Mowing robot

Abstract

The utility model discloses a mowing robot which comprises a shell, the orthographic projection of the shell is quadrilateral, the four edges of the quadrilateral extend downwards to form shell walls which are connected with one another, and the shell walls surround one another to form a shell cavity; the cutting assembly is arranged below the shell, the power mechanism is fixedly arranged in a shell cavity, and the walking mechanism comprises side wheels arranged on the two corresponding side edges of the shell and corner wheels arranged on the two corresponding corners of the shell. The side wheels and the corner wheels are arranged below the shell, and walking power is provided for at least one side wheel or / and at least one corner wheel through the power mechanism. And the two corner wheels are arranged as driving wheels with driving belts, so that the walking wheel has better road holding force, and the walking wheel is more stable during walking. The two corner wheels are respectively provided with a steering mechanism, so that better steering of the mowing mechanism is facilitated. The two corner wheels rotate with the center of the mowing robot as the circle center, the defect that a traditional mowing robot needs to walk and turn at the same time is overcome, and rotation is more convenient.

Description

Technical Field

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

[0002] In the field of garden cleaning, intelligent robotic lawn mowers, as a professional garden cleaning device, have been gaining popularity in recent years, and their importance is becoming increasingly prominent. This is particularly true in areas such as private gardens, small public lawns, and small sports fields. These mowers can save labor costs and perform repeatable daily tasks, making them the preferred cleaning device for gardens.

[0003] Existing robotic lawn mowers typically have running wheels located on both sides. This means they need to travel a long distance and rotate around a large area when turning or reversing. If a small area needs to be rotated, the robot must repeatedly turn back and forth to achieve its desired effect. This makes operation cumbersome, time-consuming, and results in a poor user experience.

[0004] Therefore, some businesses have eliminated a set of running wheels at the front or rear of the lawn mower robot and set a universal wheel at the lower end of the shell at the eliminated position. When turning is required, the universal wheel rotates, which can greatly reduce the above-mentioned disadvantages caused by the difficulty in rotation.

[0005] However, the addition of universal wheels makes the mower robot a three-wheeled structure, making it prone to tipping over when operating or turning, a drawback that is particularly pronounced on slopes. Furthermore, conventional universal wheels are relatively low in height and are typically driven wheels (i.e., not motor-driven), so they can easily become stuck in recessed areas. When traversing certain slopes, one end of the driven wheel can easily tilt downhill, changing the initial path and causing path deviation.

[0006] Therefore, how to make the lawn mower robot improve stability while also achieving flexible steering is a technical problem that the industry urgently needs to solve. Utility Model Content

[0007] The utility model aims to overcome the deficiencies in the above-mentioned prior art and provide an intelligent garden cleaning device for solving the problems of the existing mowing robot while improving stability and achieving flexible steering.

[0008] The technical solution adopted by the utility model is to provide a lawn mowing robot, which includes:

[0009] The shell has an orthographic projection of a quadrilateral, and the four sides of the quadrilateral extend downward to form mutually connected shell walls, and the shell walls surround each other to form a shell cavity.

[0010] The cutting assembly, located below the housing or within the housing cavity, includes a cutter disc mechanism and a cutting blade mounted on the disc. During operation, the disc rotates, driving the cutting blades to perform cutting. The cutting assembly in this example is consistent with the cutting assembly of existing lawn mowers and achieves the same technical effects, thus being a publicly known solution.

[0011] The power mechanism is fixedly mounted within the housing and provides power to the cutting assembly, including cutting power and blade lift power. The power mechanism includes an electrically connected power storage device, a control circuit, a drive motor, and other components. The power mechanism of the present invention is consistent with the power mechanism of existing lawn mowers and achieves the same technical effects, thus being a publicly known solution.

[0012] The walking mechanism includes side wheels respectively arranged on the two corresponding side edges of the shell, and corner wheels arranged on the two corresponding corners of the shell. The side wheels and corner wheels are all arranged below the shell, and at least one side wheel and / or at least one corner wheel are provided with walking power by the power mechanism.

[0013] In the present invention, the power mechanism provides walking power to two corner wheels at the same time. Because the two corner wheels are respectively set at the front and rear of the lawn mower robot when walking, setting the two corner wheels as belt-driven active wheels has better grip and makes walking more stable.

[0014] The orthographic projection of the shell is a rhombus or a parallelogram. In the present invention, it is specifically a rhombus, which includes two obtuse angles and two acute angles.

[0015] However, according to the volume setting of the lawn mower robot itself, a parallelogram can also be set, which can achieve the invention purpose of the present utility model. When it is set as a parallelogram, the two sides are extended along the walking direction of the lawn mower robot on the basis of the rhombus to form a parallelogram.

[0016] The corner wheels are arranged at two acute angles of a rhombus or a parallelogram, and the side wheels are arranged at two side edges parallel to the walking direction.

[0017] The mowing robot uses the two sides of the mowing machine with side wheels as its travel direction. When moving, the travel paths of the angle wheels and side wheels on the same side overlap. With this arrangement, when the mowing robot moves in a straight line, it has only two travel paths: left and right. In this way, the mowing robot will minimize the amount of grass it crushes when walking, thereby achieving normal grass cutting.

[0018] The diameter of the side wheels is greater than the diameter of the angle wheels.

[0019] At least one corner wheel is provided with a steering mechanism, which includes a motor and a gear provided on an output shaft of the motor, and the gear drives the corner wheel to move horizontally in a circumferential direction.

[0020] In this utility model, the two corner wheels are each equipped with a steering mechanism, which helps the mower mechanism steer more effectively. The two corner wheels rotate simultaneously, revolving around the center of the mower robot. This solves the disadvantage of traditional mower mechanisms where the operator needs to steer while walking, making rotation more convenient.

[0021] The side wheels arranged on the two corresponding sides of the shell are respectively arranged at both ends of the same roller shaft. The roller shaft transversely passes through the two corresponding shell walls of the shell, and the two side wheels are respectively arranged outside the two shell walls.

[0022] The housing is also provided with a camera in front of the corner wheel, which helps in distance measurement, imaging, and daily monitoring of the mowing robot.

[0023] The beneficial effects of the present invention are as follows:

[0024] In a lawn mower robot provided by the present invention, the power mechanism provides simultaneous walking power for two corner wheels. Because the two corner wheels are respectively located at the front and rear of the lawn mower robot during walking, the two corner wheels are configured as driven active wheels, which provide better grip and make walking more stable. The two corner wheels are each provided with a steering mechanism, which facilitates better steering of the lawn mower mechanism. The two corner wheels rotate simultaneously, revolving around the center of the lawn mower robot, thereby resolving the disadvantage of traditional lawn mower mechanisms requiring the operator to walk and turn at the same time, making rotation more convenient. The lawn mower robot uses the two sides provided with side wheels as its walking direction. When walking, the walking paths of the corner wheels and side wheels on the same side overlap. With this configuration, when the lawn mower robot walks in a straight line, it has only two walking paths, left and right. In this case, the amount of grass crushed by the lawn mower mechanism during walking is minimized, which helps to improve the mowing effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A schematic diagram of the three-dimensional structure of a lawn mowing robot in an embodiment of the present utility model Figure 1 .

[0026] Figure 2 The three-dimensional structure of a lawn mowing robot in the embodiment of the present utility model is shown in FIG. Figure 2 .

[0027] Figure 3 The figure is a top view and a schematic diagram of the walking direction of a lawn mowing robot in an embodiment of the present utility model.

[0028] Figure 4 This is a bottom view and a schematic diagram of the walking direction of a lawn mowing robot in an embodiment of the present utility model.

[0029] Figure 5 The figure is a schematic structural diagram of a side view of a lawn mowing robot in an embodiment of the present utility model.

[0030] Figure 6 This is a structural diagram of a lawn mowing robot in an embodiment of the present utility model when the side wheels and the angle wheels are on the same straight line.

[0031] Description of reference numerals: housing 1, cutting assembly 2, side wheels 3, angle wheels 4. DETAILED DESCRIPTION

[0032] The drawings in this utility model are for illustrative purposes only and are not to be construed as limiting the scope of this utility model. To better illustrate the following embodiments, some components in the drawings may be omitted, enlarged, or reduced in size, and do not represent the actual dimensions of the products. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted from the drawings.

[0033] Example 1

[0034] like Figure 1-6 As shown, this embodiment provides a lawn mowing robot, which includes:

[0035] The shell 1 has an orthographic projection of a quadrilateral, and the four sides of the quadrilateral extend downward to form mutually connected shell walls, and the shell walls surround each other to form a shell cavity.

[0036] The cutting assembly 2 is disposed below the housing 1 or within the housing cavity. It includes a cutter disc mechanism and a cutting blade mounted on the cutter disc mechanism. During operation, the cutter disc rotates, driving the cutting blades on the cutter disc to perform cutting. The cutting assembly 2 in this example is identical to the cutting assembly 2 of existing lawn mowers and achieves the same technical effects. This is a publicly known solution and therefore will not be described in detail in this embodiment.

[0037] A power mechanism (not shown in the figure) is fixedly mounted within the housing and provides power to the cutting assembly 2, including cutting power and blade lift power. The power mechanism includes an electrically connected power storage device, a control circuit, a drive motor, and other components. The power mechanism in this embodiment is consistent with the power mechanism of existing lawn mowers and achieves the same technical effects. This is a known and publicly available solution, and therefore will not be described in detail in this embodiment.

[0038] The walking mechanism includes side wheels 3 respectively arranged on the two corresponding sides of the shell 1, and corner wheels 4 arranged on the two corresponding corners of the shell 1. The side wheels 3 and corner wheels 4 are both arranged below the shell 1 and at least one side wheel 3 and / or at least one corner wheel 4 is provided with walking power by the power mechanism.

[0039] In this embodiment, the two side wheels 3 form a corresponding group, and the two corner wheels 4 form a corresponding group.

[0040] In this embodiment, the power mechanism provides walking power to two corner wheels 4. Because the two corner wheels 4 are respectively arranged at the front and rear of the lawn mower robot during walking, setting the two corner wheels 4 as belt-driven active wheels has better grip and makes walking more stable.

[0041] The orthographic projection of the housing 1 is a rhombus or a parallelogram. In this embodiment, it is specifically a rhombus.

[0042] However, according to the volume of the lawn mowing robot itself, a parallelogram can also be set, which can achieve the purpose of the invention of the utility model.

[0043] like Figure 3-4 As shown, the arrow direction is the walking direction of the lawn mowing robot, the corner wheels 4 are arranged at two acute angles of the rhombus or parallelogram, and the side wheels 3 are arranged at two side edges parallel to the walking direction.

[0044] like Figure 4 、 Figure 6 As shown, the robot mower uses the two sides of the robot with side wheels 3 as its travel direction. During movement, the corner wheels 4 on the same side overlap the travel paths of the side wheels 3. This arrangement allows the robot mower to move in a straight line with only two travel paths: left and right. This minimizes the amount of grass that is crushed by the robot as it moves, ensuring proper grass cutting. This ensures that the wheels of the robot mower prevent the grass in the area of the cutting assembly 2 from being crushed by the wheels.

[0045] The diameter of the side wheel 3 is larger than the diameter of the angle wheel 4 .

[0046] At least one corner wheel 4 is provided with a steering mechanism, which includes a motor and a gear provided on the output shaft of the motor, and the gear drives the corner wheel 4 to move horizontally in a circumferential direction.

[0047] In this embodiment, the two corner wheels 4 are each equipped with a steering mechanism, which facilitates better steering of the mowing mechanism. The two corner wheels 4 rotate simultaneously, centered around the center of the mowing robot. This solves the drawback of conventional mowing mechanisms where the operator must walk while steering, making rotation more convenient.

[0048] The side wheels 3 arranged on the two corresponding sides of the shell 1 are respectively arranged at both ends of the same roller shaft. The roller shaft transversely passes through the two corresponding shell walls of the shell 1, and the two side wheels 3 are respectively arranged outside the two shell walls.

[0049] The housing 1 is also provided with a camera (not shown) in front of the angle wheel. The camera helps in distance measurement, imaging, and daily monitoring of the lawn mowing robot.

[0050] In the lawn mower robot provided in this embodiment, the power mechanism provides simultaneous power for two corner wheels 4. Because the two corner wheels 4 are located at the front and rear of the lawn mower robot during movement, respectively, they serve as driven active wheels, providing enhanced grip and ensuring smoother movement. Each corner wheel 4 is equipped with a steering mechanism, which facilitates better steering of the mower mechanism. The two corner wheels 4 rotate simultaneously, revolving about the center of the mower robot. This overcomes the drawback of traditional mower mechanisms, which require operators to steer while walking, and makes rotation more convenient. The mower robot's two sides, where the side wheels 3 are located, serve as its travel directions. During movement, the travel paths of the corner wheels 4 and side wheels 3 on the same side overlap. With this configuration, the mower robot has only two travel paths, left and right, when traveling in a straight line. This minimizes the amount of grass the mower operator crushes, thus improving mowing efficiency.

[0051] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the technical solution of the present invention, and are not intended to limit the specific implementation methods of the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the claims of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A lawn mowing robot, characterized in that: include: The shell has an orthographic projection of a quadrilateral, wherein the four sides of the quadrilateral extend downward to form mutually connected shell walls, and the shell walls surround each other to form a shell cavity; A cutting assembly is disposed below the housing and includes a cutter disc mechanism and a cutting blade disposed on the cutter disc mechanism; A power mechanism is fixedly arranged in the shell cavity to provide power for the cutting assembly. The walking mechanism includes side wheels respectively arranged on the two corresponding side edges of the shell and corner wheels arranged on the two corresponding corners of the shell. The side wheels and corner wheels are all arranged below the shell and at least one side wheel and / or at least one corner wheel is provided with walking power by the power mechanism.

2. The lawn mowing robot according to claim 1, characterized in that: The orthographic projection of the shell is a rhombus or a parallelogram.

3. The lawn mowing robot according to claim 2, characterized in that: The corner wheels are arranged at two acute angles of a rhombus or a parallelogram, and the side wheels are arranged at two side edges parallel to the walking direction.

4. A lawn mowing robot according to claim 1 or 3, characterized in that: The lawn mowing robot takes the two sides where the side wheels are provided as the walking direction. When walking, the walking paths of the corner wheels and the side wheels on the same side overlap with each other.

5. The lawn mowing robot according to claim 1, characterized in that: The diameter of the side wheels is greater than the diameter of the angle wheels.

6. The lawn mowing robot according to claim 1, characterized in that: At least one corner wheel is provided with a steering mechanism, which includes a motor and a gear provided on an output shaft of the motor, and the gear drives the corner wheel to move horizontally in a circumferential direction.

7. The lawn mowing robot according to claim 1, characterized in that: The side wheels arranged on the two corresponding sides of the shell are respectively arranged at both ends of the same roller shaft. The roller shaft transversely passes through the two corresponding shell walls of the shell, and the two side wheels are respectively arranged outside the two shell walls.

8. The lawn mowing robot according to claim 1, characterized in that: The housing is further provided with a camera in front of the corner wheel.

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