Autonomous work equipment

Abstract

The utility model discloses autonomous operation equipment. In the utility model, the autonomous operation equipment comprises a machine body, the bottom of which is provided with an accommodating cavity; a main cutting device; the trimming and cutting device is provided with a trimming cutter head, a trimming power part and a connecting arm; a roller is arranged in the connecting arm; the rotating shaft assembly is connected with the machine body and the connecting arm; the rotating shaft assembly comprises a second connecting shaft extending longitudinally, and the trimming cutting device rotates around the second connecting shaft. The control module is used for controlling self-walking and autonomous operation of the autonomous operation equipment; the control module is electrically connected with the main power part and the trimming power part; the side, facing the connecting arm, of the part, covering the connecting arm, of the support is provided with a roller track used for sliding of the roller, and the track of the roller track is the same as the track that the trimming cutting device rotates around the second connecting shaft. In this way, the lawn located at the edge zone outside the boundary line can be cut, convenience is brought to users, and the structure is more compact and reliable.

Description

Technical Field

[0001] The utility model relates to the field of outdoor operation equipment, and particularly relates to an autonomous operation equipment. Background Art

[0002] Taking an intelligent lawn mower whose main function is to trim lawns as an example of the autonomous operation equipment, it can free users from complex and miscellaneous labor and is becoming more and more popular among users. The intelligent lawn mower can walk on the lawn within the range defined by the boundary line and trim the lawn. The boundary line is generally arranged inside the actual lawn to leave some margins to prevent the machine from directly going out of bounds. For traditional intelligent lawn mowers, most of their cutting mechanisms are central rotating cutter disks centrally arranged under the machine shell. The cutter disks are far from the outer side of the machine shell. When the intelligent lawn mower walks to the edge of the lawn, the lawn mower will automatically turn, so that the lawn in the edge area outside the boundary line can never be cut, and users need to use other tools for edging, which is not convenient for users. Summary of the Utility Model

[0003] The purpose of the utility model is to provide an autonomous operation equipment, so that the lawn in the edge area outside the boundary line can be cut, which brings convenience to users, and increases the stability of the ground clearance of the edging cutter disk.

[0004] To solve the above technical problems, an embodiment of the utility model provides an autonomous operation equipment, including:

[0005] A fuselage, the bottom of the fuselage has a receiving cavity for receiving a battery pack;

[0006] A main cutting device, the main cutting device is located at the bottom of the fuselage, and the main cutting device has a main cutter disk and a main power component for driving the main cutter disk to work;

[0007] An edging cutting device, the edging cutting device has an edging cutter disk, an edging power component for driving the edging cutter disk to work, and a connecting arm connected to the edging cutter disk; rollers are arranged in the connecting arm;

[0008] A rotating shaft assembly, the rotating shaft assembly connects the fuselage and the connecting arm; the rotating shaft assembly includes: a second connecting shaft extending longitudinally, and the edging cutting device rotates around the second connecting shaft;

[0009] A control module, the control module is used to control the autonomous operation and autonomous work of the autonomous operation equipment; the control module is electrically connected to the main power component and the edging power component, controls the main power component to drive the main cutter disk, and controls the edging power component to drive the edging cutter disk;

[0010] A bracket, which is fixedly connected to the fuselage, and at least part of the bracket covers the side of the connecting arm facing away from the fuselage; the part of the bracket covering the connecting arm has a roller track for the roller to slide on the side facing the connecting arm, and the track of the roller track is the same as the track of the trimming and cutting device rotating around the second connecting shaft.

[0011] In the embodiment of the present utility model, compared with the prior art, due to the setting of the trimming and cutting device, the connecting arm can extend the trimming cutter head to the area that the main cutter head cannot cut during the self-propelled operation of the autonomous operation device, so that the lawn in the area along the edge outside the boundary line can be cut, without the need for additional trimming, which brings convenience to the user. At the same time, the rollers provided on the connecting arm move along the roller track of the bracket when the trimming and cutting device rotates, so that the trimming cutter head is supported and can move stably, and is not easy to shake up and down during the movement, increasing the stability of the height of the trimming cutter head from the ground.

[0012] In one embodiment, the rotating shaft assembly further includes:

[0013] A rotating shaft frame, which is connected to the fuselage;

[0014] A rotating shaft seat, which is connected to the rotating shaft frame; the second connecting shaft connects the rotating shaft seat and the rotating shaft frame, and the rotating shaft seat is rotatably connected to the second connecting shaft;

[0015] An elastic member, which connects the trimming cutter head and the rotating shaft frame;

[0016] The trimming and cutting device has a first position and a second position, and the rotating shaft seat is used to drive the trimming and cutting device to rotate around the second connecting shaft from the first position to the second position; the elastic member provides a pulling force to drive the trimming and cutting device to drive the rotating shaft seat to rotate around the second connecting shaft back to the first position.

[0017] In one embodiment, the trimming cutter head has a protective cover and a trimming cutter tool covered by the protective cover; the side wall of the protective cover has a grass inlet;

[0018] During the process of the trimming and cutting device moving from the first position to the second position, the included angle between the symmetry axis of the grass inlet and the central axis of the fuselage extension direction first decreases and then increases.

[0019] In one embodiment, the first position is the normal working state of the trimming and cutting device; when the trimming and cutting device is in the first position, the cutting track of the trimming cutter head at least partially overlaps or is tangent to the cutting track of the main cutter head.

[0020] In one embodiment, the rotating shaft frame has a mounting seat for mounting the rotating shaft seat, and an extension arm connected to the mounting seat and extending toward the connecting arm; one end of the elastic member is connected to the extension arm; the bracket is fixedly connected to the extension arm; a limiting wall is provided on the periphery of the mounting seat, and the rotating shaft seat is installed in the area surrounded by the limiting arm; when the trimming and cutting device is located at the first position and the second position, the limiting wall resists and limits the rotating shaft seat.

[0021] In one embodiment, the center of the trimming blade disc and the connection point between the rotating shaft assembly and the connecting arm are located on both sides of the central axis in the extension direction of the fuselage;

[0022] The second position is the extreme position to which the trimming and cutting device can rotate around the second connecting shaft; when the trimming and cutting device is located at the second position, the outer contour of the trimming blade does not exceed the maximum outer contour of the fuselage.

[0023] In one embodiment, the shaft assembly further includes: a first connecting shaft, which is disposed on the shaft seat and extends horizontally; the connecting arm is rotatably connected to the first connecting shaft, and the trimming and cutting device can be operably lifted or lowered around the first connecting shaft.

[0024] In one embodiment, the trimming knife disc is lifted up to a maximum angle of 5°-9° around the first connecting shaft.

[0025] In one embodiment, the ratio of the distance from the central axis of the second connecting shaft to the roller track to the distance from the central axis of the second connecting shaft to the central axis of the trimming power member is 0.4 to 0.5.

[0026] In one embodiment, the bottom of the fuselage has a accommodating cavity for accommodating a battery pack; the bracket has a frame portion for covering the side of the connecting arm facing away from the fuselage, and a battery pack cover portion for covering the accommodating cavity; the battery pack cover portion and the frame portion are integrally formed; the frame portion has the roller track on the side facing the connecting arm.

[0027] In one embodiment, the trimming cutter disc comprises a guard connected to the connecting arm and a trimming tool covered by the guard; the trimming tool comprises a moving blade connected to the trimming power member and a stationary blade fixed to the guard; the height from the guard to the ground is H, the horizontal distance from the inner lower edge of the guard to the moving blade is W,

[0028] W=a*H, 0.9<a<1.1. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1It is a schematic diagram of the normal state structure of the autonomous operation device according to an embodiment of the present utility model;

[0030] Figure 2 It is a schematic diagram of the avoidance state structure of the autonomous operation device according to an embodiment of the present utility model;

[0031] Figure 3 It is a schematic diagram of the state of the trimming and cutting device at the bottom of the fuselage in the normal state according to an embodiment of the present utility model;

[0032] Figure 4 It is a schematic diagram of the state of the trimming and cutting device at the bottom of the fuselage in the avoidance state according to an embodiment of the present utility model;

[0033] Figure 5 It is a three-dimensional view of the bottom of the autonomous operation device according to an embodiment of the present utility model;

[0034] Figure 6 It is a schematic diagram of the bottom structure of the autonomous operation device without a trimming and cutting device according to an embodiment of the present utility model;

[0035] Figure 7 It is an exploded view of the trimming and cutting device, the rotating shaft assembly, and the bracket according to an embodiment of the present utility model;

[0036] Figure 8 It is an exploded view of the rotating shaft assembly according to an embodiment of the present utility model;

[0037] Figure 9 It is an exploded view of the trimming and cutting device according to an embodiment of the present utility model;

[0038] Figure 10 It is an assembly drawing of the autonomous operation device according to an embodiment of the present utility model;

[0039] Figure 11 It is a schematic diagram of the state of the connecting arm when the trimming and cutting device is not lifted according to an embodiment of the present utility model;

[0040] Figure 12 It is a schematic diagram of the state of the connecting arm when the trimming and cutting device is lifted according to an embodiment of the present utility model;

[0041] Figure 13 It is a position relationship diagram among the protective cover, the trimming cutter head, and the ground according to an embodiment of the present utility model;

[0042] Figure 14 It is an exploded view of the bracket and the trimming and cutting device according to an embodiment of the present utility model. Detailed implementation manners

[0043] To make the objectives, technical solutions and advantages of the present utility model clearer, the following will elaborate on each embodiment of the present utility model in conjunction with the accompanying drawings. However, those of ordinary skill in the art can understand that in each embodiment of the present utility model, many technical details are provided to help readers better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical solutions claimed in each claim of the present application can still be implemented.

[0044] Unless the context requires otherwise, throughout the specification and claims, the words "comprising" and its variants, such as "including" and "having", shall be construed in an open, inclusive sense, i.e., construed as "including, but not limited to".

[0045] The following will elaborate on each embodiment of the present utility model in conjunction with the accompanying drawings to more clearly understand the objectives, features and advantages of the present utility model. It should be understood that the embodiments shown in the drawings are not limitations on the scope of the present utility model, but only to illustrate the essential spirit of the technical solutions of the present utility model.

[0046] References to "one embodiment" or "an embodiment" throughout the specification mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, appearances of "in one embodiment" or "in an embodiment" throughout the specification are not necessarily all referring to the same embodiment. Additionally, the particular features, structures, or characteristics may be combined in any manner in one or more embodiments.

[0047] As used in this specification and the appended claims, the singular forms "a" and "the" include plural referents unless the context clearly dictates otherwise. It should be noted that the term "or" is generally used in its inclusive sense of "and / or" unless the context clearly dictates otherwise.

[0048] In the following description, in order to clearly show the structure and working mode of the present utility model, many directional terms will be used. However, terms such as "front", "rear", "left", "right", "outside", "inside", "outward", "inward", "up", "down", etc. should be understood as convenient terms and not as limiting terms.

[0049] The embodiments of the present utility model will be described below with reference to the accompanying drawings.

[0050] An embodiment of the present utility model relates to an autonomous operation device 100. The autonomous operation device 100 is especially a robot that can move autonomously within a preset area and perform specific operations, typically an intelligent lawn mower for performing lawn mowing operations. Among them, the specific operation especially refers to an operation of processing a working surface and changing the state of the working surface. The present utility model will be described in detail taking an intelligent lawn mower as an example. The autonomous operation device 100 can walk autonomously on the surface of the working area. Especially as an intelligent lawn mower, it can perform lawn mowing operations autonomously on the ground.

[0051] As Figures 1 - 5 shown, the autonomous operation device 100 includes a body 1, a main cutting device 2, a trimming cutting device 3, a rotating shaft assembly 4, and a control module.

[0052] The body 1 generally includes a chassis and a housing. The chassis is used to install and accommodate functional mechanisms and functional modules such as a moving mechanism, a working mechanism, an energy module, a detection module, an interaction module, and a control module. The housing is generally configured to at least partially cover the chassis, mainly playing a role in enhancing the aesthetics and recognition of the autonomous operation device 100. The moving mechanism is configured to support the main body mechanism on the ground and drive the main body mechanism to move on the ground. It generally includes a wheeled moving mechanism, a crawler-type or semi-crawler-type moving mechanism, and a walking-type moving mechanism, etc. In this embodiment, as Figure 1 shown, the moving mechanism is a wheeled moving mechanism, including at least one driving wheel 11 and at least one walking prime mover. The walking prime mover is preferably an electric motor, and in other embodiments, it can also be an internal combustion engine or a machine that uses other types of energy to generate power. In this embodiment, preferably, a left driving wheel, a left walking prime mover for driving the left driving wheel, a right driving wheel, and a right walking prime mover for driving the right driving wheel are provided. In this embodiment, the straight-line travel of the autonomous operation device is achieved by the same-speed rotation of the left and right driving wheels in the same direction, and the steering travel is achieved by the differential speed or opposite rotation of the left and right driving wheels in the same direction. In other embodiments, the moving mechanism may further include a steering mechanism independent of the driving wheel and a steering prime mover independent of the walking prime mover. In this embodiment, the moving mechanism further includes at least one driven wheel, and the driven wheel is typically configured as a universal wheel. The driving wheel and the driven wheel are respectively located at the front and rear ends of the autonomous operation device.

[0053] The energy module is configured to provide energy for various operations of the autonomous operation device 100. In this embodiment, the energy module includes a battery and a charging connection structure, where the battery is preferably a rechargeable battery, and the charging connection structure is preferably a charging electrode that can be exposed outside the autonomous operation device.

[0054] The detection module is configured as at least one sensor for sensing environmental parameters of the autonomous operation device 100 or its own working parameters. Typically, the detection module may include sensors related to the definition of the working area, such as various types including magnetic induction type, collision type, ultrasonic type, infrared type, radio type, etc., and the type of the sensor is adapted to the position and quantity of the corresponding signal generating device. The detection module may also include sensors related to positioning and navigation, such as a GPS positioning device, a laser positioning device, an electronic compass, an acceleration sensor, an odometer, an angle sensor, a geomagnetic sensor, etc. The detection module may also include sensors related to its own working safety, such as an obstacle sensor, a lifting sensor, a battery pack temperature sensor, etc. The detection module may also include sensors related to the external environment, such as an environmental temperature sensor, an environmental humidity sensor, a light sensor, a rain sensor, etc.

[0055] The interaction module is configured to at least receive control instruction information input by the user, send out information that needs to be perceived by the user, communicate with other systems or devices to send and receive information, etc. In this embodiment, the interaction module includes an input device provided on the autonomous operation device 100 for receiving control instruction information input by the user, typically such as a control panel, an emergency stop button, etc.; the interaction module also includes a display screen, an indicator light and / or a buzzer provided on the autonomous operation device 100, and the user perceives the information by emitting light or sound. In other implementation manners, the interaction module includes a communication module provided on the autonomous operation device 100 and a terminal device independent of the autonomous operation device 100, such as a mobile phone, a computer, a network server, etc., and the user's control instruction information or other information can be input on the terminal device and reach the autonomous operation device 100 via a wired or wireless communication module.

[0056] The control module generally includes at least one processor and at least one non-volatile memory, and a computer program or instruction set is pre-written in the memory, and the processor controls the execution of actions such as the movement and work of the autonomous operation device 100 according to the computer program or instruction set. Further, the control module can also control and adjust the corresponding behaviors of the autonomous operation device 100 and modify the parameters in the memory according to the signals of the detection module and / or the user control instructions.

[0057] The boundary is used to define the working area of the robot system. The boundary can be physical, typically such as walls, fences, railings, etc.; the boundary can also be virtual, typically such as a virtual boundary signal emitted by a boundary signal generating device, and the virtual boundary signal is usually an electromagnetic signal or an optical signal, or for an autonomous operation device 100 provided with a positioning device (such as GPS, etc.), a virtual boundary set in an electronic map formed by two-dimensional or three-dimensional coordinates. In this embodiment, the boundary is configured as a closed wire electrically connected to the boundary signal generating device, and the boundary signal generating device is usually arranged in the docking station. The docking station is usually constructed on or within the boundary for the autonomous operation device 100 to dock, and in particular, it can supply energy to the autonomous operation device 100 docked at the docking station.

[0058] Specifically, Figure 1 In the figure, arrow A is the forward direction of the autonomous operation device 100 moving by itself. The main cutting device 2 is located at the bottom of the fuselage 1. The main cutting device 2 has a main cutter head 22 and a main power component for driving the main cutter head 22 to work. The edge trimming cutting device 3 has an edge trimming cutter head 32, an edge trimming power component 31 for driving the edge trimming cutter head 32 to work, and a connecting arm 33 connected to the edge trimming cutter head 32. The rotating shaft assembly 4 connects the fuselage 1 and the connecting arm 33. The control module is used to control the driving wheels to make the autonomous operation device 100 move by itself. The control module is electrically connected to the main power component and the edge trimming power component 31, controls the main power component to drive the main cutter head 22, and controls the edge trimming power component 31 to drive the edge trimming cutter head 32, so as to realize that the autonomous operation device 100 can perform autonomous operations without being held by the user. Due to the setting of the edge trimming cutting device 3, the connecting arm 33 can extend the edge trimming cutter head 32 to an area that the main cutter head 22 cannot cut, so that the lawn in the area along the edge outside the boundary line can be cut without additional trimming, which brings convenience to the user.

[0059] Furthermore, as Figures 1 - 4 shown, the center of the edge trimming cutter head 32, the connection point of the rotating shaft assembly 4 and the connecting arm 33 are located on both sides of the central axis C in the extending direction of the fuselage 1. The center of the edge trimming cutter head 32, the connection point of the rotating shaft assembly 4 and the connecting arm 33 are located on both sides of the central axis C in the extending direction of the fuselage 1, so as to increase flexibility along the long force arm.

[0060] In addition, as Figure 8 shown, the rotating shaft assembly 4 includes: a rotating shaft frame 41, a rotating shaft seat 42 and a first coupling shaft 43. As Figure 6 、 Figure 7As shown, the rotating shaft frame 41 is connected to the fuselage 1, and the rotating shaft seat 42 is connected to the rotating shaft frame 41. The first coupling shaft 43 is disposed on the rotating shaft seat 42 and extends horizontally. The connecting arm 33 is rotatably connected to the first coupling shaft 43, and the trimming and cutting device 3 can be operably lifted or lowered around the first coupling shaft 43. When working and encountering obstacles such as stones, the trimming and cutting device 3 can be lifted and then lowered after passing over the obstacle. The state of the connecting arm 33 rotating around the first coupling shaft 43 can be as Figure 11 and Figure 12 shown.

[0061] Further, as Figure 12 shown, the limit angle γ for the trimming cutter head 32 to lift around the first coupling shaft 43 is 5° - 9°. Optionally, the limit angle γ for the trimming cutter head 32 to lift around the first coupling shaft 43 is 6°, 7°, or 8°. Thus, on the premise of ensuring the passability of the trimming cutter head 32 when encountering obstacles, on the one hand, the flatness of trimming is ensured, and on the other hand, it is ensured that the trimming cutter head 32 will not be damaged due to excessive impact when falling from the lifted position.

[0062] Further, as Figure 7 , Figure 10 shown, the connecting arm 33 has a connecting ear 331 connected to the first coupling shaft 43, and at least a part of the housing 221 of the connecting arm 33 extends above the connecting ear 331 to form a baffle 332. The rotating shaft assembly 4 further includes: a cover body 46 covering the rotating shaft seat 42, and the baffle 332 extends between the cover body 46 and the rotating shaft seat 42. When the trimming and cutting device 3 is lifted to the limit position, the baffle 332 abuts against the mounting seat 411, thereby limiting the lifting height of the trimming cutter head 32 and preventing the trimming cutter head 32 from being lifted too high. When in the normal state, as Figure 11 shown, the trimming and cutting device 3 is not lifted, that is, the connecting arm 33 and the trimming cutter head 32 do not rotate around the first coupling shaft 43.

[0063] Further, as Figure 5 , Figure 7 and Figure 8 shown, the rotating shaft assembly 4 further includes: an elastic member 44 and a second coupling shaft 45. The elastic member 44 connects the trimming cutter head 32 and the rotating shaft frame 41. The second coupling shaft 45 connects the rotating shaft seat 42 and the rotating shaft frame 41, and the second coupling shaft 45 extends longitudinally. The rotating shaft seat 42 is rotatably connected to the second coupling shaft 45. The trimming and cutting device 3 has a first position (such as Figure 1 and Figure 3 ) and a second position (such as Figure 2 and Figure 4), and the rotating shaft seat 42 is used to drive the trimming and cutting device 3 to rotate around the second connecting shaft 45 from the first position to the second position, and the elastic member 44 provides a pulling force to pull the trimming and cutting device 3 to drive the rotating shaft seat 42 to rotate around the second connecting shaft 45 back to the first position. When there is an approaching obstacle on the trimming side during work, the trimming cutter head 32 is blocked by the obstacle, overcomes the pulling force of the elastic member 44, and moves from the first position to the second position to cross the obstacle in an avoidance form. After the trimming cutter head 32 crosses the obstacle, it returns to the first position under the pulling force of the spring. The elastic member 44 can be a spring as shown in the figure, or other elastic members such as elastic sheets.

[0064] Further, as Figure 1 and Figure 3 shown, the first position is the normal working state of the trimming and cutting device 3. When the trimming and cutting device 3 is in the first position, the cutting trajectory of the trimming cutter head 32 at least partially overlaps or is tangent to the cutting trajectory of the main cutter head 22.

[0065] As Figure 2 and Figure 4 shown, the second position is the limit position that the trimming and cutting device 3 can rotate to around the second connecting shaft 45, and the second position is also the avoidance position. When the trimming and cutting device 3 is in the second position, the outer contour of the trimming cutter head 32 does not exceed the maximum outer contour of the fuselage 1.

[0066] Further, as Figure 8 shown, the rotating shaft frame 41 has a mounting seat 411 for mounting the rotating shaft seat 42, and an extension arm 412 connected to the mounting seat 411 and extending towards the connecting arm 33. One end of the elastic member 44 is connected to the extension arm 412. As Figure 6 shown, a limiting wall 413 is provided on the outer periphery of the mounting seat 411, and the rotating shaft seat 42 is installed in the area surrounded by the limiting wall 413. When the trimming and cutting device 3 is in the first position and the second position, the limiting wall 413 abuts and limits the rotating shaft seat 42. The movement range of the trimming tool 323 is limited, making it safer to use.

[0067] Further, as Figure 5 、 Figure 7 shown, the trimming cutter head 32 has a protective cover 321 and a trimming tool 323 covered by the protective cover 321, and a grass inlet 320 is provided on the side wall of the protective cover 321. As Figure 3 and Figure 4 shown, during the process of the trimming and cutting device 3 moving from the first position to the second position, the angle β between the symmetry axis P of the grass inlet 320 and the central axis C of the extension direction of the fuselage 1 first decreases and then increases.

[0068] Further, as Figure 3 and Figure 4As shown, the included angle β between the axis of symmetry P of the grass inlet 320 and the central axis C of the extension direction of the fuselage 1 is 10° to 20°. Optionally, the included angle β is 12°, 14° or 16°.

[0069] In addition, as Figure 3 shown, the central angle α of the grass inlet 320 is not less than 90°. Optionally, the central angle α of the grass inlet 320 is not less than 100°.

[0070] Furthermore, as Figure 3 shown, the central angle α of the grass inlet 320 is 110° to 120°, and the central angle α of the grass inlet 320 can be 112°, 115° or 118°. A suitable design of the grass inlet orientation can improve the cutting efficiency on the premise of ensuring the complete structural function of the protective cover 321.

[0071] In addition, as Figure 9 , Figure 10 , Figure 13 shown, the trimming tool 323 includes: a moving blade 3231 connected to the trimming power member 31, and a stationary blade 3232 fixed to the protective cover 321. The height of the protective cover 321 from the ground is H, and the horizontal distance from the inner lower edge of the protective cover 321 to the moving blade 3231 is W. Optionally, H is not greater than 30 mm, and W is not less than 28 mm;

[0072] W = a * H, where 0.9 < a < 1.1.

[0073] This setting can ensure both the high efficiency and safety of mowing, especially avoiding the user's fingers reaching under the trimming cutter head 32 and touching the moving blade 3231.

[0074] In the figure, as Figure 13 shown, both the protective cover 321 and the moving blade 3231 are horizontally arranged, but when the trimming cutting device 3 is lifted when encountering an obstacle, the protective cover 321 and the moving blade 3231 can be set to tilt forward, and their tilting directions and angles are usually the same, that is, the part close to the grass inlet 320 is lower than the part far from the grass inlet 320. At this time, W is the minimum horizontal distance from the lowest point of the inner lower edge of the protective cover 321 to the cutting range of the blade, and H is the height of the lowest point of the protective cover 321 from the ground.

[0075] In addition, as Figure 9 , Figure 10As shown in the figure, the trimming tool 323 is arranged inside the shield 321. The moving blade 3231 is arranged above the stationary blade 3232, and the lowermost ends of the moving blade 3231 and the stationary blade 3232 are also located inside the shield 321. Among them, the trimming power member 31 can be a motor. The output main shaft of the trimming power member 31 penetrates through the shield 321 and is fixedly connected to the moving blade 3231. The control module controls the trimming power member 31 to rotate the output main shaft to drive the moving blade 3231 to rotate. The shield 321 is fixed to the connecting arm 33 and is not driven by the trimming power member 31. The stationary blade 3232 is fixedly connected to the shield 321 to prevent the stationary blade 3232 from being driven by the trimming power member 31. Specifically, the moving blade fixing frame 5 is sleeved and fixed on the output main shaft, the moving blade 3231 is fixed to the moving blade fixing frame 5 by bolts, the stationary blade fixing frame 6 is also sleeved on the output main shaft, the stationary blade fixing frame 6 is located below the moving blade fixing frame 5, and a bearing 7 is connected between the stationary blade fixing frame 6 and the output main shaft, so that the rotation of the output main shaft will not drive the stationary blade fixing frame 6, and the stationary blade 3232 is fixed to the stationary blade fixing frame 6.

[0076] In addition, as Figure 5 , Figure 7 , Figure 9 shown, the stationary blade 3232 is connected to the shield 321 in the area of the grass inlet 320. When the moving blade 3231 rotates to cut grass, the grass can enter the grass inlet 320 and be better crushed by the stationary blade 3232.

[0077] Furthermore, as Figure 5 , Figure 7 , Figure 9 shown, a fixing part 325 and a plurality of spaced comb teeth 324 are arranged in the grass inlet 320. The stationary blade 3232 has a fixing arm 3230 connected to the fixing part 325.

[0078] In addition, as Figure 5 , Figure 7 shown, the autonomous operation device 100 further includes: a bracket 8 fixedly connected to the fuselage 1. The bracket 8 at least partially covers the side of the connecting arm 33 facing away from the fuselage 1 and is used to support the connecting arm 33, so that the trimming cutting device 3 has better stability.

[0079] Furthermore, as Figure 5 , Figure 7 , Figure 14 shown, a roller 34 is arranged in the connecting arm 33. One side of the part of the bracket 8 covering the connecting arm 33 facing the connecting arm 33 has a roller track 80 for the roller 34 to slide. The track of the roller track 80 is the same as the track of the trimming cutting device 3 rotating around the second connecting shaft 45. It can be understood that in other embodiments, there may also be no roller 34, or the trimming cutting device 3 may not be able to rotate around the second connecting shaft 45 or the first connecting shaft 43.

[0080] Further, as shown in Figure 5 , Figure 6 , Figure 14 , the bottom of the fuselage 1 has a receiving cavity 10 for receiving the battery pack. The bracket 8 has a frame portion 81 for covering the side of the connecting arm 33 facing away from the fuselage 1, and a battery pack cover portion 82 for covering the receiving cavity 10. The frame portion 81 is used to support the connecting arm 33, the battery pack cover portion 82 is fixedly connected to the fuselage 1, the battery pack cover portion 82 and the frame portion 81 are an integral part, and the bracket 8 has a compact and reliable structure. In order to stabilize the bracket 8, the frame portion 81 and the extension arm 412 can be fixedly connected by bolts, and the battery pack cover portion 82 and the fuselage 1 can be fixedly connected by bolts. It can be understood that there are various forms of fixed connection, and it is not limited to the structure in this embodiment. During assembly, the trimming cutter head 32 can be first installed with the rotating shaft assembly 4, then the rotating shaft assembly 4 can be installed with the chassis of the fuselage 1, and finally the bracket 8 can be installed.

[0081] Further, as shown in Figure 5 , Figure 6 , Figure 14 , the side of the frame portion 81 facing the connecting arm 33 has a roller track 80 for the roller 34 to slide. The frame portion 81 supports the roller 34, allowing the roller 34 to move along the roller track 80, making it smoother and more stable when the trimming tool 323 rotates around the second connecting shaft 45. The trimming cutter head 32 is supported and can move stably, and is not prone to shaking up and down during movement, increasing the stability of the height of the trimming cutter head 32 from the ground.

[0082] Further, as shown in Figure 10 , the ratio of the distance L1 from the central axis of the second connecting shaft 45 to the roller track to the distance L2 from the central axis of the second connecting shaft 45 to the central axis of the trimming power member 31 is not less than 0.3. Optionally, the range of L1 / L2 is 0.4 to 0.5. Within a reasonable range, the stability of the connecting arm 33 is better.

[0083] Further, as shown in Figure 5 , the main cutter head 22 includes a housing 221 connected to the fuselage 1, and a main cutter 222 covered by the housing 221. The main power member is connected to the main cutter 222 to drive the main cutter 222, and the main power member can be a motor.

[0084] In this embodiment, the autonomous operation device 100 has a control module, enabling the autonomous operation device 100 to move and operate autonomously. However, in other embodiments, it can also be an operation device without a control module.

[0085] The preferred embodiments of the present invention have been described in detail above. However, it should be understood that if necessary, aspects of the embodiments can be modified to adopt aspects, features, and concepts of various patents, applications, and publications to provide additional embodiments.

[0086] In view of the foregoing detailed description, these and other variations can be made to the embodiments. In general, in the claims, the terms used should not be construed as limited to the specific embodiments disclosed in the specification and the claims, but should be understood to include all possible embodiments together with the full scope of equivalents to which these claims are entitled.

[0087] Those of ordinary skill in the art can understand that the above-described embodiments are specific embodiments for implementing the present invention, and in practical applications, various changes can be made to them in form and details without departing from the spirit and scope of the present invention.

Claims

1. An autonomous operating device, characterized in that: include: A body, wherein the bottom of the body has a receiving cavity for receiving a battery pack; A main cutting device, the main cutting device is located at the bottom of the fuselage, and the main cutting device has a main cutter disc and a main power member driving the main cutter disc to work; A trimming and cutting device, the trimming and cutting device comprising a trimming cutter disc, a trimming power member for driving the trimming cutter disc, and a connecting arm connected to the trimming cutter disc; a roller is arranged in the connecting arm; A shaft assembly, the shaft assembly connecting the fuselage and the connecting arm; the shaft assembly comprising: a second connecting shaft extending longitudinally, the trimming and cutting device rotating around the second connecting shaft; A control module, the control module is used to control the autonomous operation equipment to move and operate autonomously; the control module is electrically connected to the main power member and the trimming power member, controls the main power member to drive the main cutter disc, and controls the trimming power member to drive the trimming cutter disc; A bracket, the bracket is fixedly connected to the fuselage, the bracket at least partially covers the side of the connecting arm facing away from the fuselage; the part of the bracket covering the connecting arm has a roller track for roller sliding on the side facing the connecting arm, and the track of the roller track is the same as the track of the trimming and cutting device rotating around the second connecting shaft.

2. The autonomous operation equipment according to claim 1, characterized in that: The rotating shaft assembly also includes: A rotating shaft frame, the rotating shaft frame is connected to the fuselage; A rotating shaft seat, the rotating shaft seat is connected to the rotating shaft frame; the second connecting shaft connects the rotating shaft seat and the rotating shaft frame, and the rotating shaft seat is rotatably connected to the second connecting shaft; An elastic member, the elastic member connecting the trimming cutter disc and the rotating shaft frame; The trimming and cutting device has a first position and a second position, and the rotating shaft seat is used to drive the trimming and cutting device to rotate around the second connecting shaft from the first position to the second position; the elastic member provides a pulling force to pull the trimming and cutting device to drive the rotating shaft seat to rotate around the second connecting shaft back to the first position.

3. The autonomous operation equipment according to claim 2, characterized in that: The trimming blade disc comprises a guard shield and a trimming blade covered by the guard shield; a grass inlet is provided on a side wall of the guard shield; When the trimming and cutting device moves from the first position to the second position, the angle between the symmetry axis of the grass inlet and the central axis of the extension direction of the fuselage first decreases and then increases.

4. The autonomous operation equipment according to claim 2, characterized in that: The first position is the normal working state of the trimming and cutting device; when the trimming and cutting device is located at the first position, the cutting trajectory of the trimming blade disc at least partially overlaps or is tangent to the cutting trajectory of the main blade disc.

5. The autonomous operation equipment according to claim 2, characterized in that: The rotating shaft frame has a mounting seat for mounting the rotating shaft seat, and an extension arm connected to the mounting seat and extending toward the connecting arm; one end of the elastic member is connected to the extension arm; the bracket is fixedly connected to the extension arm; a limiting wall is provided on the periphery of the mounting seat, and the rotating shaft seat is installed in the area surrounded by the limiting arm; when the trimming and cutting device is located at the first position and the second position, the limiting wall abuts against and limits the rotating shaft seat.

6. The autonomous operation equipment according to claim 5, characterized in that: The center of the trimming blade disc and the connection between the rotating shaft assembly and the connecting arm are located on both sides of the central axis in the extension direction of the fuselage; The second position is the extreme position to which the trimming and cutting device can rotate around the second connecting shaft; when the trimming and cutting device is located at the second position, the outer contour of the trimming blade does not exceed the maximum outer contour of the fuselage.

7. The autonomous operation equipment according to claim 5, characterized in that: The rotating shaft assembly also includes: a first connecting shaft, which is arranged on the rotating shaft seat and extends horizontally; the connecting arm is rotatably connected to the first connecting shaft, and the trimming and cutting device can be operably lifted or lowered around the first connecting shaft.

8. The autonomous operation equipment according to claim 7, characterized in that: The trimming knife coil is lifted up to a maximum angle of 5°-9° around the first connecting shaft.

9. The autonomous operation equipment according to claim 1, characterized in that: The ratio of the distance between the central axis of the second connecting shaft and the roller track to the distance between the central axis of the second connecting shaft and the central axis of the trimming power member is 0.4 to 0.

5.

10. The autonomous operation equipment according to claim 1, characterized in that: The bottom of the fuselage has a accommodating cavity for accommodating a battery pack; the bracket has a frame portion for covering the side of the connecting arm facing away from the fuselage, and a battery pack cover portion for covering the accommodating cavity; the battery pack cover portion and the frame portion are integrally formed; the frame portion has the roller track on the side facing the connecting arm.

11. The autonomous operation equipment according to claim 1, characterized in that: The trimming cutter disc comprises a guard connected to the connecting arm and a trimming tool covered by the guard; the trimming tool comprises a moving blade connected to the trimming power member and a stationary blade fixed to the guard; the height from the guard to the ground is H, the horizontal distance from the inner lower edge of the guard to the moving blade is W, W=a*H, 0.9<a<1.1.

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