Cutting mechanism, frame and mowing robot

Abstract

The utility model relates to the field of robots, in particular to a cutting mechanism, a frame and a mowing robot. According to the cutting mechanism, the frame and the mowing robot, the cutting mechanism comprises the driving assembly and the cutter head assembly, the driving assembly comprises the driving motor, the motor gear, the transmission gear and the bearing part, the rotating shaft of the motor gear is coaxially connected with the driving motor, and the transmission gear is in meshed connection with the motor gear; one end of the bearing part is rotationally connected with a rotating shaft of the motor gear, the bearing part is further fixedly connected with the transmission gear and the cutter head assembly, and the driving motor is used for driving the transmission gear to rotate around the periphery of the motor gear so as to drive the cutter head assembly to swing around the driving motor. The cutting area of the cutterhead assembly is changed, the cuttable area of the cutterhead assembly is increased, and the mowing efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of robot technology, and in particular to a cutting mechanism, a frame and a lawn mowing robot. Background Art

[0002] The blade assembly of the lawn mower robot realizes mowing and other applications under high-speed rotation (autorotation). The cutting area of ​​the blade assembly has a great influence on the mowing path and mowing efficiency of the lawn mower robot. Existing lawn mower robots have the problem of relatively low mowing efficiency. Therefore, how to structurally design the cutting mechanism to improve the mowing efficiency has become a technical problem that needs to be solved. Utility Model Content

[0003] The main purpose of the present application is to propose a cutting mechanism, a frame and a lawn mowing robot to solve the technical problem that the existing lawn mowing robots have relatively low mowing efficiency.

[0004] To achieve the above-mentioned purpose, an embodiment of the present application provides a cutting mechanism, including a driving assembly and a cutter disc assembly, the driving assembly including a driving motor, a motor gear, a transmission gear and a supporting member, the rotating shaft of the motor gear is coaxially connected to the driving motor, the transmission gear is meshingly connected to the motor gear, one end of the supporting member is rotatably connected to the rotating shaft of the motor gear, the supporting member is also fixedly connected to the transmission gear and the cutter disc assembly, the driving motor is used to drive the transmission gear to rotate around the outer periphery of the motor gear to drive the cutter disc assembly to swing around the driving motor.

[0005] The cutting mechanism provided in the embodiment of the present application is designed to include a driving assembly and a blade disc assembly. The driving assembly includes a driving motor, a motor gear, a transmission gear and a supporting member. The rotating shaft of the motor gear is coaxially connected to the driving motor, and the transmission gear is meshingly connected to the motor gear. One end of the supporting member is rotatably connected to the rotating shaft of the motor gear. The supporting member is also fixedly connected to the transmission gear and the blade disc assembly. The driving motor is used to drive the transmission gear to rotate around the outer periphery of the motor gear to drive the blade disc assembly to swing around the driving motor, so that the cutting area of ​​the blade disc assembly changes, the area that can be cut by the blade disc assembly increases, and the mowing efficiency is increased.

[0006] In an optional embodiment, the cutting mechanism includes a motor bracket and a sliding rod, wherein the motor bracket is arranged on the outer periphery of the driving motor, and the motor bracket has an arc-shaped sliding groove; the sliding rod and the supporting member are arranged at intervals along the axial direction of the driving motor, one end of the sliding rod slides in the arc-shaped sliding groove, and the other end of the sliding rod is fixedly connected to the cutter disc assembly.

[0007] In an optional embodiment, the motor bracket includes a first bracket and a second bracket arranged along the axial direction of the drive motor, and the arc-shaped slide groove includes a first arc-shaped groove arranged on the first bracket and a second arc-shaped groove arranged on the second bracket;

[0008] The sliding rod includes a sliding rod and a connecting rod. The sliding rod is arranged along the axial direction of the driving motor. The two ends of the sliding rod slide in the first arc groove and the second arc groove respectively. One end of the connecting rod is fixedly connected to the sliding rod, and the other end of the connecting rod is fixedly connected to the cutter disc assembly. At least a part of the connecting rod is an arc segment.

[0009] In an optional embodiment, the cutting mechanism also includes a first connecting rod and a second connecting rod, a slider and a guide rail, one end of the first connecting rod is rotatably connected to the supporting member, the other end of the first connecting rod is rotatably connected to the second connecting rod, the other end of the second connecting rod is rotatably connected to the slider, the slider is slidably connected to the guide rail, and the mounting surface of the guide rail is perpendicular to the axial direction of the drive motor.

[0010] In an optional embodiment, the guide rail includes a first guide rail end and a second guide rail end, and the second guide rail end is closer to the drive motor than the first guide rail end;

[0011] When the cutter head assembly is located at the first preset position, the slider is located at the second guide rail end, and the first connecting rod and the second connecting rod are in a folded state;

[0012] When the cutter disc assembly is located at the second preset position, the sliding block is located at the first guide rail end or at a position between the first guide rail end and the second guide rail end, and the first connecting rod and the second connecting rod are in an unfolded state.

[0013] In an optional implementation, the length of the first connecting rod is smaller than the length of the second connecting rod.

[0014] In a second aspect, an embodiment of the present application provides a vehicle frame, comprising a wheel disc, a walking mechanism and the above-mentioned cutting mechanism, wherein the driving motor is fixed on the wheel disc, the driving motor drives the cutter disc assembly to rotate to a first preset position or a second preset position, the walking mechanism is installed on the wheel disc, and the walking mechanism is used to drive the wheel disc to travel;

[0015] The edge of the wheel disc is provided with a receiving groove which is concave toward the center position of the wheel disc. When the blade disc assembly is in the first preset position, it is located in the receiving groove to work in the middle mowing mode; when the blade disc assembly is in the second preset position, it is located outside the receiving groove to work in the edge mowing mode.

[0016] In an optional embodiment, the number of the cutting mechanisms is two, and the two cutting mechanisms are respectively located on opposite sides of the undercarriage;

[0017] The walking mechanism comprises a rear wheel assembly and a front wheel assembly which are sequentially arranged along the forward direction and are both mounted on the undercarriage, and the front wheel assembly is arranged between the two cutting mechanisms;

[0018] When both of the two cutting mechanisms are located at the first preset position, they work in the middle mowing mode. When at least one of the two cutting mechanisms is located at the second preset position, they work in the edge mowing mode.

[0019] In an optional embodiment, the blade disc assembly includes a blade disc motor and a blade disc, the blade disc motor extends along the height direction of the frame, the rotating shaft of the blade disc is coaxially connected to the output shaft of the blade disc motor, and a plurality of blades are provided on the circumference of the blade disc, and the plurality of blades are thrown out under the action of centrifugal force to cut grass.

[0020] In a third aspect, an embodiment of the present application provides a lawn mowing robot, comprising the above-mentioned frame.

[0021] The lawn mowing robot provided in the embodiment of the present application comprises a driving assembly and a blade disc assembly through the design of a cutting mechanism, wherein the driving assembly comprises a driving motor, a motor gear, a transmission gear and a supporting member, wherein the rotating shaft of the motor gear is coaxially connected to the driving motor, the transmission gear is meshingly connected to the motor gear, one end of the supporting member is rotatably connected to the rotating shaft of the motor gear, and the supporting member is also fixedly connected to the transmission gear and the blade disc assembly, the driving motor is used to drive the transmission gear to rotate around the outer periphery of the motor gear to drive the blade disc assembly to swing around the driving motor, so that the cutting area of ​​the blade disc assembly changes, the area that can be cut by the blade disc assembly increases, and the mowing efficiency increases; when the cutting mechanism is applied to the lawn mowing robot, as the position of the lawn mowing robot moves, the mowing efficiency of the lawn mowing robot can be further accelerated. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments are briefly introduced below.

[0023] Figure 1 is a front perspective view of a cutting mechanism in a frame of a lawn mowing robot provided in an embodiment of the present application at a first preset position;

[0024] Figure 2 is a back perspective view of the cutting mechanism provided by an embodiment of the present application at a first preset position;

[0025] Figure 3 This is a schematic diagram of the structure of the cutting mechanism provided in the embodiment of the present application. Figure 1 ;

[0026] Figure 4 This is a schematic diagram of the structure of the first drive assembly provided in the embodiment of the present application. Figure 1 ;

[0027] Figure 5 is a front plan view of the cutting mechanism provided by an embodiment of the present application at a first preset position;

[0028] Figure 6 is a back plan view of the cutting mechanism provided by an embodiment of the present application at a first preset position;

[0029] Figure 7 is a front perspective view of the cutting mechanism provided by an embodiment of the present application at a second preset position;

[0030] Figure 8 is a back perspective view of the cutting mechanism provided by an embodiment of the present application at a second preset position;

[0031] Fig. 9 is a front plan view of the cutting mechanism provided by an embodiment of the present application at a second preset position;

[0032] Fig.10 is a back plan view of the cutting mechanism provided by an embodiment of the present application at a second preset position;

[0033] Fig.11 This is a schematic diagram of the structure of the second drive assembly provided in the embodiment of the present application. Figure 1 ;

[0034] Fig.12 This is a schematic diagram of the structure of the second drive assembly provided in the embodiment of the present application. Figure 2 ;

[0035] Fig.13 This is a schematic diagram of the structure of the second drive assembly provided in the embodiment of the present application. Figure 3 ;

[0036] Fig.14 is a partial structural diagram of a second driving assembly provided in an embodiment of the present application;

[0037] Fig.15 is a schematic structural diagram of a third driving assembly provided in an embodiment of the present application;

[0038] Fig.16 It is a schematic diagram of the partial structure of the back side of the third driving component provided in an embodiment of the present application at the first preset position.

[0039] Fig.17 It is a schematic diagram of the partial structure of the back side of the third driving component provided in an embodiment of the present application at the second preset position.

[0040] Description of Figure Numbers:

[0041] Frame 100; wheel base 20; walking mechanism 30; cutting mechanism 10; front end 21; rear end 22; first side 23; second side 24; top surface 20a; bottom surface 20b; driving assembly 11; cutter disc assembly 12; driving motor 13; motor gear 14; transmission gear 15; bearing member 16; motor bracket 17; sliding rod 18; first bracket 171; second bracket 172; first arc groove 173; second arc groove 174; sliding rod 181; connecting rod 182; arc segment 183; guide rail assembly 19; first connecting rod 191; second connecting rod 192; sliding block 193; guide rail 194; first guide rail end 19a; second guide rail end 19b; receiving groove 25; first cutting mechanism 10a; second cutting mechanism 10b; rear wheel assembly 31; front wheel assembly 32; baffle 26; cutter disc motor 121; cutter disc 122. DETAILED DESCRIPTION

[0042] The technical solution of the present application will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the embodiments described in the present application are only a part of the embodiments, not all of the embodiments. Based on the embodiments provided in the present application, all other embodiments obtained by ordinary technicians in this field without creative work belong to the protection scope of the present application.

[0043] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it mutually exclusive, independent, or alternative to other embodiments. It can be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0044] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example: a component or device including one or more parts is not limited to the one or more parts listed, but optionally includes one or more parts that are not listed but inherent to the exemplified product, or one or more parts that it should have based on the described function.

[0045] The present application provides a lawn mowing robot, which includes a frame 100 .

[0046] See also Figure 1 , Figure 2The frame 100 includes a wheel base 20, a traveling mechanism 30 and at least one cutting mechanism 10.

[0047] See also Figure 1 , Figure 2 The undercarriage 20 is a bearing structure of the frame 100. For example, the undercarriage 20 is in a plate shape. Taking the undercarriage 20 as a reference, the undercarriage 20 has a front end 21 and a rear end 22 along the forward direction, and the direction from the rear end 22 to the front end 21 is the forward direction of the frame 100. The undercarriage 20 also has a first side edge 23 and a second side edge 24, such as the left side edge and the right side edge of the undercarriage 20 in the figure.

[0048] See also Figure 1 , Figure 2 The undercarriage 20 includes a top surface 20a and a bottom surface 20b which are arranged opposite to each other in the height direction.

[0049] The walking mechanism 30 is installed on the undercarriage 20. Specifically, the walking mechanism 30 is installed on the bottom surface 20b of the undercarriage 20. The walking mechanism 30 is used to drive the undercarriage 20 to walk. The walking forms of the undercarriage 20 include but are not limited to forward, backward, left turn, right turn, circle, etc. The present application does not make specific limitations on the walking mechanism 30, and the following examples are used to illustrate.

[0050] See also Figure 3 The cutting mechanism 10 includes a driving assembly 11 and a cutter disc assembly 12 .

[0051] The drive assembly 11 is installed on the undercarriage 20. Specifically, the drive assembly 11 can be completely installed on the bottom surface 20b side of the undercarriage 20, or a part of the drive assembly 11 is installed on the top surface 20a side of the undercarriage 20, and the other part is installed on the bottom surface 20b side of the undercarriage 20.

[0052] See also Figure 3 and Figure 4 The driving assembly 11 at least includes a driving motor 13 , a motor gear 14 , a transmission gear 15 and a bearing 16 .

[0053] Optionally, the drive motor 13 is arranged along the height of the lawn mowing robot. In other words, the axial direction of the drive motor 13 is perpendicular to the plane where the undercarriage 20 is located.

[0054] See also Figure 3 and Figure 4 The motor gear 14 and the driving motor 13 are arranged along the axial direction of the driving motor 13. The rotating shaft of the motor gear 14 is coaxially connected with the driving motor 13. The driving motor 13 rotates to drive the motor gear 14 to rotate synchronously. Optionally, the motor gear 14 is located at the bottom of the driving motor 13.

[0055] See also Figure 3 and Figure 4 The transmission gear 15 is disposed adjacent to the motor gear 14, and the toothed surface of the transmission gear 15 is connected to the toothed surface of the motor gear 14. Specifically, the transmission gear 15 is meshedly connected to the motor gear 14.

[0056] See also Figure 3 and Figure 4 One end of the bearing member 16 is rotatably connected to the rotating shaft of the motor gear 14. The bearing member 16 is also fixedly connected to the transmission gear 15 and the cutter head assembly 12.

[0057] For details, please refer to Figure 3 and Figure 4 The bearing member 16 is disposed on the side of the motor gear 14 away from the drive motor 13. The bearing member 16 also supports the transmission gear 15, and the transmission gear 15 is fixed to the bearing member 16. The other end of the bearing member 16 is fixedly connected to the cutter head assembly 12 (for example, the motor housing of the cutter head assembly 12). The transmission gear 15 is located between the motor gear 14 and the cutter head assembly 12.

[0058] See also Figure 1-Figure 4 , the rotating shaft of the driving motor 13 drives the motor gear 14 to rotate synchronously. The driving motor 13 is fixed to the undercarriage 20. The transmission gear 15 is movable compared to the undercarriage 20, so when the motor gear 14 rotates (rotates on its own), the transmission gear 15 and the motor gear 14 are driven by teeth, and the transmission gear 15 rotates around the outer periphery of the motor gear 14, and at the same time, the bearing 16, the cutter head assembly 12 and the transmission gear 15 rotate synchronously around the outer periphery of the motor gear 14. That is, the driving motor 13 is used to drive the transmission gear 15 to rotate around the outer periphery of the motor gear 14, so as to drive the cutter head assembly 12 to swing around the driving motor 13.

[0059] The cutting mechanism 10 provided in the embodiment of the present application is designed to include a driving assembly 11 and a blade disc assembly 12. The driving assembly 11 includes a driving motor 13, a motor gear 14, a transmission gear 15 and a supporting member 16. The rotating shaft of the motor gear 14 is coaxially connected to the driving motor 13, the transmission gear 15 is meshingly connected to the motor gear 14, one end of the supporting member 16 is rotatably connected to the rotating shaft of the motor gear 14, and the supporting member 16 is also fixedly connected to the transmission gear 15 and the blade disc assembly 12. The driving motor 13 is used to drive the transmission gear 15 to rotate around the outer periphery of the motor gear 14 to drive the blade disc assembly 12 to swing around the driving motor 13, so that the cutting area of ​​the blade disc assembly 12 changes, the area that can be cut by the blade disc assembly 12 increases, and the mowing efficiency is increased.

[0060] In an alternative embodiment, see Figure 5 and Figure 6The starting point of the swing of the cutter head assembly 12 is located within the projection area of ​​the vehicle disc 20 / vehicle body.

[0061] See also Figure 7-10 The end point of the swing of the cutter head assembly 12 is outside the projection area of ​​the vehicle disc 20 / vehicle body, that is, the cutter head assembly 12 swings from the bottom of the vehicle disc 20 to the outside of the vehicle disc 20 .

[0062] See also Figure 1 , Figure 2 , Figure 5 and Figure 6 When the blade assembly 12 is at the first preset position (eg, the starting position), it is located within the projection area of ​​the wheel disc 20 to operate in the middle mowing mode. In this mode, the mowing robot can mow the non-edge area of ​​the lawn.

[0063] See also Figure 7-10 , when the blade assembly 12 is at the second preset position (e.g., the end position), at least a portion of it is located outside the projection area of ​​the wheel disc 20, so as to work in the edge mowing mode. In this mode, the mowing robot can mow the edge area of ​​the lawn to perform edge trimming operations (edge ​​trimming operations). Of course, the edge mowing mode can also be used to mow non-edge areas of the lawn.

[0064] The blade disc 122 of a lawn mower robot in general technology is generally arranged under the chassis of the lawn mower robot to facilitate mowing while the lawn mower robot is walking. However, for some edge and corner areas, even if the wheels, shell and other structures of the lawn mower robot are close to the edge area of ​​the lawn, the blade disc 122 under the chassis of the lawn mower robot cannot cut into the edge area of ​​the lawn, resulting in a blind area where the blade disc 122 cannot cut.

[0065] The driving motor 13 is used to drive the transmission gear 15 and the supporting member 16 to move along an arc trajectory to drive the cutter disc assembly 12 to move along the arc trajectory to a first preset position or a second preset position. When the cutter disc assembly 12 is in the first preset position, it is located within the projection area of ​​the wheel disc 20 to work in the middle mowing mode. When the cutter disc assembly 12 is in the second preset position, at least part of it is located outside the projection area of ​​the wheel disc 20 to work in the edge mowing mode. The mowing robot can work in the middle mowing mode in the non-edge area of ​​the lawn, and in the edge mowing mode in the edge area of ​​the lawn. The above design enables the mowing robot to not only mow the non-edge area of ​​the lawn, but also effectively mow the edge area of ​​the lawn, that is, the mowing robot can perform edge operations, thereby improving the comprehensiveness of the mowing robot's functions.

[0066] In an optional embodiment, the starting point and the end point of the swing of the blade disc assembly 12 are both located within the projection area of ​​the vehicle disc 20 / vehicle body, that is, the blade disc assembly 12 swings at the bottom of the vehicle disc 20. In this embodiment, in the first possible application scenario, the blade disc assembly 12 can swing while rotating, so that the width of the cutting area of ​​the blade disc assembly 12 is greater than the diameter of the blade disc assembly 12. As the mowing robot moves forward, the blade disc assembly 12 can swing left and right (horizontally) while rotating, reducing the number of back and forth weeding times, greatly improving the weeding efficiency. In the second possible application scenario, the mowing robot is on the same track for two back and forth movements, but the blade disc assembly 12 swings to different positions for the two weeding movements. In this way, the mowing robot can be driven to go back and forth once on the same track, and a larger area can be weeded. In this embodiment, the mowing robot does not need to turn around.

[0067] In another optional embodiment, the starting point and the end point of the swing of the blade disc assembly 12 are both located outside the projection area of ​​the vehicle disc 20 / vehicle body, that is, the blade disc assembly 12 swings outside the vehicle disc 20. In this embodiment, in the first possible application scenario, the blade disc assembly 12 can swing while rotating, so that the width of the cutting area of ​​the blade disc assembly 12 is greater than the diameter of the blade disc assembly 12. As the mowing robot moves forward, the blade disc assembly 12 can swing left and right (horizontally) while rotating, reducing the number of back and forth weeding times, greatly improving the weeding efficiency. In the second possible application scenario, the mowing robot is on the same track for two back and forth movements, but the blade disc assembly 12 swings to different positions for the two weeding movements. In this way, the mowing robot can be driven to go back and forth once on the same track, and a larger area can be weeded. In this embodiment, the mowing robot does not need to turn around.

[0068] See also Figure 11-13 The cutting mechanism 10 includes a motor support 17 and a slide bar 18. The motor support 17 is arranged on the outer periphery of the driving motor 13. The motor support 17 has an arcuate slide groove 17a (a first arcuate groove 173 or a second arcuate groove 174). The arcuate slide groove 17a extends along the circumference of the driving motor 13. The slide bar 18 and the bearing member 16 are arranged at intervals along the axial direction of the driving motor 13. One end of the slide bar 18 slides in the arcuate slide groove 17a. The other end of the slide bar 18 is fixedly connected to the cutter head assembly 12.

[0069] When the cutter head assembly 12 rotates around the drive motor 13, the slide bar 18 slides along the arc-shaped slide groove 17a. The motor bracket 17 has a limiting effect on the slide bar 18 at least in the radial direction of the drive motor 13. The slide bar 18 and the bearing member 16 can improve the stability of the cutter head assembly 12 when it swings (revolves).

[0070] Furthermore, the motor bracket 17 can also limit the Z-axis direction of the slide rod 18 (that is, the axial direction of the drive motor 13), thereby providing support for the cutter disc assembly 12 in the Z-axis direction.

[0071] For details, please refer to Fig.14 The motor bracket 17 includes a first bracket 171 and a second bracket 172 which are spaced apart along the axial direction of the drive motor 13. The first bracket 171 and the second bracket 172 are both arranged around the circumference of the drive motor 13. The first bracket 171 and the second bracket 172 can be connected to the undercarriage 20 through a connecting plate, for example, fixed to the top surface 20a of the undercarriage 20.

[0072] See also Fig.14 The arc-shaped slot 17a includes a first arc-shaped slot 173 provided on the first bracket 171 and a second arc-shaped slot 174 provided on the second bracket 172. The extension trajectory of the first arc-shaped slot 173 and the second arc-shaped slot 174 is the same. The first arc-shaped slot 173 and the second arc-shaped slot 174 both extend around the circumference of the drive motor 13. The present application does not limit the curvature of the first arc-shaped slot 173 and the second arc-shaped slot 174. For example, the curvature of the first arc-shaped slot 173 and the second arc-shaped slot 174 is greater than 180°.

[0073] See also Fig.14 The sliding rod 18 includes a sliding rod 181 and a connecting rod 182. The sliding rod 181 and the connecting rod 182 are interconnected as a whole, that is, an integrated structure.

[0074] The sliding rod 181 is arranged along the axial direction of the driving motor 13. The sliding rod 181 is located between the first bracket 171 and the second bracket 172. The two ends of the sliding rod 181 respectively penetrate into the first arc groove 173 and the second arc groove 174 and slide in the first arc groove 173 and the second arc groove 174 respectively. One end of the connecting rod 182 is fixedly connected to the middle position of the sliding rod 181, and the other end of the connecting rod 182 is fixedly connected to the cutter head assembly 12. The connecting rod 182 rotates synchronously with the bearing member 16.

[0075] In an optional embodiment, the connecting rod 182 extends in a straight line, and the extending direction of the connecting rod 182 is the radial direction of the drive motor 13. When the cutter head assembly 12 rotates around the drive motor 13, the connecting rod 182 also rotates with the cutter head assembly 12, but the extending direction of the connecting rod 182 always keeps passing the central axis of the drive motor 13, so as to ensure that the slide bar 18 and the bearing member 16 rotate synchronously around the central axis of the drive motor 13.

[0076] In another alternative embodiment, see Fig.14, at least part of the connecting rod 182 is an arc segment 183. Compared with the straight extension embodiment, the position of the sliding rod 181 deviates from the line between the central axis of the drive motor 13 and the central axis of the cutter head assembly 12, so as to ensure that the sliding rod 18 and the bearing member 16 rotate synchronously around the central axis of the drive motor 13.

[0077] In this embodiment, by designing the connecting rod 182 as an arc segment 183, when the sliding rod 181 slides to the end of the arc groove 17a, the connecting rod 182 with the arc segment 183 can shorten the distance between the blade disc assembly 12 and the drive motor 13, thereby improving the compactness of the structural arrangement of the blade disc assembly 12 when it is in the retracted state.

[0078] Optionally, the two ends of the arc-shaped slide groove 17a can limit the sliding position of the sliding rod 181, and further limit the starting position and the end position of the rotation of the cutter disc assembly 12.

[0079] Furthermore, the number of the sliding rods 181 can be two or more. For example, there are two sliding rods 181, and the two sliding rods 181 can be arranged at intervals. The connecting rod 182 connects the two sliding rods 181, thereby driving the sliding rods 181 to move synchronously. The two sliding rods 181 can further increase the stability on the horizontal plane (the plane where the wheel disc 20 is located), thereby further increasing the stability of the cutter disc assembly 12 on the horizontal plane.

[0080] Optional, see Figures 15 to 17 The cutting mechanism 10 further includes a guide rail assembly 19. The guide rail assembly 19 includes a first connecting rod 191, a second connecting rod 192, a slider 193 and a guide rail 194. The first connecting rod 191, the second connecting rod 192, the slider 193 and the guide rail 194 are all arranged on a side of the carrier 16 away from the drive motor 13.

[0081] See also Figures 15 to 17 One end of the first connecting rod 191 is rotatably connected to the portion between the fixed transmission gear 15 and the cutter disc assembly 12 on the supporting member 16 .

[0082] See also Figures 15 to 17 The other end of the first connecting rod 191 is rotatably connected to the second connecting rod 192. The other end of the second connecting rod 192 is rotatably connected to the slider 193. The slider 193 is slidably connected to the guide rail 194. The mounting surface of the guide rail 194 is perpendicular to the axial direction of the drive motor 13.

[0083] By providing the guide rail 194 assembly 19, the rotational stability of the cutter head assembly 12 can be further increased.

[0084] For details, please refer to Figures 15 to 17The guide rail 194 can be arranged on the bottom surface 20b of the wheel disc 20. The slide bar 18, the bearing member 16 and the guide rail 194 assembly 19 are arranged in sequence along the axial direction of the drive motor 13, and can support, limit and improve the rotation stability of the cutter disc assembly 12 at three different heights.

[0085] The extending direction of the guide rail 194 is inclined compared to the length direction and the width direction of the wheel base 20 , so that the guide rail 194 drives the first connecting rod 191 and the second connecting rod 192 to absorb or compensate for the length direction and the width direction of the wheel base 20 .

[0086] See also Figures 15 to 17 , the two opposite ends of the guide rail 194 include a first guide rail end 19a and a second guide rail end 19b. The second guide rail end 19b is closer to the drive motor 13 than the first guide rail end 19a. Optionally, the first guide rail end 19a is located at a side of the undercarriage 20 near the front end 21. The second guide rail end 19b is located at a middle area of ​​the undercarriage 20.

[0087] See also Fig.16 When the blade assembly 12 is located at the first preset position (eg, the starting position), the slider 193 is located at the second guide rail end 19b. The first connecting rod 191 and the second connecting rod 192 are in a folded state, and the blade assembly 12 is in a retracted state.

[0088] During the rotation of the cutter head assembly 12 from the first preset position to the second preset position, the slider 193 moves from the second rail end 19b toward the first rail end 19a, and the first connecting rod 191 and the second connecting rod 192 are gradually spread apart. Meanwhile, the second connecting rod 192 can also be rotatably connected to the slider 193. In other words, after the slider 193 is located at the second rail end 19b, the second connecting rod 192 can continue to rotate around the slider 193, and the cutter head assembly 12 can also continue to swing around the slider 193.

[0089] See also Fig.17 When the cutter head assembly 12 is located at the second preset position (e.g., the end position), the slider 193 is located at the first guide rail end 19a or between the first guide rail end 19a and the second guide rail end 19b. The first connecting rod 191 and the second connecting rod 192 are in an unfolded state, and the cutter head assembly 12 is in an extended state.

[0090] Furthermore, the length of the first connecting rod 191 is smaller than the length of the second connecting rod 192 .

[0091] For example, the rotation connection axis of the first connecting rod 191 and the second connecting rod 192 is located near the central axis of the drive motor 13. During the rotation of the cutter head assembly 12 around the central axis of the drive motor 13, one end of the first connecting rod 191 is rotationally connected to the cutter head assembly 12, and the other end of the first connecting rod 191 moves in an arc as the cutter head assembly 12 rotates. By designing the length of the first connecting rod 191 to be relatively short, the other end of the second connecting rod 192 can rotate near the central axis of the drive motor 13, for example, the other end of the second connecting rod 192 rotates from between the central axis of the drive motor 13 and the front end 21 of the wheel disc 20 to between the central axis of the drive motor 13 and the rear end 22 of the wheel disc 20. Optionally, the length of the second connecting rod 192 is similar to or the same as the length of the carrier 16.

[0092] The length of the first connecting rod 191 is designed to be relatively long, so that the cutter head assembly 12 can be rotated to a farther position when the first connecting rod 191 and the second connecting rod 192 are in the unfolded state.

[0093] The driving motor 13 is fixed on the wheel disc 20. The driving motor 13 drives the cutter disc assembly 12 to rotate to a first preset position or a second preset position.

[0094] See also Fig.16 and Fig.17 The edge (side) of the wheel disc 20 is provided with a receiving groove 25 which is concave toward the center of the wheel disc 20. When the blade disc assembly 12 is in the first preset position, it is located in the receiving groove 25 to work in the middle mowing mode. When the blade disc assembly 12 is in the second preset position, it is located outside the receiving groove 25 to work in the edge mowing mode.

[0095] When the blade assembly 12 is in the first preset position, it is located within the projection area of ​​the wheel disc 20 to work in the middle mowing mode. In this mode, the mowing robot can mow the non-edge area of ​​the lawn.

[0096] When the blade assembly 12 is in the second preset position, at least a portion of it is located outside the projection area of ​​the wheel disc 20, so as to work in the edge mowing mode. In this mode, the mowing robot can mow the edge area of ​​the lawn to perform edge trimming (edge ​​trimming). Of course, the edge mowing mode can also be used to mow the non-edge area of ​​the lawn.

[0097] The blade disc 122 of a lawn mower robot in general technology is generally arranged under the chassis of the lawn mower robot to facilitate mowing while the lawn mower robot is walking. However, for some edge and corner areas, even if the wheels, shell and other structures of the lawn mower robot are close to the edge area of ​​the lawn, the blade disc 122 under the chassis of the lawn mower robot cannot cut into the edge area of ​​the lawn, resulting in a blind area where the blade disc 122 cannot cut.

[0098] The drive motor 13 is used to drive at least part of the cutter disc assembly 12 to move along an arc trajectory, so as to drive the cutter disc assembly 12 to move to a first preset position or a second preset position. When the cutter disc assembly 12 is in the first preset position, it is located within the projection area of ​​the wheel disc 20, so as to work in a middle mowing mode. When the cutter disc assembly 12 is in the second preset position, at least part of it is located outside the projection area of ​​the wheel disc 20, so as to work in an edge mowing mode. The mowing robot can work in a middle mowing mode in a non-edge area of ​​the lawn, and in an edge mowing mode in an edge area of ​​the lawn. The above design enables the mowing robot to not only mow the non-edge area of ​​the lawn, but also effectively mow the edge area of ​​the lawn, that is, the mowing robot can perform operations along the edge, thereby improving the comprehensiveness of the mowing robot's functions.

[0099] The cutting area of ​​the blade assembly 12 when in the second preset position can cover the front end 21 and the side (e.g., extending the first side edge 23 or the second side edge 24) of the wheel disc 20, so as to facilitate edge mowing and corner mowing. The cutting area of ​​the blade assembly 12 when in the extended state is located at the upper left corner or the upper right corner of the mowing robot, so as to facilitate mowing corners.

[0100] Optionally, the number of the cutting mechanism 10 is one, and one cutting mechanism 10 extends to the upper left corner when in the second preset position; or, one cutting mechanism 10 extends to the upper right corner when in the second preset position.

[0101] Optional, see Figure 5 , Figure 6 , Fig. 9 , Fig.10 The number of the cutting mechanisms 10 is two. In the present application, they are defined as a first cutting mechanism 10a and a second cutting mechanism 10b. The two cutting mechanisms 10 (the first cutting mechanism 10a and the second cutting mechanism 10b) are located at opposite sides of the undercarriage 20, respectively.

[0102] See also Figure 5 , Figure 6 , Fig. 9 , Fig.10 , accordingly, the number of the driving components 11 is two. Each driving component 11 drives one cutting mechanism 10. When the undercarriage 20 is provided with a receiving groove 25, the number of the receiving groove 25 is also two.

[0103] Optional, see Figure 5 , Figure 6 , Fig. 9 , Fig.10 The two cutting mechanisms 10, the two driving components 11, and the two receiving grooves 25 are all symmetrically arranged about the central axis of the undercarriage 20 along the forward direction.

[0104] Optional, see Figure 6 , Fig.10 The walking mechanism 30 includes a rear wheel assembly 31 and a front wheel assembly 32 which are arranged in sequence along the forward direction and are both mounted on the undercarriage 20. The front wheel assembly 32 is arranged between the two cutting mechanisms 10. Optionally, the front wheel assembly 32 is a universal wheel. The front wheel assembly 32 is located on the bottom surface 20b of the chassis and is close to the middle of the front end 21. The rear wheel assembly 31 includes a pair of driving wheels, and the pair of driving wheels are arranged at the rear end 22 of the undercarriage 20.

[0105] Optionally, when both of the two cutting mechanisms 10 are located at the first preset position, they work in the middle mowing mode. When at least one of the two cutting mechanisms 10 is located at the second preset position, they work in the edge mowing mode. Of course, when at least one of the two cutting mechanisms 10 is located at the second preset position, they can also work in the middle mowing mode.

[0106] See also Figure 1 , Figure 7 The top surface 20a of the undercarriage 20 is also provided with a baffle 26, and the baffle 26 surrounds the portion of the top surface 20a of the undercarriage 20 that is exposed from the driving assembly 11. For example, the baffle 26 is located in two V-shaped receiving grooves 25, and the baffle 26 can protect the driving assembly 11.

[0107] Optional, see Figure 1-Figure 3 The cutter head assembly 12 includes a cutter head motor 121 and a cutter head 122. The cutter head motor 121 extends along the height direction of the vehicle frame 100. The cutter head motor 121 is arranged to penetrate the receiving slot 25 to reduce the overall height of the vehicle plate 20 and the cutter head motor 121.

[0108] The rotating shaft of the cutter disc 122 is coaxially connected to the output shaft of the cutter disc motor 121 .

[0109] A plurality of blades are arranged on the circumference of the blade disc 122. A connecting rod passes through one end of the blade, and the blade can rotate around the connecting rod. Under the action of the centrifugal force during the rotation of the blade disc 122, the plurality of blades can be thrown out of the blade disc 122 to cut grass.

[0110] In an embodiment of the two cutting mechanisms 10, when the two cutting mechanisms 10 are both located at the first preset position, the two cutter discs 122 can be symmetrically arranged on the left and right, and the cutting areas of the two cutter discs 122 are tangent to each other. In this way, the cutting areas formed by the two cutting mechanisms 10 are connected, avoiding the formation of an uncut blind area between the two cutting mechanisms 10, which is conducive to planning the cutting path.

[0111] In other embodiments, when the two cutting mechanisms 10 are both located at the first preset position, the two cutting mechanisms 10 can be staggered front to back (along the forward direction) and up and down on the Z axis (height direction) to avoid interference between the two cutter discs 122. It also ensures that the cutting areas of the two cutter discs 122 overlap to a certain extent, thereby avoiding the formation of an uncut blind area between the two cutting mechanisms 10, which is beneficial for planning the cutting path.

[0112] In other embodiments, the cutting areas of the two cutting mechanisms 10 may also be arranged at intervals.

[0113] Optionally, the cutting area in the middle mowing mode and the cutting area in the edge mowing mode are in a tangent relationship or an overlapping relationship. In other words, the cutting area of ​​the cutting mechanism 10 at the first preset position is tangent to or overlaps with the cutting area of ​​the cutting mechanism 10 at the second preset position. In this way, the cutting trajectory of the cutting mechanism 10 at the first preset position is connected to the cutting trajectory of the second preset position. For example, after the blade disc assembly 12 performs the last middle mowing mode at the first preset position, the blade disc assembly 12 can mow all the grass on the edge after performing the edge mowing mode once at the second preset position. If the cutting area in the middle mowing mode and the cutting area in the edge mowing mode are set at intervals, after switching to the edge mowing mode, there will be an uncut area, which requires multiple cuttings.

[0114] In the embodiment of the present application, the cutting mechanism 10 at least partially exceeds (or extends out of) the outer contour boundary of the rear wheel assembly 31 when in the second preset position, so that the lawn edge can be cut without the lawn mowing robot moving in close contact with the wall. Of course, when the cutting mechanism 10 is in the second preset position, the rotation tangent of the blade assembly 12 is tangent to the outer contour boundary of the rear wheel assembly 31, so that the lawn edge can be cut when the lawn mowing robot moves in close contact with the wall.

[0115] Optionally, the mowing robot provided by the present application can automatically or manually switch to the middle mowing mode or the edge mowing mode. Wall / fence scene: distance measurement - automatically switch to the edge mowing mode according to the detection distance of multiple detection points being less than a preset distance.

[0116] In the embodiment of automatically switching the middle mowing mode or the edge mowing mode, the mowing robot further includes a distance measuring sensor, which is used to perform multi-point distance measurement toward the side where the first side 23 and / or the side where the second side 24 of the mowing robot is located. When the result after the multi-point distance measurement shows that the mowing robot is located at the edge of the lawn and the distance between the mowing robot and the wall / fence at the edge of the lawn is less than the preset distance, it means that the mowing robot is already at the edge position and automatically switches to the edge mowing mode. Alternatively, when the result after the multi-point distance measurement shows that the mowing robot is located at the edge of the lawn and the distance between the mowing robot and the wall / fence at the edge of the lawn is less than the preset distance, it means that the mowing robot is already at the edge position, and the middle mowing mode can be performed for the last time and then the mowing robot automatically switches to the edge mowing mode.

[0117] Optionally, the cutting mechanism 10 in the lawn mowing robot provided by the present application can not only stay at the first preset position and the second preset position, but also be reserved to other positions, so that the blade 122 can be extended to different distances and have different working gears. The working gear adjustment method includes automatic adjustment method and / or manual adjustment method.

[0118] In an embodiment of automatically identifying different gears, the lawn mower robot also includes a ranging sensor, which is used to perform multi-point ranging toward the side where the first side 23 and / or the side where the second side 24 of the lawn mower robot is located. When the result of the multi-point ranging indicates that the lawn mower robot is located at the edge of the lawn, the extension distance of the blade 122 is determined according to the distance between the lawn mower robot and the wall / fence at the edge of the lawn, that is, the cutting mechanism 10 is determined to be located at different positions, so as to ensure that the blade 122 does not collide with the wall / fence at the edge of the lawn and can effectively cut the grass at the edge of the lawn.

[0119] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present application, and these improvements and modifications are also regarded as the scope of protection of the present application.

Claims

1. A cutting mechanism, characterized in that: It includes a driving assembly and a cutter disc assembly, the driving assembly includes a driving motor, a motor gear, a transmission gear and a supporting member, the rotating shaft of the motor gear is coaxially connected to the driving motor, the transmission gear is meshingly connected to the motor gear, one end of the supporting member is rotatably connected to the rotating shaft of the motor gear, the supporting member is also fixedly connected to the transmission gear and the cutter disc assembly, the driving motor is used to drive the transmission gear to rotate around the outer periphery of the motor gear to drive the cutter disc assembly to swing around the driving motor.

2. The cutting mechanism according to claim 1, characterized in that: The cutting mechanism includes a motor bracket and a sliding rod. The motor bracket is arranged on the outer periphery of the driving motor, and the motor bracket has an arc-shaped sliding groove. The sliding rod and the supporting member are arranged at intervals along the axial direction of the driving motor. One end of the sliding rod slides in the arc-shaped sliding groove, and the other end of the sliding rod is fixedly connected to the cutter disc assembly.

3. The cutting mechanism according to claim 2, characterized in that: The motor bracket includes a first bracket and a second bracket arranged along the axial direction of the drive motor, and the arc-shaped slide groove includes a first arc-shaped groove arranged on the first bracket and a second arc-shaped groove arranged on the second bracket; The sliding rod includes a sliding rod and a connecting rod. The sliding rod is arranged along the axial direction of the driving motor. The two ends of the sliding rod slide in the first arc groove and the second arc groove respectively. One end of the connecting rod is fixedly connected to the sliding rod, and the other end of the connecting rod is fixedly connected to the cutter disc assembly. At least a part of the connecting rod is an arc segment.

4. The cutting mechanism according to claim 3, characterized in that: The cutting mechanism also includes a first connecting rod and a second connecting rod, a slider and a guide rail, one end of the first connecting rod is rotatably connected to the supporting member, the other end of the first connecting rod is rotatably connected to the second connecting rod, the other end of the second connecting rod is rotatably connected to the slider, the slider is slidably connected to the guide rail, and the mounting surface of the guide rail is perpendicular to the axial direction of the drive motor.

5. The cutting mechanism according to claim 4, characterized in that: The guide rail comprises a first guide rail end and a second guide rail end, wherein the second guide rail end is closer to the drive motor than the first guide rail end; When the cutter head assembly is located at the first preset position, the slider is located at the second guide rail end, and the first connecting rod and the second connecting rod are in a folded state; When the cutter disc assembly is located at the second preset position, the sliding block is located at the first guide rail end or at a position between the first guide rail end and the second guide rail end, and the first connecting rod and the second connecting rod are in an unfolded state.

6. The cutting mechanism according to claim 4, characterized in that: The length of the first connecting rod is smaller than the length of the second connecting rod.

7. A vehicle frame, characterized in that: It comprises a wheel disc, a walking mechanism and the cutting mechanism according to any one of claims 1 to 6, wherein the driving motor is fixed on the wheel disc, the driving motor drives the cutter disc assembly to rotate to a first preset position or a second preset position, the walking mechanism is installed on the wheel disc, and the walking mechanism is used to drive the wheel disc to travel; The edge of the wheel disc is provided with a receiving groove which is concave toward the center position of the wheel disc. When the blade disc assembly is in the first preset position, it is located in the receiving groove to work in the middle mowing mode; when the blade disc assembly is in the second preset position, it is located outside the receiving groove to work in the edge mowing mode.

8. The frame according to claim 7, characterized in that: There are two cutting mechanisms, which are respectively located on two opposite sides of the wheel disc; The walking mechanism comprises a rear wheel assembly and a front wheel assembly which are arranged in sequence along the forward direction and are both mounted on the undercarriage, and the front wheel assembly is arranged between the two cutting mechanisms; When both of the two cutting mechanisms are located at the first preset position, they work in the middle mowing mode. When at least one of the two cutting mechanisms is located at the second preset position, they work in the edge mowing mode.

9. The frame according to claim 7, characterized in that: The blade disc assembly includes a blade disc motor and a blade disc. The blade disc motor extends along the height direction of the frame. The rotating shaft of the blade disc is coaxially connected with the output shaft of the blade disc motor. A plurality of blades are arranged on the circumference of the blade disc. The plurality of blades are thrown out under the action of centrifugal force to cut grass.

10. A lawn mowing robot, characterized in that: Comprising a frame as described in any one of claims 7 to 9.

Images