A lawn mowing device and lawn mowing robot

Abstract

This application discloses a lawn mowing device and a lawn mowing robot, relating to the field of garden robot technology. The lawn mowing device includes: a linkage mechanism comprising a first connecting seat, a second connecting seat, and at least one link. The first connecting seat is configured to be connected to the main frame of the lawn mowing robot. One end of the link is rotatably connected to the first connecting seat, and the other end of the link is rotatably connected to the second connecting seat. The link is configured to rotate relative to the first connecting seat under the influence of gravity and external ground forces, and to cause the second connecting seat to float in a first direction. A lawn mowing mechanism is connected to the second connecting seat. The lawn mowing device and lawn mowing robot provided by this application can reduce the probability of missed mowing, over-mowing, or scraping the ground during the lawn mowing process.

Description

Technical Field

[0001] This application relates to the field of garden robot technology, and more particularly to a lawn mowing device and a lawn mowing robot. Background Technology

[0002] As a key piece of equipment for green operations and maintenance, lawn mowing robots play an important role in improving operational efficiency and reducing labor costs.

[0003] In related technologies, due to the complex terrain of lawns, such as undulations, slopes, and potholes, lawn mowing robots are prone to problems such as missed mowing, over-mowing, or scraping the ground during the mowing process. Utility Model Content

[0004] This application provides a lawn mowing device and a lawn mowing robot to reduce the probability of problems such as missed mowing, over-mowing, or scraping the ground during the lawn mowing process.

[0005] This application provides a lawn mowing device, comprising: A linkage mechanism includes a first connecting seat, a second connecting seat, and at least one link. The first connecting seat is configured to be connected to the main frame of the lawnmower robot. One end of the link is rotatably connected to the first connecting seat, and the other end of the link is rotatably connected to the second connecting seat. The link is configured to be able to rotate relative to the first connecting seat under the influence of gravity and external ground forces, and to drive the second connecting seat to float in a first direction. The lawn mowing mechanism is connected to the second connecting seat.

[0006] In some possible implementations, the at least one link includes a first link and a second link arranged side by side along the first direction, with one end of the first link and one end of the second link rotatably connected to the first connecting seat, and the other end of the first link and the other end of the second link rotatably connected to the second connecting seat.

[0007] In some possible implementations, the first link is located on the side of the second link facing the mowing mechanism, and the first link is configured to rotate relative to the first connecting seat under the drive of the gravity of the mowing mechanism and external ground forces, and to cause the second connecting seat to float along the first direction; The linkage mechanism further includes an elastic element, one end of which is connected to the end of the first link near the second connecting seat, and the other end of which is connected to the end of the second link near the first connecting seat.

[0008] In some possible implementations, two of each of the first link, the second link, and the elastic element are provided, with two sets of the first link and the second link respectively disposed on both sides of the second connecting seat along a second direction, the second direction being perpendicular to the first direction; The two elastic elements are connected one-to-one between the two sets of the first link and the second link.

[0009] In some possible implementations, the at least one link is provided with a limiting portion configured to abut against the main frame to limit the travel of the second connecting seat toward the mowing mechanism; The first connecting seat is provided with a stepped surface that abuts against the connecting rod to limit the angle of rotation of the connecting rod relative to the first connecting seat.

[0010] In some possible implementations, one of the connecting rods protrudes from the side of the second connecting seat opposite to the first connecting seat and forms the limiting portion.

[0011] In some possible implementations, the mowing mechanism includes a connecting plate, a drive member, and a blade disc. The connecting plate is connected to the second connecting seat, the drive member is connected to the side of the connecting plate opposite to the second connecting seat, the output shaft of the drive member is disposed opposite to the connecting plate, and the blade disc is connected to the output shaft of the drive member.

[0012] In some possible implementations, the mowing mechanism further includes an elastic sleeve surrounding the drive member, one end of which is connected to the side of the connecting plate opposite to the second connecting seat, and the other end of which extends to the end of the drive member near the cutter head and is spaced apart from the cutter head.

[0013] In some possible implementations, the mowing mechanism further includes a stop plate perpendicular to the first direction; One end of the stop plate is connected to the end of the elastic sleeve away from the connecting plate, and the other end of the stop plate protrudes relative to one side of the driving member and covers the side of the cutter head facing the linkage mechanism.

[0014] In addition, this application also provides a lawn mowing robot, including a main frame and at least one lawn mowing device as described in the above embodiments, wherein the first connecting seat of the lawn mowing device is connected to the main frame.

[0015] The beneficial effects of this application are as follows: When the grass mowing device provided by this application is applied to a grass mowing robot, the connecting rod can be rotated relative to the first connecting seat by the gravity of the grass mowing mechanism and the external force of the ground to adjust the height of the grass mowing mechanism. This allows the height of the grass mowing mechanism to be adjusted according to the terrain changes of the grass, reducing the probability of the grass mowing device missing mowing, over-mowing, mechanical scraping of the ground, or damage to the grass mowing device, improving the uniformity and consistency of the grass mowing process, and improving the grass mowing effect. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A three-dimensional structural schematic diagram of the lawn mowing device in some embodiments is shown; Figure 2 Another perspective view of the lawn mowing device in some embodiments is shown; Figure 3 Schematic diagrams of the linkage mechanism in some embodiments are shown; Figure 4 A partial exploded structural diagram of the lawnmower mechanism is shown in some embodiments.

[0018] Explanation of key component symbols: 1000- Lawn mowing device; 100 - Linkage mechanism; 110 - First connecting seat; 111 - Step surface; 120 - Second connecting seat; 130 - Linkage; 131 - First link; 132 - Second link; 133 - Limiting part; 140 - Elastic element; 200-Mowing mechanism; 210-Connecting plate; 211-Through hole; 220-Driver; 230-Cutter disc; 240-Elastic sleeve; 250-Stop plate; M - First direction; N - Second direction. Detailed Implementation

[0019] 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.

[0020] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0021] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0022] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0023] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0024] like Figure 1 and Figure 2 As shown, the embodiment provides a lawn mowing device 1000, which can be used in a lawn mowing robot to provide lawn mowing function.

[0025] In some embodiments, the lawn mowing device 1000 may include a linkage mechanism 100 and a lawn mowing mechanism 200. The linkage mechanism 100 includes a first connecting seat 110, a second connecting seat 120, and at least one connecting rod 130. The first connecting seat 110 can be fixedly connected to the main frame of the lawn mowing robot by means of bolts or snap-fit, thereby realizing the connection between the lawn mowing device 1000 and the main frame.

[0026] In some embodiments, one end of the connecting rod 130 is rotatably connected to the first connecting seat 110, and the other end of the connecting rod 130 is rotatably connected to the second connecting seat 120. The mowing mechanism 200 can be fixedly connected to the second connecting seat 120 by means of bolts or snap-fit. In some embodiments, the connecting rod 130 can be configured to rotate relative to the first connecting seat 110 under the influence of gravity and external ground forces, thereby causing the second connecting seat 120 to float along a first direction M, and thus causing the mowing mechanism 200 to float along the first direction M. In some embodiments, the first direction M can be parallel to the direction of gravity.

[0027] When the lawn mowing device 1000 provided in the embodiment is applied to a lawn mowing robot, the connecting rod 130 can be rotated relative to the first connecting seat 110 by gravity driven by the lawn mowing mechanism 200, so as to reduce the height of the lawn mowing mechanism 200. It can also adaptively raise the height of the lawn mowing mechanism 200 when subjected to external ground forces (such as ground undulations, stones, etc.), thereby allowing the height of the lawn mowing mechanism 200 to be adjusted according to the terrain changes of the lawn, reducing the probability of the lawn mowing device 1000 missing mowing, over-mowing, mechanical scraping, or damage to the lawn mowing device 1000, improving the uniformity and consistency of the lawn mowing process, and improving the lawn mowing effect.

[0028] like Figures 1 to 3 As shown, in some embodiments, the linkage mechanism 100 may include a first link 131 and a second link 132. The first link 131 and the second link 132 may be arranged side by side along a first direction M, and the first link 131 may be located on the side of the second link 132 facing the mowing mechanism 200. In the embodiments, one end of the first link 131 and one end of the second link 132 are both rotatably connected to the first connecting seat 110. The other end of the first link 131 and the other end of the second link 132 are both rotatably connected to the second connecting seat 120. Accordingly, the first link 131, the second link 132, the first connecting seat 110 and the second connecting seat 120 may form a four-link 130 structure.

[0029] In some embodiments, the first link 131 may be configured to rotate relative to the first connecting seat 110 under the influence of gravity of the mowing mechanism 200 and external ground forces, and to cause the second connecting seat 120 to float along the first direction M.

[0030] In some embodiments, two sets of first connecting rods 131 and second connecting rods 132 are provided, and the two sets of first connecting rods 131 and second connecting rods 132 are respectively arranged on opposite sides of the first connecting seat 110 (and the second connecting seat 120) along the second direction N. The second direction N can be perpendicular to the first direction M, that is, the second direction N can be parallel to the horizontal direction. This improves the reliability of the mowing mechanism 200 installation and enhances the stability of the mowing mechanism 200 during operation, reducing the risk of the mowing mechanism 200 swaying randomly.

[0031] In some embodiments, the linkage mechanism 100 further includes an elastic element 140. One end of the elastic element 140 may be fixedly connected to the end of the first link 131 near the second connecting seat 120, and the other end of the elastic element 140 may be fixedly connected to the end of the second link 132 near the first connecting seat 110. When the linkage mechanism 100 is not subjected to external force, the elastic element 140 may be in a naturally extended state or a stretched state. In some embodiments, the elastic element 140 may be a tension spring.

[0032] In other embodiments, the elastic element 140 may be a structure such as an elastic rope.

[0033] In some embodiments, the linkage mechanism 100 may include two elastic elements 140, which are connected one-to-one between two sets of first links 131 and second links 132. This reduces the possibility of the second connecting seat 120 tilting in the horizontal direction, ensuring the stable and smooth operation of the mowing mechanism 200.

[0034] During use, the first connecting rod 131 can rotate in the opposite direction relative to the first connecting seat 110 under the action of the elastic element 140, and drive the mowing mechanism 200 to move away from the ground through the second connecting seat 120, so as to realize the position adjustment of the mowing mechanism 200.

[0035] In this embodiment, the elastic element 140 can also provide a buffering effect during the operation of the mowing device 1000, reducing the transmission of vibrations from the mowing mechanism 200 to the main frame and achieving a buffering and shock absorption function. Simultaneously, the elastic element 140 allows the height of the mowing mechanism 200 to have a certain range of motion, enabling the mowing mechanism 200 to automatically rise and fall within a certain range according to the grass terrain, achieving a semi-active, passively compliant floating mowing behavior.

[0036] like Figures 1 to 3As shown, in some embodiments, one of the first connecting rods 131 protrudes from the side of the second connecting seat 120 away from the first connecting seat 110, forming a limiting part 133. When the mowing mechanism 200 moves downward under its own weight through the connecting rod mechanism 100, the limiting part 133 can be used to limit the movement of the second connecting seat 120 towards the mowing mechanism 200, thereby limiting the lowest position of the mowing mechanism 200 and preventing the mowing mechanism 200 from moving downward excessively, which could cause scraping or damage to the ground.

[0037] In other embodiments, the limiting part 133 may also be a protrusion or other structure that protrudes from the side of the first link 131 away from the second link 132, and the limiting part 133 may be located at the end of the first link 131 near the second connecting seat 120.

[0038] like Figures 1 to 3 As shown, in some embodiments, the first connecting seat 110 is provided with a stepped surface 111 that abuts against the connecting rod to limit the angle of rotation of the connecting rod relative to the first connecting seat 110; specifically, two stepped surfaces 111 are provided on both sides of the first connecting seat 110 to abut against the bottom surfaces of the two second connecting rods 132 to limit the angle of rotation of the linkage mechanism 100 relative to the first connecting seat 110.

[0039] like Figures 1 to 4 As shown, the mowing mechanism 200 may include a connecting plate 210, a drive member 220, and a blade disc 230. The connecting plate 210 is fixedly connected to the ground-facing side of the second connecting seat 120 via bolts or similar means. One end of the drive member 220 is fixedly connected to the connecting plate 210 via bolts or similar means, and the drive member 220 may be located on the side of the connecting plate 210 opposite to the second connecting seat 120. Furthermore, the output shaft of the drive member 220 may be positioned away from the connecting plate 210. In this embodiment, the blade disc 230 may be coaxially connected to the output shaft of the drive member 220. Thus, the drive member 220 can drive the blade disc 230 to rotate, thereby achieving the mowing function. In some embodiments, the drive member 220 may be a motor.

[0040] In some embodiments, the connecting plate 210 may be an annular plate structure, and correspondingly, a through hole 211 opposite to the driving member 220 may be provided on the connecting plate 210. On the one hand, this facilitates the routing of the driving member 220, and on the other hand, it also facilitates the heat dissipation of the driving member 220.

[0041] In some embodiments, the mowing mechanism 200 further includes an elastic sleeve 240, which may be disposed around the periphery of the drive member 220. One end of the elastic sleeve 240 may be fixedly connected to the connecting plate 210 by means of bolts or snap-fit. The other end of the elastic sleeve 240 may extend to the side of the drive member 220 near the cutter head 230, and be spaced apart from the cutter head 230 to avoid interfering with the normal operation of the cutter head 230. In embodiments, the elastic sleeve 240 may provide a sealing protection function for the drive member 220 to achieve dustproof and waterproof effect and extend the service life of the mowing mechanism 200.

[0042] In some embodiments, the mowing mechanism 200 further includes a stop plate 250, which is perpendicular to the first direction M, i.e., parallel to the horizontal direction. One end of the stop plate 250 may be arranged around the periphery of the drive member 220 and may be fixedly connected to the end of the elastic sleeve 240 away from the connecting plate 210 by means of bolts or the like. In addition, the stop plate 250 may protrude from one side of the drive member 220 and cover the side of the cutter head 230 facing the linkage mechanism 100. During use, the stop plate 250 can prevent broken grass from splashing during mowing, reducing the probability of broken grass entering the main frame, thereby preventing broken grass from affecting the normal operation of the main frame.

[0043] The embodiment also provides a lawn mowing robot, including a main frame and at least one lawn mowing device 1000 provided in the embodiment, wherein a first connecting seat 110 in the lawn mowing device 1000 can be connected to the main frame.

[0044] In some embodiments, the lawnmower robot may include two sets of mowing devices 1000, which may be symmetrically arranged along the direction of travel of the lawnmower robot.

[0045] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0046] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A grass cutting device, characterised in that, include: A linkage mechanism includes a first connecting seat, a second connecting seat, and at least one link. The first connecting seat is configured to be connected to the main frame of the lawnmower robot. One end of the link is rotatably connected to the first connecting seat, and the other end of the link is rotatably connected to the second connecting seat. The link is configured to be able to rotate relative to the first connecting seat under the influence of gravity and external ground forces, and to drive the second connecting seat to float in a first direction. The lawn mowing mechanism is connected to the second connecting seat.

2. The grass cutting device of claim 1, wherein The at least one link includes a first link and a second link arranged side by side along the first direction. One end of the first link and one end of the second link are rotatably connected to the first connecting seat, and the other end of the first link and the other end of the second link are rotatably connected to the second connecting seat.

3. The grass cutting device of claim 2, wherein The first link is located on the side of the second link facing the mowing mechanism. The first link is configured to rotate relative to the first connecting seat under the drive of the gravity of the mowing mechanism and the external force of the ground, and drive the second connecting seat to float along the first direction. The linkage mechanism further includes an elastic element, one end of which is connected to the end of the first link near the second connecting seat, and the other end of which is connected to the end of the second link near the first connecting seat.

4. The grass cutting device of claim 3, wherein Two of each of the first connecting rod, the second connecting rod, and the elastic element are provided. The two sets of the first connecting rod and the second connecting rod are respectively arranged on both sides of the second connecting seat along the second direction, and the second direction is perpendicular to the first direction. The two elastic elements are connected one-to-one between the two sets of the first link and the second link.

5. The mower device according to any one of claims 1 to 4, characterized in that The at least one link is provided with a limiting part, which is configured to abut against the main frame to limit the travel of the second connecting seat toward the mowing mechanism; The first connecting seat is provided with a stepped surface that abuts against the connecting rod to limit the angle of rotation of the connecting rod relative to the first connecting seat.

6. The grass cutting device of claim 5, wherein One of the connecting rods protrudes from the side of the second connecting seat away from the first connecting seat and forms the limiting portion.

7. The grass cutting device of claim 1, wherein The mowing mechanism includes a connecting plate, a driving component, and a blade disc. The connecting plate is connected to the second connecting seat, the driving component is connected to the side of the connecting plate opposite to the second connecting seat, the output shaft of the driving component is disposed opposite to the connecting plate, and the blade disc is connected to the output shaft of the driving component.

8. The grass cutting device of claim 7, wherein The mowing mechanism also includes an elastic sleeve, which is arranged around the periphery of the drive member. One end of the elastic sleeve is connected to the side of the connecting plate away from the second connecting seat, and the other end of the elastic sleeve extends to the end of the drive member near the cutter head and is spaced apart from the cutter head.

9. The grass cutting device of claim 8, wherein The mowing mechanism also includes a stop plate, which is perpendicular to the first direction; One end of the stop plate is connected to the end of the elastic sleeve away from the connecting plate, and the other end of the stop plate protrudes relative to one side of the driving member and covers the side of the cutter head facing the linkage mechanism.

10. A mowing robot, characterized in that The mower device according to any one of claims 1 to 9, wherein the first connecting seat of the mower device is connected to a main body frame.

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