Frame and mowing robot

Abstract

The utility model relates to the field of robots, in particular to a frame and a mowing robot, a cutting mechanism comprises a driving assembly and a cutterhead assembly, the cutterhead assembly is fixedly connected to the driving assembly, the driving assembly comprises a driving motor, a transmission part and a connecting part, the driving motor is connected with the transmission part, and the transmission part is connected with the cutterhead assembly through the connecting part; the driving motor is used for driving at least part of the transmission part to move along a linear track so as to drive the cutterhead assembly to move to a first preset position or a second preset position along a straight line through the connecting part, and the cutterhead assembly is located in a projection area of the chassis when located at the first preset position so as to work in a middle mowing mode; at least part of the cutterhead assembly is located outside the projection area of the chassis when the cutterhead assembly is located at the second preset position, so that the cutterhead assembly works in an edge mowing mode; by means of the design, the mowing robot can mow in the middle and can work along the edge, and the functional comprehensiveness of the mowing robot is improved.

Description

Technical Field

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

[0002] The blade of a lawn mower robot is generally located under the chassis of the lawn mower robot, so that the lawn mower robot can mow the lawn while 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 lawn edge area, the blade under the chassis of the lawn mower robot cannot cut the lawn edge area, resulting in a blind area where the blade cannot cut. Therefore, how to enable the lawn mower robot to effectively mow the lawn edge area, that is, how to enable the lawn mower robot to perform edge operations and improve the comprehensiveness of the lawn mower robot's functions, has become a technical problem that needs to be solved. Utility Model Content

[0003] The present application provides a frame and a lawn mowing robot that enable the lawn mowing robot to effectively mow the edge area of ​​a lawn and improve the comprehensiveness of the functions of the lawn mowing robot.

[0004] In a first aspect, an embodiment of the present application provides a frame, comprising:

[0005] Car plate;

[0006] A traveling mechanism, the traveling mechanism being installed on the undercarriage, and the traveling mechanism being used to drive the undercarriage to travel; and

[0007] At least one cutting mechanism, the cutting mechanism includes a driving assembly and a blade disc assembly, the driving assembly is installed on the vehicle disc, the driving assembly includes a driving motor, a transmission member and a connecting member, the driving motor is connected to the transmission member, and the transmission member is connected to the blade disc assembly through the connecting member, the driving motor is used to drive at least part of the transmission member to move along a straight line trajectory, so as to drive the blade disc assembly to move along a straight line to a first preset position or a second preset position through the connecting member, the blade disc assembly is located within the projection area of ​​the vehicle disc when in the first preset position, so as to work in a middle mowing mode, and at least part of the blade disc assembly is located outside the projection area of ​​the vehicle disc when in the second preset position, so as to work in an edge mowing mode.

[0008] The embodiment of the present application provides a frame, wherein a walking mechanism is installed on a wheel disc, and the walking mechanism is used to drive the wheel disc to walk; the cutting mechanism includes a driving assembly and a cutter disc assembly, the driving assembly is installed on the wheel disc, and the cutter disc assembly is fixedly connected to the driving assembly, the driving assembly includes a driving motor, a transmission member and a connecting member, the driving motor is connected to the transmission member, and the transmission member is connected to the cutter disc assembly through the connecting member, the driving motor is used to drive at least part of the transmission member to move along a straight line trajectory, so as to drive the cutter disc assembly to move along a straight line to a first preset position or a second preset position through the connecting member, the cutter disc assembly is located in the projection area of ​​the wheel disc at the first preset position, so as to work in a middle mowing mode, and at least part of the cutter disc assembly is located outside the projection area of ​​the wheel disc at the second preset position, so as to work in an edge mowing mode, and the mowing robot can work in the middle mowing mode in the non-edge area of ​​the lawn, and work 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.

[0009] In an optional embodiment, the transmission member includes a pair of bar teeth and a pair of gears, the pair of bar teeth are fixed on the disc at intervals, the pair of gears are respectively meshed with the pair of bar teeth, the rotating shaft of the drive motor and the rotating shaft of the pair of gears are coaxially connected, and the drive motor is used to drive the pair of gears to perform linear motion along the pair of bar teeth.

[0010] In an optional embodiment, a first limit plate and a second limit plate extend from both axial sides of the gear respectively, and the first limit plate and the second limit plate are clamped on both sides of the bar tooth when the gear moves along the bar tooth to limit the gear.

[0011] In an optional embodiment, a first rotating shaft and a second rotating shaft are respectively provided at two axial ends of the drive motor, the drive motor is arranged between the pair of gears, and the first rotating shaft and the second rotating shaft are respectively coaxially connected to the rotating shafts of the pair of gears.

[0012] In an optional embodiment, the connecting member includes a first connecting part, a main body and a second connecting part which are connected in sequence, the first connecting part and the second connecting part are both bent and connected to the main body, the main body is connected to the cutter disc assembly, and the first connecting part and the second connecting part are respectively connected to opposite ends of the drive motor.

[0013] In an optional embodiment, the undercarriage has a top surface and a bottom surface arranged opposite to each other, and the undercarriage also has a hollow portion passing through the top surface and the bottom surface, and the extension direction of the hollow portion is the same as the extension direction of the pair of bar teeth, and the pair of bar teeth are arranged on the top surface and respectively on opposite sides of the hollow portion, the drive motor is arranged across the hollow portion, and the connecting piece and the cutter disc assembly both pass through the hollow portion.

[0014] In an optional embodiment, the extension direction of the pair of bar teeth is obliquely intersected with the travel direction of the wheel disc, and the cutting area of ​​the cutter disc assembly when it is in the second preset position can cover the front end and side of the wheel disc.

[0015] 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;

[0016] 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;

[0017] 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.

[0018] 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.

[0019] In a second aspect, an embodiment of the present application provides a lawn mowing robot, comprising the above-mentioned frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] 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.

[0021] Figure 1 is a front perspective view of a cutting mechanism in a frame of a lawn mowing robot provided by an embodiment of the present application at a first preset position;

[0022] Figure 2 is a back perspective view of the cutting mechanism provided by an embodiment of the present application at a first preset position;

[0023] Figure 3 This is a schematic diagram of the structure of the cutting mechanism provided in the embodiment of the present application. Figure 1 ;

[0024] Figure 4 is a front plan view of the cutting mechanism provided by an embodiment of the present application at a first preset position;

[0025] Figure 5 is a back plan view of the cutting mechanism provided by an embodiment of the present application at a first preset position;

[0026] Figure 6 is a front perspective view of the cutting mechanism provided by an embodiment of the present application at a second preset position;

[0027] Figure 7 is a back perspective view of the cutting mechanism provided by an embodiment of the present application at a second preset position;

[0028] Figure 8 is a front plan view of the cutting mechanism provided by an embodiment of the present application at a second preset position;

[0029] Fig. 9 is a back plan view of the cutting mechanism provided by an embodiment of the present application at a second preset position;

[0030] Fig.10 The front structure decomposition diagram of the cutting mechanism provided in the embodiment of the present application at the second preset position Figure 1 ;

[0031] Fig.11 The front structure decomposition diagram of the cutting mechanism provided in the embodiment of the present application at the second preset position Figure 2 ;

[0032] Fig.12 is a schematic diagram of the back structure decomposition of the cutting mechanism provided by an embodiment of the present application at a second preset position;

[0033] Fig.13 This is a schematic diagram of the structure of the cutting mechanism provided in the embodiment of the present application. Figure 2 ;

[0034] Fig.14 It is a schematic diagram of the structural decomposition of the cutting mechanism provided in the embodiment of the present application;

[0035] Fig.15 It is a schematic diagram of the back structure of the cutting mechanism provided in an embodiment of the present application at a second preset position.

[0036] Description of Figure Numbers:

[0037] 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; drive assembly 11; cutter head assembly 12; drive motor 13; transmission member 14; connecting member 15; bar teeth 141; gear 142; first limit plate 143; second limit plate 144; first connecting portion 151; main body 152; second connecting portion 153; hollowing portion 25; first cutting mechanism 10a; second cutting mechanism 10b; rear wheel assembly 31; front wheel assembly 32; cutter head motor 121; cutter head 122; baffle 26; slide rail 27; slider 28. DETAILED DESCRIPTION

[0038] 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.

[0039] 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.

[0040] 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.

[0041] The present application provides a frame that can effectively mow the edge area of ​​a lawn and improve the comprehensiveness of the functions of the mowing robot, and a mowing robot having the frame.

[0042] See also Figure 1 and Figure 2 The frame 100 includes a wheel base 20, a traveling mechanism 30 and at least one cutting mechanism 10.

[0043] The undercarriage 20 is a bearing structure of the frame 100. For example, the undercarriage 20 is in the shape of a plate. With 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.

[0044] See also Figure 1 and 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.

[0045] 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.

[0046] See also Figure 3 The cutting mechanism 10 includes a driving assembly 11 and a cutter disc assembly 12 .

[0047] 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.

[0048] See also Figure 3 The driving assembly 11 includes a driving motor 13, a transmission member 14 and a connecting member 15. The driving motor 13 is connected to the transmission member 14. The transmission member 14 is connected to the cutter head assembly 12 through the connecting member 15.

[0049] The driving motor 13 is used to drive at least a portion of the transmission member 14 to move along a linear trajectory, so that the transmission member 14 drives the cutter head assembly 12 to move linearly to a first preset position or a second preset position through the connecting member 15 .

[0050] See also Figure 1 , Figure 2 , Figure 4 , Figure 5 , the blade assembly 12 moves in a straight line to a first preset position. 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.

[0051] See also Figure 6-Figure 9, the blade assembly 12 moves in a straight line to a second preset position. At least a portion of the blade assembly 12 in the second preset position 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.

[0052] The blade of a lawn mower robot in general technology is generally arranged under the chassis of the lawn mower robot, so that the lawn mower robot can mow the lawn while 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 of the lawn, the blade under the chassis of the lawn mower robot cannot cut into the edge of the lawn, resulting in a blind spot where the blade cannot cut.

[0053] The embodiment of the present application provides a frame 100, wherein a walking mechanism 30 is installed on a wheel disc 20, and the walking mechanism 30 is used to drive the wheel disc 20 to walk; the cutting mechanism 10 includes a driving assembly 11 and a cutter disc assembly 12, wherein the driving assembly 11 is installed on the wheel disc 20, and the cutter disc assembly 12 is fixedly connected to the driving assembly 11, and the driving assembly 11 includes a driving motor 13, a transmission member 14 and a connecting member 15, wherein the driving motor 13 is connected to the transmission member 14, and the transmission member 14 is connected to the cutter disc assembly 12 through the connecting member 15, and the driving motor 13 is used to drive at least part of the transmission member 14 to move along a straight line trajectory, so as to drive the cutter disc assembly 12 to move along a straight line to a first position through the connecting member 15. The preset position or the second preset position, the blade assembly 12 is located in the projection area of ​​the wheel disc 20 when in the first preset position, so as to work in the middle mowing mode, and at least part of the blade assembly 12 is located outside the projection area of ​​the wheel disc 20 when in the second preset position, so as 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 work in the edge mowing mode in the edge area of ​​the lawn; the above design enables the mowing robot not only to mow the non-edge area of ​​the lawn, but also to 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.

[0054] The structure of the driving component 11 is described below by way of example in conjunction with the accompanying drawings. Of course, the structure of the driving component 11 includes but is not limited to the following embodiments.

[0055] Optional, see Fig.10 The transmission member 14 includes a pair of bar teeth 141 and a pair of gears 142 .

[0056] See also Fig.11, the pair of bar teeth 141 are fixed to the undercarriage 20 at intervals. Optionally, the pair of bar teeth 141 can be arranged on the bottom surface 20b of the undercarriage 20, so that the drive assembly 11 is arranged on the bottom surface 20b of the undercarriage 20. Optionally, the pair of bar teeth 141 can be arranged on the top surface 20a of the undercarriage 20, so that a part of the drive assembly 11 is arranged on the top surface 20a of the undercarriage 20.

[0057] See also Figure 1 , Fig.10 and Fig.11 The pair of gears 142 are respectively meshed with the pair of bar teeth 141. The driving motor 13 is arranged along the direction opposite to the pair of bar teeth 141, which is also perpendicular to the direction in which the bar teeth 141 extend.

[0058] See also Figure 1 , Figure 6 , Figure 10-12 , the rotating shaft (output shaft) of the driving motor 13 and the rotating shaft of the pair of gears 142 are coaxially connected. The driving motor 13 drives the pair of gears 142 to rotate synchronously. Since the pair of gears 142 are respectively meshed with the pair of bar teeth 141, the driving motor 13 and the pair of gears 142 move relative to the pair of bar teeth 141 and the wheel 20. That is, the driving motor 13 is used to drive the pair of gears 142 to perform linear motion along the pair of bar teeth 141. In this way, the driving motor 13 drives a part of the transmission member 14 to perform linear motion, thereby driving the connecting member 15 and the cutter head assembly 12 to perform linear motion, so that the cutter head assembly 12 can move to the first preset position or the second preset position. The direction of the linear motion is also the extension direction of the bar teeth 141.

[0059] Optionally, when the cutter disc assembly 12 is located at the first preset position or the second preset position, the gear 142 moves on the bar tooth 141 to a starting position or an end position, or a position between the starting position and the end position.

[0060] Optional, see Fig.13, a first limiting plate 143 and a second limiting plate 144 are extended from both axial sides of the gear 142 respectively. The first limiting plate 143 is arranged around the circumference of the gear 142, and the second limiting plate 144 is arranged around the circumference of the gear 142. A gap is formed between the first limiting plate 143 and the second limiting plate 144, and the width of the gap is adapted to the width of the bar teeth 141, for example, the width of the gap is slightly larger than the width of the bar teeth 141. The depth of the gap is adapted to the height of the bar teeth 141, for example, the depth of the gap is less than or equal to the height of the bar teeth 141. In this way, during the movement of the gear 142 along the bar teeth 141, the first limiting plate 143 and the second limiting plate 144 remain clamped on both sides of the bar teeth 141 to limit the gear 142, so that the gear 142 moves linearly along the extension direction of the bar teeth 141.

[0061] Optional, see Fig.13 The first rotating shaft (output shaft) and the second rotating shaft (output shaft) are respectively disposed at two axial ends of the driving motor 13. In other words, the driving motor 13 is a dual-shaft motor. The first rotating shaft and the second rotating shaft rotate synchronously.

[0062] See also Fig.13 The driving motor 13 is disposed between the pair of gears 142. The first rotating shaft and the second rotating shaft are coaxially connected to the rotating shafts of the pair of gears 142, respectively.

[0063] In this embodiment, the driving motor 13 is designed as a dual-axis motor, and the first rotating shaft and the second rotating shaft of the driving motor 13 are respectively coaxially connected to a pair of gears 142, thereby driving the pair of gears 142 to rotate. Since the pair of gears 142 are meshed with the bar teeth 141 fixed on the wheel disc 20, the pair of gears 142 and the driving motor 13 perform linear motion relative to the bar teeth 141 and the wheel disc 20. In this embodiment, the driving motor 13 is arranged between the two bar teeth 141, and the space between the two bar teeth 141 is utilized to promote the spatial compactness of the structure and free up space for other structures; in this embodiment, the driving motor 13, the pair of gears 142, and the pair of bar teeth 141 form a symmetrical structure to achieve the driving stability of the driving assembly 11, that is, the force is relatively uniform when the pair of gears 142 are driven, thereby making the connecting member 15 move more smoothly, and also driving the cutter disc assembly 12 to move more smoothly. In addition, the drive assembly 11 is designed as a symmetrical structure, so that its support for the blade assembly 12 is relatively stable. Since the blade assembly 12 is in a high-speed rotating state when mowing, the stability of the blade assembly 12 on the horizontal plane affects the rotation stability.

[0064] Of course, in other embodiments, the drive motor 13 may also be located on the same side of the pair of gears 142 .

[0065] Optional, see Fig.14 The connecting member 15 includes a first connecting portion 151, a main body portion 152 and a second connecting portion 153 which are connected in sequence. Specifically, the connecting member 15 is substantially in a U-shaped structure.

[0066] The first connection portion 151 and the second connection portion 153 are both bent and connected to the main body portion 152. Specifically, the first connection portion 151 and the main body portion 152, and the second connection portion 153 and the main body portion 152 are both bent and connected at an angle of approximately 90°.

[0067] The main body 152 is connected (fixedly connected) to the cutter head assembly 12. The first connecting portion 151 and the second connecting portion 153 are respectively connected to opposite ends of the drive motor 13. Specifically, the first connecting portion 151 and the second connecting portion 153 are respectively connected to opposite ends of the housing of the drive motor 13. The first connecting portion 151 and the second connecting portion 153 are not connected to the output shaft of the drive motor 13, so the connecting member 15 moves linearly with the drive motor 13, and at the same time drives the cutter head assembly 12 to move linearly.

[0068] In other words, the driving motor 13 is located in the receiving space formed by bending the first connecting portion 151 , the main body 152 and the second connecting portion 153 , so as to improve the compactness of the layout of each structure.

[0069] Optional, see Figure 1 , Figure 6 , Fig.11 , Fig.12 , Fig.14, the driving assembly 11 can be arranged through the wheel disc 20. Specifically, the wheel disc 20 also has a hollow portion 25 that passes through the top surface 20a and the bottom surface 20b. The hollow portion 25 is arranged between a pair of bar teeth 141. The extension direction of the hollow portion 25 is the same as the extension direction of the pair of bar teeth 141. The pair of bar teeth 141 is arranged on (fixed to) the top surface 20a. A pair of gears 142 are also arranged on the side where the top surface 20a of the wheel disc 20 is located. Specifically, a pair of gears 142 are arranged on the side of the bar teeth 141 away from the top surface 20a. The driving motor 13 is arranged across the hollow portion 25. The connecting member 15 and the cutter disc assembly 12 both pass through the hollow portion 25. Specifically, one end of the first connection portion 151 is disposed on the side where the top surface 20a of the undercarriage 20 is located and connected to one end of the drive motor 13, the other end of the first connection portion 151 penetrates the hollow portion 25 and connects to one end of the main body 152, the main body 152 is located on the side where the bottom surface 20b of the undercarriage 20 is located, one end of the second connection portion 153 is disposed on the side where the top surface 20a of the undercarriage 20 is located and connected to the other end of the drive motor 13, the other end of the second connection portion 153 penetrates the hollow portion 25 and connects to the other end of the main body 152. The cutter head assembly 12 is connected to the side of the main body 152 away from the drive motor 13.

[0070] Of course, in other embodiments, the bar teeth 141 , the gear 142 , the drive motor 13 , the connector 15 , and the cutter head assembly 12 may all be disposed on the bottom surface 20 b side of the undercarriage 20 , and the undercarriage 20 does not need to have a hollow portion 25 .

[0071] Optional, see Figure 1 , Figure 6 , Fig.11 , Fig.12 , the extension direction of the pair of bar teeth 141 is obliquely intersected with the travel direction of the wheel disc 20. The cutting area of ​​the blade disc assembly 12 when it is in the first preset position is located in the middle area of ​​the projection area of ​​the wheel disc 20. The cutting area of ​​the blade disc assembly 12 when it is in the second preset position can cover the front end 21 and the side (for example, extending out of the first side edge 23 or the second side edge 24) of the wheel disc 20. The cutting area of ​​the blade disc assembly 12 when it is in the extended state is located in the upper left corner or the upper right corner of the lawn mower robot.

[0072] In this embodiment, the extension track of the blade disc assembly 12 is designed to be an inclined track, and when extended (at the second preset position), it can cover the front end 21 and the side of the wheel disc 20, so as to facilitate edge mowing and corner mowing. When it is generally difficult for the blade disc assembly 12 to cut into a corner, the cutting area of ​​the blade disc 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 in the corner.

[0073] In other embodiments, the extension direction of the pair of bar teeth 141 can also be along the width direction of the wheel disc 20, so that the cutting area of ​​the blade disc assembly 12 when it is in the first preset position is located in the middle area of ​​the projection area of ​​the wheel disc 20. The cutting area of ​​the blade disc assembly 12 when it is in the second preset position can cover the side of the wheel disc 20, that is, extend from the first side edge 23 or the second side edge 24, so as to achieve edge mowing.

[0074] 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.

[0075] Optional, see Figure 1 , Figure 6 , Fig.11 , Fig.12 The number of the cutting mechanisms 10 is two, which are defined as a first cutting mechanism 10a and a second cutting mechanism 10b in the present application.

[0076] The two cutting mechanisms 10 (a first cutting mechanism 10 a and a second cutting mechanism 10 b ) are respectively located on opposite sides of the undercarriage 20 .

[0077] 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 hollowing portion 25, the number of the hollowing portion 25 is also two.

[0078] Optionally, the two cutting mechanisms 10, the two driving assemblies 11, and the two hollowed-out portions 25 are all symmetrically arranged about the central axis of the undercarriage 20 along the forward direction.

[0079] The extending direction of the pair of bar teeth 141 is obliquely intersected with the running direction of the undercarriage 20. The bar teeth 141 in the two drive assemblies 11 are distributed in a V shape. For example, the bar teeth 141 in one drive assembly 11 extend from the middle position of the undercarriage 20 toward the upper left corner, and the bar teeth 141 in the other drive assembly 11 extend from the middle position of the undercarriage 20 toward the upper right corner.

[0080] Optionally, the mowing robot further comprises a fixed blade disc assembly fixed under the orthographic projection of the wheel disc 20, and the fixed blade disc assembly can be used in the intermediate mowing mode. The fixed blade disc assembly can be controlled to work independently with the two cutting mechanisms 10 at the first preset position, for example, the fixed blade disc assembly and the two cutting mechanisms 10 at the first preset position work together in the intermediate mowing mode. The cutting area of ​​the fixed blade disc assembly and the cutting area of ​​the two cutting mechanisms 10 at the first preset position can be partially or completely staggered to increase the total cutting area of ​​the intermediate mowing mode and improve the mowing efficiency.

[0081] Optional, see Figure 1 , Figure 2 , Figure 6 and Figure 7 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.

[0082] 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.

[0083] Optional, see Fig.11 and Fig.12 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 through the hollowing portion 25 to reduce the overall height of the vehicle plate 20 and the cutter head motor 121.

[0084] The rotating shaft of the cutter disc 122 is coaxially connected to the output shaft of the cutter disc motor 121 .

[0085] 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.

[0086] See also Figure 1 and Figure 7 The top surface 20a of the undercarriage 20 is further provided with a baffle 26, which surrounds the portion of the top surface 20a of the undercarriage 20 that is exposed by the drive assembly 11. For example, the baffle 26 is located at two V-shaped hollow portions 25, and the baffle 26 can protect the drive assembly 11.

[0087] 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.

[0088] In other embodiments, 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, and to ensure 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.

[0089] In other embodiments, the cutting areas of the two cutting mechanisms 10 may also be arranged at intervals.

[0090] 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.

[0091] Optional, see Fig.12 and Fig.15 The bottom surface 20b of the wheel 20 is also provided with a pair of slide rails 27, which are respectively provided at two ends of the hollowed-out portion 25, and the extending direction of the slide rails 27 is the same as the extending direction of the bar-shaped gear 141. Slide blocks 28 are respectively provided on both sides of the cutter head assembly 12 to slidably connect the pair of slide rails 27. The slide rails 27 and the slide blocks 28 are designed to limit the cutter head assembly 12 in the Z direction, increase the stability of the cutter head assembly 12 in the linear motion, prevent the instability of the gear 142 in the Z direction from being transmitted to the cutter head assembly 12 through the connecting member 15, and improve the rotation stability of the cutter head assembly 12.

[0092] Optionally, a pair of slide rails 27 are further provided on the bottom surface 20b of the wheel disc 20. The pair of slide rails 27 are respectively provided at two ends of the hollowed-out portion 25, and the extending direction of the slide rails 27 is the same as the extending direction of the bar-shaped gear 141. The first connecting portion 151 and the second connecting portion 153 of the connecting member 15 both have protrusions extending toward the slide rails 27. The two protrusions of the connecting member 15 are engaged and slidably connected to the slide rails 27. The slide rails 27 and the protrusions of the connecting member 15 are designed to limit the connecting member 15 in the Z direction, increase the stability of the connecting member 15 in the linear motion, prevent the instability of the gear 142 in the Z direction from being transmitted to the cutter disc 122 through the connecting member 15, and improve the rotation stability of the cutter disc 122.

[0093] Alternatively, each gear 142 is provided with bar teeth 141 on both sides along the height direction. In other words, the top surface 20a of the wheel plate 20, the bar teeth 141, the gear 142 and another bar tooth 141 are arranged in order from low to high, wherein the two bar teeth 141 on the upper and lower sides of the gear 142 form a limit for the Z-axis direction of the gear 142. The bar teeth 141 on the upper side of the gear 142 can be installed on the top cover of the lawn mower robot, and the top cover is assembled on the wheel plate 20.

[0094] 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.

[0095] 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.

[0096] 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.

[0097] 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.

[0098] 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.

[0099] 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 frame, characterized in that: include: Car plate; A walking mechanism, the walking mechanism is installed on the undercarriage, and the walking mechanism is used to drive the undercarriage to move; and At least one cutting mechanism, the cutting mechanism includes a driving assembly and a blade disc assembly, the driving assembly is installed on the vehicle disc, the driving assembly includes a driving motor, a transmission member and a connecting member, the driving motor is connected to the transmission member, and the transmission member is connected to the blade disc assembly through the connecting member, the driving motor is used to drive at least part of the transmission member to move along a straight line trajectory, so as to drive the blade disc assembly to move along a straight line to a first preset position or a second preset position through the connecting member, the blade disc assembly is located within the projection area of ​​the vehicle disc when in the first preset position, so as to work in a middle mowing mode, and at least part of the blade disc assembly is located outside the projection area of ​​the vehicle disc when in the second preset position, so as to work in an edge mowing mode.

2. The frame according to claim 1, characterized in that: The transmission member includes a pair of bar teeth and a pair of gears. The pair of bar teeth are fixed on the wheel disc at intervals. The pair of gears are respectively meshed with the pair of bar teeth. The rotating shaft of the drive motor and the rotating shaft of the pair of gears are coaxially connected. The drive motor is used to drive the pair of gears to perform linear motion along the pair of bar teeth.

3. The frame according to claim 2, characterized in that: A first limiting plate and a second limiting plate extend from both axial sides of the gear respectively. The first limiting plate and the second limiting plate are clamped on both sides of the bar teeth when the gear moves along the bar teeth to limit the gear.

4. The frame according to claim 2, characterized in that: The first rotating shaft and the second rotating shaft are respectively provided at two axial ends of the driving motor. The driving motor is arranged between the pair of gears. The first rotating shaft and the second rotating shaft are respectively coaxially connected with the rotating shafts of the pair of gears.

5. The frame according to claim 3, characterized in that: The connecting member includes a first connecting part, a main body and a second connecting part which are connected in sequence, the first connecting part and the second connecting part are both bent and connected to the main body, the main body is connected to the cutter disc assembly, and the first connecting part and the second connecting part are respectively connected to opposite ends of the drive motor.

6. The frame according to claim 3, characterized in that: The undercarriage has a top surface and a bottom surface arranged opposite to each other, and the undercarriage also has a hollow portion passing through the top surface and the bottom surface, the extension direction of the hollow portion is the same as the extension direction of the pair of bar teeth, the pair of bar teeth are arranged on the top surface, and are respectively arranged on opposite sides of the hollow portion, the drive motor is arranged across the hollow portion, and the connecting piece and the cutter disc assembly both pass through the hollow portion.

7. The frame according to claim 2, characterized in that: The extending direction of the pair of bar teeth is obliquely intersected with the traveling direction of the wheel disc, and the cutting area of ​​the cutter disc assembly when it is in the second preset position can cover the front end and side of the wheel disc.

8. The frame according to any one of claims 1 to 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 any one of claims 1 to 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: The vehicle comprises a frame as claimed in any one of claims 1 to 9.

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