Edge cutting device and mowing equipment

Abstract

The utility model provides an edge cutting device and mowing equipment. The edge cutting device comprises a lifting mechanism and a mowing mechanism, the lifting mechanism is rotationally connected between a robot and the mowing mechanism, and the lifting mechanism is used for adjusting the lifting height of the mowing mechanism. The mowing equipment comprises a robot and an edge cutting device, and the edge cutting device is installed on the robot. The lifting mechanism enables the height of the mowing mechanism to be adjustable so that the mowing mechanism can adapt to grounds with different heights and can adapt to uneven grounds.

Description

Technical Field

[0001] This application relates to the field of robots, and particularly to an edge cutting device and a lawn mowing device. Background Art

[0002] Lawn mowing robots can automatically plan mowing paths for mowing. However, for the edge positions of the lawn, a dedicated edge cutting device is generally required for trimming. However, the existing edge cutting devices cannot adapt to uneven ground, have poor adaptability, and are limited in use scenarios. Utility Model Content

[0003] In view of this, this application provides an edge cutting device and a lawn mowing device, which can adapt to uneven ground, have good adaptability, and have a wide range of use scenarios, so as to solve the above technical problems.

[0004] The edge cutting device provided in the first aspect of this application, the edge cutting device includes a lifting mechanism and a mowing mechanism, the lifting mechanism is rotationally connected between a robot and the mowing mechanism, and the lifting mechanism is used to adjust the lifting height of the mowing mechanism.

[0005] The lawn mowing device provided in the second aspect of this application, the lawn mowing device includes a robot and an edge cutting device, the edge cutting device is installed on the robot, and the edge cutting device is the edge cutting device described in the first aspect.

[0006] Thus, the lifting mechanism is used to adjust the lifting height of the mowing mechanism, which can enable the mowing mechanism to adjust its lifting height based on the unevenness of the ground. When the mowing mechanism moves to a raised part of the ground, the raised part exerts an upward force on the mowing mechanism, and the lifting mechanism allows the mowing mechanism to move upward without being blocked by the raised part, so the mowing mechanism can thus adapt to the raised part on the ground and continue mowing; when the mowing mechanism moves to a concave part of the ground, since the concave part cannot provide sufficient support for the mowing mechanism, therefore, the mowing mechanism moves downward due to gravity to abut against the concave part, and the lifting mechanism allows the mowing mechanism to move downward, so the mowing mechanism can thus adapt to the concave part on the ground and continue mowing, improving the adaptability of the edge cutting device to ground with different heights, avoiding the problem that the mowing mechanism is hit by the raised part of the ground or cannot mow the grass in the concave part of the ground because it cannot be lifted when the ground is uneven, protecting the mowing mechanism, having good adaptability, and having a wide range of use scenarios. Description of the Drawings

[0007] To more clearly illustrate the technical solutions of the embodiments of the present application, the accompanying drawings required for the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0008] Figure 1 It is a schematic structural diagram of a mowing device in an embodiment of the present application, where Figure 1 the edge cutting device of the mowing device in it retracts to the robot side.

[0009] Figure 2 It is a schematic structural diagram of a mowing device in an embodiment of the present application, where Figure 2 the edge cutting device of the mowing device in it unfolds away from the robot side.

[0010] Figure 3 It is a three-dimensional structural diagram of the edge cutting device in an embodiment of the present application.

[0011] Figure 4 It is Figure 3 a partial cross-sectional view of the edge cutting device in it at IV-IV, where Figure 4 the mowing mechanism in it is at the top dead center of the stroke.

[0012] Figure 5 It is Figure 4 a schematic diagram in another state, where Figure 5 the mowing mechanism in it is at the bottom dead center of the stroke.

[0013] Figure 6 It is a state change diagram of the first link and the second link at the limit rotation angle and a schematic diagram of the length relationship between the limiting member and the limiting groove in an embodiment of the present application.

[0014] Figure 7 It is a three-dimensional structural diagram of the lifting mechanism and the mowing mechanism in an embodiment of the present application.

[0015] Figure 8 It is Figure 7 an exploded schematic diagram of

[0016] Figure 9 It is Figure 8 a further exploded schematic diagram of the lifting mechanism in it.

[0017] Figure 10 It is Figure 8 a three-dimensional structural diagram of the mowing mechanism in it from another perspective.

[0018] Figure 11 It is Figure 3Schematic diagram of the three-dimensional structure of the edge trimming mechanism from another perspective.

[0019] Figure 12 It is Figure 11 A cross-sectional view taken at XI-XI.

[0020] Figure 13 It is Figure 11 An exploded view of

[0021] Figure 14 The figure is an exploded view of the local components in 13.

[0022] Figure 15 It is Figure 14 An enlarged view of the elastic member in

[0023] Reference numerals:

[0024] Lawn mowing equipment 1;

[0025] Robot 11, edge cutting device 12;

[0026] Mounting member 121, rotating mechanism 122, lifting mechanism 123, mowing mechanism 124, first connecting portion 125, second connecting portion 126, mounting housing 127, cover 128;

[0027] Adapter portion 1211, tray 1212;

[0028] First connecting rod 1231, first end 1231a, second end 1231b, first abutting surface 1231c, second abutting surface 1231d;

[0029] Second connecting rod 1232, third end 1232a, fourth end 1232b, third abutting surface 1232c, fourth abutting surface 1232d;

[0030] Limiting member 1233;

[0031] Limiting groove 1234, first side 1234a, second side 1234b;

[0032] First connecting member 1251, first receiving space 1252, first mating surface 1253, third mating surface 1254;

[0033] Second connecting member 1261, second receiving space 1262, second mating surface 1263, fourth mating surface 1264;

[0034] Rotating drive portion 1220, first motor 1221, driving gear 1222 and driven gear 1223;

[0035] Deformation energy storage part 1224, follower 1224a, connecting member 1224b, elastic member 1224c, penetrating part 1224b1, pivot 1224b2;

[0036] Top plate 1224a1;

[0037] Sheathing part 1224c1, abutting part 1224c2, first clamping part 1224c3, second clamping part 1224c4

[0038] First cavity 1271, second cavity 1272;

[0039] Outer shell 1241, second motor 1242, mowing assembly 1243. Specific embodiments

[0040] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments.

[0041] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this application belongs. The terms used in the description of this application in this specification are only for the purpose of describing specific embodiments, and are not intended to limit this application.

[0042] The terms "first", "second", etc. in the description and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. The terms "a", "one", or "the" and the like used in this application do not indicate a limitation in quantity, but only indicate that there is at least one. The terms "including" or "comprising" and the like mean that the elements or items appearing before this term cover the elements or items listed after this term and their equivalents, without excluding other elements or items. The terms "connected" or "coupled" and the like are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

[0043] In the description of this specification, the description referring to terms such as "embodiment", "specific embodiment", "example", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0044] Please refer to Figure 1 , Figure 1Schematic structural diagram of a mowing device 1 in an embodiment of the present application. The mowing device 1 includes a robot 11 and an edge cutting device 12. The robot 11 is a robot capable of automatically mowing grass. Its working principle is to perform positioning and sensing through built-in sensors to achieve traversal operations in the working area. However, since the projection of the working area of the mowing module of the robot 11 on the ground is within the projection of the outer contour of the robot 11 on the ground, the robot 11 cannot mow the boundary area of the lawn or the area adjacent to obstacles due to its shape limitation. The edge cutting device 12 is detachably mounted on the robot 11 and can be used to mow the boundary area or the area adjacent to obstacles on the lawn that the robot 11 cannot mow.

[0045] As Figure 1 shown, the edge cutting device 12 can be retracted on one side or inside the robot 11. As Figure 2 shown, the edge cutting device 12 can be deployed to the side away from the robot 11 to mow the boundary area of the lawn.

[0046] Therefore, when it is necessary to mow the boundary area of the lawn or the area adjacent to obstacles, the edge cutting device 12 can be deployed to the side away from the robot 11 and mow the boundary area of the lawn or the area adjacent to obstacles; conversely, when it is not necessary to mow the boundary area of the lawn or the area adjacent to obstacles, the edge cutting device 12 can be retracted to the side close to the robot 11 or directly detached from the robot 11 for convenient storage.

[0047] Please refer to Figure 3 , Figure 3 Schematic three-dimensional structure diagram of the edge cutting device 12 in an embodiment of the present application. The edge cutting device 12 includes a lifting mechanism 123 and a mowing mechanism 124. The lifting mechanism 123 is rotatably connected between the robot 11 and the mowing mechanism 124. It can be understood that the lifting mechanism 123 can be rotatably connected to the side, tail or top of the robot 11, etc., and is not limited herein. In this embodiment, the lifting mechanism 123 is rotatably connected to the right side of the robot 11. It can be understood that the lifting mechanism 123 can be directly rotatably connected to the robot 11 or indirectly rotatably connected to the robot 11 through other structural members. The lifting mechanism 123 is used to adjust the lifting height of the mowing mechanism 124. The mowing mechanism 124 is used for mowing grass. When the mowing device 1 is adjacent to the boundary area of the lawn and it is necessary to mow the boundary area of the lawn or the area adjacent to obstacles and it is necessary to mow the area adjacent to obstacles of the lawn, the mowing mechanism 124 can be used to mow the boundary area of the lawn or the area adjacent to obstacles. When the mowing device 1 is located in other areas of the lawn, the mowing mechanism 124 can also be used to mow other areas of the lawn when it is started.

[0048] Thus, the lifting mechanism 123 can enable the mowing mechanism 124 to adjust the lifting height of the mowing mechanism 124 based on the unevenness of the ground, avoiding the problem that when the ground is uneven, the mowing mechanism 124 collides with the ground in some operation areas with ground protrusions or cannot cut grass in some operation areas with sunken ground because its lifting height cannot be adjusted. This can improve the adaptability to uneven ground, protect the mowing mechanism 124, and make the mowing effect better.

[0049] In some embodiments, when the mowing mechanism 124 is stressed in its height direction and causes the mowing mechanism 124 to lift or lower, the mowing mechanism 124 drives the lifting mechanism 123 to move to adjust the lifting height of the mowing mechanism 124. In some other embodiments, the edge cutting device 12 further includes a sensor and a controller. The sensor is used to detect the unevenness of the ground, and the controller sends an instruction to the lifting mechanism 123 according to the result detected by the sensor, so that the lifting mechanism 123 drives the mowing mechanism 124 to lift or lower correspondingly, thereby adapting to the uneven ground.

[0050] In some embodiments, please refer to Figure 4 and Figure 5 , the lifting mechanism 123 includes a first link 1231 and a second link 1232. The second link 1232 and the first link 1231 are arranged along the lifting direction of the mowing mechanism 124. The first link 1231 includes a first end 1231a and a second end 1231b which are oppositely arranged. The second link 1232 includes a third end 1232a and a fourth end 1232b which are oppositely arranged. Among them, the first end 1231a and the third end 1232a are respectively rotatably connected to the robot 11, and the second end 1231b and the fourth end 1232b are respectively rotatably connected to the mowing mechanism 124.

[0051] Thus, when the mowing mechanism 124 moves to a raised portion of the ground, the raised portion exerts an upward force on the mowing mechanism 124. Since the first link 1231 and the second link 1232 are respectively pivotally connected to the robot 11 and the mowing mechanism 124, the first link 1231 and the second link 1232 enable the mowing mechanism 124 to move upward without interference. Thus, the mowing mechanism 124 can adapt to the raised portion on the ground and continue mowing. When the mowing mechanism 124 moves to a concave portion of the ground, since the concave portion cannot provide sufficient support for the mowing mechanism 124, the mowing mechanism 124 moves downward due to gravity until it abuts against the concave portion. The first link 1231 and the second link 1232 enable the mowing mechanism 124 to move downward without interference. Thus, the mowing mechanism 124 can adapt to the concave portion on the ground and continue mowing, improving the adaptability of the edge cutting device 12 to ground surfaces of different heights. Moreover, since the first link 1231 and the second link 1232 are respectively rotationally connected to different parts of the mowing mechanism 124, the mowing mechanism 124 can be positioned, making the orientation of the mowing mechanism 124 deterministic and enabling it to always face the ground.

[0052] In some embodiments, a first length of a first connection line A between a pivot point of the first end 1231a and a pivot point of the second end 1231b is equal to a second length of a second connection line B between a pivot point of the third end 1232a and a pivot point of the fourth end 1232b, and a third length of a third connection line C between a pivot point of the first end 1231a and a pivot point of the third end 1232a is equal to a fourth length of a fourth connection line D between a pivot point of the second end 1231b and a pivot point of the fourth end 1232b.

[0053] Thus, a parallelogram linkage is formed among the first link 1231, the second link 1232, the robot 11, and the mowing mechanism 124. The parallelogram linkage enables the mowing mechanism 124 to have a greater lifting stroke, and the lateral translation stroke of the mowing mechanism 124 relative to the robot 11 is shorter, making it better applicable in small spaces.

[0054] Of course, in some other embodiments, the first length may not be equal to the second length, and the third length may not be equal to the fourth length. That is to say, a four-bar linkage is formed among the first link 1231, the second link 1232, the robot 11, and the mowing mechanism 124, but it is not a parallelogram linkage. Such a four-bar linkage can also achieve the lifting of the mowing mechanism 124 and also falls within the protection scope of this application.

[0055] In some embodiments, a limiting member 1233 is provided on one of the first connecting rod 1231 and the second connecting rod 1232, and a limiting groove 1234 is provided on the other. At least the end position of the limiting member 1233 can extend into the limiting groove 1234, and the cooperation between the limiting member 1233 and the limiting groove 1234 defines the liftable height of the mowing mechanism 124.

[0056] Thus, the liftable height of the mowing mechanism 124 is defined by the cooperation between the limiting member 1233 and the limiting groove 1234, making the maximum liftable height of the mowing mechanism 124 controllable.

[0057] In some embodiments, a limiting member 1233 is provided on the side of the first connecting rod 1231 facing the second connecting rod 1232, and a limiting groove 1234 is provided on the side of the second connecting rod 1232 facing the first connecting rod 1231. The limiting groove 1234 extends along the length direction of the second connecting rod 1232, and at least the end position of the limiting member 1233 can extend into the limiting groove 1234. In other embodiments, the limiting member 1233 can be provided on the side of the second connecting rod 1232 facing the first connecting rod 1231, and the limiting groove 1234 can be provided on the side of the first connecting rod 1231 facing the second connecting rod 1232. The limiting groove 1234 extends along the length direction of the first connecting rod 1231.

[0058] Thus, when the mowing mechanism 124 moves up and down, it drives the second end 1231b of the first connecting rod 1231 and the fourth end 1232b of the second connecting rod 1232 to move up and down together, and further makes the limiting member 1233 slide in the limiting groove 1234. Since the length of the limiting groove 1234 is limited, the length of the limiting groove 1234 defines the movement range of the limiting member 1233 relative to the limiting groove 1234, that is, defines the relative movement range of the first connecting rod 1231 and the second connecting rod 1232, and thus can define the liftable height of the mowing mechanism 124. When the mowing mechanism 124 needs to adapt to a ground with large undulations, the limiting groove 1234 can be set relatively long. On the contrary, when the mowing mechanism 124 needs to adapt to a ground with small undulations, the limiting groove 1234 can be set relatively short. In addition, when the limiting groove 1234 is provided on the side of the first connecting rod 1231 facing the second connecting rod 1232, it can prevent sundries, dust, etc. from accumulating in the limiting groove 1234, because the accumulation of sundries, dust, etc. in the limiting groove 1234 will hinder the normal sliding of the limiting member 1233 in the limiting groove 1234, and thus affect the adjustment of the lift height of the mowing mechanism 124.

[0059] In some embodiments, please refer to Figure 4 and Figure 5, the limiting groove 1234 has a first side 1234a away from the mowing mechanism 124 and a second side 1234b close to the mowing mechanism 124. When the limiting member 1233 is located on the first side 1234a, the mowing mechanism 124 is at the lower dead point of the stroke. When the limiting member 1233 is located on the second side 1234b, the mowing mechanism 124 is at the upper dead point of the stroke.

[0060] Thus, the distance between the lower dead point and the upper dead point of the stroke of the mowing mechanism 124 is the liftable height of the mowing mechanism 124. It can be seen that the length of the limiting groove 1234 is positively correlated with the liftable height of the mowing mechanism 124, and the length of the limiting groove 1234 can limit the liftable height of the mowing mechanism 124.

[0061] In some embodiments, the clearance width between the first connecting rod 1231 and the second connecting rod 1232 is variable. For example, Figure 4 as shown, when the mowing mechanism 124 is at the upper dead point of the stroke, the clearance width between the first connecting rod 1231 and the second connecting rod 1232 is the largest. As Figure 5 shown, when the mowing mechanism 124 is at the lower dead point of the stroke, the clearance width between the first connecting rod 1231 and the second connecting rod 1232 is the smallest. Therefore, the clearance width between the first connecting rod 1231 and the second connecting rod 1232 when the mowing mechanism 124 is at the stroke is positively correlated with the height of the mowing mechanism 124. Moreover, the difference between the maximum value and the minimum value of the clearance between the first connecting rod 1231 and the second connecting rod 1232 is positively correlated with the liftable height of the mowing mechanism 124.

[0062] Thus, by setting the clearance width between the first connecting rod 1231 and the second connecting rod 1232, the liftable height of the mowing mechanism 124 can also be limited.

[0063] In summary, by limiting the length of the limiting groove 1234 and the clearance width between the first connecting rod 1231 and the second connecting rod 1232, the liftable height of the mowing mechanism 124 can be limited. Therefore, the liftable height of the mowing mechanism 124 is doubly limited, which can avoid the situation where at least one of the limiting member 1233 or the limiting groove 1234 cannot be limited due to wear.

[0064] In some embodiments, the height of the limiting member 1233 is at least greater than the maximum value of the clearance between the first link 1231 and the second link 1232. In this way, it can be ensured that the limiting member 1233 can at least extend into the limiting groove 1234, avoiding the situation where the limiting member 1233 and the limiting groove 1234 cannot be engaged and limited. However, the height of the limiting member 1233 is not the larger the better. When the limiting member 1233 is located on the first side 1234a, the depth of the limiting member 1233 extending into the limiting groove 1234 is the first depth. When the limiting member 1233 is located on the second side 1234b, the depth of the limiting member 1233 extending into the limiting groove 1234 is the second depth. When the limiting member 1233 slides between the first side 1234a and the second side 1234b of the limiting groove 1234, the depth of the limiting member 1233 extending into the limiting groove 1234 is between the first depth and the second depth. The first depth is greater than the second depth, the second depth is greater than zero, and the first depth is less than or equal to the depth of the limiting groove 1234. Thus, when the limiting member 1233 slides from the second side 1234b to the first side 1234a of the limiting groove 1234, although the depth of the limiting member 1233 extending into the limiting groove 1234 gradually increases, it will not interfere with the bottom of the limiting groove 1234.

[0065] In other embodiments, the limiting member 1233 can be omitted, but there is a limiting block for limiting the rotation angle of the first link 1231 and / or the second link 1232. The limiting block can be arranged adjacent to the first link 1231, and the limiting block is used to limit the liftable height of the mowing mechanism 124 by limiting the rotation angle of the first link 1231; or, the limiting block can be arranged adjacent to the second link 1232, and the limiting block is used to limit the liftable height of the mowing mechanism 124 by limiting the rotation angle of the second link 1232.

[0066] Please refer to Figure 6 , it is set that the first length and the second length are equal, both are L1, the third length and the fourth length are equal, both are L2. The clearance value between the first link 1231 and the second link 1232 in the horizontal state is set as X, and the limit rotation angle of the first link 1231 and the second link 1232 is set as α. Then, the liftable height H of the first link 1231 is L1*sinα, and X = L2 - L2*cosα.

[0067] Therefore, after determining the liftable height H, the limit rotation angle α can be deduced in reverse. After determining the limit rotation angle α, the maximum clearance value X can be determined. Thus, based on the liftable height H, the limit rotation angle α and the maximum clearance value X can be determined, and by setting a limit block, the rotation angle of the first link 1231 or the second link 1232 can be limited, making its limit rotation angle α, and setting the maximum clearance value X between the first link 1231 and the second link 1232. Furthermore, without setting the limiting member 1233, by setting the limit block, the liftable height of the mowing mechanism 124 can also be limited.

[0068] In addition, the calculation formula for the length L of the limit groove 1234 is: L = M1 + M2. Wherein, M1 is equal to 1 / 2 of the length of the limiting member 1233, and M2 refers to the effective sliding distance of the limiting member 1233 in the limit groove 1234, and the minimum value of M2 should be L2 * sinα. Therefore, after determining the limit rotation angle α, the minimum length value of the limit groove 1234 can also be calculated and determined.

[0069] In some embodiments, please refer again to Figure 4 and Figure 5 , the edge cutting device 12 includes a first connection part 125 and a second connection part 126. Among them, one side of the first connection part 125 is connected to the robot 11, and the other side is respectively rotatably connected to the first end 1231a and the third end 1232a. One side of the second connection part 126 is connected to the mowing mechanism 124, and the other side is respectively rotatably connected to the second end 1231b and the fourth end 1232b.

[0070] Thus, through the first connection part 125 and the second connection part 126, the rotational connections between the first link 1231 and the second link 1232 and the robot 11 and the mowing mechanism 124 can be made more stable and reliable.

[0071] In some embodiments, please refer to Figure 7 and Figure 8 , the first connection part 125 includes two first connection members 1251 arranged at intervals. The first end 1231a of the first link 1231 is respectively rotatably connected between the two first connection members 1251, and the third end 1232a of the second link 1232 is respectively rotatably connected between the two first connection members 1251.

[0072] Thus, a first receiving space 1252 is formed between the two first connecting members 1251. The first end 1231a of the first connecting rod 1231 and the third end 1232a of the second connecting rod 1232 are respectively received at different upper and lower positions in the first receiving space 1252. Moreover, a pin shaft passes through the first connecting member 1251, the first end 1231a of the first connecting rod 1231, and another first connecting member 1251 to realize the rotational connection between the first end 1231a of the first connecting rod 1231 and the two first connecting members 1251. Another pin shaft passes through the first connecting member 1251, the third end 1232a of the second connecting rod 1232, and another first connecting member 1251 to realize the rotational connection between the third end 1232a of the second connecting rod 1232 and the two first connecting members 1251. The connection is stable and reliable, and is not prone to slipping.

[0073] In some embodiments, the first connecting rod 1231 is provided with a first abutting surface 1231c at a position adjacent to the first end 1231a. Each first connecting member 1251 is in a "B" shape, and a first mating surface 1253 is provided on the end surface of the first connecting member 1251 corresponding to the installation position of the first connecting rod 1231. The first abutting surface 1231c is used to abut against the first mating surface 1253.

[0074] In some embodiments, the first abutting surface 1231c is closer to the second end 1231b than the first end 1231a, and the first abutting surface 1231c is in an arc shape facing the first end 1231a side.

[0075] Thus, the abutting between the first abutting surface 1231c and the first mating surface 1253 can increase the contact area between the first connecting rod 1231 and the first connecting member 1251, and the bearing capacity is better. Moreover, both the first abutting surface 1231c and the first mating surface 1253 are in arc shapes, which can provide a guiding effect for the movement of the first connecting rod 1231 relative to the first connecting member 1251.

[0076] In some embodiments, the second connecting rod 1232 is provided with a third abutting surface 1232c at a position adjacent to the third end 1232a. The first connecting member 1251 is provided with a third mating surface 1254 on the end surface corresponding to the installation position of the second connecting rod 1232. The third abutting surface 1232c is used to abut against the third mating surface 1254.

[0077] In some embodiments, the third abutting surface 1232c is closer to the fourth end 1232b than the third end 1232a, and the third abutting surface is in an arc shape facing the third end 1232a side.

[0078] Thus, the abutment between the third abutting surface 1232c and the third mating surface 1254 can increase the contact area between the second link 1232 and the first connecting member 1251, with better load-bearing capacity. Moreover, both the third abutting surface 1232c and the third mating surface 1254 are arc-shaped surfaces, which can provide a guiding effect for the movement of the second link 1232 relative to the first connecting member 1251.

[0079] In some embodiments, please refer to Figure 9 and Figure 10 , the second connecting portion 126 includes two second connecting members 1261 arranged at intervals. The second end 1231b of the first link 1231 is rotatably connected between the two second connecting members 1261, and the fourth end 1232b of the second link 1232 is rotatably connected between the two second connecting members 1261.

[0080] Thus, a second receiving space 1262 is formed between the two second connecting members 1261. The second end 1231b of the first link 1231 and the fourth end 1232b of the second link 1232 are respectively received at different upper and lower positions in the second receiving space 1262. And, a pin shaft passes through the second connecting member 1261, the second end 1231b of the first link 1231, and the other second connecting member 1261 to realize the rotational connection between the second end 1231b of the first link 1231 and the two second connecting members 1261. Another pin shaft passes through the second connecting member 1261, the fourth end 1232b of the second link 1232, and the other second connecting member 1261 to realize the rotational connection between the fourth end 1232b of the second link 1232 and the two second connecting members 1261. The connection is stable and reliable, and is not easy to slip off.

[0081] In some embodiments, the first link 1231 is provided with a second abutting surface 1231d at a position adjacent to the second end 1231b. Each second connecting member 1261 is in a "B" shape, and a second mating surface 1263 is provided on the end surface of the second connecting member 1261 corresponding to the installation position of the first link 1231. The second abutting surface 1231d is used to abut against the second mating surface 1263.

[0082] In some embodiments, the second abutting surface 1231d is closer to the first end 1231a than the second end 1231b, and the second abutting surface 1231d is in an arc shape facing the second end 1231b side.

[0083] Thus, the abutment between the second abutting surface 1231d and the second mating surface 1263 can increase the contact area between the first link 1231 and the second connecting member 1261, with better load-bearing capacity. Moreover, both the second abutting surface 1231d and the second mating surface 1263 are arc-shaped surfaces, which can provide a guiding effect for the movement of the first link 1231 relative to the second connecting member 1261.

[0084] In some embodiments, a fourth abutting surface 1232d is provided at a position of the second link 1232 adjacent to the fourth end 1232b, and a fourth mating surface 1264 is provided on the end surface corresponding to the installation position of the second link 1232 on the second connecting member 1261. The fourth abutting surface 1232d is used to abut against the fourth mating surface 1264.

[0085] In some embodiments, the fourth abutting surface 1232d is closer to the third end 1232a than the fourth end 1232b, and the fourth abutting surface 1232d is in the shape of an arc facing the fourth end 1232b side.

[0086] Thus, the abutment between the fourth abutting surface 1232d and the fourth mating surface 1264 can increase the contact area between the second link 1232 and the second connecting member 1261, and the load-bearing capacity is better. Moreover, both the fourth abutting surface 1232d and the fourth mating surface 1264 are arc-shaped, which can provide a guiding effect for the movement of the second link 1232 relative to the second connecting member 1261.

[0087] Please refer to Figure 3 and Figure 11 , the edge cutting device 12 further includes a rotating mechanism 122, and the rotating mechanism 122 is installed on the robot 11. The first connecting portion 125 is provided on the rotating mechanism 122. The rotating mechanism 122 at least drives the mowing mechanism 124 to move away from the robot 11, so that the mowing mechanism 124 extends out relative to the robot 11.

[0088] Thus, the rotating mechanism 122 can drive the lifting mechanism 123 and the mowing mechanism 124 to move together to the side away from the robot 11, or contract to the side close to the robot 11, which is convenient for storage.

[0089] In some embodiments, the rotating mechanism 122 itself is an elastic member, for example, a torsion spring. When the mowing mechanism 124 is retracted, the rotating mechanism 122 stores kinetic energy through elastic deformation. A clamping member can be provided on the mowing mechanism 124 or the rotating mechanism 122 to be clamped with the robot 11. When the mowing mechanism 124 needs to extend out for edge trimming operation, the clamping member releases the clamping with the robot 11, and the elastic member drives the mowing mechanism 124 to extend out to the side away from the robot 11.

[0090] In some embodiments, please refer to Figures 12 to 14, the rotation mechanism 122 includes a deformation energy storage part 1224. The deformation energy storage part 1224 is connected between the robot 11 and the lifting mechanism 123. The first connection part 125 is arranged on the deformation energy storage part 1224. The deformation energy storage part 1224 stores kinetic energy in the form of elastic deformation. The kinetic energy stored by the deformation energy storage part 1224 drives the lifting mechanism 123 to drive the mowing mechanism 124 to move away from the robot 11; when the mowing mechanism 124 is subjected to an external force and moves towards the robot 11, the deformation energy storage part 1224 can store the kinetic energy of the relative movement of the mowing mechanism 124 with respect to the robot 11 in the form of elastic deformation.

[0091] In some embodiments, the deformation energy storage part 1224 includes a follower 1224a, a connecting piece 1224b, and an elastic piece 1224c. The connecting piece 1224b includes a penetrating part 1224b1. The penetrating part 1224b1 is rotatably connected to the cavity of the follower 1224a. The first connection part 125 is connected to the penetrating part 1224b1. The elastic piece 1224c is sleeved on the connecting piece 1224b and is connected between the follower 1224a and the first connection part 125.

[0092] Thus, the penetrating part 1224b1 and the first connection part 125 are fixedly connected. The overall clockwise rotation of the penetrating part 1224b1 and the first connection part 125 relative to the follower 1224a will promote the elastic deformation of the elastic piece 1224c to store kinetic energy. When the elastic piece 1224c elastically recovers, it will push the penetrating part 1224b1 and the first connection part 125 as a whole to rotate counterclockwise relative to the follower 1224a, driving the first connecting rod 1231, the second connecting rod 1232, and the mowing mechanism 124 to extend away from the robot 11.

[0093] In some embodiments, the rotation mechanism 122 further includes a rotation driving part 1220. The rotation driving part 1220 is connected between the robot 11 and the first connection part 125. The rotation driving part 1220 is fixedly connected to the follower 1224a. When the follower 1224a is driven by the rotation driving part 1220 to rotate, the follower 1224a forces the elastic piece 1224c to undergo elastic deformation to store kinetic energy. When the kinetic energy stored by the elastic piece 1224c accumulates to a preset value, it will push the first connection part 125 to drive the first connecting rod 1231, the second connecting rod 1232, and the mowing mechanism 124 to rotate together and move towards the side away from the robot 11.

[0094] Thus, the rotation mechanism 122 is also provided with a rotation driving part 1220, which can achieve self-driving.

[0095] In some embodiments, the rotation driving part 1220 includes a first motor 1221, a driving gear 1222, and a driven gear 1223. The first motor 1221 is connected to the robot 11. The output shaft of the first motor 1221 is connected to the driving gear 1222, the driving gear 1222 meshes with the driven gear 1223, the deformation energy storage part 1224 is connected to the driven gear 1223, and the first connecting part 125 is connected to the deformation energy storage part 1224.

[0096] Thus, the first motor 1221 drives the driving gear 1222 to rotate, the driving gear 1222 drives the driven gear 1223 to rotate, the driven gear 1223 drives the first connecting part 125 to rotate through the deformation energy storage part 1224, and then the first connecting part 125 transmits the motion to the first connecting rod 1231 and the second connecting rod 1232, so as to drive the mowing mechanism 124 to move together.

[0097] In some embodiments, a follower 1224a is fixed to the driven gear 1223. The follower 1224a forms a cavity with a hollow interior and an open end. The follower 1224a has a top plate 1224a1. Opposite ends of the penetrating part 1224b1 are respectively rotatably connected to the top plate 1224a1 of the follower 1224a and the disk body of the driven gear 1223. The first connecting part 125 is connected to the side wall surface of the penetrating part 1224b1 and extends out of the opening of the follower 1224a to be respectively connected to the first end 1231a of the first connecting rod 1231 and the third end 1232a of the second connecting rod 1232. An elastic member 1224c is penetrated through the penetrating part 1224b1, and both ends are respectively connected between the follower 1224a and the first connecting part 125. When the follower 1224a is driven by the driven gear 1223 to rotate, the follower 1224a forces the elastic member 1224c to undergo elastic deformation and accumulate elastic restoring force. When the elastic restoring force of the elastic member 1224c accumulates to a preset value, it can push the first connecting part 125 to drive the first connecting rod 1231, the second connecting rod 1232, and the mowing mechanism 124 to rotate together and move away from the robot 11. When the mowing mechanism 124 receives a reaction force when being blocked and impacted by an obstacle, the reaction force is transmitted to the elastic member 1224c through the lifting mechanism 123. The elastic member 1224c can buffer the reaction force, and after the impact is released, the elastic restoring force of the elastic member 1224c pushes the first connecting part 125 to drive the first connecting rod 1231, the second connecting rod 1232, and the mowing mechanism 124 to move away from the robot 11 together and return to the state before being impacted, avoiding the impact external force received by the mowing mechanism 124 from being transmitted to the first motor 1221 and damaging the first motor 1221.

[0098] Thus, the elastic member 1224c provides an elastic buffer for the relative movement between the follower member 1224a, the penetrating portion 1224b1, and the first connecting portion 125 as a whole, so that when the mowing mechanism 124 is accidentally impacted by an external force, the first motor 1221 can be better protected.

[0099] In some embodiments, please refer to Figure 15 , the elastic member 1224c is a torsion spring. The elastic member 1224c includes two sleeving portions 1224c1, an abutting portion 1224c2 connected between the two sleeved portions 1224c1, and a first clamping portion 1224c3 and a second clamping portion 1224c4 connected to the respective ends of the two sleeved portions 1224c1. The sleeving portion 1224c1 is sleeved on the outer wall of the penetrating portion 1224b1. The abutting portion 1224c2 abuts against one side of the first connecting portion 125 close to the driving gear 1222. The first clamping portion 1224c3 and the second clamping portion 1224c4 respectively extend out from the opening of the follower member 1224a and are clamped on the outer surface of one side of the follower member 1224a close to the driving gear 1222.

[0100] In other embodiments, the deformation energy storage portion 1224 can also be other types of elastic deformation energy storage portions or rigid deformation energy storage portions, which are not limited herein. When the deformation energy storage portion 1224 is a rigid deformation energy storage portion, the follower member 1224a, the connecting member 1224b, and the elastic member 1224c as a whole can be replaced by a transfer plate.

[0101] In some embodiments, please refer to Figure 14 , the connecting member 1224b further includes a pivot 1224b2. The opposite ends of the pivot 1224b2 are respectively rotatably connected between the perforation of the top plate 1224a1 of the follower member 1224a and the central hole of the disk body of the driven gear 1223. The penetrating portion 1224b1 penetrates through the pivot 1224b2.

[0102] Thus, the penetrating portion 1224b1 is rotatably connected between the top plate 1224a1 of the follower member 1224a and the disk body of the driven gear 1223 through the pivot 1224b2, which can reduce the friction between the penetrating portion 1224b1 and the top plate 1224a1 of the follower member 1224a and the driven gear 1223.

[0103] Please refer to Figure 3 and Figure 13The edge cutting device 12 further includes a mounting member 121, which is mounted on the robot 11. It is understood that the mounting member 121 can be mounted on the side, tail, or top of the robot 11, etc., which is not limited here. In this embodiment, the mounting member 121 is mounted on the right side of the robot 11. The rotating mechanism 122 is mounted on the mounting member 121. The lifting mechanism 123 is connected between the rotating mechanism 122 and the mowing mechanism 124.

[0104] Thus, the rotating mechanism 122 can be installed on the robot 11 through the mounting member 121, and the installation is more stable and reliable.

[0105] In some embodiments, the mounting member 121 is roughly in the shape of a long-handled spoon. The mounting member 121 includes a transfer portion 1211 and a tray 1212. The transfer portion 1211 is in the shape of an elongated strip and is connected to the side of the body of the robot 11. The tray 1212 is connected to the transfer portion 1211. The rotating mechanism 122 also includes a mounting shell 127 and a cover 128. The mounting shell 127 includes a first cavity 1271 and a second cavity 1272. The mounting shell 127 is mounted on the tray 1212, the first motor 1221 and the driving gear 1222 are mounted in the first cavity 1271, and the driven gear 1223 and the deformation energy storage portion 1224 are mounted in the second cavity 1272. The top of the second cavity 1272 is open. The cover 128 is mounted on the opening.

[0106] Thus, through the matching connection between the mounting member 121 and the mounting shell 127 and the cover body 128 , other components of the rotating mechanism 122 are reliably and stably mounted on the mounting member 121 , and the connection is stable and reliable.

[0107] For some examples, please refer to Figure 12 The mowing mechanism 124 includes a housing 1241, a second motor 1242 disposed on the housing 1241, and a mowing assembly 1243 connected to the second motor 1242. The second connecting portion 126 is disposed on the housing 1241, and the mowing assembly 1243 is used for mowing.

[0108] The above is only a preferred implementation of the present application. It should be pointed out that a person skilled in the art can make several modifications and improvements without departing from the inventive concept of the present application, and these all fall within the scope of protection of the present application.

Claims

1. An edge cutting device, characterized in that, The edge cutting device includes a lifting mechanism and a mowing mechanism. The lifting mechanism is rotatably connected between a robot and the mowing mechanism, and the lifting mechanism is used to adjust the lifting height of the mowing mechanism.

2. The edge cutting device according to claim 1, characterized in that, The lifting mechanism includes a first connecting rod and a second connecting rod. The first connecting rod and the second connecting rod are arranged in the height direction of the edge cutting device. The first connecting rod includes a first end and a second end arranged oppositely, and the second connecting rod includes a third end and a fourth end arranged oppositely. The first end and the third end are respectively rotatably connected to the robot, and the second end and the fourth end are respectively rotatably connected to the mowing mechanism.

3. The edge cutting device according to claim 2, wherein, The first length of the first connecting line between the pivot points of the first end and the second end is equal to the second length of the second connecting line between the pivot points of the third end and the fourth end. The third length of the third connecting line between the pivot points of the first end and the third end is equal to the fourth length of the fourth connecting line between the pivot points of the second end and the fourth end.

4. The edge cutting device according to claim 3, characterized in that, A limiting member is provided on one of the first connecting rod and the second connecting rod, and a limiting groove is provided on the other one. At least the end position of the limiting member can extend into the limiting groove, and the cooperation between the limiting member and the limiting groove defines the liftable height of the mowing mechanism.

5. The edge cutting device according to claim 4, characterized in that, The limiting groove has a first side away from the mowing mechanism and a second side close to the mowing mechanism. When the limiting member is located on the first side, the mowing mechanism is at the lower dead center of the stroke. When the limiting member is located on the second side, the mowing mechanism is at the upper dead center of the stroke.

6. The edge cutting device according to claim 5, wherein, The width of the gap between the first connecting rod and the second connecting rod is positively correlated with the height of the mowing mechanism, and the difference between the maximum value and the minimum value of the gap between the first connecting rod and the second connecting rod is positively correlated with the liftable height of the mowing mechanism; and / or, the length of the limiting groove is positively correlated with the liftable height of the mowing mechanism.

7. The edge cutting device according to claim 4, wherein The height of the limiting member is at least greater than the maximum value of the gap between the first connecting rod and the second connecting rod.

8. The edge cutting device according to claim 2, wherein, The lifting mechanism further includes a limiting block. The limiting block is arranged adjacent to the first connecting rod, and the limiting block limits the rotation angle of the first connecting rod to thereby define the liftable height of the mowing mechanism; and / or, the limiting block is arranged adjacent to the second connecting rod, and the limiting block limits the rotation angle of the second connecting rod to thereby define the liftable height of the mowing mechanism.

9. The edge cutting device according to claim 2, characterized in that, The edge cutting device includes a first connecting portion and a second connecting portion. One side of the first connecting portion is connected to the robot, and the other side is respectively rotatably connected to the first end and the third end. One side of the second connecting portion is connected to the mowing mechanism, and the other side is respectively rotatably connected to the second end and the fourth end.

10. The edge cutting device according to claim 9, characterized in that, The first connecting portion includes two first connecting members arranged at intervals. The first end of the first connecting rod is respectively rotatably connected between the two first connecting members, and the third end of the second connecting rod is respectively rotatably connected between the two first connecting members.

11. The edge cutting device according to claim 10, characterized in that, The first link is provided with a first abutting surface at a position adjacent to the first end, and a first mating surface is provided on the end surface of the first connecting member corresponding to the installation position of the first link. The first abutting surface is used for abutting against the first mating surface; and / or, The second link is provided with a third abutting surface at a position adjacent to the third end, and a third mating surface is provided on the end surface of the first connecting member corresponding to the installation position of the second link. The third abutting surface is used for abutting against the third mating surface.

12. The edge cutting device according to claim 9, wherein, The second connecting portion includes two second connecting members arranged at intervals. The second end of the first link is rotatably connected between the two second connecting members, and the fourth end of the second link is rotatably connected between the two second connecting members.

13. The edge cutting device according to claim 12, characterized in that, The first link is provided with a second abutting surface at a position adjacent to the second end, and a second mating surface is provided on the end surface of the second connecting member corresponding to the installation position of the first link. The second abutting surface is used for abutting against the second mating surface; and / or, The second link is provided with a fourth abutting surface at a position adjacent to the fourth end, and a fourth mating surface is provided on the end surface of the second connecting member corresponding to the installation position of the second link. The fourth abutting surface is used for abutting against the fourth mating surface.

14. The edge cutting device according to any one of claims 9 to 13, characterized in that, The edge cutting device further includes a rotating mechanism, which is installed on the robot. The first connecting portion is arranged on the rotating mechanism. The rotating mechanism at least drives the mowing mechanism to move away from the robot, so that the mowing mechanism extends out relative to the robot.

15. The edge cutting device according to claim 14, characterized in that, The rotating mechanism includes a deformation energy storage portion, which is connected between the robot and the lifting mechanism. The first connecting portion is arranged on the deformation energy storage portion. The deformation energy storage portion stores kinetic energy in a manner of elastic deformation. The kinetic energy stored by the deformation energy storage portion drives the lifting mechanism to drive the mowing mechanism to move away from the robot side; when the mowing mechanism is forced to move towards the robot side by an external force, the deformation energy storage portion can store the kinetic energy of the relative movement of the mowing mechanism and the robot in a manner of elastic deformation.

16. The edge cutting device according to claim 15, wherein The deformation energy storage portion includes a follower, a connecting member and an elastic member. The connecting member includes a penetrating portion, and the penetrating portion is rotatably connected in the cavity of the follower. The first connecting portion is connected to the penetrating portion. The elastic member is sleeved on the connecting member and connected between the follower and the first connecting portion.

17. The edge cutting device according to claim 16, characterized in that, The rotating mechanism further includes a rotation driving portion, which is connected between the robot and the follower. When the follower is driven by the rotation driving portion to rotate, the follower forces the elastic member to undergo elastic deformation to store kinetic energy. When the kinetic energy stored by the elastic member accumulates to a preset value, it pushes the first connecting portion to drive the first link, the second link and the mowing mechanism to rotate together and move towards the side away from the robot.

18. The edge cutting device according to claim 14, wherein The edge cutting device further includes a mounting member, which is connected to the robot, and the rotating mechanism is installed on the mounting member.

19. The edge cutting device according to claim 9, characterized in that, The mowing mechanism includes a housing, a second motor disposed within the housing, and a mowing assembly connected to the second motor, and the second connecting portion is disposed on the housing.

20. A lawn mowing device, characterized in that, The mowing device includes a robot and an edge cutting device, the edge cutting device is mounted on the robot, and the edge cutting device is the edge cutting device according to any one of claims 1 to 19.

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