Autonomous work equipment

Abstract

The utility model discloses autonomous operation equipment. In the utility model, the autonomous operation equipment comprises a machine body; the main cutting device is located at the bottom of the machine body, and the main cutting device is provided with a main cutter head and a main power piece for driving the main cutter head to work; the trimming and cutting device is provided with a trimming cutter head, a trimming power part for driving the trimming cutter head to work, and a connecting arm connected with the trimming cutter head; the rotating shaft assembly is connected with the machine body and the connecting arm; the center of the trimming cutter head and the joint of the rotating shaft assembly and the connecting arm are located on the two sides of the central axis in the extending direction of the machine body. 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, controls the main power part to drive the main cutter head and controls the trimming power part to drive the trimming cutter head. The lawn located at the edge zone outside the boundary line can be cut, and convenience is brought to a user.

Description

Technical Field

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

[0002] Taking an intelligent lawn mower whose main function is to mow the lawn as an example of the autonomous operation equipment, it can save 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 margin to avoid the machine directly going out of bounds. For traditional intelligent lawn mowers, most of their cutting mechanisms are central rotating cutter discs centered under the machine shell. The cutter disc is 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 to trim it separately, 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, bringing convenience to users.

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

[0005] A fuselage;

[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 disc and a main power component for driving the main cutter disc to work;

[0007] A trimming cutting device, the trimming cutting device has a trimming cutter disc, a trimming power component for driving the trimming cutter disc to work, and a connecting arm connected to the trimming cutter disc;

[0008] A rotating shaft assembly, the rotating shaft assembly connects the fuselage and the connecting arm; the center of the trimming cutter disc and the connection point of the rotating shaft assembly and the connecting arm are located on both sides of the central axis in the extending direction of the fuselage; and

[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 trimming power component, and controls the main power component to drive the main cutter disc and controls the trimming power component to drive the trimming cutter disc.

[0010] In the embodiment of the present utility model, compared with the prior art, due to the provision of the trimming and cutting device, the connecting arm of the autonomous operation device can extend the trimming cutter head to the area that the main cutter head cannot cut during self-driving, 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 center of the trimming cutter head, the connection part of the rotating shaft assembly and the connecting arm are located on both sides of the central axis in the extending direction of the fuselage, so that the flexibility can be increased along the long force arm.

[0011] In one embodiment, the rotating shaft assembly includes:

[0012] A rotating shaft frame, which is connected to the fuselage;

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

[0014] A first coupling shaft, which is arranged on the rotating shaft seat and extends horizontally; the connecting arm is rotatably connected to the first coupling shaft, and the trimming and cutting device can be operably lifted or lowered around the first coupling shaft.

[0015] In one embodiment, the limit angle for the trimming cutter head to lift around the first coupling shaft is 5°-9°.

[0016] In one embodiment, the rotating shaft assembly further includes:

[0017] An elastic member, which connects the trimming cutter head and the rotating shaft frame; and

[0018] A second coupling shaft, which connects the rotating shaft seat and the rotating shaft frame and extends longitudinally; the rotating shaft seat is rotatably connected to the second coupling shaft;

[0019] 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 coupling 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 back to the first position around the second coupling shaft.

[0020] In one embodiment, the trimming cutter head has a protective cover and trimming cutters covered by the protective cover; an inlet for grass is provided on the side wall of the protective cover;

[0021] 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 inlet for grass and the central axis in the extending direction of the fuselage first decreases and then increases.

[0022] In one embodiment, 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 cutter head at least partially overlaps or is tangent to the cutting trajectory of the main cutter head;

[0023] The second position is the limit position to which the trimming and cutting device can rotate around the second coupling shaft; when the trimming and cutting device is located at the second position, the outer contour of the trimming cutter head does not exceed the maximum outer contour of the fuselage.

[0024] In one embodiment, rollers are provided in the connecting arm; the autonomous operation device further includes a bracket fixedly connected to the fuselage, and at least a 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 rollers to slide on, and the trajectory of the roller track is the same as the trajectory of the trimming and cutting device rotating around the second coupling shaft.

[0025] In one embodiment, the ratio of the distance from the central axis of the second coupling shaft to the roller track to the distance from the central axis of the second coupling 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 receiving cavity for receiving a battery pack;

[0027] The autonomous operation device further includes: a bracket fixedly connected to the fuselage; the bracket has a frame body part for covering the side of the connecting arm facing away from the fuselage, and a battery pack cover part for covering the receiving cavity; the battery pack cover part and the frame body part are integral parts.

[0028] In one embodiment, the trimming cutter head has a protective cover connected to the connecting arm and a trimming tool covered by the protective cover; the side wall of the protective cover has a grass inlet, and the central angle of the grass inlet is not less than 90°.

[0029] In one embodiment, the central angle of the grass inlet is 110° to 120°.

[0030] In one embodiment, the trimming cutter head has a protective cover connected to the connecting arm and a trimming tool covered by the protective cover; the side wall of the protective cover has a grass inlet, and the included angle between the symmetry axis of the grass inlet and the central axis of the fuselage extension direction is 10° to 20°.

[0031] In one embodiment, the trimming cutter head has a shield connected to the connecting arm and a trimming cutter covered by the shield; the trimming cutter includes: a moving blade connected to the trimming power member, and a stationary blade fixed to the shield; the height from the shield to the ground is H, and the horizontal distance from the lower edge inside the shield to the moving blade is W,

[0032] W = a * H, where 0.9 < a < 1.1.

[0033] In one embodiment, the trimming cutter head has a shield connected to the connecting arm and a trimming cutter covered by the shield; the trimming cutter includes: a moving blade connected to the trimming power member, and a stationary blade fixed to the shield, and the moving blade is arranged above the stationary blade; an inlet for grass is provided on the side wall of the shield, and the stationary blade is connected to the shield in the area of the inlet for grass. Description of the Drawings

[0034] One or more embodiments are exemplarily illustrated by pictures in the corresponding drawings. These exemplary illustrations do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, unless otherwise stated, and the drawings in the figures do not constitute a scale limitation.

[0035] Figure 1 is a schematic diagram of the normal state structure of the autonomous operation device according to an embodiment of the present invention;

[0036] Figure 2 is a schematic diagram of the avoidance state structure of the autonomous operation device according to an embodiment of the present invention;

[0037] Figure 3 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 invention;

[0038] Figure 4 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 invention;

[0039] Figure 5 is a perspective view of the bottom of the autonomous operation device according to an embodiment of the present invention;

[0040] Figure 6 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 invention;

[0041] Figure 7 is an exploded view of the trimming and cutting device, the rotating shaft assembly, and the bracket according to an embodiment of the present invention;

[0042] Figure 8 is an exploded view of the rotating shaft assembly according to an embodiment of the present invention;

[0043] Figure 9 is an exploded view of the trimming and cutting device according to an embodiment of the present utility model;

[0044] Figure 10 is an assembly drawing of the autonomous operation device according to an embodiment of the present utility model;

[0045] Figure 11 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;

[0046] Figure 12 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;

[0047] Figure 13 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;

[0048] Figure 14 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

[0049] To make the objectives, technical solutions, and advantages of the embodiments of the present utility model clearer, the following will elaborate on each implementation manner of the present utility model with reference to the accompanying drawings. However, those of ordinary skill in the art can understand that in each implementation manner of the present utility model, many technical details are presented for the readers to better understand the present application. However, even without these technical details and various changes and modifications based on the following implementation manners, the technical solutions claimed in the present application can still be achieved.

[0050] In the following description, certain specific details are set forth for the purpose of explaining various disclosed embodiments to provide a thorough understanding of the various disclosed embodiments. However, those skilled in the relevant art will recognize that the embodiments can be practiced without one or more of these specific details. In other instances, well-known devices, structures, and techniques associated with the present application may not be shown or described in detail to avoid unnecessarily obscuring the description of the embodiments.

[0051] Unless the context requires otherwise, throughout the specification and claims, the words "comprise" and its variations, such as "comprising" and "having", should be understood in an open, inclusive sense, i.e., should be interpreted as "including, but not limited to".

[0052] The following will describe the embodiments of the present invention in detail with reference to the accompanying drawings, so as to more clearly understand the purpose, features and advantages of the present invention. It should be understood that the embodiments shown in the drawings are not a limitation on the scope of the present invention, but only to illustrate the essential spirit of the technical solution of the present invention.

[0053] References throughout this specification to "one embodiment" or "an embodiment" mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, appearances of the phrases "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.

[0054] As used in this specification and the appended claims, the singular forms "a", "an", 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.

[0055] In the following description, in order to clearly show the structure and working mode of the present invention, many directional terms will be used for description. However, terms such as "front", "rear", "left", "right", "outer", "inner", "outward", "inward", "up", "down", etc. should be understood as convenient terms and should not be understood as limiting terms.

[0056] The embodiments of the present invention will be described below with reference to the accompanying drawings.

[0057] One embodiment of the present invention relates to an autonomous operation device 100. The autonomous operation device 100 is especially a robot that can autonomously move 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 invention will be described in detail taking an intelligent lawn mower as an example. The autonomous operation device 100 can autonomously walk on the surface of the working area. Especially as an intelligent lawn mower, it can autonomously perform lawn mowing operations on the ground.

[0058] 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.

[0059] The body 1 generally includes a chassis and a housing. The chassis is used to mount 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 typically configured to at least partially cover the chassis, mainly serving to enhance 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 or semi-crawler moving mechanism, and a walking moving mechanism, etc. In this embodiment, as Figure 1 shown in Figure 1 , the moving mechanism in this embodiment 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 generates power using other types of energy. 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 wheels and a steering prime mover independent of the walking prime movers. In this embodiment, the moving mechanism further includes at least one driven wheel, which 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.

[0060] The energy module is configured to provide energy for the 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.

[0061] 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 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.

[0062] The interaction module is constructed to at least receive control command information input by the user, send 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 arranged on the autonomous operation equipment 100, which is used to receive control command 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 arranged on the autonomous operation equipment 100, which allows the user to perceive information by emitting light or sound. In other embodiments, the interaction module includes a communication module arranged on the autonomous operation equipment 100 and a terminal device independent of the autonomous operation equipment 100, such as a mobile phone, a computer, a network server, etc. The user's control command information or other information can be input on the terminal device and reach the autonomous operation equipment 100 via a wired or wireless communication module.

[0063] The control module generally includes at least one processor and at least one non-volatile memory, wherein the memory stores a pre-written computer program or instruction set, and the processor controls the execution of the movement, work and other actions of the autonomous working device 100 according to the computer program or instruction set. Furthermore, the control module can also control and adjust the corresponding behavior of the autonomous working device 100, modify the parameters in the memory, etc. according to the signal of the detection module and / or the user control instruction.

[0064] The boundary is used to define the working area of ​​the robot system. The boundary can be physical, typically such as a wall, a fence, a railing, etc.; the boundary can also be virtual, typically such as a virtual boundary signal emitted by a boundary signal generating device, the virtual boundary signal is usually an electromagnetic signal or an optical signal, or for an autonomous working device 100 provided with a positioning device (such as GPS, etc.), a virtual boundary set in an electronic map exemplarily formed by two-dimensional or three-dimensional coordinates. In this embodiment, the boundary is constructed as a closed wire electrically connected to the boundary signal generating device, and the boundary signal generating device is usually arranged in a docking station. The docking station is usually constructed on or in the boundary for the autonomous working device 100 to dock, and in particular, it can supply energy to the autonomous working device 100 docked at the docking station.

[0065] Specifically, Figure 1The arrow A indicates 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 trimming cutting device 3 has a trimming cutter head 32, a trimming power component 31 for driving the trimming cutter head 32 to work, and a connecting arm 33 connected to the 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 trimming power component 31, controls the main power component to drive the main cutter head 22, and controls the trimming power component 31 to drive the trimming cutter head 32, so as to realize that the autonomous operation device 100 can operate autonomously without being held by the user. Due to the setting of the trimming cutting device 3, the connecting arm 33 can extend the trimming cutter head 32 to an area that the main cutter head 22 cannot cut, so that the lawn in the edge area outside the boundary line can be cut, and there is no need for additional trimming, which brings convenience to the user.

[0066] Further, as Figures 1 - 4 shown, the center of the 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 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.

[0067] 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 7 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 arranged 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 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 cutting device 3 can be lifted and can fall again after passing over the obstacles. The state of the connecting arm 33 rotating around the first coupling shaft 43 can be as Figure 11 and Figure 12 shown.

[0068] Further, as Figure 12 shown, the limit angle γ of the trimming cutter head 32 lifted around the first coupling shaft 43 is 5° - 9°. Optionally, the limit angle γ of the trimming cutter head 32 lifted 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, it ensures the flatness of trimming, and on the other hand, it ensures that the trimming cutter head 32 will not be damaged due to excessive impact when falling from the lifted position.

[0069] Further, as Figure 7 、 Figure 10As shown, the connecting arm 33 has a connecting ear 331 connected to the first coupling shaft 43, and at least 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, such as Figure 11 As 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.

[0070] Furthermore, as shown in Figure 5 , Figure 7 and Figure 8 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, and 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 coupling shaft 45 from the first position to the second position, and the elastic member 44 provides a pulling force to drive the trimming and cutting device 3 to drive the rotating shaft seat 42 to rotate back to the first position around the second coupling shaft 45. 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 bypass the obstacle in the form of avoidance. After the trimming cutter head 32 bypasses 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 44 such as elastic sheets.

[0071] Furthermore, as shown in Figure 1 and Figure 3 , 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.

[0072] As shown in Figure 2 and Figure 4 , the second position is the limit position that the trimming and cutting device 3 can rotate to around the second coupling 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.

[0073] Furthermore, as shown in Figure 8As shown, the rotating shaft bracket 41 has a mounting base 411 for mounting the rotating shaft seat 42, and an extension arm 412 connected to the mounting base 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 base 411, and the rotating shaft seat 42 is mounted within the area enclosed 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 against and limits the rotating shaft seat 42, realizing the limitation of the moving range of the trimming tool 323, making it safer to use.

[0074] Furthermore, as Figure 5 、 Figure 7 shown, the trimming cutter disc 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 included angle β between the symmetry axis P of the grass inlet 320 and the central axis C of the extending direction of the fuselage 1 first decreases and then increases.

[0075] Furthermore, as Figure 3 and Figure 4 shown, the included angle β between the symmetry axis P of the grass inlet 320 and the central axis C of the extending direction of the fuselage 1 is 10° to 20°. Optionally, the included angle β is 12°, 14° or 16°.

[0076] 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°.

[0077] Further, 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°. The appropriate design of the grass inlet orientation can improve the cutting efficiency on the premise of ensuring the integrity of the structure and function of the protective cover 321.

[0078] 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 static blade 3232 fixed to the protective cover 321. The height from the protective cover 321 to 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;

[0079] W = a * H, 0.9 < a < 1.1.

[0080] This setting can ensure both the high efficiency and safety of mowing, especially preventing the user's fingers from reaching under the trimming cutter head 32 and touching the moving blade 3231.

[0081] In the figure, as Figure 13 shown, both the shield 321 and the moving blade 3231 are horizontally arranged. However, when the trimming cutting device 3 is lifted upon encountering an obstacle, the shield 321 and the moving blade 3231 can be set to tilt forward. Their tilting directions and angles are usually the same, that is, the part closer to the grass inlet 320 is lower than the part farther 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 shield 321 to the blade cutting range, and H is the height from the lowest point of the shield 321 to the ground.

[0082] In addition, as Figure 9 、 Figure 10 shown, the trimming cutter 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, and 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.

[0083] 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 mow the grass, the grass can enter the grass inlet 320 and be better crushed by the stationary blade 3232.

[0084] 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.

[0085] In addition, as Figure 5 、 Figure 7As shown in the figure, 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 as to make the trimming and cutting device 3 more stable.

[0086] Further, as Figure 5 , Figure 7 , Figure 14 shown, a roller 34 is provided in the connecting arm 33. The part of the bracket 8 covering the connecting arm 33 has a roller track 80 for the roller 34 to slide on. The track of the roller track 80 is the same as the track of the trimming and cutting device 3 rotating around the second connecting shaft 45. It can be understood that in other embodiments, there may be no roller 34, or the trimming and cutting device 3 may not be able to rotate around the second connecting shaft 45 or the first connecting shaft 43.

[0087] Further, as Figure 5 , Figure 6 , Figure 14 shown, the bottom of the fuselage 1 has a receiving cavity 10 for receiving the battery pack. The bracket 8 has a frame part 81 for covering the side of the connecting arm 33 facing away from the fuselage 1, and a battery pack cover part 82 for covering the receiving cavity 10. The frame part 81 is used to support the connecting arm 33. The battery pack cover part 82 is fixedly connected to the fuselage 1. The battery pack cover part 82 and the frame part 81 are an integral part, and the bracket 8 has a compact and reliable structure. In order to stabilize the bracket 8, the frame part 81 and the extension arm 412 can be fixedly connected by bolts, and the battery pack cover part 82 and the fuselage 1 can be fixedly connected by bolts. It can be understood that there are various forms of fixed connection, 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.

[0088] Further, as Figure 5 , Figure 6 , Figure 14 shown, the side of the frame part 81 facing the connecting arm 33 has a roller track 80 for the roller 34 to slide on. The frame part 81 supports the roller 34, so that the roller 34 can move along the roller track 80, and it is more smooth and 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 easy to shake up and down during movement, increasing the stability of the height of the trimming cutter head 32 from the ground.

[0089] Further, as Figure 10 shown, 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.

[0090] Furthermore, as Figure 5 shown, 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 component is connected to the main cutter 222 to drive the main cutter 222, and the main power component can be a motor.

[0091] 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.

[0092] 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.

[0093] In view of the above detailed description, these and other changes can be made to the embodiments. Generally speaking, in the claims, the terms used should not be construed as limited to the specific embodiments disclosed in the specification and claims, but should be understood to include all possible embodiments and the entire equivalent scope enjoyed by these claims.

[0094] Those of ordinary skill in the art can understand that the above embodiments are specific embodiments for implementing the present invention, and in practical applications, various changes can be made to its form and details without departing from the spirit and scope of the present invention.

Claims

1. An autonomous operation device, characterized in that, include: body; 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 rotating shaft assembly, the rotating shaft assembly connecting the fuselage and the connecting arm; 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; as well as 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 blade disc, and controls the trimming power member to drive the trimming blade disc.

2. The autonomous operation device according to claim 1, wherein The rotating shaft assembly comprises: 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; and A first connecting shaft 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.

3. The autonomous operation device according to claim 2, wherein, The trimming knife coil is lifted up to a maximum angle of 5°-9° around the first connecting shaft.

4. The autonomous operation device according to claim 2, wherein, The rotating shaft assembly also includes: an elastic member, the elastic member connecting the trimming blade disc and the rotating shaft frame; and A second connecting shaft, the second connecting shaft connects the rotating shaft seat and the rotating shaft frame, and the second connecting shaft extends longitudinally; the rotating shaft seat is rotatably connected to the second connecting shaft; 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.

5. The autonomous operation device according to claim 4, wherein, 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.

6. The autonomous operation device according to claim 4, 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 track of the trimming blade disc at least partially overlaps or is tangent to the cutting track of the main blade disc; 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 device according to claim 4, wherein A roller is arranged in the connecting arm; the autonomous operating equipment also includes a bracket 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.

8. The autonomous operation device according to claim 7, wherein The ratio of the distance from the central axis of the second coupling shaft to the roller track to the distance from the central axis of the second coupling shaft to the central axis of the trimming power component is 0.4 to 0.

5.

9. The autonomous operation device according to claim 1, wherein The bottom of the fuselage has a receiving cavity for receiving a battery pack; The autonomous operation device further includes: a bracket fixedly connected to the fuselage; The bracket has a frame body portion for covering the side of the connecting arm facing away from the fuselage, and a battery pack cover portion for covering the receiving cavity; the battery pack cover portion and the frame body portion are an integral part.

10. The autonomous operation device according to claim 1, characterized in that, The trimming cutter head has a shield connected to the connecting arm and a trimming cutter covered by the shield; an inlet for grass is provided on the side wall of the shield, and the central angle of the inlet for grass is not less than 90°.

11. The autonomous operation device according to claim 10, wherein, The central angle of the inlet for grass is 110° to 120°.

12. The autonomous operation device according to claim 1, characterized in that, The trimming cutter head has a shield connected to the connecting arm and a trimming cutter covered by the shield; an inlet for grass is provided on the side wall of the shield, and the included angle between the symmetry axis of the inlet for grass and the central axis of the extending direction of the fuselage is 10° to 20°.

13. The autonomous operation device according to claim 1, characterized in that, The trimming cutter head has a shield connected to the connecting arm and a trimming cutter covered by the shield; the trimming cutter includes: a moving blade connected to the trimming power component, and a stationary blade fixed to the shield; the height from the shield to the ground is H, and the horizontal distance from the lower edge inside the shield to the moving blade is W. W = a * H, where 0.9 < a < 1.

1.

14. The autonomous operation device according to claim 1, wherein, The trimming cutter head has a shield connected to the connecting arm and a trimming cutter covered by the shield; the trimming cutter includes: a moving blade connected to the trimming power component, and a stationary blade fixed to the shield, and the moving blade is arranged above the stationary blade; an inlet for grass is provided on the side wall of the shield, and the stationary blade is connected to the shield in the area of the inlet for grass.

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