Edge trimming mechanism and mowing device

Abstract

The invention relates to the technical field of mowing, and discloses an edge trimming mechanism and a mowing device.The edge trimming mechanism is used for being connected with a vehicle body and can move from an unfolding position to a storage position, and the edge trimming mechanism comprises a swing arm assembly, a cutter head assembly, a driving part and a guiding part. The first end of the swing arm assembly is connected with the vehicle body, the swing arm assembly can swing around a first axis relative to the vehicle body and can swing around a second axis, an included angle is formed between the first axis and the second axis, the cutter head assembly is connected with the second end of the swing arm assembly, and the driving part is used for driving the swing arm assembly to swing around the first axis. The guiding piece is connected with the swing arm assembly in a matched mode, and when the driving piece drives the swing arm assembly to swing around the first axis, the guiding piece is used for making the swing arm assembly swing around the second axis. According to the invention, swinging around double shafts is realized only through mechanical cooperation, the structural complexity is simplified, motor faults are reduced, the cost is reduced, and the problem that a mowing robot in the prior art does not have enough accommodating space for accommodating an edge trimming mechanism is solved.

Description

Technical Field

[0001] This invention relates to the field of lawn mowing technology, specifically to edge trimming mechanisms and lawn mowing devices. Background Technology

[0002] To address the issue of "uncut strips" caused by safety gaps and obstacle avoidance offsets at hard boundaries such as walls, curbs, and flower beds, and to avoid increasing the overall size of the machine while ensuring safety, an outward-extending and retractable edge-cutting mechanism will be installed to cut the "uncut strip area," thereby significantly reducing the size of the uncut strip, reducing manual trimming, and ultimately improving work efficiency and user experience.

[0003] In one existing method of setting up an edge trimming mechanism, the edge trimming blade is mounted on a swing arm, which can rotate around the body of the lawnmower robot. When trimming, it rotates from the inside to the outside of the vehicle body, and when storing, it rotates from the outside to the inside of the vehicle body.

[0004] Due to the presence of the car body shell and the main cutter head, it is difficult to leave enough storage space for the edge-trimming cutter head. The size of the edge-trimming cutter head can only be limited or the size of the car body can be increased, which makes it impossible to balance the storage of the edge-trimming mechanism and the compact design of the car body. Summary of the Invention

[0005] This invention provides an edge trimming mechanism and a lawn mowing device to solve the problem that existing lawn mowing robots do not have enough storage space to house the edge trimming mechanism.

[0006] In a first aspect, the present invention provides an edge-trimming mechanism for connecting to a vehicle body and capable of moving from an unfolded position to a stowed position. The edge-trimming mechanism includes a swing arm assembly, a cutter head assembly, a drive member, and a guide member. A first end of the swing arm assembly is connected to the vehicle body, and the swing arm assembly is capable of swinging relative to the vehicle body about a first axis and about a second axis, wherein the first axis and the second axis form an angle. The cutter head assembly is connected to a second end of the swing arm assembly. The drive member is used to drive the swing arm assembly to swing about the first axis. The guide member is connected to the swing arm assembly in cooperation. When the drive member drives the swing arm assembly to swing about the first axis, the guide member is used to cause the swing arm assembly to swing about the second axis.

[0007] The edge-trimming mechanism includes a swing arm assembly, a cutter head assembly, a drive component, and a guide component. The first end of the swing arm assembly is connected to the vehicle body. The swing arm assembly can swing relative to the vehicle body around a first axis and also around a second axis. The first axis can extend vertically or be inclined relative to the vertical direction, while the second axis is horizontal. The first and second axes form an angle. The linkage of the swing around the two axes is jointly achieved by the drive component and the guide component. The movement trajectory of the swing arm assembly is precisely limited within a preset range. While the drive component drives the swing arm assembly to swing around the first axis, the guide component simultaneously drives the swing arm assembly to swing around the second axis, causing the cutter head assembly to rise upwards. The movement path avoids the side area of ​​the vehicle body, preventing interference and solving the interference problem during storage. The drive component only provides power for the swing around the first axis, while the guide component provides auxiliary power for the swing around the second axis through traction. The linkage design of the guide component replaces an additional drive mechanism, such as a second motor, achieving swing around the two axes only through mechanical coordination. This simplifies structural complexity, reduces motor failures, lowers costs, and solves the problem of high costs caused by multiple drive units in existing edge-trimming mechanisms.

[0008] In one embodiment, during the process of the edge-trimming mechanism moving from the unfolded position to the retracted position, the swing arm assembly moves closer to the vehicle body around the first axis and moves toward the top of the vehicle body around the second axis.

[0009] In one embodiment, the driving element is a motor, and the number of motors is one.

[0010] In one embodiment, the guide includes a traction rope having a movable end and a fixed end, the fixed end being connected to the swing arm assembly. When the drive member drives the swing arm assembly to swing about a first axis, the movable end is extended or retracted, causing the swing arm assembly to swing about a second axis.

[0011] In one embodiment, the guide includes a guide slide connected to the vehicle body. The guide slide has an inclined guide surface. When the drive unit drives the swing arm assembly to swing around the first axis toward the vehicle body, the swing arm assembly swings toward the top of the vehicle body under the action of the guide surface.

[0012] In one embodiment, the swing arm assembly includes a rotating seat assembly and a connecting rod assembly. The rotating seat assembly is mounted on a mounting base on the vehicle body. The output shaft of the drive member is connected to the rotating seat assembly. One end of the connecting rod assembly is connected to the rotating seat assembly, and the other end of the connecting rod assembly is connected to the cutter head assembly. The drive member is used to drive the rotating seat assembly to swing the connecting rod assembly around a first axis, and the guide member is used to make the connecting rod assembly swing around a second axis. In one embodiment, the rotary seat assembly includes a first rotary seat and a second rotary seat, which are disposed on a mounting base. A drive member is disposed inside the first rotary seat, and the second rotary seat is located on the first rotary seat. An output shaft is connected to the second rotary seat to drive the second rotary seat to rotate relative to the first rotary seat, thereby causing the linkage assembly to drive the cutter head assembly to swing around the first axis.

[0013] In one embodiment, the axis of rotation of the second rotating seat relative to the first rotating seat is set at an angle to the vertical direction.

[0014] In one embodiment, the first rotating seat is connected to the mounting seat via a pivot. The first rotating seat is rotatably arranged around the pivot, and a first elastic element is arranged circumferentially along the pivot. The first elastic element is used to apply an elastic force that causes the linkage assembly to swing toward the front of the vehicle body.

[0015] In one embodiment, the first rotating seat has an inner cavity structure, and the surface of the first rotating seat is provided with a plurality of spaced first threaded holes. The first threaded holes are connected to the inner cavity structure. The driving member is located inside the inner cavity structure. The housing surface of the driving member is provided with a plurality of second threaded holes. The plurality of second threaded holes are provided in a one-to-one correspondence with the plurality of first threaded holes. A first connecting member passes through the first threaded holes and the second threaded holes.

[0016] In one embodiment, the surface of the first rotating seat is provided with a first through hole, the output shaft of the drive unit passes through the first through hole and abuts against the second rotating seat, the output shaft is provided with a plurality of spaced third threaded holes, the second rotating seat is provided with a plurality of spaced fourth threaded holes, the plurality of third threaded holes and the plurality of fourth threaded holes are provided in a one-to-one correspondence, and a second connector is inserted into the third threaded holes and the fourth threaded holes.

[0017] In one embodiment, the edge-trimming mechanism further includes a winding section, the movable end of the traction rope is connected to the winding section, the fixed end of the traction rope is connected to the linkage assembly, and the driving member can drive the swing arm assembly to rotate relative to the winding section around a preset rotation axis.

[0018] In one embodiment, the winding portion has a traction end, which is eccentrically positioned relative to a preset rotation axis, and the movable end of the traction rope is connected to the traction end.

[0019] In one embodiment, during the relative rotation of the drive member and the swing arm assembly, the traction rope does not come into contact with the winding portion at the rear end of the traction end.

[0020] In one embodiment, the winding portion has a plane, and during the relative rotation of the drive member and the swing arm assembly, the traction rope contacts the plane at the rear section of the traction end.

[0021] In one embodiment, the winding portion has an arc surface, and during the relative rotation of the drive member and the swing arm assembly, the traction rope contacts the arc surface at the rear section of the traction end.

[0022] In one embodiment, the linkage assembly includes a first linkage and a second linkage arranged parallel to and above the first linkage. One end of the first linkage is connected to the second rotating seat via a first rotating shaft, and the other end of the first linkage is connected to the cutter head assembly via a second rotating shaft. One end of the second linkage is connected to the second rotating seat via a third rotating shaft, and the other end of the second linkage is connected to the cutter head assembly via a fourth rotating shaft.

[0023] Secondly, the present invention also provides a lawn mowing device, including a vehicle body and the aforementioned edge trimming mechanism.

[0024] In one embodiment, a receiving groove is provided on the upper side of the vehicle body, and when the edge-trimming mechanism is in the storage position, the cutter head assembly is located in the receiving groove. Attached Figure Description

[0025] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the structure of a lawn mowing device located at the edge of the mowing position according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of a lawn mowing device located between the trimming position and the storage position according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of a lawn mowing device located in the storage position according to an embodiment of the present invention; Figure 4 This is an exploded structural diagram of the first embodiment of the edge-trimming mechanism of the present invention; Figure 5 This is an exploded structural diagram of a second embodiment of the edge-trimming mechanism of the present invention; Figure 6 This is a cross-sectional schematic diagram of the first embodiment of the edge-trimming mechanism of the present invention; Figure 7 This is a cross-sectional schematic diagram of a second embodiment of the edge-trimming mechanism of the present invention; Figure 8 This is a partial structural schematic diagram of the connecting rod assembly of the edge-forming mechanism according to an embodiment of the present invention; Figure 9This is a schematic diagram of the structure of the first embodiment of the edge-trimming mechanism of the present invention; Figure 10 This is a schematic diagram of the structure of the second embodiment of the edge-trimming mechanism of the present invention; Figure 11 This is a schematic diagram of the third embodiment of the edge-trimming mechanism of the present invention; Figure 12 This is a schematic diagram of the fourth embodiment of the edge-trimming mechanism of the present invention; Figure 13 This is a schematic diagram of the winding section of the edge-trimming mechanism according to an embodiment of the present invention; Figure 14 This is a schematic diagram of the fifth embodiment of the edge-trimming mechanism of the present invention; Figure 15 This is a schematic diagram of the guide slide of the edge-forming mechanism according to an embodiment of the present invention.

[0027] Explanation of reference numerals in the attached figures: 100. Edge trimming mechanism; 10. Swing arm assembly; 11. Rotary seat assembly; 111. First rotary seat; 1111. Internal cavity structure; 1112. First through hole; 1113. First threaded hole; 112. Second rotary seat; 1121. Fourth threaded hole; 12. Connecting rod assembly; 121. First connecting rod; 1211. Protrusion; 12111. First limiting groove; 12112. Second limiting groove; 122. Second connecting rod; 1221. Channel; 123. First rotating shaft; 124. Second rotating shaft; 125. Third rotating shaft; 126. Fourth rotating shaft; 127. Fine-tuning knob; 128. Second elastic element; 20. Cutter head assembly; 21. Motor cover; 22. Edge trimming motor; 23. Edge trimming cutter; 231. Rotary seat; 232. Blade; 24. Floating ball; 25. First protective cover; 26. Second protective cover; 261. Grass inlet; 262. Grass outlet; 30. Drive component; 31. Housing; 311. Second threaded hole; 32. Output shaft; 321. Third threaded hole; 40. Guide component; 41. Traction rope; 42. Guide slide; 50. Winding section; 51. Traction end; 60. Chassis; 200, vehicle body; 201, mounting base; 202, first elastic element; 203, receiving groove. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] The following is combined Figures 1 to 15 The following describes embodiments of the present invention.

[0030] According to an embodiment of the present invention, in one aspect, an edge-trimming mechanism 100 is provided, such as... Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 As shown, the edge-trimming mechanism 100 is used to connect to the vehicle body 200 and can move from the unfolded position to the stored position. The edge-trimming mechanism 100 includes a swing arm assembly 10, a cutter head assembly 20, a drive member 30, and a guide member 40. The first end of the swing arm assembly 10 is connected to the vehicle body 200. The swing arm assembly 10 can swing relative to the vehicle body 200 about a first axis and can swing about a second axis, wherein the first axis and the second axis form an angle. The cutter head assembly 20 is connected to the second end of the swing arm assembly 10. The drive member 30 is used to drive the swing arm assembly 10 to swing about the first axis. The guide member 40 is connected to the swing arm assembly 10. When the drive member 30 drives the swing arm assembly 10 to swing about the first axis, the guide member 40 is used to make the swing arm assembly 10 swing about the second axis.

[0031] The edge-trimming mechanism 100 includes a swing arm assembly 10, a cutter head assembly 20, a drive component 30, and a guide component 40. The first end of the swing arm assembly 10 is connected to the vehicle body 200. The swing arm assembly 10 can swing relative to the vehicle body 200 around a first axis and also around a second axis. The first axis can extend vertically or be inclined relative to the vertical direction, while the second axis is horizontal. The first and second axes form an angle. The linkage of the swing around the two axes is jointly performed by the drive component 30 and the guide component 40, and the movement trajectory of the swing arm assembly 10 is precisely limited within a preset range. While the drive component 30 drives the swing arm assembly 10 to swing around the first axis, the guide component 40 simultaneously drives the swing arm assembly 10 to swing around the second axis, causing the cutter head assembly 20 to rise upwards. The movement path avoids the side area of ​​the vehicle body, preventing interference with the vehicle body and solving the interference problem during storage. The drive component 30 provides only the power to swing around the first axis, while the guide component 40 provides auxiliary power to swing around the second axis through traction. The linkage design of the guide component 40 replaces the additional drive mechanism, such as a second motor, and achieves swinging around the two axes only through mechanical cooperation, which simplifies the structural complexity, reduces motor failures, reduces costs, and solves the problem of high cost caused by multiple drive units in the existing edge-forming mechanism.

[0032] In one embodiment, during the process of the edge-trimming mechanism 100 moving from the unfolded position to the retracted position, the swing arm assembly 10 moves close to the vehicle body 200 around the first axis and moves upward toward the vehicle body 200 around the second axis.

[0033] Specifically, the unfolded position indicates the position of the edge-trimming mechanism 100 when it is in operation, located at a low side of the vehicle body 200. The retracted position indicates the position of the edge-trimming mechanism 100 when it is not in operation, located at a high side of the vehicle body 200. During the process of the edge-trimming mechanism 100 moving from the unfolded position to the retracted position, the drive member 30 drives the swing arm assembly 10 to move towards the vehicle body 200. At the same time, the guide member 40 causes the swing arm assembly 10 to rise upward, forming an inclined trajectory from front to back and from low to high.

[0034] In one embodiment, the drive element 30 is a motor, and the number of motors is one.

[0035] In this embodiment, the drive component 30 is used to drive the swing arm assembly 10 to rotate toward the vehicle body, and in conjunction with the guide component 40, the swing arm assembly 10 is lifted upward. This eliminates the need for two motors to drive the swing arm assembly 10 to swing around the first axis and the second axis respectively to move from the unfolded position to the storage position, thus simplifying the structure.

[0036] In one embodiment, such as Figure 6 , Figure 7As shown, the guide 40 includes a traction rope 41, which has a movable end and a fixed end. The fixed end is connected to the swing arm assembly 10. When the drive member 30 drives the swing arm assembly 10 to swing around the first axis, the movable end is retracted, causing the swing arm assembly 10 to swing around the second axis.

[0037] When the drive unit 30 drives the swing arm assembly 10 to swing around the first axis by pulling the traction rope 41, the swing arm assembly 10 also swings around the second axis under the action of the traction rope 41. The traction rope 41 has a simple structure and saves costs.

[0038] In one embodiment, such as Figure 14 , Figure 15 As shown, the guide 40 includes a guide slide 42, which is connected to the vehicle body 200. The guide slide 42 is provided with a guide surface whose height changes continuously in the vertical direction. When the drive member 30 drives the swing arm assembly 10 to swing around the first axis close to the vehicle body 200, the swing arm assembly 10 abuts against the guide surface, and the swing arm assembly 10 swings upward toward the vehicle body 200 under the action of the guide surface.

[0039] The guide surface of the guide slide 42 provides a fixed mechanical guide for the swing arm. Specifically, it can be an inclined straight surface or an arc surface. When the swing arm assembly 10 swings around the first axis, its contact point with the guide surface will slide along the guide surface, causing the swing arm assembly 10 to swing around the second axis toward the vehicle body 200. The trajectory is completely determined by the shape of the guide surface, and there is no risk of deviation. In this embodiment, the height of the guide surface of the guide slide 42 near the unfolded position is lower than the height of the guide surface near the storage position, so as to realize the lifting of the swing arm assembly 10 from the unfolded position to the storage position.

[0040] In one embodiment, the swing arm assembly 10 includes a rotating seat assembly 11 and a connecting rod assembly 12. The rotating seat assembly 11 is disposed on the mounting base 201 of the vehicle body 200. The output shaft 32 of the drive member 30 is connected to the rotating seat assembly 11. One end of the connecting rod assembly 12 is connected to the rotating seat assembly 11, and the other end of the connecting rod assembly 12 is connected to the cutter head assembly 20. The drive member 30 is used to drive the rotating seat assembly 11 to swing the connecting rod assembly 12 around a first axis, and the guide member 40 is used to make the connecting rod assembly 12 swing around a second axis. The rotating seat assembly 11 is used to receive the power of the driving component and realize rotation. The connecting rod assembly 12 is used to transmit power to the cutter head assembly 20. The elongated structure of the connecting rod assembly 12 provides a structural basis for the tilting movement trajectory of the edge-forming mechanism 100. Furthermore, the modular structure facilitates disassembly and maintenance, and any damaged component can be replaced individually.

[0041] In one embodiment, the rotary seat assembly 11 includes a first rotary seat 111 and a second rotary seat 112, which are disposed on the mounting base 201. The driving member 30 is disposed inside the first rotary seat 111, the second rotary seat 112 is located on the first rotary seat 111, and the output shaft 32 is connected to the second rotary seat 112 to drive the second rotary seat 112 to rotate relative to the first rotary seat 111, so that the connecting rod assembly 12 drives the cutter head assembly 20 to swing around the first axis.

[0042] The first rotating seat 111 is mounted on the mounting base 201, and the second rotating seat 112 rotates relative to the first rotating seat 111. The swing amplitude of the connecting rod assembly 12 can be precisely adjusted by the rotation angle of the second rotating seat 112, thereby precisely adjusting the path of the tilt trajectory. The drive component 30 is set inside the first rotating seat 111, realizing the embedded installation of the power component, avoiding the drive component from being exposed and occupying extra space, while protecting the drive component 30 from weeds and dust, and extending its service life. The output shaft 32 is directly connected to the second rotating seat 112, which shortens the power transmission path, reduces energy loss, and improves transmission efficiency.

[0043] In one embodiment, the axis of rotation of the second rotating seat 112 driven by the driving member 30 relative to the first rotating seat 111 is set at an angle to the vertical direction.

[0044] In this embodiment, as Figure 5 As shown, the first rotating base 111 includes a horizontal section 1114 that is rotatably connected to the mounting base 201, and an inclined section 1115 that is rotatably connected to the second rotating base 112. The driving member 30 is disposed within the inclined section 1115. The horizontal section 1114 enables the horizontal rotation of the swing arm, and the inclined section 1115 enables the inclined swing of the connecting rod assembly 12. The structural design of the inclined section 1115 provides installation space for the driving member 30. The axial direction of the output shaft 32 of the driving member 30 is naturally set at an angle to the vertical direction, so that the swing arm assembly 10 moves along the inclined trajectory.

[0045] In one embodiment, the first rotating seat 111 is connected to the mounting seat 201 via a rotating shaft. The first rotating seat 111 is rotatably arranged around the rotating shaft, and a first elastic element 202 is arranged circumferentially along the rotating shaft. The first elastic element 202 is used to apply an elastic force that causes the connecting rod assembly 12 to swing toward the front of the vehicle body 200.

[0046] The first elastic element 202 can absorb the impact load when the swing arm assembly 10 swings. If the cutter head assembly 20 hits a hard object, it can prevent damage to the rotating seat and drive component 30 caused by rigid collision, thus playing a buffering and shock-absorbing role and extending the service life of the mechanism.

[0047] In this embodiment, the first elastic element 202 is a torsion spring. In other embodiments, the type of the first elastic element 202 is not limited to, and it can also be a torsion bar spring, etc.

[0048] In one embodiment, the first rotating seat 111 has an inner cavity structure 1111. The surface of the first rotating seat 111 is provided with a plurality of spaced first threaded holes 1113. The first threaded holes 1113 are connected to the inner cavity structure 1111. The driving member 30 is located inside the inner cavity structure 1111. The surface of the housing 31 of the driving member 30 is provided with a plurality of second threaded holes 311. The plurality of second threaded holes 311 are provided in a one-to-one correspondence with the plurality of first threaded holes 1113. A first connecting member passes through the first threaded holes 1113 and the second threaded holes 311.

[0049] In this embodiment, the first connecting member is a bolt, but it can also be other components with connecting functions. In this embodiment, the driving member 30 and the first rotating seat 111 are fixedly connected through the first threaded hole 1113 on the inclined section 1115, the second threaded hole 311 on the surface of the housing 31 of the driving member 30, and connecting members such as bolts. This arrangement avoids the driving member 30 from loosening or displacement due to vibration when the connecting rod assembly 12 swings, ensuring the stability of power output. At the same time, the threaded connection method allows the driving member 30 to be disassembled and assembled without special tools, which is convenient for later maintenance; at the same time, the inner cavity structure 1111 provides a positioning reference for the driving member 30, and the threaded holes can be quickly aligned during installation, improving assembly efficiency.

[0050] In other embodiments, the connection method between the drive member 30 and the first rotating seat 111 is not limited to this, and can also be adhesive, snap-fit, welding, etc.

[0051] In one embodiment, the surface of the first rotating seat 111 is provided with a first through hole 1112, the output shaft 32 of the drive member 30 passes through the first through hole 1112 and abuts against the second rotating seat 112, the output shaft 32 is provided with a plurality of spaced third threaded holes 321, the second rotating seat 112 is provided with a plurality of spaced fourth threaded holes 1121, the plurality of third threaded holes 321 and the plurality of fourth threaded holes 1121 are provided in a one-to-one correspondence, and a second connector passes through the third threaded holes 321 and the fourth threaded holes 1121.

[0052] After passing through the first through hole 1112, the output shaft 32 directly abuts against the second rotating seat 112. Combined with the multi-point threaded fixing of the second connecting piece, a rigid connection is achieved between the output shaft 32 and the second rotating seat 112, preventing slippage or gaps during power transmission. This ensures that the rotation angle of the second rotating seat 112 is completely synchronized with the output shaft 32 of the drive component 30, improving trajectory control accuracy. The first through hole 1112 guides and positions the output shaft 32, ensuring that the rotation axes of the output shaft 32 and the second rotating seat 112 coincide, preventing vibration or wear caused by eccentric rotation, and extending the service life of the output shaft and bearings.

[0053] In other embodiments, the connection method between the output shaft 32 of the drive member 30 and the second rotating seat 112 is not limited to this, and can also be adhesive, snap-fit, etc.

[0054] In one embodiment, the edge-trimming mechanism further includes a winding section 50, the movable end of the traction rope 41 is connected to the winding section 50, the fixed end of the traction rope 41 is connected to the swing arm assembly 10, and the driving member 30 can drive the swing arm assembly 10 to rotate relative to the winding section 50 around a preset rotation axis.

[0055] In this embodiment, the winding section 50 remains stationary relative to the vehicle body 200. The driving member 30 drives the swing arm assembly 10 to rotate relative to the winding section 50 about a preset rotation axis. One end of the traction rope 41 is a movable end, which is disposed on the winding section 50 and can be wound on the winding section 50. The other end of the traction rope 41 is a fixed end, which is connected to the swing arm assembly 10. When the swing arm assembly 10 moves toward one side of the vehicle body 200, the traction rope 41 is tensioned, causing the swing arm assembly 10 to drive the cutter head assembly 20 to rise upward, and the movable end of the traction rope 41 is wound along the outer periphery of the winding section 50.

[0056] In other embodiments, the swing arm assembly 10 can remain stationary while the drive member 30 drives the winding portion 50 to rotate, thus achieving relative rotation between the winding portion 50 and the swing arm assembly 10.

[0057] In one embodiment, such as Figure 9 As shown, the bottom of the housing 31 of the drive component 30 is provided with a winding part 50. One end of the traction rope 41 is connected to the winding part 50, and the other end of the traction rope 41 can be connected to the cutter head assembly 20 or the connecting rod assembly 12, specifically to the second rotating shaft 124. When the traction rope 41 pulls, causing the swing arm assembly 10 to drive the cutter head assembly 20 to rise, the traction rope 41 is in a taut state.

[0058] In another embodiment, such as Figure 10 As shown, the winding portion 50 can also be disposed on the surface of the first rotating seat 111.

[0059] In other embodiments, the position of the winding portion 50 is not limited to this. The winding portion 50 may also be provided on the vehicle body 200, serving only to fix one end of the traction rope 41.

[0060] In one embodiment, the winding portion 50 has a traction end 51, which is eccentrically positioned relative to a preset rotation axis, and the movable end of the traction rope 41 is connected to the traction end 51.

[0061] A traction end 51 is provided on the winding part 50. The traction end 51 can be any point on the winding part 50, serving to fix one end of the traction rope 41. The traction end 51 is eccentrically positioned relative to the preset rotation axis. When the driving member 30 drives the swing arm assembly 10 to rotate around the preset axis, the distance between the connection point of the traction rope 41 on the swing arm assembly 10 and the eccentric traction end 51 will dynamically change with the rotation angle. When the swing arm assembly 10 rotates through the same angle, the length change of the traction rope 41 is uneven, thereby passively realizing the non-uniform speed winding and unwinding of the traction rope 41.

[0062] In one embodiment, during the relative rotation of the drive member 30 and the swing arm assembly 10, the traction rope 41 passes through the rear section of the traction end 51 without contacting the winding section 50.

[0063] It should be noted that the portion of the traction rope 41 that passes through the traction end 51 refers to the traction rope 41 between the traction end 51 and the swing arm assembly 10.

[0064] In this embodiment, the winding part 50 does not need to be designed to fit the arc or plane of the traction rope 41. It can adopt a very simple structure, such as an eccentric nail or a cylindrical pin, which is easy to process and has a lower cost.

[0065] In this embodiment, the core function of the winding part 50 (eccentric nail) is to fix one end of the traction rope 41. The traction rope 41 is only connected at the end of the nail, and there is no need to wind and rewind the traction rope 41. The main body of the nail is a rigid rod / column structure, without grooves, arc surfaces or drums for winding. The traction rope 41 only needs to be fixed at the end.

[0066] With the traction rope 41 fixed by the eccentrically set nail and the swing arm assembly 10, it is always in a taut state. Because the winding part 50 (eccentric nail) is set off from the preset rotation axis, the length change of the traction rope 41 is uneven for each unit angle of rotation of the swing arm assembly 10, which makes the lifting speed of the swing arm assembly 10 also uneven.

[0067] Furthermore, by adjusting the offset distance of the eccentric nail, i.e., the eccentricity, the amplitude of non-uniform speed can be flexibly changed. Specifically, the larger the eccentricity, the more significant the unevenness of the change in the length of the traction rope, and the stronger the non-uniform speed characteristics; the smaller the eccentricity, the smoother the non-uniform speed characteristics. No changes to the core structure are required; simply adjusting the position of the nails can meet different needs, making it highly versatile.

[0068] In one embodiment, the winding portion 50 has a plane, and during the relative rotation of the drive member 30 and the swing arm assembly 10, the traction rope 41 contacts the plane at the rear portion of the traction end 51.

[0069] Similarly, the portion of the traction rope 41 that passes through the traction end 51 refers to the traction rope 41 between the traction end 51 and the swing arm assembly 10.

[0070] In this embodiment, as Figure 12 , Figure 13 As shown, the winding section 50 has two traction ends 51, forming a plane between them. A traction rope 41 can be connected to either traction end 51. When the swing arm assembly 10 moves towards the vehicle body 200 around a preset rotation axis, the rear portion of the traction rope 41 contacts the plane, achieving the winding of the traction rope 41. Since both traction ends 51 are eccentrically positioned relative to the preset rotation axis in this embodiment, non-uniform winding of the traction rope 41 can be achieved using either traction end 51, thereby enabling non-uniform lifting of the cutter head assembly 20.

[0071] In one embodiment, the winding portion 50 has an arc surface, and during the relative rotation of the drive member 30 and the swing arm assembly 10, the traction rope 41 contacts the arc surface after passing the rear portion of the traction end 51.

[0072] In this embodiment, as Figure 10 As shown, the winding portion 50 has a cam structure, meaning its side is formed by a plane and an arc surface. In other embodiments, the shape of the winding portion 50 is not limited to this; it can also be formed entirely by an arc surface or entirely by a plane, as long as the traction end 51 is offset from the axis of rotation of the swing arm assembly 10 relative to the winding portion 50.

[0073] Here, we will take the swing arm assembly 10 with a total rotation angle of 90° and the winding part 50 as an example to illustrate the concept.

[0074] Because the edge-trimming mechanism 100, especially the cutter head assembly 20, is closer to the vehicle body / tire in the later 45° stage, it is very easy for collision interference to occur; if uniform speed rope lifting is used, the cutter head will not be lifted high enough in the later stage and will still be close to the vehicle body, causing interference.

[0075] The 50-degree arc-shaped area of ​​the winding section corresponds to the first 45° rotation, with a larger amount of winding on the arc surface. The traction rope 41 is quickly shortened, and the cutter head assembly 20 is rapidly raised to near its highest position, thus escaping the low-position area prone to interference in advance. The planar area corresponds to the second 45° rotation, with a smaller amount of winding on the planar surface. The traction rope 41 is slowly shortened, and the cutter head assembly 20 is only slightly raised. Through this non-uniform lifting strategy of rapid lifting at the first 45° and maintaining a high position at the second 45°, the risk of interference between the swing arm assembly 10 and the vehicle body and tires during the later stages of rotation is completely avoided spatially. This solves the core problem that uniform lifting schemes cannot achieve interference-free operation throughout the entire process.

[0076] In one embodiment, the bottom of the winding portion 50 is connected to a chassis 60, and a receiving space for accommodating the traction rope 41 is formed between the chassis 60 and the winding portion 50.

[0077] The storage space can accommodate the non-working section of the traction rope 41, preventing the traction rope 41 from being exposed and tangled or hooked with other parts of the vehicle body 200, thus preventing rope damage or mechanism jamming and improving movement safety. At the same time, the storage space can limit the winding and unwinding path of the traction rope 41, ensuring that the rope always moves in a preset direction, avoiding deviation that causes uneven winding and unwinding, and maintaining the accuracy of non-uniform winding and unwinding.

[0078] In one embodiment, the linkage assembly 12 includes a first linkage 121 and a second linkage 122 arranged parallel to and above the first linkage 121. One end of the first linkage 121 is connected to the second rotating seat 112 via a first rotating shaft 123, and the other end of the first linkage 121 is connected to the cutter head assembly 20 via a second rotating shaft 124. One end of the second linkage 122 is connected to the second rotating seat 112 via a third rotating shaft 125, and the other end of the second linkage 122 is connected to the cutter head assembly 20 via a fourth rotating shaft 126.

[0079] like Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 As shown, the linkage assembly 12 also includes a fine-tuning knob 127, which is mounted on the first linkage 121 and the second linkage 122. The fine-tuning knob 127 has a first adjustment position where the distance between the first linkage 121 and the second linkage 122 is at a first preset distance, and a second adjustment position where the distance between the first linkage 121 and the second linkage 122 is at a second preset distance. The second preset distance is greater than the first preset distance. During the process of fine-tuning the knob 127 from the first adjustment position to the second adjustment position, the cutter head assembly 20 is raised upward.

[0080] Specifically, such as Figure 6 , Figure 7 , Figure 8 As shown, a channel 1221 is provided on the second connecting rod 122, a protrusion 1311 is provided inside the first connecting rod 121, and a fine-tuning knob 127 is provided inside the channel 1221. A first limiting groove 12111 and a second limiting groove 12112 are provided on the protrusion 1311. The first limiting groove 12111 is positioned closer to the second rotating seat 112 relative to the second limiting groove 12112. Along the thickness direction of the first connecting rod 121, the bottom height of the first limiting groove 12111 is greater than the bottom height of the second limiting groove 12112. When the fine-tuning knob 127 is in the first adjustment position, the bottom of the fine-tuning knob 127 is located inside the second limiting groove 12112. When the fine-tuning knob 127 is in the second adjustment position, the bottom of the fine-tuning knob 127 is located inside the first limiting groove 12111.

[0081] In one embodiment, such as Figure 11 As shown, the linkage assembly 12 also includes a second elastic element 128. The second elastic element 128 is located outside the first linkage 121 and the second linkage 122. One end of the second elastic element 128 is connected to the third rotating shaft 125, and the other end of the second elastic element 128 is connected to the second rotating shaft 124. The second elastic element 128 is used to apply an elastic restoring force that causes the linkage assembly 12 to drive the cutter head assembly 20 to lift upward.

[0082] In one embodiment, the cutter head assembly 20 includes a motor cover 21, an edge-trimming motor 22, an edge-trimming cutter 23, and a floating ball 24. The motor cover 21 is connected to the connecting rod assembly 12. The edge-trimming motor 22 is located inside the motor cover 21, and the edge-trimming cutter 23 is connected to the output shaft of the edge-trimming motor 22. The edge-trimming motor 22 drives the edge-trimming cutter 23 to perform edge-trimming operations. The floating ball 24 is located below the edge-trimming cutter 23 and is connected to the edge-trimming cutter 23. The floating ball 24 is used to achieve floating cutting during the operation of the edge-trimming cutter 23. The edge-trimming cutter 23 includes a rotating base 231 and at least two blades 232. The rotating base 231 is rotatably connected to the output shaft of the edge-trimming motor 22, and the at least two blades 232 are spaced apart circumferentially along the rotating base 231. A first protective cover 25 is provided circumferentially along the motor cover 21, and a flexible element is provided on the outer peripheral surface of the first protective cover 25 for contacting with external flexible elements. The rotating base 231 is provided with a second protective cover 26 around its circumference, and the second protective cover 26 is provided with a grass inlet 261 and a grass outlet 262. According to an embodiment of the present invention, another aspect provides a lawn mowing device, including: a vehicle body 200 and the aforementioned edge trimming mechanism 100. A receiving groove 203 is provided on the upper side of the vehicle body 200, and when the edge trimming mechanism 100 is in the stored position, the blade assembly 20 is located within the receiving groove 203.

[0083] The lawn mowing device of this application employs the aforementioned edge trimming mechanism 100. Utilizing the space above the side of the vehicle body 200, namely the receiving slot 203, it houses the blade assembly 20. This ensures that the blade assembly 20 has sufficient design dimensions without increasing the vehicle body size or altering its layout, thus avoiding any impact on cutting efficiency. It also balances a compact vehicle body design with the ability to house the edge trimming mechanism. Furthermore, a single motor provides the power for the edge trimming mechanism 100 to swing around a first axis, while the guide member 40 provides the power for the edge trimming mechanism 100 to swing around a second axis. This reduces the number of motors used, simplifies the structural complexity, and lowers costs. In this embodiment, the receiving groove 203 is a recessed structure with one end open. The opening provides an entry point for the edge-trimming mechanism 100 to move along an inclined trajectory. Furthermore, the receiving groove 203 can limit the cutter head assembly 20 from the circumference of the groove wall and the bottom, ensuring the stability of the cutter head assembly 20 in the stored position. The receiving groove 203 has arc-shaped connections between the groove walls to adapt to the structure of the cutter head assembly 20 and avoid mutual collision.

[0084] In this embodiment, the receiving groove 203 is located behind the mounting base 201. Therefore, in this embodiment, the tilting trajectory is formed by a composite motion from front to back and from low to high.

[0085] Furthermore, the end of the receiving groove 203 near the rear wheel is stepped to avoid the rear wheel.

[0086] In other embodiments, the shape of the receiving groove 203 is not limited to this, and it can also be a circular groove.

[0087] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A notching mechanism (100) characterized by, The edge forming mechanism (100) is used for being connected with a vehicle body (200) and being capable of moving from an unfolded position to a storage position, and the edge forming mechanism (100) comprises: a swing arm assembly (10), a first end of the swing arm assembly (10) being connected with the vehicle body (200), the swing arm assembly (10) being capable of swinging relative to the vehicle body (200) around a first axis and being capable of swinging around a second axis, wherein the first axis and the second axis form an included angle; a cutter disc assembly (20), the cutter disc assembly (20) being connected with a second end of the swing arm assembly (10); a driving member (30) for driving the swing arm assembly (10) to swing around the first axis; a guide member (40), the guide member (40) being connected with the swing arm assembly (10) in a matched mode, when the driving member (30) drives the swing arm assembly (10) to swing around the first axis, the guide member (40) is used for making the swing arm assembly (10) to swing around the second axis.

2. The edging mechanism (100) according to claim 1, characterized in that During the movement of the edge forming mechanism (100) from the unfolded position to the storage position, the swing arm assembly (10) moves around the first axis to approach the vehicle body (200) and moves around the second axis to be above the vehicle body (200).

3. The edging mechanism (100) according to claim 1, characterized in that The driving member (30) is a motor, and the number of the motor is one.

4. The edging mechanism (100) according to any one of claims 1-3, characterized in that, The guide member (40) comprises a traction rope (41), the traction rope (41) having a movable end and a fixed end, the fixed end being connected with the swing arm assembly (10), when the driving member (30) drives the swing arm assembly (10) to swing around the first axis, the movable end is retracted and extended to make the swing arm assembly (10) to swing around the second axis.

5. The edging mechanism (100) according to any one of claims 1-3, characterized in that, The guide member (40) comprises a guide slide (42), the guide slide (42) being connected with the vehicle body (200), a guide surface with a continuously changed height in a vertical direction being arranged on the guide slide (42), when the driving member (30) drives the swing arm assembly (10) to swing around the first axis to approach the vehicle body (200), the swing arm assembly (10) swings above the vehicle body (200) under the action of the guide surface.

6. The edging mechanism (100) according to any one of claims 1-3, characterized in that, The swing arm assembly (10) comprises: a rotating seat assembly (11), the rotating seat assembly (11) being arranged on a mounting seat (201) of the vehicle body (200), an output shaft (32) of the driving member (30) being connected with the rotating seat assembly (11); a connecting rod assembly (12), one end of the connecting rod assembly (12) being connected with the rotating seat assembly (11), the other end of the connecting rod assembly (12) being connected with the cutter disc assembly (20), the driving member (30) is used for driving the rotating seat assembly (11) to drive the connecting rod assembly (12) to swing around the first axis, and the guide member (40) is used for making the connecting rod assembly (12) to swing around the second axis.

7. The edging mechanism (100) according to claim 6, characterized in that The rotating seat assembly (11) comprises: a first rotating seat (111), the first rotating seat (111) being arranged on the mounting seat (201), the driving member (30) being arranged in the first rotating seat (111); A second rotating seat (112) is located on the first rotating seat (111), and the output shaft (32) is connected with the second rotating seat (112) to drive the second rotating seat (112) to rotate relative to the first rotating seat (111), so that the connecting rod assembly (12) drives the cutter head assembly (20) to swing around the first axis.

8. The edging mechanism (100) according to claim 7, characterized in that The rotating axis of the second rotating seat (112) driven to rotate relative to the first rotating seat (111) by the driving member (30) is arranged at an angle with the vertical direction.

9. The edging mechanism (100) according to claim 7, characterized in that The first rotating seat (111) is connected with the mounting seat (201) through a rotating shaft, and the first rotating seat (111) is arranged to be rotatable around the rotating shaft, and a first elastic member (202) is arranged along the circumference of the rotating shaft, and the first elastic member (202) is used to apply an elastic force to make the connecting rod assembly (12) swing towards the front side of the vehicle body (200).

10. The edging mechanism (100) of claim 7, wherein, The first rotating seat (111) has an inner cavity structure (1111), and a plurality of first threaded holes (1113) are arranged on the surface of the first rotating seat (111) at intervals, the first threaded holes (1113) are arranged in communication with the inner cavity structure (1111), the driving member (30) is located in the inner cavity structure (1111), a plurality of second threaded holes (311) are arranged on the surface of the shell (31) of the driving member (30), and the plurality of second threaded holes (311) are arranged in one-to-one correspondence with the plurality of first threaded holes (1113). First connecting members are arranged in the first threaded holes (1113) and the second threaded holes (311).

11. The edging mechanism (100) of claim 7, wherein, The surface of the first rotating seat (111) is provided with a first through hole (1112), the output shaft (32) of the driving member (30) passes through the first through hole (1112) and abuts against the second rotating seat (112), a plurality of third threaded holes (321) are arranged on the output shaft (32) at intervals, a plurality of fourth threaded holes (1121) are arranged on the second rotating seat (112) at intervals, and the plurality of third threaded holes (321) are arranged in one-to-one correspondence with the plurality of fourth threaded holes (1121). Second connecting members are arranged in the third threaded holes (321) and the fourth threaded holes (1121).

12. The edging mechanism (100) of claim 4, wherein, The edge forming mechanism further comprises: A winding part (50), the movable end of the traction rope (41) is connected with the winding part (50), the fixed end of the traction rope (41) is connected with the swing arm assembly (10), and the driving member (30) can drive the swing arm assembly (10) to rotate relative to the winding part (50) around a preset rotating axis.

13. The edging mechanism (100) according to claim 12, characterized in that The winding part (50) has a traction end (51), the traction end (51) is arranged eccentrically relative to the preset rotating axis, and the movable end of the traction rope (41) is connected to the traction end (51).

14. The edging mechanism (100) according to claim 13, characterized in that During relative rotation of the driving member (30) and the swing arm assembly (10), the traction rope (41) passes through the rear section of the traction end (51) without contacting the winding portion (50).

15. The edging mechanism (100) of claim 13, wherein, The winding portion (50) has a plane, and during relative rotation of the driving member (30) and the swing arm assembly (10), the traction rope (41) passes through the rear section of the traction end (51) and contacts the plane.

16. The edging mechanism (100) of claim 13, wherein, The winding portion (50) has an arc surface, and during relative rotation of the driving member (30) and the swing arm assembly (10), the traction rope (41) passes through the rear section of the traction end (51) and contacts the arc surface.

17. The edging mechanism (100) of claim 7, wherein, The linkage assembly (12) comprises a first linkage (121) and a second linkage (122) arranged in parallel with and above the first linkage (121), one end of the first linkage (121) is connected with the second rotating seat (112) through a first rotating shaft (123), the other end of the first linkage (121) is connected with the cutter head assembly (20) through a second rotating shaft (124), one end of the second linkage (122) is connected with the second rotating seat (112) through a third rotating shaft (125), and the other end of the second linkage (122) is connected with the cutter head assembly (20) through a fourth rotating shaft (126).

18. A grass cutting device characterised in that, Comprising: a vehicle body (200); the edge finishing mechanism (100) according to any one of claims 1-17.

19. The grass cutting device of claim 18, wherein, A receiving groove (203) is arranged above the side of the vehicle body (200), and when the edge finishing mechanism (100) is in the storage position, the cutter head assembly (20) is located in the receiving groove (203).

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