Cutting mechanism and mowing robot

Abstract

The utility model provides a cutting mechanism and a mowing robot, the mowing robot comprises a main machine body and the cutting mechanism which are connected with each other, and the cutting mechanism comprises a driving part, an elastic part and a mowing assembly; the elastic piece is connected with the driving piece and the mowing assembly; the driving part is used for outputting steering driving force to enable the elastic part to elastically deform so as to store first elastic restoring force, when the first elastic restoring force is larger than or equal to a preset force value, the first elastic restoring force of the elastic part drives the mowing assembly to move in the first direction, and the elastic part is further used for driving the mowing assembly to move in the second direction when the mowing assembly bears resistance hindering advancing. And the second elastic restoring force is stored by the elastic deformation. Therefore, the mowing assembly can cut off grass at the edge position, the elastic piece can buffer resistance and transmit the resistance to the driving piece so as to reduce damage to the driving piece, and meanwhile, the mowing assembly can be reset through the second elastic restoring force after the resistance hindering advancing of the mowing assembly disappears.

Description

Technical Field

[0001] The present application relates to the technical field of mowing devices, and in particular to a cutting mechanism and a mowing robot. Background Art

[0002] With the development of automated weeding technology, the functions of automatic lawn mowers have become increasingly perfect. Currently, automatic lawn mowers generally work on grasslands. The user sets their working area, and the automatic lawn mower detects the relative position relationship with the working area to keep it within the working area and prevent it from going out of the boundary. Due to considerations such as safety, when the extension length of the cutter in the wheel axle direction is less than the distance between the outer edges of the two wheels or there is a housing around the cutter, there will be a distance between the cutter edge and the actual boundary, resulting in the grass in the edge area not being cut. Moreover, in existing mowing robots, the transmission of the force driving the mowing component to mow is rigid transmission. However, since the edge position is prone to collide with obstacles, the resistance received by the mowing component will be rigidly transmitted to the driving part, causing damage to the driving part. Summary of the Utility Model

[0003] Therefore, the present application provides a cutting mechanism and a mowing robot to solve the above technical problems.

[0004] In a first aspect of the present application, a cutting mechanism is provided. The cutting mechanism includes a driving part, an elastic part, and a mowing component; the elastic part is connected between the driving part and the mowing component; the driving part is used to output a steering driving force to cause the elastic part to undergo elastic deformation and store a first elastic restoring force. When the stored first elastic restoring force is greater than or equal to a preset force value, the first elastic restoring force of the elastic part drives the mowing component to move in a first direction; the elastic part is further used to store a second elastic restoring force when the mowing component is hindered by a resistance to advancing.

[0005] In a second aspect of the present application, a mowing robot is provided, including a main body and the aforementioned cutting mechanism. The cutting mechanism is connected to the main body, and the cutting mechanism can extend relative to the main body to mow the grass outside the projection area of the main body.

[0006] In the present application, the driving member is configured to output a steering driving force to cause the elastic member to undergo elastic deformation and store a first elastic restoring force. When the stored first elastic restoring force is greater than or equal to a preset force value, the first elastic restoring force of the elastic member drives the mowing assembly to move in a first direction. Thus, when the cutting mechanism is connected to the main body of the mowing robot, by driving the mowing assembly to move away from the main body and extend relative to the main body by the first elastic restoring force of the elastic member, it is beneficial for the mowing assembly to cut the grass at the edge position in the area to be mowed. At the same time, since the elastic member is connected between the driving member and the mowing assembly, the force transmission between the driving member and the mowing assembly is conducted through the elastic member. The elastic member has elasticity and has a good buffering and shock-absorbing effect. Therefore, compared with the resistance being rigidly transmitted to the driving member, when the mowing assembly encounters a resistance to its progress, the elastic member undergoes elastic deformation and stores a second elastic restoring force, which can buffer the transmission of the resistance to the driving member, thereby reducing damage to the driving member. At the same time, after the resistance that hinders the progress of the mowing assembly disappears, the second elastic restoring force can reset the mowing assembly. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0008] Figure 1 Structural schematic diagram of a mowing robot provided by some embodiments of the present application;

[0009] Figure 2 For Figure 1 bottom view;

[0010] Figure 3 Structural schematic diagram of a cutting mechanism provided by some embodiments of the present application;

[0011] Figure 4 For Figure 3 one of the structural explosion diagrams;

[0012] Figure 5 For Figure 3 another structural explosion diagram of a part of the structure in;

[0013] Figure 6 Structural block diagram of a driving member provided by some embodiments of the present application;

[0014] Figure 7Structural block diagram of the driving member provided for some other embodiments of the present application;

[0015] Figure 8 For Figure 5 Exploded view of the structure of the first part in

[0016] Figure 9 For Figure 5 Exploded view of the structure of the second part in

[0017] Figure 10 For Figure 3 Top view of the structure

[0018] Figure 11 Exploded view of the structure of the mowing assembly provided for some embodiments of the present application. Detailed implementation manners

[0019] 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. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0020] In the description of the present application, unless otherwise clearly defined and limited, the term "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, or the communication inside two elements; it can be a communication connection; it can be an electrical connection. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to specific situations.

[0021] In the description of the present application, the terms "first", "second", "third", etc. are used to distinguish different objects, rather than to describe a specific order. In addition, the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present application.

[0022] Please refer to Figure 1 And Figure 2 , Figure 1 Structural diagram of the mowing robot provided for some embodiments of the present application; Figure 2 For Figure 1 Bottom view of

[0023] As Figure 1As shown, in some embodiments, the mowing robot 100 includes a cutting mechanism 1 and a main body 2. The cutting mechanism 1 is connected to the main body 2, and the cutting mechanism 1 can extend relative to the main body 2 to mow the grass outside the projection area of the main body 2.

[0024] Among them, as Figure 2 shown, the main body 2 includes wheels 201, a first housing 202, a main mowing mechanism 203, etc. The main mowing mechanism 203 is used for mowing grass.

[0025] Please refer to Figures 3 - 5 , Figure 3 which is a schematic structural diagram of the cutting mechanism provided by some embodiments of the present application; Figure 4 is Figure 3 one of the structural explosion diagrams; Figure 5 is Figure 3 another structural explosion diagram of some parts in

[0026] As Figure 3 and Figure 5 shown, in some embodiments, the cutting mechanism 1 includes a driving member 10, an elastic member 20, and a mowing assembly 30; the elastic member 20 is connected between the driving member 10 and the mowing assembly 30. The driving member 10 is configured to output a steering driving force to cause the elastic member 20 to undergo elastic deformation and store a first elastic restoring force. When the stored first elastic restoring force is greater than or equal to a preset force value, the first elastic restoring force of the elastic member 20 drives the mowing assembly 30 to move in a first direction K. The elastic member 20 is further configured to store a second elastic restoring force when the mowing assembly 30 encounters a resistance that hinders its progress.

[0027] In this application, the driving member 10 is used to output a steering driving force to cause the elastic member 20 to undergo elastic deformation and store a first elastic restoring force. When the stored first elastic restoring force is greater than or equal to a preset force value, the first elastic restoring force of the elastic member 20 drives the mowing assembly 30 to move in the first direction K. Thus, when the cutting mechanism 1 is connected to the main body 2 of the lawn mowing robot 100, by driving the mowing assembly 30 to move away from the main body 2 by the first elastic restoring force of the elastic member 20 and extending relative to the main body 2, it is beneficial for the lawn mowing robot 100 to cut the grass at the edge position in the area to be mowed. At the same time, since the elastic member 20 is connected between the driving member 10 and the mowing assembly 30, the force transmission between the driving member 10 and the mowing assembly 30 will be conducted through the elastic member 20. And the elastic member 20 has elasticity and has a good buffering and shock absorption effect. Therefore, compared with the resistance being rigidly transmitted to the driving member 10, when the mowing assembly 30 encounters a resistance to advancing, the elastic member 20 undergoes elastic deformation and stores a second elastic restoring force, which can buffer the transmission of the resistance to the driving member 10, thereby reducing the damage to the driving member 10. At the same time, after the resistance that hinders the advancement of the mowing assembly 30 disappears, the second elastic restoring force can be used to reset the mowing assembly 30.

[0028] Wherein, when the cutting mechanism 1 is connected to the main body 2, the first direction K is the direction in which the cutting mechanism 1 is away from the main body 2.

[0029] In some embodiments, the first direction K is a clockwise direction or a counterclockwise direction.

[0030] Please refer to Figure 1 and Figures 3 - 5 , Figure 5 is Figure 3 the structural explosion diagram of.

[0031] In some embodiments, as Figure 5 shown, the cutting mechanism 1 further includes a mounting base 3. As Figure 1 shown, the mounting base 3 is fixedly connected to the main body 2. The driving member 10 and the elastic member 20 are both mounted on the mounting base 3.

[0032] Please refer to Figure 6 , Figure 6 which is the structural block diagram of the driving member provided in some embodiments of the present application.

[0033] In some embodiments, as Figure 6As shown, the driving member 10 includes a first motor 11, and the first motor 11 includes a motor main body 110 and a braking structure 111. The braking structure 111 is configured to generate a braking force to prevent the motor main body 110 from reversing when the motor main body 110 stops rotating or when a second elastic restoring force is transmitted to the first motor.

[0034] When the mowing assembly 30 collides with an obstacle and is subjected to a resistance, the elastic member 20 undergoes elastic deformation to store a second elastic restoring force to buffer the transmission of the resistance to the driving member 10. However, if the transmission of the second elastic restoring force to the driving member 10 causes the first motor 11 to reverse, it will still damage the first motor 11. Since the first motor 11 includes a braking structure 111, the braking structure 111 is configured to generate a braking force to prevent the motor main body 110 from reversing when the motor main body 110 stops rotating or when a second elastic restoring force is transmitted to the first motor 11. Thus, the second elastic restoring force cannot cause the rotation shaft of the first motor 11 to reverse, and further damage to the first motor 11 can be reduced.

[0035] Among them, the braking structure 111 can be, but is not limited to, an electromagnetic brake. The electromagnetic brake includes a coil, an armature, a spring, and a brake disc. The working process of the electromagnetic brake is as follows: when the coil of the electromagnetic brake is energized, a magnetic field is generated to attract the armature, so that the armature is separated from the brake disc, thereby allowing the first motor to rotate freely. When the coil of the electromagnetic brake is de-energized, the armature is reset under the action of the spring and fits with the brake disc, and the friction force between the friction disc and the rotation shaft of the motor main body 110 is used to lock the rotation shaft of the motor main body 110 to prevent the rotation shaft of the motor main body 110 from rotating.

[0036] Among them, the braking structure 111 can also be a phase sequence adjustment structure, and the phase sequence adjustment structure is configured to adjust the phase sequence of the power supply connected to the motor main body 110 to generate a back electromotive force to prevent the motor main body 110 from reversing.

[0037] Among them, the braking structure 111 can actively trigger the generation of a braking force or passively trigger the generation of a braking force. Specifically, when the braking structure 111 is an electromagnetic brake, the generation of a braking force by means of electromagnetic power-off braking is a passively triggered generation of a braking force, that is, when a second elastic restoring force is transmitted to the first motor 11, the electromagnetic power-off brake will generate a braking force. When the braking structure 111 is a phase sequence adjustment structure, the generation of a braking force by adjusting the phase sequence of the power supply connected to the motor main body 110 is an actively triggered generation of a braking force, that is, when the motor main body 110 stops rotating, the phase sequence of the power supply connected to the motor main body 110 is adjusted to generate a braking force.

[0038] Please refer to Figure 7 ,Figure 7 The structural block diagram of the driving member provided by other embodiments of the present application.

[0039] In some embodiments, the driving member 10 includes a first motor 11 and a speed reduction mechanism 12. The speed reduction mechanism 12 is connected to the first motor 11. The second elastic restoring force is transmitted to the first motor 11 through the speed reduction mechanism 12, and the speed reduction mechanism 12 is configured to reduce the second elastic restoring force when it is transmitted to the first motor 11.

[0040] When the mowing assembly 30 collides with an obstacle and is subjected to resistance, the elastic member 20 undergoes elastic deformation to store the second elastic restoring force to buffer the transmission of the resistance to the driving member 10. However, if the second elastic restoring force transmitted to the first motor 11 causes the first motor 11 to reverse, it will still damage the first motor 11. Since the driving member 10 includes the speed reduction mechanism 12, the speed reduction mechanism 12 can reduce the second elastic restoring force when it is transmitted to the first motor 11, thereby reducing the possibility that the second elastic restoring force causes the rotation shaft of the first motor 11 to reverse.

[0041] Wherein, the speed reduction mechanism 12 can be composed of multiple gears.

[0042] In some embodiments, as Figure 5 shown, the cutting mechanism 1 further includes a transmission assembly 40. The transmission assembly 40 is connected between the driving member 10 and the elastic member 20. The transmission assembly 40 rotates under the action of the steering driving force and pulls the elastic member 20, causing the elastic member 20 to undergo elastic deformation to store the first elastic restoring force.

[0043] Due to the influence of the mechanical structure shape and the force transmission mode, it is difficult to directly connect the driving member 10 and the elastic member 20, and the structure is not stable enough. The transmission assembly 40 is connected between the driving member 10 and the elastic member 20, which is beneficial to improving the stability of the overall structure connection.

[0044] In some embodiments, the maximum value of the first elastic restoring force acting on the transmission assembly 40 is less than the maximum value of the second elastic restoring force.

[0045] Since the mowing assembly 30 moves in the first direction K under the drive of the first elastic restoring force of the elastic member 20, the maximum value of the first elastic restoring force is equal to the force required to drive the mowing assembly 30 to start moving. At the same time, since the braking structure 111 generates a braking force to prevent the motor main body 110 from reversing when the motor main body 110 stops rotating, when the mowing assembly 30 encounters a resistance to forward movement, and this resistance pushes the mowing assembly 30 to move, causing the elastic member 20 to undergo elastic deformation and store a second elastic restoring force, the second elastic restoring force cannot be released. Therefore, the maximum value of the first elastic restoring force acting on the transmission assembly 40 is less than the maximum value of the second elastic restoring force.

[0046] Please refer to Figure 5 and Figure 8 , Figure 8 which is Figure 5 a schematic exploded view of the structure of the first part in

[0047] In some embodiments, as Figure 5 shown in Figure 8 , the driving member 10 includes a first motor 11, and the first motor 11 includes an output shaft 112; the transmission assembly 40 includes a first gear 41, a second gear 42, and an inner shell 43. The output shaft 112 is connected to the first gear 41, the second gear 42 meshes with the first gear 41, the inner shell 43 is fixedly connected to the second gear 42, the elastic member 20 is connected to the inner shell 43. The first gear 41 rotates under the steering driving force output by the output shaft 112, the second gear 42 rotates with the rotation of the first gear 41, the inner shell 43 rotates with the rotation of the second gear 42, and pulls the elastic member 20, causing the elastic member 20 to undergo elastic deformation and store the first elastic restoring force.

[0048] Since gear transmission is stable and highly reliable, the transmission assembly 40 includes a first gear 41, a second gear 42, and an inner shell 43. The output shaft 112 is connected to the first gear 41, the second gear 42 meshes with the first gear 41, the inner shell 43 is fixedly connected to the second gear 42, the elastic member 20 is connected to the inner shell 43. The first gear 41 rotates under the steering driving force output by the output shaft 112, the second gear 42 rotates with the rotation of the first gear 41, the inner shell 43 rotates with the rotation of the second gear 42, and pulls the elastic member 20, which can make the entire structure operate more smoothly and reliably.

[0049] Among them, the number of teeth of the first gear 41 is less than that of the second gear 42. Therefore, the output shaft 112 is connected to the first gear 41, and the first gear 41 meshes with the second gear 42, which can increase the torque output to the elastic member 20.

[0050] Among them, the inner shell 43 and the second gear 42 can be fixedly connected by, but not limited to, welding, gluing, screwing, clamping and other methods.

[0051] Among them, the maximum value of the first elastic restoring force acting on the inner shell 43 is less than the maximum value of the second elastic restoring force.

[0052] Please refer to Figure 5 and Figure 9 , Figure 9 which is Figure 5 the structural explosion diagram of the second part in

[0053] In some embodiments, as Figure 9 shown, the cutting mechanism 1 further includes a housing 50, the housing 50 includes a base 51 and a cover plate 52, the base 51 and the cover plate 52 are detachably connected, the base 51 includes a first base 511 and a second base 512, the cover plate 52 includes a first cover plate 521 and a second cover plate 522, the first cover plate 521 covers the first base 511 to form the first cavity 531, the second cover plate 522 covers the second base 512 to form the second cavity 532, the first cavity 531 and the second cavity 532 are internally connected, the first motor 11 and the first gear 41 are arranged in the first cavity 531, the second gear 42 and the inner shell 43 are arranged in the second cavity 532, and the mowing assembly 30 is arranged outside the housing 50.

[0054] Due to different sealing requirements for each structure, the interior of the housing 50 is divided into two cavities, and different sealing strategies can be adopted for each cavity. The base 51 and the cover plate 52 are detachably connected, which can facilitate the installation of the first motor 11, the first gear 41, the second gear 42 and the inner shell 43. The first cavity 531 and the second cavity 532 are internally connected, which can facilitate the meshing of the first gear 41 and the second gear 42.

[0055] Among them, the base 51 is fixedly connected to the mounting seat 3.

[0056] In some embodiments, as Figure 9 shown, the cutting mechanism 1 further includes a seal 53, and the seal 53 is arranged between the first cover plate 521 and the first base 511.

[0057] Thus, it is possible to prevent liquid from entering the first cavity 531 through the gap between the first cover plate 521 and the first base 511, thereby avoiding problems such as short circuit and electric leakage of the first motor 11.

[0058] In some embodiments, as Figure 5 shown, the cutting mechanism 1 further includes an angle sensor 70 and a triggering device 71; the angle sensor 70 is disposed on the second cover plate 522, and the triggering device 71 is disposed on the inner housing 43. Under the action of the triggering device 71, the angle sensor 70 is configured to determine the rotation angle of the inner housing 43.

[0059] Thus, the rotation angle of the mowing assembly 30 relative to the main body 2 can be further determined based on the rotation angle of the inner housing 43.

[0060] In some embodiments, the triggering device 71 is disposed on the top plate 432.

[0061] In some embodiments, the angle sensor 70 is a Hall sensor, and the triggering device 71 is a magnet. The Hall sensor is configured to detect the magnetic field strength to determine the rotation angle of the inner housing 43.

[0062] In some embodiments, as Figure 5 and Figure 8 shown, the cutting mechanism 1 further includes a support assembly 60. The support assembly 60 includes an inner support shaft 61 and an outer support member 62; the inner support shaft 61 passes through the inner housing 43 and the shaft hole 420 of the second gear 42, and both ends of the inner support shaft 61 are connected to the outer housing 50; the outer support member 62 is sleeved on the inner support shaft 61; the elastic member 20 is connected between the inner housing 43 and the outer support member 62, and the outer support member 62 is further connected to the mowing assembly 30.

[0063] In actual structural assembly, it is not easy to directly contact and connect the elastic member 20 with the mowing assembly 30, and the mowing assembly 30 has a certain weight. Too little contact at the connection will result in poor structural reliability. Therefore, the elastic member 20 is connected to the mowing assembly 30 through the outer support member 62, which can facilitate assembly and increase the contact area at the connection to improve the structural reliability.

[0064] Among them, as Figure 5 shown, the inner housing 43 includes a side plate 431 and a top plate 432. The side plate 431 is connected between the end face 421 of the second gear 42 and the top plate 432, and the side plate 431 is an open side plate. Specifically, the inner support shaft 61 passes through the top plate 432 and the shaft hole 420 of the second gear 42.

[0065] Among them, Figure 9 As shown, receiving grooves 54 are provided on both the inner surface of the second base 512 and the second cover plate 522, and both ends of the inner support shaft 61 are disposed in the receiving grooves 54, as Figure 8 shown, the support assembly 60 further includes bearings 63. The bearings 63 are sleeved on both ends of the inner support shaft 61 and are both located in the receiving grooves 54, and the outer rings of the bearings 63 are in interference fit or fixedly connected with the receiving grooves 54, so as to reduce the frictional force of the receiving grooves 54 on the support shaft 61.

[0066] In some embodiments, as Figure 5 and Figure 8 shown, the elastic member 20 includes a torsion spring 21. The torsion spring 21 includes a spring body portion 211, mounting feet 212 and torsion arms 213. The spring body portion 211 is connected to the mounting feet 212 and the torsion arms 213. The mounting feet 212 are connected to the inner shell 43. The spring body portion 211 is wound around the outer support member 62, and the torsion arms 213 are connected to the outer support member 62; when the inner shell 43 rotates, it pulls the mounting feet 212, stores the first elastic restoring force through the spring body portion 211, and pushes the outer support member 62 to rotate through the torsion arms 213.

[0067] The mounting feet 212 are connected to the inner shell 43. The spring body portion 211 is wound around the outer support member 62. When the inner shell 43 rotates, it pulls the mounting feet 212, stores the first elastic restoring force through the spring body portion 211, and pushes the outer support member 62 to rotate through the torsion arms 213. Thus, it is actually the spring body portion 211 that deforms, which helps to avoid mechanical interference from structures other than the inner shell 43.

[0068] Among them, the first elastic restoring force is stored through the spring body portion 211 of the torsion spring 21, and when the stored first elastic restoring force is greater than or equal to a preset force value, the outer support member 62 is pushed to rotate through the torsion arms 213, and further the mowing assembly 30 connected to the outer support member 62 moves in the first direction K.

[0069] Among them, the mounting feet 212 are bent into a shape similar to a "U" and are hooked on the inner shell 43. Specifically, the mounting feet 212 are hooked on the side plates 431. In other embodiments, the mounting feet 212 can also be wound around a threaded portion provided on the inner shell 43 so that the mounting feet 212 are connected to the inner shell 43. It should be noted that this is only an example here, and the mounting feet 212 can also be connected to the inner shell 43 in other ways.

[0070] In some embodiments, such as Figure 5 and Figure 8 As shown, the outer support member 62 includes a shaft body portion 621 and a mounting portion 622. The shaft body portion 621 is sleeved on the inner support shaft 61. The mounting portion 622 is fixedly connected to the shaft body portion 621. The spring body portion 211 is wound around the shaft body portion 621. The mounting portion 622 is connected to the torsion arm 213 and the mowing assembly 30.

[0071] The torsion arm 213 is connected to the mounting portion 622. Compared with the torsion arm 213 being connected to the shaft body portion 621, it is convenient for the torsion arm 213 to apply the first elastic restoring force to the outer support member 62, so that the outer support member 62 rotates, and then drives the mowing assembly 30 to move in the first direction K.

[0072] Wherein, both the inner support shaft 61 and the shaft body portion 621 are cylindrical. This facilitates the sleeving of the inner support shaft 61 and the shaft body portion 621, and when the inner support shaft 61 and the shaft body portion 621 do not rotate synchronously, the inner support shaft 61 does not prevent the shaft body portion 621 from rotating. In other embodiments, the inner support shaft 61 and the shaft body portion 621 may also be other shapes such as cubic columnar.

[0073] Wherein, the mounting portion 622 and the shaft body portion 621 may be an integral structure, or may be a split structure and are connected and fixed by means such as screwing and welding.

[0074] Wherein, such as Figure 8 As shown, the mounting portion 622 includes a first side plate 622a and a second side plate 622b. The first side plate 622a and the second side plate 622b are spaced apart and oppositely arranged. The rotation direction from the first side plate 622a to the second side plate 622b is the first direction K. The first side plate 622a includes a first side 6221 and a second side 6222. The rotation direction from the first side 6221 to the second side 6222 is the first direction K. The torsion arm 213 is connected to the first side 6221. In some embodiments, such as Figure 5 As shown, the first side 6221 is provided with a card slot 623, and the torsion arm 213 is clamped in the card slot 623, thereby enhancing the connection stability between the torsion arm 213 and the mounting portion 622.

[0075] In some embodiments, such as Figure 5 and Figure 8As shown, the spring body part 211 includes a first spring body part 2111 and a second spring body part 2112, and the torsion arm 213 connects the first spring body part 2111 and the second spring body part 2112. The mounting feet 212 include a first mounting foot 2121 and a second mounting foot 2122; the first mounting foot 2121 connects the first spring body part 2111 and the inner shell 43; the second mounting foot 2122 connects the second spring body part 2112 and the inner shell 43; when the first mounting foot 2121 and the second mounting foot 2122 are subjected to the pulling force of the inner shell 43, the first elastic restoring force is stored through the first spring body part 2111 and the second spring body part 2112, and the first elastic restoring force is applied to the mounting part 622 through the torsion arm 213, so that the mounting part 622 rotates around the inner support shaft 61, and drives the mowing assembly 30 connected to the mounting part 622 to move in the first direction K.

[0076] Compared with a single spring body part and a single mounting foot connected to the inner shell 43, the mounting feet 212 include a first mounting foot 2121 and a second mounting foot 2122; the first mounting foot 2121 connects the first spring body part 2111 and the inner shell 43; the second mounting foot 2122 connects the second spring body part 2112 and the inner shell 43, which can make the contact points between the torsion arm 213 and the inner shell 43 more. At the same time, by storing the first elastic restoring force through the first spring body part 2111 and the second spring body part 2112, the force load can be borne more evenly. Therefore, it is more beneficial to the balance and stability of the structure. At the same time, the torsion arm 213 connects the first spring body part 2111 and the second spring body part 2112, and by applying the first elastic restoring force to the mounting part 622 through the torsion arm 213, a greater torque can be provided.

[0077] Wherein, the torsion arm 213 connects the first spring body part 2111 and the second spring body part 2112, a clamping groove 623 is provided on the first side surface 6221 of the mounting part 622, the torsion arm 213 extends along the first side surface 6221 and is clamped in the clamping groove 623, the first elastic restoring force is stored through the first spring body part 2111 and the second spring body part 2112, and the first elastic restoring force is applied to the mounting part 622 through the torsion arm 213, thereby realizing more uniform application of the first elastic restoring force to the mounting part 622, which is beneficial to enhancing the structural stability.

[0078] In some embodiments, such as Figure 5As shown, the outer shell 50 is fixedly connected to the main body 2. The outer shell 50 is provided with a first opening 510. The mowing assembly 30 is connected to the mounting portion 622 through the first opening 510. The first opening 510 is used to limit the movement range of the mowing assembly 30.

[0079] When the angle sensor 70 or the triggering device 71 fails, since the outer shell 50 is fixed, the outer shell 50 is provided with a first opening 510, the mowing assembly 30 is connected to the mounting portion 622 through the first opening 510, and the mowing assembly 30 rotates with the rotation of the mounting portion 622. Therefore, the size of the first opening 510 can limit the rotation angle of the mowing assembly 30, and the mowing assembly 30 can be restricted to move within a corresponding range, thereby restricting the mowing assembly 30 to move within a corresponding range through double insurance.

[0080] Among them, the outer shell 50 is fixedly connected to the main body 2 by being fixedly connected to the mounting seat 3.

[0081] Please refer to Figure 3 、 Figure 9 and Figure 10 , Figure 10 for Figure 3 the top view of the structure.

[0082] In some embodiments, as Figure 3 、 Figure 9 and Figure 10 shown, the outer shell 50 includes a first side 501 and a second side 502, and the first opening 510 is between the first side 501 and the second side 502. In a plane perpendicular to the inner support shaft 61, the included angle θ between the first connection line L1 and the second connection line L2 is greater than the rotation angle of the mowing assembly 30 relative to the central axis of the inner support shaft 61. Among them, the first connection line L1 is the connection line between the first side 501 and the center of the inner support shaft 61, and the second connection line L2 is the connection line between the second side 502 and the center of the inner support shaft 61.

[0083] Thus, the rotation angle of the mowing assembly 30 is restricted by the first side 501 and the second side 502 of the outer shell 50.

[0084] In some embodiments, as Figure 8 shown, the inner shell 43 is provided with a second opening 430, and a rib 44 is provided on the inner surface 433 of the inner shell 43 near the second opening 430. The side of the rib 44 away from the inner surface 433 is inclined towards the second opening 430.

[0085] Specifically, a rib 44 is provided on the inner surface 433 of the side plate 431 near the second opening 430.

[0086] Since the mounting portion 622 may come into contact with the edge of the second opening 430 of the inner shell 43 during rotation, this may cause stress concentration, and thus the inner shell 43 is prone to cracking. Therefore, a rib 44 is provided on the inner surface 433 of the inner shell 43 near the second opening 430. The rib 44 can be in contact with the mounting portion 622. The side of the rib 44 away from the inner surface 433 is inclined towards the second opening 430, which can increase the contact area between the rib 44 and the mounting portion 622, thereby facilitating the dispersion of the contact force between the mounting portion 622 and the rib 44, enhancing the strength of the inner shell 43, and reducing the risk of cracking of the inner shell 43.

[0087] In some embodiments, when the mowing assembly 30 is in the target position, the elastic member 20 is in a stretched state and has a third elastic restoring force. The third elastic restoring force and the second elastic restoring force are forces in opposite directions. The target position is the position where the mowing assembly 30 rotates the maximum rotatable angle from the initial position.

[0088] Thus, when the mowing assembly 30 encounters a resistance to forward movement, the third elastic restoring force of the elastic member 20 will be preferentially used to offset the resistance. When the resistance is small, the elastic member 20 no longer generates the second elastic restoring force and transmits it to the first motor 11, which is beneficial to protecting the first motor 11. When the resistance is large, the third elastic restoring force of the elastic member 20 will be preferentially used to offset the resistance, and then the elastic member 20 will generate the second elastic restoring force. Therefore, compared with the case where there is no third elastic restoring force, that is, when the mowing assembly 30 encounters a resistance to forward movement, the elastic member 20 undergoes elastic deformation to store the second elastic restoring force, the elastic deformation of the elastic member 20 will be smaller, which is beneficial to extending the service life of the elastic member 20.

[0089] The way for the elastic member 20 to be in a stretched state and have a third elastic restoring force is that during the process of driving the mowing assembly to move in the first direction, when the mowing assembly 30 is restricted by the first opening 510 of the outer shell 50, that is, when it abuts against the second side 502, the first motor 11 continues to rotate, thereby driving the inner shell 43 to continue to rotate, and causing the elastic member 20 to undergo elastic deformation and be in a stretched state and have a third elastic restoring force.

[0090] Please refer to Figure 11 , Figure 11The structural explosion diagram of the mowing assembly provided by some embodiments of the present application.

[0091] In some embodiments, as Figure 11 shown, the mowing assembly 30 includes a second motor 31 and a tool module 32. The tool module 32 is connected to the second motor 31, and the second motor 31 is used to drive the tool module 32 to move to perform mowing.

[0092] Thus, when the cutting mechanism 1 is connected to the main body 2, and the mowing assembly 30 moves away from the main body 2 and extends relative to the main body 2, the mowing assembly 30 can mow the grass at positions that the main mowing mechanism 203 in the main body 2 cannot reach.

[0093] In some embodiments, as Figure 4 、 Figure 5 and Figure 9 shown, the mowing assembly 30 further includes a second housing 33 and a connecting member 34. The second motor 31 is disposed in the second housing 33, and the connecting member 34 connects the second housing 33 and the mounting portion 622.

[0094] Thus, the structure of the mowing assembly 30 is more complete, and the connection with the mounting portion 622 is also more stable and reliable.

[0095] Specifically, the connecting member 34 is connected to the first side plate 622a and the second side plate 622b of the mounting portion 622.

[0096] In some embodiments, the first motor 11, the angle sensor 70, and the second motor 31 in the cutting mechanism 1 are all connected to the controller in the main body 2. The controller is used to control the start, rotation direction, and number of rotation turns of the first motor 11 and the second motor 31, so that the cutting mechanism 1 extends relative to the main body 2 to mow the grass outside the projection area of the main body 2, or retracts relative to the main body 2. The controller is also used to obtain the detection result of the angle sensor 70 and accurately adjust the working state of the first motor 11 and / or the second motor 31. For example, during the process of the first motor 11 driving the mowing assembly 30 to move in the first direction K, when the magnetic field intensity detected by the angle sensor 70 is less than the preset magnetic field intensity, the controller controls the first motor 11 to continue rotating to drive the mowing assembly 30 to move in the first direction K. When the magnetic field intensity detected by the angle sensor 70 is equal to the preset magnetic field intensity, the controller controls the motor body 110 to stop working and controls the braking structure 111 to perform braking.

[0097] Among them, the controller may be, but is not limited to, a Central Processing Unit (CPU), a general-purpose processor, a Digital Signal Processor (DSP), an Application-Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof.

[0098] It should be noted that in other embodiments, the control relationship between the controller in the main body 2 and the cutting mechanism 1 may also be other relationships, not limited to the examples in this application.

[0099] In the above embodiments, the descriptions of the respective embodiments have their own focuses. For the parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0100] The above are the implementation manners of the embodiments of this application. It should be noted that for those of ordinary skill in the art, without departing from the principle of the embodiments of this application, several improvements and refinements can be made, and these improvements and refinements are also regarded as the protection scope of this application.

Claims

1. A cutting mechanism, characterized in that, The cutting mechanism includes a driving member, an elastic member, and a mowing assembly; The elastic member is connected between the driving member and the mowing assembly; The driving member is configured to output a steering driving force to cause the elastic member to undergo elastic deformation and store a first elastic restoring force. When the stored first elastic restoring force is greater than or equal to a preset force value, the first elastic restoring force of the elastic member drives the mowing assembly to move in a first direction; The elastic member is further configured to store a second elastic restoring force when the mowing assembly encounters a resistance that hinders its progress, causing elastic deformation.

2. The cutting mechanism according to claim 1, characterized in that, The driving member includes a first motor, and the first motor includes a motor main body and a braking structure. The braking structure is configured to generate a braking force to prevent the motor main body from rotating in the reverse direction when the motor main body stops rotating or when the second elastic restoring force is transmitted to the first motor.

3. The cutting mechanism according to claim 1, wherein, The driving member includes a first motor and a speed reduction mechanism. The speed reduction mechanism is connected to the first motor, and the second elastic restoring force is transmitted to the first motor through the speed reduction mechanism. The speed reduction mechanism is configured to reduce the second elastic restoring force when it is transmitted to the first motor.

4. The cutting mechanism according to claim 2, characterized in that When the braking force and the second elastic restoring force are respectively transmitted to the rotating shaft of the motor main body, the braking force is greater than the second elastic restoring force.

5. The cutting mechanism according to claim 1, characterized in that The cutting mechanism further includes a transmission assembly; The transmission assembly is connected between the driving member and the elastic member; The transmission assembly rotates under the action of the steering driving force and pulls the elastic member, causing the elastic member to undergo elastic deformation and store the first elastic restoring force.

6. The cutting mechanism according to claim 5, characterized in that, The maximum value of the first elastic restoring force acting on the transmission assembly is less than the maximum value of the second elastic restoring force.

7. The cutting mechanism according to claim 5, wherein The driving member includes a first motor, and the first motor includes an output shaft; The transmission assembly includes a first gear, a second gear, and an inner shell. The output shaft is connected to the first gear, the second gear meshes with the first gear, the inner shell is fixedly connected to the second gear, the elastic member is connected to the inner shell. The first gear rotates under the steering driving force output by the output shaft, the second gear rotates with the rotation of the first gear, and the inner shell rotates with the rotation of the second gear and pulls the elastic member, causing the elastic member to undergo elastic deformation and store the first elastic restoring force.

8. The cutting mechanism according to claim 7, characterized in that, The cutting mechanism further includes a housing, and the housing includes a base and a cover. The base and the cover are detachably connected. The base includes a first base and a second base, and the cover includes a first cover and a second cover. The first cover covers the first base to form a first cavity, and the second cover covers the second base to form a second cavity. The first cavity and the second cavity are internally connected. The first motor and the first gear are disposed in the first cavity, the second gear and the inner shell are disposed in the second cavity, and the mowing assembly is disposed outside the housing.

9. The cutting mechanism according to claim 8, wherein The cutting mechanism further includes an angle sensor and a triggering device; the angle sensor is disposed on the second cover plate, and the triggering device is disposed on the inner shell. Under the action of the triggering device, the angle sensor is used to determine the rotation angle of the inner shell.

10. The cutting mechanism according to claim 8, wherein The cutting mechanism further includes a support assembly, and the support assembly includes an inner support shaft and an outer support member; The inner support shaft passes through the inner shell and the shaft hole of the second gear, and both ends of the inner support shaft are connected to the outer shell; The outer support member is sleeved on the inner support shaft; The elastic member is connected between the inner shell and the outer support member, and the outer support member is further connected to the mowing assembly.

11. The cutting mechanism according to claim 10, characterized in that, The elastic member includes a torsion spring, and the torsion spring includes a spring body portion, mounting feet, and torsion arms. The spring body portion is connected to the mounting feet and the torsion arms. The mounting feet are connected to the inner shell. The spring body portion is wound around the outer support member, and the torsion arms are connected to the outer support member; When the inner shell rotates, it pulls the mounting feet, stores the first elastic restoring force through the spring body portion, and pushes the outer support member to rotate through the torsion arms.

12. The cutting mechanism according to claim 11, wherein, The outer support member includes a shaft body portion and a mounting portion. The shaft body portion is sleeved on the inner support shaft. The mounting portion is fixedly connected to the shaft body portion. The spring body portion is wound around the shaft body portion. The mounting portion is connected to the torsion arms and the mowing assembly.

13. The cutting mechanism according to claim 12, wherein The spring body portion includes a first spring body portion and a second spring body portion, and the torsion arm connects the first spring body portion and the second spring body portion; The mounting feet include a first mounting foot and a second mounting foot; The first mounting foot connects the first spring body portion and the inner shell; The second mounting foot connects the second spring body portion and the inner shell; When the first mounting foot and the second mounting foot are subjected to the pulling force of the inner shell, the first elastic restoring force is stored through the first spring body portion and the second spring body portion, and the first elastic restoring force is applied to the mounting portion through the torsion arm, so that the mounting portion rotates around the inner support shaft and drives the mowing assembly connected to the mounting portion to move in the first direction.

14. The cutting mechanism according to claim 12, characterized in that, The outer shell is provided with a first opening, and the mowing assembly is connected to the mounting portion through the first opening. The first opening is used to limit the movement range of the mowing assembly.

15. The cutting mechanism according to claim 14, wherein The outer shell includes a first side and a second side, and the first opening is between the first side and the second side. In a plane perpendicular to the inner support shaft, the included angle between a first connection line and a second connection line is greater than the rotation angle of the mowing assembly relative to the central axis of the inner support shaft. Wherein, the first connection line is the connection line between the first side and the center of the inner support shaft, and the second connection line is the connection line between the second side and the center of the inner support shaft.

16. The cutting mechanism according to claim 14, characterized in that, The inner shell is provided with a second opening, and a rib is provided on the inner surface of the inner shell near the second opening. One side of the rib away from the inner surface inclines towards the second opening.

17. The cutting mechanism according to claim 1, wherein, When the mowing assembly is located at the target position, the elastic member is in a stretched state and has a third elastic restoring force, wherein the third elastic restoring force and the second elastic restoring force are forces in opposite directions, and the target position is the position where the mowing assembly rotates by the maximum rotatable angle from the initial position and arrives at.

18. The cutting mechanism according to claim 1, characterized in that, The mowing assembly includes a second motor and a tool module, the tool module is connected to the second motor, and the second motor is used to drive the tool module to move to perform mowing.

19. A lawn mowing robot, characterized in that, It includes a main body and the cutting mechanism according to any one of claims 1-18, the cutting mechanism is connected to the main body, and the cutting mechanism can extend relative to the main body to mow the grass outside the projection area of the main body.

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