Cutting mechanism and robot

Abstract

This application relates to the field of lawn mowing equipment technology, specifically providing a cutting mechanism, including: at least two oscillating members sequentially rotatably connected to form a linkage structure, with opposite ends of the linkage structure being a mounting end and a free end, the mounting end being used for rotatable connection with a robot body, the robot body moving along a working surface; and a cutting assembly including a rotary drive and a cutting member, the rotary drive connecting the cutting member and the free end of the linkage structure, used to drive the cutting member to rotate to cut grass. When the above-mentioned cutting mechanism is applied to a robot, the bending angle of the cutting assembly relative to the robot body can be adjusted through the linkage structure, expanding the cutting range of the cutting assembly to achieve cutting of corner areas such as lawns or flower beds, thereby improving the cutting efficiency of the cutting mechanism. This application also provides a robot including a robot body, a moving mechanism, and the above-mentioned cutting mechanism.

Description

Technical Field

[0001] This application relates to the field of lawn mowing equipment technology, specifically to a cutting mechanism and a robot. Background Technology

[0002] The cutting mechanism in a lawnmower can cut grass in lawns or flower beds. Currently, most cutting mechanisms are single-arm structures, which cannot cut grass in the corner areas of lawns or flower beds. Manual assistance is required to complete the trimming, resulting in low cutting efficiency. Utility Model Content

[0003] In view of the above, it is necessary to provide a cutting mechanism and robot to improve cutting efficiency.

[0004] This application provides a cutting mechanism, including:

[0005] At least two swinging members are rotatably connected in sequence to form a linkage structure. The two opposite ends of the linkage structure are a mounting end and a free end, respectively. The mounting end is used to rotatably connect with the robot body, and the robot body moves along the working surface.

[0006] A cutting assembly includes a rotary drive and a cutting component, the rotary drive connecting the cutting component and the free end of the linkage structure, for driving the cutting component to rotate to cut grass.

[0007] When the above-mentioned cutting mechanism is applied to a robot, at least two swinging components are sequentially rotated and connected to form a linkage structure. The mounting end of the linkage structure is rotatably connected to the robot body, and the free end of the linkage structure is connected to the cutting component. The bending angle of the cutting component relative to the robot body can be adjusted through the linkage structure, thereby expanding the cutting range of the cutting component to achieve the cutting of corner areas such as lawns or flower beds, thus improving the cutting efficiency of the cutting mechanism.

[0008] In some embodiments, the axis of rotation of each of the oscillating elements is perpendicular to the working surface.

[0009] In some embodiments, the rotation axes of at least two of the oscillating members intersect.

[0010] In some embodiments, the rotation axis of the cutting element is perpendicular to the working surface.

[0011] In some embodiments, there are two swing members, one of which is defined as the first swing member and the other as the second swing member. One end of the first swing member forms the mounting end to be rotatably connected to the robot body, and one end of the second swing member is rotatably connected to the other end of the first swing member. The other end of the second swing member forms the free end to be connected to the rotary drive member.

[0012] In some embodiments, the cutting mechanism further includes:

[0013] A rotation drive is provided on the robot body and connected to the first swing member and the second swing member respectively, and the rotation drive is used to drive the first swing member and the second swing member to rotate respectively.

[0014] In some embodiments, the rotation drive includes:

[0015] A first driving body is disposed on the robot body and connected to the first swing member, and the first driving body is used to drive the first swing member to rotate.

[0016] A second driving body is disposed on the first swing member and connected to the second swing member, and the second driving body is used to drive the second swing member to rotate.

[0017] In some embodiments, the rotary drive includes a drive body and a rotating body. The drive body is disposed on the second oscillating member and connected to the rotating body, and is used to drive the rotating body to rotate. The rotating body is connected to the cutting member. The cutting mechanism further includes:

[0018] A guide member is connected to the drive body and located on the side of the cutter facing the drive body, with the edge of the guide member protruding from the cutter.

[0019] In some embodiments, the guide member is sleeved on the rotating body and coaxially arranged with the rotating body.

[0020] In some embodiments, the projection range of the guide on the working surface completely covers the projection range of the cutter on the working surface.

[0021] In some embodiments, the periphery of the guide is a flexible member.

[0022] In some embodiments, the guide member has a chamfered periphery.

[0023] In some embodiments, the number of the oscillating elements is three or more.

[0024] This application also provides a robot, including:

[0025] The robot itself;

[0026] The aforementioned cutting mechanism is rotatably connected to the robot body; and

[0027] A moving mechanism, connected to the robot body, is used to drive the robot body to move the cutting mechanism along the working surface.

[0028] When the robot operates, at least two swinging components rotate sequentially to form a linkage structure. The mounting end of the linkage structure is rotatably connected to the robot body, and the free end of the linkage structure is connected to the cutting component. The linkage structure allows adjustment of the bending angle of the cutting component relative to the robot body, expanding the cutting range of the cutting component to achieve cutting of corner areas such as lawns or flower beds, thereby improving the robot's cutting efficiency. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the structure of the robot according to an embodiment of this application.

[0030] Figure 2 for Figure 1 The diagram shows the structure of the cutting mechanism in the robot.

[0031] Figure 3 This is a structural diagram of the four swinging components, the cutting assembly, and the guide components.

[0032] Figure 4 for Figure 1 The diagram shows another state of the robot.

[0033] Figure 5 This is a schematic diagram of a robot with a single swinging component in one state during operation.

[0034] Figure 6 for Figure 1 The diagram shows a state of the robot during operation.

[0035] Explanation of main component symbols: Cutting mechanism 100, Cutting assembly 110, Rotary drive 111, Drive body 1111, Rotating body 1112, Cutting component 112, Swinging component 120, Mounting end 120a, Free end 120b, First swinging component 121, Second swinging component 122, Rotary drive 130, First drive body 131, Second drive body 132, Guide component 140, Chamfer 140a, Robot 1000, Robot body 200, Moving mechanism 300, Wall 400, Flower bed 500. Detailed Implementation

[0036] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0037] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the term "connection" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a connection that allows communication between the two; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal communication of two elements or the interaction between two elements. In the description of this application, it should be noted that "multiple" means two or more, unless otherwise expressly and specifically limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0038] The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0039] Please see Figure 1 This application provides a robot 1000, including a cutting mechanism 100, a robot body 200, and a moving mechanism 300. The cutting mechanism 100 is rotatably connected to the robot body 200, and the moving mechanism 300 is connected to the robot body 200 and is used to drive the robot body 200 to move the cutting mechanism 100 along the working surface.

[0040] For example, the robot 1000 can cut grass in places such as lawns and flower beds to improve the efficiency of grass cutting.

[0041] Please see Figure 1 and Figure 2 In some embodiments, the cutting mechanism 100 includes a cutting assembly 110 and at least two oscillating members 120. The at least two oscillating members 120 are rotatably connected in sequence to form a linkage structure. The opposite ends of the linkage structure are a mounting end 120a and a free end 120b, respectively. The mounting end 120a is used to rotatably connect with the robot body 200, which moves along the working surface. The cutting assembly 110 includes a rotary drive 111 and a cutting member 112. The rotary drive 111 connects the cutting member 112 and the free end 120b of the linkage structure, and is used to drive the cutting member 112 to rotate to cut grass.

[0042] It should be noted that the above-mentioned at least two swing members 120 are rotated and connected in sequence means that at least two swing members are arranged sequentially back and forth in a single direction. The two ends of each swing member are defined as the front end and the rear end, respectively. The front end of each swing member 120 is rotated and connected to the rear end of the previous swing member 120, and the rear end of each swing member 120 is rotated and connected to the front end of the next swing member.

[0043] For example, two adjacent swing members 120 can be rotatably connected by a pivot.

[0044] When the aforementioned cutting mechanism 100 is applied to the robot 1000, at least two swinging members 120 are sequentially rotatably connected to form a linkage structure. The mounting end 120a of the linkage structure is rotatably connected to the robot body 200, and the free end 120b of the linkage structure is connected to the cutting assembly 110. The bending angle of the cutting assembly 110 relative to the robot body 200 can be adjusted through the linkage structure, thereby expanding the cutting range of the cutting assembly 110 to achieve the cutting of corner areas such as lawns or flower beds, thus improving the cutting efficiency of the cutting mechanism 100.

[0045] Please see Figure 2 In some embodiments, the rotation axis a of each swing member 120 is perpendicular to the working surface, such that the rotation axes a of at least two swing members 120 are parallel to each other, which facilitates the quick assembly and disassembly of at least two swing members 120.

[0046] In other embodiments, the rotation axes a of at least two oscillating members 120 intersect. Specifically, the two rotation axes a are defined as intersecting when there exists at least one plane such that the projections of the two rotation axes a onto that plane intersect.

[0047] Please see Figure 2 In some embodiments, the rotation axis b of the cutting element 112 is perpendicular to the working surface, which can prevent the components on the working surface from colliding with the cutting element 112 and help improve the service life of the cutting element 112.

[0048] Please see Figure 2 In some embodiments, there are two swing members 120. One swing member 120 is defined as the first swing member 121, and the other swing member 120 is defined as the second swing member 122. One end of the first swing member 121 forms a mounting end 120a and is rotatably connected to the robot body 200. One end of the second swing member 122 is rotatably connected to the other end of the first swing member 121, and the other end of the second swing member 122 forms a free end 120b and is connected to the rotation drive member 111.

[0049] Therefore, the two swinging parts 120 can achieve angle adjustment in the horizontal direction at a low cost.

[0050] In other embodiments, the number of swing members 120 may also be three or more. For example, please refer to... Figure 3 , Figure 3 The diagram illustrates the connection structure of the four swinging components 120, which are connected and rotated sequentially.

[0051] The following explanation focuses on the number of two oscillating components 120 in the cutting mechanism 100.

[0052] Please see Figure 2In some embodiments, the cutting mechanism 100 further includes a rotation drive 130. The rotation drive 130 is disposed on the robot body 200 and connected to the first swing member 121 and the second swing member 122 respectively, and the rotation drive 130 is used to drive the first swing member 121 and the second swing member 122 to rotate respectively.

[0053] Therefore, by rotating the drive component 130, the first swing component 121 and the second swing component 122 can be automatically rotated, thereby improving the efficiency of the angle adjustment of the cutting mechanism 100.

[0054] Please see Figure 2 In some embodiments, the rotation drive 130 includes a first drive body 131 and a second drive body 132. The first drive body 131 is disposed on the robot body 200 and connected to the first swing member 121, and the first drive body 131 is used to drive the first swing member 121 to rotate. The second drive body 132 is disposed on the first swing member 121 and connected to the second swing member 122, and the second drive body 132 is used to drive the second swing member 122 to rotate.

[0055] Therefore, the first drive body 131 and the second drive body 132 can realize the assembly and individual control of the first swing member 121 and the second swing member 122, which is beneficial to the disassembly and assembly of the rotation drive member 130 and can reduce the replacement cost of the rotation drive member 130.

[0056] For example, both the first drive body 131 and the second drive body 132 can be a rotary cylinder or a servo motor. Specifically, the output shaft of the first drive body 131 is connected to the rotating shaft of the first swing member 121. During operation, the output shaft of the first drive body 131 drives the first swing member 121 to rotate via the rotating shaft. Correspondingly, the output shaft of the second drive body 132 is connected to the rotating shaft of the second swing member 122. During operation, the output shaft of the second drive body 132 drives the second swing member 122 to rotate via the rotating shaft.

[0057] Compared to a single-arm structure, the linkage structure formed by at least two swinging components in the robot 1000 can adjust the position of the cutting component 110 based on the robot 1000 in different states, thereby improving the safety and mobility of the robot 1000 when it is not in operation.

[0058] For example, when the robot 1000 is not in operation, the first drive body 131 drives the first swing member 121 to rotate above the robot body 200, so that the vertical projection of the first swing member 121 falls completely on the robot body 200. The second drive body 132 drives the second swing member 122 to rotate the cutting assembly 110 above the robot body 200, so that the vertical projections of both the second swing member 122 and the cutting assembly 110 fall completely on the robot body 200, thereby causing the robot 1000 to form as shown in the image. Figure 4 The state shown is such that, at this time, neither the cutting component 110 nor the swing component 120 protrudes from the robot body 200 in the horizontal direction, which can prevent the cutting component 110 and the swing component 120 from colliding with external parts during the movement of the robot 1000, thereby improving the safety and flexibility of the robot 1000 during movement.

[0059] Please see Figure 2 In some embodiments, the rotary drive 111 includes a drive body 1111 and a rotating body 1112. The drive body 1111 is disposed on the second swing member 122 and connected to the rotating body 1112, and is used to drive the rotating body 1112 to rotate. The rotating body 1112 is connected to the cutting member 112. The cutting mechanism 100 also includes a guide 140, which is connected to the drive body 1111 and located on the side of the cutting member 112 facing the drive body 1111. The edge of the guide 140 protrudes from the cutting member 112.

[0060] Therefore, the guide 140 can abut against the wall when the cutting piece 112 moves to the corner, thus protecting the cutting piece 112 from damage caused by the wall and improving the service life of the cutting piece 112.

[0061] In some embodiments, the guide 140 is sleeved on the rotating body 1112 and is coaxially arranged with the rotating body 1112.

[0062] Therefore, the coaxial arrangement of the guide 140 and the rotating body 1112 can make the guide 140 more stable, thereby improving the protective effect of the guide 140 on the cutting part 112.

[0063] For example, the guide 140 is generally disc-shaped.

[0064] In some embodiments, the projection range of the guide 140 on the working surface completely covers the projection range of the cutter 112 on the working surface.

[0065] Therefore, through the above-mentioned arrangement, the guide member 140 can provide protection for the circumference of the cutting member 112, further improving the protective performance of the guide member 140 for the cutting member 112.

[0066] In some embodiments, the periphery of the guide 140 is a flexible member to prevent damage or breakage when the guide 140 abuts against external components such as walls, thereby improving the service life of the guide 140.

[0067] In some embodiments, the guide member 140 is provided with a chamfer 140a around its periphery. The chamfer 140a can prevent the guide member 140 from being damaged or broken when it abuts against external components such as walls, which helps to improve the service life of the guide member 140.

[0068] Compared to a single-arm structure, the linkage structure formed by at least two swinging members 120 in the robot 1000 has more angles, which is beneficial to improving the applicability of the cutting assembly 110.

[0069] For example, for some complex areas to be cut, please refer to Figure 5 The wall 400 is roughly L-shaped, and a flower bed 500 is provided on one side of the wall. The right angle between the flower bed 500 and the wall 400 forms a square area to be cut. If a single-arm structure is used, the flower bed will interfere with the single arm, causing the cutting component 110 to be unable to enter the area to be cut smoothly.

[0070] When the robot 1000 operates as described above, the first drive body 131 drives the first swing member 121 to rotate by the required angle, and the second drive body 132 drives the second swing member 122 to rotate the cutting assembly 110 by the required angle, causing the second swing member 122 and the cutting assembly 110 to protrude horizontally from the robot body 200. In this embodiment, the first swing member 121 is perpendicular to the second swing member 122, thereby causing the robot 1000 to form as shown in the figure. Figure 6 As shown, the moving mechanism 300 drives the robot body 200 to move the cutting mechanism 100 along the working surface until the cutting component 110 enters the area to be cut. During the movement of the robot 1000, the guide 140 rolls against at least one of the wall 400 and the flower bed 200 to guide and protect the cutting component 110.

[0071] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments should be regarded as exemplary and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be embraced within this application.

[0072] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this application without departing from the spirit and scope of the technical solutions of this application.

Claims

1. A cutting mechanism, characterized by, include: At least two swinging members are rotatably connected in sequence to form a linkage structure. The two opposite ends of the linkage structure are a mounting end and a free end, respectively. The mounting end is used to rotatably connect with the robot body, and the robot body moves along the working surface. A cutting assembly includes a rotary drive and a cutting component, the rotary drive connecting the cutting component and the free end of the linkage structure, for driving the cutting component to rotate to cut grass.

2. The cutting mechanism of claim 1, wherein, The axis of rotation of each of the oscillating components is perpendicular to the working surface.

3. The cutting mechanism of claim 1 wherein, The rotation axes of at least two of the said oscillating components intersect.

4. The cutting mechanism of claim 1 wherein, The axis of rotation of the cutting component is perpendicular to the working surface.

5. The cutting mechanism of claim 1 wherein, The number of the swinging components is two. One of the swinging components is defined as the first swinging component, and the other swinging component is defined as the second swinging component. One end of the first swinging component forms the mounting end and is rotatably connected to the robot body. One end of the second swinging component is rotatably connected to the other end of the first swinging component. The other end of the second swinging component forms the free end and is connected to the rotation drive component.

6. The cutting mechanism of claim 5, wherein, The cutting mechanism also includes: A rotation drive is provided on the robot body and connected to the first swing member and the second swing member respectively, and the rotation drive is used to drive the first swing member and the second swing member to rotate respectively.

7. The cutting mechanism of claim 6, wherein, The rotation drive component includes: A first driving body is disposed on the robot body and connected to the first swing member, and the first driving body is used to drive the first swing member to rotate. A second driving body is disposed on the first swing member and connected to the second swing member, and the second driving body is used to drive the second swing member to rotate.

8. The cutting mechanism of claim 5 wherein, The rotary drive component includes a drive body and a rotating body. The drive body is disposed on the second swing member and connected to the rotating body, and is used to drive the rotating body to rotate. The rotating body is connected to the cutting member. The cutting mechanism further includes: A guide member is connected to the drive body and located on the side of the cutter facing the drive body, with the edge of the guide member protruding from the cutter.

9. The cutting mechanism as described in claim 8, characterized in that, The guide component is sleeved on the rotating body and is coaxially arranged with the rotating body.

10. The cutting mechanism as described in claim 8, characterized in that, The projection range of the guide on the working surface completely covers the projection range of the cutting element on the working surface.

11. The cutting mechanism as described in claim 8, characterized in that, The periphery of the guide component is a flexible member.

12. The cutting mechanism as described in claim 8, characterized in that, The guide member has a chamfered periphery.

13. The cutting mechanism as described in claim 1, characterized in that, The number of the swinging components is three or more.

14. A robot, characterized in that, include: The robot itself; The cutting mechanism as described in any one of claims 1 to 13, wherein the cutting mechanism is rotatably connected to the robot body; and A moving mechanism, connected to the robot body, is used to drive the robot body to move the cutting mechanism along the working surface.

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