Position adjusting device and mowing robot

Abstract

The utility model discloses a position adjusting device and mowing robot, position adjusting device includes: fixed seat, rotary seat, rotary seat is connected with fixed seat rotation through at least one connecting arm, make rotary seat adjustable position along height direction, cutting knife head subassembly, with rotary seat rotation is connected, make cutting knife head subassembly with rotary seat adjustable angle along horizontal direction, limiting component is connected with cutting knife head subassembly and rotary seat respectively, when limiting component is in the limiting state, cutting knife head subassembly and rotary seat keep relative fixed, when limiting component removes the limiting state, cutting knife head subassembly can rotate relative to rotary seat, in the utility model, through setting rotatable cutting knife head subassembly, make cutting knife head subassembly can occur horizontal direction's displacement relative to the body, to realize the cutting of the side of lawn.

Description

Technical Field

[0001] This utility model relates to the field of lawn mowing equipment technology, and further to a position adjustment device and a lawn mowing robot. Background Technology

[0002] Lawns are commonly found in residential areas to enhance the aesthetics and comfort of the environment. Lawns require periodic mowing and maintenance to prevent them from growing too tall. Currently, lawnmowers are typically used for automated mowing and trimming.

[0003] In existing technologies, the mowing blades of lawn mowing robots are generally located at the center of the robot chassis. The mowing blades cannot adjust their mowing position on their own. When the lawn mowing robot moves close to the physical fence, it cannot cut the lawn between the mowing blades and the physical fence, resulting in a large area of ​​lawn remaining near the physical fence, which requires manual secondary mowing.

[0004] Therefore, it is necessary to design a position adjustment device and a lawnmower robot to solve the above problems. Utility Model Content

[0005] To address the aforementioned technical problems, the purpose of this utility model is to provide a position adjustment device and a lawn mowing robot. By setting a rotatable cutting head assembly, the cutting head assembly can be displaced horizontally relative to the machine body to achieve cutting of the lawn edge.

[0006] To achieve the above objectives, this utility model provides a position adjustment device, comprising:

[0007] Fixed base;

[0008] A rotating base, wherein the rotating base is rotatably connected to the fixed base via at least one connecting arm, such that the position of the rotating base is adjustable along the height direction;

[0009] The cutting head assembly is rotatably connected to the rotating base, such that the angle between the cutting head assembly and the rotating base in the horizontal direction is adjustable;

[0010] The limiting components are respectively connected to the cutting head assembly and the rotating seat;

[0011] When the limiting component is in the limiting state, the cutting head assembly and the rotating seat remain relatively fixed.

[0012] When the limiting component is released from its limiting state, the cutting head assembly can rotate relative to the rotating seat.

[0013] In some embodiments, the connecting arm includes a horizontal arm and two support arms. The two ends of the horizontal arm are fixedly connected to the two support arms respectively. One end of each support arm is rotatably connected to the fixed seat through a first pin, and the other end of each support arm is rotatably connected to the rotating seat through a second pin.

[0014] In some embodiments, the cutting head assembly includes a cutting motor base, a cutting motor, and a cutting head. The cutting motor base is rotatably connected to the rotating base, the cutting motor is disposed on the cutting motor base and connected to the cutting head, and the cutting motor can drive the cutting head to cut the lawn.

[0015] In some embodiments, the side of the cutting motor base is provided with at least one fixing lug, the fixing lug is provided with a rotating shaft hole, the rotating base is provided with a rotating shaft, the rotating shaft is adapted to the rotating shaft hole, so that the cutting motor base and the rotating base are rotatably connected.

[0016] In some embodiments, the rotating seat includes two horizontal beams and two vertical beams, the two horizontal beams are arranged in parallel, one end of each of the two horizontal beams is fixedly connected to both ends of one of the vertical beams, the other end of each of the two horizontal beams is fixedly connected to both ends of the other vertical beam, and the rotating shaft is connected to the middle position of the two horizontal beams.

[0017] Two fixing ears are provided, and the two fixing ears are respectively located on the upper and lower sides of the two crossbeams. The two ends of the rotating shaft extend into the rotating shaft holes of the fixing ears on the corresponding sides.

[0018] In some embodiments, the limiting component includes a drive member and a telescopic shaft, the drive member being connected to the telescopic shaft;

[0019] The rotating base is provided with a plurality of first limiting holes arranged at intervals, and the cutting head assembly is provided with a plurality of second limiting holes arranged at intervals.

[0020] When the cutting head assembly rotates relative to the rotating base to the first position, the driving member drives the telescopic shaft to be inserted into a first limiting hole and a second limiting hole in sequence, so that the cutting head assembly remains relatively fixed to the rotating base at the first position;

[0021] When the cutting head assembly rotates relative to the rotating seat to the second position, the driving member drives the telescopic shaft to be inserted into another first limiting hole and another second limiting hole in sequence, so that the cutting head assembly remains relatively fixed to the rotating seat at the second position.

[0022] In some embodiments, the counter-torque generated by the rotation of the cutting motor of the cutting head assembly can cause the cutting head assembly to rotate relative to the rotating base;

[0023] When the cutting head assembly rotates relative to the rotating seat to one extreme position, the driving member drives the telescopic shaft to be inserted into a first limiting hole and a second limiting hole in sequence;

[0024] When the cutting head assembly rotates relative to the rotating seat to the limit position on the other side, the driving member drives the telescopic shaft to be inserted into another first limiting hole and another second limiting hole in sequence.

[0025] In some implementations, it also includes:

[0026] A height adjustment mechanism is connected to the rotating base and is used to drive the rotating base to rotate relative to the fixed base in order to adjust the height position of the cutting head assembly.

[0027] In some embodiments, the height adjustment mechanism includes a height adjustment motor base, a height adjustment motor, a traction rope, and a traction wheel. The height adjustment motor is mounted on the height adjustment motor base, and the traction wheel is mounted on the rotating base. One end of the traction rope is connected to the drive end of the height adjustment motor, and the other end of the traction rope is connected to the traction wheel, so that the height adjustment motor can drive the rotating base to adjust the height position.

[0028] According to another aspect of the present invention, the present invention further provides a lawnmower robot, including the position adjustment device described in any one of the above, and further comprising:

[0029] A robot chassis, wherein the mounting base is fixed to the bottom of the robot chassis;

[0030] When the cutting head assembly rotates to its extreme position relative to the rotating base, the cutting head assembly is located in the middle position of the robot chassis;

[0031] When the cutting head assembly rotates relative to the rotating base to its extreme position on the other side, the cutting head assembly is located on the side of the robot chassis.

[0032] Compared with the prior art, the position adjustment device and lawnmower robot provided by this utility model have the following advantages:

[0033] In this invention, a rotatable cutting head assembly is provided. The counter-torque generated by the rotation of the cutting head assembly enables the cutting head assembly to rotate horizontally relative to the machine body. When the cutting head assembly rotates to a preset position, the limiting component is in a limiting state to keep the cutting head assembly and the rotating seat relatively fixed, so that the cutting head assembly can cut the lawn. By adjusting the position of the cutting head assembly, the lawn can be cut at different locations, allowing the lawn mowing robot to obtain a larger mowing range. Attached Figure Description

[0034] The preferred embodiments will be described below in a clear and easy-to-understand manner, in conjunction with the accompanying drawings, to further explain the above-mentioned characteristics, technical features, advantages and implementation methods of this utility model.

[0035] Figure 1 This is a schematic diagram of the structure of the position adjustment device according to a preferred embodiment of the present invention;

[0036] Figure 2 This is an exploded structural diagram of the position adjustment device according to a preferred embodiment of the present invention;

[0037] Figure 3 This is a schematic diagram of the preferred embodiment of the present invention, showing the cutting head assembly in the first position.

[0038] Figure 4 This is a schematic diagram of the preferred embodiment of the present invention, showing the cutting head assembly in the second position.

[0039] Figure 5 This is a bottom view of a preferred embodiment of the lawnmower robot of this utility model;

[0040] Figure 6 This is a front view of a preferred embodiment of the lawnmower robot of this utility model;

[0041] Figure 7 This is a bottom view of another preferred embodiment of the lawnmower robot of this utility model.

[0042] Explanation of icon numbers:

[0043] Fixed base 1, rotating base 2, crossbeam 21, first limiting hole 211, vertical beam 22, rotating shaft 23, connecting arm 3, horizontal arm 31, support arm 32, first pin 321, second pin 322, cutting head assembly 4, cutting motor base 41, fixed ear 411, rotating shaft hole 4111, second limiting hole 4112, cutting motor 42, cutting head 43, limiting assembly 5, driving component 51, telescopic shaft 52, height adjustment mechanism 6, height adjustment motor base 61, height adjustment motor 62, traction rope 63, traction wheel 64, robot chassis 7. Detailed Implementation

[0044] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the specific implementation methods of this utility model will be described below with reference to the accompanying drawings. Obviously, the drawings described below are merely some embodiments of this utility model. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without any creative effort.

[0045] To keep the drawings concise, each figure only schematically shows the parts relevant to the utility model, and these do not represent the actual structure of the product. Furthermore, for ease of understanding, in some figures, only one of the components with the same structure or function is schematically depicted, or only one is labeled. In this document, "one" not only means "only one," but can also mean "more than one."

[0046] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0047] In this document, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0048] Furthermore, in the description of this application, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0049] In one embodiment, refer to the appendix to the specification. Figures 1 to 4 The present invention provides a position adjustment device comprising: a fixed base 1, a rotating base 3, a cutting head assembly 4, and a limiting component 5. The rotating base 2 is rotatably connected to the fixed base 1 via at least one connecting arm 3, thereby making the position of the rotating base 2 adjustable along the height direction. The cutting head assembly 4 is rotatably connected to the rotating base 3, thereby making the angle between the cutting head assembly 4 and the rotating base 2 adjustable along the horizontal direction. The limiting component 5 is connected to both the cutting head assembly 4 and the rotating base 2. When the limiting component 5 is in a limiting state, the cutting head assembly 4 and the rotating base 2 remain relatively fixed. When the limiting component 5 is released from the limiting state, the cutting head assembly 4 can rotate relative to the rotating base 2.

[0050] In this embodiment, a rotatable cutting head assembly 4 is provided. The counter-torque generated by the rotation of the cutting head assembly 4 enables the cutting head assembly 4 to rotate horizontally relative to the body. When the cutting head assembly 4 rotates to a preset position, the limiting component 5 is in a limiting state to keep the cutting head assembly 4 and the rotating seat 2 relatively fixed, so that the cutting head assembly 4 can cut the lawn. By adjusting the position of the cutting head assembly 4, the lawn can be cut at different locations, allowing the lawn mowing robot to obtain a larger mowing range.

[0051] In one embodiment, refer to the appendix to the specification. Figures 1 to 4 There are two connecting arms 3, arranged vertically at intervals, and the fixing base 1 has an I-shaped structure. If there are three connecting arms 3, the fixing base 1 has a king-shaped structure. Of course, there can also be one, four or more connecting arms 3. The following explanation will be based on the example of two connecting arms 3.

[0052] The connecting arm 3 includes a horizontal arm 31 and two support arms 32. Both ends of the horizontal arm 31 are fixedly connected to the middle positions of the two support arms 32, respectively. One end of each support arm 32 is rotatably connected to the fixed base 1 via a first pin 321, and the other end of each support arm 32 is rotatably connected to the rotating base 2 via a second pin 322, allowing the position of the rotating base 2 to be adjusted along the height direction. Here, the height direction refers to... Figure 1 The "up and down" direction in this context, when applied to lawnmowers, refers to the height of the lawnmower. Of course, the connecting arm 3 can also be configured with other structures, such as a plate-like structure or a frame structure.

[0053] The rotating base 2 includes two horizontal beams 21 and two vertical beams 22. The two horizontal beams 21 are arranged in parallel, and one end of each horizontal beam 21 is fixedly connected to both ends of one vertical beam 22, while the other end of each horizontal beam 21 is fixedly connected to both ends of the other vertical beam 22. That is, the rotating base 2 has a square frame structure, although it can also be configured as a trapezoidal structure, etc.

[0054] The cutting head assembly 4 includes a cutting motor base 41, a cutting motor 42, and a cutting head 43. The cutting motor base 41 is rotatably connected to the rotating base 2. The cutting motor 42 is mounted on the cutting motor base 41 and connected to the cutting head 43. The cutting motor 42 can drive the cutting head 43 to cut the lawn.

[0055] Specifically, the cutting motor base 41 has a cylindrical structure. The cutting motor 42 is installed inside the cutting motor base 41, and the cutting head 43 is located at the bottom of the cutting motor base 41 and connected to the drive end of the cutting motor 42. The side of the cutting motor base 41 is provided with at least one fixing ear 411, which can be two, three, or more. The following explanation uses two as an example. The two fixing ears 411 are spaced apart vertically, and each fixing ear 411 has a rotating shaft hole 4111. The rotating seat 2 is provided with a rotating shaft 23, which is connected to the middle of the two crossbeams 31. The two fixing ears 411 sandwich the rotating seat 2 between them, that is, the two fixing ears 411 are located on the upper and lower sides of the two crossbeams 31 respectively. The two ends of the rotating shaft 23 extend into the rotating shaft holes 4111 of the corresponding fixing ears 411 and are adapted to the rotating shaft holes 4111, so that the cutting motor base 41 and the rotating seat 2 are rotatably connected. The angle between the cutting head assembly 4 and the rotating base 2 in the horizontal direction is adjustable, where the horizontal direction refers to... Figure 3 The up-down direction in the context of lawnmowers refers to the left-right direction when applied to lawnmowers.

[0056] It should be noted that the specific structure of the cutting head assembly 4 is described with reference to the accompanying drawings in the specification. In actual use, it can be set to other structures according to actual needs, as long as the above functions can be achieved. This is only for better illustration of the present invention and should not constitute a limitation on the present invention.

[0057] In one embodiment, refer to the appendix to the specification. Figures 1 to 4 The limiting component 5 includes a driving member 51 and a telescopic shaft 52, with the driving member 51 connected to the telescopic shaft 52. The driving member 51 is fixed to the crossbeam 21 at the bottom of the rotating base 2. The crossbeam 21 at the top of the rotating base 2 is provided with a plurality of spaced first limiting holes 211, and the fixing ear 411 at the top of the cutting head assembly 4 is provided with a plurality of spaced second limiting holes 4112. When the cutting head assembly 4 rotates relative to the rotating base 2 to the first position, the driving member 51 drives the telescopic shaft 52 to sequentially insert into one first limiting hole 211 and one second limiting hole 4112, so that the cutting head assembly 4 remains relatively fixed to the rotating base 2 at the first position. When the cutting head assembly 4 rotates relative to the rotating base 2 to the second position, the driving member 51 drives the telescopic shaft 52 to sequentially insert into another first limiting hole 211 and another second limiting hole 4112, so that the cutting head assembly 4 remains relatively fixed to the rotating base 2 at the second position.

[0058] The counter-torque generated by the rotation of the cutting motor 42 of the cutting head assembly 4 enables the cutting head assembly 4 to rotate relative to the rotating seat 2. When the cutting head assembly 4 rotates to one extreme position relative to the rotating seat 2, the drive member 51 drives the telescopic shaft 52 to sequentially insert into a first limiting hole 211 and a second limiting hole 4112. When the cutting head assembly 4 rotates to the other extreme position relative to the rotating seat 2, the drive member 51 drives the telescopic shaft 52 to sequentially insert into another first limiting hole 211 and another second limiting hole 4112. The extreme position can be set by the specific structure of the rotating seat 2 and the cutting motor seat 41. For example, when the cutting head assembly 4 rotates 45° to one side relative to the rotating seat 2, the cutting motor seat 41 supports the rotating seat 2, preventing the cutting head assembly 4 from continuing to rotate to the other side; this is the extreme position.

[0059] In this embodiment, the cutting head assembly 4 rotates relative to the rotating seat 2 by means of the counter-torque generated by the rotation of the cutting motor 42. No additional drive mechanism is required, which simplifies the number of parts in the whole machine and can effectively reduce costs.

[0060] It should be noted that the specific structure of the limiting component 5 is described in accordance with the instruction manual. In actual use, it can also be set to other structures or devices, such as electromagnetic lock tongue, as long as the above functions can be achieved. This is only for better illustrating the present utility model and should not constitute a limitation on the present utility model.

[0061] In one embodiment, refer to the appendix to the specification. Figures 1 to 4 The position adjustment device provided by this utility model further includes: a height adjustment mechanism 6, which is connected to the rotating seat 2 and is used to drive the rotating seat 2 to rotate relative to the fixed seat 1 in order to adjust the height position of the cutting head assembly 4.

[0062] The height adjustment mechanism 6 includes a height adjustment motor base 61, a height adjustment motor 62, a traction rope 63, and a traction wheel 64. The height adjustment motor 62 is mounted on the height adjustment motor base 61, and the traction wheel 64 is mounted on the rotating base 2. One end of the traction rope 63 is connected to the drive end of the height adjustment motor 62, and the other end of the traction rope 63 is connected to the traction wheel 64, enabling the height adjustment motor 62 to drive the rotating base 2 to adjust its height position. By setting up the height adjustment mechanism 6 to adjust the height position of the cutting head assembly 4, the lawnmower robot can cut lawns at different heights, thus increasing its applicability.

[0063] It should be noted that the specific structure of the height adjustment mechanism 6 is described in accordance with the instruction manual. In actual use, it can also be set to other structures or devices according to actual needs, such as a lead screw and nut mechanism, a drive linkage mechanism, etc., as long as the above functions can be achieved. This is only for better illustrating the present utility model and should not constitute a limitation on the present utility model.

[0064] According to another aspect of this utility model, reference is made to the appended specification. Figures 5 to 7 This utility model further provides a lawn mowing robot, including the position adjustment device described in any one of the above, and further including: a robot chassis 7, with a fixing base 1 fixed to the bottom of the robot chassis 7; when the cutting head assembly 4 rotates relative to the rotating base 2 to one extreme position, the cutting head assembly 4 is located in the middle position of the robot chassis 7, which can be used for cutting lawns in the normal position. When the cutting head assembly 4 rotates relative to the rotating base 2 to the other extreme position, the cutting head assembly 4 is located in the side position of the robot chassis 7, which can be used for cutting lawns in the side position.

[0065] In this embodiment, a rotatable cutting head assembly 4 is provided. The counter-torque generated by the rotation of the cutting head assembly 4 enables the cutting head assembly 4 to rotate horizontally relative to the body. When the cutting head assembly 4 rotates to a preset position, the limiting component 5 is in a limiting state to keep the cutting head assembly 4 and the rotating seat 2 relatively fixed, so that the cutting head assembly 4 can cut the lawn. By adjusting the position of the cutting head assembly 4, the lawn can be cut at different locations, allowing the lawn mowing robot to obtain a larger mowing range.

[0066] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0067] It should be noted that the above embodiments can be freely combined as needed. The above are merely preferred embodiments of this utility model. It should be pointed out that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this utility model, and these improvements and modifications should also be considered within the protection scope of this utility model.

Claims

1. A position adjustment device, characterized in that, include: Fixed base; A rotating base, wherein the rotating base is rotatably connected to the fixed base via at least one connecting arm, such that the position of the rotating base is adjustable along the height direction; The cutting head assembly is rotatably connected to the rotating base, such that the angle between the cutting head assembly and the rotating base in the horizontal direction is adjustable; The limiting components are respectively connected to the cutting head assembly and the rotating seat; When the limiting component is in the limiting state, the cutting head assembly and the rotating seat remain relatively fixed. When the limiting component is released from its limiting state, the cutting head assembly can rotate relative to the rotating seat.

2. The position adjustment device according to claim 1, characterized in that, The connecting arm includes a horizontal arm and two support arms. The two ends of the horizontal arm are fixedly connected to the two support arms respectively. One end of each support arm is rotatably connected to the fixed seat through a first pin, and the other end of each support arm is rotatably connected to the rotating seat through a second pin.

3. The position adjustment device according to claim 1, characterized in that, The cutting head assembly includes a cutting motor base, a cutting motor, and a cutting head. The cutting motor base is rotatably connected to the rotating base. The cutting motor is mounted on the cutting motor base and connected to the cutting head. The cutting motor can drive the cutting head to cut the lawn.

4. The position adjustment device according to claim 3, characterized in that, The side of the cutting motor base is provided with at least one fixing ear, the fixing ear is provided with a rotating shaft hole, the rotating base is provided with a rotating shaft, the rotating shaft is adapted to the rotating shaft hole, so that the cutting motor base and the rotating base are rotatably connected.

5. The position adjustment device according to claim 4, characterized in that, The rotating seat includes two horizontal beams and two vertical beams. The two horizontal beams are arranged in parallel. One end of each of the two horizontal beams is fixedly connected to both ends of one of the vertical beams, and the other end of each of the two horizontal beams is fixedly connected to both ends of the other vertical beam. The rotating shaft is connected to the middle position of the two horizontal beams. Two fixing ears are provided, and the two fixing ears are respectively located on the upper and lower sides of the two crossbeams. The two ends of the rotating shaft extend into the rotating shaft holes of the fixing ears on the corresponding sides.

6. The position adjustment device according to claim 1, characterized in that, The limiting component includes a driving component and a telescopic shaft, and the driving component is connected to the telescopic shaft. The rotating base is provided with a plurality of first limiting holes arranged at intervals, and the cutting head assembly is provided with a plurality of second limiting holes arranged at intervals. When the cutting head assembly rotates relative to the rotating base to the first position, the driving member drives the telescopic shaft to be inserted into a first limiting hole and a second limiting hole in sequence, so that the cutting head assembly remains relatively fixed to the rotating base at the first position; When the cutting head assembly rotates relative to the rotating seat to the second position, the driving member drives the telescopic shaft to be inserted into another first limiting hole and another second limiting hole in sequence, so that the cutting head assembly remains relatively fixed to the rotating seat at the second position.

7. The position adjustment device according to claim 6, characterized in that, The counter-torque generated by the rotation of the cutting motor of the cutting head assembly can cause the cutting head assembly to rotate relative to the rotating base; When the cutting head assembly rotates relative to the rotating seat to one extreme position, the driving member drives the telescopic shaft to be inserted into a first limiting hole and a second limiting hole in sequence; When the cutting head assembly rotates relative to the rotating seat to the limit position on the other side, the driving member drives the telescopic shaft to be inserted into another first limiting hole and another second limiting hole in sequence.

8. The position adjustment device according to any one of claims 1-7, characterized in that, Also includes: A height adjustment mechanism is connected to the rotating base and is used to drive the rotating base to rotate relative to the fixed base in order to adjust the height position of the cutting head assembly.

9. The position adjustment device according to claim 8, characterized in that, The height adjustment mechanism includes a height adjustment motor base, a height adjustment motor, a traction rope, and a traction wheel. The height adjustment motor is mounted on the height adjustment motor base, and the traction wheel is mounted on the rotating base. One end of the traction rope is connected to the drive end of the height adjustment motor, and the other end of the traction rope is connected to the traction wheel, so that the height adjustment motor can drive the rotating base to adjust the height position.

10. A lawnmower robot, characterized in that, The device comprising the position adjustment device according to any one of claims 1-9 further comprises: A robot chassis, wherein the mounting base is fixed to the bottom of the robot chassis; When the cutting head assembly rotates to its extreme position relative to the rotating base, the cutting head assembly is located in the middle position of the robot chassis; When the cutting head assembly rotates relative to the rotating base to its extreme position on the other side, the cutting head assembly is located on the side of the robot chassis.

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