slider 302 and the first protective cover 61.

[0132] In some embodiments, the mounting bracket 301 includes a second connecting segment 301C, which is bent downward relative to the extension segment 301A, and the second link 63 is hinged to the second connecting segment 301C.

[0133] In some embodiments, the first link 62 is L-shaped and the second link 63 is L-shaped to optimize the structural layout and force transmission path.

[0134] Please refer to the following: Figure 13 and Figure 14 In some embodiments, in the first mowing mode, at least a portion of the first protective cover 61 is located at the bottom of the first cutting mechanism 40. While maximizing the protection range of the first cutting mechanism 40, grass clippings cut by the first cutting mechanism 40 inevitably adhere to the surface of the first protective cover 61, and the accumulation of grass clippings increases the load on the mowing robot 100. In the second mowing mode, at least a portion of the first protective cover 61 is located on the side of the first cutting mechanism 40, and the first protective cover 61 is flipped from a horizontal bottom position to a near-vertical position. This flipping posture change allows the grass clippings attached to the surface of the first protective cover 61 to fall off naturally due to gravity, effectively preventing the accumulation of grass clippings on the first protective cover 61, keeping the mowing robot 100 clean, and improving the working reliability of the mowing robot 100.

[0135] Please see Figure 8 In some embodiments, the first protective cover 61 includes a support plate 611 and a side plate 612. The support plate 611 connects a first link 62 and a second link 63. The side plate 612 extends along the outer edge of the support plate 611 and is perpendicular to the support plate 611. The support plate 611 provides shielding in the main direction, while the side plate 612 provides lateral blocking. Together, they compensate for the inadequacy of protection in a single direction, thereby improving the comprehensiveness and reliability of the protection.

[0136] Please refer to the following: Figure 3 and Figure 5 In some embodiments, in a first mowing mode, at least a portion of the side plate 612 is located at the bottom of the first cutting mechanism 40. In a second mowing mode, at least a portion of the side plate 612 is located on the side of the first cutting mechanism 40.

[0137] In some embodiments, in a first mowing mode, at least a portion of the side plate 612 is located outside the outer contour of the body 10 to maximize the protection range of the first cutting mechanism 40. In a second mowing mode, at least a portion of the side plate 612 is located inside the outer contour of the body 10 to allow space for effective cutting of the lawn in the edge areas.

[0138] Please refer to the following: Figure 6 and Figure 8In some embodiments, the support plate 611 is provided with a clearance groove 611A, which is used to avoid the first link 62 and the second link 63 when the first protective cover 61 is flipped. In the second mowing mode, the first link 62 and the second link 63 are respectively located in the corresponding clearance grooves 611A.

[0139] Please see Figure 15 In some embodiments, the protective mechanism 60 includes a second protective cover 64 connected to the second link 63. In the first mowing mode, the second protective cover 64 is located between the first cutting mechanism 40 and the side plate 612. The second protective cover 64 can eliminate the blind spot between the first cutting mechanism 40 and the side plate 612, thereby improving the comprehensiveness and reliability of the protection.

[0140] Please see Figure 2 In some embodiments, the rotation axis of the first protective cover 61 is set parallel to the walking direction of the lawnmower robot 100, so that the rotation of the first protective cover 61 can effectively cover the most critical danger area on the side of the lawnmower robot 100. At the same time, this rotation method can ensure that when the lawnmower robot 100 is cutting close to the edge of walls, fences, etc., the first protective cover 61 can maximize the working space and reduce the risk of interference with walls, fences, etc.

[0141] It is understood that in some embodiments, the lawn mowing robot 100 includes multiple sets of corresponding first cutting mechanisms 40 and second cutting mechanisms 50, which are disposed in different areas of the main body 10. Each set of first cutting mechanisms 40 and second cutting mechanisms 50 is equipped with a separate drive mechanism 30 and a protective mechanism 60 to improve the mowing efficiency and safety of the lawn mowing robot 100.

[0142] In the aforementioned lawnmower robot 100, when the lawnmower robot 100 is cutting grass in an open area, the pressing member 31 drives the second cutting mechanism 50 to a position close to the first cutting mechanism 40, the drive mechanism 30 only drives the first cutting mechanism 40, and the protective mechanism 60 shields the outside of the first cutting mechanism 40. The lawnmower robot 100 is in the first mowing mode. When the lawnmower robot 100 is cutting grass in an edge area, the pressing member 31 drives the second cutting mechanism 50 to a position away from the first cutting mechanism 40, the drive mechanism 30 drives both the first cutting mechanism 40 and the second cutting mechanism 50, and the cutting range of the second cutting mechanism 50 is larger than that of the first cutting mechanism 40. The protective mechanism 60 moves to a position where the second cutting mechanism 50 is exposed outside the protective mechanism 60, and the lawnmower robot 100 is in the second mowing mode.

[0143] In the aforementioned lawn mowing robot 100, through the main body 10, walking mechanism 20, drive mechanism 30, first cutting mechanism 40 and second cutting mechanism 50, and in the first mowing mode, the pressing member 31 drives the second cutting mechanism 50 to a position close to the first cutting mechanism 40, and the drive mechanism 30 only drives the first cutting mechanism 40 to run. In the second mowing mode, the pressing member 31 drives the second cutting mechanism 50 to a position far away from the first cutting mechanism 40, and the drive mechanism 30 drives the first cutting mechanism 40 and the second cutting mechanism 50 to run. The cutting range of the second cutting mechanism 50 is larger than that of the first cutting mechanism 40, thereby expanding the cutting range of the lawn mowing robot 100. This allows the lawn mowing robot 100 to effectively cut both open areas and edge areas of the lawn, thereby reducing the workload of the user.

[0144] 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 should be regarded as 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 embraced within this application.

[0145] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this application without departing from the spirit and scope of the technical solutions of this application.

Claims

1. A mowing robot, characterized in that, The lawn mower comprises a main body, a walking mechanism, a driving mechanism, a first cutting mechanism and a second cutting mechanism carried on the main body; The walking mechanism is configured to drive the main body to move, the first cutting mechanism and the second cutting mechanism are arranged along a first direction, the first cutting mechanism is located at the bottom of the main body, the second cutting mechanism is located at the bottom of the first cutting mechanism, the driving mechanism comprises a pressing member movably connected to the main body along the first direction, the second cutting mechanism is connected to the pressing member, the pressing member can selectively drive the second cutting mechanism to be located close to the first cutting mechanism or to be located away from the first cutting mechanism, so that the lawn mower can selectively be in a first mowing mode or a second mowing mode; In the first mowing mode, the pressing member drives the second cutting mechanism to be located close to the first cutting mechanism, and the driving mechanism only drives the first cutting mechanism to operate; In the second mowing mode, the pressing member drives the second cutting mechanism to be located away from the first cutting mechanism, and the driving mechanism drives the first cutting mechanism and the second cutting mechanism to operate, and the cutting range of the second cutting mechanism is greater than that of the first cutting mechanism. The cutting range of the first cutting mechanism is located inside the outer contour of the main body, and at least part of the cutting range of the second cutting mechanism is located outside the outer contour of the main body.

2. The mowing robot of claim 1, wherein, The driving mechanism comprises a motor, a shaft coupling, a friction member, a linkage shaft and a clutch member, the motor is provided with a hollow output shaft, the first direction is the axial direction of the hollow output shaft, the shaft coupling is fixed to the hollow output shaft, the friction member and the first cutting mechanism are fixed to the shaft coupling, the linkage shaft movably penetrates the shaft hole of the hollow output shaft and the shaft coupling along the first direction, the second cutting mechanism and the clutch member are fixed to one end of the linkage shaft close to the first cutting mechanism, and the pressing member is fixed to one end of the linkage shaft away from the first cutting mechanism; 3. The mowing robot of claim 1, wherein, In the first mowing mode, the clutch member is arranged in a spaced manner with the friction member; In the second mowing mode, the clutch member is arranged in an abutting manner with the friction member. In the first mowing mode, the distance between the pressing member and the motor along the first direction is D1; in the second mowing mode, the distance between the pressing member and the motor along the first direction is D2, and D1>D2.

4. The mowing robot of claim 3, wherein, The driving mechanism comprises a bearing, and the pressing member is sleeved on the linkage shaft through the bearing.

5. The mowing robot of claim 3, wherein, The linkage shaft comprises a protruding portion protruding out of the bearing along the first direction, and the protruding portion is configured to abut against the main body or other components fixed to the main body to stop the linkage shaft.

6. The mowing robot of claim 5, wherein, The lawn mower comprises a protection mechanism movably connected to the main body, 7. The mowing robot of claim 1, wherein, In the first mowing mode, the protection mechanism shields outside the first cutting mechanism; In the second mowing mode, the protection mechanism moves to a position where the second cutting mechanism is exposed outside the protection mechanism. ​ 8. The mowing robot of claim 7, wherein, In the first mowing mode, at least part of the protection mechanism is located outside the outer contour of the main body; In the second mowing mode, at least part of the protection mechanism is located inside the outer contour of the main body.

9. The mowing robot of claim 7, wherein, The driving mechanism comprises a mounting bracket, a sliding block and a power element, the mounting bracket is fixed to the main body, the sliding block is slidingly connected to the mounting bracket along a direction inclined to the first direction, one end of the sliding block is drivingly connected to the protection mechanism to drive the protection mechanism to move, the other end of the sliding block is drivingly connected to the pressing element to drive the pressing element to move, and the power element is drivingly connected to the sliding block and configured to drive the sliding block to slide relative to the mounting bracket.

10. The mowing robot of claim 9, wherein, The driving mechanism comprises a first pull rod, a second pull rod and a lever, one end of the first pull rod is fixed to the sliding block and points to the pressing element, the other end of the first pull rod is limitingly connected to the second pull rod along the first direction and can slide relative to the second pull rod along a direction perpendicular to the first direction, the other end of the second pull rod is hingedly connected to the lever, one end of the lever away from the second pull rod is hingedly connected to the pressing element, and the middle part of the lever is further rotationally connected to the main body, the first pull rod, the second pull rod and the lever are configured to drive the pressing element to move along the first direction when the sliding block slides relative to the mounting bracket.

11. The mowing robot of claim 9, wherein, The protection mechanism comprises a first protection cover, a first connecting rod and a second connecting rod, one end of the first connecting rod is fixed to the sliding block and points to the protection mechanism, the other end of the first connecting rod is hingedly connected to the first protection cover, and the two ends of the second connecting rod are respectively hingedly connected to the mounting bracket and the first protection cover, the first connecting rod and the second connecting rod are configured to drive the first protection cover to move along the first direction and overturn when the sliding block slides relative to the mounting bracket.

12. The mowing robot of claim 11, wherein, The extension direction of the overturning axis of the first protection cover is parallel to the walking direction of the mowing robot.

13. The mowing robot of claim 11, wherein, The first protection cover comprises a support plate and a side plate, the support plate connects the first connecting rod and the second connecting rod, and the side plate extends along the outer edge of the support plate and is perpendicular to the support plate.

14. The mowing robot of claim 13, wherein, The protection mechanism comprises a second protection cover, the second protection cover is connected to the second connecting rod, and in the first mowing mode, the second protection cover is located between the first cutting mechanism and the side plate.

15. The mowing robot of claim 1, wherein, The first cutting mechanism comprises a cutter and a plurality of blades, the cutter is drivingly connected to the driving mechanism, and the plurality of blades are arranged at the edge of the cutter.

16. The mowing robot of claim 1, wherein, The second cutting mechanism comprises a reel, an elastic element and a grass rope, the reel is drivingly connected to the driving mechanism, the reel is provided with a connecting shaft, the two ends of the elastic element are respectively fixed to the connecting shaft and the grass rope, and the elastic element is configured to elastically abut the grass rope towards the direction of the connecting shaft; In the first mowing mode, the grass rope is accommodated inside the reel; In the second mowing mode, the grass rope is exposed outside the reel.

17. The mowing robot of claim 16, wherein, The second cutting mechanism comprises a counterweight fixed to the far end of the grass rope away from the elastic member.

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