Autonomous work device and its grass cutting work device

Abstract

The application discloses an autonomous working device and a grass mowing working device thereof. The grass mowing working device comprises a connecting seat, a direction control assembly and a grass mowing working assembly. The connecting seat is used for being connected with a fuselage of the autonomous working device. The direction control assembly is rotatably connected with the connecting seat around a vertical axis. The grass mowing working assembly is connected with the direction control assembly. The direction control assembly is used for controlling the grass mowing working assembly to lift and turn.

Description

[0001] This patent application claims priority to the following Chinese patent application:

[0002] 1. Date of submission: March 24, 2025; Application number: 2025103509897; The full text of the above application is incorporated herein by reference. Technical Field

[0003] This invention relates to the field of autonomous operating equipment technology, and in particular to an autonomous operating equipment and its grass-cutting device. Background Technology

[0004] Current autonomous operating equipment (such as smart lawnmowers and sweeping robots) uses environmental perception and path planning technologies to achieve automated coverage of the work area. Through preset boundary recognition and obstacle avoidance, it can complete the main operation tasks within the basic area, significantly reducing the need for human intervention. However, in order to ensure safety, the core operation modules of existing autonomous operating equipment (such as the cutting element on a smart lawnmower) need to maintain a safe distance from the edge of the equipment shell to meet safety standards, resulting in blind spots in the operation of the core operation modules.

[0005] Traditional smart lawnmowers typically have a central rotating blade located at the bottom center of the casing, which is quite far from the outer edge of the casing. When a smart lawnmower reaches the edge of the lawn, it automatically turns, making it impossible to cut the lawn outside the boundary line. Users then need to use other tools to trim the edges, which is inconvenient for them. Summary of the Invention

[0006] The purpose of this invention is to provide an autonomous operating device and its grass-cutting apparatus to solve the problems of the prior art.

[0007] To solve the above-mentioned technical problems, embodiments of the present invention provide a grass-cutting device, comprising:

[0008] Connecting base, the connecting base being used to connect to the body of the autonomous operating equipment;

[0009] A direction control assembly, wherein the direction control assembly is rotatably connected to the connecting seat about a vertical axis; and

[0010] A mowing assembly, which is connected to the direction control assembly;

[0011] The direction control component is used to control the raising, lowering, and turning of the grass-cutting work component.

[0012] In one embodiment, the direction control component includes:

[0013] A steering seat, wherein the steering seat and the connecting seat are rotatably connected about a vertical axis;

[0014] A steering adjustment assembly, which is mounted on the connecting seat and operably drives the steering seat to rotate about the vertical axis;

[0015] A lifting adjustment assembly, which is mounted on the steering seat and operably drives the grass-cutting work assembly to lift and lower;

[0016] The mowing assembly is movably connected to the steering seat.

[0017] In one embodiment, the mowing device further includes a robotic arm, the inner end of which is movably connected to the steering seat, and the outer end of which is connected to the mowing assembly.

[0018] The lifting adjustment assembly includes a lifting motor, which is mounted on the steering seat and can operably drive the inner end of the robotic arm to rotate around a horizontal axis.

[0019] The steering adjustment assembly includes a steering motor, which is mounted on the connecting bracket.

[0020] In one embodiment, the center of gravity of the lifting motor and the center of gravity of the steering motor are on the same horizontal plane.

[0021] In one embodiment, the weight of the lifting motor and the weight of the steering motor are the same, and the lifting motor and the steering motor are arranged symmetrically with respect to the center of the connecting seat.

[0022] In one embodiment, the mowing assembly further includes a mowing motor, the weight of which is less than the weight of the steering motor.

[0023] In one embodiment, the lifting adjustment assembly includes a cam, the outer contour of which abuts against the bottom surface of the robotic arm;

[0024] The output shaft of the lifting motor is connected to the cam and can drive the cam to rotate, thereby driving the inner end of the robotic arm to rotate around the horizontal axis.

[0025] In one embodiment, the lifting adjustment assembly further includes a rolling element that is rotatably connected to the bottom surface of the robotic arm;

[0026] The outer contour of the cam abuts against the rolling element.

[0027] In one embodiment, the outer contour of the cam includes a first contour surface and a second contour surface;

[0028] The steering seat is provided with a first limiting post and a second limiting post;

[0029] The lifting and adjusting component can operably drive the mowing component to rotate between the highest and lowest positions;

[0030] At the highest position, the first contour surface abuts against the first limiting post;

[0031] At the lowest position, the second profile surface abuts against the second limiting post.

[0032] In one embodiment, the robotic arm includes:

[0033] The first link has one end movably connected to the steering seat to form a first fulcrum, and the other end movably connected to the grass-cutting motor to form a second fulcrum.

[0034] The second link has one end movably connected to the steering seat to form a third fulcrum, and the other end movably connected to the grass-cutting working component to form a fourth fulcrum.

[0035] The first link and the second link constitute a link linkage structure;

[0036] The rolling element is rotatably connected to the bottom surface of the first connecting rod.

[0037] In one embodiment, the first fulcrum, the second fulcrum, the third fulcrum, and the fourth fulcrum form a parallelogram geometric constraint.

[0038] In one embodiment, the distance between the first support point and the fourth support point is L;

[0039] The distance between the rolling element and the first fulcrum is L1, and the ratio of L1 to L ranges from 1 / 3 to 2 / 3.

[0040] In one embodiment, the ratio of L1 to L is 1 / 2.

[0041] In one embodiment, the first link is rotatably connected to the grass-cutting motor and the steering seat via two rotating shafts, respectively.

[0042] The second link is rotatably connected to the grass-cutting motor and the steering seat via two other rotating shafts.

[0043] In one embodiment, the second link covers the first link or the first link covers the second link.

[0044] In one embodiment, the connector includes:

[0045] Steering motor mount, the steering motor mount being used to mount the steering motor;

[0046] A support platform, which is connected to the steering motor mount;

[0047] The steering seat includes:

[0048] A seat body, which is connected to the steering motor;

[0049] A lifting motor base, which is connected to the base body and located on the top surface of the support platform, is used to install the lifting motor.

[0050] In one embodiment, the steering seat further includes a top cover.

[0051] The upper cover is fixedly connected to the base body;

[0052] The inner end of the robotic arm is movably connected to the upper cover.

[0053] In one embodiment, the steering seat further includes a protective shell that covers the outside of the seat body, the lifting motor seat, and the upper cover.

[0054] In one embodiment, the mowing device further includes:

[0055] A clutch, which is connected to the output shaft of the steering motor;

[0056] An end cap covers the clutch and is fixedly connected to the steering seat.

[0057] The present invention also relates to an autonomous operating device, comprising: a body, and a mowing device as described in any of the above claims, wherein the mowing device is connected to the body. Attached Figure Description

[0058] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0059] Figure 1 and Figure 2 This is a perspective view of an autonomous operating device according to an embodiment of the present invention, wherein the grass-cutting device is in a retracted state.

[0060] Figure 2a yes Figure 2 A magnified view of a portion of area A in the illustrated embodiment.

[0061] Figure 3 , Figure 4 and Figure 5 These are perspective views of an autonomous operating device according to an embodiment of the present invention, with the grass-cutting device in the open state.

[0062] Figure 6 This is a perspective view of an autonomous operating device according to an embodiment of the present invention.

[0063] Figure 7 yes Figure 6 A cross-sectional view of the autonomous operating device along its shape in the illustrated embodiment.

[0064] Figure 8 yes Figure 7 The cross-sectional view of section B of the autonomous operating equipment in the illustrated embodiment shows the grass-cutting component at its highest position.

[0065] Figure 9 This is a cross-sectional view of the autonomous operating device according to the first embodiment of the present invention, with the grass-cutting component in its lowest position.

[0066] Figure 10 This is a perspective view of the chassis according to an embodiment of the present invention.

[0067] Figure 11 This is an assembly diagram of the chassis and grass-cutting device according to an embodiment of the present invention.

[0068] Figure 12 This is an assembly diagram of a chassis and a mowing device according to an embodiment of the present invention, with a waterproof shell.

[0069] Figure 13 This is a cross-sectional view of an autonomous operating device according to an embodiment of the present invention, perpendicular to the walking direction.

[0070] Figure 14 yes Figure 13 A magnified view of a portion of region C in the illustrated embodiment.

[0071] Figure 15 and Figure 16 This is a perspective view of the grass-cutting device according to the first embodiment of the present invention.

[0072] Figure 17 yes Figure 15 An exploded view of the grass-cutting device in the illustrated embodiment.

[0073] Figure 18 This is an exploded view of the grass-cutting device according to the second embodiment of the present invention.

[0074] Figure 19 yes Figure 18 A cross-sectional view of the grass-cutting device of the embodiment shown.

[0075] Figure 20 yes Figure 18The illustrated embodiment shows a cross-sectional view of the mowing device, with the mowing component at its highest position.

[0076] Figure 21 yes Figure 18 The illustrated embodiment shows a cross-sectional view of the mowing device, with the mowing components in their lowest position.

[0077] Figure 22 yes Figure 18 The illustrated embodiment shows cross-sectional views of the mowing device from different angles, with the mowing component at its highest position.

[0078] Figure 23 yes Figure 18 The illustrated embodiment shows cross-sectional views of the mowing device from different angles, with the mowing components in their lowest position.

[0079] Figure 24 yes Figure 18 An assembly diagram of the grass-cutting device in the embodiment shown.

[0080] Figure 25 yes Figure 24 A cross-sectional view of the grass-trimming motor assembly in the illustrated embodiment.

[0081] Figure 26 This is a schematic diagram of the clutch structure in the first embodiment of the present invention.

[0082] Figure 27 yes Figure 26 Exploded view of the clutch in the illustrated embodiment.

[0083] Figure 28 yes Figure 26 A schematic diagram of the clutch and mating parts in the embodiment.

[0084] Figure 29 This is an exploded view of the clutch, end cover, connecting seat, steering motor seat, and steering motor in one embodiment of the present invention.

[0085] Figure 30 This is an assembly diagram of the grass-cutting device according to the third embodiment of the present invention.

[0086] Figure 31 yes Figure 30 A cross-sectional view of the grass-cutting device of the embodiment shown.

[0087] Figure 32 This is a perspective view of an autonomous operating device according to an embodiment of the present invention.

[0088] Figure 33 and Figure 34 This is a perspective view of a clutch according to another embodiment of the present invention.

[0089] Figure 35 This is a vertical cross-sectional view of a grass-cutting device according to an embodiment of the present invention.

[0090] Figure 36 This is a cross-sectional view of a grass-cutting device according to an embodiment of the present invention.

[0091] Figure 37 This is a perspective view of an autonomous operating device according to another embodiment of the present invention.

[0092] Figure 38 yes Figure 37 A perspective view of the grass-cutting device in the recovery state in the illustrated embodiment.

[0093] Figure 39 yes Figure 37 The illustrated embodiment shows a perspective view of the grass-cutting device in the open state.

[0094] Figure 40 yes Figure 37 An exploded view of the grass-cutting device in the illustrated embodiment.

[0095] Figure 41 yes Figure 37 A perspective view of the grass-cutting device in the illustrated embodiment.

[0096] Figure 42 yes Figure 37 A cross-sectional view of the grass-cutting device in the illustrated embodiment.

[0097] Figure 43 yes Figure 37 A perspective view of the grass-cutting device in the illustrated embodiment.

[0098] Figure 44 and Figure 45 This is a cross-sectional view of a grass-cutting device according to another embodiment of the present invention.

[0099] Figure 46 yes Figure 45 A magnified view of a section in area D.

[0100] Figure 47 yes Figure 45 A magnified view of a portion of region E in the middle.

[0101] Figure 48 yes Figure 44 An exploded view of the grass-cutting components, lifting motor, and steering motor in the grass-cutting device shown in the embodiment.

[0102] Figure 49 yes Figure 43 A cross-sectional view of the grass-cutting device in the illustrated embodiment. Detailed Implementation

[0103] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the various embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, those skilled in the art will understand that many technical details have been presented in the various embodiments of the present invention to enable the reader to better understand this application. However, the technical solutions claimed in this application can be implemented even without these technical details and various changes and modifications based on the following embodiments.

[0104] In the following description, certain specific details are set forth for the purpose of illustrating various disclosed embodiments in order to provide a thorough understanding of the various disclosed embodiments. However, those skilled in the art will recognize that embodiments may be practiced without one or more of these specific details. In other instances, well-known apparatuses, structures, and techniques associated with this application may not have been shown or described in detail to avoid unnecessarily obscuring the description of the embodiments.

[0105] Unless the context requires otherwise, throughout the specification and claims, the word “comprising” and its variations, such as “including” and “having”, shall be understood to have an open, inclusive meaning, that is, to be interpreted as “including, but not limited to”.

[0106] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings to provide a clearer understanding of the purpose, features, and advantages of the present invention. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but are merely illustrative of the essential spirit of the technical solution of the present invention.

[0107] Throughout this specification, references to "an embodiment" or "an embodiment" indicate that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Therefore, the appearance of "in an embodiment" or "an embodiment" in various places throughout the specification does not necessarily refer to the same embodiment. Furthermore, a particular feature, structure, or characteristic may be combined in any manner in one or more embodiments.

[0108] The singular forms “a” and “the” used in this specification and the appended claims include plural references unless otherwise expressly stated herein. It should be noted that the term “or” is generally used to mean “and / or” unless otherwise expressly stated herein.

[0109] In the following description, in order to clearly demonstrate the structure and working method of the present invention, a number of directional terms will be used. However, terms such as "front", "back", "left", "right", "outside", "inside", "outward", "inward", "up", and "down" should be understood as convenient terms and not as limiting terms.

[0110] Embodiments of the present invention are described below with reference to the accompanying drawings.

[0111] This invention relates to an autonomous operating device 100 and its mowing apparatus, such as... Figure 1-5 As shown, the autonomous operating device 100 is, in particular, a robot capable of autonomously moving within a preset area and performing specific tasks, typically such as a smart sweeper or vacuum cleaner for cleaning, or a smart lawnmower for mowing. The specific tasks refer specifically to tasks that treat the work surface and change its state. This invention uses a smart lawnmower as an example for detailed explanation. The autonomous operating device 100 can autonomously move on the surface of the work area, and in particular, as a smart lawnmower, it can autonomously perform mowing operations on the ground.

[0112] The autonomous operating equipment 100 includes a body 1, a cutting device, a moving mechanism, an energy module, a detection module, an interaction module, a control module, and a grass-cutting device 200. The body 1 includes a main structure, a working mechanism, an energy module, a detection module, and an interaction module. The main structure typically includes a chassis 11, which is used to install and accommodate at least one of the functional mechanisms and modules, such as the moving mechanism, the working mechanism, the energy module, the detection module, the interaction module, and the control module.

[0113] The working mechanism is configured to perform specific work tasks, including a workpiece and a prime mover that drives the workpiece. The energy module is configured to provide energy for the various tasks of the autonomous working device 100. The detection module is configured to be at least one sensor that senses the environmental parameters of the autonomous working device 100 or its own operating parameters. The interaction module is configured to at least receive control command information input by the user, issue information that the user needs to perceive, and communicate with other systems or devices to send and receive information. The control module typically includes at least one processor and at least one non-volatile memory, in which a pre-written computer program or instruction set is stored, and the processor controls the execution of actions such as movement and operation of the autonomous working device 100 according to the computer program or instruction set.

[0114] The mobile mechanism is mounted on the body 1 and is configured to support the main body on the ground and drive the vehicle to move and turn along a horizontal plane on the horizontal ground. The horizontal plane mentioned here is an imaginary ideal plane, which is used to more conveniently describe the structural relationship between the components of the autonomous operating equipment 100. However, such an ideal plane usually does not exist in a real lawn.

[0115] The cutting device is located at the bottom of the chassis 11 and includes a main blade disc 12 and a power unit that drives the main blade disc 12. The main blade disc 12 is the main mechanism that performs the primary grass-cutting function in the lawnmower. Due to safety regulations, the main blade disc 12 is positioned at a certain protective distance from the side of the machine body 1, making it unable to accurately cut grass on the side of the equipment. In one embodiment, this grass-cutting device (i.e., trimming device) is detachable and can be purchased and installed by the user as an extension accessory for the equipment.

[0116] The grass trimming device 200 is fixedly installed on the machine body 1 and is used for trimming and trimming grass.

[0117] The autonomous operating device 100 of the first embodiment of the present invention is described below with reference to the accompanying drawings.

[0118] like Figure 6 and Figure 7 As shown, the mowing device 200 includes a connecting seat 2, a direction control component, a mowing component 6, a control module, and a robotic arm 8. The connecting seat 2 is used to fix the device to the chassis 11 of the body 1 and also to support the direction control component.

[0119] The direction control component is used to drive the mowing component to turn and lift. It includes a steering seat 3, a steering adjustment component 4, and a lifting adjustment component 5. The steering adjustment component 4 is used to drive the mowing component to rotate between the open state and the retracted state.

[0120] like Figure 1-2 As shown, when the mowing assembly 6 is in the retracted state, it is stored parallel to the side of the machine body 1. When the mowing assembly 6 needs to work, the steering adjustment assembly 4 will drive the mowing assembly 6 to open outward to the working angle, as shown. Figure 3-5 As shown, the mowing component 6 is in the open state at this time, which facilitates the operation of the mowing component 6.

[0121] The lifting adjustment component 5 is used to drive the mowing component 6 to the highest position. Figure 8 ) and lowest position ( Figure 9 The height of the mowing component 6 can be adjusted to a suitable mowing height according to work requirements (such as weed height) for trimming and mowing. When the mowing component encounters an obstacle, the lifting adjustment component can also raise the mowing component to pass over the obstacle, avoiding collision and achieving a floating lifting obstacle avoidance effect, thus improving passability.

[0122] The lawn trimming component 6 is used to clearly separate the lawn edges from other areas such as flower beds, sidewalks, and driveways, making the lawn look neater and more aesthetically pleasing.

[0123] The control module is electrically or signal-connected to the steering adjustment assembly 4, the mowing assembly 6, and the lifting adjustment assembly 5, respectively, and controls the operation of the steering adjustment assembly 4, the mowing assembly 6, and the lifting adjustment assembly 5.

[0124] like Figure 10 and Figure 11 As shown, the connecting seat 2 and the bottom surface of the chassis 11 are fixedly connected. The chassis 11 is provided with a connecting position 111, which is located at the edge of the chassis 11. The bottom surface of the connecting position 111 is provided with a recessed mounting groove 112. The bottom wall of the mounting groove 112 is provided with an annular guide groove, which is defined as the first guide groove 113.

[0125] In addition, the bottom surface of the connection position 111 is also equipped with a socket interface 114, which is open towards the ring of the first guide groove 113. The socket is used to plug in the plug of the grass cutting device.

[0126] like Figure 15 and Figure 17 As shown, the connecting seat 2 includes a body connecting part 21 and a mounting part 22. The body connecting part 21 is used to connect with the connecting position 111 of the chassis 11.

[0127] Specifically, such as Figure 12 As shown, the fuselage connection part 21 includes a first part 211 and a second part 212. The first part 211 includes a horizontal plate 2111 and a vertical plate 2112. The horizontal plate 2111 and the vertical plate 2112 are integrally formed and form an "L" shape. The horizontal plate is installed in the mounting groove 112 of the chassis 11 and has an annular flange 213 on its top surface. The annular flange 213 is located in the first guide groove 113.

[0128] Both the horizontal plate 2111 and the machine body connection part 21 are provided with pre-embedded screw holes. The horizontal plate is locked in the connection position by screws, and the grass cutting device is installed and fixed to the machine body 1.

[0129] The top of the vertical plate 2112 is connected to the outer edge of the horizontal plate 2111, and the bottom extends vertically or slightly outward at an angle, that is, the side away from the fuselage 1.

[0130] The mowing device 200 also includes a plug, which is mounted on a horizontal plate and located within the ring of the annular flange 213. The plug can be inserted into the interface of the connection position. During installation, first align the plug with the interface and insert it, then tighten the base and main body with screws to secure the mowing device 200.

[0131] The alignment of the annular flange 213 and the first guide groove 113 can help the plug align with the interface in the connection position, thereby powering on the grass cutting device 200 and the machine body 1, and also facilitates the positioning and installation of the machine body connection part 21 at the connection position of the chassis 11.

[0132] It should be understood that in other embodiments, a protruding guide member may also be provided at the connection position of the chassis 11, and a downwardly recessed first guide groove 113 may be provided on the top surface of the horizontal plate of the first part 211. The guide member may be the aforementioned annular flange 213, and the first guide groove 113 may also be the aforementioned annular shape. Of course, the guide member may also be provided as a column, and the first guide groove 113 may also be a columnar groove. The specific shape of the first guide groove 113 and the guide member is not limited.

[0133] The inner side of the second part 212 is connected to the bottom end of the vertical plate, and the outer side extends away from the fuselage 1. The second part 212 is used to install the mounting part 22.

[0134] like Figure 11 , Figure 12 , Figure 18 , Figure 19 As shown, a bottom cover 23 is also installed at the bottom of the second part 212. The bottom cover 23 is detachably connected to the bottom surface of the second part 212, and the two parts 212 are assembled to form a receiving space 216, which can be used to receive the control module.

[0135] The control module includes a main control board 7, such as Figure 17 As shown, the main control board 7 is an integrated circuit board that can independently control the angle adjustment of the steering adjustment component 4, the height adjustment of the lifting adjustment component 5, and the grass cutting operation of the grass cutting component 6, without relying on the main control unit inside the machine body 1.

[0136] The control modules for height adjustment and grass trimming are integrated on the main control board 7, which is mounted on the connector. Compared to mounting the main control board 7 on the robotic arm 8, this reduces the load on the steering motor 41 to some extent, avoids interference caused by the vibration of the robotic arm 8, facilitates fault location during maintenance, and avoids the trouble of troubleshooting multi-board collaborative faults.

[0137] like Figure 8 , Figure 19 As shown, the main control board 7 is located on the top surface of the bottom cover, and the entire board is situated at the bottom of the connecting seat 2. During disassembly, only the bottom cover 23 needs to be removed to expose the main control board 7, making maintenance and repair more convenient. Figure 11 and Figure 12 In this embodiment, the bottom cover 23 is fixed with screws. In other embodiments, other quick-release methods that do not rely on disassembly tools, such as slots and clips, can also be used for installation.

[0138] The main control board 7 is connected to the plug located in the first part 211 via cable 9, and supplies power to the grass cutting device through the energy module of the machine body 1.

[0139] like Figure 11 and Figure 12 As shown, the bottom surface of the first part 211 is also provided with a cable tray 215 and a waterproof shell 214 covering the outside of the cable tray 215. The cable tray 215 is used for cable 9 routing.

[0140] The waterproof shell 214 and the bottom surface of the first part 211 are detachably connected. For example, the waterproof shell 214 can be installed on the first part 211 by screws or clips. The specific detachable connection method between the waterproof shell 214 and the first part 211 is not limited.

[0141] The plug and cable 9 connected to the main control board 7 are housed in the waterproof housing 214. The plug and cable 9 are separated from the housing space 216 of the main control board 7. The main control board 7 is fully sealed in the bottom cover 23 and the second part 212. The plug and cable 9 connected to the body 1 are independently sealed by the waterproof housing 214. The waterproof housing 214 has a multi-step structure, so even if water enters the cable 9, it will not directly enter the housing space 216 of the main control board 7.

[0142] The waterproof housing 214 does not cover the bottom cover 23. It can be placed adjacent to or spaced apart from the bottom cover 23, achieving excellent waterproof performance without affecting the heat dissipation of the main control board 7. When the plug and cable 9 need maintenance, it is not necessary to disassemble the entire connector 2. Only the waterproof housing 214 needs to be removed to expose the plug and cable 9 connected to the main body 1.

[0143] like Figure 16 As shown, the mounting part 22 covers and connects to the top of the second part 212 of the fuselage connecting part 21. Figure 16 and Figure 17 In one embodiment, the mounting part 22 is fixedly connected to the second part 212 by screws. The mounting part 22 is used to mount the steering adjustment assembly 4.

[0144] Mounting section 22 includes a motor mount and a support platform 222, such as Figure 17 and Figure 18 As shown, the support platform 222 is flat and is fixedly connected to the motor base or integrally formed.

[0145] The motor mount is cylindrical and is used to mount the steering motor 41 of the steering adjustment assembly 4. This motor mount is defined as steering motor mount 221.

[0146] Specifically, such as Figure 17As shown, the steering motor mount 221 includes a cylindrical first housing 2211 and a second housing 2212. The first housing 2211 and the second housing 2212 are concentrically arranged and integrally formed. The first housing 2211 is located at the bottom of the second housing 2212 and the outer diameter of the first housing 2211 is larger than the outer diameter of the second housing 2212. That is, the radial outer edge of the first housing 2211 is exposed to the outside of the second housing 2212.

[0147] The top opening of the first housing 2211 is connected to the second housing 2212, and the top of the second housing 2212 is also provided with an opening.

[0148] like Figure 17 and 18 As shown, the steering adjustment assembly 4 includes a steering drive component, a clutch 42, an end cover 43, a bearing 45, and a bearing support 44. The steering drive component is also the steering motor 41, and both the steering motor 41 and the bearing support 44 are installed within the first housing 2211. Figure 17 , Figure 18 , Figure 35 and Figure 36 As shown, the first housing 2211 has a protruding mounting post 2213 at the top edge, and the first housing 2211 has bolt holes that extend into the mounting post 2213 for mounting bolts.

[0149] The steering motor 41 and the bearing support 44 are both fixedly connected to the first housing 2211 by the aforementioned bolts.

[0150] The output shaft of the steering motor 41 extends vertically upward to the second housing 2212, while the clutch 42 is fixedly connected to the output shaft of the steering motor 41, and the clutch 42 is also installed inside the second housing 2212.

[0151] The bottom ring of the end cap 43 is fitted around the outside of the clutch 42 and is also located in the second housing 2212. Its top extends beyond the top of the second housing 2212 for fixed connection with the steering seat 3. The steering motor can drive the clutch to rotate, causing the end cap and steering seat to rotate between the open and retracted states. The assembly method of the clutch 42, the end cap 43, and the steering seat 3 will be detailed below.

[0152] like Figure 8 and Figure 19 As shown, the bearing 45 is located on the top surface of the bearing support 44 and radially outward from the bottom of the ring end cover 43. The bearing 45 is also located inside the second housing 2212. The bearing 45 is used to facilitate the rotation of the end cover 43. The specific implementation of the bearing 45 will not be described in detail.

[0153] When the steering motor 41 is started, it drives the clutch 42 and the end cover 43 to rotate together. The end cover 43 drives the steering seat 3 to rotate around a vertical axis, thereby driving the grass trimming assembly 6 to rotate around a vertical axis.

[0154] like Figure 9 , Figure 16 and Figure 17 As shown, the steering seat 3 includes a seat body 31, a lifting motor seat 32, and a top cover 33. The seat body 31 is generally cylindrical and covers the outside of the steering motor seat 221. The top surface of the seat body 31 is fixedly connected to the top of the end cover 43. The seat body 31 can rotate with the end cover 43.

[0155] In addition, the outer side of the steering motor mount 221 is provided with a protruding first limiting member, and the inner wall of the mount 31 is provided with a protruding second limiting member.

[0156] When the grass-cutting device is in the open state, the first limiting member and the second limiting member abut against each other, which can limit the working angle of the grass-cutting device in the open state.

[0157] The optimal working angle 'a' for the mowing device is 80°. Figure 5 As shown, the working angle 'a' is the angle relative to the straight line of the machine body 1 along the traveling direction X, which is the direction of the machine body. In existing technology, the working angle is generally set to 90°, with the mowing device perpendicular to the machine body 1. Upon impact, the impact force is perpendicular to the mechanical arm 8 of the mowing device. At 80°, the impact force is decomposed into axial and tangential forces, effectively reducing the impact at the connection between the mowing device and the machine body.

[0158] Furthermore, when the mowing device is opened to 90°, grass clippings easily scatter beyond the boundary. If the boundary is close to a wall, the clippings will adhere to the wall. However, when the mowing device is opened to 80°, the cut grass clippings accumulate concentrically and are less likely to scatter beyond the boundary. If the working angle of the mowing device is set to less than 80°, such as 60°, the length of the trimming device extending from the mowing device is shorter, resulting in a smaller cutting coverage area. Moreover, compared to 80°, when the mowing working angle is set to 60°, the mowing head 62 is closer to the machine body 1, overlapping with the wheel's travel path. This causes grass clippings to accumulate forward on the travel path, potentially affecting the machine's movement.

[0159] In such Figure 28In the illustrated embodiment, the first limiting member is a first limiting ridge 2214 located radially outward of the second housing 2212, and the first limiting ridge 2214 is a convex ridge. The second limiting member is a second limiting ridge 311 located radially inward of the base 31, and the second limiting ridge 311 is a convex ridge located on the inner wall of the base 31. When the rotating motor drives the base 31 to rotate, the first limiting ridge 2214 and the second limiting ridge 311 abut against each other, at which point the entire grass-cutting device rotates to the working angle.

[0160] In another embodiment, such as Figure 36 As shown, the first limiting member is a mounting post 2213 located on the top of the first housing 2211. This mounting post 2213 is used to connect the steering motor 41. The second limiting member is also a convex ridge, namely the second limiting ridge 311. That is to say, there is no need to set the first limiting ridge 2214 separately, as the mounting post 2213 and the second limiting ridge 311 are used for limiting.

[0161] As a preferred option, the side of the mounting post 2213 that abuts against the second limiting member is made into a plane, which can increase the contact area between the mounting post 2213 and the second limiting member.

[0162] The outer side of the machine body 1 is also provided with a limiting groove 13, and the lifting motor seat 32 of the steering seat 3 is provided with a protruding limiting protrusion, such as Figure 2a As shown, in the retracted state, the limiting protrusion of the grass-cutting device is located within the limiting groove 13, and the two work together to limit the retraction angle. Of course, in another embodiment, a protruding limiting protrusion can also be provided on the outside of the machine body 1, and a limiting groove 13 can be provided on the lifting motor base 32.

[0163] In addition, the depth of the limiting groove 13 cannot fully accommodate the limiting protrusion, so that there is a certain gap between the body 1 and the steering seat 3, to prevent the steering seat 3 from directly hitting the body 1 during the retrieval of the grass cutting device.

[0164] To further cushion the impact of the mowing component 6 on the machine body 1, a buffer pad can be installed in the limiting groove. The buffer pad can be a colloid or a flexible pad, as long as it can buffer the impact.

[0165] The lifting motor base 32 and the base body 31 are integrally formed. The lifting motor base 32 is located on the top surface of the support platform 222 and can rotate with the base body 31. It is used to install the lifting adjustment component 5.

[0166] Specifically, such as Figure 17 As shown, the lifting motor base 32 is provided with a first space 321 and a second space 322, with a baffle 323 between the first space 321 and the second space 322.

[0167] The lifting adjustment assembly 5 includes a lifting drive component and a cam 52. The lifting drive component is also known as a lifting motor 51. The lifting motor 51 is located in the first space 321 and is fixed to the lifting motor base 32 by the lifting motor fixing component 324. The specific fixing method is not limited. The output shaft of the lifting motor 51 extends through the baffle 323 into the second space 322.

[0168] Cam 52 is installed in the second space 322. Cam 52 is fixedly connected to the output shaft of lifting motor 51. Cam 52 can rotate with lifting motor 51.

[0169] The upper cover 33 covers the top of the base 31 and is fixedly connected to the base 31 and the lifting motor base 32. Specifically, the upper cover 33 has multiple connecting protrusions 333, which can be fixedly connected to the base 31 and the lifting motor base 32 by bolts. Figure 2a and Figure 5 As shown, one of the connecting protrusions 333 can also replace the aforementioned limiting protrusion, serving as a retraction limiting function.

[0170] The upper cover 33 can also rotate with the base 31. The upper cover 33 is connected to the inner end of the robotic arm 8. During the rotation of the upper cover 33, the robotic arm 8 can drive the grass-cutting work component 6 to rotate.

[0171] The robotic arm 8 can be configured as a column, with its inner end movably connected to the upper cover 33 and its outer end movably connected to the grass-cutting work component 6.

[0172] The top cover 33 comprises two integrally formed parts. One part covers the top of the seat 31 and is fixedly connected to the seat 31, while the other part is located on the top of the steering motor seat 221 and is connected to the steering motor seat 221. The part located on the top of the steering motor seat 221 includes a base plate 331 and two side plates 332, which are spaced apart and located on the top surface of the base plate 331.

[0173] One end of the robotic arm 8 is connected to the top cover 33 and located between two side plates 332, while the other end extends radially and is connected to the grass-cutting work assembly 6. When the steering seat rotates, the two side plates 322 can push the robotic arm to rotate synchronously. The two side plates facing each other push the robotic arm to rotate synchronously, which can provide stability for the rotation of the robotic arm.

[0174] In one embodiment, the robotic arm 8 includes a first link 81 and a second link 82, wherein the first link 81 and the second link 82 form a linkage structure, the inner end of the linkage structure is rotatably connected to a steering seat, and the outer end extends radially outward and is rotatably connected to a mowing assembly. Figure 17In the embodiment shown, the linkage structure is located between and abuts against the two side plates 332. The inner end of the linkage structure is rotatably connected to the two side plates 332. The lifting adjustment component 5 can drive the inner end of the linkage structure to rotate, thereby causing the outer end to drive the grass-cutting working component to rise and fall.

[0175] Specifically, the first link 81 and the second link 82 are arranged vertically and their ends are movably connected to the two side plates 332 of the upper cover 33 and the mowing component 6, respectively. The movable connection point between the first link 81 and the upper cover 33 is the first fulcrum, and the movable connection point with the mowing component 6 is the second fulcrum. The movable connection point between the second link 82 and the upper cover 33 is the third fulcrum, and the movable connection point with the mowing component 6 is the fourth fulcrum. The first, second, third, and fourth fulcrums form a quadrilateral geometric constraint, preferably a parallelogram geometric constraint.

[0176] The first link 81 and the second link 82 can be hinged to the top cover 33 or the mowing component 6. The first fulcrum and the second fulcrum are the hinge points of the first link 81 with the top cover 33 and the mowing component 6, respectively. The third fulcrum and the fourth fulcrum are the hinge points of the second link 82 with the top cover 33 and the mowing component 6, respectively.

[0177] exist Figure 8 In the illustrated embodiment, the first connecting rod 81 is rotatably connected to the upper cover 33 via a first rotating shaft 841 and rotatably connected to the mowing assembly 6 via a second rotating shaft 842. The second connecting rod 82 is rotatably connected to the upper cover 33 via a third rotating shaft 843 and rotatably connected to the mowing assembly 6 via a fourth rotating shaft 844. The first rotating shaft 841, the second rotating shaft 842, the third rotating shaft 843, and the fourth rotating shaft 844 respectively form the first fulcrum, the second fulcrum, the third fulcrum, and the fourth fulcrum. The first rotating shaft 841 and the second rotating shaft 842 are respectively mounted on the two side plates 332 of the upper cover 33.

[0178] The axes of the first rotating shaft 841, the second rotating shaft 842, the third rotating shaft 843, and the fourth rotating shaft 844 all extend horizontally and are set parallel to each other. The connection between the two connecting rods and the upper cover 33 and the grass-cutting working component 6 via the rotating shafts is more stable than the hinge. The first connecting rod 81 and the second connecting rod 82 can only rotate around the first rotating shaft 841 and the third rotating shaft 843, that is, swing up and down, and cannot move in other directions, making the overall movement more stable.

[0179] Both the first link 81 and the second link 82 are packaged in a box, with the first link 81 located below the second link 82 and partially enclosing the second link 82.

[0180] The bottom surface of the first link 81 abuts against the aforementioned cam 52. The rotation of the cam 52 can drive the first link 81 and the second link 82 to rotate around the first pivot 841 and the third pivot 843 between the highest and lowest positions, thereby driving the grass-cutting work assembly 6 to rise and fall.

[0181] like Figure 8 and Figure 20 As shown, when the mowing assembly 6 is in its highest position, the cam 52 is at its maximum lift point, and the mowing head 62 is in its highest position, which is also its initial height. When it is necessary to lower the height of the mowing head 62, the lifting motor 51 drives the cam 52 to rotate clockwise. Due to the weight of the mowing head 62, the first connecting rod 81 rotates counterclockwise around the first rotating shaft 841, and the second connecting rod 82 rotates counterclockwise around the third rotating shaft 843, which manifests as the descent of the mowing head 62. Figure 9 and Figure 21 As shown, the mowing component 6 is in its lowest position. Since the mowing component 6 can rotate around the third pivot 843 and the fourth pivot 844, the mowing head 62 can always remain perpendicular to the ground during the descent.

[0182] When it is necessary to drive the grass trimmer head 62 to rise, the lifting motor 51 can drive the cam 52 to rotate counterclockwise to the initial height.

[0183] Of course, in other embodiments, the first connecting rod 81 can also be driven to rotate around the first pivot 841 and the first connecting rod 81 around the third pivot 843 in other ways. For example, the cylinder can also be mounted on the steering seat 3, and the piston rod of the cylinder can be hinged to the bottom surface of the first connecting rod 81. The piston rod can drive the first connecting rod 81 to rotate around the first fulcrum when it rises or falls.

[0184] In some embodiments, a single connecting rod may be provided, such as a separate first connecting rod 81. The two ends of the first connecting rod 81 are movably connected to the steering seat 3 and the mowing assembly 6, respectively. The bottom surface of the first connecting rod 81 abuts against the cam 52 and can slide with the cam 52 to drive the mowing assembly 6 to rise and fall. Providing two connecting rods can improve the stability of the lifting and lowering process.

[0185] In another embodiment, the two connecting rods can also be arranged side by side in the horizontal direction. The inner ends of the two connecting rods are rotatably connected to the steering seat 3, and the outer ends are rotatably connected to the grass trimming component 6. One of the connecting rods is driven by the cam 52 to swing, which will drive the other connecting rod to swing.

[0186] like Figure 15 , Figure 16 and Figure 17As shown, the first connecting rod 81 is a box-shaped structure with its opening facing upwards, and the second connecting rod 82 is a box-shaped structure with its opening facing downwards. The first connecting rod 81 partially encloses the second connecting rod 82, and the first and second connecting rods are combined to form a closed cavity. In other words, the two sides of the first connecting rod 81 are located on the two sides of the second connecting rod 82. The first connecting rod 81 and the second connecting rod 82 serve as both transmission components and prevent foreign objects from entering the grass-cutting device. This eliminates the need for a separate protective mechanism, satisfying both transmission and protection functions while making the entire device lighter.

[0187] The mowing device essentially forms a cantilever structure on the side of the machine. During cutting, it encounters resistance from soil, grass roots, and small stones, generating reaction forces. If the trimming device is heavy, it can cause the machine's center of gravity to shift. The resistance and vibration will generate significant bending stress and torque in the trimming device, potentially leading to the entire machine tipping over, tilting, or even fatigue fracture at the connection between the mowing device and the machine body. The first and second connecting rods of this invention, working in conjunction, not only provide transmission but also offer individual protection, making the entire mowing device lighter and preventing breakage at the connection between the mowing device and the machine body.

[0188] Furthermore, the two sides of the first connecting rod 81 abut against the two side plates 332 of the upper cover 33 respectively, that is, the two sides of the first connecting rod 81 and the two side plates 332 of the upper cover are face-to-face transmissions. The steering motor 41 drives the upper cover 33 of the steering seat 3 to rotate, and then the two side plates 332 of the upper cover 33 push the two sides of the first connecting rod 81 to rotate face-to-face. This driving method replaces the traditional method of the motor directly driving the robotic arm, which solves the shaking problem caused by the lightweighting of the robotic arm. The robotic arm forms a lever structure with its hinge point with the steering seat as the fulcrum. With the position of the cam 52 and the installation position of the grass cutting motor and other related structural features, the steering and lifting functions of the grass cutting work component 6 are realized, and the entire grass cutting work device is made lighter and more stable.

[0189] In another embodiment, the first link 81 is a box-shaped structure with its opening facing upwards, and the second link 82 can be a rod-shaped structure located inside the first link, or the second link 82 can be a box-shaped structure with its opening removed, and the first link 81 can be a rod-shaped structure located inside the second link 82.

[0190] As a preferred embodiment, the lifting adjustment assembly 5 includes a rolling element, which can be a roller 53 or a ball bearing, etc. Figure 8 and Figure 9As shown, the roller 53 is disposed on the bottom surface of the first connecting rod 81 and is rotatably connected to the first connecting rod 81. The roller 53 abuts against the outer contour of the cam 52, and the roller 53 rolls along the outer contour of the cam 52 as the cam 52 rotates. When it is necessary to lower the height of the trimmer head 62, the lifting motor 51 drives the cam 52 to rotate clockwise, the roller 53 slides along the outer contour of the cam 52, and the first connecting rod 81 rotates counterclockwise around the first rotating shaft 841 and the second connecting rod 82 rotates counterclockwise around the third rotating shaft 843.

[0191] Furthermore, such as Figure 22 and Figure 23 As shown, the baffle 323 is also equipped with a first limiting post 325 and a second limiting post 326. The first limiting post 325 and the second limiting post 326 are located on the left and right sides of the cam 52, respectively. The two surfaces defining the outer contour of the cam 52 are the first contour surface 521 and the second contour surface 522, respectively. When the grass trimming assembly 6 is in the highest position, as shown... Figure 22 As shown, the first contour surface 521 abuts against the first limiting post 325, and the second contour surface 522 and the second limiting post 326 are spaced apart. When the mowing assembly 6 is in its lowest position, as shown... Figure 23 As shown, the second profile surface 522 abuts against the second limiting post 326, and the first profile surface 521 is away from the first limiting post 325. The first limiting post 325 and the second limiting post 326 are used to limit the rotation of the cam 52 at the highest and lowest positions.

[0192] The function of the second limit post 326 is to limit the rotation angle of the cam 52, so as to prevent the cam 52 from continuing to rotate too much when the grass-beating head 62 descends to the lowest position. When the lifting motor reverses to raise the grass-beating head 62, the return angle of the cam 52 is too large, which cannot push the rolling parts in time, resulting in a delay in raising the grass-beating head 62.

[0193] In another embodiment, such as Figure 16 As shown, the baffle 323 is also provided with an abutment groove 327. When the grass trimming working component 6 is in the lowest position, the roller 53 slides down along the outer contour of the cam 52. However, the roller 53 does not move downward in a straight line, but rotates around the first rotating shaft 841. During the descent and ascent, the roller 53 will have a relative lateral displacement relative to the working surface of the cam 52. The grass trimming head 62 descends from the highest position to the lowest position, and the projections of the cam 52 and the working surface of the follower always overlap.

[0194] At its lowest position, roller 53 moves laterally, with part of it abutting against the outer contour of cam 52 and the other part abutting against the abutment groove 327 of baffle 323. The abutment groove 327 also limits the lowest position of the mowing assembly 6.

[0195] Furthermore, the lowest position can be limited by restricting the descent height of the first link 81 or the second link 82. For example... Figure 15 , Figure 16 and Figure 17 As shown, the bottom plate 331 of the upper cover 33 is an inclined plate, and the top surface of the bottom plate 331 is an inclined limiting surface 334. In the highest position, the limiting surface 334 is located below the first link 81 and the second link 82. In the lowest position, the bottom surface of the first link 81 abuts against the inclined limiting surface 334, which can also limit the position of the first link 81 and the second link 82.

[0196] like Figure 8 As shown, the distance between the axis of the first rotating shaft 841 and the axis of the fourth rotating shaft 844 is L, and the distance from the position where the roller 53 abuts against the cam 52 to the position of the axis of the first rotating shaft 841 is L1. The ratio of L1 to L ranges from 1 / 3 to 2 / 3. Furthermore, the ratio of L1 to L is 1 / 2.

[0197] The first rotating shaft 841 and the fourth rotating shaft 844 are respectively located on both sides of the contact point between the cam 52 and the robotic arm. The contact point of the robotic arm is also the contact point between the roller 53 and the cam 52. The first rotating shaft 841 and the fourth rotating shaft 844 form a lever structure with the mounting point of the robotic arm 8 as the fulcrum. The self-weight of the grass-cutting working component 6 is used to ensure that the roller 53 below the robotic arm 8 is in reliable contact with the cam 52. This avoids the following situations that may occur when the grass-cutting motor 61 and other structures are too lightweight: when the lifting motor adjusts the grass-cutting head 62 to descend, the end weight cannot overcome the friction at the mounting fulcrum to descend, or the descending response is too slow.

[0198] In one embodiment, the closer the robotic arm contact point is to the first rotating shaft 841, the greater the driving power of the lifting motor 51. If the robotic arm contact point is far from the first rotating shaft 841, a heavier grass-trimming motor 61 and grass-trimming head 62 are required to ensure reliable contact between the roller 53 and the cam 52, which is not conducive to lightweight design. Therefore, the robotic arm contact point can be set in the range of 1 / 3 to 2 / 3 of the robotic arm 8, and further, it can be at 1 / 2.

[0199] like Figure 30 , Figure 31As shown, the mowing assembly 6 includes a mowing motor 61, a mowing head 62, and a housing 67. The mowing motor 61 is connected to the housing 67, and the mowing head 62 is connected to the mowing motor 61, with a mowing rope 63 on the mowing head 62. The mowing motor 61 drives the mowing head 62 to rotate the mowing rope 63. The mowing device also includes a cutting assembly 64, which includes a guard plate 65 extending out of the mowing head 62 and a cutting member 641 connected to the guard plate 65. The guard plate 65 is fixedly connected to the housing 67, and the cutting member 641 is used to cut the mowing rope 63 when it rotates to the cutting member 641. The cutting component is used to cut the grass trimming rope 63, which is wound inside the grass trimming head 62. The length pulled out is not easy to control precisely. If the rope is too long, the grass trimming motor 61 will be overloaded or collide with surrounding objects during the rotation of the grass trimming rope 63. The cutting component 641 is set so that the grass trimming rope 63 will be cut to a fixed length when it is thrown out, and there is no need to manually control its length.

[0200] The steering motor 41 is housed within the connecting seat 2, while the lifting motor 51 is housed within the lifting motor seat 32 of the steering seat 3. The lifting motor seat 32 is located on the support platform 222 of the connecting seat 2. Essentially, the connecting seat 2 bears the weight of both the steering motor 41 and the lifting motor 51, leaving only the necessary weight of the mowing motor 61 component in the robotic arm 8. The steering motor 41 and lifting motor 51 belong to the orientation control group, while the mowing motor 61 belongs to the operation execution group. The structural counterweight is concentrated in the connecting seat 2, meaning the overall weight is closer to the connection between the mowing device and the machine body 1. This significantly reduces the weight and inertia of the robotic arm 8, improves the overall machine balance, and reduces vibration during operation.

[0201] In one embodiment, a lifting motor 51 and a steering motor 41 of similar weight can be used, and they can be installed symmetrically. The centers of the lifting motor 51 and the steering motor 41 are on the same horizontal plane, that is, at the same height, so that the center of gravity of the entire connecting seat 2, steering adjustment component 4, lifting adjustment component 5, and steering seat 3 is closer to the geometric center of the connecting seat 2. Due to the presence of magnets and other structures in the lifting motor 51 and the steering motor 41, the motor housing of the grass-cutting device is generally made of plastic. The weight of the grass-cutting motor 61 can also be less than that of the lifting motor 51 or the steering motor 41. The weight of the grass-cutting motor 61 and the motor housing 66 are smaller than the mass of the lifting motor 51 and the steering motor 41. The center of gravity of the entire connecting seat 2, steering adjustment component 4, lifting adjustment component 5, and steering seat 3 mainly depends on the installation position of the steering motor 41 and the lifting motor 51. In order to ensure the connection balance between the grass-cutting device and the whole machine, and the force balance of the internal connecting parts of the connecting seat 2, so as not to make one side of the connecting seat 2 bear more connection compression and overturning force, a lifting motor 51 and a steering motor 41 of similar weight are used. The symmetrical arrangement and consistent installation height ensure that the center of gravity of the entire mowing device is close to the geometric center of the connecting seat 2, which can improve the stability of the entire mowing device.

[0202] The grass cutting device also includes multiple rubber plugs 91, which are installed in the cable routing holes of the steering seat 3 and the two connecting rods, allowing the cable 9 to pass through while also providing a sealing function.

[0203] In the second embodiment of the grass-cutting device of the present invention, such as Figure 18-25 As shown, the mowing device in this embodiment also includes a connecting seat 2, a steering seat 3, a steering adjustment component 4, a lifting adjustment component 5, a mowing component 6, and a robotic arm 8. The principle of the entire device is basically the same as that of the mowing device in the first embodiment. For example, the steering motor 41, clutch 42, lifting motor 51 and cam 52 cooperate, and the mowing method of the mowing motor 61 and the detachable method of the bottom cover 23 are all the same as those in the first embodiment. The operation of the entire mowing device will not be described in detail.

[0204] In this embodiment, such as Figure 18 and Figure 19 As shown, the first link 81 and the second link 82 are both box-shaped, and the second link 82 is located above the first link 81. The second link is also a box-shaped structure with an opening facing downwards, and the first link 81 is also a box-shaped structure with an opening facing upwards.

[0205] Unlike the first embodiment, the second link 82 partially surrounds the first link 81. The second link 82 covers the first link 81 and is combined with the first link 81 to form a closed cavity. Compared with setting an additional top shielding structure, using the second link 82 as a top shield can prevent weeds and foreign objects from entering the interior of the two links, greatly reducing the weight of the robotic arm 8 and improving the flexibility and motion response of the trimming.

[0206] In addition, an elastic element is provided between the first link 81 and the second link 82, which is defined as the first elastic element 85. The first elastic element 85 is located in the closed cavity formed by the first link 81 and the second link 82, with one end connected to the first link 81 and the other end connected to the second link 82. The first elastic element 85 is a spring, which can improve the stability of the linkage height adjustment of the two links.

[0207] Furthermore, in this embodiment, the steering seat 3 includes a seat body, a lifting motor seat, and a top cover, with a sealing ring 35 provided at the connection between the top cover and the seat body. The lifting motor seat is connected to the radially outer side of the seat body, while the top cover covers the top of the seat body and the lifting motor seat.

[0208] The steering seat 3 also includes a protective shell 34, which is arranged radially outside the seat body, the lifting motor seat, and the top cover. It does not cover the top of the top cover and does not affect the lifting of the two connecting rods. The height of the protective shell 34 is basically the same as the overall height of the seat body and the top cover, and it is fixedly connected to the radially outside of the seat body, the lifting motor seat, and the top cover.

[0209] The first link 81 and the second link 82 are connected to the upper cover via the first pivot 841 and the second pivot 842, respectively. That is, the first pivot 841 and the second pivot 842 are provided on the two side plates 332 of the upper cover. The working angle of the robotic arm 8 is adjusted by the protective shell 34 and the upper cover.

[0210] The two sides of the second link 82 abut against the two side plates 332 of the upper cover 33, meaning that the two sides of the second link 82 and the two side plates 332 of the upper cover are in face-to-face transmission. The steering motor 41 drives the upper cover 33 of the steering seat 3 to rotate, and then the two side plates 332 of the upper cover 33 push the two sides of the second link 82 to rotate face-to-face, while simultaneously driving the first link 81 to rotate. Compared with the existing technology where the angle motor directly drives the mechanical arm 8 to rotate, changing the force from the shaft driving the mechanical arm 8 to a face-to-face force can reduce the shaking of the lightweight mechanical arm 8 during angle adjustment, reduce stress concentration at the shaft position, allow the use of lighter connecting parts, and the protective shell 34 set on the outside of the mechanical arm 8 can also prevent foreign objects from entering the mechanical arm 8.

[0211] Furthermore, the protective shell 34 essentially encloses the seat, the lifting motor seat, and the top cover, forming a basically enclosed space, with only an opening between the two side plates 332 of the top cover, which facilitates the lifting and lowering of the first and second links. The second link covers the first link 81, with the two side plates 332 abutting against each other, forming a closed space between the first and second links. The second link abuts against the two side plates, which on the one hand allows for face-to-face transmission, and on the other hand, the overall enclosed space prevents foreign objects from entering the steering seat or the first and second links.

[0212] In this embodiment, the lifting motor base 32 only has a first space 321 and a baffle 323 to accommodate the lifting motor 51, and no second space 322 is provided. That is, the cam 52, the first limiting post 325, and the second limiting post 326 are all exposed outside the baffle 323. Compared with the first embodiment, the mounting space of the cam 52 has eliminated the bottom surface, eliminating the space for the accumulation of grass clippings, soil, and other debris on the platform, and avoiding mechanism jamming caused by the accumulation of debris.

[0213] In this embodiment, the mowing motor 61 is further provided with a motor housing 66, such as Figure 24 and Figure 25 As shown, the motor housing 66 is provided with a heat dissipation structure and an air inlet 663. When the grass-cutting motor 61 is in operation, a negative pressure zone 611 is formed near the motor shaft of the grass-cutting motor 61 under high-speed rotation. The negative pressure zone 611 is also the gap between the coil and the magnet.

[0214] The air inlet 663 is located at the bottom of the motor housing 66 and extends into the negative pressure zone 611 inside the grass-cutting motor 61, that is, the air inlet 663 and the negative pressure zone 611 are connected.

[0215] Cool air enters through the air inlet 663, contacts the motor shaft, and flows through the internal coils and other structures of the motor. Under the action of centrifugal force, the hot air is thrown to all sides of the motor and dissipates from the heat dissipation structure of the motor housing 66. This heat dissipation structure includes multiple heat dissipation fins 661, or other vents and other structures, and surrounds the radial outer side of the grass-trimming motor 61 to facilitate the outward dissipation of hot air.

[0216] A heat-conducting layer 662 is provided between the grass-cutting motor 61 and the motor housing 66. The heat-conducting layer 662 can be a heat-conducting silicone pad or a heat-conducting colloid injected between the motor housing 66 and the grass-cutting motor 61.

[0217] The motor housing 66 is provided with an air inlet 663 and a heat dissipation structure to cool the key heat-generating structure of the grass-cutting motor 61. A thermally conductive silicone pad is provided between the grass-cutting motor 61 and the motor housing 66. Under centrifugal force, hot air is thrown to the surrounding area of ​​the grass-cutting motor 61. The surface of the motor housing 66 is provided with heat dissipation fins 661, which dissipate heat to the motor housing 66 through the thermally conductive silicone pad.

[0218] This application uses a thermally conductive silicone pad to replace the traditional air-cooled heat dissipation of the grass trimming motor 61. Traditional air-cooled heat dissipation requires an air outlet, and there will be gaps in the motor body. However, grass trimming requires long-term outdoor operation, which places high demands on the sealing of the grass trimming motor 61. Traditional air-cooled heat dissipation cannot meet the operational needs.

[0219] In addition, potting compound can be used for heat dissipation. In conjunction with the integrated motor housing 66, the potting compound is filled between the motor housing 66 and the mowing motor 61. The potting compound dissipates heat to the surrounding area of ​​the motor housing 66. Since the potting compound needs to be poured between the integrated motor housing 66 and the mowing motor 61, in order to ensure uniform flow, the flow gap needs to be at least 4mm. That is, the gap on one side between the motor housing 66 and the mowing motor 61 needs to be at least 4mm. The gap requirement is relatively large, so this implementation method is suitable for motors with smaller diameters, so as not to make the mowing part too large.

[0220] Furthermore, when using a thermally conductive silicone pad, this implementation can employ a modular motor housing 66. The thermally conductive silicone pad does not require flow filling; it only needs to be installed on the outer periphery of the mowing motor 61. Therefore, an integrated motor housing 66 is not required, and flow gaps do not need to be considered. The gap between the motor housing 66 and the mowing motor 61 only needs to be large enough to install the thermally conductive silicone pad, typically 1mm. This method can reduce the size of the motor housing 66 and is suitable for both large-diameter and small-diameter motors.

[0221] An air inlet 663 is provided in the motor housing 66. The air inlet 663 extends into the motor housing 66 to form an air duct. The end of the air duct is located in the negative pressure zone 611 of the cooling fan blade of the grass trimmer motor 61, making full use of the negative pressure suction to enhance the air intake efficiency and improve the heat dissipation effect.

[0222] The third embodiment of the present invention also includes a connecting seat 2, a steering adjustment component 4, a lifting adjustment component 5, a grass-cutting component 6, and a robotic arm 8. The connecting seat 2 is used to be fixedly connected to the machine body 1. The steering motor 41, the clutch 42, and the end cover 43 are respectively installed on the connecting seat 2. The grass-cutting method of the steering motor 41, the clutch 42, and the grass-cutting motor 61 is the same as that of the first embodiment.

[0223] The difference is that, in this embodiment, as Figure 30 and 31As shown, the housing 67 of the mowing motor 61 is directly fixedly connected to the end cap 43, and the end cap 43 directly drives the housing 67 and the mowing motor 61 to rotate. The housing 67 includes a first section 671, a second section 672, and a third section 673. The first section 671 covers the top of the connecting seat 2 and is fixedly connected to the end cap 43. The second section 672 is located between the first section 671 and the third section 673, which is equivalent to the function of the robotic arm 8, but the second section 672 cannot be raised or lowered. The third section 673 covers the radial outer side of the mowing motor 61.

[0224] Furthermore, the lifting adjustment component 5 differs from the first embodiment. In this embodiment, the lifting adjustment component 5 is installed in the housing 67 and is used to drive the lifting of the mowing motor 61 and the mowing head 62.

[0225] Specifically, such as Figure 31 As shown, the lifting adjustment assembly 5 includes not only the lifting motor 51, but also the lifting rope 54. The lifting motor 51 is located inside the housing 67 and is fixedly connected to the second section 672 of the housing 67, while the lifting rope 54 is located inside the third section 673 of the housing 67, with its bottom end connected to the grass-trimming motor 61 and its top end wound around the output shaft of the lifting motor 51. As the lifting motor 51 rotates, it drives the grass-trimming motor 61 to rise and fall between the highest and lowest positions.

[0226] The third section 673 of the outer casing 67 is also provided with a guide rod 56 extending vertically, while the lawn mower motor 61 is provided with a pair of roller pulleys 55, which are roller-clamped to the outside of the guide rod 56. The rollers 55 and the guide rod 56 work together to provide guidance.

[0227] Of course, in other embodiments, a guide rail extending vertically can be provided in the third segment 673, and a slider that can slide in the guide rail can be provided outside the grass trimming motor 61. The two can work together to play a guiding role.

[0228] The third segment 673 also includes an elastic element, designated as the second elastic element 68. The bottom end of the second elastic element 68 is connected to the third segment 673, and the top end is connected to the mowing motor 61. When the mowing motor 61 is in its lowest position, the second elastic element 68 is compressed. When the mowing motor 61 needs to rise, the second elastic element 68 assists the lifting motor 51 in driving the mowing motor 61 to rise.

[0229] The mowing assembly 6 includes a telescopic tube 69, which is fitted around the mowing motor 61 and has its bottom end connected to the bottom end of the motor 61, and its top end connected to the bottom end of the third section 673 of the outer casing 67. The telescopic tube 69 is telescopic and can also prevent foreign objects from entering the outer casing 67.

[0230] Furthermore, such as Figures 44-49As shown, a connecting ring 674 is also installed at the bottom end of the third section 673 of the outer casing 67. The connecting ring is annular and fixedly connected to the third section 673 of the outer casing 67, and is used to fix the telescopic tube 69 to the bottom end of the third section 673 of the outer casing 67.

[0231] Specifically, such as Figure 44 , Figure 45 and Figure 46 As shown, the top end of the telescopic tube 69 is provided with an annular first connecting part 691. The first connecting part 691 extends circumferentially along the telescopic tube 69 and is located on the inner wall of the telescopic tube. The top surface of the first connecting part 691 is provided with a first mounting groove 692. The first mounting groove 692 is a groove extending circumferentially and is locked at the bottom end of the third segment 673.

[0232] The inner wall of the third section 673 is provided with an installation protrusion 675, such as Figure 45 As shown, the connecting ring 674 is installed on the inner wall of the third segment 673, and the top of the connecting ring is provided with a screw hole 676, as shown. Figure 48 As shown, the top of the connecting ring 674 can be fixedly connected to the mounting protrusion 675 by screws.

[0233] The connecting ring 673 has a protruding fixing plate 677 on its radially outer side, such as Figure 44 , Figure 46 and Figure 48 As shown, the fixing plate 677 is arranged circumferentially along the connecting ring 673 and abuts against the bottom end of the first connecting part 691, thereby fixing the top end of the telescopic tube 69 to the third section 673.

[0234] In addition, the radially inner side of the connecting ring 674 is provided with a protruding guide rod mounting position 678, such as... Figure 44 and Figure 48 As shown, the guide rod mounting position 678 is used for fixed assembly with the bottom end of the guide 56, and the guide rod 56 can be fixedly assembled with the guide rod 56 by providing a hole in the guide rail mounting position 678.

[0235] In addition, Figure 44 , 45 and Figure 48 In the illustrated embodiment, the third segment 673 is further provided with two guide rods 56 extending vertically. The two guide rods 56 are located on both sides of the mowing motor, and the bottom ends of the two guide rods 56 are fixedly connected to the two guide rod mounting positions 678 of the connecting ring 673, respectively. The mowing motor 61 is provided with two pairs of roller pulleys 55, which are rotatably clamped around the two guide rods 56.

[0236] A mowing motor mount 679 is installed outside the mowing motor. This mowing motor mount 679 is equivalent to the aforementioned motor housing 66. The mowing motor mount 679 is cylindrical and located inside the third section 673. Figure 47 and Figure 48As shown, the bottom surface of the grass trimmer motor base 679 is provided with a second mounting groove 6791, which extends circumferentially.

[0237] The bottom surface of the telescopic tube 69 is provided with a second connecting part 693, which is a ring extending in the circumferential direction and has a top surface that is fitted into a second mounting groove 6791.

[0238] The guard plate 65 is installed on the radial outer side of the grass trimmer motor base 679 and is fixedly connected to the bottom end of the grass trimmer motor base 679. The guard plate 65 abuts against the bottom surface of the second connecting part 693, and the first connecting part 693 is clamped between the guard plate 65 and the grass trimmer motor base 679.

[0239] The clutch 42 in the first, second, and third embodiments of the present invention is the same, as follows: Figure 26 , Figure 27 As shown, the clutch 42 includes: a mounting housing 421, multiple transmission members 422, and multiple elastic members. The elastic members are defined as third elastic members 423, each with a single elastic portion. The mounting housing 421 has multiple guide grooves 4211, defined as second guide grooves 4211. Each transmission member 422 is movably disposed within the mounting housing 421, and each transmission member 422 has meshing teeth 4221, which are operably slidable along the second guide grooves 4211. The number of third elastic members 423 is the same as the number of transmission members 422. The third elastic members 423 and transmission members 422 are alternately arranged around the mounting housing 421, forming a surrounding area. Each of the two ends of the third elastic member 423 abuts against the two adjacent transmission members 422 respectively. The two adjacent third elastic members 423 cooperate to apply a pushing force to the transmission members 422 that abut against each other, so that the transmission members 422 are driven away from the center of the surrounding area.

[0240] This embodiment takes three transmission components 422 and three third elastic components 423 as an example. Figure 26 and Figure 27As shown, the second guide groove 4211 also has three sections. The two ends of the third elastic member 423 are connected to two transmission members 422. The transmission member 422 has a connecting part 4222 formed by a cross seat. The elastic part is a spring, which is sleeved on the cross seat. The two third elastic members 423 push one transmission member 422 at the same time, so that the meshing teeth 4221 of the transmission member 422 always protrude from the outside of the mounting shell 421 through the second guide groove 4211 in the original state. In this embodiment, the mounting shell 421 also has an external connection hole 4212 provided in the surrounding area. The external connection hole 4212 is used to connect to the output shaft of the steering motor. When the clutch 42 is driven by the steering motor, the meshing teeth 4221 of the transmission member 422 can cooperate with the tooth grooves 431 on other external components such as the end cover 43, thereby driving the end cover 43 to rotate, thereby driving the grass trimming device connected to the end cover 43 to rotate.

[0241] like Figure 26 and Figure 28 As shown, when the mowing device is struck by an obstacle, the end cap 43 and the meshing teeth 4221 of the transmission member 422 slide relative to each other, pushing the transmission member 422 to slide into the mounting housing 421. This slippage between the transmission member 422 and the end cap 43 enables the clutch 42 to engage or disengage, as shown in the diagram. When the obstacle disappears, the third elastic element 423 releases its stored elastic potential energy, allowing the transmission member 422 to return to its initial position. Figure 28 Central direction 1. For example Figure 26 As shown, O is the center of the surrounding area, and the transmission component 422 slides outward from the mounting housing 421 in the direction of arrow A. That is to say, under different operating conditions, the force state of the spring and the clutch principle are different from the clutch 42 in the prior art. This application uses a spring that expands to both sides in its natural state (expansion spring / expansion spring). When "engaged," the spring naturally pushes out the transmission component 422; when "disengaged," the spring is passively compressed and stores energy; when returning to "engaged" from "disengaged," the spring releases the stored elastic potential energy to achieve reset. The entire clutch and reset process does not require adjustment of the power source's power. In contrast, the prior art generally uses a tension spring. When "engaged," it relies on centrifugal force / electromagnetic force / hydraulic pressure generated by the power source; when "disengaged," it needs to cut off or reduce the power supply; when returning to "engaged" from "disengaged," the power supply needs to be restored or increased. The entire process depends on the active adjustment of the power source. In other words, the force state and clutch principle of the third elastic element 423 under different working conditions are different from those of the clutch 42 in the prior art. In this embodiment, the third elastic element 423 (expansion spring / expansion spring) expands to both sides in its natural state. When "engaged", the third elastic element 423 naturally pushes out the transmission element 422. When "disengaged", the third elastic element 423 is passively compressed and stores energy. When "disengaged" and "engaged" again, the third elastic element 423 releases the stored elastic potential energy to achieve reset. The entire clutch and reset process does not require adjustment of the power source.

[0242] Understandably, the third elastic element 423 may also be other elastic functional elements that expand to both sides in their natural state, and is not limited to the spring in this embodiment. In addition, the number of the third elastic element 423 and the transmission element 422 is not limited to three, and may be more, or even two.

[0243] In addition, in this embodiment, as Figure 26 As shown, the third elastic element 423 is connected to the transmission element 422, and the two transmission elements 422 share one third elastic element 423 (the third elastic element 423 is provided with transmission elements 422 at both ends / the third elastic element 423 is located between the two transmission elements 422). The load is evenly distributed, and the third elastic element 423 works synchronously on both sides, resulting in synchronous transmission and small working error. It can be applied to high-speed applications, and it also has high adaptability to low-speed transmission and applications that require fine adjustment of the transmission relationship.

[0244] In addition, such as Figure 26 and Figure 27 As shown, the mounting housing 421 has a positioning post 4213 for mounting the transmission component 422. The transmission component 422 has a mounting hole 4223, into which the positioning post 4213 is inserted. Along the radial direction of the surrounding area, the length of the mounting hole 4223 is greater than the length of the positioning post 4213, allowing the transmission component 422 to move operably in the radial direction, i.e., in the direction of arrow A. The mounting hole 4223 can be an oblong hole with semicircular ends and a parallel section in the middle, providing sliding space along the path of the second guide groove 4211. This allows the transmission component 422 to slide relative to the positioning post 4213 along the path of the second guide groove 4211, thereby achieving disengagement / engagement switching.

[0245] Furthermore, such as Figure 26 and Figure 27 As shown, the mounting housing 421 includes: a housing bottom 4214 and a housing sidewall 4215 surrounding the outer periphery of the housing bottom 4214. A second guide groove 4211 is formed on the housing sidewall 4215, and the side of the mounting housing 421 away from the housing bottom 4214 is an open side, which facilitates maintenance.

[0246] In addition, such as Figure 26 and Figure 27As shown, the clutch 42 also includes a limiting member 4216, which is connected to the positioning post 4213 and abuts against the side of the transmission member 422 opposite to the bottom of the housing 4214. The limiting member 4216 can be a screw, which longitudinally positions the transmission member 422 to ensure that the transmission member 422 will not come out of the mounting housing 421, but does not restrict its sliding along the second guide groove 4211. However, it is not limited to screws; any structure that achieves the same limiting function is acceptable. The existence of this limiting ensures that the clutch 42 can adapt to different installation environments, not only the installation structure in this embodiment, but also other installation structures. When the mounting housing 421 is not closed, it can ensure that the transmission member 422 will not fall out of the mounting housing 421, ensuring reliable installation.

[0247] Furthermore, such as Figure 26 and Figure 27 As shown, the side of the meshing tooth 4221 facing away from the housing sidewall 4215 of the mounting housing 421 is an arc surface 4224, which facilitates the slippage and retraction of the clutch 42 after being impacted.

[0248] The clutch 42 in this embodiment can be used in the transmission systems of various devices, such as lawnmowers or sweeping robots. The third elastic element 423 achieves the contact and disengagement of the transmission relationship. The third elastic element 423 naturally expands to achieve transmission contact, and passively applies pressure to achieve transmission disengagement. The entire process requires no manual control, achieving overload disengagement of the transmission relationship and thus protecting the power source (such as a motor). In other words, the transmission element 422 of the clutch 42 meshes with other mating parts. The natural tension of the third elastic element 423 pushes the transmission element 422 outward, engaging with the mating parts. When the motor is operating, the rotation of the motor shaft drives the mating parts to rotate via the transmission element 422 on the clutch structure. The mating parts are often connected to a working mechanism. This process can achieve the effect of driving the working mechanism (e.g., making the working mechanism rotate). When the working mechanism encounters an external obstacle or other impact, the transmission element 422 slips and retracts under the squeezing force of the mating parts, achieving the clutch function. Unlike ordinary gear meshing transmission, it does not directly impact the tooth surface, and the impact force is transmitted to the motor shaft, causing damage to the motor. In this application, the clutch 42 in this embodiment can protect the motor.

[0249] Understandably, this example uses a third elastic element 423 having one elastic portion as an example. In other embodiments, the third elastic element 423 may also have multiple elastic portions, such as a third elastic element 423 having several connected elastic portions. The specific number of elastic portions is set according to requirements. In addition, among the multiple third elastic elements 423, some third elastic elements 423 may have multiple elastic portions, while others may have only one elastic portion; or all third elastic elements 423 may have only one elastic portion, or all third elastic elements 423 may have multiple elastic portions.

[0250] In other embodiments, such as Figure 33 and Figure 34 As shown, the structure of the transmission component 422 may differ from the above embodiment. As shown in the figure, the transmission component 422 has a transmission component body 4225, and a meshing tooth 4221 is disposed on the side of the transmission component body 4225 facing away from the housing sidewall 4215 of the mounting housing 421. The transmission component body, carrying the meshing tooth 4221, slides along the second guide groove 4211, with the meshing tooth 4221 separated from the groove sidewall of the second guide groove 4211. That is, the meshing tooth 4221 is a component that completely protrudes from the middle area of ​​the end face of the transmission component body. When the transmission component body moves along the second guide groove 4211, the meshing tooth 4221 is driven. There is a gap between the edge of the meshing tooth 4221 and the second guide groove 4211, preventing impact on the edge of the second guide groove 4211 during engagement and disengagement, reducing the impact of the second guide groove 4211 on the tooth surface, and effectively improving the service life of the clutch 42.

[0251] In addition, such as Figure 33 and Figure 34 As shown, the tooth root 4226 of the meshing tooth 4221 is a plane. Designing the position of the tooth root 4226 of the meshing tooth 4221 as a plane obtains a larger surface area, which can effectively disperse the stress at the tooth root position.

[0252] Furthermore, to prevent the transmission component 422 from detaching from the mounting housing 421, a transmission limiting component 4227 is provided on the side wall of the transmission component body. When the transmission component 422 moves to its limit position along the second guide groove 4211 outward from the mounting housing 421, the transmission limiting component 4227 abuts against the inner wall of the mounting housing 421.

[0253] A second embodiment of the present invention relates to a grass-cutting device. For example... Figure 30 , Figure 31 and Figure 32As shown, the mowing device can be a trimming device in an autonomous operating device 100, such as a lawnmower, and includes: a housing 67, a clutch 42 (as in the first embodiment), a steering motor 41, an end cap 43, and a mowing assembly 6. The steering motor 41 is connected to the clutch 42 and drives the clutch 42 to rotate. The end cap 43 covers the clutch 42 and is fixedly connected to the housing 67, and the inner wall of the end cap 43 is provided with a toothed groove 431 that engages with the meshing teeth 4221 of the transmission member 422. The mowing assembly 6 is disposed inside the housing 67. The steering motor 41 drives the clutch 42 to rotate, and the transmission member 422 of the clutch 42, in cooperation with the end cap 43, drives the end cap 43, the housing 67, and the mowing assembly 6 to rotate. The end cap 43 is connected to the outer shell 67 by bolts. In its natural state, the transmission component 422 is pushed outward and meshes with the tooth groove 431. When the steering motor 41 rotates, it drives the end cap 43 to rotate. At the same time that the transmission component 422 drives the end cap 43 to rotate, the outer shell 67 also rotates, driving the outer shell 67 and other parts on it to rotate, thereby realizing the overall steering of the grass cutting device.

[0254] In addition, such as Figure 28 As shown, the grass-cutting device also includes: a connecting seat 2 movably connected to the outer casing 67, and a motor mount for mounting the steering motor 41, which is a steering motor mount 221, and the connecting seat 2 is fixedly connected to the steering motor mount 221. An end cover 43 and a clutch 42 are installed inside the connecting seat 2. A bearing 45 is fixed inside the connecting seat 2 and sleeved on the outside of the end cover 43, allowing the end cover 43 to rotate relative to the connecting seat 2. The outer side wall of the connecting seat 2 has a first limiting ridge 2214. The portion of the connecting seat 2 with the first limiting ridge 2214 is nested inside the outer casing 67, and the inner side wall of the outer casing 67 has a second limiting ridge 311 that cooperates with the first limiting ridge 2214. When the outer casing 67 is driven by the clutch 42 to a preset position, the first limiting ridge 2214 and the second limiting ridge 311 abut against each other. Thus, after rotating to a preset working angle, the first limiting ridge 2214 and the second limiting ridge 311 abut against each other, achieving angle limiting. Figure 29 As shown, a sealing ring 46 is also provided at the joint between the connecting seat 2 and the outer shell 67, and a sealing ring 46 is also provided at the joint between the top of the connecting seat 2 and the steering motor seat 221.

[0255] In this embodiment, the second limiting edge 311 is a separately provided edge, such as... Figure 35 and Figure 36In other embodiments shown, the second limiting ridge 311 may also be formed by the abutment portion of the docking motor, instead of setting a separate ridge. This abutment portion is the mounting post 2213 mentioned above, which is connected to the connection hole on the motor by bolts. The abutment portion also serves as the second limiting ridge 311, which is used to cooperate with the first limiting ridge 2214. The transmission component 422 of the clutch 42 and the end cover 43 are meshed and matched. The natural tension of the third elastic element 423 pushes the transmission component 422 outward and meshes with the end cover 43. When the steering motor 41 is working, the rotation of the motor shaft drives the end cover 43 to rotate through the transmission component 422 on the clutch structure. The end cover 43 is connected to the steering seat 3 of the first and second embodiments or the outer shell 67 of the third embodiment. Other components are connected to the outer shell 67. This process can achieve the effect of driving the grass cutting device. When the grass cutting device encounters an external obstacle or other impact, the transmission component 422 is squeezed by the mating component and slips back. Specifically, the transmission component 422 is squeezed, and the mating relationship between the transmission component 422 and the mating component slips. The mating component rotates a certain angle, thereby realizing the clutch function. Unlike ordinary gear meshing transmission, it will not directly impact the tooth surface, and then the impact force will be transmitted to the motor shaft, causing damage to the steering motor 41. In this embodiment, the clutch 42 can protect the steering motor 41 in this application.

[0256] Specifically, for working mechanisms that need to operate at a fixed angle, such as those used to cut weeds at the work boundary during lawnmower movement, the mowing device needs to be opened to the working angle. Upon encountering an obstacle or other external impact, it slips and retracts a certain angle under the action of the aforementioned clutch structure, as shown in the diagram. After avoiding the obstacle, it needs to return to the preset working angle to continue working. In this case, the motor shaft is designed to maintain a torque tangential to the opening direction after rotating to the preset working angle. Figure 28In the center direction 1, in conjunction with clutch 42, even if it is hit by an obstacle and retracts, it will still return to the working angle after avoiding the obstacle and continue the trimming operation. When the steering motor 41 is energized, the torque of the motor shaft is the same as the load torque of the working mechanism. More specifically, the torque of the transmission component 422 is the same as the resistance torque generated by the reaction of the mating component. In short, the transmission component 422 can neither drive the mating component to rotate nor can the mating component squeeze the transmission component 422 to retract, and it remains fixed in a balanced state at the working angle. After hitting an obstacle, this balance is disrupted, causing the clutch 42 to slip, the angle to turn back, and the third elastic component 423 to be compressed and store energy. When the obstacle disappears, the third elastic component 423 releases the stored elastic potential energy. Under the combined action of the elastic force and the inherent motor torque (the torque is the same before and after, and there is no need to change the magnitude of the motor torque, which is fundamentally different from the existing technology that requires changing the magnitude of the motor power to restore the original position), the driving angle is restored. The magnitude of the restored angle can be controlled by the first limit edge 2214 and the second limit edge 311 on the equipment, or detected and controlled by the magnetic code disk on the motor, to ensure that it is restored to the preset working angle before the impact.

[0257] In one embodiment, when the equipment is performing edge trimming operations and there are obstacles in the working path of the trimming device, if the height of the obstacle is within the height adjustment range of the lifting and adjusting component (i.e., the trimming component can be raised above the height of the obstacle), the height of the trimming component can be adjusted by the lifting and adjusting component to pass through the obstacle and avoid direct collision. When the height of the obstacle is higher than the height adjustment range of the lifting and adjusting component (i.e., the trimming component is raised to its highest position but still cannot pass through the obstacle), the steering adjustment component is used to avoid the obstacle. Specifically, as described above, when the device collides with an obstacle under the action of the clutch, the steering component is passively rotated due to the obstruction of the obstacle (i.e., the clutch slips as described above) to pass through the obstacle area. After passing through the obstacle, the steering component actively resets to the preset working angle. The two obstacle avoidance methods work together to form a complete multi-dimensional obstacle avoidance system. No manual intervention is required. The system completes obstacle avoidance in complex scenarios through mechanical self-adaptation, improving equipment reliability and yard coverage.

[0258] In this embodiment, the grass cutting device is used as an edge trimming device. In other embodiments, the grass cutting device may also be a grass cutting disc device, etc., and is not limited to an edge trimming device.

[0259] The user installs and secures the mowing device to the machine body. When navigating narrow passages or returning to the charging station, the device can be retracted to a position close to the side of the machine body, minimizing its size and allowing for easier passage through confined spaces. When the mowing device starts working, the steering motor drives the robotic arm to open outwards to its working angle (optimal 80 degrees). The mowing motor rotates, and the mowing rope is cut to the working length by the cutting component. The lifting motor adjusts the height of the mowing head according to work requirements (such as weed height) to a suitable mowing height for trimming. When the robotic arm collides with an obstacle, the clutch slips and retracts, protecting the steering motor while allowing the robotic arm to rotate and avoid the obstacle. After passing the obstacle, the robotic arm returns to its working angle under the inherent motor torque, and the machine continues its trimming operation.

[0260] The present invention also relates to another embodiment of an autonomous operating device and its mowing apparatus, such as... Figures 37-43 As shown.

[0261] In this autonomous operating equipment, apart from the grass-cutting device, the remaining components and Figure 1 as well as Figure 18 The autonomous operating equipment shown in the embodiment is the same.

[0262] The grass-cutting device 200 in this embodiment also includes Figure 18 The embodiment shown includes a connecting seat 2, a steering seat 3, a steering adjustment component 4, a lifting adjustment component 5, a mowing component 6, a control module, and a robotic arm 8. The steering seat 3 is rotatably connected to the connecting seat 2. The steering adjustment component 4 is mounted on the connecting seat 2 and drives the steering seat to rotate. The robotic arm 8 is connected to the steering seat 3 and the mowing component 6 and can rotate with the steering seat 3. The lifting adjustment component 5 is connected to the connecting seat 2 and is used to drive the mowing component 6 to rise and fall. Specific implementation details are as follows... Figure 18 The grass-cutting device shown in the embodiment is the same and will not be described again.

[0263] The difference is that the mowing device 200 also includes a protective structure, which is connected to the mowing component 6, while the cutting part is connected to the protective structure. The protective structure is used to prevent the mowing rope from damaging the machine body.

[0264] Specifically, such as Figure 38 , Figure 39 and Figure 40 As shown, the protective structure includes a first cover 101, a second cover 102, and an elastic member. The first cover 101 is rotatably connected to the mowing assembly, and the second cover 102 is located below the first cover 101 and fixedly connected to the mowing assembly. The cutting member is connected to the bottom surface of the second cover 102.

[0265] The elastic element is defined as the fourth elastic element 103. One end of the fourth elastic element 103 is connected to the first cover 101, and the other end is connected to the connecting seat 2.

[0266] When the mowing component 6 is in the open state, such as Figure 39 As shown, the second cover 102 is vertically offset from the first cover 101. When the mowing assembly is in the retracted state, as... Figure 37 , Figure 38 , Figure 41 and Figure 43 As shown, the second cover 102 and the first cover 101 are stacked vertically.

[0267] The first cover 101 and the second cover 102 of the present invention can be folded and opened. During operation, the grass-trimming motor 61 and the grass-trimming head 62 are opened to the working angle under the drive of the robotic arm 8. The second cover 102 moves with the grass-trimming motor 61, while the first cover 101 rotates in the opposite direction around the grass-trimming motor 61 under the pulling force of the fourth elastic element 103. The first cover 101 and the second cover 102 are opened in a staggered manner, so that the protective structure is miniaturized and occupies less space when stored, but can have a larger protective area when working.

[0268] The mowing assembly 6 also includes a bracket 104, which is radially fitted around the outer side of the motor housing 66 of the mowing motor 61. Of course, in other embodiments, the bracket 104 may also be integrally formed with the motor housing 66.

[0269] The first cover 101 and the bracket 104 are rotatably connected, and the second cover 102 is fixedly connected to the bracket 104. After the second cover 102 is installed on the bracket 104, a certain distance is left between it and the motor housing, and the connecting part of the first cover 101 is accommodated within this distance.

[0270] Specifically, such as Figures 38-41 As shown, the first cover 101 includes a first protective top plate 1011, a second protective side plate 1022, and a protective side 1013. A rotating ring 1016 is provided at the radially inner end of the first protective top plate 1011. This rotating ring 1016 is fitted around the support 104 and can rotate relative to the support 104. The radially outer end of the first protective top plate 1011 is connected to the top end of the first protective side plate 1012. The first protective side plate 1012 is an arc-shaped plate centered on the rotation center of the second cover 102 and extends along the radial end of the first protective top plate 1011.

[0271] The top of the protective side 1013 is connected to the first protective top plate 1011 and the first protective side plate 1012 along one side of the circumference. The first protective top plate 1011, the second protective side plate 1022 and the protective side 1013 are preferably integrally formed.

[0272] The second cover 102 includes a second protective top plate 1021 and a second protective side plate 1022. The second protective top plate 1021 is located below the first protective top plate 1011 and has an annular connecting end 1025 protruding towards the top surface at its radially inner end. The annular connecting end 1025 is fixedly connected to the bracket 104 by screws. Of course, in other embodiments, the radially inner end of the second protective top plate 1021 can also be fixedly connected to the bracket 104 in other ways.

[0273] The radially outer end of the second protective top plate 1021 is connected to the second protective side plate 1022. The second protective side plate 1022 is an arc-shaped plate centered on the rotation center of the second cover 102 and extends along the radially outer end of the second protective top plate 1021, and is located radially inner to the first protective side plate 1012. The cutting member 641 is connected to the bottom surface of the second protective top plate 1021 and is located at the outer edge of the second protective top plate 1021.

[0274] In other words, the cross-section of the second cover 102 along the vertical direction is approximately L-shaped, and the cross-section of the first cover 101 along the vertical direction is also L-shaped, and the first cover 101 covers the top and radially outer side of the second cover 102.

[0275] The second cover 102 moves with the mowing motor, while the first cover 101 is restricted from movement by the fourth elastic element 103. When the mowing device is in the open state, that is, when it is in operation, the first cover 101 and the second cover 102 are offset by the maximum angle, providing a larger protective area. In the retracted state, the second cover 102 rotates to be below the first cover 101, reducing the space occupied.

[0276] The bottom end of the protective side 1013 is attached to the top surface of the second protective top plate 1021 and the radial outer surface of the second protective side plate 1022, which can prevent external debris from entering between the first cover 101 and the second cover 102 and hindering the normal opening of the protective structure.

[0277] The radial inner end of the protective side 1013 is also attached to the radial outer side of the annular connecting end 1025 at the inner end of the second protective top plate 1021, which can play a certain guiding role.

[0278] In addition, the protective structure also includes a first limiting part and a second limiting part 1024. The first limiting part is connected to the first cover 101. The second limiting part 1024 is connected to the second cover 102. When the grass cutting component is in the open state, the first limiting part and the second limiting part 1024 abut against each other, at which time the first cover 101 and the second cover 102 are opened at the maximum angle.

[0279] exist Figure 40In the illustrated embodiment, the first limiting portion is part of the protective side 1013, and the second limiting portion 1024 is disposed on the top surface of the second protective top plate 1021. The inner side surface of the protective side 1013 can also serve as an abutting surface to abut against the second limiting portion 1024 on the top surface of the second protective top plate 1021, thereby limiting the opening angle of the first cover 101 and the second cover 102.

[0280] Of course, in other embodiments, the second limiting part 1024 may also be disposed on the radially outer side of the second protective side plate 1022, and may also abut against the inner side of the protective side 1013.

[0281] As a preferred embodiment, the first cover 101 is provided with a guide groove 1014 extending along its rotation direction. The guide groove 1014 is an arc-shaped groove with the rotation center of the second cover 102 as the center. The second cover 102 is provided with a guide protrusion 1023 located in the guide groove 1014. The cooperation between the guide groove 1014 and the guide protrusion 1023 makes the first cover 101 open more smoothly and with better stability when it is relative to the second cover 102.

[0282] Of course, in other embodiments, the guide groove 1014 may also be provided on the second cover 102, and the guide protrusion 1023 may also be provided on the first cover 101.

[0283] exist Figure 39 and Figure 40 In the illustrated embodiment, the guide groove 1014 is a groove disposed radially inner to the first protective side plate 1012, extending circumferentially along the first protective side plate 1012. The guide protrusion 1023 is an arc-shaped protrusion extending radially outer to the second protective side plate 1022, extending circumferentially along the second protective side plate 1022 and capable of sliding relative to it within the guide groove 1014.

[0284] The top surface of the first protective top plate 1011 is provided with a mounting base 1015, and the fourth elastic element 103 is connected to the mounting base 1015.

[0285] It is not difficult to see that this embodiment can be implemented in conjunction with the above embodiments. The relevant technical details mentioned in the above embodiments are still valid in this embodiment, and will not be repeated here to reduce repetition. Accordingly, the relevant technical details mentioned in this embodiment can also be applied to the above embodiments.

[0286] The preferred embodiments of the present invention have been described in detail above, but it should be understood that, if necessary, aspects of the embodiments can be modified to utilize aspects, features, and concepts from various patents, applications, and publications to provide other embodiments.

[0287] In light of the detailed description above, these and other changes can be made to the embodiments. Generally, the terminology used in the claims should not be considered limited to the specific embodiments disclosed in the specification and claims, but should be understood to include all possible embodiments together with the full scope of equivalents enjoyed by these claims.

[0288] Those skilled in the art will understand that the above embodiments are specific examples of implementing the present invention, and in practical applications, various changes in form and detail may be made without departing from the spirit and scope of the present invention.

Claims

1. A grass-cutting device, characterized in that, include: Connecting base, the connecting base being used to connect to the body of the autonomous operating equipment; A direction control component, wherein the direction control component is rotatably connected to the connecting seat about a vertical axis; as well as A mowing assembly, which is connected to the direction control assembly; The direction control component is used to control the raising, lowering, and turning of the grass-cutting work component.

2. The grass-cutting device according to claim 1, characterized in that, The direction control component includes: A steering seat, wherein the steering seat and the connecting seat are rotatably connected about a vertical axis; A steering adjustment assembly, which is mounted on the connecting seat and operably drives the steering seat to rotate about the vertical axis; A lifting adjustment assembly, which is mounted on the steering seat and operably drives the grass-cutting work assembly to lift and lower; The mowing assembly is movably connected to the steering seat.

3. The grass-cutting device according to claim 2, characterized in that, The mowing device also includes a robotic arm, the inner end of which is movably connected to the steering seat, and the outer end of which is connected to the mowing assembly. The lifting adjustment assembly includes a lifting motor, which is mounted on the steering seat and can operably drive the inner end of the robotic arm to rotate around a horizontal axis. The steering adjustment assembly includes a steering motor, which is mounted on the connecting bracket.

4. The grass-cutting device according to claim 4, characterized in that, The center of gravity of the lifting motor and the center of gravity of the steering motor are on the same horizontal plane.

5. The grass-cutting device according to claim 5, characterized in that, The lifting motor and the steering motor have the same weight, and the lifting motor and the steering motor are symmetrically arranged with respect to the center of the connecting seat.

6. The grass-cutting device according to claim 5, characterized in that, The mowing assembly also includes a mowing motor, the weight of which is less than the weight of the steering motor.

7. The grass-cutting device according to claim 3, characterized in that, The lifting adjustment assembly includes a cam, the outer contour of which abuts against the bottom surface of the robotic arm; The output shaft of the lifting motor is connected to the cam and can drive the cam to rotate, thereby driving the inner end of the robotic arm to rotate around the horizontal axis.

8. The grass-cutting device according to claim 7, characterized in that, The lifting adjustment assembly also includes a rolling element, which is rotatably connected to the bottom surface of the robotic arm; The outer contour of the cam abuts against the rolling element.

9. The grass-cutting device according to claim 7, characterized in that, The outer contour of the cam includes a first contour surface and a second contour surface. The steering seat is provided with a first limiting post and a second limiting post; The lifting and adjusting component can operably drive the mowing component to rotate between the highest and lowest positions; At the highest position, the first contour surface abuts against the first limiting post; At the lowest position, the second profile surface abuts against the second limiting post.

10. The grass-cutting device according to claim 8, characterized in that, The robotic arm includes: The first link has one end movably connected to the steering seat to form a first fulcrum, and the other end movably connected to the grass-cutting motor to form a second fulcrum. The second link has one end movably connected to the steering seat to form a third fulcrum, and the other end movably connected to the grass-cutting working component to form a fourth fulcrum. The first link and the second link constitute a link linkage structure; The rolling element is rotatably connected to the bottom surface of the first connecting rod.

11. The grass-cutting device according to claim 10, characterized in that, The first fulcrum, the second fulcrum, the third fulcrum, and the fourth fulcrum form a parallelogram geometric constraint.

12. The grass-cutting device according to claim 11, characterized in that, The distance between the first support point and the fourth support point is L; The distance between the rolling element and the first fulcrum is L1, and the ratio of L1 to L ranges from 1 / 3 to 2 / 3.

13. The grass-cutting device according to claim 12, characterized in that, The ratio of L1 to L is 1 / 2.

14. The grass-cutting device according to claim 11, characterized in that, The first connecting rod is rotatably connected to the grass-cutting motor and the steering seat via two rotating shafts, respectively. The second link is rotatably connected to the grass-cutting motor and the steering seat via two other rotating shafts.

15. The grass-cutting device according to claim 11, characterized in that, The second link covers the first link, or the first link covers the second link.

16. The grass-cutting device according to claim 3, characterized in that, The connector includes: Steering motor mount, the steering motor mount being used to mount the steering motor; A support platform, which is connected to the steering motor mount; The steering seat includes: A seat body, which is connected to the steering motor; A lifting motor base, which is connected to the base body and located on the top surface of the support platform, is used to install the lifting motor.

17. The grass-cutting device according to claim 16, characterized in that, The steering seat also includes a top cover. The upper cover is fixedly connected to the base body; The inner end of the robotic arm is movably connected to the upper cover.

18. The grass-cutting device according to claim 17, characterized in that, The steering seat also includes a protective shell, which covers the outside of the seat body, the lifting motor seat, and the upper cover.

19. The grass-cutting device according to claim 3, characterized in that, The grass-cutting device also includes: A clutch, which is connected to the output shaft of the steering motor; An end cap covers the clutch and is fixedly connected to the steering seat.

20. An autonomous operating device, characterized in that, include: The machine body, and the mowing device as described in any one of claims 1-19, wherein the mowing device is connected to the machine body.

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