Robot

Abstract

The utility model discloses a robot which comprises a robot body and a cutting mechanism, the robot body comprises a vehicle body and moving assemblies, and the moving assemblies are arranged on the two sides of the vehicle body and used for driving the vehicle body to advance; the cutting mechanism comprises a connecting assembly and a cutting assembly, and the cutting assembly is connected to the vehicle body through the connecting assembly and can be switched between a first area and a second area relative to the vehicle body; the second area is closer to the vehicle body than the first area, and when the cutting assembly is located in the first area, the cutting assembly works; and when the cutting assembly is located in the second area, the cutting assembly stops working.

Description

Technical Field

[0001] The utility model relates to the field of lawn mowing equipment, in particular to a robot. Background Art

[0002] As people's living standards continue to improve, people have higher and higher requirements for leisure environments. Private gardens, parks, playgrounds and other places have become the best places for people to relax and entertain. At present, robots are used to trim the lawns of private gardens, parks, playgrounds and other places from time to time to ensure their beauty.

[0003] Among them, the robot usually trims the cut objects on the grass under the drive of the moving component. However, the cutting component on the existing robot has a poor cutting effect in cutting environments such as boundaries or corners. Utility Model Content

[0004] The utility model provides a robot that can switch between a first area and a second area to adapt to safe operations in various cutting environments; at the same time, when a cutting component moves from one position in the first area to the second area, the cutting speed of the cutting component gradually decreases until it stops working, thereby avoiding damage to the cutting component during the cutting process.

[0005] The utility model provides a robot, comprising:

[0006] The robot body comprises a body and a moving component, wherein the moving component is arranged on the body and is used to drive the body to move;

[0007] A cutting mechanism, comprising a connecting assembly and a cutting assembly, wherein the cutting assembly is connected to the vehicle body through the connecting assembly and can be switched between a first area and a second area relative to the vehicle body;

[0008] The second area is closer to the vehicle body than the first area. When the cutting assembly is in the first area, the cutting assembly works; when the cutting assembly is in the second area, the cutting assembly stops working.

[0009] In the robot of one embodiment of the present utility model, the area of ​​the first region is larger than the area of ​​the second region, and when the cutting component moves from one position of the first region to the second region, the cutting speed of the cutting component decreases.

[0010] In the robot of one embodiment of the present utility model, the connecting component includes a rotating part and a mounting part connected to the vehicle body, and the cutting component is rotatably mounted on the mounting part through the rotating part and can be deflected between the first area and the second area.

[0011] In the robot of one embodiment of the present utility model, the connection assembly further includes a reset member, which is disposed between the rotating portion and the mounting portion and is used to drive the rotating portion to rotate in the direction of the first area.

[0012] In the robot of one embodiment of the present utility model, the reset member includes a spring structure, one end of the spring structure abuts against the rotating part, and the other end of the spring structure abuts against the mounting part.

[0013] In a robot according to one embodiment of the present invention, the robot includes a detection component, which is arranged on at least one of the vehicle body and the connecting component, and is used to detect the deflection angle of the cutting component to control the cutting speed of the cutting component.

[0014] In the robot of one embodiment of the present utility model, the detection component includes at least one of a mechanical sensor, an angle sensor, a travel switch and a Hall sensor electrically connected to the cutting component.

[0015] In a robot of one embodiment of the utility model, the mounting portion is provided with a first connecting end surface, the rotating portion is provided with a second connecting end surface, and a limiting member is connected between the first connecting end surface and the second connecting end surface for limiting the deflection angle of the rotating portion relative to the mounting portion.

[0016] In a robot of one embodiment of the utility model, the limiting member includes a limiting groove and a limiting column cooperating with the limiting groove, one of the limiting groove and the limiting column is arranged on the first connecting end surface, and the other of the limiting groove and the limiting column is arranged on the second connecting end surface.

[0017] In the robot of one embodiment of the present utility model, the connecting assembly also includes a connecting arm, and the cutting assembly is mounted on the rotating part through the connecting arm. The connecting arm is rotatable relative to the rotating part, and the rotation axis of the connecting arm when rotating around the rotating part is perpendicular to the rotation axis of the rotating part when rotating around the mounting part.

[0018] In the robot of one embodiment of the present utility model, the cutting assembly includes a driving motor, a cutting blade and a protective device, the driving motor is connected to the body through the connecting assembly, and the protective device is arranged on the outside of the cutting blade to protect the cutting blade.

[0019] The technical solution provided by the embodiments of the present application may include the following beneficial effects: the present application designs a robot, including a robot body and a cutting mechanism, the robot body includes a body and a moving component, the cutting mechanism includes a connecting component and a cutting component, the cutting component is connected to the body through the connecting component, and the moving component is used to drive the body to move, so that the cutting component can cut the object to be cut during the movement of the body; wherein the cutting component can switch between a first area and a second area relative to the body, so that the cutting component can cut an edge area with certain undulations, and also ensures the maximum area when cutting the edge area.

[0020] Specifically, when the cutting assembly moves from one of the positions in the first area to the second area, the cutting speed of the cutting assembly decreases; when the cutting assembly is in the second area, the cutting assembly stops working, thereby ensuring normal cutting of the cutting assembly between the first area and one of the positions in the first area, and when the cutting assembly moves from this position to the second area or enters the second area, the cutting speed of the cutting assembly decreases or even stops working, thereby effectively protecting the cutting assembly and preventing the cutting assembly from injuring people.

[0021] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 It is a structural schematic diagram of a cutting mechanism provided in one embodiment of the present application;

[0024] Figure 2 yes Figure 1 A cross-sectional schematic diagram of a cutting mechanism in FIG.

[0025] Figure 3 yes Figure 1 A schematic diagram of a cutting mechanism being deflected in a horizontal plane and in an extended state when the vehicle body is placed horizontally;

[0026] Figure 4 yes Figure 1 Schematic diagram of the cutting mechanism in contact with an obstacle;

[0027] Figure 5 yes Figure 1 Schematic diagram of the cutting mechanism in a compressed state;

[0028] Figure 6 yes Figure 1 A partial cross-sectional schematic diagram of a cutting mechanism in FIG.

[0029] Figure 7 yes Figure 1 A schematic cross-sectional view of a cutting assembly in FIG.

[0030] Figure 8 yes Figure 1 An exploded schematic diagram of the cutting assembly in FIG.

[0031] Fig. 9 yes Figure 1 An exploded schematic diagram of the protective cover in FIG.

[0032] Fig.10 yes Figure 1 A schematic diagram of the structure of the cutting blade in FIG.

[0033] Fig.11 yes Figure 1 An exploded schematic diagram of the connecting arm in FIG.

[0034] Fig.12 yes Figure 1 Exploded view of the installation components in .

[0035] Description of reference numerals:

[0036] 1000, cutting mechanism; 2000, robot body;

[0037] 100, cutting assembly; 101, first area; 102, second area; 10, protective cover; 11, cover body; 111, mounting hole; 1111, sink structure; 12, protective edge strip; 121, anti-collision part; 122, connecting part; 123, edging structure; 20, cutter disc; 21, cutting blade; 211, cutting section; 212, protective section; 213, blade mounting part; 22, rotating disc; 221, fan structure; 30, driving motor; 31, motor body; 32, connecting shell; 311, output shaft; 40, bearing assembly; 50, abutment member; 60, transmission member;

[0038] 200, connecting arm; 201, first connecting rod; 2011, first connecting portion; 2012, second connecting portion; 2013, threaded hole; 202, second connecting rod; 2021, first connecting portion; 2022, second connecting portion; 203, adjusting member; 2031, adjusting screw; 2032, elastic member;

[0039] 300, mounting assembly; 301, mounting portion; 3011, limiting groove; 302, rotating portion; 3021, first mounting hole; 3022, second mounting hole; 3023, limiting column; 303, reset member; 304, connecting shaft;

[0040] 400. Obstacles. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0042] It should also be understood that the terms used in this utility model specification are only for describing specific realities. In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0043] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0044] like Figures 1 to 12 As shown, the present application provides a robot, including a robot body 2000 and a cutting mechanism 1000, the robot body 2000 includes a body and a moving component, the cutting mechanism 1000 is arranged on the body, and the moving component is arranged on the body for driving the body to move, so that the cutting mechanism 1000 can cut during the movement.

[0045] It should be noted that the moving component can be set at any position of the vehicle body, including but not limited to being set on both sides of the vehicle body. This application is not limited to this, and its main purpose is to drive the vehicle body to move forward.

[0046] In this embodiment, the cutting mechanism 1000 includes a connecting assembly and a cutting assembly 100. The cutting assembly 100 is connected to the vehicle body through the connecting assembly and can be switched between the first area 101 and the second area 102 relative to the vehicle body, so that the cutting assembly 100 can perform cutting work in the first area 101 and stop cutting work in the second area 102 to protect the cutting assembly 100 and prevent the cutting assembly 100 from injuring people. Figures 4 to 5 As shown, the second area 102 is closer to the vehicle body than the first area 101. When the cutting assembly 100 is in the first area 101, the cutting assembly 100 works; when the cutting assembly 100 is in the second area 102, the cutting assembly 100 stops working to protect the cutting assembly 100 and prevent the cutting assembly 100 from injuring people.

[0047] In an optional embodiment, the area of ​​the first area 101 is larger than the area of ​​the second area 102 to ensure the maximum cutting area of ​​the cutting assembly 100 when cutting at edge areas such as the edge of the aisle, the wall surface or the fence, thereby ensuring the cutting effect. At the same time, when the cutting assembly 100 moves from one of the positions in the first area 101 to the second area 102, the cutting speed of the cutting assembly 100 decreases; when the cutting assembly 100 is in the second area 102, the cutting assembly 100 stops working, which can not only ensure the normal operation of the cutting assembly 100 in the first area 101, but also when the cutting assembly 100 moves to one of the positions in the first area 101, if the cutting assembly 100 continues to move from this position toward the direction of the second area 102, the cutting speed of the cutting assembly 100 decreases until the cutting assembly 100 is in the second area 102, and then the cutting assembly 100 stops working, effectively avoiding the cutting assembly 100 from being damaged during the cutting process, and also preventing the cutting assembly 100 from causing harm to the human body.

[0048] It should be noted that, during the movement of the cutting assembly 100 from the first area 101 to the second area 102, the cutting speed of the cutting assembly 100 decreases, which may include but is not limited to the cutting speed of the cutting assembly 100 gradually decreasing when the cutting assembly 100 moves from the first position to the second position of the first area 101; or, when the cutting speed of the cutting assembly 100 is at the first position, the cutting speed is the first speed, and when the cutting assembly 100 is at the second position, the cutting speed of the cutting assembly 100 is the second speed, and the second speed is less than the first speed. The second position is closer to the second area 102 than the first position. Exemplarily, the first area 101 refers to the cutting component 100 being deflected at an angle of β relative to the vehicle body to form the second area 102, and continuing to deflect at an angle of α on the side of the second area 102 away from the vehicle body to form the first area 101, that is, the cutting component 100 can cut edge areas such as aisle edges, wall surfaces or fences in the first area 101 to ensure the cutting effect of the cutting component 100; and the cutting component 100 can be arbitrarily deflected in the first area 101, so that the cutting component 100 can cut in an edge area with certain undulations, and also ensure that the cutting component 100 has a cutting area with the maximum expansion angle in the edge area.

[0049] When the cutting assembly 100 is in the first area 101 and deflects toward one side of the second area 102, when the deflection angle of the cutting assembly 100 is less than α, the cutting assembly 100 performs the cutting work; when the deflection angle of the cutting assembly 100 is γ, γ is within the range of α, at this time, when the cutting assembly 100 continues to deflect toward one side of the second area 102, the cutting speed of the cutting assembly 100 gradually decreases, and when the cutting assembly 100 continues to deflect in the opposite direction of the second area 102, the cutting speed of the cutting assembly 100 remains unchanged. γ can be any value not less than α.

[0050] In an optional embodiment, the connecting component includes an installation component 300, and the installation component 300 includes a rotating part 302 and a mounting part 301 connected to the vehicle body; wherein the cutting component 100 is rotatably installed on the mounting part 301 by the rotating part 302 and can deflect between the first area 301 and the second area 302, so that the cutting component 100 cuts at edge areas such as the edge of an aisle, a wall surface or a fence, and when the cutting component 100 contacts an obstacle 400 such as the edge of an aisle, a wall surface or a fence, the obstacle 400 such as the edge of the aisle, a wall surface or a fence will apply a reverse force to the cutting component 100 to deflect toward the second area 102, or the cutting component 100 automatically deflects toward the second area 102 under the drive of the connecting component, thereby avoiding the cutting component 100 from colliding with the obstacle while being able to move along the edge such as the edge of the aisle, a wall surface or a fence to cut the edge area. However, when the cutting component 100 collides with the obstacle 400 and moves toward the front of the obstacle, the obstacle 400 continues to squeeze the cutting component 100, causing the cutting component 100 to deflect at an angle greater than γ or even exceeding α. At this time, the cutting speed of the cutting component 100 gradually decreases or even stops working to protect the cutting component 100, or when the obstacle 400 is a human body, it can protect the human body from being injured by the cutting component 100.

[0051] In an optional embodiment, the connecting assembly includes a reset member 303, which is disposed between the rotating portion 302 and the mounting portion 301, and is used to drive the rotating portion 302 to rotate in the direction of the first area 101. At the same time, the reset member 303 can also provide a buffering force when the cutting assembly 100 collides with an obstacle 400, thereby reducing the impact force applied to the cutting assembly 100 when the obstacle 400 collides, avoiding damage to the cutting assembly 100, and extending the service life of the cutting assembly 100.

[0052] In an optional embodiment, the reset member 303 includes a spring structure, one end of the spring structure abuts against the rotating portion 302 , and the other end of the spring structure abuts against the mounting portion 301 .

[0053] Exemplarily, the spring structure includes but is not limited to a torsion spring, which is sleeved on the outside of the connecting shaft 304, and the two ends of the torsion spring are respectively connected to the rotating part 302 and the mounting part 301, so that the rotating part 302 can always maintain an elastic force in the direction of the first area 101. When the cutting assembly 100 is in the first area 101 and contacts the obstacle 400, the impact force of the obstacle 400 on the cutting assembly 100 is greater than the elastic force of the reset member 303, and the reset member 303 is deformed to buffer the impact force generated when the obstacle 400 collides with the cutting assembly 100. At the same time, the cutting assembly 100 can rotate relative to the mounting part 301 toward the second area 102 to form an avoidance position for avoiding the obstacle 400, and the rotation speed of the cutting assembly 100 gradually decreases; when the cutting assembly 100 completely enters the second area 102, the cutting assembly 100 stops working. In an optional embodiment, the robot includes a detection component, which is disposed on at least one of the vehicle body and the connection component and is used to detect the deflection angle of the cutting component 100 to control the cutting speed of the cutting component 100 .

[0054] Exemplarily, the detection component includes a mechanical sensor electrically connected to the cutting component 100, and the mechanical sensor is arranged between the mounting portion 301 and the rotating portion 302, and is used to detect the force condition of the torsion spring, so that the cutting component 100 can control its cutting speed or stop working according to the mechanical data detected by the mechanical sensor.

[0055] Specifically, when the mechanical data received by the cutting component 100 is greater than a predetermined value, the driving motor 30 stops working, and the cutting component 100 completely enters the second area 102; when the mechanical data received by the driving motor 30 is less than a predetermined value, the cutting component 100 controls its output speed according to the size of the mechanical data, so that the cutting component 100 can cut at different speeds in the first area 101; or, when the mechanical data is less than the first predetermined value, the cutting component 100 maintains the original cutting speed; when the mechanical data approaches the predetermined value at the first predetermined value, that is, when the deflection angle of the cutting component 100 is greater than γ, the cutting speed of the cutting component 100 gradually decreases; when the mechanical data is minimum, the cutting speed of the cutting component 100 is maximum, and the cutting component 100 is located on the side of the first area 101 away from the second area 102; when the mechanical data approaches the predetermined value, the cutting speed of the cutting component 100 gradually decreases until the mechanical data is equal to the predetermined value, and the cutting component 100 stops working.

[0056] In an optional embodiment, the detection component includes an angle sensor for collecting the deflection angle of the cutting component 100, and then the cutting speed of the cutting component 100 can be controlled according to the detection value of the angle sensor.

[0057] Exemplarily, the angle sensor is installed between the rotating part 302 and the mounting part 301, and can effectively identify whether the rotating part 302 rotates relative to the mounting part 301, and then measure the deflection angle of the rotating part 302 relative to the mounting part 301. When the deflection angle of the rotating part 302 from the maximum deployment angle toward the side of the vehicle body is less than α, the cutting assembly 100 is in the first area 101, and the cutting speed of the cutting assembly 100 can remain unchanged; or, when the deflection angle of the rotating part 302 is between γ and α, the cutting speed of the cutting assembly 100 gradually decreases, and γ is a deflection angle within α. When the deflection angle of the rotating part 302 is greater than α, the cutting assembly 100 enters the second area 102 and the cutting assembly 100 stops working.

[0058] It should be noted that the detection component can also be other sensors, such as travel switches and Hall sensors, etc., which are not limited in this application. In an optional embodiment, a first connection end face is provided on the mounting portion, a second connection end face is provided on the rotating portion 302, and a limiter is connected between the first connection end face and the second connection end face, and the limiter is used to limit the deflection angle of the rotating portion 302 relative to the mounting portion 301, that is, the cutting component 100 can only switch between the second area 102 corresponding to the deflection angle β and the first area 101 corresponding to the deflection angle α.

[0059] In an optional embodiment, the mounting assembly 300 further includes a connecting shaft 304, and the rotating portion 302 is rotatably connected to the mounting portion 301 via the connecting shaft 304. Specifically, the first connecting end face is cooperatively connected with the second connecting end face, and the connecting shaft 304 is disposed between the first connecting end face and the second connecting end face, and is used to rotatably mount the rotating portion 302 on the mounting portion 301.

[0060] In an optional embodiment, the limiting member includes a limiting groove 3011 and a limiting column 3023 cooperating with the limiting groove 3011; wherein, one of the limiting groove 3011 and the limiting column 3023 is arranged on the first connecting end face, and the other of the limiting groove 3011 and the limiting column 3023 is arranged on the second connecting end face, which is used to limit the rotation position of the rotating part 302 when the rotating part 302 rotates relative to the mounting part 301, so that the cutting assembly 100 can switch between the first area 101 and the second area 102.

[0061] Exemplarily, the limiting groove 3011 is arranged on the first connection end surface, and the limiting column 3023 is arranged on the second connection end surface; or, the limiting groove 3011 is arranged on the second connection end surface, and the limiting column 3023 is arranged on the first connection end surface.

[0062] In an optional embodiment, if Figure 1 , Figure 2 and Fig.11As shown, the connecting assembly includes a connecting arm 200, and the cutting assembly 100 is installed on the rotating part 302 through the connecting arm 200. The connecting arm 200 is rotatable relative to the rotating part 302, and the rotation axis of the connecting arm 200 when rotating around the rotating part 302 is perpendicular to the rotation axis of the rotating part 302 when rotating around the mounting part 301, so that the cutting assembly 100 can be rotated in the horizontal direction and / or height direction relative to the vehicle body, so that the height and extension length of the cutting assembly 100 can be adjusted.

[0063] In an optional embodiment, the connecting arm 200 can rotate relative to the rotating portion 302 around a first axis, and the rotating portion 302 can rotate relative to the mounting portion 301 around a second axis, and the first axis is perpendicular to the second axis.

[0064] In an optional embodiment, the connecting arm 200 includes a first connecting rod 201, a second connecting rod 202 and an adjusting member 203. The first connecting rod 201 and the second connecting rod 202 are connected between the rotating part 302 and the cutting assembly 100. The adjusting member 203 is connected between the first connecting rod 201 and the second connecting rod 202, and is used to adjust the height of the cutting assembly 100 and the ground, thereby adjusting the cutting height of the cutting object.

[0065] In an optional embodiment, the cutting assembly 100 is provided with two first connecting holes at intervals along the height direction, and the rotating part 302 is provided with a first mounting hole 3021 and a second mounting hole 3022 at intervals, and the two ends of the first connecting rod 201 are respectively rotatably connected to the first mounting hole 3021 and one of the first connecting holes, and the two ends of the second connecting rod 202 are respectively rotatably connected to the second mounting hole 3022 and the other first connecting hole, so that the cutting assembly 100 can be floatingly connected to the rotating part 302 through the first connecting rod 201 and the second connecting rod 202.

[0066] Exemplarily, the first connecting rod 201 has a first connecting portion 2011 and a second connecting portion 2012 at both ends; the second connecting rod 202 has a first connecting portion 2021 and a second connecting portion 2022 at both ends, the first connecting portion 2011 and the first connecting portion 2021 are rotatably connected to the two first connecting holes, the second connecting portion 2012 and the second connecting portion 2022 are correspondingly connected to the first mounting hole 3021 and the second mounting hole 3022, the adjusting member 203 is threadedly connected to the first connecting rod 201 and can be extended or retracted toward one side of the second connecting rod 202, so that the floating angle of the cutting assembly 100 can be changed by adjusting the distance between the first connecting rod 201 and the second connecting rod 202, thereby adjusting the cutting height.

[0067] In an optional embodiment, the adjusting member 203 includes an adjusting screw 2031 and an elastic member 2032 . A threaded hole 2013 is provided on the first connecting rod 201 . The adjusting screw 2031 is threadedly connected in the threaded hole 2013 and extends to the second connecting rod 202 . The elastic member 2032 is arranged between the first connecting rod 201 and the second connecting rod 202 .

[0068] In an optional embodiment, the cutting assembly includes a driving assembly, a cutter disc 20 and a protective device. A cutting blade 21 is provided on the cutter disc 20. The driving assembly includes a driving motor 30. The driving motor 30 is connected to the vehicle body through a connecting assembly. The protective device is arranged on the outer side of the cutting blade 21 to protect the cutting blade 21 and prevent the cutting blade 21 from being damaged by collision with an obstacle 400. The driving motor 30 is transmission-connected to the cutting blade 21 to drive the cutting blade 21 to rotate so as to perform a cutting operation.

[0069] In an optional embodiment, the drive motor 30 includes a motor body 31 and a connecting shell 32 , the motor body 31 is installed on the inner side of the connecting shell 32 , the connecting shell 32 is connected to the vehicle body through a connecting assembly, and the protective device is installed on the connecting shell 32 .

[0070] In an optional embodiment, the protective device is provided with a protective edge strip 12 made of a flexible material on the side facing away from the vehicle body. At least part of the structure of the protective edge strip 12 is arranged toward the outside of the cutting blade 21, and can approach the outer end surface of the cutting blade 21 during the compression process to reduce the distance between the cutting blade 21 and the edge of the protective device, thereby effectively cutting the cutting object at the edge of the protective device.

[0071] Exemplarily, the protective device includes a protective cover 10 at least part of which is made of a flexible material. The protective cover 10 is arranged on the outside of the cutting blade 21 to effectively protect the cutting blade 21 and prevent the cutting blade 21 from being damaged by collision with the obstacle 400. Among them, the protective edge strip 12 is at least part of the structure made of a flexible material on the protective cover 10. The outermost end of the cutting blade 21 is located between the inner and outer sides of the protective edge strip 12, and the compressed length of the protective edge strip 12 is less than the maximum length between the outermost end of the cutting blade 21 and the outer side of the protective edge strip 12. In this way, the cutting blade 21 can be effectively protected and the distance between the cutting blade 21 and the edge of the protective cover 10 can be reduced, so that the cutting blade 21 can effectively cut the cutting object at the edge of the protective cover 10.

[0072] After adopting the above technical solution, since at least part of the structure on the protective cover 10 is a protective edge strip 12 made of flexible material, the protective edge strip 12 is arranged on the outside of the cutting blade 21 and exceeds the outermost end of the cutting blade 21, so that the cutting blade 21 can be effectively protected to prevent the cutting blade 21 from causing damage to the blade itself, the human body, and obstacles 400; at the same time, the elastic force of the protective edge strip 12 itself can also buffer the impact force after the cutting mechanism 1000 collides with the obstacle 400, thereby avoiding damage to the edge cutting mechanism 1000, thereby extending the service life of the cutting mechanism 1000. Among them, the outermost end of the cutting blade 21 is located between the inner and outer sides of the protective edge strip 12, and the length of the protective edge strip 12 after compression is less than the maximum length between the outermost end of the cutting blade 21 and the outer side of the protective edge strip 12, so that the protective edge strip 12 can approach the outer end surface of the cutting blade 21 during the compression process, and at the same time, the cutting blade 21 can be avoided from being exposed on the outer side of the protective edge strip 12, which can reduce the distance between the cutting blade 21 and the edge of the protective cover 10, thereby effectively cutting the cutting object on the edge of the protective cover 10.

[0073] For example, when the robot body 2000 drives the cutting assembly 100 to cut the object at the edge of the aisle, wall surface, fence, etc. of the lawn, the cutting assembly 100 extends to the edge of the aisle, wall surface, fence under the drive of the connection assembly, or the cutting assembly 100 fits with the edge of the aisle, wall surface, or fence during the movement of the robot body 2000. At this time, the protective edge strip 12 is deformed under the pressure of the edge of the aisle, wall surface, or fence, so that the cutting blade 21 can approach the edge of the aisle, wall surface, or fence, so that the object can be effectively cut at the edge of the aisle, wall surface, or fence. At the same time, when the cutting assembly 100 collides with the edge of the aisle, the wall surface or the fence, the protective edge strip 12 can play a buffering role, reducing the impact force applied to the cutting assembly 100 when the obstacle 400 collides, and then the protective edge strip 12 is compressed and attached to the edge of the aisle, the wall surface or the fence when the robot body 2000 continues to move, which can reduce the distance between the cutting blade 21 and the edge of the protective cover 10, thereby effectively cutting the cutting object at the edge of the protective cover 10.

[0074] In an optional embodiment, if Figure 6 , Figure 8 and Fig. 9As shown, the protective cover 10 includes a cover body 11, and the protective edge strip 12 has a connecting portion 122 and an anti-collision portion 121 made of a flexible material. The anti-collision portion 121 is arranged on the outside of the protective cover 10 through the connecting portion 122, and the outermost end of the cutting blade 21 is located between the connecting portion 122 and the anti-collision portion 121. Among them, the connecting portion 122 can be made of hard plastic material, which can be fixed on the cover body 11 more stably. In this embodiment, the anti-collision portion 121 and the connecting portion 122 are integrally formed by an injection molding process, so that both the soft and hard materials of the protective edge strip 12 can be reasonably utilized, while also reducing the production cost of the protective edge strip 12, and having the advantages of stable structure, high strength, and long service life.

[0075] In an optional embodiment, the anti-collision portion 121 includes a plurality of flexible units spaced apart from each other, which extend radially outward from the connecting portion 122 and can be compressed when the protective cover 10 is subjected to force, thereby reducing the possibility of the flexible units breaking due to friction with obstacles 400. At the same time, the cutting blade 21 can also be made to approach the edge of the protective cover 10, thereby effectively cutting the objects on the edge of the protective cover 10.

[0076] In an optional embodiment, if Figure 4 , Figure 8 and Fig. 9 As shown, the length of the flexible unit extending outward is greater than the distance between two adjacent flexible units, so that when the robot body 2000 drives the cutting component 100 to cut the cutting object along the aisle edge, wall surface, fence and other scenes of the lawn, the flexible unit contacts and compresses obstacles 400 such as the aisle edge, wall surface, fence, etc., and the length of the flexible unit extending outward is set to be greater than the distance between two adjacent flexible units. The flexible unit compressed first can be attached to and compressed by the flexible unit compressed later during the compression process. In this way, not only the flexible unit compressed first can be buffered, but also the flexible unit compressed later can be prevented from directly colliding with the obstacle 400. The noise can be reduced by compressing the flexible units layer by layer, and the force points of the flexible units can be dispersed to increase the service life of the flexible units.

[0077] In an optional embodiment, the flexible units extend obliquely in the same direction of the connection portion 122, and the flexible units are arranged counterclockwise on the outer peripheral surface of the protective cover 10, so that when the cutting assembly 100 collides with the obstacle 400 during the process of the robot body 2000 driving the cutting assembly 100, the flexible units can play a buffering role; and when the robot body 2000 continues to drive the cutting assembly 100 to cut the object, the flexible units are compressed one by one along the obstacles 400. Since the flexible units are inclined in the same direction and arranged counterclockwise on the outer peripheral surface of the protective cover 10, the compression direction of the flexible units is also arranged counterclockwise along the protective cover 10 and one is stacked on top of another.

[0078] In an optional embodiment, the connecting portion 122 has a edging structure 123 made of a hard material, and the edging structure 123 is arranged around the outer periphery of the cover body 11. The anti-collision portion 121 and the edging structure 123 are integrally formed, so that the connecting portion 122 can be firmly fixed on the outer periphery of the cover body 11. At the same time, the anti-collision portion 121 can also be used to play a buffering role and reduce the edge distance between the cutting blade 21 and the protective cover 10, thereby effectively cutting the cutting object at the edge of the protective cover 10.

[0079] In an optional embodiment, an arcuate annular groove is provided on the edge structure 123, and the connecting portion 122 fixes the arcuate annular groove on the outer side of the cover body 11 by means of assembly; or, the edge structure 123 is integrally formed with the cover body 11 by means of injection molding to achieve a fixed connection between the protective edge strip 12 and the cover body 11. Among them, the use of integral molding can reduce the assembly process between the protective edge strip 12 and the cover body 11, and the arcuate annular groove is fixed to the outer side of the cover body 11 by means of assembly, so that when the protective edge strip 12 is damaged, only the protective edge strip 12 can be replaced, without replacing the entire protective cover 10, thereby reducing the use cost.

[0080] In an optional embodiment, the protective cover 10 has a edging structure 123 that is at least partially made of hard material, and the protective edge strip 12 and the edging structure 123 are integrally formed, so that both the soft and hard materials of the protective cover 10 can be reasonably utilized. At the same time, the soft and hard materials can also be processed into one by an injection molding process to improve the connection strength of the overall product. It can also be compressed by a flexible material, which can not only play a buffering role, but also reduce the edge distance between the cutting blade 21 and the protective cover 10, thereby effectively cutting the cutting object on the edge of the protective cover 10.

[0081] In an optional embodiment, if Figures 7 to 9As shown, the cutting assembly 100 includes a bearing assembly 40, a mounting hole 111 is provided on the protective cover 10, the outer ring of the bearing assembly 40 is installed in the mounting hole 111, and the inner ring of the bearing assembly 40 is connected to the output shaft 311 of the driving motor 30, so that the protective cover 10 can rotate relative to the output shaft 311 of the driving motor 30, that is, the protective cover 10 does not rely on the driving motor 30 and can rotate independently. When the cutting assembly 100 is close to the edge of the aisle, the wall surface, the fence, etc., since the protective cover 10 can rotate independently, the contact friction between the protective cover 10 and the edge can be converted into rolling friction, so as to reduce the damage to the protective edge strip 12 caused by friction.

[0082] In an optional embodiment, the bearing assembly 40 includes a first bearing member and a second bearing member, wherein two groove structures 1111 are respectively provided at both ends of the mounting hole 111, namely the first groove and the second groove, so that the first bearing member and the second bearing member can be correspondingly installed in the first groove and the second groove.

[0083] In an optional embodiment, the protective device also includes a protective member, which is arranged on the outside of the protective cover 10, and at least part of the structure of the protective member exceeds the outer contour of the protective cover 10 in the forward direction of the robot, which can effectively prevent the cutting assembly 100 from causing direct injury to people in the front position, thereby improving the safety of the protective cover 10.

[0084] In an optional embodiment, a protective portion is formed on the protective member, which extends toward the forward direction of the robot and exceeds the outer contour of the protective cover 10 to prevent the cutting assembly 100 from accidentally causing direct injury to people in the front position, thereby improving the safety of the protective cover 10.

[0085] In an optional embodiment, an avoidance opening is formed on the protective member, and the avoidance opening is arranged on the side away from the robot toward the cutting mechanism 1000, so that the protective edge strip 12 located on the side of the avoidance opening can contact and compress the obstacle 400, thereby reducing the distance between the cutting blade 21 and the edge of the protective cover 10, and further effectively cutting the cutting object on the edge of the protective cover 10.

[0086] In an optional embodiment, the protective member includes a protective strip, which is surrounded to form a semi-ring structure with an avoidance opening. The semi-ring structure is fixedly connected to the drive motor 30 and is arranged in the forward direction of the robot, so as to prevent the cutting assembly 100 from causing direct injuries in the front position, thereby improving the safety of the protective cover 10. The avoidance opening can compress the protective edge strip 12 when it contacts the obstacle 400, thereby reducing the distance between the cutting blade 21 and the edge of the protective cover 10, so that the cutting object at the edge of the protective cover 10 can be effectively cut.

[0087] In an optional embodiment, the protective member may also include special-shaped baffles of other shapes, at least a portion of the special-shaped baffle extends along the forward direction of the robot and exceeds the outer contour of the protective cover 10 to form a protective portion, and at least a portion of the special-shaped baffle is recessed toward the inside to form a avoidance opening, so that the protective edge strip 12 located on one side of the avoidance opening can contact and compress the obstacle 400, thereby reducing the distance between the cutting blade 21 and the edge of the protective cover 10, and then effectively cutting the cutting object at the edge of the protective cover 10.

[0088] In an optional embodiment, the protective cover 10 is disposed between the drive motor 30 and the cutter disc 20 and is rotatably connected to the output shaft 311 of the drive assembly so that the protective cover 10 can protect the cutter disc 20 and can move independently relative to the output shaft 311. When the protective cover 10 is close to the edge of an aisle, a wall surface, a fence, etc., it can convert the contact friction with the edge of the aisle, the wall surface, the fence, etc. into rolling friction, thereby reducing the damage to the protective edge strip 12 caused by friction.

[0089] In an optional embodiment, if Figures 6 to 8 As shown, the cutting blade 21 is provided with a cutting section 211 and a protection section 212 at intervals, and the protection section 212 is used to protect non-cutting objects from entering the cutting section 211. The protection section 212 arranged on the outermost side is located between the inner side and the outer side of the protection edge strip 12 to prevent the cutting section 211 from colliding with the edge of the aisle, the wall surface, the fence, etc. after the protection edge strip 12 is worn, thereby improving the safety of the cutting blade 21.

[0090] In an optional embodiment, the cutting section 211 is in a thin sheet structure to form a cutting blade, and the protective section 212 is in a thick and blunt structure and protrudes from the cutting end face of the cutting section 211, which can not only protect the blade but also tear the cut object during cutting.

[0091] In an optional embodiment, if Figure 8 and Fig.10As shown, the cutting blade 21 includes a blade body, a cutting section 211 and a protection section 212 are arranged on a fixed edge of the blade body and extend from the fixed edge toward the cutting edge on the other side, the cutting section 211 is mainly used to cut the cutting object, and the protection section 212 is used to protect the cutting section 211, and the protection section 212 can also be used for the cutting section 211 to tear the cutting object when cutting the cutting object. Among them, the cross-sectional area of ​​the protection section 212 in the extension direction from the fixed edge to the cutting edge gradually decreases, so that the distance between two adjacent protection sections 212 increases along the extension direction of the protection section 212, which is conducive to increasing the cutting area of ​​the cutting section 211 and improving the cutting effect of the cutting section 211; in addition, when the cutting section 211 is cutting the cutting object, the cutting section 211 fails to completely cut off the cutting object at one time, and the partial structure of the protection section 212 located on one side of the cutting section 211 can be used for secondary tearing of the cutting object to ensure the cutting effect of the robot.

[0092] In an optional embodiment, the cutter disc 20 includes a rotating disc 22, and the cutting blade 21 is mounted on the rotating disc 22. The rotating disc 22 is transmission-connected to the output shaft 311 of the driving motor 30 to receive the mechanical energy of the driving motor 30, so that the cutting blade 21 as a whole can perform circular motion, thereby realizing the cutting operation.

[0093] In an optional embodiment, the number of cutting blades 21 can be two or more. When the number of cutting blades 21 is two, the two cutting blades 21 are symmetrically arranged on both sides of the rotating disk 22; when the number of cutting blades 21 is three or more, the three or more cutting blades 21 can be arranged on the peripheral side of the rotating disk 22 to form a circular array around the center of the rotating disk 22.

[0094] It should be noted that too many cutting blades 21 will cause interference between the cutting blades 21, while too few will reduce the cutting efficiency, so it is best to set it to two to three.

[0095] In an optional embodiment, a blade mounting portion 213 is provided at one end of the cutting blade 21 , so that the cutting blade 21 can be rotatably mounted on the rotating disk 22 through the blade mounting portion 213 .

[0096] In an optional embodiment, a fan structure 221 is provided on the side of the rotating disk 22 facing away from the cutting blade 21. The fan structure 221 is used to generate an airflow blowing toward the cutting blade 21, and can blow the debris of the cut object out of the rotating disk 22 to prevent the debris from entering the gap between the protective cover 10 and the rotating disk 22, affecting the operation of the drive motor 30, or even causing the drive motor 30 to get stuck. In addition, the airflow can also dissipate the heat of the drive motor 30, effectively preventing the drive motor 30 from overheating.

[0097] In an optional embodiment, if Figures 6 to 8 As shown, the cutting assembly 100 includes an abutment 50, which is arranged below the cutting blade 21 and is used to drive the cutting blade 21 to move upward when the cutting assembly 100 contacts the obstacle 400, so that the cutting assembly 100 floats upward as a whole, avoiding the collision between the cutting blade 21 and the obstacle 400, thereby effectively extending the service life of the cutting blade 21; or, when the obstacle 400 enters the bottom of the abutment 50, the obstacle 400 can reduce the cutting speed of the cutting blade 21 when lifting the cutting assembly 100 as a whole, thereby avoiding the cutting blade 21 from suffering secondary damage.

[0098] In an optional embodiment, the side of the abutment 50 facing away from the cutting blade 21 is a convex arc structure, which can reduce the contact area between the obstacle 400 and the abutment 50, thereby ensuring that the cutting blade 21 can cut slowly when contacting the obstacle 400, thereby avoiding secondary damage to the cutting blade 21; the abutment 50 and the drive motor 30 can also be protected, reducing the friction between the abutment 50 and the obstacle 400 and the risk of damage to the drive motor 30 due to stalling, thereby increasing the life of the drive motor 30.

[0099] In an optional embodiment, the cutting assembly 100 includes a transmission member 60 , one end of the transmission member 60 is connected to the output shaft 311 of the driving motor 30 , and the other end of the transmission member 60 is connected to the rotating disk 22 .

[0100] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be directly connected or indirectly connected through an intermediate medium. It can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0101] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0102] The disclosure above provides many different embodiments or examples to realize the different structures of the present application. In order to simplify the disclosure of the present application, the parts and settings of specific examples are described above. Of course, they are only examples, and the purpose is not to limit the present application. In addition, the present application can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplification and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the various specific processes and material examples provided by the present application, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0103] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

Claims

1. A robot, characterized in that: include: The robot body comprises a body and a moving component, wherein the moving component is arranged on the body and is used to drive the body to move; A cutting mechanism, comprising a connecting assembly and a cutting assembly, wherein the cutting assembly is connected to the vehicle body through the connecting assembly and can be switched between a first area and a second area relative to the vehicle body; Wherein, the second area is closer to the vehicle body than the first area, and when the cutting assembly is in the first area, the cutting assembly works; When the cutting assembly is in the second area, the cutting assembly stops working.

2. The robot according to claim 1, characterized in that: The area of ​​the first region is greater than that of the second region, and when the cutting assembly moves from one position of the first region to the second region, the cutting speed of the cutting assembly decreases.

3. The robot according to claim 1 or 2, characterized in that: The connecting assembly includes a rotating portion and a mounting portion connected to the vehicle body. The cutting assembly is rotatably mounted on the mounting portion via the rotating portion and can be deflected between the first area and the second area.

4. The robot according to claim 3, characterized in that: The connecting assembly further includes a reset member, which is disposed between the rotating portion and the mounting portion and is used to drive the rotating portion to rotate toward the first area.

5. The robot according to claim 4, characterized in that: The reset member comprises a torsion spring, one end of the torsion spring abuts against the rotating portion, and the other end of the torsion spring abuts against the mounting portion.

6. The robot according to claim 3, characterized in that: The robot further comprises a detection component, which is disposed on at least one of the vehicle body and the connecting component and is used to detect a deflection angle of the cutting component so as to control a cutting speed of the cutting component.

7. The robot according to claim 6, characterized in that: The detection component includes at least one of a mechanical sensor, an angle sensor, a travel switch and a Hall sensor electrically connected to the cutting component.

8. The robot according to claim 3, characterized in that: The mounting portion is provided with a first connection end surface, the rotating portion is provided with a second connection end surface, and a limiting member is connected between the first connection end surface and the second connection end surface for limiting a deflection angle of the rotating portion relative to the mounting portion.

9. The robot according to claim 8, characterized in that: The limiting member includes a limiting groove and a limiting column matched with the limiting groove, one of the limiting groove and the limiting column is arranged on the first connecting end surface, and the other of the limiting groove and the limiting column is arranged on the second connecting end surface.

10. The robot according to claim 3, characterized in that: The connecting assembly also includes a connecting arm, and the cutting assembly is installed on the rotating part through the connecting arm. The connecting arm is rotatable relative to the rotating part, and the rotation axis of the connecting arm when rotating around the rotating part is perpendicular to the rotation axis of the rotating part when rotating around the mounting part.

11. The robot according to claim 1, characterized in that: The cutting assembly comprises a driving motor, a cutting blade and a protective device. The driving motor is connected to the vehicle body through the connecting assembly. The protective device is arranged on the outside of the cutting blade to protect the cutting blade.

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