Cutting mechanism and self-moving device

Abstract

The application relates to the technical field of lawn mowers, and provides a cutting mechanism and a self-moving device. The cutting mechanism comprises a lifting platform, a first floating assembly, a cutting assembly and a second floating assembly. The first floating assembly is rotationally connected with the lifting platform. The cutting assembly is rotationally connected with the first floating assembly and at least partially located below the lifting platform. The cutting assembly can be moved upward by a first distance value relative to the lifting platform when subjected to external force. The second floating assembly is configured to be rotationally connected with a device body of the self-moving device. The lifting platform is rotationally connected with the second floating assembly, and the second floating assembly is at least partially located above the lifting platform. The cutting assembly can be sequentially moved upward by the first distance value and a second distance value when subjected to external force. The second distance value is a distance value by which the cutting assembly is moved upward relative to the lifting platform and the device body. The application has the beneficial effect of realizing self-adaptive adjustment of the cutting height of the cutting mechanism and improving the obstacle avoidance capability of the self-moving device.

Description

Technical Field

[0001] This application relates to the field of lawnmower technology, and more specifically, to a cutting mechanism and a self-moving device. Background Technology

[0002] To meet different mowing height requirements, self-propelled lawnmowers are equipped with lifting mechanisms to manually or automatically change the ground clearance of the mowing mechanism.

[0003] In related technologies, once the mowing height of the lawnmower is set via the lifting mechanism, the height of the cutting disc from the ground is fixed and cannot be adaptively adjusted. When the self-propelled lawnmower encounters a locally protruding obstacle, the cutting disc will collide with the obstacle, damaging the disc; when it encounters a locally concave surface, the cutting disc will float over the surface, resulting in missed mowing areas. Utility Model Content

[0004] In view of this, this application provides a cutting mechanism and a self-moving device to solve the technical problem that the lifting mechanism of a self-moving lawnmower is difficult to adaptively adjust the cutting height.

[0005] One embodiment of this application provides a cutting mechanism applied to a self-moving device. The cutting mechanism includes a lifting platform, a first floating component, a cutting component, and a second floating component. The first floating component is rotatably connected to the lifting platform. The cutting component is rotatably connected to the first floating component and is at least partially located below the lifting platform. When subjected to an external force, the cutting component can move upward relative to the lifting platform by a first distance. The second floating component is configured to be rotatably connected to the main body of the self-moving device. The lifting platform is rotatably connected to the second floating component, and the second floating component is at least partially located above the lifting platform. When subjected to an external force, the cutting component can sequentially move upward by a first distance and a second distance. The second distance is the distance by which the cutting component and the lifting platform move upward relative to the main body of the device. The lifting platform can cause the first and second floating components to rise and fall relative to the main body of the device to adjust the cutting height of the cutting component.

[0006] When the self-moving device operates on uneven ground, if the cutting component encounters a local protrusion or obstacle, it can move upwards by a first distance value under the action of the first floating component to avoid a hard collision between the cutting component and the ground. When the first distance value is insufficient for avoidance, the second floating component allows the cutting component and the lifting platform to continue moving upwards relative to the main body of the device by a second distance value, achieving further avoidance. The cutting mechanism of this application enables the cutting component to float twice relative to the main body of the device through the first floating component, the lifting platform, and the second floating component. This achieves adaptive adjustment of the cutting height of the cutting mechanism, improves the obstacle avoidance capability of the self-moving device, its adaptability to different terrains, and the cutting quality, and also reduces the risk of damage caused by a hard collision between the cutting component and the ground.

[0007] In some embodiments, a first floating component is rotatably connected to the bottom of the lifting platform. A second floating component is rotatably connected to the top of the lifting platform.

[0008] The cutting mechanism rotatably connects the first floating component to the bottom of the lifting platform and the second floating component to the top of the lifting platform. When subjected to external forces, the cutting component first floats upwards relative to the lifting platform by a first distance, and then floats upwards relative to the main body of the equipment by a second distance via the second floating component. This creates a progressively buffered floating effect, effectively preventing the cutting component from directly transmitting the impact force to the lifting platform and the main body of the equipment when encountering obstacles on the ground. This reduces the risk of damage to the main body of the equipment and the lifting mechanism, while also improving the adaptability and safety of the cutting component in complex terrain. Furthermore, by using the lifting platform to raise and lower the first and second floating components, the cutting height can be flexibly adjusted while ensuring the buffering and shock absorption effect, thus improving the stability of the cutting effect.

[0009] In some embodiments, the cutting mechanism further includes a first elastic element. The first elastic element is disposed between the first floating assembly and the lifting platform. The first elastic element is used to apply a first elastic force toward the lifting platform to the cutting assembly to counteract at least a portion of the weight of the cutting assembly, so that the cutting assembly can move upward relative to the lifting platform by a first distance when subjected to an external force less than its own weight.

[0010] By placing a first elastic element between the first floating component and the lifting platform, and applying a first elastic force towards the lifting platform to the cutting component, the cutting component can float upwards relative to the lifting platform when subjected to an external force less than its own weight. This reduces the thrust required for the cutting component to move upwards, allowing it to respond more quickly to external impacts. When encountering obstacles on the ground, the first floating component can rise promptly to avoid the impact force from the obstacle acting directly on the cutting component, providing a buffer for its lifting. After clearing the obstacle, the cutting component, no longer subjected to external force, will move downwards. The first elastic element will buffer the descent of the cutting component, effectively reducing the impact on other components of the cutting mechanism caused by the rapid descent after the cutting component loses its propulsion. The first elastic element can improve the impact resistance and service life of the cutting mechanism, while also enhancing the stability and safety of the cutting component's operation.

[0011] In some embodiments, the cutting mechanism further includes a second elastic element. The second elastic element is disposed between the second floating assembly and the lifting platform. The second elastic element is used to apply a second elastic force toward the equipment body to the lifting platform to counteract at least a portion of the lifting platform's own weight, such that the lifting platform can move upward relative to the equipment body by a second distance value when subjected to an external force less than its own weight.

[0012] By installing a second elastic element between the second floating component and the lifting platform, and applying a second elastic force towards the main body of the equipment to the lifting platform, the lifting platform can float upward relative to the main body of the equipment when subjected to an external force less than its own weight. This reduces the thrust required for the lifting platform to move upward, allowing it to respond more quickly to external impacts. When the cutting component has moved upward a first distance and is subjected to a greater external force, the second floating component can promptly drive the lifting platform, the first floating component, and the cutting component upward a second distance, providing a buffer for the lifting platform's ascent. After successfully overcoming the obstacle, the cutting component is no longer subjected to external force, and the lifting platform moves downward. The second elastic element provides a buffer for the platform's descent, effectively reducing the impact on other components of the cutting mechanism caused by the rapid descent after the platform loses its external thrust. The second elastic element further enhances the cutting mechanism's impact resistance and service life, while also improving the stability and safety of the cutting component's operation.

[0013] In some embodiments, the first elastic element and the second elastic element are tension springs.

[0014] In some embodiments, the first floating assembly includes a first fixed base, a first connecting rod, and a second connecting rod. The first fixed base is disposed on and connected to the lifting platform. One end of the first connecting rod is rotatably connected to the first fixed base, and the other end of the first connecting rod is rotatably connected to the cutting assembly. The second connecting rod is parallel to and spaced apart from the first connecting rod. One end of the second connecting rod is rotatably connected to the first fixed base, and the other end of the second connecting rod is rotatably connected to the cutting assembly.

[0015] The two ends of the first link can form two revolute joints with the first fixed seat and the cutting assembly, respectively. The two ends of the second link can also form two revolute joints with the first fixed seat and the cutting assembly, respectively. The first and second links are arranged parallel and spaced apart. The four revolute joints can form a parallelogram linkage mechanism. When the cutting assembly is subjected to an external force or is no longer subjected to an external force, the first and second links rotate synchronously with the first fixed seat at the same angle, thereby driving the cutting assembly to rise and fall relative to the lifting platform.

[0016] In some embodiments, the first link and the second link have identical structures, each including two first hinge portions, two second hinge portions, and a receiving groove. The cutting assembly passes through the receiving groove. The two first hinge portions are located on both sides of the cutting assembly and are rotatably connected to them respectively. The two second hinge portions are rotatably connected to the side walls of the first fixed seat respectively.

[0017] The two first hinged portions of the first connecting rod are located on both sides of the cutting assembly, and the two second hinged portions are rotatably connected to the two side walls of the first fixed seat, making the first connecting rod symmetrical with respect to the cutting assembly. Furthermore, the first connecting rod and the second connecting rod have the same structure, enabling standardization and modularization of the third connecting rod manufacturing, thus reducing production costs. The accommodating groove prevents the cutting assembly from detaching from the first and second connecting rods, improving the stability of the connection between the first floating assembly and the cutting assembly.

[0018] In some embodiments, the second floating assembly includes a second fixed base, a third link, and a fourth link. The second fixed base is disposed on and connected to the main body of the equipment. One end of the third link is rotatably connected to the second fixed base, and the other end of the third link is rotatably connected to the lifting platform. The fourth link is parallel to and spaced apart from the third link. One end of the fourth link is rotatably connected to the second fixed base, and the other end of the fourth link is rotatably connected to the lifting platform.

[0019] The two ends of the third link can form two revolute joints with the second fixed seat and the equipment body, respectively. The two ends of the fourth link can also form two revolute joints with the second fixed seat and the equipment body, respectively. The third and fourth links are arranged in parallel and spaced apart. The four revolute joints can form a parallelogram linkage mechanism. When the lifting platform is subjected to external force or no longer subjected to external force, the third and fourth links rotate synchronously with the equipment body at the same angle, thereby driving the lifting platform, the first floating component, and the cutting component to rise and fall together with the equipment body.

[0020] In some embodiments, the third link and the fourth link have the same structure, and both include two third hinge portions and two fourth hinge portions. The two third hinge portions are rotatably connected to the lifting platform, respectively. The two fourth hinge portions are rotatably connected to the two side walls of the second fixed seat, respectively.

[0021] The two third hinge parts of the third link are rotatably connected to the lifting platform, and the two fourth hinge parts are rotatably connected to the two side walls of the second fixed seat. This makes the third link symmetrical with respect to the lifting platform. Moreover, the third link and the fourth link have the same structure, which can realize the standardization and modularization of the manufacturing of the third link and reduce the production cost.

[0022] In some embodiments, the number of cutting components is multiple. All cutting components are located below the lifting platform.

[0023] Multiple cutting components can improve the efficiency of self-moving equipment.

[0024] In some embodiments, the cutting mechanism further includes a drive assembly. The drive assembly is drively connected to the lifting platform to drive the lifting platform to rise and fall relative to the main body of the equipment.

[0025] The lifting platform is raised or lowered relative to the main body of the equipment through a drive component. The second distance value can be adjusted according to actual conditions and needs, further improving the applicability of the cutting mechanism.

[0026] In some embodiments, the drive assembly includes a motor, a transmission structure, and a pull rope. One end of the transmission structure is connected to the motor, and the other end is connected to the pull rope. The pull rope is connected to the lifting platform.

[0027] One embodiment of this application provides a self-moving device. The self-moving device includes a device body and a cutting mechanism as described in any of the above embodiments. The cutting mechanism is at least partially disposed at the bottom of the device body. Attached Figure Description

[0028] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation on the scope.

[0029] Figure 1 This is a schematic diagram of the structure of a cutting mechanism provided in one embodiment of this application; Figure 2 This is a schematic diagram of the connection between the first floating component and the cutting component provided in an embodiment of this application; Figure 3 This is a schematic diagram of the cutting mechanism provided in one embodiment of the present application from another angle; Figure 4 This is a schematic diagram of the cutting mechanism provided in another embodiment of this application; Figure 5 This is a schematic diagram of the cutting component in one embodiment of this application when it is not subjected to external force; Figure 6 This is a schematic diagram showing the cutting component rising relative to the lifting platform in one embodiment of this application; Figure 7 This is a schematic diagram of the cutting mechanism in one embodiment of this application when it is not subjected to external force; Figure 8 This is a schematic diagram showing the cutting mechanism rising relative to the main body of the equipment in one embodiment of this application; Figure 9 This is a schematic diagram of a self-moving device provided in an embodiment of this application.

[0030] Explanation of key component symbols: 100. Cutting mechanism; 1. Lifting platform; 2. First floating component; 21. First connecting rod; 22. Second connecting rod; 23. First fixed seat; 201. First hinge part; 202. Second hinge part; 203. Receiving groove; 3. Cutting component; 31. Cutting blade; 301. First cutting component; 302. Second cutting component; 303. Third cutting component; 4. Second floating component; 41. Third connecting rod; 42. Fourth connecting rod; 43. Second fixed seat; 401. Third hinge part; 402. Fourth hinge part; 51. First stop part; 52. Second stop part; 61. First elastic element; 62. Second elastic element; 71. Pull rope; 8. Connecting seat; 81. Seat body; 82. Cover body; 83. Connector; 200. Self-moving device. Detailed Implementation

[0031] The technical solutions of the embodiments of this application will be described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0033] The terms “first,” “second,” “third,” and “fourth” are used for descriptive purposes only and should not be interpreted as indicating or implying relative importance.

[0034] The term "parallel" is used to describe an ideal state between two components. In actual production or use, two components can exist in a state that is approximately parallel. The two components described as "parallel" do not have to be absolute straight lines or planes, but can be approximately straight lines or planes. From a macroscopic perspective, if the overall direction of extension is a straight line or plane, the component can be considered a "straight line" or "plane".

[0035] It should be noted that when a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be an intervening component present. When a component is considered to be "located" on another component, it can be directly located on the other component or there may be an intervening component present.

[0036] This application provides a cutting mechanism applied to a self-moving device. The cutting mechanism includes a lifting platform, a first floating component, a cutting component, and a second floating component. The first floating component is rotatably connected to the lifting platform. The cutting component is rotatably connected to the first floating component and is at least partially located below the lifting platform. When subjected to an external force, the cutting component can move upward relative to the lifting platform by a first distance. The second floating component is configured to be rotatably connected to the main body of the self-moving device. The lifting platform is rotatably connected to the second floating component, and the second floating component is at least partially located above the lifting platform. When subjected to an external force, the cutting component can sequentially move upward by a first distance and then by a second distance. The second distance is the distance by which the cutting component and the lifting platform move upward relative to the main body of the device. The lifting platform can cause the first and second floating components to rise and fall relative to the main body of the device to adjust the cutting height of the cutting component.

[0037] When the self-moving device operates on uneven ground, if the cutting component encounters a local protrusion or obstacle, it can move upwards by a first distance value under the action of the first floating component to avoid a hard collision between the cutting component and the ground. When the first distance value is insufficient for avoidance, the second floating component allows the cutting component and the lifting platform to continue moving upwards relative to the main body of the device by a second distance value, achieving further avoidance. The cutting mechanism of this application enables the cutting component to float twice relative to the main body of the device through the first floating component, the lifting platform, and the second floating component. This achieves adaptive adjustment of the cutting height of the cutting mechanism, improves the obstacle avoidance capability of the self-moving device, its adaptability to different terrains, and the cutting quality, and also reduces the risk of damage caused by a hard collision between the cutting component and the ground.

[0038] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0039] Please see Figure 1 One embodiment of this application provides a cutting mechanism 100 applied to a self-moving device 200. For ease of understanding and explanation, this embodiment uses a lawnmower robot as an example of the self-moving device 200. The cutting mechanism 100 includes a lifting platform 1, a first floating component 2, a cutting component 3, and a second floating component 4. The first floating component 2 is rotatably connected to the lifting platform 1. The cutting component 3 is rotatably connected to the first floating component 2 and is at least partially located below the lifting platform 1. When subjected to an external force, the cutting component 3 can move upward relative to the lifting platform 1 by a first distance value. The second floating component 4 is configured to be rotatably connected to the main body of the self-moving device 200. The lifting platform 1 is rotatably connected to the second floating component 4, and the second floating component 4 is at least partially located above the lifting platform 1. When subjected to an external force, the cutting component 3 can sequentially move upward by a first distance value and a second distance value. The second distance value is the distance by which the cutting component 3 and the lifting platform 1 move upward relative to the main body of the device. The lifting platform 1 can drive the first floating component 2 and the second floating component 4 to rise and fall relative to the main body of the device to adjust the cutting height of the cutting component 3.

[0040] When the self-moving device 200 operates on uneven ground, if the cutting component 3 encounters a local protrusion or obstacle, it can move upward by a first distance value under the action of the first floating component 2 to avoid a hard collision between the cutting component 3 and the ground. When the first distance value is insufficient for avoidance, the second floating component 4 allows the cutting component 3 and the lifting platform 1 to continue moving upward by a second distance value relative to the main body of the device, achieving further avoidance. The cutting mechanism 100 of this application enables the cutting component 3 to float twice relative to the main body of the device through the first floating component 2, the lifting platform 1, and the second floating component 4. This achieves adaptive adjustment of the cutting height of the cutting mechanism 100, improves the obstacle avoidance capability of the self-moving device 200, its adaptability to different terrains, and the cutting quality, and also reduces the risk of damage caused by a hard collision between the cutting component 3 and the ground.

[0041] It needs to be explained here that the lifting platform 1 can drive the second floating component 4 to rise and fall relative to the main body of the equipment. This means that the side of the second floating component 4 closest to the lifting platform 1 rises and falls relative to the main body of the equipment. The part of the second floating component 4 that is rotatably connected to the lifting platform 1 will not rise or fall relative to the main body of the equipment.

[0042] In some embodiments, the first floating component 2 is rotatably connected to the bottom of the lifting platform 1. The second floating component 4 is rotatably connected to the top of the lifting platform 1.

[0043] The cutting mechanism 100 rotatably connects the first floating component 2 to the bottom of the lifting platform 1 and the second floating component 4 to the top of the lifting platform 1. This allows the cutting component 3 to float upwards relative to the lifting platform 1 by a first distance when subjected to external force, and then floats upwards relative to the main body of the equipment by a second distance through the second floating component 4. This creates a progressively buffered floating effect, effectively preventing the cutting component 3 from directly transmitting the impact force to the lifting platform 1 and the main body of the equipment when encountering obstacles on the ground. This reduces the risk of damage to the main body of the equipment and the lifting mechanism, while also improving the adaptability and safety of the cutting component 3 in complex terrain. Furthermore, by using the lifting platform 1 to drive the first floating component 2 and the second floating component 4 to rise and fall, the cutting height can be flexibly adjusted while ensuring the buffering and shock absorption effect, thus improving the stability of the cutting effect.

[0044] Please see Figure 2 In some embodiments, the cutting mechanism 100 further includes a first elastic element 61. The first elastic element 61 is disposed between the first floating component 2 and the lifting platform 1. The first elastic element 61 is used to apply a first elastic force toward the lifting platform 1 to the cutting component 3 to counteract at least a portion of the weight of the cutting component 3, so that the cutting component 3 can move upward relative to the lifting platform 1 by a first distance when subjected to an external force less than its own weight.

[0045] By setting a first elastic element 61 between the first floating component 2 and the lifting platform 1, and applying a first elastic force towards the lifting platform 1 to the cutting component 3, the cutting component 3 can float upward relative to the lifting platform 1 when subjected to an external force less than its own weight. This reduces the thrust required for the cutting component 3 to move upward, allowing it to respond more quickly to external impacts. When encountering obstacles on the ground, the first floating component 2 can rise in time to avoid the impact force from the obstacle acting directly on the cutting component 3, providing a buffer for the lifting of the cutting component 3. After clearing the obstacle, the cutting component 3 is no longer subjected to external force and will move downward. The first elastic element 61 will provide a buffer for the descent of the cutting component 3, effectively reducing the impact on other components of the cutting mechanism 100 caused by the rapid descent of the cutting component 3 after losing the push of external force. The first elastic element 61 can improve the impact resistance and service life of the cutting mechanism 100, and also improve the stability and safety of the cutting component 3 during operation.

[0046] Please see Figure 3 In some embodiments, the cutting mechanism 100 further includes a second elastic element 62. The second elastic element 62 is disposed between the second floating assembly 4 and the lifting platform 1. The second elastic element 62 is used to apply a second elastic force toward the equipment body to the lifting platform 1 to counteract at least a portion of the weight of the lifting platform 1, so that the lifting platform 1 can move upward relative to the equipment body by a second distance value when subjected to an external force less than its own weight.

[0047] By setting a second elastic element 62 between the second floating component 4 and the lifting platform 1, and applying a second elastic force towards the main body of the equipment to the lifting platform 1, the lifting platform 1 can float upward relative to the main body of the equipment when subjected to an external force less than its own weight. This reduces the thrust required for the lifting platform 1 to move upward, allowing it to respond more quickly to external impacts. When the cutting component 3 has moved upward a first distance and is subjected to a greater external force, the second floating component 4 can promptly drive the lifting platform 1, the first floating component 2, and the cutting component 3 upward a second distance, providing a buffer for the lifting platform 1's ascent. After overcoming the obstacle, the cutting component 3 is no longer subjected to external force, and the lifting platform 1 moves downward. The second elastic element 62 provides a buffer for the descent of the lifting platform 1, effectively reducing the impact on other components of the cutting mechanism 100 caused by the rapid descent of the lifting platform 1 after losing external force. The second elastic element 62 can further improve the impact resistance and service life of the cutting mechanism 100, while also improving the stability and safety of the cutting component 3's operation.

[0048] In some embodiments, the number of second elastic elements 62 is two. The two second elastic elements 62 are spaced apart between the second floating assembly 4 and the lifting platform 1.

[0049] In some embodiments, the first elastic element 61 and the second elastic element 62 are tension springs. In this way, the tension springs can always provide tension.

[0050] Please continue reading Figure 2 In some embodiments, the first floating component 2 includes a first fixed base 23, a first connecting rod 21, and a second connecting rod 22. The first fixed base 23 is disposed on and connected to the lifting platform 1. One end of the first connecting rod 21 is rotatably connected to the first fixed base 23, and the other end of the first connecting rod 21 is rotatably connected to the cutting component 3. The second connecting rod 22 is parallel to and spaced apart from the first connecting rod 21. One end of the second connecting rod 22 is rotatably connected to the first fixed base 23, and the other end of the second connecting rod 22 is rotatably connected to the cutting component 3.

[0051] The two ends of the first connecting rod 21 can form two revolute joints with the first fixed seat 23 and the cutting assembly 3, respectively. The two ends of the second connecting rod 22 can also form two revolute joints with the first fixed seat 23 and the cutting assembly 3, respectively. The first connecting rod 21 and the second connecting rod 22 are arranged in parallel and spaced apart. The four revolute joints can form a parallelogram linkage mechanism. When the cutting assembly 3 is subjected to an external force or is no longer subjected to an external force, the first connecting rod 21 and the second connecting rod 22 rotate synchronously with the first fixed seat 23 at the same angle, thereby driving the cutting assembly 3 to rise and fall relative to the lifting platform 1.

[0052] In some embodiments, the first connecting rod 21 and the second connecting rod 22 have the same structure, and each includes two first hinge portions 201, two second hinge portions 202, and a receiving groove 203. The cutting assembly 3 passes through the receiving groove 203. The two first hinge portions 201 are located on both sides of the cutting assembly 3 and are rotatably connected to them respectively. The two second hinge portions 202 are rotatably connected to the two side walls of the first fixed seat 23 respectively. Taking the first connecting rod 21 as an example, the first connecting rod 21 includes two parallel and spaced rods, and the two ends of the rods are the first hinge portion 201 and the second hinge portion 202, respectively. The first connecting rod 21 also includes a rod located between the two parallel and spaced rods, and the three rods are sequentially arranged to form a receiving groove 203 to accommodate the cutting assembly 3.

[0053] The two first hinge portions 201 of the first connecting rod 21 are located on both sides of the cutting assembly 3, and the two second hinge portions 202 are rotatably connected to the two side walls of the first fixed seat 23, making the first connecting rod 21 symmetrical with respect to the cutting assembly 3. Furthermore, the first connecting rod 21 and the second connecting rod 22 have the same structure, enabling standardization and modularization of the manufacturing of the third connecting rod 41, thus reducing production costs. The receiving groove 203 prevents the cutting assembly 3 from detaching from the first connecting rod 21 and the second connecting rod 22, improving the stability of the connection between the first floating assembly 2 and the cutting assembly 3.

[0054] Please see Figure 2 In some embodiments, there are two first elastic elements 61. One end of the first elastic element 61 is connected to the second hinge portion 202 of the first connecting rod 21, and the other end of the first elastic element 61 is connected to the first hinge portion 201 of the second connecting rod 22 on the same side, and the first elastic element 61 is stretched.

[0055] Please see Figure 3 and Figure 4 In some embodiments, the second floating component 4 includes a second fixed base 43, a third connecting rod 41, and a fourth connecting rod 42. The second fixed base 43 is disposed on and connected to the main body of the equipment. One end of the third connecting rod 41 is rotatably connected to the second fixed base 43, and the other end of the third connecting rod 41 is rotatably connected to the lifting platform 1. The fourth connecting rod 42 is parallel to and spaced apart from the third connecting rod 41. One end of the fourth connecting rod 42 is rotatably connected to the second fixed base 43, and the other end of the fourth connecting rod 42 is rotatably connected to the lifting platform 1.

[0056] The two ends of the third link 41 can form two revolute joints with the second fixed seat 43 and the equipment body, respectively. The two ends of the fourth link 42 can also form two revolute joints with the second fixed seat 43 and the equipment body, respectively. The third link 41 and the fourth link 42 are arranged in parallel and spaced apart. The four revolute joints can form a parallelogram linkage mechanism. When the lifting platform 1 is subjected to external force or is no longer subjected to external force, the third link 41 and the fourth link 42 rotate synchronously with respect to the equipment body at the same angle, thereby driving the lifting platform 1, the first floating component 2 and the cutting component 3 to rise and fall together with respect to the equipment body.

[0057] In some embodiments, the third link 41 and the fourth link 42 have the same structure, and both include two third hinge portions 401 and two fourth hinge portions 402. The two third hinge portions 401 are rotatably connected to the lifting platform 1. The two fourth hinge portions 402 are rotatably connected to the two side walls of the second fixed seat 43. Taking the third link 41 as an example, the third link 41 includes two parallel and spaced rods, and the two ends of the rods are the third hinge portion 401 and the fourth hinge portion 402, respectively.

[0058] The two third hinge parts 401 of the third link 41 are rotatably connected to the lifting platform 1, and the two fourth hinge parts 402 are rotatably connected to the two side walls of the second fixed seat 43, so that the third link 41 is symmetrical with respect to the lifting platform 1. Moreover, the third link 41 and the fourth link 42 have the same structure, which can realize the standardization and modularization of the manufacturing of the third link 41 and reduce the cost of production and manufacturing.

[0059] In some embodiments, the cutting mechanism 100 further includes a first limiting structure and / or a second limiting structure. The first limiting structure is configured to be disposed on the lifting platform 1 and / or the equipment body. The first limiting structure includes a first stop portion 51 and a second stop portion 52. When the lifting platform 1 rises relative to the equipment body, the first stop portion 51 stops the lifting platform 1 from continuing to rise relative to the equipment body. When the lifting platform 1 falls relative to the equipment body, the second stop portion 52 stops the lifting platform 1 from continuing to fall relative to the equipment body.

[0060] The second limiting structure is configured to be located on the lifting platform 1 and / or the cutting assembly 3. The second limiting structure includes a third stop and a fourth stop. When the cutting assembly 3 rises relative to the lifting platform 1, the third stop prevents the cutting assembly 3 from continuing to rise relative to the lifting platform 1; when the cutting assembly 3 falls relative to the lifting platform 1, the fourth stop prevents the cutting assembly 3 from continuing to fall relative to the lifting platform 1.

[0061] Depending on the terrain, the lifting height of the cutting assembly 3 relative to the lifting platform 1 can be adjusted by the first stop 51 and the second stop 52, and the lifting height of the lifting platform 1 relative to the main body of the equipment can be adjusted by the third stop and the fourth stop, thereby improving the adaptability of the cutting mechanism 100.

[0062] Please see Figure 2 In some embodiments, the first stop 51 and the second stop 52 are protrusions provided on the first fixing base 23. The third stop and the fourth stop can be provided in the same way.

[0063] In some embodiments, the number of cutting components 3 is multiple. All of the multiple cutting components 3 are located below the lifting platform 1.

[0064] In some embodiments, the number of first floating components 2 is also multiple, and multiple first floating components 2 are rotatably connected to the lifting platform 1, and each cutting component 3 is rotatably connected to one first floating component 2.

[0065] In some embodiments, the number of second floating components 4 can be one or more. The number of lifting platforms 1 can be one or more. At least one lifting platform 1 and one second floating component 4 are rotatably connected.

[0066] Multiple cutting components 3 can improve the working efficiency of the self-moving device 200.

[0067] Please see Figure 3 and Figure 4 In some embodiments, the number of cutting components 3 is three. The number of first floating components 2 is three. Each cutting component 3 is connected to the lifting platform 1 through a first floating component 2. The number of cutting components 3 can be designed according to the size of the self-moving device 200 and the actual cutting requirements, and can be two, three, four, etc., which is not limited in this application.

[0068] Please see Figure 4 In some embodiments, when the number of cutting components 3 is three, the three cutting components 3 are respectively a first cutting component 301, a second cutting component 302, and a third cutting component 303. The main body of the device has a front side and a rear side, with the first cutting component 301 and the second cutting component 302 located on the front side and the third cutting component 303 located on the rear side.

[0069] In some embodiments, the cutting mechanism 100 further includes a drive assembly (not shown). The drive assembly is drively connected to the lifting platform 1 to drive the lifting platform 1 to rise and fall relative to the main body of the equipment.

[0070] The lifting platform 1 is raised or lowered relative to the main body of the equipment through a drive component. The second distance value can be adjusted according to actual conditions and needs, further improving the applicability of the cutting mechanism 100.

[0071] In some embodiments, the drive assembly includes a motor, a transmission structure, and a pull rope 71. One end of the transmission structure is connected to the motor, and the other end of the transmission structure is connected to the pull rope 71. The pull rope 71 is connected to the lifting platform 1.

[0072] When the lifting platform 1 rises relative to the main body of the equipment, the pull rope 71 is wound up and shortened; when the lifting platform 1 descends relative to the main body of the equipment, the pull rope 71 unfolds and lengthens under the gravity of the lifting platform 1, the first floating component 2 and the cutting component 3.

[0073] In some embodiments, the cutting mechanism 100 includes a connecting seat 8. The cutting assembly 3 includes a cutting disc 31 and a drive motor. The connecting seat 8 has a receiving groove, and the drive motor is fixedly disposed in the receiving groove. The drive motor is connected to the cutting disc 31 and is used to drive the cutting disc 31 to rotate to cut grass.

[0074] In some embodiments, the connecting seat 8 includes a seat body 81, a cover 82, and a connector 83. The connector 83 is slidably connected to the side wall of the seat body 81, and the cover 82 is fastened to the seat body 81 to fix the connector 83 to the seat body 81. The first hinge portion 201 of the first link 21 and the first hinge portion 201 of the second link 22 are respectively rotatably connected to the connector 83. The connecting seat 8 can provide an installation position for the first link 21 and the second link 22 to be rotatably connected, without the need to redesign the cutting assembly 3; the drive motor can simply be installed in the receiving groove of the connecting seat 8.

[0075] Please see Figures 5 to 8 , Figure 5 This is a schematic diagram of the cutting component 3 in one embodiment of this application when it is not subjected to external force. Figure 6 This is a schematic diagram of the cutting component 3 rising relative to the lifting platform 1 in one embodiment of this application, with the first fixed seat 23 as the reference. Figure 5 and Figure 6 The height to which the middle cutting component 3 rises is the first distance value. Figure 7 This is a schematic diagram of the cutting mechanism 100 in one embodiment of this application when it is not subjected to external force. Figure 8 This is a schematic diagram of the cutting mechanism 100 rising relative to the main body of the equipment in one embodiment of this application. It can be understood that when there are multiple cutting components 3, only some cutting components 3 may rise and fall relative to the lifting platform 1, or all cutting components 3 may rise and fall relative to the lifting platform 1, and the distance that each cutting component 3 rises relative to the lifting platform 1 may be different.

[0076] Please see Figure 9 One embodiment of this application provides a self-moving device 200. The self-moving device 200 includes a device body and a cutting mechanism 100 as described in any of the above embodiments. The cutting mechanism 100 is at least partially disposed at the bottom of the device body. Since the self-moving device 200 includes all embodiments of the above-described cutting mechanism 100 or all technical solutions of the cutting mechanism 100, it has at least all the beneficial effects brought by all the above embodiments, which will not be described in detail here.

[0077] Furthermore, those skilled in the art should recognize that the above embodiments are merely illustrative of this application and are not intended to limit this application. Any appropriate changes and variations made to the above embodiments within the essential spirit and scope of this application fall within the scope of this application's disclosure.

Claims

1. A cutting mechanism applied to a self-moving device, characterized in that, include: Lifting platform; The first floating component is rotatably connected to the lifting platform; A cutting component is rotatably connected to the first floating component and is at least partially located below the lifting platform. When the cutting component is subjected to an external force, it can move upward relative to the lifting platform by a first distance value. The second floating component is configured to be rotatably connected to the main body of the self-moving device; the lifting platform is rotatably connected to the second floating component and the second floating component is at least partially located above the lifting platform; when the cutting component is subjected to an external force, it can move upward sequentially by a first distance value and a second distance value, the second distance value being the distance by which the cutting component and the lifting platform move upward relative to the main body of the device; The lifting platform can drive the first floating component and the second floating component to rise and fall relative to the main body of the equipment, so as to adjust the cutting height of the cutting component.

2. The cutting mechanism according to claim 1, characterized in that, The first floating component is rotatably connected to the bottom of the lifting platform, and the second floating component is rotatably connected to the top of the lifting platform.

3. The cutting mechanism according to claim 1, characterized in that, The cutting mechanism further includes a first elastic element disposed between the first floating component and the lifting platform. The first elastic element is used to apply a first elastic force toward the lifting platform to the cutting component to offset at least part of the weight of the cutting component, so that the cutting component can move upward relative to the lifting platform by a first distance value when subjected to an external force less than its own weight.

4. The cutting mechanism according to claim 3, characterized in that, The cutting mechanism further includes a second elastic element disposed between the second floating component and the lifting platform. The second elastic element is used to apply a second elastic force toward the main body of the equipment to the lifting platform to counteract at least part of the weight of the lifting platform, so that the lifting platform can move upward relative to the main body of the equipment by the second distance value when subjected to an external force less than its own weight.

5. The cutting mechanism according to claim 4, characterized in that, The first elastic element and the second elastic element are tension springs.

6. The cutting mechanism according to claim 1, characterized in that, The first floating component includes: A first fixed seat is disposed on and connected to the lifting platform; The first connecting rod has one end rotatably connected to the first fixed base and the other end rotatably connected to the cutting assembly; The second link is parallel to and spaced apart from the first link. One end of the second link is rotatably connected to the first fixed base, and the other end of the second link is rotatably connected to the cutting assembly.

7. The cutting mechanism according to claim 6, characterized in that, The first connecting rod and the second connecting rod have the same structure and each includes two first hinge parts, two second hinge parts, and a receiving groove. The cutting assembly passes through the receiving groove. The two first hinge parts are located on both sides of the cutting assembly and are rotatably connected to them respectively. The two second hinge parts are rotatably connected to the two side walls of the first fixed seat respectively.

8. The cutting mechanism according to claim 1, characterized in that, The second floating component includes: The second fixing seat is disposed on and connected to the main body of the device; The third link is rotatably connected at one end to the second fixed seat and at the other end to the lifting platform; The fourth link is parallel to and spaced apart from the third link. One end of the fourth link is rotatably connected to the second fixed seat, and the other end of the fourth link is rotatably connected to the lifting platform.

9. The cutting mechanism according to claim 8, characterized in that, The third link and the fourth link have the same structure, and both include two third hinge parts and two fourth hinge parts. The two third hinge parts are rotatably connected to the lifting platform, and the two fourth hinge parts are rotatably connected to the two side walls of the second fixed seat.

10. The cutting mechanism according to claim 1, characterized in that, The number of cutting components is multiple, and all of the cutting components are located below the lifting platform.

11. The cutting mechanism according to claim 1, characterized in that, The cutting mechanism also includes a drive assembly, which is connected to the lifting platform to drive the lifting platform to rise and fall relative to the main body of the equipment.

12. The cutting mechanism according to claim 11, characterized in that, The drive assembly includes a motor, a transmission structure, and a pull rope. One end of the transmission structure is connected to the motor, and the other end of the transmission structure is connected to the pull rope. The pull rope is connected to the lifting platform.

13. A self-moving device, characterized in that, It includes a device body and a cutting mechanism as described in any one of claims 1 to 12, wherein the cutting mechanism is at least partially disposed at the bottom of the device body.

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