Cutterhead floating device and intelligent mower

Abstract

The utility model discloses a kind of cutter head floating device and intelligent mower, it is related to outdoor robot technical field, wherein, cutter head floating device is applied to outdoor robot, outdoor robot includes equipment main body, cutter head floating device includes air cylinder connected to equipment main body and connecting shaft provided with cutter head, air cylinder extends along vertical direction, the upper end of connecting shaft is inserted in air cylinder, and vertical relative displacement can be generated, the outer periphery of connecting shaft and the inner periphery of air cylinder sliding abut;Wherein, under the action of internal and external pressure difference of air cylinder, the upper end of connecting shaft and the upper side wall in air cylinder have sliding interval.The technical scheme provided by the utility model aims at the floating adjustment of cutter head height by air cylinder, reduce the probability of cutter head and obstacle collision damage.

Description

Technical Field

[0001] This utility model relates to the field of outdoor robot technology, and in particular to a blade floating device and an intelligent lawnmower. Background Technology

[0002] With the continuous development of intelligent robot technology, outdoor robots are increasingly being used in agriculture, landscaping, municipal engineering, and other fields. These outdoor robots typically need to perform tasks such as mowing, trimming, and cleaning, and their working environments are complex and varied, often facing problems such as undulating terrain and numerous obstacles.

[0003] In related technologies, as a type of outdoor robot, the blade of a smart lawnmower is generally installed under the main body of the device through a fixed connection. However, when the blade encounters an obstacle, it is prone to violent collision or scraping with the obstacle, which can lead to wear or even damage to the blade, affecting the normal operating efficiency of outdoor robots such as smart lawnmowers. Utility Model Content

[0004] The main purpose of this invention is to propose a blade floating device and an intelligent lawnmower, which aims to reduce the probability of the blade being damaged by collision with obstacles by adjusting the height of the blade using an air cylinder.

[0005] To achieve the above objectives, the blade floating device proposed in this utility model is applied to an outdoor robot, which includes a main body and the blade floating device includes:

[0006] An air cylinder connected to the main body of the device, the air cylinder extending vertically; and

[0007] A connecting shaft with a cutter head is provided. The upper end of the connecting shaft is inserted into the air cylinder and can generate vertical relative displacement. The outer circumference of the connecting shaft and the inner circumference of the air cylinder slide against each other.

[0008] Under the pressure difference between the inside and outside of the air cylinder, the upper end of the connecting shaft and the upper side wall inside the air cylinder have a sliding gap.

[0009] In one embodiment, the lower end of the air cylinder has a sliding port, and the connecting shaft includes a first piston, a shaft body and a connecting rod. The first piston is slidably inserted into the air cylinder, and the first piston and the connecting shaft are respectively located at opposite ends of the connecting rod. The connecting rod slidably passes through the sliding port.

[0010] In one embodiment, the air cylinder is provided with a limiting flange corresponding to the periphery of the sliding port, and the limiting flange protrudes into the air cylinder.

[0011] In one embodiment, the diameter of the shaft body is larger than the diameter of the air cylinder.

[0012] In one embodiment, the air cylinder includes a first cylinder segment and a second cylinder segment, the connecting shaft is slidably connected to the first cylinder segment, the second cylinder segment communicates with the end of the first cylinder segment away from the connecting shaft, and the second cylinder segment and the first cylinder segment are intersecting or at least staggered in the vertical direction.

[0013] In one embodiment, the air cylinder further includes a connecting cylinder section that connects the first cylinder section and the second cylinder section. The diameter of the connecting cylinder section is smaller than the diameters of the first cylinder section and the second cylinder section, and the connecting cylinder section is located at the upper end of the first cylinder section.

[0014] In one embodiment, a second piston and an elastic element are provided inside the second cylindrical section. The second piston slides against the inner circumference of the second cylindrical section. In the extension direction of the channel inside the air cylinder (200), the elastic element is located on the side of the second piston away from the connecting shaft. The opposite ends of the elastic element are respectively connected to the opposite sides of the second piston and the second cylindrical section, and can elastically deform along the axial direction of the second cylindrical section.

[0015] In one embodiment, the air cylinder is filled with compressed air, the compressed air having a pressure greater than 1 standard atmosphere and less than 1.2 standard atmospheres.

[0016] In one embodiment, the lower end of the connecting shaft is connected to a support wheel that rolls against the ground.

[0017] In one embodiment, the outdoor robot further includes a rotating drive unit disposed on the main body of the device, the cutter head is connected to a rotating cylinder, the cutter head and the rotating cylinder are rotatably sleeved on the connecting shaft, a transmission ring is provided around the outer periphery of the rotating cylinder, a transmission wheel is provided at the output end of the rotating drive unit, the transmission wheel and the transmission ring are connected in a transmission manner, and at least one of them extends along the axial direction of the connecting shaft.

[0018] In one embodiment, the floating cutter head device further includes a lifting assembly connected to the connecting shaft. The cutter head and the rotating cylinder are slidably mounted on the connecting shaft in a vertical direction. A support ring is also provided around the outer periphery of the rotating cylinder. The output end of the lifting assembly can generate a vertical displacement and slide against the lower side of the support ring.

[0019] This utility model also proposes an intelligent lawnmower, which includes the aforementioned blade floating device.

[0020] The technical solution of this utility model involves mounting an air cylinder on the main body of the device, with the upper end of a connecting shaft slidably inserted into the air cylinder and maintaining a sealed contact with its inner circumference. The connecting shaft, which houses the cutter disc, and the upper wall of the air cylinder form a certain vertically slidable gap, allowing the cutter disc to float vertically. Thus, when the outdoor robot is mowing in complex terrain, the cutter disc may encounter obstacles or changes in terrain. In this case, the connecting shaft is forced upwards, causing the cutter disc to rise and avoid obstacles, effectively preventing hard collisions or scraping between the cutter disc and obstacles, and preventing damage to the cutter disc. Under the pressure difference between the inside and outside of the air cylinder, a certain sliding gap is maintained between the upper end of the connecting shaft and the inner wall of the air cylinder to meet the floating requirements of the connecting shaft, i.e., the cutter disc. Furthermore, the sliding fit between the air cylinder and the connecting shaft has good guiding performance, and the large contact area of ​​the air cylinder with the connecting shaft ensures that the cutter disc maintains a stable posture during floating, preventing deflection or shaking that could affect cutting quality. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0022] Figure 1 A cross-sectional view of an embodiment of the blade floating device provided by this utility model;

[0023] Figure 2 for Figure 1 A magnified view of a section at point A in the middle;

[0024] Figure 3 A cross-sectional view of another component of the blade floating device provided by this utility model;

[0025] Figure 4 for Figure 3 A magnified view of a section at point B in the middle;

[0026] Figure 5 A schematic diagram of an embodiment of the intelligent lawnmower provided by this utility model.

[0027] Explanation of icon numbers:

[0028] 100. Equipment body; 200. Air cylinder; 210. First cylinder section; 220. Second cylinder section; 230. Connecting cylinder section; 240. Sliding port; 250. Limiting flange; 260. Second piston; 270. Elastic element;

[0029] 300. Connecting shaft; 310. Shaft body; 320. Connecting rod; 330. First piston;

[0030] 400. Rotating cylinder; 410. Transmission ring; 420. Support ring; 430. Cutter head;

[0031] 501. Rotation drive component; 502. Transmission wheel; 600. Lifting assembly; 700. Support wheel.

[0032] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0033] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0034] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0035] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0036] This utility model proposes a blade floating device.

[0037] Please refer to Figure 1 , Figure 2 and Figure 3In one embodiment of this utility model, the blade floating device is applied to an outdoor robot. The outdoor robot includes a main body 100, and the blade floating device includes:

[0038] An air cylinder 200 is connected to the main body 100 of the equipment and extends vertically; and

[0039] A connecting shaft 300 with a cutter head 430 is provided. The upper end of the connecting shaft 300 is inserted into the air cylinder 200 and can generate vertical relative displacement. The outer periphery of the connecting shaft 300 and the inner periphery of the air cylinder 200 slide against each other.

[0040] Under the pressure difference between the inside and outside of the air cylinder 200, the upper end of the connecting shaft 300 and the upper side wall inside the air cylinder 200 have a sliding gap.

[0041] The technical solution of this utility model involves mounting an air cylinder 200 on the main body 100 of the device. The upper end of the connecting shaft 300 is slidably inserted into the air cylinder 200 and maintains a sealed contact with the inner circumference of the air cylinder 200. The connecting shaft 300, which houses the cutter disc 430, and the upper inner wall of the air cylinder 200 form a certain vertically slidable distance, allowing the cutter disc 430 to float vertically. Thus, when the outdoor robot is mowing in complex terrain, the cutter disc 430 may encounter obstacles or changes in terrain. In this case, the connecting shaft 300 is forced upwards, causing the cutter disc 430 to rise and avoid obstacles, effectively preventing hard collisions or scraping between the cutter disc 430 and obstacles, and preventing damage to the cutter disc 430. Furthermore, under the pressure difference between the inside and outside of the air cylinder 200, a certain sliding distance is always maintained between the upper end of the connecting shaft 300 and the inner wall of the air cylinder 200 to meet the floating requirements of the connecting shaft 300, i.e., the cutter disc 430. In addition, the sliding fit between the air cylinder 200 and the connecting shaft 300 has good guiding performance, and the air cylinder 200 has a large effective area on the connecting shaft 300, which can ensure that the cutter head 430 maintains a stable posture during the floating process and avoids deflection or shaking that would affect the cutting quality.

[0042] It should be noted that the lower end of the connecting shaft 300 can be spaced apart from the ground, so that the connecting shaft 300 and the cutter head 430 are suspended from the air cylinder 200. In this case, the air pressure inside the air cylinder 200 is lower than the external air pressure, ensuring the stability of the cutter head 430 and the connecting shaft 300. Correspondingly, when the lower end of the connecting shaft 300 is supported by an obstacle, the connecting shaft 300 slides upward relative to the air cylinder 200, thereby compressing the air inside the air cylinder 200. When the air pressure inside the air cylinder 200 is greater than the external air pressure, the air cylinder 200 generates a downward reaction force on the connecting shaft 300, which buffers the connecting shaft 300 and prevents the connecting shaft 300 from impacting and damaging the air cylinder 200. The lower ends of the cutter head 430 and the connecting shaft 300 have a certain distance between them. Of course, the lower end of the connecting shaft 300 can also roll against the ground to reflect changes in terrain in real time, thereby dynamically adjusting the height of the cutter head 430 off the ground. In this case, the air pressure in the air cylinder 200 is always greater than the external air pressure. Alternatively, the cutter head 430 can be rotatably connected to the connecting shaft 300, meaning the connecting shaft 300 only slides up and down while the cutter head 430 rotates relative to the connecting shaft 300 to cut vegetation; or the connecting shaft 300 and the cutter head 430 can be fixedly connected, with the connecting shaft 300 and the cutter head 430 rotating synchronously. Correspondingly, this could be a partial rotation of the connecting shaft 300 or the entire connecting shaft 300 rotating. Here, the axial, circumferential, radial, and other directional descriptions used in this embodiment and the embodiments below refer to the axial direction of the connecting shaft 300. For the case where the outdoor robot is configured as an intelligent lawnmower, the axial direction of the connecting shaft 300 is also vertical.

[0043] In one embodiment, please refer to Figure 1 and Figure 2The air cylinder 200 has a sliding port 240 at its lower end. The connecting shaft 300 includes a first piston 330, a shaft body 310, and a connecting rod 320. The first piston 330 is slidably inserted into the air cylinder 200. The first piston 330 and the connecting shaft 300 are respectively located at opposite ends of the connecting rod 320, and the connecting rod 320 slidably passes through the sliding port 240. It should be noted that the diameter of the connecting rod 320 is smaller than the diameter of the shaft body 310, that is, the diameter of the sliding port 240 is smaller than the inner diameter of the air cylinder 200. This means that the first piston 330 is slidably disposed inside the air cylinder 200, while the shaft body 310 is vertically and synchronously located outside the air cylinder 200. Thus, when the cutter head 430 encounters an obstacle or a sudden change in terrain during outdoor robot operation, the shaft body 310 will receive a reaction force from below, which will be transmitted to the first piston 330 through the connecting rod 320. Since the first piston 330 is slidably disposed inside the air cylinder 200 and can move freely vertically within the air cylinder 200, it compresses the air inside the air cylinder 200, thereby increasing the air pressure inside the air cylinder 200. Once the upper end of the first piston 330 reaches a predetermined gap with the inner wall of the air cylinder 200, the first piston 330 stops moving upwards due to the pressure difference between the inside and outside of the air cylinder 200, thus achieving automatic obstacle avoidance by the cutter head 430. After the shaft body 310 disengages from the obstacle, the high air pressure inside the air cylinder 200 pushes the connecting shaft 300 downwards to reset, thus achieving flexible floating control of the cutter head 430. Furthermore, the vertical sliding of the connecting rod 320 at the sliding port 240 and the vertical sliding of the first piston 330 within the air cylinder 200 allow for sliding guidance at different diameter positions, reducing the risk of the cutter head 430 shaking due to the wobbling of the connecting shaft 300. Meanwhile, the sliding port 240 also restricts the first piston 330 from disengaging from the air cylinder 200, and also creates a limit position for the downward movement of the cutter head 430, preventing the cutter head 430 from getting stuck at the bottom during normal use. Of course, in other embodiments, the connecting shaft 300 can also be configured as a rod with a uniform diameter and slidably inserted into the air cylinder 200, while the lower end of the connecting shaft 300 rolls against the ground.

[0044] Furthermore, in this embodiment, please refer to Figure 1 and Figure 2The air cylinder 200 is provided with a limiting flange 250 corresponding to the periphery of the sliding port 240. The limiting flange 250 protrudes into the air cylinder 200. It can be understood that the limiting flange 250 forms an annular protrusion structure around the periphery of the sliding port 240. On the one hand, it limits the downward stroke of the connecting rod 320. For example, when the connecting shaft 300 moves downward, the first piston 330 slides in the air cylinder 200 until it abuts against the limiting flange 250, and then moves to the limit position. On the other hand, after the first piston 330 abuts against the limiting flange 250, there is a gap between the first piston 330 and the lower sidewall of the air cylinder 200, which prevents the first piston 330 from tightly abutting against the lower sidewall of the air cylinder 200 to form a vacuum, thus affecting the floating of the connecting shaft 300 in the air cylinder 200. In addition, the limiting flange 250 also provides a relatively long wrapping effect on the outer periphery of the connecting rod 320 in the vertical direction, guiding the connecting rod 320 to slide vertically, thereby reducing the risk of the cutter head 430 shaking due to the wobble of the connecting shaft 300. Of course, in other embodiments, in addition to the sliding port 240, a vent hole can also be provided on the lower side wall of the air cylinder 200. When the first piston 330 abuts against the lower side wall inside the air cylinder 200, it can move upward more easily, ensuring the floating stability of the connecting shaft 300.

[0045] Correspondingly, in one embodiment, please refer to Figure 1 and Figure 2 The diameter of the shaft body 310 is larger than the diameter of the air cylinder 200. It is understandable that when the cutter head 430 encounters an obstacle or a sudden change in terrain, the shaft body 310 will be subjected to a force from the ground, causing the connecting shaft 300 structure to move upwards. At this time, because the diameter of the shaft body 310 is larger than that of the air cylinder 200, it will naturally abut against the lower end face of the air cylinder 200 or the edge area of ​​the sliding port 240, forming a mechanical barrier to prevent the connecting shaft 300 from being excessively lifted or even damaging the air cylinder 200. Thus, there is no need to set an additional limiting structure to restrict the upward stroke of the connecting shaft 300, thereby ensuring the sliding stability of the first piston 330 within the air cylinder 200. Without loss of generality, the lower periphery of the air cylinder 200 is protruding, and the shaft body 310 abuts against this protruding structure to prevent the shaft body 310 from tightly fitting against the lower outer side of the air cylinder 200, thus avoiding a vacuum and affecting the floating of the connecting shaft 300 within the air cylinder 200. Of course, in other embodiments, in addition to the sliding port 240, a vent hole can also be provided on the lower side wall of the air cylinder 200. When the shaft body 310 abuts against the lower side wall outside the air cylinder 200, it can move downwards more easily, ensuring the floating stability of the connecting shaft 300.

[0046] To reduce the height occupied by the tool turret floating device, in one embodiment, please refer to... Figure 1 and Figure 2The air cylinder 200 includes a first section 210 and a second section 220. A connecting shaft 300 is slidably connected to the first section 210, and the second section 220 communicates with the end of the first section 210 away from the connecting shaft 300. The second section 220 and the first section 210 are intersecting, or at least staggered in the vertical direction. It can be understood that the first section 210 serves as an installation channel for the connecting shaft 300, and its interior forms a sliding cavity to accommodate and guide the vertical movement of the connecting shaft 300. The second section 220 and the first section 210 are internally connected through a connecting channel or directly at their ends, thus forming a single, adjustable air pressure space. During the mowing operation of the blade 430, when the connecting shaft 300 is subjected to a force from below, the connecting shaft 300 moves upward relative to the first cylinder section 210, causing a change in the internal air pressure of the first cylinder section 210. Since the first cylinder section 210 and the second cylinder section 220 are internally connected, gas can flow between the two cylinder sections, thereby achieving dynamic balance and buffer regulation of air pressure. Thus, the first cylinder section 210 and the second cylinder section 220 intersect or partially intersect, giving the air cylinder 200 a larger effective volume, which helps improve the sensitivity of air pressure regulation and the controllability of the floating stroke, thereby achieving a more precise height adjustment function for the blade 430. At the same time, compared to a single straight-tube air cylinder 200, it shortens the vertical space required, which helps reduce the vertical space occupied by the air cylinder 200, making it easier to integrate into the chassis structure of outdoor robots, adapting to the installation requirements of different models, and improving versatility and adaptability. Of course, in other embodiments, the air cylinder 200 can also be configured as a single vertically extending cylinder.

[0047] Furthermore, in this embodiment, please refer to Figure 1 and Figure 2The air cylinder 200 also includes a connecting cylinder section 230 that connects the first cylinder section 210 and the second cylinder section 220. The diameter of the connecting cylinder section 230 is smaller than the diameters of the first cylinder section 210 and the second cylinder section 220, and the connecting cylinder section 230 is located at the upper end of the first cylinder section 210. It can be understood that during the grass-cutting operation of the cutter head 430, when the connecting shaft 300 is moved upward by an external force, it drives the first piston 330 to move upward within the first cylinder section 210, causing the air pressure within the first cylinder section 210 to increase. At this time, the gas will flow through the connecting cylinder section 230 to the second cylinder section 220, thereby achieving pressure balance between the two cylinder sections. Due to the smaller diameter of the connecting cylinder section 230, the gas will experience a certain throttling resistance during flow, effectively slowing down the rate of air pressure change and preventing the connecting shaft 300 from rapidly rebounding or oscillating during floating. This makes the floating process more stable and the response more controllable, thus avoiding instability in the connecting shaft 300 due to sudden increases or decreases in local air pressure. Furthermore, positioning the connecting cylinder section 230 at the upper end of the first cylinder section 210 helps to increase the sliding stroke of the connecting shaft 300 within the first cylinder section 210, ensuring the floating range of the cutter head 430 and reducing the interference of the connecting shaft 300 on the gas flowing through the connecting cylinder section 230. Of course, in other embodiments, the first cylinder section 210, the second cylinder section 220, and the connecting cylinder section 230 can also be configured as channel cylinders with a uniform diameter.

[0048] In one embodiment, please refer to Figure 1 and Figure 2The second cylindrical section 220 is equipped with a second piston 260 and an elastic element 270. The second piston 260 slides against the inner circumference of the second cylindrical section 220. In the extension direction of the channel within the air cylinder 200, the elastic element 270 is located on the side of the second piston 260 away from the connecting shaft 300. The opposite ends of the elastic element 270 are respectively connected to the opposite sides of the second piston 260 and the second cylindrical section 220, and can elastically deform along the axial direction of the second cylindrical section 220. It can be understood that when the cutter head 430 encounters an obstacle and floats upward, the connecting shaft 300 drives the first piston 330 to move upward, causing the air pressure in the first cylindrical section 210 to increase, thereby pushing the gas into the second cylindrical section 220 through the connecting section 230. At this time, the second piston 260 is subjected to air pressure and moves downward synchronously, compressing the elastic element 270, causing it to accumulate a certain amount of elastic potential energy. Once the external obstacle disappears, the elastic element 270 releases energy, pushing the second piston 260 upwards to reset, simultaneously causing the air cylinder 200 and connecting shaft 300 to return to their initial states, thus achieving the automatic return function of the cutter head 430. In this way, the elastic cooperation between the elastic element 270 and the second piston 260, and the second cylinder section 220 not only serving as an auxiliary air chamber but also participating in float control, ensures the stability of the floating of the cutter head 430 pulled by the connecting shaft 300. Simultaneously, during obstacle avoidance by the cutter head 430, the elastic element 270 can absorb some impact energy, reducing the severity of the floating motion. Furthermore, the combination of the second piston 260 and the elastic element 270 creates a dual resistance mechanism during the floating process of the connecting shaft 300—that is, the combined action of air pressure resistance and elastic resistance—making the floating process of the cutter head 430 more stable and controllable, effectively preventing rebound or overshoot caused by excessive inertia. Of course, in other embodiments, the second cylindrical section 220 may also be located above the first cylindrical section 210, and a spring may be sandwiched between the upper sidewall of the second piston 260 and the inner sidewall of the second cylindrical section 220.

[0049] In one embodiment, please refer to Figure 1 and Figure 2 The air cylinder 200 is filled with compressed air, the pressure of which is greater than 1 standard atmosphere and less than 1.2 standard atmospheres. Specifically, after assembly, compressed air is injected into the air cylinder 200 through the air inlet, and the air pressure is adjusted to be greater than 1 standard atmosphere and less than 1.2 standard atmospheres. When the connecting shaft 300 is subjected to an external force and moves up and down, the gas inside the air cylinder 200 is compressed or expanded accordingly, resulting in a corresponding change in air pressure. This hinders the upward movement of the connecting shaft 300 or pushes it downward, achieving adaptive floating control of the cutter head 430. Thus, since the initial air pressure is slightly higher than the external atmospheric pressure (i.e., 1.0 to 1.2 standard atmospheres), the reverse thrust generated during the compression process can quickly respond to the upward movement of the connecting shaft 300, forming a certain damping effect. This allows the cutter head 430 to maintain good posture stability and motion controllability while avoiding obstacles.

[0050] In one embodiment, please refer to Figure 3 and Figure 5 The lower end of the connecting shaft 300 is connected to a support wheel 700 that rolls against the ground. The support wheel 700 at the lower end of the connecting shaft 300 rolls against the ground, allowing the cutting disc 430 lifting mechanism to sense changes in ground surface undulations in real time and feed the terrain information back to the connecting shaft 300 and the entire cutting disc 430 lifting mechanism. Thus, because the support wheel 700 is always in contact with the ground and moves the connecting shaft 300 vertically according to changes in ground elevation, the height of the cutting disc 430 is dynamically adjusted, avoiding inconsistent cutting depth due to uneven ground and improving the quality of mowing operations. At least one support wheel 700 is fixedly connected to the lower end of the connecting shaft 300. The support wheel 700 can rotate freely around its own axis, and if configured as a swivel wheel, it is always in contact with the ground, providing auxiliary support and guidance during the robot's movement. Furthermore, based on the above description regarding the compressed air filling the air cylinder 200, the compressed air within the air cylinder 200 exerts downward pressure on the connecting shaft 300, ensuring the stability of the rolling contact between the support wheel 700 and the ground, thereby ensuring the uniformity of the cutting height of the cutter head 430 on the vegetation. Of course, in other embodiments, the air pressure within the air cylinder 200 can be limited to between 0.8 and 1.2 atmospheres, and the distance between the connecting shaft 300 and the ground can be limited, thereby ensuring the stability of the floating motion of the cutter head 430.

[0051] In one embodiment, please refer to Figure 3 and Figure 4The outdoor robot also includes a rotating drive component 501 disposed on the main body 100. A rotating cylinder 400 is connected to a cutter head 430. The cutter head 430 and the rotating cylinder 400 are rotatably sleeved on a connecting shaft 300. A transmission ring 410 is provided around the outer periphery of the rotating cylinder 400. A transmission wheel 502 is provided at the output end of the rotating drive component 501. The transmission wheel 502 and the transmission ring 410 are connected in a transmission manner, and at least one of them extends along the axial direction of the connecting shaft 300. It can be understood that the transmission ring 410 and / or the transmission wheel 502 have a certain extension length along the axial direction of the connecting shaft 300. When the transmission wheel 502 and the transmission ring 410 are connected in a transmission manner, when the rotating cylinder 400 slides along the axial direction with the connecting shaft 300, the transmission wheel 502 and the transmission ring 410 can still maintain a transmission connection, ensuring that the power of the rotating drive component 501 can be continuously and stably transmitted to the cutter head 430 to drive the cutter head 430 to rotate stably. In other words, the transmission wheel 502 and the transmission ring 410 form a transmission connection that can transmit torque in the circumferential direction while allowing them to slide relative to each other in the axial direction. Thus, when the outdoor robot travels on uneven terrain, the connecting shaft 300 will float due to the undulations in the ground, thereby driving the rotating cylinder 400 to move axially along the connecting shaft 300. At this time, due to the axial sliding connection between the transmission wheel 502 and the transmission ring 410, the cutter head 430 can float freely with the connecting shaft 300 while maintaining its rotation, without interrupting the power transmission between the rotation drive 501 and the cutter head 430, and without causing the transmission ring 410 and transmission wheel 502 to jam or disengage due to changes in height. The transmission ring 410 can be configured as an external gear ring, and the transmission wheel 502 can be configured as an output gear. The external gear ring and the output gear mesh with each other. In other embodiments, the transmission ring 410 can also be configured as a magnetic wheel, and the transmission wheel 502 can also be configured as a magnetic wheel. At least one of the two magnetic wheels extends axially to cover the sliding range of the rotating cylinder 400 in the axial direction.

[0052] In one embodiment, please refer to Figure 3 and Figure 4The cutter head floating device also includes a lifting assembly 600 connected to the connecting shaft 300. The cutter head 430 and the rotating cylinder 400 are vertically slidably sleeved on the connecting shaft 300. A support ring 420 is also provided around the outer periphery of the rotating cylinder 400. The output end of the lifting assembly 600 can generate vertical displacement and slide against the lower side of the support ring 420. Without loss of generality, the lifting assembly 600 includes a lifting drive and a movable part. The movable part can be configured as an eccentric wheel or a telescopic rod. The lifting drive drives the movable part to move against the lower side of the support ring 420 and is connected to the connecting shaft 300. The movable part generates vertical displacement under the action of the lifting drive, thereby pushing the support ring 420 to generate vertical displacement, thus changing the vertical position of the cutter head. In this way, when the connecting shaft 300 floats up and down, the lifting assembly 600 and the rotating cylinder 400 can float synchronously with the connecting shaft 300. That is, while the connecting shaft 300 floats, the cutter head 430 also floats synchronously, and the height of the cutter head 430 can be flexibly adjusted by the lifting component 600.

[0053] This utility model also proposes an intelligent lawnmower, which includes a blade floating device. The specific structure of the blade floating device is as described in the above embodiments. Since this intelligent lawnmower adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here. The outdoor robot is configured as the intelligent lawnmower in this embodiment.

[0054] The above description is merely an exemplary embodiment of the present utility model and does not limit the scope of protection of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the scope of protection of the present utility model.

Claims

1. A blade turret floating device, characterized in that, Applied to outdoor robots, the outdoor robot includes a main body, and the bladeless floating device includes: An air cylinder connected to the main body of the device, the air cylinder extending vertically; and A connecting shaft with a cutter head is provided. The upper end of the connecting shaft is inserted into the air cylinder and can generate vertical relative displacement. The outer periphery of the connecting shaft and the inner periphery of the air cylinder slide against each other. Under the pressure difference between the inside and outside of the air cylinder, the upper end of the connecting shaft and the upper side wall inside the air cylinder have a sliding gap.

2. The floating cutter head device as described in claim 1, characterized in that, The lower end of the air cylinder has a sliding port. The connecting shaft includes a first piston, a shaft body and a connecting rod. The first piston is slidably inserted into the air cylinder. The first piston and the connecting shaft are respectively located at opposite ends of the connecting rod. The connecting rod slidably passes through the sliding port.

3. The blade floating device as described in claim 2, characterized in that, The air cylinder is provided with a limiting flange at the periphery of the sliding port, and the limiting flange protrudes into the air cylinder. And / or, the diameter of the shaft body is larger than the diameter of the air cylinder.

4. The blade floating device as described in claim 1, characterized in that, The air cylinder includes a first cylinder section and a second cylinder section. The connecting shaft is slidably connected to the first cylinder section. The second cylinder section is connected to the end of the first cylinder section away from the connecting shaft. The second cylinder section and the first cylinder section are intersecting or at least staggered in the vertical direction.

5. The blade floating device as described in claim 4, characterized in that, The air cylinder also includes a connecting cylinder section that connects the first cylinder section and the second cylinder section. The diameter of the connecting cylinder section is smaller than the diameters of the first cylinder section and the second cylinder section, and the connecting cylinder section is located at the upper end of the first cylinder section.

6. The blade floating device as described in claim 4, characterized in that, The second cylinder section is provided with a second piston and an elastic element. The second piston slides against the inner circumference of the second cylinder section. In the extension direction of the air cylinder channel, the elastic element is located on the side of the second piston away from the connecting shaft. The opposite ends of the elastic element are respectively connected to the opposite sides of the second piston and the second cylinder section, and can elastically deform along the axial direction of the second cylinder section.

7. The blade floating device as described in any one of claims 1 to 6, characterized in that, The air cylinder is filled with compressed air, and the pressure of the compressed air is greater than 1 standard atmosphere and less than 1.2 standard atmospheres. And / or, the lower end of the connecting shaft is connected to a support wheel that rolls against the ground.

8. The bladeless turret floating device as described in any one of claims 1 to 6, characterized in that, The outdoor robot also includes a rotating drive unit disposed on the main body of the device. The cutter head is connected to a rotating cylinder. The cutter head and the rotating cylinder are rotatably sleeved on the connecting shaft. A transmission ring is provided around the outer periphery of the rotating cylinder. A transmission wheel is provided at the output end of the rotating drive unit. The transmission wheel and the transmission ring are connected in a transmission manner, and at least one of them extends along the axial direction of the connecting shaft.

9. The blade floating device as described in claim 8, characterized in that, The floating cutter head device also includes a lifting assembly connected to the connecting shaft. The cutter head and the rotating cylinder are slidably sleeved on the connecting shaft along the vertical direction. A support ring is also provided around the outer periphery of the rotating cylinder. The output end of the lifting assembly can generate vertical displacement and slide against the lower side of the support ring.

10. A smart lawnmower, characterized in that, Includes the cutterhead floating device as described in any one of claims 1 to 9.

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