A self-moving device and a multi-functional robot

Abstract

This application discloses a self-moving device and a multi-functional robot, relating to the field of garden robot technology. The self-moving device includes: a mobile base; a wireless charging mechanism mounted on the mobile base; a lawn mowing mechanism mounted on the mobile base; and an adapter plate mounted on the mobile base, the adapter plate being configured to detachably connect to the operating device; the mobile base is configured to drive the wireless charging mechanism, the lawn mowing mechanism, and the operating module to move. The self-moving device provided by this application can perform multiple functions, improving the utilization rate of the self-moving device.

Description

Technical Field

[0001] This application relates to the field of yard robot technology, and more particularly to a self-moving device and a multi-functional robot. Background Technology

[0002] With the continuous development of artificial intelligence, various types of robots are gradually freeing people's hands and replacing them in various tasks.

[0003] In related technologies, traditional yard robots usually only have one function, requiring users to configure different types of yard robots according to different tasks, resulting in low utilization rates of various yard robots and high user costs. Utility Model Content

[0004] This application provides a self-moving device and a multi-functional robot that can perform multiple functions, thereby improving the utilization rate of the self-moving device.

[0005] This application provides a self-moving device, including: Mobile base; A wireless charging mechanism is mounted on the mobile base; A lawn mowing mechanism is mounted on the movable base; An adapter plate is mounted on the movable base, and the adapter plate is configured to detachably connect to the working device; The mobile base is configured to move the wireless charging mechanism, the lawn mowing mechanism, and the working device.

[0006] In some possible implementations, the self-moving device further includes a drive mechanism mounted on the mobile base, and the adapter plate is throttle-connected to the drive mechanism. Both the wireless charging mechanism and the lawn mowing mechanism are floatingly mounted on the mobile base along the first direction, and the wireless charging mechanism is connected to the drive mechanism via transmission. The drive mechanism is configured to drive the wireless charging mechanism to float along the first direction and move the adapter plate.

[0007] In some possible implementations, the drive mechanism includes: A support frame is rotatably mounted on the movable base, and the adapter plate is drive-connected to the support frame; The first driving component includes a driving component body and an output shaft that is telescopically disposed relative to one end of the driving component body. The end of the driving component body away from the output shaft is rotatably connected to the end of the support frame away from the movable base. The end of the output shaft that protrudes relative to the driving component body is rotatably connected to the movable base. The follower is mounted on the main body of the drive component; The first transmission component is connected between the follower component and the wireless charging mechanism. The second transmission member is drively connected to the follower member, and the second transmission member is configured to limit the lowest point of movement of the mowing mechanism along the first direction.

[0008] In some possible implementations, the drive mechanism further includes a transmission rod, one end of which is rotatably connected to the follower; The first transmission component is rotatably mounted on the movable base. The first transmission component includes a first connecting arm and a first actuating arm. The first connecting arm and the first actuating arm are distributed around the rotation axis of the first transmission component. The first connecting arm is rotatably connected to the end of the transmission rod away from the follower. The first driving member can drive the first transmission member to rotate in a first rotation direction, so that the first execution arm drives the wireless charging mechanism to move in the first direction.

[0009] In some possible implementations, the self-moving device further includes a first mounting base mounted on the mobile base, and the first transmission member is rotatably mounted on the side of the first mounting base opposite to the mobile base. The first transmission component has a first guide groove, which is arranged around the rotation axis of the first transmission component; The first mounting base is equipped with a first guide shaft, which slides through the first guide groove.

[0010] In some possible implementations, the self-moving device further includes a second mounting base, which is mounted on the mobile base; The second transmission component is rotatably mounted on the second mounting base. The second transmission component includes a second connecting arm and a second actuating arm. The second connecting arm and the second actuating arm are distributed around the rotation axis of the second transmission component. The second connecting arm is transmissionally connected to the follower. The first driving member can drive the second transmission member to rotate in the first rotation direction, so that the second actuator arm abuts against the bottom surface of the mowing mechanism, thereby controlling the lowest point of the mowing mechanism's movement in the first direction.

[0011] In some possible implementations, the follower has a follower shaft protruding from the side facing the second transmission member; The second connecting arm is provided with a second guide groove, which extends along the moving path of the follower shaft, and the follower shaft slides through the second guide groove.

[0012] In some possible implementations, the second transmission member is provided with a second guide groove, which is arranged around the rotation axis of the second transmission member; A second guide shaft is mounted on the second mounting base, and the second guide shaft slides through the second guide groove.

[0013] In some possible implementations, the drive mechanism further includes an elastic element, one end of which is connected to the end of the second connecting arm away from the rotation axis of the second transmission member, and the other end of which is connected to the movable base; The elastic element is configured to drive the second transmission element to rotate in a second rotation direction, which is opposite to the first rotation direction.

[0014] In addition, this application also provides a multifunctional robot, including the self-moving device described in the above embodiments.

[0015] The beneficial effects of this application are as follows: The self-moving device provided by this application includes a wireless charging mechanism, a lawn mowing mechanism, and an adapter plate for installing operating devices (i.e., snow sweeping devices, blowing devices, or spraying devices, etc.). Thus, the self-moving device can simultaneously have multiple functions such as wireless charging, lawn mowing, and snow sweeping (or blowing and spraying). This enables the self-moving device to be multifunctional, thereby realizing the multifunctionality of the robot, reducing the user's equipment investment costs, and also improving the utilization rate of the multifunctional robot. 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 a self-moving device is shown in some embodiments; Figure 2 Another three-dimensional structural schematic diagram of the self-moving device is shown in some embodiments; Figure 3 Schematic diagrams of the adapter plate in some embodiments are shown; Figure 4 A partial side view of the self-moving device is shown in some embodiments; Figure 5 A side view of the self-moving device portion structure is shown in some embodiments; Figure 6Cross-sectional structural diagrams of the self-moving device portion structure are shown in some embodiments; Figure 7 A schematic diagram of the structure of the first mounting base in some embodiments is shown; Figure 8 Schematic diagrams of the support plate in some embodiments are shown; Figure 9 A cross-sectional structural schematic diagram of the wireless charging mechanism in some embodiments is shown; Figure 10 A schematic diagram of the structure of the second transmission component is shown in some embodiments; Figure 11 A schematic diagram of the structure of the second mounting base in some embodiments is shown; Figure 12 Schematic diagrams of the follower components in some embodiments are shown; Figure 13 Schematic diagrams of the mowing mechanism in some embodiments are shown.

[0018] Explanation of key component symbols: 100 - Movable base; 110 - Main frame; 200 - Wireless charging mechanism; 210 - Wireless charging unit; 211 - Housing assembly; 2111 - First housing; 2112 - Second housing; 2113 - Receiving cavity; 212 - Circuit board; 220 - Guide assembly; 221 - First guide; 222 - Second guide; 230 - First elastic sleeve; 300-Mowing mechanism; 310-Link assembly; 311-First connecting seat; 312-Second connecting seat; 313-First link; 3131-Limiting part; 314-Second link; 315-Tension spring; 320-Mowing assembly; 321-Connecting plate; 322-Cutter disc; 324-Second elastic sleeve; 325-Grass guard plate; 400-Adapter Board; 500-Drive mechanism; 510-Support frame; 511-Support part; 520-First driving component; 521-Driver body; 522-Output shaft; 530-Follower component; 531-Follower shaft; 540-First transmission component; 541-First connecting arm; 542-First actuating arm; 543-First guide groove; 550 - Second transmission component; 551 - Second connecting arm; 552 - Second actuating arm; 553 - Second guide groove; 5531 - First structural section; 5532 - Second structural section; 554 - Third guide groove; 561-First mounting base; 5611-First guide shaft; 562-Second mounting base; 5621-Second guide shaft; 563-Third mounting base; 570 - Transmission rod; 581 - Reinforcing member; 582 - Elastic member; 600 - Support plate; 610 - First guide hole; 620 - Second guide hole; M - First rotation direction; N - Second rotation 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 As shown, a Cartesian coordinate system is established, defining the length direction of the self-moving device as parallel to the X-axis, the width direction as parallel to the Y-axis, and the height direction as parallel to the Z-axis. It is understood that these definitions are merely for facilitating understanding of the relative positional relationships between the structures within the self-moving device and should not be construed as limitations on this application.

[0025] like Figures 1 to 3 As shown in the embodiment, a self-moving device is provided that can be applied to a multi-functional robot and can provide a variety of operational functions.

[0026] In some embodiments, the self-moving device includes a mobile base 100, a wireless charging mechanism 200, a lawn mowing mechanism 300, and an adapter plate 400. The mobile base 100 serves as a mounting carrier for the self-moving device. The wireless charging mechanism 200, lawn mowing mechanism 300, and adapter plate 400 can all be mounted on the mobile base 100 and moved by the mobile base 100. The wireless charging mechanism 200 enables wireless charging for the multi-functional robot, and the lawn mowing mechanism 300 provides lawn mowing functionality.

[0027] In this embodiment, the adapter plate 400 may be configured to detachably connect to a working device (not shown). The working device may be a snow sweeping device (e.g., a rotary brush or snowplow), a blowing device (e.g., a blower), or a spraying device (e.g., a nozzle and spray pump for spraying pesticides, liquid fertilizers, or water).

[0028] During use, the mobile base 100 can move the wireless charging mechanism 200, the lawn mowing mechanism 300, and the working device mounted on the adapter plate 400 to a specific area to perform corresponding functions.

[0029] Therefore, the self-moving device provided in this application can simultaneously possess multiple functions such as wireless charging, lawn mowing, and snow sweeping (or blowing, spraying), thereby realizing the multi-functionality of the self-moving device and the multi-functionality of the robot, reducing the user's equipment investment costs, and also improving the utilization rate of the multi-functional robot.

[0030] like Figures 1 to 3 As shown, in some embodiments, the mobile base 100 may include a main frame 110 and a walking mechanism (not shown). The walking mechanism may be mounted on the ground-facing side of the main frame 110 and can be used to move the main frame 110. The wireless charging mechanism 200, the lawnmowing mechanism 300, and the adapter plate 400 may all be mounted on the main frame 110. In some embodiments, the main frame 110 may be parallel to the XY plane, and the walking mechanism may be tracks or wheels.

[0031] like Figures 1 to 3 As shown, in some embodiments, the self-moving device further includes a drive mechanism 500, which can be mounted on the main frame 110. The wireless charging mechanism 200 and the lawnmowing mechanism 300 are both floatingly mounted on the main frame 110 along a first direction, with the wireless charging mechanism 200 being drive-connected to the drive mechanism 500. The first direction can be parallel to the Z-axis. The adapter plate 400 can also be drive-connected to the drive mechanism 500. Thus, the drive mechanism 500 can drive the wireless charging mechanism 200 to float along the first direction, and the adapter plate 400 can be used to move the working device connected to it.

[0032] like Figure 1 , Figure 2 and Figure 4 As shown, in some embodiments, the drive mechanism 500 may include a support frame 510, a first drive member 520, a follower member 530, a first transmission member 540, and a second transmission member 550. One end of the support frame 510 is rotatably mounted on the main frame 110. The rotation axis of the support frame 510 may be parallel to the Y-axis.

[0033] In some embodiments, the first drive member 520 may include a drive member body 521 and an output shaft 522. The output shaft 522 may be telescopically connected relative to one end of the drive member body 521. The end of the drive member body 521 away from the output shaft 522 is rotatably connected to the end of the support frame 510 away from the main frame 110, and the rotation axis of the drive member body 521 may be parallel to the Y-axis. The end of the output shaft 522 protruding relative to the drive member body 521 is rotatably connected to the main frame 110, and the rotation axis of the output shaft 522 may also be parallel to the Y-axis. In some embodiments, the drive mechanism 500 further includes a third mounting base 563, which is fixedly mounted to the side of the main frame 110 facing the support frame 510 by means of bolts or the like. The end of the output shaft 522 protruding relative to the drive member body 521 is rotatably connected to the end of the third mounting base 563 away from the main frame 110. That is, the output shaft 522 can be indirectly rotatably connected to the main frame 110 through the third mounting base 563. In some embodiments, the height of the third mounting base 563 along the Z-axis direction may be lower than the height of the support frame 510 along the Z-axis direction when it is perpendicular to the main frame 110.

[0034] In some embodiments, the first drive element 520 may be a linear motor.

[0035] In other embodiments, the first drive member 520 may also be a structure such as a cylinder or a hydraulic cylinder.

[0036] In some embodiments, the follower 530 can be fixedly connected to the side of the drive body 521 away from the main frame 110 by means of bolts or the like.

[0037] like Figure 2 , Figures 4 to 7 As shown, in some embodiments, the first transmission member 540 is rotatably mounted on the main frame 110, and the rotation axis of the first transmission member 540 may be parallel to the Y-axis. Specifically, the drive mechanism 500 also includes a first mounting base 561, which is fixedly connected to the side of the main frame 110 facing the support frame 510 by means of bolts or other means, and the first mounting base 561 may be located on the side of the second mounting base 562 away from the support frame 510. The first transmission member 540 is rotatably mounted on the first mounting base 561, that is, the first transmission member 540 can be indirectly rotatably mounted on the main frame 110 through the first mounting base 561.

[0038] In other embodiments, the first transmission member 540 may also be directly rotatably mounted on the main frame 110.

[0039] In some embodiments, the first transmission member 540 may include a first connecting arm 541 and a first actuating arm 542. The first connecting arm 541 and the first actuating arm 542 may be distributed around the rotation axis of the first transmission member 540, and both the first actuating arm 542 and the first connecting arm 541 may extend radially along the first transmission member 540. In some embodiments, the drive mechanism 500 further includes a transmission rod 570, one end of which is rotatably connected to a follower 530, and the rotation axis of the transmission rod 570 relative to the follower 530 may be parallel to the Y-axis. The end of the transmission rod 570 away from the follower 530 may be rotatably connected to the end of the first connecting arm 541 away from the first mounting base 561, and the rotation axis between the transmission rod 570 and the first connecting arm 541 may be parallel to the Y-axis. Thus, the first drive member 520 may transmit power to the first transmission member 540 in sequence through the follower 530 and the transmission rod 570, and drive the first transmission member 540 to rotate about its own rotation axis.

[0040] In some embodiments, the wireless charging mechanism 200 may be floatingly mounted on the main frame 110 and is generally located on the side of the first mounting base 561 opposite to the second mounting base 562. In some embodiments, the first actuating arm 542 may be located on the side of the first connecting arm 541 away from the first drive member 520. And the wireless charging mechanism 200 may be located on the movement path of the end of the first actuating arm 542 away from the first mounting base 561. When the multi-functional robot needs to be charged, the first drive member 520 can drive the first transmission member 540 to rotate along the first rotation direction M through the follower member 530 and the transmission rod 570. This can also drive the end of the first execution arm 542 away from the first mounting base 561 to move towards the main frame 110. Correspondingly, the end of the first execution arm 542 away from the first mounting base 561 can move towards the wireless charging mechanism 200, and gradually press the first execution arm 542 against the wireless charging mechanism 200 to drive the wireless charging mechanism 200 to move along the first direction. Specifically, the wireless charging mechanism 200 can be lowered towards the ground so that the wireless charging mechanism 200 fits and connects with the charging structure in the charging base station, so as to wirelessly charge the multi-functional robot. Once charging is complete, the first driving member 520, through the follower 530 and the transmission rod 570, drives the first transmission member 540 to rotate along the second rotation direction N. This causes the end of the first actuator 542 away from the first mounting base 561 to move away from the wireless charging mechanism 200, gradually releasing its pressure on the wireless charging mechanism 200 and allowing the wireless charging mechanism 200 to reset. The second rotation direction N can be opposite to the first rotation direction M.

[0041] In some embodiments, the first transmission member 540 is further provided with a first guide groove 543, which extends around the rotation axis of the first transmission member 540. A first guide shaft 5611 can be mounted on the first mounting base 561, and the first guide shaft 5611 can slide through the first guide groove 543. Thus, when the first transmission member 540 rotates around its own rotation axis, the first guide groove 543 and the first guide shaft 5611 cooperate to provide a guiding function for the rotation of the first transmission member 540, ensuring that the first transmission member 540 rotates smoothly.

[0042] like Figure 2 , Figure 8 and Figure 9 As shown, in some embodiments, the self-moving device further includes a support plate 600, which is fixedly connected to the side of the main frame 110 facing the first mounting base 561 by means of bolts or other means, and the support plate 600 may be parallel to the XY plane. Additionally, the support plate 600 includes a first side and a second side disposed opposite to each other, wherein the first side may face the main frame 110. The wireless charging mechanism 200 may include a wireless charging unit 210 and a guide assembly 220. The wireless charging unit 210 may be floatingly connected to the first side of the support plate 600 along a first direction. The guide assembly 220 may be connected to the side of the wireless charging unit 210 facing the support plate 600, and the guide assembly 220 may slide through the support plate 600 along the first direction and extend and retract relative to the second side of the support plate 600. In embodiments, one end of the guide assembly 220 that extends and retracts relative to the second side of the support plate 600 may be located on the movement path of the first actuating arm 542.

[0043] In some embodiments, the wireless charging unit 210 may include a housing assembly 211 and a circuit board 212. The housing assembly 211 includes a first housing 2111 and a second housing 2112, which cooperate to form a receiving cavity 2113. The circuit board 212 may be disposed in the receiving cavity 2113 and fixedly disposed relative to the housing assembly 211. A power module and a secondary coil may be integrated on the circuit board 212. The secondary coil may be located on the side of the circuit board 212 facing away from the support plate 600. When the wireless charging mechanism 200 is connected to a charging base station, the secondary coil may face the charging structure (i.e., the primary coil) in the charging base station, forming a wireless charging connection.

[0044] In some embodiments, the guide assembly 220 may include a first guide member 221 and a plurality of second guide members 222. The support plate 600 may have a first guide hole 610 and a plurality of second guide holes 620.

[0045] In some embodiments, one end of the first guide member 221 may be fixedly connected to the side of the housing assembly 211 facing the support plate 600 by means of welding, screw connection or snap-fit, and slide through the first guide hole 610. The end of the first guide member 221 protruding relative to the second side of the support plate 600 may be located on the movement path of the first actuator arm 542.

[0046] In this embodiment, a plurality of second guide members 222 may be arranged around the periphery of the first guide member 221, and the second guide members 222 may be fixedly connected to the side of the housing assembly 211 facing the support plate 600 by means of welding, snap-fitting, bonding or screwing. Furthermore, the ends of the plurality of second guide members 222 away from the housing assembly 211 may be slidably inserted into a plurality of second guide holes 620 in a corresponding manner.

[0047] In some embodiments, the wireless charging mechanism 200 further includes a first elastic sleeve 230, which can be connected between the support plate 600 and the housing assembly 211, and is disposed around the periphery of the wireless charging unit 210. Thus, the first elastic sleeve 230 can provide protection for the structure between the wireless charging unit 210 and the support plate 600. Furthermore, when charging is complete and the driving mechanism 500 removes its pressure on the first guide member 221, the wireless charging unit 210 can move and reset towards the support plate 600 under the use of the first elastic sleeve 230. In embodiments, when the guide assembly 220 is not pressured by the driving mechanism 500, the first elastic sleeve 230 can be in a naturally extended state or a stretched state.

[0048] like Figure 2 , Figure 4 , Figure 5 , Figures 10 to 13 As shown, in some embodiments, the drive mechanism 500 further includes a second mounting base 562, which can be fixedly installed on the side of the main frame 110 facing the support frame 510 by means of bolt connection or other means, and the second mounting base 562 can be located on the side of the third mounting base 563 away from the first mounting base 561.

[0049] In some embodiments, the second transmission member 550 is rotatably mounted on the second mounting base 562, and the rotation axis of the second transmission member 550 may be arranged parallel to the Y-axis. In the embodiments, the second transmission member 550 may include a second connecting arm 551 and a second actuating arm 552, the second connecting arm 551 and the second actuating arm 552 being distributed around the rotation axis of the second transmission member 550, and the second actuating arm 552 may be located on the side of the second connecting arm 551 opposite to the support frame 510.

[0050] In some embodiments, the second connecting arm 551 may be drive-connected to the follower 530. The end of the second actuating arm 552 away from the second mounting base 562 may be configured as the lowest point to limit the movement of the mowing mechanism 300 in the first direction. Specifically, the end of the second actuating arm 552 away from the second mounting base 562 may be used to abut against the bottom surface of the mowing mechanism 300 to control the lowest point of the mowing mechanism 300 sinking towards the ground in order to perform the mowing action.

[0051] In some embodiments, the second connecting arm 551 may have a second guide groove 553. The second guide groove 553 may include a first structural segment 5531 and a second structural segment 5532 that are connected to each other and are intersecting. In some embodiments, when the mowing mechanism 300 is at its highest position along the Z-axis, the extension direction of the first structural segment 5531 may be approximately parallel to the extension and retraction direction of the output shaft 522. The second structural segment 5532 may be connected to the end of the first structural segment 5531 that is away from the support frame 510, and the extension direction of the second structural segment 5532 may extend radially along the second transmission member 550, and the second structural segment 5532 may extend closer to the rotation axis of the second transmission member 550 from the first structural segment 5531. In some embodiments, the mowing mechanism 300 may be floatingly mounted on the main frame 110 along a first direction and may be located on the movement path of the second actuator arm 552 away from the second mounting base 562.

[0052] In some embodiments, a follower shaft 531 protrudes from the side of the follower 530 facing the second transmission member 550, and the follower shaft 531 is slidably inserted into the second guide groove 553. When the output shaft 522 of the first drive member 520 gradually retracts relative to the drive member body 521, the follower shaft 531 can gradually move along the first structural section 5531 towards the second structural section 5532, and push the second transmission member 550 to rotate in the first rotation direction M. The end of the second actuating arm 552 away from the second mounting base 562 can move towards the main frame 110, and correspondingly, the end of the second actuating arm 552 away from the second mounting base 562 can move towards the mowing mechanism 300, and gradually abut against the bottom surface of the mowing mechanism 300 (see...). Figure 1 This controls the lowest point of the mowing mechanism 300 as it descends towards the ground. Furthermore, the height of the mowing mechanism 300 can be adjusted according to changes in terrain. When it is necessary to raise the height of the mowing mechanism 300, the second actuator 552 can be moved away from the main frame 110 to maintain a resisting force on the mowing mechanism 300, thus raising the mowing mechanism 300 away from the ground.

[0053] In some implementations, the second transmission member 550 is further provided with a third guide groove 554, which extends around the rotation axis of the second transmission member 550. A second guide shaft 5621 protrudes from the side of the second mounting base 562 facing the second transmission member 550 and slidably passes through the third guide groove 554. When the second transmission member 550 rotates relative to the second mounting base 562, the rotation of the second transmission member 550 is guided by the cooperation of the second guide shaft 5621 and the third guide groove 554.

[0054] In some embodiments, the drive mechanism 500 further includes an elastic element 582, one end of which is fixedly connected to the main frame 110. Specifically, a reinforcing member 581 is fixedly connected to the side of the second mounting base 562 facing the support frame 510. The reinforcing member 581 may be a plate-like structure perpendicular to the main frame 110, and may extend towards the support frame 510. The end of the elastic element 582 away from the second connecting arm 551 may be connected to the end of the reinforcing member 581 away from the second mounting base 562. In some embodiments, the other end of the elastic element 582 may be connected to the end of the second connecting arm 551 away from the second mounting base 562. The elastic element 582 can be used to drive the second transmission member 550 to rotate and reset along the second rotation direction N.

[0055] In some embodiments, the mowing mechanism 300 may include a linkage assembly 310 and a mowing assembly 320. The linkage assembly 310 includes a first connecting seat 311, a second connecting seat 312, a first connecting rod 313, and a second connecting rod 314. The first connecting seat 311 can be fixedly connected to the main frame 110 by means of bolts or snap-fit, thus achieving the connection between the mowing mechanism 300 and the main frame 110.

[0056] In some embodiments, the first link 313 and the second link 314 may be arranged side by side along a first direction, and the first link 313 may be located on the side of the second link 314 facing the mowing assembly 320. In this embodiment, one end of the first link 313 and one end of the second link 314 are both rotatably connected to the first connecting seat 311. The other end of the first link 313 and the other end of the second link 314 are both rotatably connected to the second connecting seat 312. Accordingly, the first link 313, the second link 314, the first connecting seat 311, and the second connecting seat 312 may form a four-bar linkage structure.

[0057] In some embodiments, two sets of first connecting rods 313 and second connecting rods 314 are provided, and the two sets of first connecting rods 313 and second connecting rods 314 can be respectively arranged on opposite sides of the first connecting seat 311 (and the second connecting seat 312) along the Y-axis. This improves the reliability of the mowing assembly 320 installation and enhances the stability of the mowing assembly 320 during operation, reducing the risk of the mowing assembly 320 swaying randomly. In some embodiments, the end of the first connecting rod 313 near the second transmission member 550, near the second connecting seat 312, can be located on the movement path of the second actuator 552 away from the second mounting seat 562. The mowing mechanism 300 descends or rises along the first direction under its own weight or external ground force.

[0058] In some embodiments, the linkage assembly 310 further includes a tension spring 315. One end of the tension spring 315 can be fixedly connected to the end of the first link 313 near the second connecting seat 312, and the other end of the tension spring 315 can be fixedly connected to the end of the second link 314 near the first connecting seat 311. When the linkage assembly 310 is not subjected to external force, the tension spring 315 can be in a naturally extended state or a stretched state. In some embodiments, the linkage assembly 310 may include two tension springs 315, which can be connected one-to-one between the two sets of first links 313 and second links 314. This reduces the possibility of the second connecting seat 312 tilting in the horizontal direction, ensuring the stable and smooth operation of the mowing assembly 320.

[0059] During use, when it is necessary to increase the floating range of the mowing component 320, the second actuator 552 can be moved closer to the main frame 110. When it is necessary to decrease the floating range of the mowing component 320, the second actuator 552 can be moved away from the main frame 110.

[0060] In some embodiments, one of the first connecting rods 313 protrudes from the side of the second connecting seat 312 away from the first connecting seat 311, forming a limiting portion 3131. When the mowing assembly 320 moves downward under its own weight, the limiting portion 3131 can abut against the second actuating arm 552 to limit the stroke of the second connecting seat 312 towards the mowing assembly 320, thereby limiting the lowest position of the mowing assembly 320 and preventing the mowing assembly 320 from moving downward excessively, causing scraping or damage to the ground.

[0061] In some embodiments, the mowing assembly 320 may include a connecting plate 321, a second drive member (not shown), and a blade disc 322. The connecting plate 321 is fixedly connected to the ground-facing side of the second connecting seat 312 via bolts or similar means. One end of the second drive member is fixedly connected to the connecting plate 321 via bolts or similar means, and the second drive member may be located on the side of the connecting plate 321 opposite to the second connecting seat 312. Additionally, the output shaft 522 of the second drive member may be disposed opposite to the connecting plate 321. In some embodiments, the blade disc 322 may be connected to the output shaft 522 of the second drive member. Thus, the second drive member can drive the blade disc 322 to rotate, thereby achieving the mowing function. In some embodiments, the second drive member may be a motor.

[0062] In some embodiments, the mowing assembly 320 further includes a second elastic sleeve 324, which may be disposed around the periphery of the second drive member. One end of the second elastic sleeve 324 may be fixedly connected to the connecting plate 321 by means of bolt connection or snap-fit. The other end of the second elastic sleeve 324 may extend to the side of the second drive member near the cutter head 322, and be spaced apart from the cutter head 322 to avoid interfering with the normal operation of the cutter head 322. In embodiments, the second elastic sleeve 324 may provide a sealing protection function for the second drive member to achieve dustproof and waterproof effect and extend the service life of the mowing assembly 320.

[0063] In some embodiments, the mowing assembly 320 further includes a grass baffle 325, which may be parallel to the XY plane, i.e., parallel to the horizontal direction. One end of the grass baffle 325 may be arranged around the periphery of the second drive member and may be fixedly connected to the end of the second elastic sleeve 324 away from the connecting plate 321 by means of bolts or the like. In addition, the grass baffle 325 may protrude from one side relative to the second drive member and cover the side of the cutter head 322 facing the connecting rod assembly 310. During use, the grass baffle 325 can prevent broken grass from splashing during mowing, avoiding the impact of broken grass on the normal operation of other structures.

[0064] In some embodiments, the self-moving device may include two sets of mowing mechanisms 300, which are respectively arranged on opposite sides of the drive mechanism 500 along the Y-axis and are both connected to the drive mechanism 500 in a transmission manner. Thus, the drive mechanism 500 can simultaneously drive the two sets of mowing mechanisms 300 to move downward along the first direction.

[0065] In other embodiments, the self-moving device may also include a set of lawn mowing mechanisms 300.

[0066] like Figure 3 and Figure 4As shown, in some embodiments, a support portion 511 is provided on the side of the support frame 510 opposite to the first mounting base 561, and one end of the adapter plate 400 is fixedly connected to the support portion 511 by means of bolts or other methods. The other end of the adapter plate 400 can be rotatably connected to the main frame 110. The working device can be detachably installed on the side of the adapter plate 400 opposite to the support frame 510.

[0067] In this embodiment, when the output shaft 522 of the first drive member 520 gradually retracts relative to the drive member body 521, it can simultaneously drive the first transmission member 540 to rotate around its own rotation axis and drive the second transmission member 550 to rotate around its own rotation axis. Both the first transmission member 540 and the second transmission member 550 rotate along the first rotation direction M. During the rotation of the second transmission member 550 along the first rotation direction M, the end of the second execution arm 552 away from the second mounting base 562 can gradually abut against the bottom surface of the linkage assembly 310 (limiting part 3131) of the mowing mechanism 300, controlling the lowest point of the mowing assembly 320. During this process, the first execution arm 542 does not contact the wireless charging mechanism 200, the height of the wireless charging mechanism 200 remains unchanged, and it is in the highest position. Therefore, the wireless charging mechanism 200 can be prevented from affecting the operation of the mowing mechanism 300.

[0068] When the multi-functional robot needs to be charged, the second actuator arm 552 can abut against the limiting part 3131 of the mowing mechanism 300, controlling the lowest point of the mowing mechanism 300. This causes the output shaft 522 of the first drive member 520 to continue retracting relative to the drive member body 521, allowing the drive mechanism 500 to continue driving the first transmission member 540 to rotate. The first actuator arm 542 of the first transmission member 540 can gradually press against the first guide member 221 of the wireless charging mechanism 200, pushing the wireless charging mechanism 200 downwards until the wireless charging component is in contact with the charging structure in the charging base station for wireless charging. During this process, the limiting part 3131 of the mowing mechanism 300 can stop moving downwards due to the restriction of the second actuator arm 552. Furthermore, as the drive mechanism 500 drives the wireless charging mechanism 200 to sink, it can move the adapter plate 400, thereby adjusting the position of the working device on the adapter plate 400.

[0069] When it is necessary to raise the wireless charging mechanism 200 and reduce the floating range of the lawn mowing mechanism 300, the output shaft 522 of the first drive member 520 can extend relative to the drive member body 521. The first transmission member 540 and the second transmission member 550 can both rotate and reset along the second rotation direction N under the drive of the drive mechanism 500. The wireless charging mechanism 200 can be raised and reset after the first execution arm 542 releases its abutment action.

[0070] The embodiment also provides a multifunctional robot, which may include the self-moving device and the working device provided in the embodiment. The working device is detachably installed on the side of the adapter plate 400 away from the support frame 510.

[0071] 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.

[0072] 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 self-moving device, characterized in that, include: Mobile base; A wireless charging mechanism is mounted on the mobile base; A lawn mowing mechanism is mounted on the movable base; An adapter plate is mounted on the movable base, and the adapter plate is configured to detachably connect to the working device; The mobile base is configured to move the wireless charging mechanism, the lawn mowing mechanism, and the working device.

2. The self-moving device of claim 1, wherein, The self-moving device also includes a drive mechanism, which is mounted on the mobile base, and the adapter plate is connected to the drive mechanism in a transmission manner. Both the wireless charging mechanism and the lawn mowing mechanism are floatingly mounted on the mobile base along the first direction, and the wireless charging mechanism is connected to the drive mechanism via transmission. The drive mechanism is configured to drive the wireless charging mechanism to float along the first direction and move the adapter plate.

3. The self-moving device of claim 2, wherein, The drive mechanism includes: A support frame is rotatably mounted on the movable base, and the adapter plate is drive-connected to the support frame; The first driving component includes a driving component body and an output shaft that is telescopically disposed relative to one end of the driving component body. The end of the driving component body away from the output shaft is rotatably connected to the end of the support frame away from the movable base. The end of the output shaft that protrudes relative to the driving component body is rotatably connected to the movable base. The follower is mounted on the main body of the drive component; The first transmission component is connected between the follower component and the wireless charging mechanism. The second transmission member is drively connected to the follower member, and the second transmission member is configured to limit the lowest point of movement of the mowing mechanism along the first direction.

4. The self-moving device of claim 3, wherein, The driving mechanism further includes a transmission rod, one end of which is rotatably connected to the follower. The first transmission component is rotatably mounted on the movable base. The first transmission component includes a first connecting arm and a first actuating arm. The first connecting arm and the first actuating arm are distributed around the rotation axis of the first transmission component. The first connecting arm is rotatably connected to the end of the transmission rod away from the follower. The first driving member can drive the first transmission member to rotate in a first rotation direction, so that the first execution arm drives the wireless charging mechanism to move in the first direction.

5. The self-moving device of claim 4, wherein, The self-moving device further includes a first mounting base, which is mounted on the mobile base, and the first transmission component is rotatably mounted on the side of the first mounting base opposite to the mobile base. The first transmission component has a first guide groove, which is arranged around the rotation axis of the first transmission component; The first mounting base is equipped with a first guide shaft, which slides through the first guide groove.

6. The self-moving device of claim 3, wherein, The self-moving device further includes a second mounting base, which is mounted on the mobile base; The second transmission component is rotatably mounted on the second mounting base. The second transmission component includes a second connecting arm and a second actuating arm. The second connecting arm and the second actuating arm are distributed around the rotation axis of the second transmission component. The second connecting arm is transmissionally connected to the follower. The first driving member can drive the second transmission member to rotate in the first rotation direction, so that the second actuator arm abuts against the bottom surface of the mowing mechanism, thereby controlling the lowest point of the mowing mechanism's movement in the first direction.

7. The self-moving device of claim 6, wherein, The follower has a follower shaft protruding from the side facing the second transmission member; The second connecting arm is provided with a second guide groove, which extends along the moving path of the follower shaft, and the follower shaft slides through the second guide groove.

8. The self-moving device according to claim 6 or 7, characterized in that, The second transmission component is provided with a second guide groove, which is arranged around the rotation axis of the second transmission component; A second guide shaft is mounted on the second mounting base, and the second guide shaft slides through the second guide groove.

9. The self-moving device according to claim 6 or 7, characterized in that, The drive mechanism further includes an elastic element, one end of which is connected to the end of the second connecting arm away from the rotation axis of the second transmission element, and the other end of which is connected to the movable base; The elastic element is configured to drive the second transmission element to rotate in a second rotation direction, which is opposite to the first rotation direction.

10. A multi-functional robot, characterized by, Includes the self-moving device as described in any one of claims 1 to 9.

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