Lawn trimming and grass clippings collecting and dumping integrated robot

Abstract

The utility model discloses a lawn trimming and grass clippings collecting and dumping integrated robot which comprises a shell, a wheel type chassis, a lawn trimming device, a grass clippings storing, pressing and dumping device and a grass clippings conveying linkage driving device. The wheel type chassis at least comprises a rack, a driving wheel and a steering wheel; the lawn trimming device comprises a blade for trimming a lawn and a trimming driving motor for driving the blade to rotate; the grass clippings conveying linkage driving device comprises a main driving motor, a belt type conveying mechanism and a gear transfer transmission system; the belt type conveying mechanism is used for conveying the grass clippings to the grass storing, pressing and dumping device; the gear transfer transmission system is used for simultaneously driving the belt conveying mechanism and the driving wheel to operate; the grass storing, pressing and dumping device comprises a grass clippings storage box, a grass clippings pressing plate, an electromagnetic opening and closing door, a lead screw nut mechanism and a pressing driving motor; the pressing driving motor drives the grass clippings pressing plate to slide through the lead screw nut mechanism so as to press the grass clippings or push the grass clippings out. The robot integrates the functions of automatic lawn trimming, grass clippings sweeping and fixed-point dumping.

Description

Technical Field

[0001] The utility model relates to the field of garden robots, in particular to a robot capable of integrating lawn mowing and grass clipping collection and dumping. Background Art

[0002] With the development of economy, people's quality of life is constantly improving. More and more places have adopted a large number of greening measures to beautify the environment. Among them, lawns are the most widely used. Lawns need to be taken care of regularly. Manual repair is time-consuming and inefficient. Even if semi-automatic lawn mowers are widely used now, they still cannot do without human operation. At present, some intelligent lawn mowers have also appeared, which can complete the lawn mowing work autonomously without direct human control and operation. They have low power and exquisite appearance, but they are generally large in size and noise, not easy to carry and use, and only mowing requires manual cleaning, and the degree of automation of lawn repair operations is not high enough. Utility Model Content

[0003] In view of this, the purpose of the utility model is to develop a lawn mowing and grass clippings collecting and dumping integrated robot which integrates automatic lawn mowing, grass clippings cleaning and fixed-point dumping.

[0004] The utility model is a robot integrated with lawn mowing and grass clipping collection and dumping, comprising a shell, a wheeled chassis, a lawn mowing device, a grass storage, compacting and dumping device and a grass clipping transmission linkage drive device;

[0005] The wheeled chassis at least comprises a frame, driving wheels and steering wheels;

[0006] The lawn mowing device is arranged at the bottom of the wheeled chassis, and at least comprises a blade for mowing the lawn and a mowing drive motor for driving the blade to rotate;

[0007] The grass clippings transmission linkage drive device comprises a main driving motor, a belt conveyor mechanism and a gear transfer transmission system; the belt conveyor mechanism is arranged at the rear side of the lawn mowing device and is used to convey grass clippings to the grass storage, compaction and dumping device; the gear transfer transmission system is used to transmit the power of the main driving motor to the belt conveyor mechanism and the driving wheel, so as to drive the belt conveyor mechanism and the driving wheel to operate simultaneously;

[0008] The grass storage, compacting and dumping device comprises a grass storage box, a grass compacting plate, an electromagnetic switch door, a lead screw nut mechanism and a compacting drive motor; the grass storage box is arranged at the discharge side of the belt conveyor mechanism; the electromagnetic switch door is arranged at the rear end of the grass storage box; the grass compacting plate is slidably arranged in the grass storage box, and the compacting drive motor is used to drive the lead screw in the lead screw nut mechanism to rotate, so that the grass compacting plate fixed with the lead screw nut slides, so as to compact the grass in the grass storage box or push the grass out of the grass storage box through the electromagnetic switch door;

[0009] Furthermore, a photoelectric sensor is provided on the side wall of the grass clipping storage box near the top thereof to detect whether the grass clippings in the grass clipping storage box are full.

[0010] Furthermore, a battery for supplying power to various electrical devices on the robot is fixedly arranged on the frame; a solar panel for charging the battery is arranged on the top of the shell;

[0011] Furthermore, the housing is provided with a depth camera for sensing the robot's surroundings;

[0012] Furthermore, the steering wheel is steered by a steering mechanism; the steering mechanism comprises a tie rod I, a tie rod II, a rack rod, a guide sleeve, a steering gear, a steering drive motor, a wheel support plate and a steering support connecting piece; the wheel support plate is fixed to the frame, the steering support connecting piece is hinged to the wheel support plate through a vertically arranged hinge shaft, and cooperates with the hub of the steering wheel through a wheel hub bearing; one end of the tie rod I is fixedly connected to the steering support connecting piece, and the other end is hinged to one end of the tie rod II through a rotating pair; the other end of the tie rod II is hinged to the rack rod through a spherical pair; the guide sleeve is used to guide the rack rod to slide; the steering drive motor is used to drive the steering gear to rotate, and the steering gear cooperates with the rack rod to form a gear rack mechanism;

[0013] Furthermore, the upper end of the grass clipping plate is provided with grab teeth, and the grass clippings on the grass clipping conveyor belt that have not been poured into the grass clipping storage box are scraped into the grass clipping storage box through the grab teeth; the lead screw outer sleeve in the lead screw nut mechanism is provided with a corrugated protective tube;

[0014] Furthermore, the frame is provided with a main shaft through a main shaft fixing seat, and driving wheels are installed at both ends of the main shaft; the belt conveyor mechanism includes a driving shaft, a driven shaft, a driving pulley fixed to the driving shaft, a driven pulley fixed to the driven shaft, and a conveyor belt connected between the driving pulley and the driven pulley; the gear transfer transmission system of the grass cuttings transmission linkage drive device includes a gear pair I and a gear pair II; the gear pair I is used to transmit the power of the main drive motor to the main shaft, and the gear pair II is used to transmit the power of the main shaft to the driving shaft;

[0015] Furthermore, the lawn mowing device also includes a height adjustment mechanism; the height adjustment mechanism includes a guide rod arranged in the vertical direction, a movable platform slidably matched with the guide rod, a height adjustment nut fixed to the movable platform, a vertical lead screw matched with the height adjustment nut and a lifting drive motor for driving the vertical lead screw to rotate; the mowing drive motor is fixed to the movable platform, and its rotating shaft is connected to the blade through a rigid coupling.

[0016] The beneficial effects of the utility model are as follows: the lawn mowing and grass clippings collecting and dumping integrated robot of the utility model can complete the operations of automatic lawn mowing, grass clippings cleaning and grass clippings fixed-point dumping, which greatly reduces the labor intensity of garden workers and improves the automation level of lawn mowing. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The utility model is further described below in conjunction with the accompanying drawings and embodiments:

[0018] Figure 1 The overall structure of the utility model is shown in FIG. Figure Ⅰ ;

[0019] Figure 2 The overall structure of the utility model is shown in FIG. Figure II ;

[0020] Figure 3 It is a schematic diagram of the internal structure of the utility model;

[0021] Figure 4 It is a structural schematic diagram of the steering mechanism of the utility model;

[0022] Figure 5 The structure diagram of the lawn mowing device of the utility model is shown in FIG. Figure Ⅰ ;

[0023] Figure 6 The structure diagram of the lawn mowing device of the utility model is shown in FIG. Figure II ;

[0024] Figure 7 It is a top view of the grass storage, compacting and dumping device of the utility model;

[0025] Figure 8 It is a bottom view of the grass cuttings transmission linkage drive device of the present invention.

[0026] Fig. 9 It is a side view of the grass cuttings transmission linkage drive device of the present invention.

[0027] Reference numerals: steering wheel-1, housing-2, driving wheel-3, photoelectric sensor-4, solar panel-5, side wing panel-6, depth camera-7, camera fixing bracket-8, solar panel fixing bracket-9, steering mechanism-10, frame-11, battery-12, grass storage compaction dumping device-13, body support frame-14, grass cutting transmission linkage drive device-15, lawn mowing device-16, 10-1-pull rod I, 10-2-pull rod II, 1 0-3- rack rod, guide sleeve-10-4, steering gear-10-5, steering drive motor-10-6, motor fixing seat 10-7, wheel support plate-10-8, steering support connector-10-9, grass clipping plate 13-1, grass clipping storage box 13-2, electromagnetic switch door-13-3, screw support seat-13-4, corrugated protective tube-13-5, screw nut mechanism-13-6, rear drive housing-15-1, motor fixing seat-15-2, Driving gear I-15-3, driven gear I-15-4, main drive motor-15-5, main shaft-15-6, controller-15-7, main shaft fixing seat-15-8, conveyor belt-15-9, driven pulley-15-10, driven shaft-15-11, driving shaft-15-12, driving pulley-15-13, driven gear II-15-14, driving shaft fixing seat-15-15, driving gear II-15-16, transmission expansion shell-1 5-17, upper shell-16-1, trimming drive motor-16-2, rigid coupling-16-3, connecting shaft-16-4, blade-16-5, motor support-16-6, moving table-16-7, side shell-16-8, support plate-16-9, guide rod-16-10, lifting drive motor-16-11, height adjustment nut-16-12, driving gear III-16-13, driven gear III-16-14, screw-16-15. DETAILED DESCRIPTION

[0028] like Figure 1-3 As shown, a lawn mowing and grass clippings collecting and dumping integrated robot of the present embodiment includes a steering wheel 1, a shell 2, a driving wheel 3, a photoelectric sensor 4, a solar panel 5, a side wing panel 6, a depth camera 7, a camera fixing bracket 8, a solar panel fixing bracket 9, a steering mechanism 10, a frame 11, a battery 12, a grass storage, compacting and dumping device 13, a body support frame 14, a grass clippings transmission linkage drive device 15, and a lawn mowing device 16.

[0029] In this embodiment, the wheeled chassis includes a frame 11, a driving wheel 3 and a steering wheel 1; Figure 4As shown, the steering wheel 1 is steered by a steering mechanism 10; the steering mechanism 10 includes a pull rod I10-1, a pull rod II10-2, a rack rod II10-3, a guide sleeve 10-4, a steering gear 10-5, a steering drive motor 10-6, a wheel support plate 10-8 and a steering support connector 10-9; the wheel support plate 10-8 is fixed to the frame 11, and the steering support connector 10-9 is hinged to the wheel support plate 10-8 through a vertically arranged hinge shaft, and cooperates with the hub of the steering wheel 1 through a hub bearing; One end of the tie rod I10-1 is fixedly connected to the steering support connector 10-9, and the other end is hinged to one end of the tie rod II10-2 through a rotating pair; the other end of the tie rod II10-2 is hinged to the rack rod II10-3 through a spherical pair; the guide sleeve 10-4 is used to guide the rack rod II10-3 to slide; the steering drive motor 10-6 is fixed to the frame 11 through the motor fixing seat 10-7, and is used to drive the steering gear 10-5 to rotate. The steering gear 10-5 cooperates with the rack rod II10-3 to form a gear rack mechanism. When the steering wheel 1 needs to turn, the steering drive motor 10-6 rotates to drive the steering gear 10-5 to rotate, and drives the rack rod II10-3 to slide along the guide sleeve 10-4, thereby driving the tie rod II10-2 and tie rod I10-1 to move and push the steering support connector 10-9 to rotate around the vertical axis hinged to the wheel support plate 10-8, thereby realizing the deflection of the steering wheel 1.

[0030] like Figure 5 , 6As shown, the lawn mowing device 16 is arranged at the bottom of the wheeled chassis, and includes a blade 16-5 for mowing the lawn, a mowing drive motor 16-2 for driving the blade 16-5 to rotate, and a height adjustment mechanism. The height adjustment mechanism includes a guide rod 16-10 arranged in the vertical direction, a moving platform 16-7 slidably matched with the guide rod 16-10, a height adjustment nut 16-12 fixed to the moving platform 16-7, a vertical lead screw 16-15 matched with the height adjustment nut 16-12, and a lifting drive motor 16-11 for driving the vertical lead screw 16-15 to rotate; the mowing drive motor 16-2 is fixed to the moving platform 16-7, and its rotating shaft is connected to the blade 16-5 through a rigid coupling 16-3. The mowing drive motor 16-2 is installed in a housing, and the housing includes an upper housing 16-1 and a side housing 16-8 fixed thereto, and the housing is installed at the upper end of the guide rod 16-10 to prevent debris from entering. The trimming drive motor 16-2 is installed on the moving platform 16-7 through the motor support 16-6. The trimming drive motor 16-2 is fixedly connected to the connecting shaft 16-4 through the rigid coupling 16-3. The output end of the connecting shaft 16-4 is fixedly connected to the blade 16-5, so that the trimming drive motor 16-2 can drive the blade 16-5 to rotate to trim the lawn. The lower end of the guide rod 16-10 is fixed on the support plate 16-7. The lifting drive motor 16-11 is fixed on the support plate 16-7 through a fixed threaded hole. The output shaft of the lifting drive motor 16-11 is fixedly installed with the driving gear III 16-13, and the driven gear III 16-14 is fixedly installed on the vertical lead screw 16-15. The driving gear III 16-13 is meshed with the driven gear III 16-14. The lead screw nut is fixedly connected to the moving platform 16-7. The lifting drive motor 16-11 rotates to drive the active gear III 16-13 to drive the driven gear III 16-14 to rotate, drive the lead screw 16-15 to rotate, drive the movable platform 16-7 to move up and down, thereby driving the trimming drive motor 16-2, the blade 16-5, etc. installed on the movable platform 16-7 to move up and down, and realize the adjustment of the trimming height.

[0031] like Figure 7As shown, the grass storage compacting and dumping device 13 includes a grass storage box 13-2, a grass compacting plate 13-1, an electromagnetic switch door 13-3, a screw nut mechanism 13-6 and a compacting drive motor; the grass storage box 13-2 is arranged on the discharge side of the belt conveyor mechanism; the electromagnetic switch 13-3 door is arranged at the rear end of the grass storage box 13-2; the grass compacting plate 13-1 is slidably arranged in the grass storage box 13-2, and the compacting drive motor is used to drive the screw in the screw nut mechanism 13-6 to rotate, so that the grass compacting plate 13-1 fixed with the screw nut slides, so as to compact the grass in the grass storage box or push the grass out of the grass storage box 13-2 from the electromagnetic switch 13-3 door; the upper ends of the electromagnetic switch 13-3 door are hinged to the grass storage box 13-2 by hinges, and the screw support seat 13-4 is fixed in the grass storage box 13-2 to support the screw. The upper end of the grass clipping plate 13-1 is provided with grab teeth, and the grass clippings on the grass clipping conveyor that have not been poured into the grass clipping storage box 13-2 are scraped into the grass clipping storage box 13-2 by the grab teeth; the lead screw in the lead screw nut mechanism 13-6 is covered with a corrugated protective tube 13-5; the two ends of the corrugated protective tube 13-5 are respectively fixedly connected to the lead screw nut and the lead screw support seat 13-4, and the corrugated protective tube 13-5 is covered with the lead screw and can be retracted to prevent grass clippings from entering the lead screw and affecting the movement. During normal operation, the electromagnetic switch 13-3 door is closed. During the grass clipping collection process, the grass clipping plate 13-1 will regularly press the grass clippings according to the collection speed, and the lead screw is driven to rotate by the compression drive motor, and the lead screw nut moves and drives the grass clipping plate 13-1 fixed thereto to move, thereby pushing and pressing the grass clippings toward the electromagnetic switch 13-3 door. The side wall of the grass clipping storage box 13-2 near its top is provided with a photoelectric sensor 4 for detecting whether the grass clippings in the grass clipping storage box 13-2 are full. When the photoelectric sensor 4 detects that the grass storage box 13-2 is full of grass clippings, the robot will move to the grass clipping dumping point, the electromagnetic switch 13-3 door will be powered on and opened, the clamping drive motor will rotate, driving the grass clipping plate 13-1 fixed with the lead screw nut to move, pushing the grass clippings to push open the electromagnetic switch 13-3 door, thereby pouring the grass clippings out of the grass storage box 13-2.

[0032] like Figure 8 , 9As shown, the grass cuttings transmission linkage drive device 15 includes a main drive motor 15-5, a belt conveyor mechanism and a gear transfer transmission system; the belt conveyor mechanism is arranged at the rear side of the lawn mowing device 16, and is used to convey grass cuttings to the grass storage, compaction and dumping device 13; the gear transfer transmission system is used to transmit the power of the main drive motor 15-5 to the belt conveyor mechanism and the driving wheel 3, so as to drive the belt conveyor mechanism and the driving wheel 3 to operate simultaneously; the frame 11 is equipped with a main shaft 15-6 through a main shaft fixing seat 15-8, and the driving wheel 3 is installed at both ends of the main shaft 15-6; the gear transfer transmission system of the grass cuttings transmission linkage drive device 15 The system includes a gear pair I and a gear pair II; the gear pair I includes a mutually meshing driving gear I15-3 and a driven gear I15-4, which are used to transmit the power of the main drive motor 15-5 to the main shaft 15-6; the gear pair II includes a mutually meshing driving gear II15-16 and a driven gear II15-14, which are used to transmit the power of the main shaft 15-6 to the driving shaft 15-12; the rear drive housing 15-1 is fixedly installed on the frame 11, providing a relatively closed space for the driving gear I15-3, the driven gear I15-4, the main shaft 15-6 and the controller 15-7 to prevent grass clippings and other debris from entering. The controller 15-7 is used to control the operation of each motor on the robot, and the motor fixing seat 15-2 is fixedly connected to the frame 11 and is used to install the main drive motor 15-5. The output shaft of the main driving motor 15-5 is fixedly connected to the driving gear I15-3, and the driven gear I15-4 is installed on the main shaft 15-6, and the driving gear I15-3 is meshed with the driven gear I15-4. The main shaft 15-6 is fixed to the body support frame 14 through the main shaft fixing seat 15-8, and the two output ends of the main shaft 15-6 are fixed to the driving wheel 3. When the main driving motor 15-5 rotates, the driving gear I15-3 drives the driven gear I15-4 to rotate, and drives the main shaft 15-6 to rotate, thereby driving the rear wheel fixedly installed therewith to rotate, so as to realize the movement of the robot. The belt conveyor mechanism includes a driving shaft 15-12, a driven shaft 15-11, a driving pulley 15-13 fixed to the driving shaft 15-12, a driven pulley 15-10 fixed to the driven shaft 15-11, and a conveyor belt 15-9 connected between the driving pulley 15-13 and the driven pulley 15-10; a baffle is installed on the conveyor belt 15-9 to prevent grass clippings from sliding on the conveyor belt 15-9. The driven pulley 15-10 is fixed to the driven shaft 15-11, and the driven shaft 15-11 is supported on the frame 11 through a bearing.The driving shaft 15-12 is fixed on the machine body support frame 14 through the driving shaft fixing seat 15-15, the driving pulley 15-13 is fixedly installed on the driving shaft 15-12, the driven gear II15-14 is fixedly installed on the driving shaft 15-12, the driving gear II15-16 is fixedly installed on the main shaft 15-6, and the driving gear II15-16 is meshed with the driven gear II15-14. When the main shaft 15-6 rotates, the driving gear II15-16 is driven to rotate and drive the driven gear II15-14 to rotate, drive the driving shaft 15-12 to rotate, drive the driving pulley 15-13 to rotate, and drive the conveyor belt 15-9 to move to transmit grass clippings. The transmission expansion shell 15-17 is used to cover the driving gear II15-16 and the driven gear II15-14 to prevent debris from entering.

[0033] In this embodiment, the frame 11 is fixed with a battery 12 for supplying power to various electrical devices on the robot; the top of the housing 2 is provided with a solar panel 5 for charging the battery 12; the solar panel 5 is used for solar power generation and provides electrical energy, and is fixed to the housing 2 through two solar panel fixing brackets 9. The side wing plate 6 is used for exterior decoration. The housing 2 is provided with a depth camera 7 for sensing the robot's surroundings, which is fixed to the housing 2 through a camera fixing bracket 8. The bottom plate of the frame 11 plays an integral supporting role. The power supply can be charged through the solar panel 5 and supply power to all motors and electronic components.

[0034] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are included in the protection scope of the present invention.

Claims

1. A robot that integrates lawn mowing and grass clipping collection and dumping, characterized in that: It includes a housing, a wheeled chassis, a lawn mowing device, a grass storage compacting and dumping device, and a grass clipping transmission linkage drive device; The wheeled chassis at least comprises a frame, a driving wheel and a steering wheel; The lawn mowing device is arranged at the bottom of the wheeled chassis, and at least comprises a blade for mowing the lawn and a mowing drive motor for driving the blade to rotate; The grass clippings transmission linkage drive device comprises a main driving motor, a belt conveyor mechanism and a gear transfer transmission system; the belt conveyor mechanism is arranged at the rear side of the lawn mowing device and is used to convey grass clippings to the grass storage, compaction and dumping device; the gear transfer transmission system is used to transmit the power of the main driving motor to the belt conveyor mechanism and the driving wheel, so as to drive the belt conveyor mechanism and the driving wheel to operate simultaneously; The grass storage, compacting and dumping device includes a grass storage box, a grass compacting plate, an electromagnetic switch door, a screw nut mechanism and a compacting drive motor; the grass storage box is arranged on the discharge side of the belt conveyor mechanism; the electromagnetic switch door is arranged at the rear end of the grass storage box; the grass compacting plate is slidably arranged in the grass storage box, and the compacting drive motor is used to drive the screw in the screw nut mechanism to rotate, so that the grass compacting plate fixed with the screw nut slides, so as to compact the grass in the grass storage box or push the grass out of the grass storage box through the electromagnetic switch door.

2. The integrated lawn mowing and grass clippings collecting and dumping robot according to claim 1, characterized in that: The grass clippings storage box is provided with a photoelectric sensor on a side wall near the top thereof for detecting whether the grass clippings in the grass clippings storage box are fully collected.

3. The integrated lawn mowing and grass clippings collecting and dumping robot according to claim 1, characterized in that: A storage battery for supplying power to various electrical devices on the robot is fixedly arranged on the frame; a solar panel for charging the storage battery is arranged on the top of the shell.

4. The integrated robot for lawn mowing and grass clipping collection and dumping according to claim 1, characterized in that: The shell is provided with a depth camera for sensing the surrounding environment of the robot.

5. The integrated robot for lawn mowing and grass clipping collection and dumping according to claim 1, characterized in that: The steering wheel is steered by a steering mechanism; the steering mechanism comprises a pull rod I, a pull rod II, a rack rod, a guide sleeve, a steering gear, a steering drive motor, a wheel support plate and a steering support connector; The wheel support plate is fixed to the frame, the steering support connecting piece is hinged to the wheel support plate through a vertically arranged hinge shaft, and cooperates with the hub of the steering wheel through a wheel hub bearing; one end of the pull rod I is fixedly connected to the steering support connecting piece, and the other end is hinged to one end of the pull rod II through a rotating pair; the other end of the pull rod II is hinged to the rack rod through a spherical pair; the guide sleeve is used to guide the rack rod to slide; the steering drive motor is used to drive the steering gear to rotate, and the steering gear cooperates with the rack rod to form a gear rack mechanism.

6. The integrated lawn mowing and grass clippings collecting and dumping robot according to claim 1, characterized in that: The upper end of the grass clipping plate is provided with grab teeth, and the grass clippings on the grass clipping conveyor belt that have not been poured into the grass clipping storage box are scraped into the grass clipping storage box through the grab teeth; the lead screw outer sleeve in the lead screw nut mechanism is provided with a corrugated protective tube.

7. The integrated lawn mowing and grass clippings collecting and dumping robot according to claim 1, characterized in that: The frame is provided with a main shaft through a main shaft fixing seat, and driving wheels are installed at both ends of the main shaft; the belt conveying mechanism comprises a driving shaft, a driven shaft, a driving pulley fixed to the driving shaft, a driven pulley fixed to the driven shaft, and a conveyor belt connected between the driving pulley and the driven pulley; The gear transfer transmission system of the grass cuttings transmission linkage drive device includes a gear pair I and a gear pair II; the gear pair I is used to transmit the power of the main drive motor to the main shaft, and the gear pair II is used to transmit the power of the main shaft to the driving shaft.

8. The integrated lawn mowing and grass clippings collecting and dumping robot according to claim 1, characterized in that: The lawn mowing device also includes a height adjustment mechanism; the height adjustment mechanism includes a guide rod arranged in a vertical direction, a moving platform slidably matched with the guide rod, a height adjustment nut fixed to the moving platform, a vertical lead screw matched with the height adjustment nut, and a lifting drive motor for driving the vertical lead screw to rotate; the mowing drive motor is fixed to the moving platform, and its rotating shaft is connected to the blade through a rigid coupling.

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