Cutting module, mobile robot and mobile robot system

Abstract

The application is suitable for the field of mobile robot technology, and provides a cutting module, a mobile robot and a mobile robot system. The cutting module comprises a cutter cover and a cutting knife assembly. The cutter cover comprises a spiral cover body part, a cutter cavity is arranged in the spiral cover body part, and a spiral cavity section that spirally rises relative to a reference plane around a spiral axis is formed at the top of the cutter cavity. The reference plane is a plane that is located at the lower side of the cutter cover and is perpendicular to the spiral axis. The cutting knife assembly is rotatably arranged in the cutter cover, and comprises a cutting blade that is used for cutting materials in the cutter cavity. The lower surface of the top of the cutter cover corresponding to the spiral cavity section intersects with a virtual cylindrical surface, and a spiral line is obtained. In the extension direction of the spiral axis, the distance between any point on the spiral line and the highest point of the cutting blade is d1, and the distance between the highest point of the cutting blade and the lowest point of the cutting blade is h1, wherein 1≤d1 / h1≤3.5.

Description

Technical Field

[0001] This application belongs to the field of mobile robot technology, and more specifically, relates to a cutting module, a mobile robot, and a mobile 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 wet grass clippings are transported to the rear discharge port by airflow, some of the wet grass clippings may stick and accumulate on the top wall of the auger cover, causing the auger cover to become clogged. Utility Model Content

[0004] The purpose of this application is to provide a cutting module, a mobile robot, and a mobile robot system, which aims to solve the technical problem in the prior art where the spiral cutter head cover easily causes material to adhere and accumulate on the top wall of the spiral cutter head cover, resulting in blockage.

[0005] To achieve the above objectives, according to one aspect of this application, a cutting module is provided, comprising: a cutter head cover and a cutting blade assembly, wherein the cutter head cover includes a spiral cover body, a cutter head cavity is disposed within the spiral cover body, and a spiral cavity segment is formed at the top of the cutter head cavity, spirally rising about a spiral axis relative to a reference plane, wherein the reference plane is a plane located below the cutter head cover and perpendicular to the spiral axis; the cutting blade assembly is rotatably disposed on the cutter head cover, and the cutting blade assembly includes a cutting blade for cutting the material in the cutter head cavity; the lower surface of the top of the cutter head cover corresponding to the spiral cavity segment intersects with a virtual cylindrical surface to form a spiral line; in the direction of extension of the spiral axis, the distance between any point on the spiral line and the highest point of the cutting blade is d1, and the distance between the highest point and the lowest point of the cutting blade is h1, wherein 1≤d1 / h1≤3.5.

[0006] Optionally, the point of the helix closest to the reference plane is the helix start point, and the point of the helix furthest from the reference plane is the helix end point; in the direction of the extension of the helix axis, the distance between the helix start point and the highest point of the cutting blade is d1a, where 1≤d1a / h1≤2.5; and / or, in the direction of the extension of the helix axis, the distance between the helix end point and the highest point of the cutting blade is d1b, where 2.5≤d1b / h1≤3.5.

[0007] Optionally, in the direction of the spiral axis extension, the distance between any point on the spiral line and the highest point of the cutting blade is d1, where 15mm≤d1≤35mm; and / or, the point on the spiral line closest to the reference plane is the spiral start point, and in the direction of the spiral axis extension, the distance between the spiral start point and the highest point of the cutting blade is d1a, where 15mm≤d1a≤25mm; and / or, the point on the spiral line furthest from the reference plane is the spiral end point, and in the direction of the spiral axis extension, the distance between the spiral end point and the highest point of the cutting blade is d1b, where 25mm≤d1b≤35mm.

[0008] Optionally, the point of the helix closest to the reference plane is the helix start point, and the point of the helix furthest from the reference plane is the helix end point; in the direction of the extension of the helix axis, the distance between the helix start point and the helix end point is d2, where 0.5≤d2 / h1≤1.5.

[0009] Optionally, a cutting mounting section is provided at the top of the cutter head cavity, which is used to install the cutting blade assembly; wherein, the end of the cutting mounting section facing the reference plane is the bottom of the cutting mounting section, and the plane where the bottom of the cutting mounting section is located is parallel to the reference plane; in the extension direction of the spiral shaft, the distance between any point on the spiral line and the plane where the bottom of the cutting mounting section is located is d3, wherein 0.1≤d3 / h1≤1.5.

[0010] Optionally, the point of the helix closest to the reference plane is the helix start point, and the point of the helix furthest from the reference plane is the helix end point; in the direction of the extension of the helix axis, the distance between the helix start point and the plane where the bottom of the cutting mounting part is located is d3a, where 0.1≤d3a / h1≤0.3; and / or, in the direction of the extension of the helix axis, the distance between the helix end point and the plane where the bottom of the cutting mounting part is located is d3b, where 0.8≤d3b / h1≤1.5.

[0011] Optionally, the highest point of the cutting blade is located inside the helical cavity section; or, the highest point of the cutting blade is located outside the helical cavity section and on the side of the helical cavity section facing the reference plane.

[0012] Optionally, the plane containing the bottom of the cutter head cover is parallel to the reference plane; in the extension direction of the helical shaft, the distance between any point on the helical line and the plane containing the bottom of the cutter head cover is d4, where 0.15≤h1 / d4≤0.35.

[0013] Optionally, the point of the helix closest to the reference plane is the helix start point, and the point of the helix furthest from the reference plane is the helix end point; in the direction of the extension of the helix axis, the distance between the helix start point and the plane containing the bottom of the cutter head cover is d4a, where 0.2≤h1 / d4a≤0.35; and / or, in the direction of the extension of the helix axis, the distance between the helix end point and the plane containing the bottom of the cutter head cover is d4b, where 0.15≤h1 / d4b≤0.3.

[0014] Optionally, the virtual cylindrical surface is a virtual cylindrical surface with the helical axis as the axis and a preset radius x1; along the radial direction of the helical axis, the distance between the innermost side of the lower surface of the top wall of the cutter head corresponding to the helical cavity segment and the helical axis is the minimum inner radius y1 of the helical cavity segment, and the distance between the outermost side of the lower surface of the top wall of the cutter head corresponding to the helical cavity segment and the helical axis is the maximum outer radius z1 of the helical cavity segment; the preset radius x1, the minimum inner radius y1 of the helical cavity segment and the maximum outer radius z1 of the helical cavity segment satisfy: y1 < x1 < z1; where, x1 = (y1 + z1) / 2, or, y1 < x1 < (y1 + z1) / 2, or, (y1 + z1) / 2 < x1 < z1.

[0015] Optionally, a virtual scanning surface is defined through the helical axis. This virtual scanning surface extends radially from the helical axis to the side away from it, and rotates around the helical axis. During this rotation, the virtual scanning surface intersects with the cutter head cover, forming a series of rotating sections. The mid-radius of each rotating section is x2. In each rotating section, the distance from the point closest to the helical axis to the helical axis corresponding to the lower surface of the cutter head cover's top wall is the inner radius y2 of the corresponding rotating section. The distance between the point furthest from the helical axis and the helical axis is the outer radius z2 of the corresponding rotation section. On each rotation section, a midline parallel to the helical axis and at a distance from the helical axis equal to the corresponding mid-radius x2 is defined. The set of midlines of each rotation section forms a virtual cylinder. The mid-radius x2, inner radius y2, and outer radius z2 of the rotation section satisfy: x2 = p × y2 + q × z2, p + q = 1. Where p = 1 / 2, or 0 < p < 1 / 2, or 1 / 2 < p < 1.

[0016] Optionally, the bottom of the spiral cover body is provided with a first opening that connects the cutter head cavity with the external environment, and the material in the external environment enters the cutter head cavity through the first opening; the cutter head cover also includes a channel section, which is provided on the side of the spiral cover body and has a channel cavity that communicates with the cutter head cavity. The bottom of the channel section is provided with a second opening that connects the channel cavity with the external environment. The end of the channel section opposite to the spiral cover body is provided with a material outlet, and the material in the cutter head cavity can be discharged from the material outlet through the channel cavity. Some of the material in the channel cavity can fall into the external environment through the second opening.

[0017] 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; and / or, 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.

[0018] Optionally, the channel portion includes a first sidewall and a second sidewall disposed opposite to each other. In the width direction of the channel portion, the first sidewall is located on the side of the channel cavity closer to the helical shaft, and the second sidewall is located on the side of the channel cavity away from the helical shaft. The first sidewall extends outward from the outer edge of the cutter head cover for a length of L1, and the second sidewall extends outward from the outer edge of the cutter head cover for a length of L2, wherein L1≤L2. The width direction of the channel portion is perpendicular to the extension direction of the channel cavity and the helical shaft. The maximum outer radius of the helical cavity segment is z1, wherein 0≤L1 / z1≤1.2.

[0019] According to another aspect of this application, a mobile robot is provided, the mobile robot including a cutting module and a body, the cutting module being disposed on the body, and the cutting module being the cutting module described above.

[0020] Optionally, the mobile robot is adapted to move on the working plane; the bottom of the cutter head cover is provided with an air inlet ramp, which is inclined relative to the working plane.

[0021] Optionally, the air inlet slope forms the entire or part of the bottom wall of the cutterhead cover.

[0022] According to another aspect of this application, a mobile robot system is provided, the mobile robot system including a mobile robot and a base station, the base station being used at least for charging the mobile robot, the mobile robot being the mobile robot described above.

[0023] The beneficial effects of the cutting module provided in this application are as follows: Compared with the prior art, the cutter head cover provided in this application, by setting a spiral cavity section at the top of the cutter head cavity that spirals upward relative to the reference plane around the spiral axis, allows the airflow in the cutter head cavity to be spirally accelerated and gathered through the spiral cavity section, thereby facilitating the discharge of material in the cutter head cavity. By setting the ratio between the distance between any point on the spiral line and the highest point of the cutting blade in the spiral axis direction and the distance between the highest and lowest points of the cutting blade in the spiral axis direction to 1~3.5, it can be ensured that the airflow generated during the rotation of the cutting blade can fully act on the top of the cutter head cavity, thereby reducing or even avoiding local adhesion and accumulation of material at the top of the cutter head cavity, reducing the risk of cutter head cover blockage, and improving the reliability of the cutting module. Attached Figure Description

[0024] 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.

[0025] Figure 1 This is a schematic diagram of the cutting module provided in an embodiment of this application; Figure 2 A cross-sectional schematic diagram of the cutting module provided in an embodiment of this application; Figure 3 A cross-sectional schematic diagram of the cutting module at another location provided in an embodiment of this application; Figure 4 A cross-sectional schematic diagram showing the cutting modules d1a and d1b provided for embodiments of this application; Figure 5 A cross-sectional schematic diagram showing the cutting module d2 provided for an embodiment of this application; Figure 6 A cross-sectional schematic diagram illustrating the cutting modules d3a and d3b provided for embodiments of this application; Figure 7 A cross-sectional schematic diagram showing the cutting modules d4a and d4b provided for embodiments of this application; Figure 8 This is a schematic diagram of the structure of the cutting blade assembly provided in the embodiments of this application; Figure 9 This is a schematic diagram of the structure of the cutter head cover provided in an embodiment of this application; Figure 10 A cross-sectional schematic diagram of the cutter head cover provided in an embodiment of this application; Figure 11 This is a schematic diagram of the cutter head cover from another perspective, provided as an embodiment of this application. Figure 12 This is a schematic diagram of the structure of the mobile robot provided in the embodiments of this application; Figure 13 This is a structural schematic diagram of a mobile robot from another perspective, provided in an embodiment of this application. Figure 14 A cross-sectional schematic diagram of a mobile robot with some parts removed, provided as an embodiment of this application; The details of the reference numerals used in the above figures are as follows: 10. Cutter head cover; 11. Spiral cover body; 111. Cutter head cavity; 112. Spiral cavity section; 113. First opening; 114. Cutting mounting part; 12. Channel part; 121. Channel cavity; 122. Second opening; 123. First side wall; 124. Second side wall; 13. Reference plane; 14. Spiral shaft; 15. Virtual cylindrical surface; 16. Spiral line; 17. Air inlet slope; 20. Cutting blade assembly; 21. Cutting blade; 211. Cutting tip; 212. Inclined guide surface; 22. Cutter head body; 30. Power components; 100. Cutting module; 200. Fuselage; 300. Walking module; 400. Working plane. Detailed Implementation

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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 hay collection box or undergo other processing. However, in some existing lawnmowers, when wet hay clippings are conveyed to the rear discharge port by airflow, some of the wet hay clippings may adhere to and accumulate on the top wall of the auger disc, causing blockage.

[0031] See Figures 1 to 14 As shown, to solve the above problems, according to one aspect of this application, an embodiment of this application provides a cutting module, which includes: a cutter head cover 10 and a cutting blade assembly 20, wherein the cutter head cover 10 includes a spiral cover body 11, a cutter head cavity 111 is provided inside the spiral cover body 11, and a spiral cavity segment 112 is formed at the top of the cutter head cavity 111, which spirally rises about a spiral axis 14 relative to a reference plane 13, wherein the reference plane 13 is a plane located on the lower side of the cutter head cover 10 and perpendicular to the spiral axis 14; the cutting blade assembly 20 is rotatably disposed on the cutter head cover 10, and the cutting blade assembly 20... The 0 includes a cutting blade 21, which is used to cut the material in the cutter head cavity 111; the lower surface of the top of the cutter head cover 10 corresponding to the spiral cavity section 112 intersects with the virtual cylindrical surface 15 to form a spiral line 16; in the extension direction of the spiral shaft 14, the distance between any point on the spiral line 16 and the highest point of the cutting blade 21 is d1, and the distance between the highest point and the lowest point of the cutting blade 21 is h1, where 1≤d1 / h1≤3.5, for example, d1 / h1 can be 1, 1.5, 2, 2.5, 3, 3.5, etc. The cutter head cover 10 provided in this embodiment has a spiral cavity section 112 that spirals upward relative to the reference plane 13 around the spiral axis 14 at the top of the cutter head cavity 111. This allows the airflow in the cutter head cavity 111 to be accelerated and concentrated by the spiral cavity section 112, thereby facilitating the discharge of material from the cutter head cavity 111. At the same time, since the distance between the highest and lowest points of the cutting blade 21 in the direction of the spiral axis 14, or in other words, the height of the cutting blade, is relatively small, the distance between any point on the spiral line 16 and the highest point of the cutting blade 21 in the direction of the spiral axis 14, and the distance between the cutting blade 21 and the highest point of the cutting blade 21, are relatively small. The ratio between the distances of the highest and lowest points in the direction of the spiral shaft 14 is set to 1~3.5. This ensures that the distance between any point on the spiral 16 and the highest point of the cutting blade 21 in the direction of the spiral shaft 14, that is, the distance between the highest point of the cutting blade 21 and the top wall of the spiral cavity section 112, is small. This ensures that the airflow generated during the rotation of the cutting blade 21 can fully act on the top of the cutter head cavity 111, thereby reducing or even avoiding local adhesion and accumulation of materials on the top of the cutter head cavity 111, reducing the risk of blockage of the cutter head cover 10, and improving the reliability of the cutting module.

[0032] It is understandable that, with a constant rotational speed of the cutting blade assembly 20, the distance between the highest and lowest points of the cutting blade 21 along the direction of the helical shaft 14 affects the intensity of the airflow generated by the cutting blade 21 during rotation. Furthermore, the airflow intensity is greater in areas closer to the cutting blade 21. In other words, the effect of the airflow generated by the cutting blade 21 during rotation on the top of the cutter head cover 10 gradually increases as the distance between the highest point of the cutting blade 21 and the top of the cutter head cavity 111 decreases. The distance h1 between the highest and lowest points of the cutting blade 21 along the extension direction of the helical shaft 14 is a definite and measurable design parameter. Therefore, the value of d1 / h1 can effectively reflect the change in distance between the top wall of the helical cavity section 112 and the highest point of the cutting blade 21, as well as the degree of effect of the airflow generated by the cutting blade 21 during rotation on the top wall of the helical cavity section 112.

[0033] In some embodiments, the cutting blade 21 in this embodiment has a cutting section, and the cutting blade 21 cuts the material through the cutting section. When the upper and lower sides of the cutting section are used as the highest and lowest points of the cutting blade 21, for example, h1 can be 5~15mm, or optionally, h1≈10mm.

[0034] See Figure 1 , Figure 2 and Figure 8 As shown, in some embodiments, an inclined guide surface 212 is provided on the side of the cutting segment away from the reference surface 13 in this embodiment; near the reference surface 13 on the inclined guide surface 212, the cutting segment forms a cutting tip 211 for cutting materials; the cutting tip 211 refers to the functional section of the cutting blade 21 that directly participates in the cutting operation, and the inclined guide surface 212 refers to the inclined structure provided on the side of the cutting segment away from the reference surface 13, which is arranged at a non-perpendicular angle with the cutting tip. The cutting tip 211 is used to cut the material, and the inclined guide surface 212 is used to guide the material cut by the cutting tip 211 into the cutter head cavity 111. When the lower side of the cutting segment is used as the lowest point of the cutting blade 21, and the highest point of the inclined guide surface 212 is used as the highest point of the cutting blade 21, for example, h1 can be 9~19mm, and optionally, h1≈14mm.

[0035] In some embodiments, the cutting blade assembly 20 in this embodiment includes a blade disc body 22 and at least one cutting blade 21. The blade disc body 22 is rotatably mounted in the blade disc cavity 111, and the cutting blade 21 is fixedly mounted on the blade disc body 22. The cutting blade 21 can rotate together with the blade disc body 22 to cut the material.

[0036] In some embodiments, the rotating cutting blade assembly 20 in this embodiment can form an axial flow fan, so that air from the external environment is drawn into the cutter disc cavity 111 from the bottom of the cutter disc cover 10. The air in the cutter disc cavity 111 is guided by the spiral cavity section 112 and discharged through the recycling channel cavity 121, thereby conveying the material in the cutter disc cavity 111 to the recycling container. Specifically, when the cutting blade assembly 20 rotates, the inclined guide surface 212 pushes the air to move axially, that is, makes the air move away from the reference surface 13. The inclined guide surface 212 acts similarly to the angle of attack of the blades of an axial flow fan. Since the inclined guide surface 212 is at a non-perpendicular angle with the cutting section, the inclined guide surface 212 can apply upward pressure to the air, drawing the air from the bottom of the cutter head cover 10 into the cutter head cavity 111. At the same time, the continuous rotation of the cutting blade assembly 20 causes the airflow to form an axial flow inertia. With the guidance of the spiral cavity section 112, a directional airflow is finally formed, which is drawn in from the bottom of the cutter head cover 10, axially transported through the cutter head cavity 111 to the recovery channel cavity 121, thereby achieving an airflow transport effect similar to that of an axial flow fan.

[0037] See Figure 3 and Figure 4 As shown, in a specific embodiment, the point of the spiral line 16 closest to the reference surface 13 is the spiral starting point, and the point of the spiral line 16 furthest from the reference surface 13 is the spiral ending point. In the extension direction of the spiral shaft 14, the distance between the spiral starting point and the highest point of the cutting blade 21 is d1a, where 1≤d1a / h1≤2.5. For example, d1a / h1 can be 1, 1.5, 2, 2.5, etc. By setting d1a / h1 to 1~2.5, it can be ensured that the airflow generated during the rotation of the cutting blade 21 can efficiently act on the inlet area of ​​the spiral cavity section 112, thereby reducing or even avoiding the local adhesion and accumulation of materials in the inlet area of ​​the spiral cavity section 112, reducing the risk of blockage of the cutter head cover 10, and improving the reliability of the cutting module.

[0038] See Figure 3 and Figure 4 As shown, in a specific embodiment, the distance between the end point of the spiral and the highest point of the cutting blade 21 in the extending direction of the spiral shaft 14 is d1b, where 2.5 ≤ d1b / h1 ≤ 3.5. For example, d1b / h1 can be 2.5, 3, 3.5, etc. By setting d1b / h1 to 2.5~3.5, it can be ensured that the airflow generated during the rotation of the cutting blade 21 can effectively act on the outlet area of ​​the spiral cavity section 112, thereby reducing or even avoiding local adhesion and accumulation of materials in the outlet area of ​​the spiral cavity section 112, reducing the risk of blockage of the cutter head cover 10, and improving the reliability of the cutting module.

[0039] See Figure 2As shown, in a specific embodiment, the distance between any point on the spiral line 16 and the highest point of the cutting blade 21 in the extending direction of the spiral shaft 14 is d1, where 15mm ≤ d1 ≤ 35mm. For example, d1 can be 15mm, 20mm, 25mm, 30mm, 35mm, etc. It is understood that when d1 is less than 15mm, the gap between the highest point of the cutting blade 21 and the lower surface of the top wall of the spiral cavity section 112 is too small, which may lead to increased conveying resistance of the material in the spiral cavity section 112, increasing the risk of blockage of the cutter head cover 10. When d1 is greater than 15mm, the gap between the highest point of the cutting blade 21 and the lower surface of the top wall of the spiral cavity section 112 is too small, which may lead to increased conveying resistance of the material in the spiral cavity section 112, increasing the risk of blockage of the cutter head cover 10. At 35mm, the gap between the cutting blade 21 and the lower surface of the top wall of the spiral cavity section 112 is too large. The airflow generated by the rotating cutting blade 21 weakens significantly when it reaches the lower surface of the top wall of the spiral cavity section 112. This makes it difficult to effectively blow away the material that adheres to and accumulates on the lower surface of the top wall of the spiral cavity section 112, which increases the risk of blockage in the cutter head cover 10. Setting d1 to 15mm~35mm can effectively balance the material conveying resistance and the effect of airflow, ensuring that the material can be conveyed smoothly and efficiently in the cutter head cover 10, reducing the risk of blockage in the cutter head cover 10 and improving the reliability of the cutting module.

[0040] See Figure 3 and Figure 4 As shown, in a specific embodiment, the point of the helix 16 closest to the reference plane 13 is the helix starting point. In the extension direction of the helix shaft 14, the distance between the helix starting point and the highest point of the cutting blade 21 is d1a, where 15mm ≤ d1a ≤ 25mm. For example, d1a can be 15mm, 20mm, 25mm, etc. It is understood that when d1a is less than 15mm, the gap between the highest point of the cutting blade 21 and the inlet area of ​​the helix cavity section 112 is too small, which may lead to increased conveying resistance of the material at the inlet area of ​​the helix cavity section 112, increasing the risk of blockage of the cutter head cover 10. When d1a is less than 15mm, the gap between the highest point of the cutting blade 21 and the inlet area of ​​the helix cavity section 112 is too small, which may increase the conveying resistance of the material at the inlet area of ​​the helix cavity section 112, increasing the risk of blockage of the cutter head cover 10. When d1a is greater than 25mm, the gap between the cutting blade 21 and the inlet area of ​​the spiral cavity section 112 is too large. When the airflow generated by the rotating cutting blade 21 reaches the inlet area of ​​the spiral cavity section 112, the intensity is greatly reduced. It cannot effectively blow away the material that adheres to and accumulates in the inlet area of ​​the spiral cavity section 112, which increases the risk of blockage of the cutter head cover 10. Setting d1a to 15mm~25mm can effectively balance the material conveying resistance and the effect of airflow, ensuring that the material can be conveyed smoothly and efficiently in the inlet area of ​​the spiral cavity section 112, reducing the risk of blockage of the cutter head cover 10 and improving the reliability of the cutting module.

[0041] See Figure 3 and Figure 4As shown, in a specific embodiment, the point furthest from the reference plane 13 on the spiral 16 is the spiral endpoint. In the extension direction of the spiral shaft 14, the distance between the spiral endpoint and the highest point of the cutting blade 21 is d1b, where 25mm ≤ d1b ≤ 35mm. For example, d1b can be 25mm, 30mm, 35mm, etc. It is understood that to ensure efficient output of material in the spiral cavity section 112 and to reduce the impact of material falling back under gravity during conveying, the space of the outlet area of ​​the spiral cavity section 112 is usually larger than the space of the inlet area. Therefore, when d1b is less than 25mm, the gap between the highest point of the cutting blade 21 and the outlet area of ​​the spiral cavity section 112 is too small, which may lead to increased conveying resistance of the material at the outlet area of ​​the spiral cavity section 112, increasing the risk of blockage of the cutter head cover 10. When d1b is greater than 35mm, due to the small gap between the cutting blade 21 and the spiral... The gap between the outlet areas of the spiral cavity section 112 is too large, and the airflow generated by the rotating cutting blade 21 weakens significantly when it reaches the outlet area of ​​the spiral cavity section 112. This makes it difficult to effectively blow away the material that adheres to and accumulates in the outlet area of ​​the spiral cavity section 112, increasing the risk of blockage in the cutter head cover 10. Setting d1b to 25mm~35mm can effectively balance the material conveying resistance and the effect of airflow, ensuring that the material can be conveyed smoothly and efficiently in the outlet area of ​​the spiral cavity section 112, reducing the risk of blockage in the cutter head cover 10, and improving the reliability of the cutting module.

[0042] See Figure 3 and Figure 5As shown, in a specific embodiment, the point of the helix 16 closest to the reference plane 13 is the helix start point, and the point of the helix 16 furthest from the reference plane 13 is the helix end point; in the extension direction of the helix axis 14, the distance between the helix start point and the helix end point is d2, where 0.5≤d2 / h1≤1.5, for example, d2 / h1 can be 0.5, 1, 1.5, etc. Understandably, if the spiral lift of the top wall of the spiral cavity section 112 is too large, the surface area of ​​the top wall of the spiral cavity section 112 will increase, and the conveying path of the material in the spiral cavity section 112 will become longer, thus increasing the probability of material adhering to and accumulating on the top wall of the spiral cavity section 112. If the spiral lift of the top wall of the spiral cavity section 112 is too small, the guiding and accelerating effect of the spiral cavity section 112 will be weakened. Furthermore, the actual guiding and accelerating effect of the spiral cavity section 112 is also affected by the airflow intensity generated by the rotating cutting blade 21. The value of d2 can reflect the spiral lift of the top wall of the spiral cavity section 112, and h1 can reflect the airflow intensity generated by the cutting blade 21 to a certain extent. Therefore, the value of d2 / h1 can effectively reflect the actual airflow intensity of the spiral cavity section 112. Regarding the flow guidance and acceleration effect, if d2 / h1 is less than 0.5 while h1 remains constant, the spiral lift of the spiral cavity section 112 is too small, and the spiral cavity section 112 cannot provide effective flow guidance and acceleration, resulting in a low material conveying speed and a higher probability of material adhesion and accumulation in the spiral cavity section 112. If d2 / h1 is greater than 1.5, the material conveying path in the spiral cavity section 112 is too long, and the probability of material adhesion and accumulation in the spiral cavity section 112 will also increase. Setting d2 / h1 to 0.5~1.5 can effectively balance the flow guidance and acceleration effect and path length of the spiral cavity section 112, enabling the material to be conveyed smoothly and efficiently in the spiral cavity section 112, reducing the risk of blockage of the cutter head cover 10, and improving the reliability of the cutting module.

[0043] In some embodiments, the distance d2 between the starting point and the ending point of the helical shaft 14 in the extending direction can be 6mm to 16mm, and optionally, d2≈11mm.

[0044] See Figure 2As shown, in a specific embodiment, a cutting mounting portion 114 is provided on the top of the cutter head cavity 111, which is used to mount the cutting blade assembly 20. The end of the cutting mounting portion 114 facing the reference plane 13 is the bottom of the cutting mounting portion 114, and the plane where the bottom of the cutting mounting portion 114 is located is parallel to the reference plane 13. In the extension direction of the spiral shaft 14, the distance between any point on the spiral line 16 and the plane where the bottom of the cutting mounting portion 114 is located is d3, where 0.1≤d3 / h1≤1.5. For example, d3 / h1 can be 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1, 1.1, 1.2, 1.3, 1.4, 1.5, etc. It is understandable that the side wall of the cutting mounting part 114 at the top of the cutter head cavity 111, together with the top wall and inner side wall of the cutter head cavity 111, can form a spiral cavity section 112. The plane where the bottom of the cutting mounting part 114 is located can be used as the lower boundary of the spiral cavity section 112. At this time, the distance d3 between the spiral line 16 and the plane where the bottom of the cutting mounting part 114 is located reflects the axial dimension of the spiral cavity section 112, and h1 reflects the axial dimension of the cutting blade 21. d3 / h1 reflects the compatibility between the axial dimension of the cutting blade 21 and the axial dimension of the spiral cavity section 112. If the axial position of the cutting blade 21 and h1 remain unchanged, and d3 / h1 is less than 0.1, then the axial dimension of the spiral cavity section 112 is too small, and the cutting blade 21 and the top wall of the spiral cavity section 112 cannot form a proper connection. Sufficient gap size leads to increased material conveying resistance in the spiral cavity section 112, increasing the risk of blockage in the cutter head cover 10. If d3 / h1 is greater than 1.5, the axial dimension of the spiral cavity section 112 is too large, resulting in an excessive gap between the cutting blade 21 and the top wall of the spiral cavity section 112. The airflow generated by the rotating cutting blade 21 weakens significantly when it reaches the top wall of the spiral cavity section 112, failing to effectively blow away the material adhering to and accumulating on the top wall of the spiral cavity section 112, thus increasing the risk of blockage in the cutter head cover 10. Setting d3 / h1 to 0.1~1.5 can effectively balance the material conveying resistance and the effect of airflow, ensuring that the material can be conveyed smoothly and efficiently in the spiral cavity section 112, reducing the risk of blockage in the cutter head cover 10, and improving the reliability of the cutting module.

[0045] In some embodiments, the cutting blade assembly in this embodiment further includes a power assembly 30. The power assembly 30 is installed on the side of the cutting mounting portion 114 away from the reference surface 13. The cutting mounting portion 114 is provided with a clearance through hole communicating with the blade disc cavity 111. The power assembly 30 passes through the clearance through hole and is driven to connect with the blade disc body 22 to drive the blade disc body 22 and the cutting blade 21 to rotate in the blade disc cavity 111.

[0046] See Figure 3 and Figure 6As shown, in a specific embodiment, the point of the helix 16 closest to the reference plane 13 is the helix start point, and the point of the helix 16 furthest from the reference plane 13 is the helix end point. In the extending direction of the helix shaft 14, the distance between the helix start point and the plane containing the bottom of the cutting mounting portion 114 is d3a, where 0.1 ≤ d3a / h1 ≤ 0.3. For example, d3a / h1 can be 0.1, 0.2, 0.3, etc. It is understood that when d3a / h1 is less than 0.1, the axial dimension of the inlet area of ​​the helix cavity section 112 is too small, and a sufficient gap cannot be formed between the cutting blade 21 and the inlet area of ​​the helix cavity section 112, resulting in increased conveying resistance of the material at the inlet area of ​​the helix cavity section 112. This increases the risk of blockage in the cutter head cover 10. When d3a / h1 is greater than 0.3, the axial dimension of the inlet area of ​​the spiral cavity section 112 is too large, and the gap between the cutting blade 21 and the inlet area of ​​the spiral cavity section 112 is too large. The airflow generated by the rotating cutting blade 21 weakens significantly when it reaches the inlet area of ​​the spiral cavity section 112, and cannot effectively blow away the material that adheres to and accumulates in the inlet area of ​​the spiral cavity section 112, thus increasing the risk of blockage in the cutter head cover 10. Setting d3a / h1 to 0.1~0.3 can effectively balance the material conveying resistance and the effect of airflow, ensuring that the material can be conveyed smoothly and efficiently in the inlet area of ​​the spiral cavity section 112, reducing the risk of blockage in the cutter head cover 10, and improving the reliability of the cutting module.

[0047] See Figure 3 and Figure 6As shown, in a specific embodiment, the distance between the end point of the spiral shaft 14 and the plane containing the bottom of the cutting mounting portion 114 in the extending direction of the spiral shaft 14 is d3b, where 0.8 ≤ d3b / h1 ≤ 1.5. For example, d3b / h1 can be 0.8, 0.9, 1, 1.1, 1.2, 1.3, 1.4, 1.5, etc. It is understood that in order to ensure that the material in the spiral cavity section 112 can be efficiently output, and at the same time reduce the impact of the material falling back under gravity during the conveying process on the material output, the space of the outlet area of ​​the spiral cavity section 112 is usually larger than the space of the inlet area. Therefore, when d3b / h1 is less than 0.8, the axial dimension of the outlet area of ​​the spiral cavity section 112 is too small, and the gap between the cutting blade 21 and the outlet area of ​​the spiral cavity section 112 cannot be formed sufficiently, which leads to an increase in the conveying resistance of the material at the outlet area of ​​the spiral cavity section 112, increasing the risk of blockage of the cutter head cover 10. When d3b / h1 is greater than 1.5, the spiral cavity section 112... The axial dimension of the outlet area of ​​section 2 is too large, and the gap between the cutting blade 21 and the outlet area of ​​the spiral cavity section 112 is too large. The airflow generated by the rotating cutting blade 21 is greatly weakened when it reaches the outlet area of ​​the spiral cavity section 112, which cannot effectively blow away the material that adheres to and accumulates in the outlet area of ​​the spiral cavity section 112, thus increasing the risk of blockage of the cutter head cover 10. Setting d3b / h1 to 0.8~1.5 can effectively balance the material conveying resistance and the effect of airflow, ensuring that the material can be conveyed smoothly and efficiently in the outlet area of ​​the spiral cavity section 112, reducing the risk of blockage of the cutter head cover 10 and improving the reliability of the cutting module.

[0048] In one specific embodiment, the highest point of the cutting blade 21 is located inside the spiral cavity section 112. Setting the highest point of the cutting blade 21 to be located inside the spiral cavity section 112 allows a stable and compact gap to be formed between the cutting blade 21 and the top wall of the spiral cavity section 112, so that the airflow generated when the cutting blade 21 rotates can effectively act on the top wall of the spiral cavity section 112.

[0049] In another embodiment, the highest point of the cutting blade 21 is located outside the helical cavity section 112 and on the side of the helical cavity section 112 facing the reference plane 13. By placing the highest point of the cutting blade 21 outside the helical cavity section 112 and simultaneously positioning it on the side of the helical cavity section 112 facing the reference plane 13, a stable and ample gap can be formed between the cutting blade 21 and the top wall of the helical cavity section 112. This reduces the risk of interference between the cutting blade 21 and the inner wall of the helical cavity section 112, and improves the operational reliability of the cutting module.

[0050] See Figure 2As shown, in a specific embodiment, the plane at the bottom of the cutter head cover 10 is parallel to the reference plane 13; in the extension direction of the spiral shaft 14, the distance between any point on the spiral line 16 and the plane at the bottom of the cutter head cover 10 is d4, where 0.15≤h1 / d4≤0.35, for example, h1 / d4 can be 0.15, 0.2, 0.25, 0.3, 0.35, etc. Understandably, the plane containing the bottom of the cutter head cover 10 can be considered the lower boundary of the cutter head cavity 111. In this case, the distance d4 between the helix 16 and the plane containing the bottom of the cutter head cover 10 reflects the axial dimension of the cutter head cavity 111, and h1 reflects the axial dimension of the cutting blade 21. h1 / d4 reflects the coverage area of ​​the cutting blade 21 within the cutter head cavity 111. If h1 / d4 is less than 0.15 while d4 remains constant, the axial dimension of the cutting blade 21 is too small, and the airflow generated during the rotation of the cutting blade 21 cannot fully act on the cutter head cavity 111. Materials tend to adhere to and accumulate inside the cutter head cover 10, increasing the risk of blockage. If h1 / d4 is greater than 0.35, the axial dimension of the cutting blade 21 is too large, and the gap between the cutting blade 21 and the top wall of the spiral cavity section 112 is too small, increasing the material conveying resistance and the risk of blockage in the cutter head cover 10. Setting h1 / d4 to 0.15~0.35 can effectively balance the material conveying resistance and the effect of airflow, ensuring that the material can be conveyed smoothly and efficiently in the cutter head cover 10, reducing the risk of blockage and improving the reliability of the cutting module.

[0051] See Figure 3 and Figure 7As shown, in a specific embodiment, the point of the helix 16 closest to the reference plane 13 is the helix start point, and the point of the helix 16 furthest from the reference plane 13 is the helix end point. In the extending direction of the helix shaft 14, the distance between the helix start point and the plane containing the bottom of the cutter head cover 10 is d4a, where 0.2 ≤ h1 / d4a ≤ 0.35, for example, it can be 0.2, 0.25, 0.3, 0.35, etc. When d4a remains constant, if h1 / d4a is less than 0.2, the axial dimension of the cutting blade 21 is too small, and the airflow generated during the rotation of the cutting blade 21 cannot fully act on the inlet of the helical cavity section 112. In the inlet area, materials tend to adhere to and accumulate in the spiral cavity section 112, increasing the risk of blockage in the cutter head cover 10. When h1 / d4a is greater than 0.35, the axial dimension of the cutting blade 21 is too large, and the gap between the cutting blade 21 and the inlet area of ​​the spiral cavity section 112 is too small, increasing the material conveying resistance and the risk of blockage in the cutter head cover 10. Setting h1 / d4a to 0.2~0.35 can effectively balance the material conveying resistance and the effect of airflow, ensuring that the material can be conveyed smoothly and efficiently in the inlet area of ​​the spiral cavity section 112, reducing the risk of blockage in the cutter head cover 10, and improving the reliability of the cutting module.

[0052] See Figure 3 and Figure 7 As shown, in a specific embodiment, the distance between the end point of the spiral shaft 14 and the plane containing the bottom of the cutter head cover 10 in the extending direction of the spiral shaft 14 is d4b, where 0.15 ≤ h1 / d4b ≤ 0.3. It is understood that, in order to ensure efficient output of material in the spiral cavity section 112 and reduce the impact of material falling back under gravity during conveying, the space of the outlet area of ​​the spiral cavity section 112 is usually larger than the space of the inlet area. Therefore, when h1 / d4b is less than 0.15, the axial dimension of the cutting blade 21 is too small, and the airflow generated during the rotation of the cutting blade 21 cannot fully act on the outlet area of ​​the spiral cavity section 112. Material easily adheres to and accumulates in the outlet area of ​​the spiral cavity section 112, causing the cutter head cover 10 to... The risk of blockage increases when h1 / d4b is greater than 0.3. When the axial dimension of the cutting blade 21 is too large, the gap between the cutting blade 21 and the outlet area of ​​the spiral cavity section 112 is too small, the material conveying resistance increases, and the risk of blockage of the cutter head cover 10 increases. Setting h1 / d4b to 0.15~0.3 can effectively balance the material conveying resistance and the effect of airflow, ensuring that the material can be conveyed smoothly and efficiently in the outlet area of ​​the spiral cavity section 112, reducing the risk of blockage of the cutter head cover 10 and improving the reliability of the cutting module.

[0053] See Figure 9As shown, in a specific embodiment, the virtual cylindrical surface 15 is a virtual cylindrical surface with the helical shaft 14 as its axis and a preset radius x1. Along the radial direction of the helical shaft 14, the distance between the innermost side of the lower surface of the top wall of the cutter head cover 10 corresponding to the helical cavity segment 112 and the helical shaft 14 is the minimum inner radius y1 of the helical cavity segment 112, and the distance between the outermost side of the lower surface of the top wall of the cutter head cover 10 corresponding to the helical cavity segment 112 and the helical shaft 14 is the maximum outer radius z1 of the helical cavity segment 112. The preset radius x1, the minimum inner radius y1 of the helical cavity segment 112, and the maximum outer radius z1 of the helical cavity segment 112 satisfy: y1 < x1 < z1. By limiting the geometric relationship between the preset radius x1 of the virtual cylindrical surface 15 and the inner radius y1 and outer radius z1 of the helical cavity segment 112, the flow path of the fluid or airflow in the helical cavity segment 112 can be precisely controlled, the flow efficiency can be optimized, and turbulence and energy loss can be reduced.

[0054] In a specific embodiment, the preset radius x1 in this embodiment satisfies: x1=(y1+z1) / 2, that is, the spiral line 16 is designed based on the middle position of the inner and outer sides of the lower surface of the spiral top wall corresponding to the spiral cavity segment 112. For the case where the inner and outer shapes of the lower surface of the spiral top wall are basically symmetrical with respect to the middle position, the spiral start point and spiral end point are designed based on such a spiral line 16, which can more effectively reduce the risk of blockage caused by the accumulation of material near the cutter head cavity 111.

[0055] In another embodiment, the preset radius x1 in this embodiment satisfies: y1 < x1 < (y1 + z1) / 2, or (y1 + z1) / 2 < x1 < z1. That is, the helix 16 is designed based on the position closer to the inner side or the outer side of the lower surface of the helical top wall corresponding to the helical cavity segment 112. When the inner and outer shapes of the lower surface of the helical top wall are significantly asymmetrical relative to the middle position, the helical start point and helical end point are designed based on such helix 16, which can more effectively reduce the risk of blockage caused by material accumulation near the cutter head cavity 111.

[0056] In another specific embodiment, a virtual scanning surface is defined through the helical axis 14. This virtual scanning surface extends radially from the helical axis 14 away from it and rotates around the helical axis 14. During this rotation, the virtual scanning surface intersects with the cutter head cover 10 to form a series of rotating sections. The mid-radius of each rotating section is x2. In each rotating section, the distance from the point closest to the helical axis 14 on the lower surface of the top wall of the cutter head cover 10 to the helical axis 14 is the inner radius y2 of the corresponding rotating section. The distance between the point furthest from the helical axis 14 on the lower surface of the top wall of the disk cover 10 and the helical axis 14 is the outer radius z2 of the corresponding rotating section. On each rotating section, a section centerline parallel to the helical axis 14 and at a distance from the helical axis 14 equal to the corresponding intermediate radius x2 is defined. The set of section centerlines of each rotating section forms a virtual cylinder 15. The intermediate radius x2, inner radius y2, and outer radius z2 of the rotating section satisfy: x2=p×y2+q×z2, p+q=1; where p=1 / 2, or 0<p<1 / 2, or 1 / 2<p<1. By adjusting the weighting coefficient p, the geometric characteristics of the spiral cavity section 112 can be precisely controlled. When p satisfies 1 / 2 < p < 1, the spiral rising efficiency of the material inside the spiral cavity section 112 can be enhanced. When p satisfies 0 < p < 1 / 2, the uniformity of the material distribution outside the spiral cavity section 112 can be optimized. The virtual cylindrical surface 15 can provide a standardized benchmark for the measurement of the spiral start and spiral end points, ensuring that the guide performance of the cutter head cover 10 for the material is stable and reliable.

[0057] See Figure 1 and Figure 11As shown, in a specific embodiment, the bottom of the spiral cover 11 is provided with a first opening 113 connecting the cutter head cavity 111 to the external environment. Material in the external environment enters the cutter head cavity 111 through the first opening 113. The cutter head cover 10 also includes a channel 12, which is provided on the side of the spiral cover 11 and has a channel cavity 121 communicating with the cutter head cavity 111. The bottom of the channel 12 is provided with a second opening 122 connecting the channel cavity 121 to the external environment. The end of the channel 12 facing away from the spiral cover 11 is provided with a material outlet. Material in the cutter head cavity 111 can be discharged from the material outlet through the channel cavity 121, and some material in the channel cavity 121 can fall into the external environment through the second opening 122. By providing a second opening 122 at the bottom of the channel section 12 to connect the external environment with the channel cavity 121, the probability of blockage in the channel cavity 121 can be effectively reduced. Specifically, during the process of conveying material from the channel cavity 121 to the material outlet, some material will fall off under the action of gravity. The second opening 122 allows this part of the material to fall directly into the external environment, thereby reducing or even avoiding the adhesion and accumulation of material at the bottom of the channel cavity 121, thus reducing the probability of blockage in the channel cavity 121 and improving the reliability of the cutter head cover 10.

[0058] It should be noted that the rotating cutting blade 21 is similar to an axial fan. During its rotation, it generates airflow and can generate negative pressure at the first opening 113. The negative pressure at the first opening can draw air and materials from the external environment into the cutter head cavity 111. Under the guidance of the spiral cavity section 112 at the top of the cutter head cavity 111, a spiral airflow can be formed in the cutter head cavity 111, thereby transporting the material in the cutter head cavity 111 to the channel cavity 121.

[0059] In one specific embodiment, the first opening 113 includes a first opening formed on the bottom wall of the cutter disc cavity 111. By providing the first opening on the bottom wall of the cutter disc cavity 111, materials in the external environment can enter the cutter disc cavity 111 from the bottom of the spiral cover 11 upward through the first opening. The materials entering the cutter disc cavity 111 can be cut by the rotating cutting blade 21 and guided by the cutter disc cavity 111 to the channel cavity 121, and finally discharged from the material outlet. The setting of the first opening can provide a smooth suction path for materials in the external environment, ensuring that the cutter disc cover 10 has good material suction efficiency.

[0060] In some embodiments, the first opening 113 in this embodiment includes a plurality of first openings, which are spaced apart on the bottom wall of the cutter disc cavity 111. By providing a plurality of first openings on the bottom wall of the cutter disc cavity 111, materials in the external environment can enter the cutter disc cavity 111 from the bottom of the spiral cover 11 upward through the plurality of first openings. The materials entering the cutter disc cavity 111 can be cut by the rotating cutting blade 21 and guided by the cutter disc cavity 111 to the channel cavity 121, and finally discharged from the material outlet. The arrangement of a plurality of first openings can provide multiple suction paths for materials in the external environment, thereby further improving the material suction efficiency of the cutter disc cover 10.

[0061] See Figure 1 , Figure 9 and Figure 11 As shown, in another embodiment, the first opening 113 in this embodiment makes the cutter head cavity 111 bottomless; by setting the cutter head cavity 111 to be bottomless, materials in the external environment can directly enter the cutter head cavity 111 from the bottom upwards. The materials entering the cutter head cavity 111 can be cut by the rotating cutting blade 21 and guided by the cutter head cavity 111 to the channel cavity 121, and finally discharged from the material outlet. The bottomless cutter head cavity 111 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 10.

[0062] In one specific embodiment, the second opening 122 includes a second opening formed on the bottom wall of the channel cavity 121. It is understood that during the process of material being conveyed in the channel cavity 121, some material will fall to the bottom wall of the channel cavity 121 under the action of gravity. By providing a second opening on the bottom wall of the channel cavity 121, some material that falls to the bottom wall of the channel cavity 121 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 121, thereby reducing the probability of blockage of the channel cavity 121 and improving the reliability of the cutter head cover 10.

[0063] In some embodiments, the second opening 122 in this embodiment includes a plurality of second openings, which are spaced apart on the bottom wall of the channel cavity 121. By providing a plurality of second openings on the bottom wall of the channel cavity 121, some of the material falling to the bottom wall of the channel cavity 121 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 121, thereby reducing the probability of blockage of the channel cavity 121 and improving the reliability of the cutter head cover 10.

[0064] See Figure 1 , Figure 9 and Figure 11As shown, in another embodiment, the second opening 122 in this embodiment makes the channel cavity 121 bottomless. By setting the channel cavity 121 to be bottomless, a discharge path with the largest area can be provided for the falling material, so that some of the falling material can be discharged directly downwards to the external environment, thereby avoiding the adhesion and accumulation of material at the bottom of the channel cavity 121, thereby reducing the probability of blockage of the channel cavity 121 and improving the reliability of the cutter head cover 10.

[0065] See Figure 11 As shown, in a specific embodiment, the channel portion 12 includes a first sidewall 123 and a second sidewall 124 disposed opposite to each other. In the width direction of the channel portion 12, the first sidewall 123 is located on the side of the channel cavity 121 close to the spiral shaft 14, and the second sidewall 124 is located on the side of the channel cavity 121 away from the spiral shaft 14. The length of the first sidewall 123 extending outward from the outer edge of the cutter head cover 10 is L1, and the length of the second sidewall 124 extending outward from the outer edge of the cutter head cover 10 is L2, wherein L1≤L2, and the width direction of the channel portion 12 is perpendicular to the extension direction of the channel cavity 121 and the spiral shaft 14. The maximum outer radius of the spiral cavity segment 112 is z1, wherein 0≤L1 / z1≤1.2, for example, L1 / z1 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 121, as the length of the channel cavity 121 increases, the probability of the material falling to the bottom of the channel cavity 121 will gradually increase. By setting the ratio between the length L1 of the first sidewall 123 facing the spiral shaft 14 and the maximum outer diameter z1 of the spiral cavity section 112 to 0~1.2, the structural dimensions of the channel section 12 can be effectively controlled, making the structure of the channel section 12 more compact. Specifically, setting the ratio between the length L1 of the first sidewall 123 and the maximum outer diameter z1 of the spiral cavity section 112 to 0~1.2 can ensure that the channel cavity 121 has a relatively short length to a certain extent. Since the distance of the material conveyed in the channel cavity 121 is shortened, the probability and total amount of it 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 122, it will not form visible accumulation or have a significant impact on the operation effect. When L1 / z1 equals 0, the length of the first sidewall 123 is 0cm, and the length of the channel cavity 121 can be designed to be the shortest.

[0066] See Figure 11As shown, in a specific embodiment, the length of the first sidewall 123 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 123 to 0cm~10cm can, to a certain extent, ensure that the channel cavity 121 has a shorter length. Since the material is transported a shorter distance in the channel cavity 121, 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 122, it will not form visible accumulation or have a significant impact on the operation. Specifically, when the length L1 of the first sidewall 123 is equal to 0cm, the length of the channel cavity 121 can be designed to be the shortest.

[0067] See Figures 1 to 14 As shown, according to another aspect of this application, a mobile robot is provided, the mobile robot including a cutting module 100 and a body 200, the cutting module 100 being disposed on the body 200, and the cutting module 100 being the cutting module 100 described above.

[0068] In some embodiments, the mobile robot in this embodiment further includes a walking module 300, which is disposed on the body 200 and is used to drive the mobile robot to move on the working plane 400.

[0069] See Figure 14 As shown, in a specific embodiment, the mobile robot in this embodiment is adapted to move on the working plane 400; the bottom of the cutter head cover 10 is provided with an air inlet slope 17, which is inclined relative to the working plane 400. By providing an air inlet slope 17 at the bottom of the cutter head cover 10 that is inclined relative to the working plane 400 of the mobile machine, a stable air inlet gap can be formed between the part of the cutter head cover 10 at least far from the working plane 400 and the material to be cut on the working plane 400. The formation of the air inlet gap can effectively increase the air intake of the cutter head cover 10 during operation, thereby effectively improving the airflow velocity and negative pressure effect inside the cutter head cover 10, enhancing the material lifting and conveying capacity during the cutting process of the cutting module 100, and preventing the material from accumulating or clogging inside the cutter head cover 10.

[0070] In one specific embodiment, the air inlet ramp 17 forms the entire bottom wall of the cutter head cover 10. By setting the air inlet ramp 17 to form the entire bottom wall of the cutter head cover 10, a large air inlet gap can be formed between the bottom of the cutter head cover 10 and the material to be cut on the working plane. When the cutting blade assembly 20 rotates inside the cutter head cover 10, air from the external environment can efficiently enter the cutter head cover 10 through this air inlet gap, thereby increasing the air intake of the cutter head cover 10 during operation, enhancing the material lifting and conveying capacity of the cutting module 100 during the cutting process, and preventing material from accumulating or clogging inside the cutter head cover 10.

[0071] In another embodiment, the air inlet ramp 17 forms part of the bottom wall of the cutter head cover 10. By setting the air inlet ramp 17 to form part of the bottom wall of the cutter head cover 10, a certain air inlet gap can be formed between the bottom of the cutter head cover 10 and the material to be cut on the working plane. When the cutting blade assembly 20 rotates inside the cutter head cover 10, air from the external environment can enter the cutter head cover 10 more efficiently through this air inlet gap, thereby increasing the air intake of the cutter head cover 10 during operation, enhancing the material lifting and conveying capacity during the cutting process of the cutting module 100, and preventing material from accumulating or clogging inside the cutter head cover 10.

[0072] According to another aspect of this application, a mobile robot system is provided, the mobile robot system including a mobile robot and a base station, the base station being used at least for charging the mobile robot, the mobile robot being the mobile robot described above.

[0073] In summary, implementing the cutting module, mobile robot, and mobile robot system provided in this embodiment has at least the following beneficial technical effects: The cutter head cover 10 provided in this embodiment, by setting a spiral cavity section 112 that spirals upward relative to the reference plane 13 around the spiral axis 14 at the top of the cutter head cavity 111, allows the airflow in the cutter head cavity 111 to be spirally accelerated and gathered through the spiral cavity section 112, thereby facilitating the discharge of material in the cutter head cavity 111. By setting the ratio between the distance between any point on the spiral line 16 and the highest point of the cutting blade 21 in the direction of the spiral axis 14 and the distance between the highest and lowest points of the cutting blade 21 in the direction of the spiral axis 14 to 1~3.5, it can be ensured that the airflow generated during the rotation of the cutting blade 21 can fully act on the top of the cutter head cavity 111, thereby reducing or even avoiding local adhesion and accumulation of material at the top of the cutter head cavity 111, reducing the risk of blockage of the cutter head cover 10, and improving the reliability of the cutting module.

[0074] 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 cutting module, characterized in that, The cutting module includes: The cutter head cover (10) includes a spiral cover body (11), and a cutter head cavity (111) is provided inside the spiral cover body (11). The top of the cutter head cavity (111) is formed with a spiral cavity section (112) that spirals upward relative to the reference plane (13) around the spiral axis (14). The reference plane (13) is a plane located on the lower side of the cutter head cover (10) and perpendicular to the spiral axis (14). A cutting blade assembly (20) is rotatably disposed on the cutter head cover (10). The cutting blade assembly (20) includes a cutting blade (21) for cutting the material in the cutter head cavity (111). The lower surface of the top of the cutter head cover (10) corresponding to the spiral cavity segment (112) intersects with the virtual cylinder (15) to obtain a spiral line (16); in the extension direction of the spiral shaft (14), the distance between any point on the spiral line (16) and the highest point of the cutting blade (21) is d1, and the distance between the highest point of the cutting blade (21) and the lowest point of the cutting blade (21) is h1, where 1≤d1 / h1≤3.

5.

2. The cutting module according to claim 1, characterized in that, The point of the helix (16) closest to the reference plane (13) is the helix start point, and the point of the helix (16) furthest from the reference plane (13) is the helix end point; In the direction of extension of the spiral shaft (14), the distance between the spiral starting point and the highest point of the cutting blade (21) is d1a, where 1≤d1a / h1≤2.5; and / or, in the direction of extension of the spiral shaft (14), the distance between the spiral ending point and the highest point of the cutting blade (21) is d1b, where 2.5≤d1b / h1≤3.

5.

3. The cutting module according to claim 1, characterized in that, In the direction of extension of the spiral shaft (14), the distance between any point on the spiral line (16) and the highest point of the cutting blade (21) is d1, where 15mm≤d1≤35mm; And / or, the point of the helix (16) closest to the reference plane (13) is the helix start point, and the distance between the helix start point and the highest point of the cutting blade (21) in the direction of extension of the helix axis (14) is d1a, where 15mm≤d1a≤25mm; And / or, the point of the helix (16) furthest from the reference plane (13) is the helix endpoint, and the distance between the helix endpoint and the highest point of the cutting blade in the direction of extension of the helix axis (14) is d1b, where 25mm≤d1b≤35mm.

4. The cutting module according to claim 1, characterized in that, The point of the helix (16) closest to the reference plane (13) is the helix start point, and the point of the helix (16) furthest from the reference plane (13) is the helix end point; In the direction of extension of the spiral shaft (14), the distance between the spiral start point and the spiral end point is d2, where 0.5≤d2 / h1≤1.

5.

5. The cutting module according to claim 1, characterized in that, A cutting mounting part (114) is provided at the top of the blade cavity (111), and the cutting mounting part (114) is used to mount the cutting blade assembly (20); wherein, the end of the cutting mounting part (114) facing the reference surface (13) is the bottom of the cutting mounting part (114), and the plane where the bottom of the cutting mounting part (114) is located is parallel to the reference surface (13). In the extending direction of the spiral shaft (14), the distance between any point on the spiral line (16) and the plane containing the bottom of the cutting mounting part (114) is d3, where 0.1≤d3 / h1≤1.

5.

6. The cutting module according to claim 5, characterized in that, The point of the helix (16) closest to the reference plane (13) is the helix start point, and the point of the helix (16) furthest from the reference plane (13) is the helix end point; In the extending direction of the spiral shaft (14), the distance between the spiral starting point and the plane where the bottom of the cutting mounting part (114) is located is d3a, where 0.1≤d3a / h1≤0.3; and / or, in the extending direction of the spiral shaft (14), the distance between the spiral ending point and the plane where the bottom of the cutting mounting part (114) is located is d3b, where 0.8≤d3b / h1≤1.

5.

7. The cutting module according to claim 1, characterized in that, The highest point of the cutting blade (21) is located within the helical cavity section (112); Alternatively, the highest point of the cutting blade (21) is located outside the helical cavity section (112) and on the side of the helical cavity section (112) facing the reference surface (13).

8. The cutting module according to claim 1, characterized in that, The bottom plane of the cutter head cover (10) is parallel to the reference plane (13). In the extension direction of the spiral shaft (14), the distance between any point on the spiral line (16) and the plane containing the bottom of the cutter head cover (10) is d4, where 0.15≤h1 / d4≤0.

35.

9. The cutting module according to claim 8, characterized in that, The point of the helix (16) closest to the reference plane (13) is the helix start point, and the point of the helix (16) furthest from the reference plane (13) is the helix end point; In the direction of extension of the helical shaft (14), the distance between the starting point of the helical shaft and the plane containing the bottom of the cutter head cover (10) is d4a, where 0.2≤h1 / d4a≤0.35; and / or, in the direction of extension of the helical shaft (14), the distance between the ending point of the helical shaft and the plane containing the bottom of the cutter head cover (10) is d4b, where 0.15≤h1 / d4b≤0.

3.

10. The cutting module according to claim 1, characterized in that, The virtual cylindrical surface (15) is a virtual cylindrical surface with the helical shaft (14) as the axis and a radius of a preset radius x1; along the radial direction of the helical shaft (14), the distance between the innermost side of the lower surface of the top wall of the cutter head cover (10) corresponding to the helical cavity segment (112) and the helical shaft (14) is the minimum inner radius y1 of the helical cavity segment (112), and the distance between the outermost side of the lower surface of the top wall of the cutter head cover (10) corresponding to the helical cavity segment (112) and the helical shaft (14) is the maximum outer radius z1 of the helical cavity segment (112); The preset radius x1, the minimum inner radius y1 of the spiral cavity segment (112) and the maximum outer radius z1 of the spiral cavity segment (112) satisfy: y1 < x1 < z1; where x1 = (y1 + z1) / 2, or y1 < x1 < (y1 + z1) / 2, or (y1 + z1) / 2 < x1 < z1.

11. The cutting module according to claim 1, characterized in that, A virtual scanning surface is defined through the helical axis (14). The virtual scanning surface extends radially from the helical axis (14) to the side away from the helical axis (14) and rotates around the helical axis (14). During the rotation of the virtual scanning surface, the virtual scanning surface intersects with the cutter head cover (10) to form a series of rotating sections. The mid-radius of the rotating section is x2. In each of the rotating sections, the distance between the point closest to the helical shaft (14) on the lower surface of the top wall of the cutter head cover (10) and the helical shaft (14) is the inner radius y2 of the corresponding rotating section, and the distance between the point furthest from the helical shaft (14) on the lower surface of the top wall of the cutter head cover (10) and the helical shaft (14) is the outer radius z2 of the corresponding rotating section; On each of the rotating sections, a section centerline is defined that is parallel to the helical axis (14) and is at a distance from the helical axis (14) equal to the corresponding mid-radius x2. The set of the section centerlines of each of the rotating sections forms the virtual cylinder (15). The mid-radius x2, inner radius y2, and outer radius z2 of the rotating section satisfy: x2 = p × y2 + q × z2, p + q = 1; where p = 1 / 2, or 0 < p < 1 / 2, or 1 / 2 < p < 1.

12. The cutting module according to claim 1, characterized in that, The bottom of the spiral cover (11) is provided with a first opening (113) that connects the cutter head cavity (111) with the external environment, and the material in the external environment enters the cutter head cavity (111) through the first opening (113). The cutter head cover (10) also includes a channel section (12), which is located on the side of the spiral cover body (11) and has a channel cavity (121) communicating with the cutter head cavity (111). The bottom of the channel section (12) has a second opening (122) communicating with the channel cavity (121) and the external environment. The end of the channel section (12) facing away from the spiral cover body (11) has a material outlet. The material in the cutter head cavity (111) can be discharged from the material outlet through the channel cavity (121), and some of the material in the channel cavity (121) can fall into the external environment through the second opening (122).

13. The cutting module according to claim 12, characterized in that, The first opening (113) includes a first opening formed on the bottom wall of the cutter head cavity (111), or the first opening (113) makes the cutter head cavity (111) have no bottom wall; And / or, the second opening (122) includes a second opening formed on the bottom wall of the channel cavity (121), or, the second opening (122) makes the channel cavity (121) without a bottom wall.

14. The cutting module according to claim 12, characterized in that, The channel portion (12) includes a first sidewall (123) and a second sidewall (124) disposed opposite to each other. In the width direction of the channel portion (12), the first sidewall (123) is located on the side of the channel cavity (121) close to the spiral shaft (14), and the second sidewall (124) is located on the side of the channel cavity (121) away from the spiral shaft (14). The first sidewall (123) extends outward from the outer edge of the cutter head cover (10) for a length of L1, and the second sidewall (124) extends outward from the outer edge of the cutter head cover (10) for a length of L2, wherein L1≤L2, and the width direction of the channel portion (12) is perpendicular to the extension direction of the channel cavity (121) and the spiral shaft (14). The maximum outer radius of the helical cavity segment (112) is z1, where 0≤L1 / z1≤1.

2.

15. A mobile robot, characterized in that, The mobile robot includes a cutting module (100) and a body (200), wherein the cutting module (100) is disposed on the body (200), and the cutting module (100) is the cutting module (100) according to any one of claims 1 to 14.

16. The mobile robot according to claim 15, characterized in that, The mobile robot is adapted to move on a working plane (400); The bottom of the cutter head cover (10) is provided with an air inlet slope (17), which is inclined relative to the working plane (400).

17. The mobile robot according to claim 16, characterized in that, The air inlet slope (17) forms the entire or part of the bottom wall of the cutter head cover (10).

18. A mobile robot system, characterized in that, The mobile 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 15 to 17.

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