Mowing machine and mowing system

Abstract

The invention discloses a mowing machine and a mowing system, and belongs to the technical field of electrical equipment. The mower comprises a mower body and at least two operating arms, wherein the two operating arms are connected with the mower body; the machine body is provided with a first side and a second side in the width direction of the machine body, and under the condition that all the operation arms are in the storage state, at least one operation arm is located on the first side, and at least one operation arm is located on the second side of the machine body. In other words, the multiple operation arms are arranged on the left side and the right side of the machine body respectively, the spaces on the left side and the right side of the machine body can be used for containing the multiple operation arms, under the condition that the operation arms are recycled to the machine body, the size of the machine body is not increased as much as possible, the mower can be miniaturized, and then the mower can enter a narrow or low space; and the working range of the mower is expanded.

Description

Technical Field

[0001] This application belongs to the field of electrical equipment technology, and in particular relates to a lawnmower and lawnmowing system. Background Technology

[0002] In recent years, intelligent mobile robot technology has matured and has been widely applied in commercial, household, and industrial fields. Taking food delivery robots, sweeping robots, cargo delivery robots, and lawnmowers as examples, they have achieved automated operation in preset environments through autonomous navigation and obstacle avoidance technologies.

[0003] Among them, lawnmowers are common lawn mowing devices that are highly efficient and easy to operate. A lawnmower includes a body and a cutting assembly mounted on the main unit, which can be used to trim or mow the lawn. However, because lawns may contain other debris such as fallen leaves and animal droppings, the cutting assembly may not be able to clear it, thus affecting the lawnmower's working range. Summary of the Invention

[0004] This application aims to at least partially solve the technical problem of the limited working range of lawnmowers. To this end, this application provides a lawnmower and a mowing system.

[0005] In a first aspect, an embodiment of this application provides a lawnmower, comprising: body; At least two operating arms, both of which are connected to the machine body; Along the width direction of the body, the body has a first side and a second side, and when all the operating arms are in the retracted state, at least one of the operating arms is located on the first side and at least one of the operating arms is located on the second side of the body.

[0006] With all manipulators in their retracted state, at least one manipulator is located on the first side and at least one manipulator is located on the second side, meaning multiple manipulators are positioned on the left and right sides of the machine body respectively. If there are two manipulators, one can be on the first side and the other on the second side, with the two manipulators positioned on the left and right sides of the machine body respectively. This allows for the use of space on the left and right sides of the machine body to accommodate multiple manipulators, minimizing the increase in machine size when the manipulators are retracted. This enables the lawnmower to be compact, allowing it to operate in narrower or lower spaces and increasing its working range.

[0007] In an optional embodiment of this application, the body has a receiving groove, and when the operating arm is in a retracted state, at least a portion of the operating arm is disposed in the receiving groove.

[0008] In an optional embodiment of this application, the operating arm includes a base arm, a transition arm, a connecting arm, and an operating part. The base arm is connected to the machine body, the transition arm connects the base arm and the connecting arm, and the operating part is connected to the connecting arm. At least the connecting arm is disposed in the receiving groove.

[0009] In an optional embodiment of this application, the operating part is disposed within the receiving groove.

[0010] In an optional embodiment of this application, the base arm is disposed outside the receiving groove.

[0011] In an optional embodiment of this application, the receiving groove includes a first groove segment and a second groove segment, the first groove segment and the second groove segment are connected, the first groove segment and the second groove segment are arranged at an angle, the connecting arm is disposed in the first groove segment, and a portion of the transition arm is disposed in the second groove segment.

[0012] In an optional embodiment of this application, there are two receiving slots, one of which is used to accommodate one of the operating arms, and the two receiving slots are connected.

[0013] In an optional embodiment of this application, the fuselage has a top surface and a bottom surface, the top surface is disposed above the bottom surface along the height direction of the fuselage, and the receiving groove is disposed on the top surface.

[0014] In an optional embodiment of this application, the operating arm includes a base arm, a transition arm, a connecting arm, and an operating part. The base arm is connected to the machine body, the transition arm connects the base arm and the connecting arm, and the operating part is connected to the connecting arm. When the operating arm is in the retracted state, the base arm and the transition arm are set at an angle, and the connecting arm and the transition arm are set at an angle.

[0015] In an optional embodiment of this application, the rotation center of the base arm is set along the width direction of the body.

[0016] In an optional embodiment of this application, the body has a top surface, a bottom surface, and an outer peripheral surface. Along the height direction of the body, the top surface is disposed above the bottom surface, the outer peripheral surface is disposed between the top surface and the bottom surface, and the base arm is connected to the outer peripheral surface.

[0017] In an optional embodiment of this application, when the operating arm is in a retracted state, the transition arm is arranged along the moving direction of the body or from the base arm to the connecting arm, and the transition arm is gradually moved closer to the body.

[0018] In an optional embodiment of this application, when the operating arm is in a retracted state, the connecting arm is positioned in the width direction of the body or in a direction away from the transition arm, and the connecting arm is gradually positioned closer to the base arm.

[0019] In an optional embodiment of this application, the base arm is located outside the body.

[0020] In an optional embodiment of this application, the lawnmower further includes a detection module and a detection component. The detection module and the detection component are spaced apart along the moving direction of the machine body. When the operating arm is in the retracted state, the operating arm is positioned between the detection module and the detection component.

[0021] In an optional embodiment of this application, the base arm of the operating arm is positioned close to the detection module.

[0022] In an optional embodiment of this application, the lawnmower further includes a walking wheel assembly connected to the machine body. The walking wheel assembly includes a drive member and a walking wheel set. The walking wheel set is disposed outside the machine body. The drive member is connected to the machine body and drives the walking wheel set to rotate. Along the width direction of the fuselage, the width between the operating arm on the first side and the operating arm on the second side is smaller than the width of the walking wheel assembly.

[0023] In an optional embodiment of this application, the base arm of the operating arm is disposed above the drive member along the height direction of the machine body.

[0024] In an optional embodiment of this application, the operating arm located on the first side and the operating arm located on the second side are symmetrically arranged.

[0025] Secondly, embodiments of this application also provide a lawn mowing system, including a base station and the lawn mower described in the first aspect, wherein the lawn mower can interface with the base station.

[0026] The beneficial effects of the mowing system provided in the second aspect are the same as those of the mowing machine provided in the first aspect, and will not be repeated here. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1This invention provides a schematic diagram of the lawnmower from a first-view perspective, illustrating an embodiment of the present application. Figure 2 This invention provides a schematic diagram of the lawnmower from a second perspective, based on an embodiment of the present application. Figure 3 This illustration shows a third-view structural diagram of the lawnmower provided in an embodiment of this application; Figure 4 It shows Figure 3 A magnified view of a section at point I; Figure 5 This illustration shows a structural schematic diagram of the lawnmower provided in an embodiment of this application from a fourth perspective; Figure 6 This invention provides a schematic diagram showing the structure of a lawnmower with its operating arm in a retracted state according to an embodiment of the present application. Figure 7 A fifth-view structural schematic diagram of the lawnmower provided in an embodiment of this application is shown; Figure 8 This illustration shows a first-view structural diagram of the detection components and operation panel of the lawnmower provided in an embodiment of this application; Figure 9 This illustration shows a second-view structural diagram of the detection components and operation panel of the lawnmower provided in an embodiment of this application; Figure 10 It shows Figure 3 Enlarged view of a section at point II; Figure 11 A schematic diagram of the fuselage structure provided in an embodiment of this application is shown.

[0029] Reference numerals: 100-lawn mower, 110-body, 112-first side, 113-second side, 114-top surface, 115-bottom surface, 116-outer circumference, 117-receiving groove, 1172-first groove section, 1174-second groove section; 120-Operating arm, 120a-First operating arm, 120b-Second operating arm, 122-Base arm, 1222-Base joint, 1224-Base arm body, 124-Transition arm, 1242-Transition joint, 1244-Transition arm body, 124a-First transition arm, 1242a-First transition joint, 1244a-First transition arm body, 124b-Second transition arm, 1242b-Second transition joint, 1244b-Second transition arm body, 126-Connecting arm, 1262-Connecting joint, 1264-Connecting arm body, 126a-First connecting arm, 1262a-First connecting joint, 1264a-First connecting arm body, 126b-Second connecting arm, 1262b-Second connecting joint, 1264b-Second connecting arm body, 128-Operating unit; 130-Walking wheel assembly, 132-Drive component, 134-Walking wheel set, 1342-First walking wheel set, 1344-Second walking wheel set; 140-Cutting component; 150-Detection component; 152-Mounting base; 154-Trigger element; 1542-Trigger part; 1544-Base plate; 156-Buffer element; 160-Operation panel; 170-Detection module; X - Movement direction, Y - Width direction, Z - Height direction. Detailed Implementation

[0030] 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 a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0031] It should be noted that all directional indications in the embodiments of the present invention are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0032] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0033] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0034] In recent years, intelligent mobile robot technology has matured and has been widely applied in commercial, household, and industrial fields. Taking food delivery robots, sweeping robots, cargo delivery robots, and lawnmowers as examples, they have achieved automated operation in preset environments through autonomous navigation and obstacle avoidance technologies.

[0035] Among them, lawnmowers are common lawn mowing devices that are highly efficient and easy to operate. A lawnmower includes a body and a cutting assembly mounted on the main unit, which can be used to trim or mow the lawn. However, because lawns may contain other debris such as fallen leaves and animal droppings, the cutting assembly may not be able to clean them up.

[0036] In some embodiments, an operating arm can be installed on the lawnmower body, and different operating parts can be installed on the operating arm to clear other debris on the lawn or clear branches, thereby increasing the working range of the lawnmower. The operating arm can extend outside the body when in use and can be retracted into the body when not in use.

[0037] In related technologies, when the operating arm is retracted to the back of the machine, it occupies a large space, increasing the overall size of the lawnmower. This prevents the lawnmower from entering narrow or low-ceilinged spaces, affecting its working range. The lawnmower and mowing system provided in this application improve upon these problems. In the lawnmower and mowing system provided in this application, the operating arm retracts to the back of the machine with minimal increase in overall size, allowing for a smaller lawnmower that can then enter narrow or low-ceilinged spaces, thus increasing its working range.

[0038] This application is described below with reference to the accompanying drawings and specific embodiments: Figure 1 This paper shows a structural schematic diagram of the lawnmower 100 provided in an embodiment of this application from a first perspective, as shown below. Figure 1 As shown, this application embodiment provides a lawnmower 100, which can increase the working range.

[0039] In this embodiment of the application, the lawnmower 100 includes: a body 110 and at least two operating arms 120, both of which are connected to the body 110; along the width direction Y of the body 110, the body 110 has a first side 112 and a second side 113, and when all operating arms 120 are in a retracted state, at least one operating arm 120 is located on the first side 112 and at least one operating arm 120 is located on the second side 113 of the body 110.

[0040] The body 110 is the basic component of the entire lawnmower 100. The body 110 provides a base for the installation of structures such as the operating arm 120, so that the operating arm 120 and other structures can be installed on the body 110. The body 110 can have a movement direction X, a height direction Z, and a width direction Y. The movement direction X of the body 110 is the direction in which the body 110 moves forward or backward. The height direction Z of the body 110 is the vertical direction of the body 110 in the use state. The width direction Y of the body 110 is perpendicular to the height direction Z and the movement direction X.

[0041] Figure 2 This paper shows a structural schematic diagram of the lawnmower 100 provided in an embodiment of the present application from a second perspective, as shown below. Figure 2 As shown, in some embodiments, the lawnmower 100 further includes a wheel assembly 130 and a cutting assembly 140. Both the wheel assembly 130 and the cutting assembly 140 are connected to the body 110. For ease of description, the height direction Z of the body 110 is defined, with one side of the wheel assembly 130 and the cutting assembly 140 designated as the bottom and the other side as the top. Along the height direction Z of the body 110, the body 110 has a top surface 114 and a bottom surface 115. The top surface 114 is positioned above the bottom surface 115, and both the wheel assembly 130 and the cutting assembly 140 can be connected to the bottom surface 115 of the body 110.

[0042] In some embodiments, the walking wheel assembly 130 may include a first walking wheel set 1342 and a second walking wheel set 1344. Along the movement direction X of the fuselage 110, the first walking wheel set 1342 and the second walking wheel set 1344 are spaced apart. For ease of description, in the movement direction X of the fuselage 110, one side of the first walking wheel set 1342 is defined as the front, and one side of the second walking wheel set 1344 is defined as the rear. Along the width direction Y of the fuselage 110, the left side from the rear-front direction is defined as left, and the right side as right. Along the width direction Y of the fuselage 110, the fuselage 110 has a first side 112 and a second side 113, that is, of the first side 112 and the second side 113, one is the left side, and the other is the right side. For ease of description, the example of the first side 112 being the left side and the second side 113 being the right side is used. The case where the first side 112 is the right side and the second side 113 is the left side can be deduced similarly.

[0043] The storage state of the operating arm 120 refers to the state in which the operating arm 120 is retracted into the body 110. The operating arm 120 can be retracted into the body 110 by folding it and placing it on the body 110, or by setting a receiving groove 117 on the body 110, in which at least part of the operating arm 120 is retracted into the receiving groove 117. The specific retraction method is not limited.

[0044] The operating arm 120 can also extend outside the body 110 to clear fallen leaves, feces and other debris from the lawn, as well as clear tall branches. It can also assist the body 110 in overcoming obstacles, thereby increasing the working range of the entire lawnmower 100.

[0045] The lawnmower 100 includes at least two operating arms 120. The lawnmower 100 may include two operating arms 120, three operating arms 120, or four operating arms 120. The number of operating arms 120 is not limited.

[0046] Figure 3 This paper shows a third-view structural schematic diagram of the lawnmower 100 provided in an embodiment of this application, as shown below. Figure 3 As shown, with all operating arms 120 in the retracted state, at least one operating arm 120 is located on the first side 112, and at least one operating arm 120 is located on the second side 113. This means that multiple operating arms 120 are located on the left and right sides of the body 110, respectively. When there are two operating arms 120, one can be located on the first side 112, and the other on the second side 113. This allows the space on the left and right sides of the body 110 to accommodate multiple operating arms 120, minimizing the increase in the size of the body 110 when the operating arms are retracted. This enables the lawnmower 100 to be minimized, allowing it to enter narrower or lower spaces and increasing its working range.

[0047] like Figure 3 As shown, in some embodiments, the operating arm 120 located on the first side 112 and the operating arm 120 located on the second side 113 are symmetrically arranged. That is, the operating arms 120 located on the left and right sides of the fuselage 110 are symmetrically arranged. For ease of description, the operating arm 120 located on the first side 112 is defined as the first operating arm 120a, and the operating arm 120 located on the second side 113 is defined as the second operating arm 120b. There can be multiple first operating arms 120a and multiple second operating arms 120b. When there is only one first operating arm 120a and one second operating arm 120b, the first operating arm 120a and the second operating arm 120b can be symmetrically arranged with the central axis of the fuselage 110 along the moving direction X of the fuselage 110 as the axis of symmetry, or the first operating arm 120a and the second operating arm 120b can be symmetrically arranged with the center point of the fuselage 110 as the center of symmetry. The symmetry of the first operating arm 120a and the second operating arm 120b is not limited.

[0048] The body 110 is roughly rectangular. The operating arm 120 (first operating arm 120a) located on the first side 112 and the operating arm 120 (second operating arm 120b) located on the second side 113 are symmetrically arranged, so that the operating arms 120 can be evenly distributed on the left and right sides of the body 110. This reduces the space occupied by the operating arms 120 in the stored state, and minimizes the increase in the volume of the body 110. This allows the lawnmower 100 to be miniaturized, thus enabling it to enter narrower or lower spaces and increasing the working range of the lawnmower 100.

[0049] like Figure 3 As shown, in some embodiments, the lawnmower 100 further includes a walking wheel assembly 130, which is connected to the body 110. The walking wheel assembly 130 includes a drive member 132 and a walking wheel set 134. The walking wheel set 134 is disposed outside the body 110. The drive member 132 is connected to the body 110 and drives the walking wheel set 134 to rotate. Along the width direction Y of the body 110, the width between the operating arm 120 on the first side 112 and the operating arm 120 on the second side 113 is smaller than the width of the walking wheel set 134.

[0050] The width between the first operating arm 120 (first operating arm 120a) on the first side 112 and the second operating arm 120 (second operating arm 120b) on the second side 113 refers to the distance between the leftmost position point of the first operating arm 120a and the rightmost position point of the second operating arm 120b. Figure 3 The distance shown in D1. Similarly, the width of the running wheel assembly 134 also refers to the distance between the leftmost and rightmost points of the running wheel assembly 134 along the width direction Y of the fuselage 110, as shown in... Figure 3 The distance shown in D2 is as follows.

[0051] In some embodiments, there may be two walking wheel sets 134, namely a first walking wheel set 1342 and a second walking wheel set 1344, with the first walking wheel set 1342 positioned in front of the second walking wheel set 1344. Along the width direction Y of the fuselage 110, the width between the operating arm 120 of the first side 112 and the operating arm 120 of the second side 113 is less than the width of the walking wheel set 134, meaning the width between the operating arm 120 (first operating arm 120a) of the first side 112 and the operating arm 120 (first operating arm 120a) of the second side 113 is less than the maximum width of the first walking wheel set 1342 and the second walking wheel set 1344. That is, if the width of the first traveling wheel set 1342 is less than the width of the second traveling wheel set 1344, then the width between the first operating arm 120a and the second operating arm 120b is less than the width of the second traveling wheel set 1344. Conversely, if the width of the first traveling wheel set 1342 is greater than the width of the second traveling wheel set 1344, then the width between the first operating arm 120a and the second operating arm 120b is less than the width of the first traveling wheel set 1342. In other words, when there are multiple traveling wheel sets 134, along the width direction Y of the fuselage 110, the width between the first operating arm 120a and the second operating arm 120b is less than the maximum width among the multiple traveling wheel sets 134. Figure 3 The distance shown in D2 is as follows.

[0052] Since the walking wheel assembly 134 is located outside the body 110, when there are multiple walking wheel assemblies 134, the maximum width among the multiple walking wheel assemblies 134 is the width of the entire lawnmower 100. The width between the first operating arm 120a and the second operating arm 120b is less than the width of the walking wheel assembly 134, so that when the first operating arm 120a and the second operating arm 120b are in the retracted state, the first operating arm 120a and the second operating arm 120b will not increase the width of the entire lawnmower 100, thus minimizing the increase in the volume of the body 110, allowing the lawnmower 100 to be miniaturized, thereby allowing it to enter narrower spaces and increasing the working range of the lawnmower 100.

[0053] There are multiple operating arms 120. The specific structure and posture of each operating arm 120 in the retracted state can be the same. For the sake of brevity, the following will take one operating arm 120 as an example to introduce the posture of multiple operating arms 120 in the retracted state. The structure and posture of other operating arms 120 can be deduced by analogy.

[0054] Figure 4 It shows Figure 3 A magnified view of a section at point I, as shown below. Figure 4As shown, in some embodiments, the operating arm 120 includes a base arm 122, a transition arm 124, a connecting arm 126, and an operating part 128. The base arm 122 is connected to the body 110, the transition arm 124 connects the base arm 122 and the connecting arm 126, and the operating part 128 is connected to the connecting arm 126. When the operating arm 120 is in a retracted state, the base arm 122 and the transition arm 124 are set at an angle, and the connecting arm 126 and the transition arm 124 are set at an angle.

[0055] The base arm 122 is mounted on the body 110. The base arm 122 serves as the base for the entire operating arm 120. The connecting arm 126 is mainly used to connect to and mount the operating unit 128. The transition arm 124 connects the base arm 122 and the connecting arm 126. The transition arm 124 is mainly used to adjust the range of motion of the operating unit 128, while the connecting arm 126 is used to fine-tune the position of the operating unit 128, enabling the operating arm 120 to clear obstacles. One or more transition arms 124 can be provided; the more transition arms 124 there are, the greater the degrees of freedom and the larger the range of motion of the entire operating arm 120.

[0056] The base arm 122, transition arm 124, and connecting arm 126 constitute the arm body of the entire operating arm 120, used to connect the machine body 110 and the operating unit 128. The operating unit 128 is the working component of the operating arm 120. The operating unit 128 can be detachably connected to the connecting arm 126. Different operating units 128 can be replaced to clear different obstacles, thereby improving the overall working efficiency of the operating arm 120.

[0057] Regarding the detachable connection between the operating part 128 and the connecting arm 126, a first magnet part can be provided on the operating part 128, and a second magnet part can be provided on the connecting arm 126. The first magnet part can be a permanent magnet such as a neodymium iron boron magnet, a ferrite magnet, or a samarium cobalt magnet. The first magnet part can also be made of a metal (including at least one component of iron, nickel, and cobalt), silicon steel sheet, or other soft magnetic materials.

[0058] The second magnet can be an electromagnet. If the connecting arm 126 needs to be connected to the operating part 128, the second magnet can be energized, and the second magnet can attract the first magnet, so that the operating part 128 can be fixed on the connecting arm 126. If the operating part 128 needs to be disassembled, the first magnet can be de-energized, and the first and second magnets can be separated, so that the operating part 128 can be detached from the connecting arm 126.

[0059] In other embodiments, the operating part 128 and the connecting arm 126 can also be detachably connected by means of snap-fit ​​or other methods.

[0060] When the operating arm 120 is in the retracted state, the transition arm 124 and the base arm 122 are set at an angle, meaning that the extension directions of the transition arm 124 and the base arm 122 are different, i.e., the transition arm 124 and the base arm 122 are not in the same direction. Similarly, the transition arm 124 and the connecting arm 126 are set at an angle, also meaning that the extension directions of the transition arm 124 and the connecting arm 126 are different, i.e., the transition arm 124 and the connecting arm 126 are not in the same direction.

[0061] The transition arm 124 is set at an angle to the base arm 122, and the base arm 122 is set at an angle to the connecting arm 126. This arrangement allows the base arm 122, transition arm 124, and connecting arm 126 to be folded at a certain angle. This arrangement reduces the space occupied by the operating arm 120 when it is in the retracted state, minimizing the increase in the size of the body 110. This allows the lawnmower 100 to be minimized, thus allowing it to enter narrower spaces and increasing its working range.

[0062] Regarding the orientation of the base arm 122, in some embodiments, the rotation center of the base arm 122 is set along the width direction Y of the body 110. The base arm 122 is connected to the body 110. In some embodiments, the base arm 122 includes a base joint 1222 and a base arm body 1224. The base joint 1222 is connected to the body 110, and the base arm body 1224 is connected to the base joint 1222. The base joint 1222 can rotate along a first direction and a second direction, which are opposite to each other. The rotation center of the base joint 1222 is aligned with the width direction Y of the body 110, thereby enabling the transition arm 124, the connecting arm 126, and the operating part 128 to rotate as a whole along the width direction Y of the body 110. In other words, the base joint 1222 is a rotary joint.

[0063] The rotation center of the base joint 1222 is also the rotation center of the entire base arm 122. The rotation center of the base arm 122 is set along the width direction Y of the body 110. The base joint 1222 is a rotary joint, meaning that the position of the base arm 122 relative to the body 110 will not change. That is, whether in the retracted state or when the operating arm 120 is extended from the body 110, the position of the base arm 122 relative to the body 110 will not change. Since the base arm 122 is set along the width direction Y of the body 110, and the walking wheel set 134 also protrudes from the body 110 along the width direction Y, the space in the width direction Y of the body 110 can be used to arrange the operating arm 120. This allows the operating arm 120 to be set on both the left and right sides of the body 110, reducing the space occupied by multiple operating arms 120 on the body 110. This allows the lawnmower 100 to be miniaturized, thus entering narrower spaces and increasing the working range of the lawnmower 100.

[0064] Figure 5 This paper shows a structural schematic diagram of the lawnmower 100 provided in an embodiment of this application from a fourth perspective, as shown below. Figure 5 As shown, regarding the installation position of the operating arm 120, in some embodiments, along the height direction Z of the body 110, the base arm 122 of the operating arm 120 is positioned above the drive member 132.

[0065] The drive unit 132 can drive the movement of the walking wheel set 134. When there are two walking wheel sets 134, one drive unit 132 can drive both walking wheel sets 134. In some other embodiments, two drive units 132 can be provided, with one drive unit 132 driving one walking wheel set 134.

[0066] The drive component 132 protrudes from the body 110 along the width direction Y. The base arm 122 of the operating arm 120 is located above the drive component 132, allowing the space above the drive component 132 to accommodate the operating arm 120. When the operating arm 120 is in the retracted state, the portion of the base arm 122 protruding from the body 110 is approximately the same as the portion of the drive component 132 protruding from the body 110. This arrangement eliminates the need for additional space for the operating arm 120, allowing it to be installed without increasing the width of the lawnmower 100 in the width direction Y of the body 110. This makes the overall layout of the lawnmower 100 more compact, enabling it to be miniaturized and thus allowing it to enter narrower spaces, thereby increasing its working range.

[0067] In some embodiments, the base arm 122 is located outside the body 110. The base arm 122 protrudes from the body 110 along the width direction Y. This arrangement eliminates the need for space inside the body 110 to accommodate the base arm 122, thus reducing the space occupied by the arm 120 inside the body 110. This allows for a more compact overall layout of the lawnmower 100, enabling the lawnmower 100 to be miniaturized and thus enter narrower spaces, thereby increasing the working range of the lawnmower 100.

[0068] like Figure 5 As shown, in some embodiments, the body 110 has a top surface 114, a bottom surface 115 and an outer peripheral surface 116. Along the height direction Z of the body 110, the top surface 114 is disposed above the bottom surface 115, and the outer peripheral surface 116 is disposed between the top surface 114 and the bottom surface 115. The base arm 122 is connected to the outer peripheral surface 116.

[0069] The outer peripheral surface 116 is the side wall of the body 110. The base arm 122 is connected to the outer peripheral surface 116, so that when the operating arm 120 is in the stored state, the base arm 122 will not increase the height of the body 110. This reduces the space occupied by the operating arm 120 in the height direction Z of the body 110, allowing the body 110 to work in low spaces, thereby increasing the overall working range of the lawnmower 100.

[0070] Figure 6 This illustration shows a schematic diagram of the lawnmower 100 provided in this application with the operating arm 120 in a retracted state. Figure 4 and Figure 6 As shown, regarding the setting direction of the transition arm 124, in some embodiments, when the operating arm 120 is in the retracted state, the transition arm 124 is set along the moving direction X of the body 110 or from the base arm 122 to the connecting arm 126, and the transition arm 124 is gradually set closer to the body 110.

[0071] With the operating arm 120 in its retracted state, the transition arm 124 can be positioned along the moving direction X of the body 110. In this case, the transition arm 124 is perpendicular to the base arm 122. The transition arm 124 can be positioned behind the base arm 122. This arrangement ensures that the transition arm 124 does not increase the space occupied by the transition arm 124 in the width direction Y of the body 110, thus avoiding any additional increase in the width of the body 110 and allowing for a compact design of the entire machine.

[0072] In some other embodiments, the transition arm 124 may be tilted relative to the moving direction X of the body 110. Specifically, in the direction from the base arm 122 to the connecting arm 126, the transition arm 124 may gradually move closer to the body 110. This arrangement allows the transition arm 124 to be positioned closer to the body 110, enabling the connecting arm 126 to be positioned close to the body 110 or to be retracted onto the body 110. When the lawnmower 100 enters a narrow space, the connecting arm 126 is positioned close to or retracted onto the body 110. The connecting arm 126 is designed to not protrude beyond the body 110 along its width direction Z as much as possible, reducing the risk of damage to the connecting arm 126 and minimizing the space occupied by the transition arm 124.

[0073] Regarding the number of transition arms 124, there can be one, two, or three. Regardless of the number of transition arms 124, in the direction from the base arm 122 to the connecting arm 126, at least one transition arm 124 can be positioned towards the fuselage 110, or each transition arm 124 can be positioned towards the fuselage 110. Each transition arm 124 can include a transition joint 1242 and a transition arm body 1244. The transition joint 1242 is connected to the transition arm body 1244, primarily indicating that the transition arm body 1244 is positioned along the movement direction X of the fuselage 110 or towards the fuselage 110.

[0074] like Figure 4 and Figure 6 As shown, when there are two transition arms 124, the two transition arms 124 are respectively the first transition arm 124a and the second transition arm 124b. Both the first transition arm 124a and the second transition arm 124b include a transition joint 1242 and a transition arm body 1244. The transition joint 1242 of the first transition arm 124a is the first transition joint 1242a, and the transition arm body 1244 of the first transition arm 124a is the first transition arm body 1244a. The transition joint 1242 of the second transition arm 124b is the second transition joint 1242b, and the transition arm body 1244 of the second transition arm 124b is the second transition arm body 1244b. The first transition joint 1242a connects the base arm body 1224 and the first transition arm body 1244a. The first transition joint 1242a can rotate in a third direction and a fourth direction, which are opposite in direction. The first transition joint 1242a rotates in a third direction, and the first transition arm 124a can move towards the fuselage 110. The first transition joint 1242a rotates in a fourth direction, and the first transition arm 1244a can move away from the fuselage 110. That is, the first transition joint 1242a is a pitch joint.

[0075] The second transition joint 1242b connects the first transition arm 1244a and the second transition arm 1244b. The second transition joint 1242b can rotate along the fifth and sixth directions, which are opposite to each other. The second transition joint 1242b can drive the second transition arm 1244b and the connecting arm 126 to rotate circumferentially around the rotation center of the second transition joint 1242b. The second transition joint 1242b is a rotary joint.

[0076] Since the second transition joint 1242b is a rotary joint, the extension directions of the first transition arm 1244a and the second transition arm 1244b are approximately the same.

[0077] When the entire transition arm 124 is positioned close to the fuselage 110, the entire transition arm 124 is inclined. The first transition arm body 1244a can be set in an arc shape. The arc shape of the first transition arm body 1244a can increase the strength of the first transition arm body 1244a and reduce the possibility of damage to the first transition arm body 1244a.

[0078] In some embodiments, when the operating arm 120 is in a retracted state, the connecting arm 126 is arranged along the width direction Y of the body 110 or along a direction away from the transition arm 124, and the connecting arm 126 is gradually arranged closer to the base arm 122.

[0079] like Figure 4 and Figure 6 As shown, when the operating arm 120 is in the retracted state, the connecting arm 126 can be set along the width direction Y of the body 110, that is, the extension direction of the connecting arm 126 is set along the extension direction of the base arm 122. This setting allows the connecting arm 126 to be retracted into the body 110, and also reduces the space occupied by the connecting arm 126 in the width direction Y of the body 110.

[0080] In other embodiments, the connecting arm 126 can be gradually positioned closer to the base arm 122, meaning the connecting arm 126 can be inclined, with the connecting arm 126 forming an angle with both the width direction Y and the movement direction X of the body 110. In this case, the connecting arm 126, the transition arm 124, and the base arm 122 roughly form a triangle. This arrangement reduces the space occupied by one operating arm 120 while allowing for the placement of at least two operating arms 120, resulting in a more compact overall structure.

[0081] like Figure 4 and Figure 6As shown, the connecting arm 126 includes a connecting joint 1262 and a connecting arm body 1264. The connecting joint 1262 is connected to the connecting arm body 1264. There can be one connecting arm 126. If there is one connecting arm 126, the connecting joint 1262 is connected to the transition arm body 1244 (in the case of two transition arms 124, the connecting joint 1262 is connected to the second transition arm body 1244b) and the connecting arm body 1264. The connecting arm body 1264 is connected to the operating part 128. Of course, there can also be two connecting arms 1264. If there are two connecting arms 126, the two connecting arms 126 are the first connecting arm 126a and the second connecting arm 126b. The connecting joint 1262 of the first connecting arm 126a is the first connecting joint 1262a, and the connecting arm body 1264 of the first connecting arm 126a is the first connecting arm body 1264a. That is, the first connecting arm 126a includes the first connecting joint 1262a and the first connecting arm body 1264a. The connecting joint 1262 of the second connecting arm 126b is the second connecting joint 1262b, and the connecting arm body 1264 of the second connecting arm 126b is the second connecting arm body 1264b. The second connecting arm 126b includes the second connecting joint 1262b and the second connecting arm body 1264b. The first connecting joint 1262a connects the second transition arm body 1244b and the first connecting arm body 1264a. The first connecting joint 1262a can rotate along the ninth and tenth directions. When the first connecting joint 1262a rotates along the ninth direction, the first connecting arm body 1264a can move towards the second transition arm body 1244b. When the first connecting joint 1262a rotates along the tenth direction, the first connecting arm body 1264a can move away from the second transition arm body 1244b. That is, the first connecting joint 1262a is a pitch joint.

[0082] The second connecting joint 1262b connects the first connecting arm 1264a and the second connecting arm 1264b. The second connecting arm 1264b is connected to the operating part 128. The second connecting joint 1262b can rotate along the eleventh and twelfth directions, and can drive the second connecting arm 1264b to rotate circumferentially. The second connecting joint 1262b is a rotary joint.

[0083] When there are two operating arms 120, the first operating arm 120a and the second operating arm 120b can both be arranged in a triangular configuration, that is, the first operating arm 120a and the second operating arm 120b can be symmetrically arranged on the left and right sides of the body 110. Specifically, when both the first operating arm 120a and the second operating arm 120b are in the retracted state, the connecting arm 126 of the first operating arm 120a and the connecting arm 126 of the second operating arm 120b are positioned between the transition arm 124 of the first operating arm 120a and the transition arm 124 of the second operating arm 120b.

[0084] In some embodiments, each operating arm 120 includes a base arm 122, two transition arms 124 and two connecting arms 126, that is, each operating arm 120 has five degrees of freedom. Through the cooperation of two operating arms 120, the working range of the entire lawnmower 100 can be increased.

[0085] Figure 7 This paper shows a structural schematic diagram of the lawnmower 100 provided in an embodiment of this application from a fifth perspective, as shown below. Figure 7 As shown, in some embodiments, the lawnmower 100 also includes a detection module 170 and a detection component 150. Along the moving direction X of the body 110, the detection module 170 and the detection component 150 are spaced apart. When the operating arm 120 is in the retracted state, the operating arm 120 is positioned between the detection module 170 and the detection component 150.

[0086] The detection component 150 is located on the top surface 114 of the body 110. As the uppermost component of the entire lawnmower 100, the detection component 150 can detect whether there are obstacles above the body 110. Especially when the lawnmower 100 is located in a low-ceilinged space, if the detection component 150 comes into contact with an obstacle, it indicates that the current space is too low for the main unit to pass through. In this case, the main unit can change its movement direction (X) to exit, or the body 110 can stop abruptly and report an error.

[0087] Figure 8 This is a first-view structural schematic diagram of the detection component 150 and the operation panel 160 of the lawnmower 100 provided in an embodiment of this application. Figure 9 This illustration shows a second-view structural diagram of the detection component 150 and the operation panel 160 of the lawnmower 100 provided in an embodiment of this application. Figure 8 and Figure 9 As shown, specifically, the detection component 150 may include a mounting base 152, a trigger 154, and a buffer 156. The trigger 154 is rotatably connected to the mounting base 152, and the buffer 156 is disposed between the mounting base 152 and the trigger 154. The trigger 154 is located above the mounting base 152 and may be the uppermost structure on the entire machine body 110. When the lawnmower 100 is located in a low-ceilinged space, if the trigger 154 comes into contact with an obstacle above it, it indicates that the lawnmower 100 is currently in a low-ceilinged space, and the machine body 110 can stop abruptly and report an error. The buffer 156 is disposed between the trigger 154 and the mounting base 152, allowing the trigger 154 to move towards the mounting base 152 after contacting an obstacle, thus reducing the risk of damage to the trigger 154.

[0088] like Figure 9 As shown, in some embodiments, the lawnmower 100 also includes an operation panel 160, which may be mounted on the mounting base 152.

[0089] The trigger 154 may include a trigger part 1542 and a base plate 1544. The base plate 1544 is rotatably connected to the mounting base 152. The trigger part 1542 protrudes from the base plate 1544, meaning that the entire trigger part 1542 is the highest part of the entire lawnmower 100. If the lawnmower 100 enters a low space, the trigger part 1542 will be the first to contact the obstacle above, so that other parts of the lawnmower 100 will not come into contact with the obstacle above, thus reducing the risk of damage to other parts of the lawnmower 100.

[0090] The detection module 170 can be positioned at the front of the body 110, enabling it to detect whether there are obstacles in front of the body 110, and thus map or avoid obstacles. The operating arm 120, in its retracted state, is positioned between the detection module 170 and the detection component 150. The operating arm 120 can be placed in the space in front of the body 110, making efficient use of the space and resulting in a more compact and streamlined structure for the entire lawnmower 100.

[0091] like Figure 7 As shown, in some embodiments, the base arm 122 of the operating arm 120 is positioned close to the detection module 170.

[0092] The fact that the base arm 122 is positioned close to the detection module 170 indicates that the base arm 122 is located on the front side of the body 110. This proximity ensures that the operating range of the base arm 122 is within the vicinity of the detection module 170. After the detection module 170 detects an obstacle, the operating arm 120 can clear the obstacle, allowing it to operate within the detection area of ​​the detection module 170 and thus improving its efficiency.

[0093] Figure 10 It shows Figure 3 A magnified view of a section at point II. Figure 11 A schematic diagram of the fuselage 110 provided in an embodiment of this application is shown, as follows: Figure 10 and Figure 11 As shown, regarding the way the operating arm 120 is stored on the body 110, in some embodiments, the body 110 has a receiving groove 117, and when the operating arm 120 is in the stored state, at least a portion of the operating arm 120 is disposed in the receiving groove 117.

[0094] At least a portion of the operating arm 120 is disposed within the receiving groove 117. This can be either a partial or complete arrangement of the operating arm 120 within the receiving groove 117, depending on the length of the operating arm 120 in its retracted state and the shape of the body 110.

[0095] At least a portion of the operating arm 120 is disposed in the receiving groove 117. The receiving groove 117 can not only accommodate the operating arm 120, but also limit the operating arm 120 to a certain extent, thereby reducing the space occupied by the operating arm 120 in the height direction Z of the body 110, so that the whole machine can be compact.

[0096] like Figure 10 and Figure 11 As shown, in some embodiments, the operating arm 120 includes a base arm 122, a transition arm 124, a connecting arm 126, and an operating part 128. The base arm 122 is connected to the body 110, the transition arm 124 connects the base arm 122 and the connecting arm 126, and the operating part 128 is connected to the connecting arm 126. At least the connecting arm 126 is disposed in the receiving groove 117.

[0097] The base arm 122 is arranged along the width direction Y of the body 110. When the operating arm 120 is in the retracted state, at least the connecting arm 126 among the base arm 122, connecting arm 126 and transition arm 124 is arranged in the receiving groove 117. The connecting arm 126 is connected to the operating part 128, that is, the connecting arm 126 is the end of the arm of the operating arm 120. Setting the connecting arm 126 in the receiving groove 117 can facilitate the storage of the operating arm 120.

[0098] In some embodiments, the operating part 128 may be disposed within the receiving groove 117. That is, both the connecting arm 126 and the operating part 128 are disposed within the receiving groove 117. During the operation of the lawnmower 100, if the operating part 128 is not needed, the entire operating arm 120 can be in a retracted state, and the operating part 128 can be retracted into the receiving groove 117. This reduces the possibility of the operating arm 120 colliding with obstacles during the movement of the lawnmower 100, and also allows the lawnmower 100 to operate in narrower or lower spaces.

[0099] In some other embodiments, before the operating arm 120 is retracted to its stored state, the operating part 128 can be detached from the connecting arm 126. The lawnmower 100 may include multiple different operating parts 128. To facilitate the storage of multiple operating parts 128, a recycling station can be provided for placing multiple operating parts 128. After the operating arm 120 has finished working, the lawnmower 100 can move to the recycling station and detach the operating part 128 from the connecting part, placing the operating part 128 in the recycling station. The connecting part is then retracted into the receiving slot 117.

[0100] In other words, when the operating arm 120 is in the retracted state, the connecting arm 126 is retracted into the receiving slot 117. This arrangement can reduce the volume of the operating arm 120 placed in the receiving slot 117, and also reduce the space occupied by the operating arm 120 on the body 110, so as not to increase the overall volume of the lawnmower 100, making the structure of the lawnmower 100 more compact and concentrated.

[0101] In some embodiments, the base arm 122 is disposed outside the receiving groove 117. The base joint 1222 of the base arm 122 is a rotary joint, so that the position of the entire base arm 122 does not change. The base arm 122 is disposed along the width direction Y of the body 110, and the fact that the base arm 122 is disposed outside the receiving groove 117 can reduce the interference between the connecting arm 126 or the transition arm 124 and the body 110 when the operating arm 120 is extended or in operation.

[0102] In some embodiments, the body 110 has a top surface 114 and a bottom surface 115. Along the height direction Z of the body 110, the top surface 114 is disposed above the bottom surface 115, and the receiving groove 117 is disposed on the top surface 114. This arrangement facilitates the retraction and extension of the operating arm 120, and facilitates the operation of the operating arm 120.

[0103] like Figure 10 and Figure 11 As shown, in some embodiments, the receiving slot 117 includes a first slot segment 1172 and a second slot segment 1174, which are connected and are arranged at an angle. When the operating arm 120 is in the retracted state, the connecting arm 126 is disposed in the first slot segment 1172, and a portion of the transition arm 124 is disposed in the second slot segment 1174.

[0104] The first slot 1172 is located close to the interior of the body 110, the second operating arm 128 is located at the edge of the body 110, and the operating part 128 is also located within the first slot 1172. A portion of the transition arm 124 is located within the second slot 1174, so that when the operating arm 120 is retracted, a portion of the transition arm 124 is located on the body 110, reducing the space occupied by the transition arm 124 in the width direction Y of the body 110. When there are two operating arms 120, the space occupied by the first operating arm 120a and the second operating arm 120b in the width direction Y of the body 110 can be reduced.

[0105] In some embodiments, there are two receiving slots 117, one for accommodating one operating arm 120, and the two receiving slots 117 are connected. Specifically, the first segments 1172 of the two receiving slots 117 can be connected. This arrangement allows the first operating arm 120a and the second operating arm 120b to be compactly retracted into the body 110, reducing the space occupied by the first operating arm 120a and the second operating arm 120b in the width direction Y of the body 110.

[0106] In summary, the lawnmower 100 provided in this application embodiment has all operating arms 120 in a retracted state, with at least one operating arm 120 located on the first side 112 and at least one operating arm 120 located on the second side 113, meaning that multiple operating arms 120 are respectively located on the left and right sides of the body 110. When there are two operating arms 120, one operating arm 120 can be located on the first side 112, and the other operating arm 120 can be located on the second side 113, meaning that the two operating arms 120 are respectively located on the left and right sides of the body 110. This allows the space on the left and right sides of the body 110 to accommodate multiple operating arms 120, minimizing the increase in the volume of the body 110 when the operating arms 120 are retracted. This enables the lawnmower 100 to be miniaturized, allowing it to enter narrower or lower spaces and increasing its working range.

[0107] Based on the same concept, this application also provides a lawn mowing system, which includes a base station and the aforementioned lawnmower 100, the lawnmower 100 being able to interface with the base station. The base station can charge the lawnmower 100 and also recover impurities from the lawnmower 100.

[0108] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0109] Furthermore, the technical solutions of the various embodiments can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0110] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A lawnmower, characterized in that, include: Fuselage (110); At least two operating arms (120), both of which are connected to the body (110); Along the width direction (Y) of the body (110), the body (110) has a first side (112) and a second side (113). When all the operating arms (120) are in the retracted state, at least one of the operating arms (120) is located on the first side (112) and at least one of the operating arms (120) is located on the second side (113) of the body (110).

2. The lawnmower according to claim 1, characterized in that, The body (110) has a receiving groove (117), and when the operating arm (120) is in the retracted state, at least a portion of the operating arm (120) is disposed in the receiving groove (117).

3. The lawnmower according to claim 2, characterized in that, The operating arm (120) includes a base arm (122), a transition arm (124), a connecting arm (126), and an operating part (128). The base arm (122) is connected to the body (110), the transition arm (124) connects the base arm (122) and the connecting arm (126), and the operating part (128) is connected to the connecting arm (126). At least the connecting arm (126) is disposed in the receiving groove (117).

4. The lawnmower according to claim 3, characterized in that, The operating part (128) is disposed in the receiving groove (117).

5. The lawnmower according to claim 3, characterized in that, The base arm (122) is located outside the receiving groove (117).

6. The lawnmower according to claim 3, characterized in that, The receiving slot (117) includes a first slot segment (1172) and a second slot segment (1174), the first slot segment (1172) and the second slot segment (1174) are connected, the first slot segment (1172) and the second slot segment (1174) are set at an angle, when the operating arm (120) is in the storage state, the connecting arm (126) is set in the first slot segment (1172), and part of the transition arm (124) is set in the second slot segment (1174).

7. The lawnmower according to claim 2, characterized in that, There are two receiving slots (117), one receiving slot (117) is used to accommodate one of the operating arms (120), and the two receiving slots (117) are connected.

8. The lawnmower according to claim 2, characterized in that, The fuselage (110) has a top surface (114) and a bottom surface (115). Along the height direction (Z) of the fuselage (110), the top surface (114) is located above the bottom surface (115), and the receiving groove (117) is located on the top surface (114).

9. The lawnmower according to claim 1, characterized in that, The operating arm (120) includes a base arm (122), a transition arm (124), a connecting arm (126), and an operating part (128). The base arm (122) is connected to the body (110), the transition arm (124) connects the base arm (122) and the connecting arm (126), and the operating part (128) is connected to the connecting arm (126). When the operating arm (120) is in the retracted state, the base arm (122) and the transition arm (124) are set at an angle, and the connecting arm (126) and the transition arm (124) are set at an angle.

10. A lawn mowing system, characterized in that, Includes a base station and a lawnmower (100) as described in any one of claims 1-9, wherein the lawnmower (100) is capable of docking with the base station.

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