Mobile robot and robot system

Abstract

The application is suitable for the field of mobile robot technology, and provides a mobile robot and a robot system, which are suitable for moving on a work plane. The mobile robot comprises a body and a cutting module. The cutting module is arranged on the body. The cutting module comprises a cutter cover and a cutting knife assembly. The cutting knife assembly is rotatably arranged in the cutter cover and at least partially located in the cutter cover. The cutting knife assembly cuts materials in the cutter cover by rotating. A bottom of the cutter cover is provided with an air inlet slope. The air inlet slope is arranged obliquely relative to the work plane.

Description

Technical Field

[0001] This application belongs to the field of mobile robot technology, and more specifically, relates to a mobile robot and robot system. Background Technology

[0002] Some existing lawnmowers have the grass discharge port located at the rear of the lawnmower. The grass discharge port at the rear of the lawnmower is usually connected to a grass collection box or grass clipping device. After the lawnmower cuts the grass with the cutting blades, the grass clippings are transported to the rear grass discharge port by a conveying device, and then enter the grass collection box or undergo other processing.

[0003] However, in some existing lawnmowers, when the grass clippings are transported to the rear discharge port by airflow, the initial velocity of the grass clippings is low due to the small air intake of the cutter head cover, making it easy for the grass clippings to get clogged in the discharge channel of the auger head cover. Utility Model Content

[0004] The purpose of this application is to provide a mobile robot and robot system, which aims to solve the technical problem in the prior art that grass clippings are easily blocked in the grass discharge channel of the auger cover due to the small air intake of the auger cover in lawnmowers.

[0005] To achieve the above objectives, according to one aspect of this application, a mobile robot is provided, suitable for moving on a working plane. The mobile robot includes: a body and a cutting module. The cutting module is disposed on the body and includes a cutter head cover and a cutting blade assembly. The cutting blade assembly is rotatably disposed on the cutter head cover and is at least partially located inside the cutter head cover. The cutting blade assembly cuts the material inside the cutter head cover by rotating. An air inlet slope is provided at the bottom of the cutter head cover, and the air inlet slope is inclined relative to the working plane.

[0006] Optionally, the air inlet slope forms the entire or part of the bottom wall of the cutterhead cover.

[0007] Optionally, the mobile robot also includes a recycling module, which is set on the body. The cutter head cover is provided with a material outlet, and the recycling module is provided with a recycling inlet. The cutter head cover is connected to the recycling inlet through the material outlet. The air inlet slope slopes from the end away from the recycling module to the end facing the recycling module, tilting in the direction away from the working plane or tilting in the direction close to the working plane.

[0008] Optionally, the rotating cutting blade assembly forms a virtual cutting surface within the blade cover, the virtual cutting surface being perpendicular to the rotation axis of the cutting blade assembly; the virtual cutting surface is set at an angle relative to the working plane.

[0009] Optionally, the virtual cutting surface has the same tilt direction as the air inlet slope; and / or, the virtual cutting surface has the same tilt angle as the air inlet slope.

[0010] Optionally, the air inlet ramp includes at least one of an inclined plane and an inclined curved surface.

[0011] Optionally, the air inlet slope includes an inclined plane with an inclination angle of α, where 2°≤α≤10°.

[0012] Optionally, the cutter head cover includes a cover body and a channel portion disposed on one side of the cover body. A cutter head cavity is formed on the cover body, and a channel cavity communicating with the cutter head cavity is provided on the channel portion. A first opening is provided at the bottom of the cover body to communicate with the cutter head cavity and the external environment, and material in the external environment enters the cutter head cavity through the first opening. A second opening is provided at the bottom of the channel portion to communicate with the channel cavity and the external environment. A material outlet is provided at the end of the channel portion opposite to the cover body, and material in the cover body can be discharged from the material outlet through the channel cavity, and some material in the channel cavity can fall into the external environment through the second opening.

[0013] Optionally, the first opening includes a first opening formed on the bottom wall of the cutter head cavity; or, the first opening makes the cutter head cavity without a bottom wall; the second opening includes a second opening formed on the bottom wall of the channel cavity; or, the second opening makes the channel cavity without a bottom wall.

[0014] According to another aspect of this application, a robot system is provided, comprising a mobile robot and a base station, wherein the base station is used at least for charging the mobile robot, and the mobile robot is the aforementioned mobile robot.

[0015] The beneficial effects of the mobile robot provided in this application are as follows: Compared with the prior art, the mobile robot provided in this application sets an air intake slope at the bottom of the cutter head cover that is inclined relative to its working plane, so that a stable air intake gap can be formed between the part of the cutter head cover that is at least far from the working plane and the material to be cut on the working plane. The formation of the air intake gap can effectively increase the air intake volume of the cutter head cover during operation, thereby effectively improving the airflow velocity and negative pressure effect inside the cutter head cover, enhancing the material lifting and conveying capacity during the cutting process of the cutting module, and avoiding the accumulation or blockage of materials inside the cutter head cover. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, 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 application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of the mobile robot provided in the embodiments of this application; Figure 2This is a structural schematic diagram of a mobile robot from another perspective, provided in an embodiment of this application. Figure 3 A cross-sectional schematic diagram of the mobile robot provided in an embodiment of this application; Figure 4 A schematic diagram of the structure of a mobile robot with components such as a recycling module removed, provided in an embodiment of this application; Figure 5 A cross-sectional schematic diagram of a mobile robot with its components, such as a recycling module, removed, provided in an embodiment of this application; Figure 6 This is a schematic diagram of the cutting module provided in an embodiment of this application; Figure 7 This is a schematic diagram of the structure of the cutter head cover provided in an embodiment of this application; Figure 8 A cross-sectional schematic diagram of the cutter head cover provided in an embodiment of this application; The details of the reference numerals used in the above figures are as follows: 10. Fuselage; 20. Cutting module; 21. Cutter head cover; 211. Air inlet slope; 212. Material outlet; 213. Cover body; 2131. Cutter head cavity; 21311. Spiral cavity section; 2132. First opening; 2133. Spiral shaft; 214. Channel section; 2141. Channel cavity; 2142. Second opening; 2143. First sidewall; 2144. Second sidewall; 22. Cutting blade assembly; 221. Virtual cutting surface; 30. Recycling module; 31. Recycling entry point; 40. Walking module; 50. Work plane. Detailed Implementation

[0018] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0019] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly or indirectly on that other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to that other element. Unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0020] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

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

[0022] As described in the background section, some existing lawnmowers have the discharge port located at the rear of the mower. This discharge port is typically connected to a hay collection box or hay clipping device. After the mower cuts the grass with its blades, the hay clippings are conveyed to the rear discharge port via a conveyor and then enter the collection box or undergo other processing. However, in some existing lawnmowers, when the hay clippings are conveyed to the rear discharge port by airflow, the initial velocity of the hay clippings is low due to the small air intake of the cutter head cover, making them prone to clogging in the discharge channel of the auger head cover. The inventors of this application, through research and analysis, discovered that during the mowing process, the periphery and lower part of the cutter head cover are covered by grass to be cut or already cut, which is one of the main reasons for the small air intake of the cutter head cover.

[0023] See Figures 1 to 8As shown, in order to solve the above problems, according to one aspect of this application, an embodiment of this application provides a mobile robot suitable for moving on a working plane 50. The mobile robot includes: a body 10 and a cutting module 20. The cutting module 20 is disposed on the body 10. The cutting module 20 includes a cutter head cover 21 and a cutting blade assembly 22. The cutting blade assembly 22 is rotatably disposed on the cutter head cover 21 and is at least partially located inside the cutter head cover 21. The cutting blade assembly 22 cuts the material inside the cutter head cover 21 by rotating. An air inlet slope 211 is provided at the bottom of the cutter head cover 21. The air inlet slope 211 is inclined relative to the working plane 50. The mobile robot provided in this embodiment has an air inlet slope 211 at the bottom of the cutter head cover 21 that is inclined relative to its working plane 50. This allows a stable air inlet gap to be formed between the part of the cutter head cover 21 that is at least far from the working plane 50 and the material to be cut on the working plane 50. The formation of the air inlet gap can effectively increase the air volume of the cutter head cover 21 during operation, thereby effectively improving the airflow velocity and negative pressure effect inside the cutter head cover 21, enhancing the material lifting and conveying capacity of the cutting module 20 during the cutting process, and preventing the material from accumulating or blocking inside the cutter head cover 21.

[0024] See Figure 6 and Figure 7 As shown, in some embodiments, the bottom of the cutter head cover 21 in this embodiment is provided with a first opening 2132. Material on the working plane 50 can enter the cutter head cover 21 from the bottom through the first opening 2132 and be cut by the rotating cutting blade assembly 22. It can be understood that the rotating cutting blade assembly 22 can form an axial flow fan and generate airflow along its rotation axis, causing a negative pressure at the first opening 2132 at the bottom of the cutter head cover 21. The negative pressure at the first opening 2132 can draw air, materials, etc. from the external environment into the cutter head cover 21.

[0025] See Figure 3 As shown, in a specific embodiment, the air inlet ramp 211 forms the entire bottom wall of the cutter head cover 21. By setting the air inlet ramp 211 to form the entire bottom wall of the cutter head cover 21, a large air inlet gap can be formed between the bottom of the cutter head cover 21 and the material to be cut on the working plane 50. When the cutting blade assembly 22 rotates inside the cutter head cover 21, air from the external environment can efficiently enter the cutter head cover 21 through this air inlet gap, thereby increasing the air intake of the cutter head cover 21 during operation, enhancing the material lifting and conveying capacity of the cutting module 20 during the cutting process, and preventing material from accumulating or clogging inside the cutter head cover 21.

[0026] In another embodiment, the air inlet ramp 211 forms part of the bottom wall of the cutter head cover 21. By setting the air inlet ramp 211 to form part of the bottom wall of the cutter head cover 21, a certain air inlet gap can be formed between the bottom of the cutter head cover 21 and the material to be cut on the working plane 50. When the cutting blade assembly 22 rotates inside the cutter head cover 21, the air in the external environment can enter the cutter head cover 21 more efficiently through the air inlet gap, thereby increasing the air intake of the cutter head cover 21 during operation, enhancing the material lifting and conveying ability of the cutting module 20 during the cutting process, and preventing the material from accumulating or blocking inside the cutter head cover 21.

[0027] See Figures 1 to 3 As shown, in a specific embodiment, the mobile robot in this embodiment also includes a recycling module 30. The recycling module 30 is disposed on the body 10. The cutter head cover 21 is provided with a material outlet 212, and the recycling module 30 is provided with a recycling inlet 31. The cutter head cover 21 is connected to the recycling inlet 31 through the material outlet 212. The air inlet slope 211 is inclined from the end away from the recycling module 30 to the end facing the recycling module 30, and is inclined in the direction away from the working plane 50. By setting the air inlet ramp 211 to slope from the end away from the recovery module 30 to the end facing the recovery module 30, and then tilting it away from the working plane 50, the size of the air inlet gap between the air inlet ramp 211 and the material to be cut on the working plane 50 can gradually increase from the end away from the recovery module 30 to the end facing the recovery module 30. This generates a negative pressure gradient at the bottom of the cutter head cover 21 that gradually decreases from the end away from the recovery module 30 to the end facing the recovery module 30. Through the combined action of this negative pressure gradient and the inclined guide ramp, a driving force can be provided to the material in the cutter head cover 21 towards the recovery module 30, thereby increasing the material conveying efficiency and reducing the probability of material accumulation and blockage at the end of the cutter head cover 21 away from the recovery module 30. On the other hand, it also makes the material outlet 212 of the cutter head cover 21 and the recovery inlet 31 of the recovery module 30 higher than the working plane 50, so that the material is thrown backward a greater distance, which is more conducive to the collection of material by the recovery module 30.

[0028] In another embodiment, the air inlet slope 211 slopes from the end away from the recovery module 30 to the end facing the recovery module 30, and in a direction close to the working plane 50. By setting the air inlet ramp 211 to slope from the end away from the recovery module 30 to the end facing the recovery module 30, and towards the working plane 50, the size of the air inlet gap between the air inlet ramp 211 and the material to be cut on the working plane 50 can gradually decrease from the end away from the recovery module 30 to the end facing the recovery module 30. A negative pressure gradient is generated at the bottom of the cutter head cover 21, which gradually increases from the end away from the recovery module 30 to the end facing the recovery module 30. Through the combined action of this negative pressure gradient and the inclined guide ramp, on the one hand, the material can enter the cutter head cover 21 more easily without being pushed away when the mobile robot moves forward, thereby reducing the situation of material being missed. On the other hand, it can provide a certain degree of resistance to the material in the cutter head cover 21, prolonging the time the material stays in the cutter head cover 21, so that the material can be fully cut in the cutter head cover 21, thereby reducing the probability of accumulation and blockage caused by large pieces of material not being fully processed.

[0029] See Figure 3 As shown, in a specific embodiment, the rotating cutting blade assembly 22 forms a virtual cutting surface 221 within the cutter head cover 21. The virtual cutting surface 221 is perpendicular to the rotation axis of the cutting blade assembly 22; the virtual cutting surface 221 is inclined relative to the working plane 50. By setting the virtual cutting surface 221 formed by the rotating cutting blade assembly 22 within the cutter head cover 21 to be inclined relative to the working plane 50, the cutting blade assembly 22 can perform oblique cutting on the material to be cut on the working plane 50, thereby reducing the impact load and working resistance during the cutting process, improving cutting efficiency and smoothness. Furthermore, the cutting blade assembly 22, with its virtual cutting surface 221 inclined, can also apply a projectile force pointing towards the inside of the cutter head cover 21 to the material being cut during its rotation. Through the combined action of the projectile force and the airflow generated by the rotation of the cutting blade assembly 22, the efficiency of conveying the cut material into the cutter head cover 21 can be improved, reducing the risk of material stagnation and re-accumulation at the bottom of the cutter head cover 21.

[0030] See Figure 3 As shown, in a specific embodiment, the virtual cutting surface 221 and the inlet slope 211 are inclined in the same direction. By setting the inclination direction of the virtual cutting surface 221 to be the same as that of the inlet slope 211, the direction of the projectile force generated by the cutting blade assembly 22 is approximately the same as the direction of the airflow guided by the inlet slope 211. Through the combined action of the projectile force and the airflow, the efficiency of conveying the cut material into the cutter head cover 21 can be effectively improved, and the risk of material stagnation and re-accumulation at the bottom of the cutter head cover 21 can be reduced.

[0031] See Figure 3 As shown, in one specific embodiment, the virtual cutting surface 221 and the inlet ramp 211 have the same inclination angle. By setting the inclination angle of the virtual cutting surface 221 to be the same as that of the inlet ramp 211, the direction of the projectile force generated by the cutting blade assembly 22 is highly consistent with the direction of the airflow guided by the inlet ramp 211. Through the combined effect of the projectile force and the airflow, the efficiency of conveying the cut material into the cutter head cover 21 can be further improved, reducing the risk of material stagnation and re-accumulation at the bottom of the cutter head cover 21. It is understood that the virtual cutting surface 221 and the inlet ramp 211 have the same inclination direction in this embodiment. Of course, in other embodiments, the inclination direction of the virtual cutting surface 221 and the air inlet slope 211 in this embodiment can also be opposite. In this case, the direction of the projectile force generated by the cutting blade assembly 22 is roughly opposite to the direction of the air intake airflow guided by the air inlet slope 211. Through the combined action of the projectile force and the air intake airflow, a certain obstruction effect can be provided for the material in the cutter head cover 21, prolonging the time the material stays in the cutter head cover 21, so that the material can be fully cut in the cutter head cover 21, thereby reducing the probability of accumulation and blockage caused by large pieces of material not being fully processed.

[0032] In one specific embodiment, the air inlet ramp 211 includes at least one of an inclined plane and an inclined curved surface. It is understood that the inclined plane has a relatively simple structure, which is beneficial for manufacturing and can form a relatively stable and uniform air inlet gap, while also enabling directional guidance of the intake airflow. The inclined curved surface, on the other hand, can smoothly and gradually guide the intake airflow, which helps reduce intake resistance and noise. By configuring the air inlet ramp 211 to consist of at least one of an inclined plane and an inclined curved surface, the air inlet ramp 211 can be flexibly configured according to different working conditions, thereby improving the adaptability of the mobile robot to different working conditions.

[0033] See Figure 3 and Figure 5As shown, in a specific embodiment, the air inlet slope 211 includes an inclined plane, and the inclination angle of the inclined plane relative to the working plane 50 is α, where 2°≤a≤10°. For example, α can be 2°, 3°, 4°, 5°, 6°, 7°, 8°, 9°, 10°, etc. When the inclination angle α of the inclined plane is less than 2°, the air inlet gap formed between the inclined plane and the material to be cut on the working plane 50 is too small, which may result in insufficient air intake of the cutter head cover 21. When the inclination angle α of the inclined plane is greater than 10°, the air inlet gap formed between the inclined plane and the material to be cut on the working plane 50 is too large, which may result in weakening of the negative pressure effect of the cutter head cover 21, affecting the airflow stability inside the cutter head cover 21. Both insufficient air intake and weakening of the negative pressure effect will increase the probability of blockage of the cutter head cover 21. Therefore, setting the angle of the inclined plane to 2°~10° can achieve a balance between air intake and airflow stability, ensuring efficient and smooth material transport inside the cutter head cover 21.

[0034] In some embodiments, the tilt angle α of the inclined plane in this embodiment is 5°. Setting the tilt angle α of the inclined plane to 5° can effectively balance the air intake and airflow stability of the cutter head cover 21, ensuring efficient and smooth material conveying within the cutter head cover 21.

[0035] In some embodiments, the air inlet ramp 211 in this embodiment includes multiple inclined planes connected in sequence, with one end facing away from the recovery module 30 and the other end facing the recovery module 30. The inclination angle of each inclined plane gradually increases or decreases. Setting the air inlet ramp 211 as composed of multiple inclined planes with gradually changing inclination angles can reduce the air intake resistance and noise of the cutter head cover 21 while taking into account structural manufacturability, and achieve compatibility between air intake efficiency and material conveying stability.

[0036] In another embodiment, the air inlet ramp 211 includes an inclined surface with an inclination angle of α, where 2° ≤ α ≤ 10°. When the inclination angle α is less than 2°, the air inlet gap between the inclined surface and the material to be cut on the working surface is too small, which may lead to insufficient airflow into the cutter head cover 21. When the inclination angle α is greater than 10°, the air inlet gap between the inclined surface and the material to be cut on the working surface is too large, which may weaken the negative pressure effect of the cutter head cover 21, affecting the airflow stability within the cutter head cover 21. Both insufficient airflow and weakened negative pressure effect increase the probability of blockage in the cutter head cover 21. Therefore, setting the angle of the inclined surface to 2°~10° can achieve a balance between airflow and airflow stability, ensuring efficient and smooth material transport within the cutter head cover 21. The inclination angle at any position on the inclined surface refers to the angle between the cut surface at that position and the working plane 50.

[0037] In some embodiments, the angle of the inclined curved surface in this embodiment gradually increases or decreases from the end of the blade facing away from the recycling module 30 toward the recycling module 30.

[0038] In some embodiments, the air inlet ramp 211 in this embodiment includes an inclined plane and an inclined curved surface connected sequentially from the end of the blade facing away from the recovery module 30 towards the recovery module 30. The inclination angle of the inclined curved surface gradually increases or decreases from the end of the blade facing away from the recovery module 30 towards the recovery module 30. When the inclination angle of the inclined curved surface gradually increases, the inclination angle of the inclined plane is less than or equal to the minimum inclination angle of the inclined curved surface; when the inclination angle of the inclined curved surface gradually decreases, the inclination angle of the inclined plane is greater than or equal to the maximum inclination angle of the inclined curved surface. Setting the air inlet ramp 211 to be composed of an inclined curved surface with a gradually changing inclination angle and an inclined plane with a constant inclination angle can reduce the air intake resistance and noise of the cutter head cover 21 while taking into account structural manufacturability, achieving compatibility between air intake efficiency and material conveying stability. Of course, in other embodiments, the air inlet ramp 211 in this embodiment can also be composed of other forms of inclined planes and inclined curved surfaces, such as multiple inclined planes and multiple inclined curved surfaces.

[0039] See Figure 3 and Figure 5 As shown, in some embodiments, the tilt angle of the virtual cutting surface 221 in this embodiment is b, where 2°≤b≤10°. Setting the tilt angle b of the virtual cutting surface 221 to 2°~10° can optimize the oblique cutting effect while ensuring cutting efficiency. Specifically, the tilt angle range of 2°~10° for the virtual cutting surface 221 allows the cutting blade assembly 22 to cut into the material at a sufficiently sharp angle, thereby reducing the impact resistance and power consumption during the material cutting process. At the same time, it also allows the cutting blade assembly 22 to form a projectile force of appropriate strength to assist in material conveying, thereby achieving an effective balance between cutting quality and conveying efficiency.

[0040] In some embodiments, the tilt angle b of the virtual cutting surface 221 in this embodiment is 5°. Setting the tilt angle b of the virtual cutting surface 221 to 5° can effectively balance the cutting quality and conveying efficiency of the material by the cutting module 20, ensuring efficient and smooth conveying of the material within the cutter head cover 21.

[0041] See Figures 6 to 8As shown, in a specific embodiment, the cutter head cover 21 includes a cover body 213 and a channel portion 214 disposed on one side of the cover body 213. A cutter head cavity 2131 is formed on the cover body 213, and a channel cavity 2141 communicating with the cutter head cavity 2131 is provided on the channel portion 214. A first opening 2132 communicating between the cutter head cavity 2131 and the external environment is provided at the bottom of the cover body 213, and materials in the external environment enter the cutter head cavity 2131 through the first opening 2132. A second opening 2142 communicating between the channel cavity 2141 and the external environment is provided at the bottom of the channel portion 214, and a material outlet 212 is provided at the end of the channel portion 214 away from the cover body 213, so that materials in the cover body 213 can be discharged from the material outlet 212 through the channel cavity 2141, and some materials in the channel cavity 2141 can fall into the external environment through the second opening 2142. The cutter head cover 21 provided in this embodiment can effectively reduce the probability of blockage of the channel cavity 2141 by providing a second opening 2142 at the bottom of the channel section 214 that connects the external environment and the channel cavity 2141. Specifically, during the process of conveying material in the channel cavity 2141 to the material outlet 212, some material will fall off under the action of gravity. The setting of the second opening 2142 can allow this part of the material to fall directly to the external environment, thereby reducing or even avoiding the adhesion and accumulation of material at the bottom of the channel cavity 2141, thereby reducing the probability of blockage of the channel cavity 2141 and improving the reliability of the cutter head cover 21.

[0042] See Figure 6 and Figure 7 As shown, in a specific embodiment, the first opening 2132 in this embodiment includes a first opening formed on the bottom wall of the cutter disc cavity 2131. By providing the first opening on the bottom wall of the cutter disc cavity 2131, materials in the external environment can enter the cutter disc cavity 2131 from the bottom of the cover 213 upward through the first opening. When a cutting blade assembly 22 is provided in the cutter disc cavity 2131, the materials entering the cutter disc cavity 2131 can be cut by the rotating cutting blade assembly 22 and guided to the channel cavity 2141 by the cutter disc cavity 2131, and finally discharged from the material outlet 212. The setting of the first opening can provide a smooth suction path for materials in the external environment, ensuring that the cutter disc cover 21 has good material suction efficiency.

[0043] In some embodiments, the first opening 2132 in this embodiment includes a plurality of first openings, which are spaced apart on the bottom wall of the cutter disc cavity 2131. By providing a plurality of first openings on the bottom wall of the cutter disc cavity 2131, materials from the external environment can enter the cutter disc cavity 2131 from the bottom of the cover 213 upward through the plurality of first openings. When a cutting blade assembly 22 is provided in the cutter disc cavity 2131, the materials entering the cutter disc cavity 2131 can be cut by the rotating cutting blade assembly 22 and guided by the cutter disc cavity 2131 to the channel cavity 2141, and finally discharged from the material outlet 212. The arrangement of a plurality of first openings can provide multiple suction paths for materials from the external environment, thereby further improving the material suction efficiency of the cutter disc cover 21.

[0044] See Figure 6 and Figure 7 As shown, in another embodiment, the first opening 2132 in this embodiment makes the cutter head cavity 2131 bottomless. By setting the cutter head cavity 2131 to be bottomless, materials in the external environment can directly enter the cutter head cavity 2131 from the bottom upward. When the cutter head cavity 2131 is provided with a cutting blade assembly 22, the materials entering the cutter head cavity 2131 can be cut by the rotating cutting blade assembly 22 and guided to the channel cavity 2141 by the cutter head cavity 2131, and finally discharged from the material outlet 212. The bottomless cutter head cavity 2131 can provide the largest area of ​​suction path for materials in the external environment, thereby improving the material suction efficiency of the cutter head cover 21.

[0045] In one specific embodiment, the second opening 2142 in this embodiment includes a second opening formed on the bottom wall of the channel cavity 2141. It is understood that during the process of material being conveyed in the channel cavity 2141, some material will fall to the bottom wall of the channel cavity 2141 under the action of gravity. By setting a second opening on the bottom wall of the channel cavity 2141, some material that falls to the bottom wall of the channel cavity 2141 can be discharged downward to the external environment through the second opening, thereby reducing the possibility of material adhesion and accumulation at the bottom of the channel cavity 2141, thereby reducing the probability of blockage of the channel cavity 2141 and improving the reliability of the cutter head cover 21.

[0046] In some embodiments, the second opening 2142 in this embodiment includes a plurality of second openings, which are spaced apart on the bottom wall of the channel cavity 2141. By providing a plurality of second openings on the bottom wall of the channel cavity 2141, some material falling to the bottom wall of the channel cavity 2141 can be discharged downwards to the external environment simultaneously through the plurality of second openings, thereby further reducing the possibility of material adhesion and accumulation at the bottom of the channel cavity 2141, thereby reducing the probability of blockage of the channel cavity 2141 and improving the reliability of the cutter head cover 21.

[0047] See Figure 6 and Figure 7 As shown, in another embodiment, the second opening 2142 makes the channel cavity 2141 bottomless. By making the channel cavity 2141 bottomless, a discharge path with the largest area can be provided for the falling material, allowing some of the falling material to be discharged directly downwards to the external environment, thereby avoiding the adhesion and accumulation of material at the bottom of the channel cavity 2141, thus reducing the probability of blockage of the channel cavity 2141 and improving the reliability of the cutter head cover 21.

[0048] See Figures 6 to 8As shown, in a specific embodiment, the top of the cutter head cavity 2131 in this embodiment is formed with a spiral cavity segment 21311 that spirals upward relative to a reference plane around a spiral axis 2133. The reference plane is a plane located on one side of the cutter head cover and perpendicular to the spiral axis 2133. The channel portion 214 includes two opposing first sidewalls 2143 and 21444. In the width direction of the channel portion 214, the first sidewall 2143 is located on the side of the channel cavity 2141 closest to the spiral axis 2133, and the first sidewall 2143 is located on the side of the channel cavity 2141 opposite to the spiral axis 2133. On one side, the first sidewall 2143 extends outward from the outer edge of the cover portion 213 by a length of L1, and the first sidewall 2143 extends outward from the outer edge of the cover portion 213 by a length of L2, wherein L1≤L2. The width direction of the channel portion 214 is perpendicular to the extension direction of the channel cavity 2141 and the spiral shaft 2133. The maximum outer radius of the spiral cavity segment 21311 is r, wherein 0≤L1 / r≤1.2. For example, L1 / r can be 0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1, 1.1, 1.2, etc. It is understandable that during the material conveying process in the channel cavity 2141, as the length of the channel cavity 2141 increases, the probability of the material falling to the bottom of the channel cavity 2141 will gradually increase. By setting the ratio between the length L1 of the first sidewall 2143 facing the spiral shaft 2133 and the maximum outer diameter r of the spiral cavity section 21311 to 0~1.2, the structural dimensions of the channel section 214 can be effectively controlled, making the structure of the channel section 214 more compact. Specifically, setting the ratio between the length L1 of the first sidewall 2143 and the maximum outer diameter r of the spiral cavity section 21311 to 0~1.2 can ensure that the channel cavity 2141 has a relatively short length to a certain extent. Since the distance of the material conveyed in the channel cavity 2141 is shortened, the probability and total amount of the material falling to the bottom under the action of gravity can be effectively reduced. Even if a small amount of material falls into the external environment through the second opening 2142, it will not form visible accumulation or have a significant impact on the operation effect. Wherein, the length of the first sidewall 2143 refers to the distance from the connection point of the first sidewall 2143 with the outer wall of the cover portion 213 to the end of the first sidewall 2143 away from the cover portion 213, and the length of the second sidewall 2144 refers to the distance from the connection point of the second sidewall 2144 with the outer wall of the cover portion 213 to the end of the second sidewall 2144 away from the cover portion 213. When L1 / r equals 0, the length of the first sidewall 2143 is 0cm, and at this time the length of the channel cavity 2141 can be designed to be the shortest.

[0049] See Figure 4As shown, in a specific embodiment, the length of the first sidewall 2143 is L1, where 0cm ≤ L1 ≤ 10cm. For example, L1 can be 0cm, 1cm, 2cm, 3cm, 4cm, 5cm, 6cm, 7cm, 8cm, 9cm, 10cm, etc. Setting the length L1 of the first sidewall 2143 to 0cm~10cm can, to a certain extent, ensure that the channel cavity 2141 has a shorter length. Since the material is transported a shorter distance in the channel cavity 2141, the probability and total amount of it falling and accumulating at the bottom under gravity can be effectively reduced. Even if a small amount of material falls into the external environment through the second opening 2142, it will not form visible accumulation or have a significant impact on the operation. Specifically, when the length L1 of the first sidewall 2143 is equal to 0cm, the length of the channel cavity 2141 can be designed to be the shortest.

[0050] See Figure 2 As shown, in a specific embodiment, the maximum outer radius of the spiral cavity section 21311 is r, where 7cm ≤ r ≤ 15cm. It is understood that when r is less than 7cm, the radial dimension of the spiral cavity section 21311 may be too small, increasing the material conveying resistance within the spiral cavity section 21311 and thus increasing the probability of blockage of the cutter head cover. When r is greater than 15cm, the radial dimension of the spiral cavity section 21311 may be too large, resulting in a greater attenuation of airflow velocity within the spiral cavity section 21311, thereby reducing the material conveying speed within the spiral cavity section 21311 and increasing the probability of blockage of the cutter head cover. Setting r to 7cm~15cm can effectively balance the material conveying resistance and airflow velocity attenuation, ensuring that the material can be conveyed smoothly and efficiently within the spiral cavity section 21311, and improving the reliability of the cutter head cover.

[0051] See Figures 1 to 5 As shown, in some embodiments, the mobile robot in this embodiment further includes a walking module 40, which is disposed on the body 10 and used to drive the mobile robot to move. By integrating the walking module 40 into the body 10, the spatial layout of the mobile robot can be optimized, making the structure of the mobile robot more compact.

[0052] According to another aspect of this application, a robot system is provided, comprising a mobile robot and a base station, wherein the base station is used at least for charging the mobile robot, and the mobile robot is the aforementioned mobile robot.

[0053] In summary, implementing the mobile robot and robot system provided in this embodiment has at least the following beneficial technical effects: The mobile robot provided in this embodiment provides an air inlet slope 211 at the bottom of the cutter head cover 21 that is inclined relative to its working plane 50, so that a stable air inlet gap can be formed between the part of the cutter head cover 21 that is at least far from the working plane 50 and the material to be cut on the working plane 50. The formation of the air inlet gap can effectively increase the air volume of the cutter head cover 21 during operation, thereby effectively improving the airflow velocity and negative pressure effect inside the cutter head cover 21, enhancing the material lifting and conveying capacity of the cutting module 20 during the cutting process, and preventing the material from accumulating or blocking inside the cutter head cover 21.

[0054] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A mobile robot adapted to move on a working plane (50), characterized in that, include: fuselage (10); A cutting module (20) is disposed on the machine body (10). The cutting module (20) includes a cutter head cover (21) and a cutting blade assembly (22). The cutting blade assembly (22) is rotatably disposed on the cutter head cover (21) and is at least partially located inside the cutter head cover (21). The cutting blade assembly (22) cuts the material inside the cutter head cover (21) by rotating. The bottom of the cutter head cover (21) is provided with an air inlet slope (211), which is inclined relative to the working plane (50).

2. The mobile robot according to claim 1, characterized in that, The air inlet slope (211) forms the entire or part of the bottom wall of the cutter head cover (21).

3. The mobile robot according to claim 1, characterized in that, The mobile robot also includes a recycling module (30), which is disposed on the body (10). The cutter head cover (21) is provided with a material outlet (212), and the recycling module (30) is provided with a recycling inlet (31). The cutter head cover (21) is connected to the recycling inlet (31) through the material outlet (212). The air inlet slope (211) is inclined from one end away from the recovery module (30) to the other end facing the recovery module (30), in a direction away from the working plane (50) or in a direction close to the working plane.

4. The mobile robot according to claim 1, characterized in that, The rotating cutting blade assembly (22) forms a virtual cutting surface (221) inside the blade cover (21), the virtual cutting surface being perpendicular to the rotation axis of the cutting blade assembly; The virtual cutting surface (221) is set at an angle relative to the working plane (50).

5. The mobile robot according to claim 4, characterized in that, The virtual cutting surface (221) has the same inclination direction as the air inlet slope (211); And / or, the virtual cutting surface (221) has the same tilt angle as the air inlet slope (211).

6. The mobile robot according to claim 1, characterized in that, The air inlet slope (211) includes at least one of an inclined plane and an inclined curved surface.

7. The mobile robot according to claim 6, characterized in that, The air inlet slope (211) includes an inclined plane, the inclined plane being inclined at an angle of a relative to the working plane (50), wherein 2°≤a≤10°.

8. The mobile robot according to any one of claims 1 to 7, characterized in that, The cutter head cover (21) includes a cover body (213) and a channel part (214) disposed on one side of the cover body (213). A cutter head cavity (2131) is formed on the cover body (213), and a channel cavity (2141) communicating with the cutter head cavity (2131) is provided on the channel part (214). The bottom of the cover (213) is provided with a first opening (2132) that connects the cutter head cavity (2131) with the external environment, and the material in the external environment enters the cutter head cavity (2131) through the first opening (2132). The bottom of the channel section (214) is provided with a second opening (2142) connecting the channel cavity (2141) and the external environment. The end of the channel section (214) opposite to the cover section (213) is provided with a material outlet (212). The material in the cover section (213) can be discharged from the material outlet (212) through the channel cavity (2141), and some of the material in the channel cavity (2141) can fall into the external environment through the second opening (2142).

9. The mobile robot according to claim 8, characterized in that, The first opening (2132) includes a first opening formed on the bottom wall of the cutter head cavity (2131); or, the first opening (2132) makes the cutter head cavity (2131) have no bottom wall; The second opening (2142) includes a second opening formed on the bottom wall of the channel cavity (2141); or, the second opening (2142) makes the channel cavity (2141) have no bottom wall.

10. A robot system, characterized in that, The robot system includes a mobile robot and a base station, wherein the base station is at least used for charging the mobile robot, and the mobile robot is the mobile robot according to any one of claims 1 to 9.

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