Mowing robot and mowing robot system

Abstract

The application belongs to the technical field of mowing devices, and discloses a mowing robot and a mowing robot system. The mowing robot comprises a body, a walking mechanism connected to the body, the walking mechanism comprising two moving wheels, the two moving wheels being oppositely and spacedly arranged along the width direction of the body, and a cutting mechanism, the bottom of the body being provided with a cutting cavity, the cutting mechanism being arranged in the cutting cavity, the rear end of the body being provided with a grass discharging port, the grass discharging port being communicated with the cutting cavity, and the grass clippings in the cutting cavity being discharged to the outside of the body through the grass discharging port. In the length direction of the body, the distance between the rotating center of the cutting mechanism and the grass discharging port is a first size, the ratio of the first size to the radius of the cutting cavity is greater than or equal to 1 and less than or equal to 2. The application can solve the technical problem that the grass clippings are prone to block the grass discharging channel in the prior art.

Description

Technical Field

[0001] This application belongs to the field of lawn mowing device technology, specifically relating to a lawn mowing robot and a lawn mowing robot system. Background Technology

[0002] During the use of lawnmowers, the grass clippings in the cutting chamber are generally driven by the cutting mechanism and guided to the discharge port through the discharge channel. However, the grass clippings can only move a limited distance after leaving the cutting chamber, and some of them will fall into the discharge channel and gradually block it. Utility Model Content

[0003] The purpose of this application is to provide a lawn mowing robot and a lawn mowing robot system to solve the technical problem in the prior art that grass clippings easily clog the grass discharge channel.

[0004] To achieve the above objectives, this application provides a lawnmower robot, comprising: a body; a walking mechanism connected to the body, the walking mechanism including two moving wheels, the two moving wheels being arranged opposite to each other and spaced apart along the width direction of the body; and a cutting mechanism, the bottom of the body having a cutting cavity, the cutting mechanism being disposed within the cutting cavity, and the rear end of the body having a grass discharge port communicating with the cutting cavity, the grass clippings in the cutting cavity being discharged to the outside of the body through the grass discharge port; wherein, along the length direction of the body, the distance between the rotation center of the cutting mechanism and the grass discharge port is a first dimension, the ratio of the first dimension to the radius of the cutting cavity being greater than or equal to 1 and less than or equal to 2.

[0005] In some embodiments, the rotation center of the cutting mechanism is located between the two moving wheels; and / or, the grass discharge port is located between the two moving wheels.

[0006] In some embodiments, the machine body includes a protective cover, which includes a cover body portion and a channel portion, with the cutting cavity located at the bottom of the cover body portion; the channel portion has a channel cavity for connecting the cutting cavity and the grass discharge port; wherein, in the longitudinal direction of the machine body, the length of the channel cavity is not greater than 12cm. In some embodiments, the bottom of the channel cavity is open.

[0007] In some embodiments, the length of the portion of the cover between the two moving wheels in the longitudinal direction of the body is a second dimension, and the ratio of the second dimension to the diameter of the moving wheels is not less than 0.4.

[0008] In some embodiments, the channel portion includes opposing first and second sidewalls, the first sidewall extending generally along the length direction of the body, and the second sidewall extending obliquely relative to the length direction of the body; wherein the outlet width of the channel portion is less than or equal to the radius of the cutting cavity.

[0009] In some embodiments, the body further includes a base with a receiving cavity and a protective cover located inside the receiving cavity; the walking mechanism further includes a drive assembly connected to two moving wheels to drive the two moving wheels to rotate, and the drive assembly is mounted on the base and located outside the receiving cavity.

[0010] In some embodiments, the base includes a first main body and a second main body, the width of the first main body being smaller than the width of the second main body; a protective cover is located at the bottom of the first main body, and two movable wheels are located on both sides of the first main body along the width direction.

[0011] In some embodiments, the drive component is located on the outside of the base, and the outer wall of the base is provided with a mounting portion, which is fixedly connected to the drive component.

[0012] In some embodiments, the drive assembly includes two motors, each connected to a corresponding movable wheel to drive the corresponding movable wheel to rotate; the movable wheel has a mounting groove on the side facing the base, the motor is mounted in the mounting groove and fixedly connected to the mounting part.

[0013] In some embodiments, the motor includes a stator assembly and a rotor assembly, the rotor assembly being fixed to a mounting slot and the stator assembly being fixed to a mounting portion; the rotor assembly is sleeved outside the stator assembly, and the stator assembly can drive the rotor assembly to rotate, thereby driving the movable wheel to rotate.

[0014] In some embodiments, the mounting portion includes a support shaft extending along the width direction of the machine body; a connecting groove is provided on the side of the stator assembly facing the base, the connecting groove being coaxial with the moving wheel, and the support shaft being engaged in the connecting groove; and / or, the mounting portion includes at least one fastener that fixes the stator assembly to the base.

[0015] In some embodiments, at least one limiting hole is provided on the outer side wall of the base facing the motor, and the limiting hole is located on one side of the rotation axis of the moving wheel along its own radial direction; at least one positioning block is provided on the stator assembly, and the positioning block is located inside the limiting hole and spaced apart from the hole wall of the limiting hole.

[0016] In some embodiments, the lawnmower robot also includes a grass clipping mechanism connected to the rear end of the body. The grass clipping mechanism has a grass inlet, through which grass clippings discharged from the grass outlet enter the grass clipping mechanism.

[0017] In some embodiments, the grass clipping handling mechanism includes a grass collecting element or a grass blocking element.

[0018] In some embodiments, the lawnmower robot further includes a flipping mechanism for connecting to a grass clipping mechanism and driving the grass clipping mechanism to rotate about a first axis; wherein the first axis is located between two moving wheels; and / or, in the length direction of the body, the distance between the rotation center of the cutting mechanism and the first axis is smaller than the diameter of the moving wheels.

[0019] In some embodiments, the movable wheel rotates about the second axis, and the grass clipping processing mechanism is a grass collecting component. In the length direction of the machine body, the distance between the rear end of the grass collecting component and the second axis is smaller than the distance between the front end of the machine body and the second axis.

[0020] In some embodiments, the machine body includes a base, a protective shell, and a cutting motor. The protective shell is disposed on the base; the cutting chamber is disposed at the bottom of the base, and the straw discharge port is disposed at the rear end of the protective shell; the output end of the cutting motor is connected to the cutting mechanism to drive the cutting mechanism to rotate.

[0021] In some embodiments, the base is provided with a waterproof ring and a counterweight, the waterproof ring being sandwiched between the base and the protective shell, and the counterweight being located inside the waterproof ring.

[0022] This application also provides a lawnmower robot system, including a base station and the aforementioned lawnmower robot, wherein the base station is used at least for charging the lawnmower robot.

[0023] The beneficial effects of the lawnmower robot and lawnmower robot system provided in this application are as follows: The presence of wheels enables the robot body to move. A cutting cavity is located at the bottom of the robot body, and the cutting mechanism is housed within the cavity, protecting the cutting mechanism and preventing injury to the user should the cutting mechanism be damaged. When the ratio of the first dimension to the radius of the cutting cavity is greater than 2, the distance between the discharge port and the cutting cavity along the length of the robot body is relatively large, making it difficult for some grass clippings to move to the discharge port after detaching from the cutting cavity. When the ratio of the first dimension to the radius of the cutting cavity is equal to 1, the discharge port and the cutting cavity are directly connected, allowing grass clippings to be discharged directly from the discharge port after detaching from the cutting cavity. When the ratio of the first dimension to the radius of the cutting cavity is greater than 1 and less than or equal to 2, the distance between the discharge port and the cutting cavity along the length of the robot body is relatively small, making it easier for grass clippings to move to the discharge port after detaching from the cutting cavity. Setting the ratio of the first dimension to the radius of the cutting cavity to be greater than or equal to 1 and less than or equal to 2 allows grass clippings to easily move to the discharge port after detaching from the cutting cavity, preventing grass clippings from clogging the discharge channel. The embodiments of this application can solve the technical problem of grass clippings easily clogging the discharge channel. 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 Schematic diagram of the structure of the bottom end of the lawnmower robot provided in some embodiments of this application Figure 1 ; Figure 2 This is a schematic diagram of the structure of the cutting mechanism within the protective cover provided in some embodiments of this application; Figure 3 An exploded view of the base and walking mechanism provided in some embodiments of this application; Figure 4 Schematic diagrams of the base provided in some embodiments of this application; Figure 5 for Figure 4 Enlarged view of part A in the middle; Figure 6 This is a schematic diagram showing the disassembled state of the moving wheel and motor provided in some embodiments of this application; Figure 7 This is a schematic diagram of the connection between the movable wheel and the drive motor provided in some embodiments of this application; Figure 8 Schematic diagram of the structure of the bottom end of the lawnmower robot provided in some embodiments of this application Figure 2 ; Figure 9 A three-dimensional structural schematic diagram of a lawnmower robot provided in some embodiments of this application; Figure 10 A schematic diagram showing the disassembled state of a lawnmower robot provided in some embodiments of this application; Figure 11 for Figure 10 A magnified view of part B in the middle.

[0026] The following are the labeling elements in the figure: 100. Lawn-mowing robot; 10. Body; 11. Base; 111. Receiving cavity; 112. Mounting part; 1121. Support shaft; 113. First connecting hole; 114. Limiting hole; 115. First main body part; 116. Second main body part; 12. Waterproof ring; 13. Protective shell; 131. Grass discharge port; 14. Protective space; 15. Protective cover; 151. Cover part; 1511. Cutting cavity; 152. Channel part; 1521. Channel cavity; 1522. First side wall; 1523. Second side wall; 1524. Top wall; 20. Walking mechanism; 21. Moving wheel; 211. Mounting slot; 212. Second axis; 22. Drive assembly; 221. Motor; 2211. Stator assembly; 22111. Connecting slot; 22112. Second connecting hole; 22113. Positioning block; 2212. Rotor assembly; 30. Cutting mechanism; 31. Cutter head; 32. Blade; 40. Hay clipping processing facility; 41. Hay inlet; 50. Cutting motor; 60. Tilting mechanism; 61. First axis; 70. Counterweight. Detailed Implementation

[0027] 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.

[0028] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0029] 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.

[0030] 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.

[0031] As described in the background art, in the use of existing lawnmowers, the grass clippings in the cutting chamber are generally driven by the cutting mechanism and guided to the discharge port through the discharge channel. However, the grass clippings can only move a limited distance after leaving the cutting chamber, and some of them fall into the discharge channel and gradually block it.

[0032] To address the aforementioned issues, this application provides a lawnmower robot to prevent grass clippings from clogging the grass discharge channel.

[0033] Please refer to Figures 1 to 3 The lawnmower robot 100 of this application embodiment includes a body 10, a walking mechanism 20, and a cutting mechanism 30. The walking mechanism 20 is connected to the body 10 and includes two moving wheels 21, which are arranged opposite to each other and spaced apart along the width direction Y of the body 10. The bottom of the body 10 is provided with a cutting cavity 1511, and the cutting mechanism 30 is disposed in the cutting cavity 1511. The rear end of the body 10 is provided with a grass discharge port 131, which communicates with the cutting cavity 1511. Grass clippings in the cutting cavity 1511 are discharged to the outside of the body 10 through the grass discharge port 131.

[0034] In the length direction X of the body 10, the distance between the rotation center A of the cutting mechanism 30 and the grass discharge port 131 is a first dimension m. The ratio of the first dimension m to the radius n of the cutting cavity is greater than or equal to 1 and less than or equal to 2.

[0035] The moving wheels 21 of the walking mechanism 20 support the body 10, and the rotation of the moving wheels 21 can drive the body 10 to move.

[0036] The body 10 can support the cutting mechanism 30 and other components of the lawn mowing robot 100.

[0037] The bottom of the body 10 is provided with a cutting cavity 1511, and the end of the cutting cavity 1511 facing downward (towards the working plane) is open. When the lawn mowing robot 100 is in use, the grass under the body 10 can enter the cutting cavity 1511.

[0038] The cutting mechanism 30 is located inside the cutting cavity 1511. The cavity wall of the cutting cavity 1511 can protect the cutting mechanism 30 and prevent it from being damaged by abnormal collisions with other hard objects. In addition, the cavity wall of the cutting cavity 1511 can also prevent the user from being injured after the cutting mechanism 30 is damaged.

[0039] The rear end of the machine body 10 is provided with a grass discharge port 131 communicating with the cutting chamber 1511. The wall of the cutting chamber 1511 has an opening communicating with the grass discharge port 131, allowing grass clippings inside the cutting chamber 1511 to be discharged out of the machine body 10 through the grass discharge port 131. For example, ... Figure 1 As shown, the left end of the lawnmower robot 100 is the front end, and the right end is the rear end. The forward direction is the direction of travel of the lawnmower robot 100 during normal operation. Both the forward and rearward directions are parallel to the length direction X of the robot body 10.

[0040] It should be noted that the cutting mechanism 30 is driven by a power device (such as a motor) during use. The rotation center A of the cutting mechanism 30 can be any point where the rotation axis of the power device intersects with the cutting mechanism 30. This intersecting part can be a solid structure or a hole structure on the solid structure.

[0041] If the intersection of the rotation axis of the power device and the cutting mechanism 30 is a solid structure with a certain thickness, then the intersection is a short line segment, and any point on this line segment can be used as the rotation center A of the cutting mechanism 30.

[0042] If the intersection of the rotation axis of the power device and the cutting mechanism 30 is a hole structure, such as Figure 1 In the embodiment shown, the cutting mechanism 30 includes a cutter head and a blade connected to the periphery of the cutter head. A fixing hole is provided at the center of the cutter head, and the fixing hole is connected to the output shaft of the power device. At this time, the rotation center A of the cutting mechanism 30 can be the center of the fixing hole.

[0043] The first dimension m refers to the distance along the length direction X of the machine body 10 between any point on the orthographic projection of the grass discharge port 131 on the working base surface and the orthographic projection of the rotation center A of the cutting mechanism 30 on the working base surface.

[0044] For example, the first dimension m is the shortest distance along the length direction X of the body 10 between the orthographic projection of the rotation center A of the cutting mechanism 30 on the working base and the orthographic projection of the grass discharge port 131 on the working base.

[0045] The working base is the working base of the lawnmower 100. When the bottom of the lawnmower 100 is placed on a horizontal plane, the working base is parallel to the horizontal plane.

[0046] The radius n of the cutting cavity refers to the maximum radial distance between the rotation center A and the edge of the cutting cavity 1511 along the rotation axis of the power device; where the radial direction of the rotation axis of the power device refers to the direction that passes through the rotation axis of the power device and is perpendicular to the rotation axis.

[0047] The larger the radius n of the cutting cavity, the larger the volume of the cutting mechanism 30 that can be accommodated in the cutting cavity 1511, the stronger the power of the power device that the cutting mechanism 30 can be connected to, the faster the grass clippings in the cutting cavity 1511 can move when the cutting mechanism 30 rotates, and the longer the distance that the grass clippings can move when they leave the cutting cavity 1511. Therefore, the radius n of the cutting cavity is related to the position of the grass discharge port 131 relative to the cutting cavity 1511.

[0048] When the ratio of the first dimension m to the radius n of the cutting cavity is equal to 1, the grass discharge port 131 is located on the cavity wall of the cutting cavity 1511 and is directly connected to the cutting cavity 1511. After the grass chips leave the cutting cavity 1511, they are discharged directly from the grass discharge port 131.

[0049] When the ratio of the first dimension m to the radius n of the cutting cavity is greater than 1, the grass discharge port 131 and the cutting cavity 1511 are spaced apart along the length of the machine body 10. Optionally, the cutting cavity 1511 can be connected to the grass discharge port 131 through a grass discharge channel, which can guide the grass in the cutting cavity 1511 to the grass discharge port 131.

[0050] When the ratio of the first dimension m to the radius n of the cutting cavity is greater than 2, the distance between the grass discharge port 131 and the cutting cavity 1511 in the length direction of the machine body 10 is relatively large, and some grass clippings are difficult to move to the grass discharge port 131 after leaving the cutting cavity 1511. Setting the ratio of the first dimension m to the radius n of the cutting cavity to be greater than or equal to 1 and less than or equal to 2 allows grass clippings to easily move to the grass discharge port 131 after leaving the cutting cavity 1511, preventing grass clippings from clogging the grass discharge channel.

[0051] Optionally, the ratio of the first dimension m to the radius n of the cutting cavity can be 1, 1.1, 1.2, 1.3, 1.4, 1.5, 1.6, 1.7, 1.8, 1.9, 2, etc.

[0052] When in use, the cutting mechanism 30 cuts the grass in the cutting chamber 1511, and the cut grass chips are discharged from the grass discharge port 131 after leaving the cutting chamber 1511.

[0053] The beneficial effects of this embodiment are as follows: The movable wheel 21 enables the machine body 10 to move. A cutting cavity 1511 is provided at the bottom of the machine body 10, and the cutting mechanism 30 is housed within the cutting cavity 1511, which protects the cutting mechanism 30 and prevents injury to the user if the cutting mechanism 30 is damaged. When the ratio of the first dimension m to the radius n of the cutting cavity is equal to 1, the grass discharge port 131 is directly connected to the cutting cavity 1511, allowing grass clippings to be discharged directly from the discharge port 131 after leaving the cutting cavity 1511. When the ratio of the first dimension m to the radius n of the cutting cavity is greater than 1 and less than or equal to 2, the distance between the grass discharge port 131 and the cutting cavity 1511 in the length direction of the machine body 10 is smaller, making it easier for grass clippings to move to the discharge port 131 after leaving the cutting cavity 1511. Setting the ratio of the first dimension m to the radius n of the cutting cavity to be greater than or equal to 1 and less than or equal to 2 allows grass clippings to easily move to the discharge port 131 after leaving the cutting cavity 1511, preventing grass clippings from clogging the grass discharge channel. The embodiments of this application can solve the technical problem that grass clippings easily clog the grass discharge channel.

[0054] In some embodiments, please refer to Figure 1The rotation center A of the cutting mechanism 30 is located between the two moving wheels 21. That is, in the width direction Y of the body 10, the rotation center A of the cutting mechanism 30 is located between the two moving wheels 21; in the length direction X of the body 10, the rotation center A of the cutting mechanism 30 is located between the two ends of any moving wheel 21, and the middle part of the cutting cavity 1511 is also located between the two ends of the two moving wheels 21.

[0055] Compared to the existing design where the cutting cavity 1511 is located in the middle in front of the moving wheel 21, this design positions the cutting cavity 1511 between the two moving wheels 21 along the length of the machine body 10. This brings the cutting cavity 1511 closer to the grass discharge port 131 at the rear of the machine body 10, allowing grass clippings to easily reach the discharge port 131 after leaving the cutting cavity 1511. When a grass discharge channel is provided between the discharge port 131 and the cutting cavity 1511, grass clippings are less likely to clog the channel.

[0056] The rotation center A of the cutting mechanism 30 is located between the two moving wheels 21, so at least part of the cutting mechanism 30 is also located between the two moving wheels 21. When the cutting mechanism 30 is damaged, the moving wheels 21 can prevent the cutting mechanism 30 from flying out of the lawnmower robot 100 along the width direction of the body 10, thereby improving the safety of using the lawnmower robot 100.

[0057] In this embodiment, a component located between two moving wheels 21 means that: in the width direction Y of the body 10, the component is located between two moving wheels 21; at the same time, in the length direction X of the body 10, the component is located between the two ends of any moving wheel 21.

[0058] In some embodiments, please refer to Figure 1 The grass discharge port 131 is located between two moving wheels 21. That is, in the width direction Y of the body 10, the grass discharge port 131 is located between two moving wheels 21; in the length direction X of the body 10, at least a portion of the grass discharge port 131 is located between the two ends of any moving wheel 21.

[0059] Compared to the existing design where the discharge port 131 is located behind the moving wheels 21, in the length direction of the machine body 10, the discharge port 131 is at least partially located between the two ends of the moving wheels 21. Therefore, the distance between the discharge port 131 and the cutting cavity 1511 in front of it is closer, and grass clippings can easily reach the discharge port 131 after leaving the cutting cavity 1511. When a discharge channel is set between the discharge port 131 and the cutting cavity 1511, grass clippings are less likely to clog the discharge channel.

[0060] Optionally, the grass discharge port 131 may be partially located between the two moving wheels 21. Optionally, the grass discharge port 131 may also be entirely located between the two moving wheels 21.

[0061] In some embodiments, please refer to Figure 1The rotation center A of the cutting mechanism 30 is located between the two moving wheels 21, and the grass discharge port 131 is also located between the two moving wheels 21. Along the length of the machine body 10, the grass discharge port 131 is closer to the cutting cavity 1511 in front of it, making it easier for grass clippings to reach the grass discharge port 131 after leaving the cutting cavity 1511. When a grass discharge channel is provided between the grass discharge port 131 and the cutting cavity 1511, grass clippings are less likely to clog the discharge channel.

[0062] In some embodiments, please refer to Figure 1 and Figure 2 The machine body 10 includes a protective cover 15, which comprises a cover portion 151 and a channel portion 152. A cutting cavity 1511 is located at the bottom of the cover portion 151. The channel portion 152 has a channel cavity 1521 for connecting the cutting cavity 1511 and the straw discharge port 131. For ease of understanding, Figure 2 The dashed line in the diagram indicates the approximate boundary between the cover portion 151 and the channel portion 152. This dashed line does not represent the exact boundary between the cover portion 151 and the channel portion 152.

[0063] In particular, the length of the channel cavity 1521 in the longitudinal direction X of the body 10 is no more than 12cm. The protective cover 15 can protect the cutting mechanism 30 inside the cutting cavity 1511.

[0064] The cutting cavity 1511 is formed at the bottom of the cover portion 151, that is, the cutting cavity 1511 is open at the bottom of the cover portion 151.

[0065] The channel cavity 1521 in the channel section 152 connects the cutting cavity 1511 and the grass discharge port 131. The two ends of the channel cavity 1521 are connected to the cutting cavity 1511 and the grass discharge port 131, respectively. The cavity wall of the channel cavity 1521 can guide the grass clippings that have detached from the cutting cavity 1511 to the grass discharge port 131. The channel section 152 is the grass discharge channel of the lawnmower robot 100.

[0066] Optionally, the inner surface of the channel portion 152 and the inner surface of the cover portion 151 are smoothly transitioned, so that the grass clippings move from the cutting cavity 1511 to the channel cavity 1521 with less resistance, which is conducive to the grass clippings being discharged from the discharge port 131.

[0067] Please refer to Figure 1 and Figure 2 The channel section 152 is connected to the rear end of the cover section 151, and the grass discharge port 131 is located behind the cover section 151. The channel section 152 extends rearward from the cutting cavity 1511 to the grass discharge port 131. In the longitudinal direction X of the machine body 10, the length of the channel cavity 1521 is the distance between the rear end of the cover section 151 and the rear end of the channel section 152.

[0068] The ratio of the first dimension m to the radius n of the cutting cavity is less than or equal to 2. The distance between the grass discharge port 131 and the cutting cavity 1511 in the length direction of the machine body 10 is small. Therefore, the size of the channel portion 152 set between the grass discharge port 131 and the cutting cavity 1511 is small. After the grass chips leave the cutting cavity 1511, they can easily pass through the channel cavity 1521 and move to the grass discharge port 131. The channel cavity 1521 is not easy to be blocked.

[0069] In the length direction X of the body 10, the length of the channel cavity 1521 is less than or equal to 12cm. The channel cavity 1521 is relatively short, so that after the grass clippings leave the cutting cavity 1511, they can easily pass through the channel cavity 1521 and move to the grass discharge port 131. The channel cavity 1521 is not easily blocked.

[0070] Optionally, the length of the channel cavity 1521 in the longitudinal direction X of the body 10 can be 1cm, 2.5cm, 3cm, 4cm, 6cm, 7cm, 8cm, 10cm, 12cm, etc.

[0071] In some embodiments, please refer to Figure 1 and Figure 2 The bottom of the channel cavity 1521 is open, so that after the grass clippings leave the cutting cavity 1511, even if some grass clippings cannot move to the grass discharge port 131, the grass clippings can fall out of the channel cavity 1521 from the bottom, further preventing the channel cavity 1521 from becoming blocked.

[0072] In some embodiments, please refer to Figure 1 In the length direction X of the body 10, the length of the part of the cover 151 between the two moving wheels 21 is the second dimension p, and the ratio of the second dimension p to the diameter d of the moving wheel 21 is not less than 0.4.

[0073] A portion of the cover portion 151 is located between the two moving wheels 21 along the width direction Y of the body 10. Therefore, in the length direction X of the body 10, the cover portion 151 overlaps with the moving wheels 21, which shortens the overall length of the cover portion 151 and the moving wheels 21, thereby shortening the length of the lawnmower robot 100. The larger the ratio of the second dimension p to the diameter d of the moving wheels 21, the shorter the overall length of the cover portion 151 and the moving wheels 21 in the length direction X of the body 10, and the shorter the overall length of the lawnmower robot 100.

[0074] Compared to the case where the cover part 151 is located in front of the moving wheel 21, the case part 151 is located between the two moving wheels 21 in the length direction of the machine body 10. Therefore, the cutting cavity 1511 inside the cover part 151 is closer to the grass discharge port 131 at the rear end of the machine body 10, and the length of the channel cavity 1521 is shorter. After the grass chips leave the cutting cavity 1511, they can easily reach the grass discharge port 131 and are less likely to block the grass discharge channel.

[0075] Optionally, the ratio of the second dimension p to the diameter d of the movable wheel 21 can be 0.4, 0.5, 0.55, 0.6, 0.7, 0.8, 0.86, 0.9, 1, etc.

[0076] In some embodiments, please refer to Figure 1 and Figure 2 The passage portion 152 includes a first sidewall 1522 and a second sidewall 1523 opposite to each other. The first sidewall 1522 extends generally along the length direction X of the body 10, and the second sidewall 1523 extends obliquely relative to the length direction X of the body 10.

[0077] Among them, the outlet width f of the channel section 152 is less than or equal to the radius n of the cutting cavity.

[0078] Optionally, the first sidewall 1522 may extend along the length direction X of the body 10. Optionally, the extension direction of the first sidewall 1522 may also form a small angle with the length direction X of the body 10.

[0079] The second sidewall 1523 is inclined relative to the length direction X of the body 10, that is, the extension direction of the second sidewall 1523 and the extension direction of the body 10 are set at an angle.

[0080] For example, please refer to Figure 1 and Figure 2 The first sidewall 1522 and the second sidewall 1523 are arranged along the width direction Y of the machine body 10. In the width direction Y of the machine body 10, the first sidewall 1522 and the second sidewall 1523 are both located on the same side of the rotation center of the cutting mechanism 30.

[0081] In some embodiments, please refer to Figure 1 and Figure 2 The channel section 152 also includes a top wall 1524 connected between the first side wall 1522 and the second side wall 1523. The top wall 1524 slopes upward in the direction from the cover section 151 to the grass discharge port 131. The inner surface of the top wall 1524 smoothly transitions with the inner surface of the first side wall 1522, and the inner surfaces of the top wall 1524 and the second side wall 1523 smoothly transition, resulting in less resistance when grass clippings move from the cutting cavity 1511 to the channel cavity 1521, which is beneficial for the grass clippings to be discharged from the grass discharge port 131.

[0082] In some embodiments, please refer to Figure 1 and Figure 3 The body 10 also includes a base 11, which has a receiving cavity 111, and a protective cover 15 is located inside the receiving cavity 111. The walking mechanism 20 also includes a drive assembly 22, which is connected to two moving wheels 21 to drive the two moving wheels 21 to rotate. The drive assembly 22 is mounted on the base 11 and is located outside the receiving cavity 111.

[0083] Since the protective cover 15 is located inside the receiving cavity 111, the base 11 can protect the protective cover 15. Moreover, in the event of damage to the cutting mechanism 30, the base 11 can prevent the cutting mechanism 30 from flying out of the lawnmower robot 100, further improving the safety of the lawnmower robot 100.

[0084] Optionally, the drive assembly 22 may include a motor, engine, etc. For example, the drive assembly 22 may also include a motor and a belt and pulley, with the motor connected to the moving wheel 21 via the belt and pulley.

[0085] If the drive assembly 22 is located outside the receiving cavity 111, a larger protective cover 15 can be installed inside the receiving cavity 111.

[0086] Optionally, a cavity spaced apart from the receiving cavity 111 may be provided inside the base 11, and the drive assembly 22 is located in the cavity. The base 11 can protect the drive assembly 22.

[0087] Optionally, the drive component 22 can also be located on the outside of the base 11, so that the drive component 22 does not occupy the space inside the base 11.

[0088] In some embodiments, please refer to Figure 1 and Figure 4 The base 11 includes a first main body 115 and a second main body 116. The width of the first main body 115 is smaller than the width of the second main body 116. The protective cover 15 is located at the bottom of the first main body 115, and two moving wheels 21 are located on both sides of the first main body 115 along the width direction.

[0089] If the first main body 115 is located between the two moving wheels 21, then the protective cover 15 at the bottom of the first main body 115 is also located between the two moving wheels 21.

[0090] For example, please refer to Figure 1 and Figure 4 The second main body 116 is located in front of the first main body 115; in the width direction Y of the body 10, the size of the second main body 116 is smaller than the size of the whole composed of the two moving wheels 21.

[0091] In some embodiments, please refer to Figure 3 and Figure 4 The drive assembly 22 is located on the outside of the base 11. The outer wall of the base 11 is provided with a mounting part 112, which is fixedly connected to the drive assembly 22.

[0092] The base 11 is fixedly connected to the drive assembly 22 via the mounting part 112, so that the drive assembly 22 remains stable.

[0093] Optionally, the mounting part 112 may be provided on the side wall of one end of the base 11 along the width direction. Optionally, the mounting part 112 may also be located on the outer side wall of the top of the mounting part 112.

[0094] In some embodiments, please refer to Figures 3 to 7 The drive assembly 22 includes two motors 221, which are respectively connected to two movable wheels 21 to drive the corresponding movable wheels 21 to rotate. The movable wheels 21 are provided with mounting grooves 211 on the side facing the base 11. The motors 221 are mounted in the mounting grooves 211 and are fixedly connected to the mounting part 112 of the base 11.

[0095] Two motors 221 are connected to two moving wheels 21 in a one-to-one correspondence, and each motor 221 drives one moving wheel 21 to rotate.

[0096] By driving two moving wheels 21 with two motors 221, no drive shaft is needed between the two moving wheels 21. The space between the two moving wheels 21 can accommodate the cavity wall of the cutting cavity 1511 and the cutting mechanism 30, thereby shortening the distance between the cutting cavity 1511 and the grass discharge port 131. With the motors 221 installed in the mounting slot 211, the motors 221 and the moving wheels 21 overlap in the width direction of the machine body 10, resulting in a larger space between the two moving wheels 21, making it easier to place the machine body with the cutting cavity 1511 and the cutting mechanism 30.

[0097] The motor 221 is fixedly connected to the mounting part 112 on the base 11, so the moving wheel 21 can drive the mounting part 112 and the base 11 to move through the motor 221.

[0098] Optionally, a conventional motor 221 includes a mounting structure and an output shaft. The output shaft of the motor 221 can be fixedly connected to the movable wheel 21. The mounting structure of the motor 221 is rotatably connected to the movable wheel 21 and fixedly connected to the mounting part 112.

[0099] Optionally, the mounting part 112 can be a bolt, rivet, welded structure, etc.

[0100] Optionally, the motor 221 can also be a hub motor 221, such as an end face motor 221. The overall structure of the motor 221 and the moving wheel 21 is more compact, and the overall width of the motor 221 and the moving wheel 21 is smaller.

[0101] In some embodiments, please refer to Figures 3 to 7 The motor 221 includes a stator assembly 2211 and a rotor assembly 2212. The rotor assembly 2212 is fixed to the mounting groove 211, and the stator assembly 2211 is fixed to the mounting portion 112 of the base 11. The rotor assembly 2212 is sleeved on the stator assembly 2211, and the stator assembly 2211 can drive the rotor assembly 2212 to rotate, thereby driving the moving wheel 21 to rotate.

[0102] The rotor assembly 2212 is fixed in the mounting groove 211, that is, the rotor assembly 2212 is fixedly connected to the moving wheel 21. When the stator assembly 2211 drives the rotor assembly 2212 to rotate, the rotor assembly 2212 can drive the moving wheel 21 to rotate.

[0103] The rotor assembly 2212, stator assembly 2211, and moving wheel 21 are coaxially arranged. The rotor assembly 2212 is sleeved outside the stator assembly 2211. The rotor assembly 2212 and the stator assembly 2211 are located on the same axis as the moving wheel 21. The axis of the moving wheel 21 is the width direction Y of the machine body 10. In other words, the size of the motor 221 in the width direction of the moving wheel 21 is smaller. The overall width of the motor 221 and the moving wheel 21 is smaller, and the space between the two moving wheels 21 is larger, making it easier to install the cutting mechanism 30.

[0104] Optionally, the rotor assembly 2212 includes a rotor and other components fixed to the rotor.

[0105] In some embodiments, please refer to Figure 6 The rotor assembly 2212 has a connecting key on the side radially away from the stator assembly 2211, and the movable wheel 21 has a keyway communicating with the mounting groove 211 at the end facing the base 11, with the connecting key connected in the keyway. The connecting key can be fixedly connected to the movable wheel 21 by bolts.

[0106] In some embodiments, please refer to Figures 3 to 6 The mounting part 112 includes a support shaft 1121, which extends along the width direction Y of the body 10. The stator assembly 2211 is provided with a connecting groove 22111 on the side facing the base 11. The connecting groove 22111 is coaxial with the moving wheel 21. The support shaft 1121 is engaged in the connecting groove 22111, which enables the stator assembly 2211 and the support shaft 1121 to be coaxial, thereby making the moving wheel 21 and the support shaft 1121 coaxial. During the installation process, the position of the moving wheel 21 on the base 11 along its own radial direction can be quickly positioned.

[0107] Optionally, the support shaft 1121 can be interference-fitted with the connecting groove 22111, which can fix the support shaft 1121 to the stator assembly 2211.

[0108] In some embodiments, the mounting portion 112 includes at least one fastener that securely connects the stator assembly 2211 to the base 11.

[0109] Optionally, the mounting part 112 may include a fastener. Optionally, the mounting part 112 may also include multiple fasteners.

[0110] Optionally, the fasteners can be fixedly connected to the base 11 and the stator assembly 2211 respectively.

[0111] Optionally, the fastener can also pass through the base 11 and be fixedly connected to the stator assembly 2211, and hold the base 11 against the stator assembly 2211.

[0112] Optionally, the fastener can also pass through the stator assembly 2211 and be fixedly connected to the base 11, and hold the stator assembly 2211 against the base 11.

[0113] Optionally, the fasteners can be bolts, rivets, etc.

[0114] In some embodiments, the mounting part 112 includes a plurality of fasteners, which are spaced apart circumferentially along the movable wheel 21; the fasteners pass through the outer side wall of the base 11 and are inserted into the stator assembly 2211 and fixed to the stator assembly 2211; the fasteners hold the base 11 against the stator assembly 2211 along the width direction Y of the body 10.

[0115] The fixing member abuts against the base 11 along the width direction Y of the body 10. That is, the fixing member passes through the outer side of the base 11 and is inserted into the stator assembly 2211 along the width direction Y of the body 10. In the direction perpendicular to the width direction of the body 10, the fixing member prevents relative movement between the base 11 and the stator assembly 2211. Multiple fixing members spaced circumferentially along the moving wheels 21 prevent relative rotation between the base 11 and the stator assembly 2211. The fixing member abuts the base 11 against the stator assembly 2211 along the width direction Y of the body 10, fixing the base 11 and the stator assembly 2211 in the width direction Y of the body 10. This allows for fixing the base 11 and the stator assembly 2211 in various directions, ensuring a stable connection between the base 11 and the motor 221.

[0116] Optionally, multiple fasteners are arranged at equal intervals along the circumference of the movable wheel 21, so that the fasteners are subjected to uniform force.

[0117] Optionally, the fastener can be a bolt, with the tail of the bolt fixed in the stator assembly 2211 and the head of the bolt holding the base 11 against the stator assembly 2211.

[0118] For example, please refer to Figures 3 to 6 The base 11 has a plurality of first connecting holes 113 on the side wall of the stator assembly 2211 along the width direction Y of the body 10. The stator assembly 2211 has a plurality of second connecting holes 22112, which correspond one-to-one with the plurality of first connecting holes 113. A plurality of fasteners pass through the first connecting holes 113 and are fixed in the second connecting holes 22112.

[0119] In some embodiments, please refer to Figures 3 to 6The mounting section 112 includes a support shaft 1121, which extends along the width direction Y of the body 10. A connecting groove 22111 is provided on the side of the stator assembly 2211 facing the base 11. The connecting groove 22111 is coaxial with the moving wheel 21, and the support shaft 1121 is engaged with the connecting groove 22111. The mounting section 112 includes multiple fasteners, which are spaced apart circumferentially along the moving wheel 21. The fasteners pass through the outer wall of the base 11 and are inserted into the stator assembly 2211, and are fixed to the stator assembly 2211. The fasteners hold the base 11 against the stator assembly 2211 along the width direction Y of the body 10.

[0120] In some embodiments, please refer to Figures 3 to 6 At least one limiting hole 114 is provided on the outer wall of the base 11 facing the motor 221. The limiting hole 114 is located on one side of the rotation axis of the moving wheel 21 along its own radial direction. At least one positioning block 22113 is provided on the stator assembly 2211. The positioning block 22113 is located inside the limiting hole 114 and is spaced apart from the hole wall of the limiting hole 114.

[0121] The positioning block 22113 is set to correspond with the limiting hole 114.

[0122] The positioning block 22113 and the limiting hole 114 are spaced apart, making it easy to insert the smaller positioning block 22113 into the limiting hole 114 during installation. The wall of the limiting hole 114 can prevent the positioning block 22113 from moving. After the positioning block 22113 is inserted into the limiting hole 114, the position of the stator assembly 2211 on the base 11 can be roughly positioned, which facilitates accurate positioning and installation later.

[0123] Optionally, when the mounting part 112 includes a support shaft 1121, a limiting hole 114 can be provided on the base 11, and a positioning block 22113 can be provided on the stator assembly 2211. The hole wall of the limiting hole 114 can prevent the positioning block 22113 from rotating around the support shaft 1121, thereby positioning the position of the positioning block 22113 on the stator assembly 2211 in the circumferential direction of the support shaft 1121, and thus positioning the position of the stator assembly 2211 relative to the base 11.

[0124] Optionally, multiple limiting holes 114 can be provided on the base 11, and multiple positioning blocks 22113 can be provided on the stator assembly 2211. The multiple limiting holes 114 are distributed around the rotation axis of the moving wheel 21, and a positioning block 22113 is inserted into each limiting hole 114, which can position the overall position of the multiple positioning blocks 22113 relative to the base 11, thereby positioning the position of the stator assembly 2211 on the base 11.

[0125] Optionally, multiple limiting holes 114 are evenly distributed around the rotation axis of the movable wheel 21, and multiple positioning blocks 22113 are evenly distributed around the rotation axis of the movable wheel 21.

[0126] For example, please refer to Figures 3 to 6 The limiting hole 114 can be a radially consistent elongated hole of the moving wheel 21 in the length direction.

[0127] In some embodiments, please refer to Figure 1 and Figure 8 The lawnmower robot 100 also includes a grass clipping mechanism 40, which is connected to the rear end of the body 10. The grass clipping mechanism 40 has a grass inlet 41, and the grass clipping discharged from the grass outlet 131 enters the grass clipping mechanism 40 through the grass inlet 41.

[0128] The grass clipping treatment mechanism 40 has its inlet 41 and outlet 131 positioned opposite each other, thus enabling it to receive and process the grass clippings discharged from the outlet 131.

[0129] In some embodiments, the grass clipping handling mechanism 40 includes a grass collecting element or a grass blocking element.

[0130] The grass collecting unit has a grass collecting space for storing grass clippings. After receiving grass clippings through the grass inlet 41, the grass collecting unit can collect and temporarily store the grass clippings, which facilitates subsequent processing of the grass clippings.

[0131] The grass barrier has a grass-blocking wall that can guide grass clippings to move in a preset direction.

[0132] For example, the grass barrier has a grass inlet 41 and a grass outlet at the bottom. There is a guide cavity between the grass outlet 131 and the grass outlet. After grass clippings enter the guide cavity through the grass inlet 41, they are guided by the cavity wall of the guide cavity to the grass outlet and discharged from below the grass barrier, which can concentrate the grass clippings to a preset area.

[0133] In some embodiments, please refer to Figure 1 , Figure 8 and Figure 9 The lawnmower robot 100 also includes a flipping mechanism 60, which is used to connect with the grass clipping mechanism 40 and drive the grass clipping mechanism 40 to rotate around the first axis 61.

[0134] When the grass clipping processing mechanism 40 is connected to the flipping mechanism 60, the flipping mechanism 60 can rotate the grass clipping processing mechanism 40 to an angle where the grass inlet 41 faces downwards, facilitating the discharge of grass clippings from the grass clipping processing mechanism 40. The rotation axis of the grass clipping processing mechanism 40 is the first axis 61.

[0135] In some embodiments, please refer to Figure 8 and Figure 9The first axis 61 is located between the two moving wheels 21. That is, in the length direction X of the body 10, the first axis 61 is located between the two ends of any moving wheel 21. The grass clipping mechanism 40 is close to the cutting cavity 1511, which can shorten the length of the channel cavity 1521.

[0136] In some embodiments, please refer to Figure 8 Along the length direction X of the body 10, the distance q between the rotation center A of the cutting mechanism 30 and the first axis 61 is less than the diameter d of the moving wheel 21.

[0137] Optionally, in the length direction X of the body 10, the rotation center A of the cutting mechanism 30 and the first axis 61 can both be located between the two ends of any moving wheel 21, further reducing the distance between the grass clipping processing mechanism 40 and the cutting cavity 1511, and shortening the length of the channel cavity 1521.

[0138] Optionally, in the length direction X of the body 10, the rotation center A of the cutting mechanism 30 is located between the two ends of any moving wheel 21, and the first axis 61 is located outside the moving wheel 21.

[0139] Optionally, in the length direction X of the body 10, the first axis 61 is located between the two ends of any moving wheel 21, and the rotation center A of the cutting mechanism 30 is located outside the moving wheel 21.

[0140] In some embodiments, please refer to Figure 8 The moving wheel 21 rotates around the second axis 212. The grass clipping processing mechanism 40 is a grass collecting component. In the length direction X of the machine body 10, the distance s between the rear end of the grass collecting component and the second axis 212 is less than the distance w between the front end of the machine body 10 and the second axis 212.

[0141] The grass collecting component and the body 10 as a whole can rotate around the second axis 212. The distance s between the rear end of the grass collecting component and the second axis 212 is less than the distance w between the front end of the body 10 and the second axis 212. Therefore, the lever arm between the front end of the body 10 and the second axis 212 is longer than the lever arm between the rear end of the grass collecting component and the second axis 212, and the front end of the body 10 is not easy to tilt up.

[0142] In some embodiments, please refer to Figures 1 to 3 The machine body 10 includes a base 11, a protective shell 13, and a cutting motor 50 (e.g., ...). Figure 10 The protective shell 13 is installed on the base 11; the cutting cavity 1511 is located at the bottom of the base 11, and the straw discharge port 131 is located at the rear end of the protective shell 13. The output end of the cutting motor 50 is connected to the cutting mechanism 30 to drive the cutting mechanism 30 to rotate.

[0143] The protective shell 13 is placed on the base 11 to protect the base 11.

[0144] In some embodiments, the rear end of the base 11 has an opening that connects the grass discharge port 131 and the channel cavity 1521.

[0145] In some embodiments, please refer to Figures 9 to 11 The base 11 is provided with a waterproof ring 12 and a counterweight 70. The waterproof ring 12 is sandwiched between the base 11 and the protective shell 13, and the counterweight 70 is located inside the waterproof ring 12.

[0146] The counterweight 70 prevents the center of gravity of the lawnmower 100 from shifting.

[0147] For example, the counterweight 70 is set on the second main body 116 of the base 11 to prevent the front end of the lawnmower robot 100 from tilting up.

[0148] The counterweight 70 is located within the area enclosed by the waterproof ring 12.

[0149] For example, the base 11, the protective shell 13 and the waterproof ring 12 form a protective space 14, and the counterweight 70 is located in the protective space 14, which can protect the counterweight 70 and prevent the counterweight 70 from being damaged by the external environment of the lawnmower robot 100.

[0150] In some embodiments, the cutting mechanism 30 includes a cutter head 31 and a blade 32. The cutter head 31 is connected to the output shaft of the cutting motor 50, and the blade 32 is connected to the cutter head 31. The cutting section of the blade 32 extends beyond the periphery of the cutter head 31.

[0151] The rotation of the output shaft of the cutting motor 50 can drive the cutter head 31 to rotate, which in turn causes the cutter head 31 to drive the blade 32 to rotate, so that the blade 32 cuts the grass in the cutting cavity 1511.

[0152] The extension of the blade 32 extends to the side of the cutter head 31 that is radially away from the output shaft of the cutting motor 50.

[0153] In some embodiments, please refer to Figure 2 and Figure 10 The cutting mechanism 30 includes a blade 32, which is connected to the output shaft of the cutting motor 50.

[0154] The output shaft of the cutting motor 50 can directly drive the blade 32 to rotate.

[0155] Optionally, the cutting mechanism 30 may include a plurality of blades 32 distributed around the output shaft.

[0156] In some embodiments, please refer to Figures 1 to 7The lawnmower robot 100 of this application embodiment includes a body 10, a walking mechanism 20 and a cutting mechanism 30. The body 10 includes a protective cover 15 and a base 11. The base 11 has a receiving cavity 111, and the protective cover 15 is located in the receiving cavity 111.

[0157] The walking mechanism 20 is connected to the body 10. The walking mechanism 20 includes two moving wheels 21 and a drive assembly 22. The two moving wheels 21 are positioned opposite each other and spaced apart along the width direction Y of the body 10. The walking mechanism 20 also includes the drive assembly 22, which is mounted on the base 11 and located outside the receiving cavity 111. The drive assembly 22 includes two motors 221, each connected to one of the two moving wheels 21 to drive the corresponding moving wheel 21 to rotate. Each moving wheel 21 has a mounting groove 211 on the side facing the base 11. The motor 221 is mounted in the mounting groove 211 and fixedly connected to the mounting part 112. The motor 221 includes a stator assembly 2211 and a rotor assembly 2212. The rotor assembly 2212 is fixed in the mounting groove 211, and the stator assembly 2211 is fixed in the mounting part 112. The rotor assembly 2212 is sleeved outside the stator assembly 2211, and the stator assembly 2211 can drive the rotor assembly 2212 to rotate, thereby driving the moving wheels 21 to rotate.

[0158] The machine body 10 has a cutting cavity 1511 at its bottom, and the cutting mechanism 30 is located inside the cutting cavity 1511. The rear end of the machine body 10 has a grass discharge port 131. The protective cover 15 includes a cover body 151 and a channel body 152. The cutting cavity 1511 is located at the bottom of the cover body 151; the channel body 152 has a channel cavity 1521, which connects the cutting cavity 1511 and the grass discharge port 131. The bottom of the channel cavity 1521 is open. Grass clippings in the cutting cavity 1511 are discharged to the outside of the machine body 10 through the grass discharge port 131. In the longitudinal direction X of the machine body 10, the distance between the rotation center A of the cutting mechanism 30 and the grass discharge port 131 is a first dimension m. The ratio of the first dimension m to the radius n of the cutting cavity is greater than or equal to 1 and less than or equal to 2. The rotation center A of the cutting mechanism 30 is located between two moving wheels 21, and the grass discharge port 131 is located between the two moving wheels 21.

[0159] This application also provides a lawnmower robot system, including a lawnmower robot as described in the above embodiments and a base station. The base station is used at least to charge the lawnmower robot. During operation, the base station serves as an energy replenishment station for the lawnmower robot, ensuring its continuous and stable operation. Specifically, when the lawnmower robot's battery is low or requires maintenance, it can automatically return to the base station for charging or related operations. The base station is equipped with a charging device that matches the lawnmower robot's charging interface, enabling efficient and safe replenishment of the lawnmower robot's power.

[0160] The above description is merely a preferred embodiment of this application and is 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 lawnmower robot, characterized in that, include: Organism; A walking mechanism is connected to the machine body. The walking mechanism includes two moving wheels, which are arranged opposite to each other and spaced apart along the width direction of the machine body. The cutting mechanism has a cutting cavity at the bottom of the machine body, and the cutting mechanism is located inside the cutting cavity. The rear end of the machine body has a grass discharge port, which is connected to the cutting cavity. Grass chips in the cutting cavity are discharged to the outside of the machine body through the grass discharge port. Wherein, in the length direction of the machine body, the distance between the rotation center of the cutting mechanism and the grass discharge port is a first dimension, and the ratio of the first dimension to the radius of the cutting cavity is greater than or equal to 1 and less than or equal to 2.

2. The lawnmower robot as described in claim 1, characterized in that, The rotation center of the cutting mechanism is located between the two moving wheels; and / or, the grass discharge port is located between the two moving wheels.

3. The lawnmower robot as described in claim 1 or 2, characterized in that, The machine body includes a protective cover, which includes a cover body and a channel body. The cutting cavity is located at the bottom of the cover body. The channel body has a channel cavity for connecting the cutting cavity and the grass discharge port. Wherein, in the longitudinal direction of the body, the length of the channel cavity is no greater than 12cm.

4. The lawnmower robot as described in claim 3, characterized in that, The bottom of the channel cavity is open.

5. The lawnmower robot as described in claim 3, characterized in that, In the longitudinal direction of the body, the length of the portion of the cover between the two moving wheels is a second dimension, and the ratio of the second dimension to the diameter of the moving wheels is not less than 0.

4.

6. The lawnmower robot as described in claim 3, characterized in that, The channel portion includes opposing first and second sidewalls, the first sidewalls extending generally along the length direction of the body, and the second sidewalls extending obliquely relative to the length direction of the body; Wherein, the outlet width of the channel is less than or equal to the radius of the cutting cavity.

7. The lawnmower robot as described in claim 3, characterized in that, The body also includes a base, the base having a receiving cavity, and the protective cover located inside the receiving cavity; the walking mechanism also includes a drive assembly, the drive assembly being connected to the two moving wheels to drive the two moving wheels to rotate, the drive assembly being mounted on the base and located outside the receiving cavity.

8. The lawnmower robot as described in claim 7, characterized in that, The base includes a first main body and a second main body, the width of the first main body being smaller than the width of the second main body; the protective cover is located at the bottom of the first main body, and the two movable wheels are located on both sides of the first main body along the width direction.

9. The lawnmower robot as described in claim 7, characterized in that, The drive assembly is located on the outside of the base, and the outer wall of the base is provided with a mounting part, which is fixedly connected to the drive assembly.

10. The lawnmower robot as described in claim 9, characterized in that, The drive assembly includes two motors, each of which is connected to one of the two movable wheels to drive the corresponding movable wheels to rotate. The movable wheels have mounting grooves on the side facing the base, and the motors are mounted in the mounting grooves and fixedly connected to the mounting part.

11. The lawnmower robot as described in claim 10, characterized in that, The motor includes a stator assembly and a rotor assembly, the rotor assembly being fixed to the mounting slot, and the stator assembly being fixed to the mounting portion; The rotor assembly is sleeved outside the stator assembly, and the stator assembly can drive the rotor assembly to rotate, thereby driving the moving wheel to rotate.

12. The lawnmower robot as described in claim 11, characterized in that, The mounting part includes a support shaft that extends along the width direction of the machine body; the stator assembly has a connecting groove on the side facing the base, the connecting groove is coaxial with the moving wheel, and the support shaft is engaged in the connecting groove; And / or, the mounting portion includes at least one fastener that securely connects the stator assembly to the base.

13. The lawnmower robot as described in claim 12, characterized in that, The base has at least one limiting hole on its outer side wall facing the motor. The limiting hole is located on one side of the rotation axis of the moving wheel along its own radial direction. The stator assembly has at least one positioning block, which is located inside the limiting hole and spaced apart from the hole wall of the limiting hole.

14. The lawnmower robot as described in claim 1, characterized in that, The lawnmower also includes a grass clipping mechanism connected to the rear end of the body. The grass clipping mechanism has a grass inlet, through which grass clippings discharged from the grass outlet enter the grass clipping mechanism.

15. The lawnmower robot as described in claim 14, characterized in that, The lawnmower also includes a flipping mechanism, which is used to connect with the grass clipping mechanism and can drive the grass clipping mechanism to rotate around a first axis. Wherein, the first axis is located between the two moving wheels; and / or, in the length direction of the machine body, the distance between the rotation center of the cutting mechanism and the first axis is smaller than the diameter of the moving wheels.

16. The lawnmower robot as described in claim 14, characterized in that, The moving wheel rotates around the second axis, and the grass clipping processing mechanism is a grass collecting component. In the length direction of the machine body, the distance between the rear end of the grass collecting component and the second axis is smaller than the distance between the front end of the machine body and the second axis.

17. The lawnmower robot as described in claim 1, characterized in that, The machine body includes a base, a protective shell, and a cutting motor. The protective shell is installed on the base. The cutting cavity is located at the bottom of the base, and the grass discharge port is located at the rear end of the protective shell. The output end of the cutting motor is connected to the cutting mechanism to drive the cutting mechanism to rotate.

18. The lawnmower robot as described in claim 17, characterized in that, The base is provided with a waterproof ring and a counterweight. The waterproof ring is sandwiched between the base and the protective shell, and the counterweight is located inside the waterproof ring.

19. A lawnmowing robot system, characterized in that, The system includes a base station and a lawnmower robot as claimed in any one of claims 1 to 18, wherein the base station is at least used to charge the lawnmower robot.

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