Cutter head cover, mobile robot, and mobile robot system

Abstract

The application is suitable for the field of mobile robot technology, and provides a cutter cover, a mobile robot and a mobile robot system. The cutter cover comprises a cover body part and a channel part. The cover body part is provided with a cutter cavity. The bottom of the cover body part is provided with a first opening part for connecting the cutter cavity with an external environment. Materials in the external environment enter the cutter cavity through the first opening part. The channel part is arranged on the side of the cover body part and is provided with a channel cavity connected with the cutter cavity. The bottom of the channel part is provided with a second opening part for connecting the channel cavity with the external environment. The end of the channel part away from the cover body part is provided with a material outlet. The materials in the cover body part can be discharged from the material outlet through the channel cavity. Part of the materials in the channel cavity can fall to the external environment through the second opening part.

Description

Technical Field

[0001] This application belongs to the field of mobile robot technology, and more specifically, relates to a cutter head cover, 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 the wet grass clippings are transported to the rear discharge port by airflow, some of the wet grass clippings may fall off and stick to the bottom of the discharge channel of the auger, causing blockage of the discharge channel of the auger. Utility Model Content

[0004] The purpose of this application is to provide a cutter head cover, a mobile robot, and a mobile robot system, which aims to solve the technical problem that the grass discharge channel of the spiral cutter head cover in the prior art is easily blocked by wet grass clippings.

[0005] To achieve the above objectives, according to one aspect of this application, a cutter head cover is provided. The cutter head cover includes a cover body and a channel body. A cutter head cavity is formed on the cover body, and a first opening is provided at the bottom of the cover body to communicate with the cutter head cavity and the external environment. Material in the external environment enters the cutter head cavity through the first opening. The channel body is disposed on the side of the cover body and forms a channel cavity communicating with the cutter head cavity. A second opening is provided at the bottom of the channel body to communicate with the channel cavity and the external environment. A material outlet is provided at the end of the channel body away from the cover body, so that material in the cover body can be discharged from the material outlet through the channel cavity, and some material in the channel cavity can fall into the external environment through the second opening.

[0006] 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.

[0007] Optionally, the top of the cutter head cavity is formed with a spiral cavity segment that spirals upward relative to a reference plane around a spiral axis, wherein the reference plane is a plane located on one side of the cutter head cover and perpendicular to the spiral axis; the channel portion includes a first sidewall and a second sidewall disposed opposite to each other, wherein in the width direction of the channel portion, the first sidewall is located on the side of the channel cavity closer to the spiral axis, and the second sidewall is located on the side of the channel cavity away from the spiral axis, the length of the first sidewall extending outward from the outer edge of the cover portion is L1, and the length of the second sidewall extending outward from the outer edge of the cover portion is L2, wherein L1≤L2, and the width direction of the channel portion is perpendicular to the extension direction of the channel cavity and the spiral axis; the maximum outer radius of the spiral cavity segment is r, wherein 0≤L1 / r≤1.2.

[0008] Optionally, 0cm≤L1≤10cm, and / or, 7cm≤r≤15cm.

[0009] According to another aspect of this application, a mobile robot is provided, the mobile robot including a body and a cutting module, the cutting module being disposed on the body, the cutting module including a cutter head cover, the cutter head cover being the aforementioned cutter head cover.

[0010] Optionally, the mobile robot also includes a recycling module, which is located on the robot body and has a first recycling inlet and a recycling chamber, with the material outlet, the first recycling inlet and the recycling chamber connected in sequence.

[0011] Optionally, the mobile robot is adapted to move on the working plane; the cutting module and the recycling module are relatively fixed; the bottom of the material outlet is at a height greater than or equal to the bottom of the first recycling inlet at a height greater than or equal to the working plane; or, the cutting module can move relative to the recycling module in a direction closer to or further away from the working plane; when the cutting module moves to the minimum distance from the working plane, the bottom of the material outlet is at a height greater than or equal to the bottom of the first recycling inlet at a height greater than or equal to the working plane of the mobile robot.

[0012] Optionally, the mobile robot is adapted to move on a working plane, and the cutting module can move relative to the recycling module in a direction close to or away from the working plane; a first discharge ramp is provided on the lower side of the material outlet; during at least a portion of the movement of the cutting module relative to the recycling module, a first discharge gap is formed between the first discharge ramp and the recycling chamber, connecting the channel cavity, the recycling chamber and the external environment, and some material between the channel cavity and the recycling chamber can fall into the external environment through the first discharge gap; and / or, a second discharge ramp is formed at the lower part of the first recycling inlet; during at least a portion of the movement of the cutting module relative to the recycling module, a second discharge gap is formed between the second discharge ramp and the channel cavity, connecting the channel cavity, the recycling chamber and the external environment, and some material between the channel cavity and the recycling chamber can fall into the external environment through the second discharge gap.

[0013] Optionally, the mobile robot is adapted to move on the working plane, the cutting module can move relative to the recycling module in a direction close to or away from the working plane, and an upper baffle is provided at one end of the channel section away from the cover section. The upper baffle is located above the material outlet and moves with the cutting module relative to the recycling module to at least partially cover the first recycling inlet.

[0014] Optionally, one of the upper baffle and the recycling module is provided with a friction-reducing structure on the side facing the other, and the upper baffle and the recycling module are in sliding contact with each other through the friction-reducing structure.

[0015] Optionally, the recycling module includes a recycling container with a recycling cavity formed inside; the mobile robot is adapted to move on a working plane, and the recycling container has a reference center plane extending along the forward or backward direction of the mobile robot and perpendicular to the working plane; the channel cavity extends in a direction that is inclined relative to the reference center plane and close to the reference center plane.

[0016] Optionally, the reference center plane passes through the helical shaft of the cutter head cover; and / or, the center of the material outlet does not coincide with the reference center plane; wherein at least a portion of the material outlet intersects with the reference center plane, or the material outlet is entirely located on one side of the reference center plane; and / or, the center of the first recovery inlet does not coincide with the reference center plane; wherein at least a portion of the first recovery inlet intersects with the reference center plane, or the first recovery inlet is entirely located on one side of the reference center plane.

[0017] Optionally, the channel section includes a first sidewall and a second sidewall disposed opposite to each other. A reference symmetry plane is defined through the channel cavity. The reference symmetry plane makes the first sidewall and the second sidewall at least partially symmetrical. The extension direction of the reference symmetry plane is the extension direction of the channel cavity. The reference symmetry plane is virtually extended at one end near the recycling container and intersects with the end of the recycling container away from the cutting module at the intersection area. The horizontal distance from the center of the end of the recycling container away from the cutting module to the intersection area is a, where 0cm≤a≤5cm.

[0018] Optionally, the recycling module also includes a gantry and a recycling container, with a recycling chamber formed inside the recycling container. The gantry is connected to the machine body, and the recycling container is connected to the gantry or the machine body. The gantry has a first recycling inlet, and the recycling container has a second recycling inlet. The material outlet, the first recycling inlet, the second recycling inlet, and the recycling chamber are sequentially connected. The recycling container is fixedly disposed relative to the gantry. Alternatively, the recycling container can rotate relative to the gantry.

[0019] Optionally, at least a portion of the outer sidewall of the channel extends along the forward or backward direction of the mobile robot; and / or, at least a portion of the outer sidewall of the channel is tangent to the outer sidewall of the cover; and / or, at least a portion of the inner sidewall of the channel is tangent to the inner sidewall of the cutter head cavity.

[0020] Optionally, the mobile robot also includes wheels, which are adapted to move on the working plane. The wheels are disposed on the body assembly, and the body has a clearance recess. At least a portion of the wheels is located within the clearance recess, and a clearance gap is formed between the wheels and the clearance recess along the radial direction of the wheels. The cutting module also includes a cutting blade assembly disposed within the blade disc cavity. A protective part is provided at the bottom of the cover, and the projection of the protective part is located between the projection of the clearance gap and the projection of the cutting blade assembly in a direction perpendicular to the working plane.

[0021] Optionally, the protective part includes a protective protrusion that extends from the bottom of the cover part toward the working plane.

[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 cutter head cover provided in this application are as follows: Compared with the prior art, the cutter head cover provided in this application can effectively reduce the probability of blockage of the channel cavity by setting a second opening at the bottom of the channel section to connect the external environment and the channel cavity. Specifically, during the process of conveying material in the channel cavity to the material outlet, some material will fall off under the action of gravity. The setting of the second opening can allow this part of the material to fall directly to the external environment, thereby reducing or even avoiding the adhesion and accumulation of material at the bottom of the channel cavity, thereby reducing the probability of blockage of the channel cavity and improving the reliability of the cutter head cover. 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 structure of the cutter head cover provided in an embodiment of this application; Figure 2 A cross-sectional schematic diagram of the cutter head cover provided in an embodiment of this application; Figure 3 This is a schematic diagram of the cutter head cover from another perspective, provided as an embodiment of this application. Figure 4 A cross-sectional schematic diagram of the cutter head cover from another perspective provided for an embodiment of this application; Figure 5A cross-sectional view of the cutter head cover of the cutting module in its highest position according to an embodiment of this application; Figure 6 A cross-sectional view of the cutter head cover of the cutting module in its lowest position according to an embodiment of this application; Figure 7 This is a schematic diagram of the structure of the mobile robot provided in the embodiments of this application; Figure 8 A schematic diagram of the structure of a mobile robot with some components removed, provided in an embodiment of this application; Figure 9 A schematic diagram of the structure of a mobile robot with another part removed, provided as an embodiment of this application; Figure 10 A schematic diagram of the structure of a mobile robot with another part of its components removed, provided as an embodiment of this application; Figure 11 A schematic diagram of the structure of a mobile robot with another part of its components removed, provided as an embodiment of this application; Figure 12 A cross-sectional schematic diagram of the mobile robot provided in an embodiment of this application; The details of the reference numerals used in the above figures are as follows: 10. Cover section; 11. Cutter head cavity; 111. Spiral cavity section; 112. Cutting cavity section; 12. First opening; 13. Spiral shaft; 14. Protective section; 20. Channel section; 21. Channel cavity; 22. Second opening; 23. Material outlet; 24. First side wall; 25. Second side wall; 26. First discharge inlet; 27. Upper baffle section; 271. Friction-reducing structure; 28. Reference symmetry plane; 30. First discharge gap; 40. Second discharge gap; 100. Fuselage; 101. Recessed area; 200. Cutting module; 201. Cutter head cover; 202. Cutting blade assembly; 300. Recycling module; 301. Recycling container; 3011. Recycling chamber; 3012. Second recycling inlet; 302. Reference center plane; 303. Gantry section; 3031. First recycling inlet; 3032. Second discharge slant; 400. Walking wheels; 500. Working plane; 600, clearance. 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 fall off and adhere to the bottom of the discharge channel of the cutter head, causing blockage of the discharge channel.

[0031] See Figures 1 to 12As shown, in order to solve the above problems, according to one aspect of this application, an embodiment of this application provides a cutter head cover, which includes: a cover body portion 10 and a channel portion 20, wherein a cutter head cavity 11 is formed on the cover body portion 10, and a first opening portion 12 communicating between the cutter head cavity 11 and the external environment is provided at the bottom of the cover body portion 10, through which material in the external environment enters the cutter head cavity 11; the channel portion 20 is disposed on the side of the cover body portion 10 and forms a channel cavity 21 communicating with the cutter head cavity 11, and a second opening portion 22 communicating between the channel cavity 21 and the external environment is provided at the bottom of the channel portion 20, and a material outlet 23 is provided at the end of the channel portion 20 facing away from the cover body portion 10, through which material in the cover body portion 10 can be discharged from the material outlet 23 via the channel cavity 21, and part of the material in the channel cavity 21 can fall into the external environment through the second opening portion 22. The cutter head cover provided in this embodiment can effectively reduce the probability of blockage in the channel cavity 21 by providing a second opening 22 at the bottom of the channel section 20 to connect the external environment with the channel cavity 21. Specifically, during the process of conveying material in the channel cavity 21 to the material outlet 23, some material will fall off under the action of gravity. The setting of the second opening 22 can allow this part of the material to fall directly to the external environment, thereby reducing or even avoiding the adhesion and accumulation of material at the bottom of the channel cavity 21, thereby reducing the probability of blockage in the channel cavity 21 and improving the reliability of the cutter head cover.

[0032] In one specific embodiment, the first opening 12 includes a first opening formed on the bottom wall of the cutter disc cavity 11. By providing the first opening on the bottom wall of the cutter disc cavity 11, materials in the external environment can enter the cutter disc cavity 11 from the bottom of the cover 10 upward through the first opening. When the cutter disc cavity 11 is equipped with a cutting blade assembly 202, the materials entering the cutter disc cavity 11 can be cut by the rotating cutting blade assembly 202 and guided to the channel cavity 21 by the cutter disc cavity 11, and finally discharged from the material outlet 23. The setting of the first opening can provide a smooth suction path for materials in the external environment, ensuring that the cutter disc cover has good material suction efficiency.

[0033] In some embodiments, the first opening 12 in this embodiment includes a plurality of first openings, which are spaced apart on the bottom wall of the cutter disc cavity 11. By providing a plurality of first openings on the bottom wall of the cutter disc cavity 11, materials from the external environment can enter the cutter disc cavity 11 from the bottom of the cover 10 upwards through the plurality of first openings. When a cutting blade assembly 202 is provided in the cutter disc cavity 11, the materials entering the cutter disc cavity 11 can be cut by the rotating cutting blade assembly 202 and guided by the cutter disc cavity 11 to the channel cavity 21, and finally discharged from the material outlet 23. The arrangement of a plurality of first openings can provide multiple suction paths for materials from the external environment, thereby further improving the material suction efficiency of the cutter disc cover.

[0034] See Figure 3 As shown, in another embodiment, the first opening 12 in this embodiment makes the cutter head cavity 11 without a bottom wall; by setting the cutter head cavity 11 to be without a bottom wall, materials in the external environment can directly enter the cutter head cavity 11 from the bottom upwards. When the cutter head cavity 11 is provided with a cutting blade assembly 202, the materials entering the cutter head cavity 11 can be cut by the rotating cutting blade assembly 202, and then guided and transported to the channel cavity 21 through the cutter head cavity 11, and finally discharged from the material outlet 23. The bottomless cutter head cavity 11 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.

[0035] In one specific embodiment, the second opening 22 includes a second opening formed on the bottom wall of the channel cavity 21. It is understood that during the process of material being conveyed in the channel cavity 21, some material will fall to the bottom wall of the channel cavity 21 under the action of gravity. By providing a second opening on the bottom wall of the channel cavity 21, some material that falls to the bottom wall of the channel cavity 21 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 21, thereby reducing the probability of blockage of the channel cavity 21 and improving the reliability of the cutter head cover.

[0036] In some embodiments, the second opening 22 in this embodiment includes a plurality of second openings, which are spaced apart on the bottom wall of the channel cavity 21. By providing a plurality of second openings on the bottom wall of the channel cavity 21, some of the material falling to the bottom wall of the channel cavity 21 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 21, thereby reducing the probability of blockage of the channel cavity 21 and improving the reliability of the cutter head cover.

[0037] See Figure 3 As shown, in another embodiment, the second opening 22 makes the channel cavity 21 bottomless. By making the channel cavity 21 bottomless, a discharge path with the largest area can be provided for the falling material, allowing some of the falling material to be discharged directly downwards to the external environment, thereby avoiding the adhesion and accumulation of material at the bottom of the channel cavity 21, thus reducing the probability of blockage of the channel cavity 21 and improving the reliability of the cutter head cover.

[0038] See Figures 1 to 3As shown, in a specific embodiment, the top of the cutter head cavity 11 in this embodiment is formed with a spiral cavity segment 111 that spirals upward relative to a reference plane around the spiral shaft 13, wherein the reference plane is a plane located on one side of the cutter head cover and perpendicular to the spiral shaft 13; the channel portion 20 includes a first sidewall 24 and a second sidewall 25 disposed opposite to each other. In the width direction of the channel portion 20, the first sidewall 24 is located on the side of the channel cavity 21 closer to the spiral shaft 13, and the second sidewall 25 is located on the side of the channel cavity 21 away from the spiral shaft 13. The length of the side wall 24 extending outward from the outer edge of the cover portion 10 is L1, and the length of the second side wall 25 extending outward from the outer edge of the cover portion 10 is L2, wherein L1≤L2, the width direction of the channel portion 20 is perpendicular to the extension direction of the channel cavity 21 and the spiral shaft 13; the maximum outer radius of the spiral cavity segment 111 is r, wherein 0≤L1 / r≤1.2, for example, L1 / r can be 0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1, 1.1, 1.2, etc. It is understandable that during the material conveying process in the channel cavity 21, as the length of the channel cavity 21 increases, the probability of the material falling to the bottom of the channel cavity 21 will gradually increase. By setting the ratio between the length L1 of the first sidewall 24 facing the spiral shaft 13 and the maximum outer diameter r of the spiral cavity section 111 to 0~1.2, the structural dimensions of the channel section 20 can be effectively controlled, making the structure of the channel section 20 more compact. Specifically, setting the ratio between the length L1 of the first sidewall 24 and the maximum outer diameter r of the spiral cavity section 111 to 0~1.2 can ensure that the channel cavity 21 has a relatively short length to a certain extent. Since the distance of material conveying in the channel cavity 21 is shortened, the probability and total amount of material falling to the bottom under the action of gravity can be effectively reduced. Even if a small amount of material falls into the external environment through the second opening 22, it will not form visible accumulation or have a significant impact on the operation effect. Wherein, the length of the first sidewall 24 extending outward from the outer edge of the cover portion 10 refers to the distance from the connection point of the first sidewall 24 with the outer wall of the cover portion 10 to the end of the first sidewall 24 away from the cover portion 10, and the length of the second sidewall 25 extending outward from the outer edge of the cover portion 10 refers to the distance from the connection point of the second sidewall 25 with the outer wall of the cover portion 10 to the end of the second sidewall 25 away from the cover portion 10. When L1 / r equals 0, the length of the first sidewall 24 is 0cm, and at this time the length of the channel cavity 21 can be designed to be the shortest.

[0039] See Figure 4As shown, in a specific embodiment, the length of the first sidewall 24 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 24 to 0cm~10cm can, to a certain extent, ensure that the channel cavity 21 has a shorter length. Since the material is transported a shorter distance in the channel cavity 21, 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 22, it will not form visible accumulation or have a significant impact on the operation. Specifically, when the length L1 of the first sidewall 24 is equal to 0cm, the length of the channel cavity 21 can be designed to be the shortest.

[0040] See Figure 2 As shown, in a specific embodiment, the maximum outer radius of the spiral cavity section 111 is r, where 7cm ≤ r ≤ 15cm. It is understood that when r is less than 7cm, the radial dimension of the spiral cavity section 111 may be too small, increasing the material conveying resistance within the spiral cavity section 111 and thus increasing the probability of blockage of the cutter head cover. When r is greater than 15cm, the radial dimension of the spiral cavity section 111 may be too large, resulting in a greater attenuation of airflow velocity within the spiral cavity section 111, thereby reducing the material conveying speed within the spiral cavity section 111 and increasing the probability of blockage of the cutter head cover. Setting r to 7cm~15cm can effectively balance the material conveying resistance and airflow velocity attenuation, ensuring smooth and efficient material conveying within the spiral cavity section 111 and improving the reliability of the cutter head cover.

[0041] See Figures 1 to 11 As shown, according to another aspect of this application, a mobile robot is provided. The mobile robot includes a body 100 and a cutting module 200. The cutting module 200 is disposed on the body 100 and includes a cutter head cover 201, which is the cutter head cover 201 described above.

[0042] See Figure 7 As shown, in some embodiments, the cutting module 200 in this embodiment further includes a cutting blade assembly 202, which is rotatably disposed in the blade disc cavity 11. The cutting blade assembly 202 cuts the material in the blade disc cavity 11 by rotating.

[0043] In some embodiments, a cutting cavity section 112 is provided on the lower side of the spiral cavity section 111 in this embodiment. The cutting cavity section 112 and the spiral cavity section 111 together form the cutter head cavity 11, wherein the cutting blade assembly 202 is at least partially located in the cutting cavity section 112.

[0044] In some embodiments, the rotating cutting blade assembly 202 in this embodiment can form an axial flow fan and generate negative pressure at the first opening 12. The negative pressure at the first opening can draw air, materials, etc. from the external environment into the cutter disc cavity 11. Under the guidance of the spiral cavity section 111 at the top of the cutter disc cavity 11, a spiral airflow can be formed in the cutter disc cavity 11 to transport the material in the cutter disc cavity 11 to the channel cavity 21.

[0045] See Figure 7 and Figure 8 As shown, in one specific embodiment, the mobile robot further includes a recycling module 300. The recycling module 300 is disposed on the body 100 and has a first recycling inlet 3031 and a recycling chamber 3011. The material outlet 23, the first recycling inlet 3031, and the recycling chamber 3011 are sequentially connected. Through the sequentially connected material outlet 23, the first recycling inlet 3031, and the recycling chamber 3011, a smooth material recycling path can be constructed in the mobile robot, ensuring that the material in the channel chamber 21 can be efficiently and directionally transported to the recycling chamber 3011, reducing the probability of material escaping or leaking to other areas inside the mobile robot during the transportation process, thereby improving the operational reliability of the mobile robot.

[0046] In one specific embodiment, the mobile robot is adapted to move on the working plane 500; the cutting module 200 and the recycling module 300 are relatively fixed; the bottom of the material outlet 23 is at a height greater than or equal to the bottom of the first recycling inlet 3031 relative to the working plane 500; it is understood that the material will fall to a certain extent under the action of gravity during the conveying process. Setting the bottom of the material outlet 23 relative to the working plane 500 to be greater than or equal to the bottom of the first recycling inlet 3031 relative to the working plane 500 allows some material that is about to fall out or has already fallen out to the bottom of the channel cavity 21 to be thrown into the recycling cavity 3011 through the first recycling inlet 3031 under the action of inertia, thereby effectively receiving the material discharged from the channel cavity 21.

[0047] In another embodiment, the mobile robot is adapted to move on the working plane 500, and the cutting module 200 can move relative to the recycling module 300 in a direction close to or away from the working plane 500. When the cutting module 200 moves to the point where the distance from the working plane 500 is minimal, the height of the bottom of the material outlet 23 relative to the working plane 500 of the mobile robot is greater than or equal to the height of the bottom of the first recycling inlet 3031 relative to the working plane 500 of the mobile robot. It is understood that the material will fall to a certain extent under the action of gravity during the conveying process. Setting the height of the bottom of the material outlet 23 relative to the working plane 500 to be greater than or equal to the height of the bottom of the first recycling inlet 3031 relative to the working plane 500 when the cutting module 200 moves to the point where the distance from the working plane 500 is minimal allows some material that is about to fall out or has already fallen below the channel cavity 21 to be thrown into the recycling cavity 3011 by inertia through the first recycling inlet 3031, thereby effectively receiving the material discharged from the channel cavity 21.

[0048] It should be noted that the cutting module 200 moves relative to the recycling module 300 in a direction that is close to or away from the working plane 500. The direction of movement can be parallel to the spiral shaft 13 or perpendicular to the working plane 500, or it can be inclined relative to the spiral shaft 13 or the working plane 500. The spiral shaft 13 is perpendicular to the working plane 500 or inclined relative to the working plane 500.

[0049] See Figure 5As shown, in a specific embodiment, the mobile robot in this embodiment is adapted to move on the working plane 500, and the cutting module 200 can move relative to the recycling module 300 in a direction close to or away from the working plane 500; a first discharge ramp 26 is provided on the lower side of the material outlet 23; during at least part of the process in which the cutting module 200 moves relative to the recycling module 300, a first discharge gap 30 is formed between the first discharge ramp 26 and the recycling chamber 3011, connecting the channel cavity 21, the recycling chamber 3011 and the external environment, and part of the material between the channel cavity 21 and the recycling chamber 3011 can fall into the external environment through the first discharge gap 30. It is understandable that, since the cutting module 200 can move relative to the recycling module 300, there will be a gap between the material outlet 23 and the first recycling inlet 3031. In order to avoid the accumulation of material in the gap between the material outlet 23 and the first recycling inlet 3031, this embodiment of the application provides a first discharge slope 26 on the lower side of the material outlet 23, and makes the first discharge slope 26 form a first discharge gap 30 between the channel cavity 21 and the recycling cavity 3011, connecting the channel cavity 21, the recycling cavity 3011 and the external environment. During the process of material being transported from the channel cavity 21 to the recycling cavity 3011, some material may fall off under the action of gravity. The setting of the first discharge gap 30 can allow the fallen part of the material to be directly discharged to the external environment, thereby reducing or even avoiding the adhesion and accumulation of material in the gap between the material outlet 23 and the first recycling inlet 3031, thereby reducing the probability of blockage of the material recycling path of the mobile robot and improving the reliability of the mobile robot.

[0050] See Figure 6 and Figure 7As shown, in a specific embodiment, the lower part of the first recycling inlet 3031 is formed as a second discharge slope 3032; during at least part of the process in which the cutting module 200 moves relative to the recycling module 300, a second discharge gap 40 is formed between the second discharge slope 3032 and the channel cavity 21, connecting the channel cavity 21, the recycling cavity 3011 and the external environment, and part of the material between the channel cavity 21 and the recycling cavity 3011 can fall into the external environment through the second discharge gap 40. It is understandable that, since the cutting module 200 can move relative to the recycling module 300, there will be a gap between the material outlet 23 and the first recycling inlet 3031. In order to avoid the accumulation of material in the gap between the material outlet 23 and the first recycling inlet 3031, this embodiment of the application sets the lower part of the first recycling inlet 3031 as a second discharge slope 3032, and makes the second discharge slope 3032 form a second discharge gap 40 between the channel cavity 21 and the recycling cavity 3011, connecting the channel cavity 21, the recycling cavity 3011 and the external environment. During the process of material being transported from the channel cavity 21 to the recycling cavity, some material may fall off under the action of gravity. The setting of the second discharge gap 40 can allow the fallen part of the material to be directly discharged to the external environment, thereby reducing or even avoiding the adhesion and accumulation of material in the gap between the material outlet 23 and the first recycling inlet 3031, thereby reducing the probability of blockage of the material recycling path of the mobile robot and improving the reliability of the mobile robot.

[0051] See Figure 1As shown, in a specific embodiment, the mobile robot in this embodiment is adapted to move on the working plane 500. The cutting module 200 can move relative to the recycling module 300 in a direction close to or away from the working plane 500. An upper baffle 27 is provided at one end of the channel portion 20 away from the cover portion 10. The upper baffle 27 is located above the material outlet 23 and moves with the cutting module 200 relative to the recycling module 300 to at least partially cover the first recycling inlet 3031. Understandably, in order to meet the docking requirements between the first recycling inlet 3031 and the material outlet 23 during the movement of the cutting module 200, the dimension of the first recycling inlet 3031 in the moving direction of the cutting module 200 needs to be set to be greater than or equal to the sum of the dimension of the material outlet 23 in the moving direction of the cutting module 200 and the moving stroke of the cutting module 200. When the cutting module 200 moves to its maximum distance from the working plane 500, since the bottom of the channel cavity 21 is open, the area on the lower side of the first recycling inlet 3031 that does not correspond to the position of the material outlet 23 does not need to be sealed, that is, the lower side of the material outlet 23 is open. To reduce the probability of blockage in the material recycling path, when the cutting module 200 moves to its minimum distance from the working plane 500, the area on the upper side of the first recycling inlet 3031 that does not correspond to the position of the material outlet 23 needs to be sealed. At this time, an upper baffle 27 is provided at one end of the channel section 20 away from the cover section 10, located above the material outlet 23 and moving with the cutting module 200. This allows the mobile robot to cover the upper side of the first recycling inlet 3031 through the upper baffle 27, thereby reducing the probability of material leakage from this area and foreign objects from the external environment entering through this area, and improving the reliability of the mobile robot's material recycling path.

[0052] See Figure 1 As shown, in one specific embodiment, a friction-reducing structure 271 is provided on the side of the upper baffle portion 27 and the recycling module 300 facing the other. The upper baffle portion 27 and the recycling module 300 can slide in contact through the friction-reducing structure 271. By providing the friction-reducing structure 271, the contact area between the upper baffle portion 27 and the recycling module 300 can be reduced, thereby reducing the sliding resistance between the upper baffle portion 27 and the recycling module 300 during the movement of the cutting module 200.

[0053] In some embodiments, the friction-reducing structure 271 of this embodiment is disposed on the side of the upper baffle portion 27 facing the recycling module 300. The friction-reducing structure 271 includes friction-reducing ribs extending along the moving direction of the cutting module 200. By providing friction-reducing ribs extending along the moving direction of the cutting module 200 on the side of the upper baffle portion 27 facing the recycling module 300, the contact between the upper baffle portion 27 and the machine body 100 can be changed from surface contact to line contact, thereby effectively reducing the contact area between the upper baffle portion 27 and the recycling module 300 and reducing the sliding resistance between the upper baffle portion 27 and the recycling module 300 during the movement of the cutting module 200.

[0054] In some embodiments, the friction-reducing structure 271 in this embodiment includes a plurality of spaced-apart friction-reducing ribs extending along the moving direction of the cutting module 200. By providing a plurality of friction-reducing ribs extending along the moving direction of the cutting module 200 on the side of the upper baffle portion 27 facing the recycling module 300, the contact between the upper baffle portion 27 and the recycling module 300 can be changed from surface contact to multi-line contact. This reduces the contact area between the upper baffle portion 27 and the recycling module 300 while ensuring stable contact between them, thereby reducing the sliding resistance between the upper baffle portion 27 and the recycling module 300 during the movement of the cutting module 200.

[0055] See Figure 4 As shown, in a specific embodiment, the recycling module 300 includes a recycling container 301, within which a recycling cavity 3011 is formed. A mobile robot is adapted to move on a working plane 500. The recycling container 301 has a reference center plane 302 extending along the forward or backward direction of the mobile robot and perpendicular to the working plane 500. The channel cavity 21 extends in a direction that is inclined relative to and close to the reference center plane 302. Since the channel portion 20 is located on the side of the cover portion 10, setting the extension direction of the channel cavity 21 to be inclined relative to and close to the reference center plane 302 can adjust the conveying trajectory of the material discharged from the channel cavity 21 in the recycling cavity 3011. This guides and promotes the accumulation of material entering the recycling cavity 3011 towards the center of the end of the recycling cavity 3011 away from the cutter head cover, improving the space utilization and effective loading capacity of the recycling container 301, while reducing the risk of the mobile robot's driving stability being affected by the unbalanced accumulation of material in the recycling cavity 3011.

[0056] See Figure 4As shown, in a specific embodiment, the reference center plane 302 passes through the spiral shaft 13 of the cutter head cover. Setting the reference center plane 302 to pass through the spiral shaft 13 of the cutter head cover makes the spatial arrangement of the cutting module and the recycling module 300 on the mobile robot more symmetrical, which is beneficial to improving the integration of the mobile robot. At the same time, it can also reduce or even avoid the space waste caused by the eccentric layout of the modules to a certain extent.

[0057] See Figure 4 As shown, in a specific embodiment, the center of the material outlet 23 does not coincide with the reference center plane 302; wherein, at least a portion of the material outlet 23 intersects with the reference center plane 302, or the material outlet 23 is completely located on one side of the reference center plane 302; by setting the center of the material outlet 23 to be offset relative to the reference center plane 302 of the recycling container 301, the material discharged from the material outlet 23 can enter the recycling chamber 3011 of the recycling container 301 with an asymmetrical trajectory. Specifically, based on the channel cavity 21 that is inclined relative to the reference center plane 302, the offset material outlet 23 can further adjust the conveying trajectory of the material in the recycling chamber 3011, change the landing position of the material in the recycling chamber 3011, thereby guiding and prompting the material after entering the recycling chamber 3011 to accumulate in the middle of the end of the recycling chamber 3011 away from the cutter head cover rather than the side, thereby improving the space utilization and effective loading capacity of the recycling container 301, while reducing the risk of affecting the driving stability of the mobile robot due to the unbalanced accumulation of material in the recycling chamber 3011.

[0058] Understandably, to ensure that the material discharged from the material outlet 23 accumulates in the middle of the end of the recovery chamber 3011 away from the cutter head cover rather than on the side, the offset of the material outlet 23 needs to be adjusted according to the change in the inclination angle of the channel cavity 21 relative to the reference center plane 302. Specifically, when the inclination angle of the channel cavity 21 relative to the reference center plane 302 is relatively small, the lateral offset of the material guided by the channel cavity 21 at the landing point of the end of the recovery chamber 3011 away from the cutter head cover is relatively small. Therefore, the material outlet 23 is set to at least partially intersect the reference center plane 302. It can achieve fine adjustment of the material conveying trajectory, ensuring that the material accumulates in the middle of the end of the recovery chamber 3011 away from the cutter head cover rather than on the side. When the inclination angle of the extension direction of the channel cavity 21 relative to the reference center plane 302 is relatively large, the lateral offset of the material guided by the channel cavity 21 at the landing point of the end of the recovery chamber 3011 away from the cutter head cover is relatively large. Setting the material outlet 23 to be completely located on one side of the reference center plane 302 can further improve the effect of the material outlet 23 on adjusting the material conveying trajectory, ensuring that the material accumulates in the middle of the end of the recovery chamber 3011 away from the cutter head cover rather than on the side.

[0059] See Figure 4 As shown, in a specific embodiment, the center of the first recycling inlet 3031 does not coincide with the reference center plane 302; wherein, at least a portion of the first recycling inlet 3031 intersects with the reference center plane 302, or, the first recycling inlet 3031 is completely located on one side of the reference center plane 302. The center of the first recycling inlet 3031 is set to be offset relative to the reference center plane 302 of the recycling container 301, so that the material entering from the first recycling inlet 3031 can enter the recycling chamber 3011 of the recycling container 301 with an asymmetrical trajectory. Specifically, based on the channel cavity 21 that is inclined relative to the reference center plane 302, the offset first recycling inlet 3031 can further adjust the conveying trajectory of the material in the recycling chamber 3011 and change the landing position of the material in the recycling chamber 3011. This guides and promotes the material after entering the recycling chamber 3011 to accumulate in the middle of the end of the recycling chamber 3011 away from the cutter head cover rather than on the side, thereby improving the space utilization and effective loading capacity of the recycling container 301 and reducing the risk of affecting the driving stability of the mobile robot due to the unbalanced accumulation of material in the recycling chamber 3011.

[0060] Understandably, to ensure that material entering from the first recovery inlet 3031 accumulates towards the center of the recovery chamber 3011 away from the cutter head cover rather than on the side, the offset of the first recovery inlet 3031 needs to be adjusted according to the change in the inclination angle of the channel cavity 21 relative to the reference center plane 302. Specifically, when the inclination angle of the channel cavity 21 relative to the reference center plane 302 is relatively small, the lateral offset of the material guided by the channel cavity 21 at the landing point of the recovery chamber 3011 away from the cutter head cover is relatively small. Therefore, the first recovery inlet 3031 is set to at least partially intersect with the reference center plane 302. This allows for fine-tuning of the material conveying trajectory, ensuring that the material accumulates in the middle of the end of the recovery chamber 3011 away from the cutter head cover, rather than on the side. When the inclination angle of the channel cavity 21's extension direction relative to the reference center plane 302 is relatively large, the lateral offset of the material guided by the channel cavity 21 at the landing point of the recovery chamber 3011 away from the cutter head cover is relatively large. Setting the first recovery inlet 3031 to be completely located on one side of the reference center plane 302 can further improve the adjustment effect of the first recovery inlet 3031 on the material conveying trajectory, ensuring that the material accumulates in the middle of the end of the recovery chamber 3011 away from the cutter head cover, rather than on the side.

[0061] See Figure 3 and Figure 4As shown, in a specific embodiment, the channel portion 20 includes a first sidewall 24 and a second sidewall 25 disposed opposite to each other. A reference symmetry plane 28 is defined through the channel cavity 21. The reference symmetry plane 28 makes the first sidewall 24 and the second sidewall 25 at least partially symmetrical. The extension direction of the reference symmetry plane 28 is the extension direction of the channel cavity 21. The reference symmetry plane 28 is virtually extended at one end near the recycling container 301 and intersects with one end of the recycling container 301 away from the cutting module 200 at the intersection area. The horizontal distance from the center of the end of the recycling container 301 away from the cutting module 200 to the intersection area is a, where 0cm≤a≤5cm. For example, a can be 0cm, 1cm, 2cm, 3cm, 4cm, 5cm, etc. By setting the horizontal distance between the center of the junction area and the center of the end of the recycling container 301 away from the cutting module 200 to 0cm~5cm, the extension direction of the channel cavity 21 can have a more suitable tilt angle relative to the reference symmetry plane 28. This ensures that the channel cavity 21 can effectively guide the material, causing the material after entering the recycling cavity 3011 to accumulate in the middle of the end of the recycling cavity 3011 away from the cutter head cover. This improves the space utilization and effective loading capacity of the recycling container 301, while reducing the risk of affecting the driving stability of the mobile robot due to the unbalanced accumulation of material in the recycling cavity 3011.

[0062] In one specific embodiment, the recycling module 300 further includes a gantry 303 and a recycling container 301. A recycling chamber 301 is formed inside the recycling container 301. The gantry 303 is connected to the body 100, and the recycling container 301 is connected to either the gantry 303 or the body 100. The gantry 303 has a first recycling inlet 3031, and the recycling container 301 has a second recycling inlet 3012. The material outlet 23, the first recycling inlet 3031, the second recycling inlet 3012, and the recycling chamber 3011 are sequentially connected. Through the sequentially connected material outlet 23, the first recycling inlet 3031, the second recycling inlet 3012, and the recycling chamber 3011, a smooth material recycling path can be constructed in the mobile robot, ensuring that the material in the channel cavity 21 can be efficiently and directionally transported to the recycling chamber 3011, reducing the probability of material escaping or leaking to other areas inside the mobile robot during the transportation process, thereby improving the operational reliability of the mobile robot.

[0063] In one specific embodiment, the recycling container 301 is fixedly disposed relative to the gantry portion 303. By fixing the recycling container 301 relative to the gantry portion 303, the connection rigidity of the material recycling path can be strengthened, avoiding material leakage or efficiency loss at the connection due to relative movement of components, thereby improving the stability and reliability of material recycling.

[0064] In another embodiment, the recycling container 301 in this embodiment is rotatable relative to the gantry portion 303. By configuring the recycling container 301 to rotate relative to the gantry portion 303, the recycling container 301 can switch between a recycling state and a tilting state by rotation. When the recycling container 301 is in the recycling state, the first recycling inlet 3031 and the second recycling inlet 3012 are connected, and the material in the channel portion 20 can be conveyed to the recycling chamber 3011. When the recycling container 301 is in the tilting state, the material in the recycling chamber 3011 can be discharged through the second recycling inlet 3012 under the action of gravity.

[0065] In one specific embodiment, at least a portion of the outer sidewall of the channel portion 20 extends along the forward or backward direction of the mobile robot; by setting at least a portion of the outer sidewall of the channel portion 20 to extend along the forward or backward direction of the mobile robot. It is understood that if the outer sidewall of the channel portion 20, i.e., the second sidewall 25, extends radially outward to the cover portion 10, it will directly lead to an increase in the total width of the cutter head cover 201 in the radial direction of the cover portion 10, which is not conducive to the compact design of the mobile robot and the passage in narrow spaces; if the outer sidewall of the channel portion 20, i.e., the second sidewall 25, extends radially inward to the cover portion 10, although it may reduce the overall width, it will cause the material outlet 23 to be excessively close to the center line of the whole machine, forcing the overall length of the channel cavity 21 or the length of the first sidewall 24 to increase. The longer channel cavity 21 will increase the residence time of the material during the conveying process, and significantly increase the probability of the material falling through the second opening 22 under the action of gravity, thereby reducing the efficiency of material conveying to the recycling module 300 and affecting the material recycling effect. Therefore, the embodiments provided in this application, by setting the outer side wall of the channel section 20, i.e. the second side wall 25, to extend along the forward or backward direction of the mobile robot, can ensure that the shape of the channel section 20 is consistent with the main layout direction of the mobile robot while ensuring that the position of the material outlet 23 is relatively appropriate. This is beneficial to realizing the miniaturization design of the mobile robot in the width direction, and can also shorten the length of the first side wall 24 as much as possible, thereby reducing the dwell time of the material in the channel section 20 during the conveying process and improving the conveying efficiency of the channel section 20 for materials.

[0066] See Figure 3 As shown, in a specific embodiment, at least a portion of the outer side wall of the channel portion 20 is tangent to the outer side wall of the cover portion 10. Setting at least a portion of the outer side wall of the channel portion 20 to be tangent to the outer side wall of the cover portion 10 can make the transition between the channel portion 20 and the cover portion 10 smoother and more fluid. At the same time, it can also reduce the space occupied by the channel portion 20 on the radially outer side of the cover portion 10 to a certain extent, which is beneficial to realizing the miniaturization design of the cutter head cover 201.

[0067] See Figure 3As shown, in one specific embodiment, at least a portion of the inner wall of the channel portion 20 is tangent to the inner wall of the cutter head cavity 11. Setting at least a portion of the inner wall of the channel portion 20 to be tangent to the inner wall of the cutter head cavity 11 reduces the conveying resistance of material at the connection between the cutter head cavity 11 and the channel cavity 21, improves material conveying efficiency, and reduces operating noise.

[0068] See Figures 7 to 12 As shown, in a specific embodiment, the mobile robot in this embodiment further includes a walking wheel 400, which is adapted to move on the working plane 500 via the walking wheel 400. The walking wheel 400 is disposed on the body 100, and a clearance recess 101 is provided on the body 100. At least a portion of the walking wheel 400 is located within the clearance recess 101. A clearance gap 600 is formed between the walking wheel 400 and the clearance recess 101 along the radial direction of the walking wheel 400. The cutting module 200 further includes a cutting blade assembly 202, which is disposed within the blade disc cavity 11. A protective part 14 is provided at the bottom of the cover part 10. Along a direction perpendicular to the working plane 500, the projection of the protective part 14 is located between the projection of the clearance gap 600 and the projection of the cutting blade assembly 202. By setting a clearance recess 101 on the body 100 corresponding to the walking wheel 400, it is beneficial to achieve a compact design of the mobile robot. Specifically, the clearance recess 101 can provide the necessary clearance space for the walking wheel 400 without increasing the overall size of the robot, reducing the probability of motion interference and rigid collision between the body 100 and the walking wheel 400, thereby improving the operational stability and service life of the mobile robot.

[0069] Understandably, when the length of the channel cavity 21 is shortened to reduce the risk of material accumulation and blockage in the channel cavity 21 of the cutter head cover 201, the installation position of the cutter head cover 201 will be moved backward compared to the cutter head cover 201 in the prior art. That is, the installation position of the cutter head cover 201 will be closer to the recycling module 300. After the installation position of the cutter head cover 201 is moved backward, the position of the cutter head cover 201 may correspond to the position of the clearance gap. Especially when the cutting module moves to a distance close to the working plane, there is a certain safety hazard that the cutting blade assembly is exposed in the clearance gap and may be touched by the user. By setting a protective part 14 at the bottom of the cover part 10, and making the projection of the protective part 14 in the direction perpendicular to the working plane 500 between the projection of the clearance gap 600 and the projection of the cutting blade assembly 202, it can be ensured that the protective part can at least partially cover the clearance gap 600, thereby reducing the risk of the user touching the cutting blade assembly 202 through the clearance gap 600 and improving the safety and reliability of the mobile robot.

[0070] See Figure 9As shown, in one specific embodiment, the protective part 14 includes a protective protrusion that extends from the bottom of the cover part 10 toward the working plane 500. By setting the protective protrusion to extend from the bottom of the cover part 10 toward the working plane 500, it is ensured that the protective protrusion can effectively block the clearance gap, while reducing the space occupied by the protective protrusion, thus achieving a balance between the safety and structural compactness of the mobile robot.

[0071] 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.

[0072] In summary, implementing the cutter head cover, mobile robot, and mobile robot system provided in this embodiment has at least the following beneficial technical effects: The cutter head cover provided in this embodiment, by providing a second opening 22 at the bottom of the channel section 20 that connects the external environment and the channel cavity 21, can effectively reduce the probability of blockage in the channel cavity 21. Specifically, during the process of conveying material in the channel cavity 21 to the material outlet 23, some material will fall off under the action of gravity. The setting of the second opening 22 allows this part of the material to fall directly to the external environment, thereby reducing or even avoiding the adhesion and accumulation of material at the bottom of the channel cavity 21, thereby reducing the probability of blockage in the channel cavity 21 and improving the reliability of the cutter head cover.

[0073] 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 cutter head cover, characterized in that, The cutter head cover includes: Cover part (10), on which a cutter head cavity (11) is formed, and a first opening (12) communicating the cutter head cavity (11) with the external environment is provided at the bottom of the cover part (10), and the material in the external environment enters the cutter head cavity (11) through the first opening (12). The channel section (20) is located on the side of the cover section (10) and forms a channel cavity (21) that communicates with the cutter head cavity (11). The bottom of the channel section (20) is provided with a second opening (22) that communicates the channel cavity (21) with the external environment. The end of the channel section (20) facing away from the cover section (10) is provided with a material outlet (23). The material in the cover section (10) can be discharged from the material outlet (23) through the channel cavity (21), and some of the material in the channel cavity (21) can fall into the external environment through the second opening (22).

2. The cutter head cover according to claim 1, characterized in that, The first opening (12) includes a first opening formed on the bottom wall of the cutter head cavity (11), or the first opening (12) makes the cutter head cavity (11) have no bottom wall; And / or, the second opening (22) includes a second opening formed on the bottom wall of the channel cavity (21), or, the second opening (22) makes the channel cavity (21) have no bottom wall.

3. The cutter head cover according to claim 1, characterized in that, The top of the cutter head cavity (11) is formed with a spiral cavity section (111) that spirals upward relative to the reference plane around the spiral axis (13), wherein the reference plane is a plane located on one side of the cutter head cover and perpendicular to the spiral axis (13); The channel portion (20) includes a first sidewall (24) and a second sidewall (25) disposed opposite to each other. In the width direction of the channel portion (20), the first sidewall (24) is located on the side of the channel cavity (21) close to the spiral shaft (13), and the second sidewall (25) is located on the side of the channel cavity (21) away from the spiral shaft (13). The first sidewall (24) extends outward from the outer edge of the cover portion (10) for a length of L1, and the second sidewall (25) extends outward from the outer edge of the cover portion (10) for a length of L2, wherein L1≤L2. The width direction of the channel portion (20) is perpendicular to the extension direction of the channel cavity (21) and the spiral shaft (13). The maximum outer radius of the helical cavity segment (111) is r, where 0 ≤ L1 / r ≤ 1.

2.

4. The cutter head cover according to claim 3, characterized in that, 0cm≤L1≤10cm, and / or, 7cm≤r≤15cm.

5. A mobile robot, characterized in that, The mobile robot includes a body (100) and a cutting module (200). The cutting module (200) is disposed on the body (100). The cutting module (200) includes a cutter head cover (201). The cutter head cover (201) is the cutter head cover (201) as described in any one of claims 1 to 4.

6. The mobile robot according to claim 5, characterized in that, The mobile robot also includes a recycling module (300), which is disposed on the body (100) and has a first recycling inlet (3031) and a recycling chamber (3011). The material outlet (23), the first recycling inlet (3031) and the recycling chamber (3011) are connected in sequence.

7. The mobile robot according to claim 6, characterized in that, The mobile robot is adapted to move on a working plane (500); The cutting module (200) and the recycling module (300) are fixed relative to each other; the bottom of the material outlet (23) is higher than or equal to the height of the bottom of the first recycling inlet (3031) relative to the working plane (500). Alternatively, the cutting module (200) may move relative to the recycling module (300) in a direction close to or away from the working plane (500); when the cutting module (200) moves to the minimum distance from the working plane (500), the height of the bottom of the material outlet (23) relative to the working plane (500) of the mobile robot is greater than or equal to the height of the bottom of the first recycling inlet (3031) relative to the working plane (500) of the mobile robot.

8. The mobile robot according to claim 6, characterized in that, The mobile robot is adapted to move on the working plane (500), and the cutting module (200) can move relative to the recycling module (300) in a direction close to or away from the working plane (500); a first discharge ramp (26) is provided on the lower side of the material outlet; during at least part of the movement of the cutting module (200) relative to the recycling module, a first discharge gap (30) is formed between the first discharge ramp (26) and the recycling chamber (3011) to connect the channel cavity (21), the recycling chamber (3011) and the external environment, and part of the material between the channel cavity (21) and the recycling chamber (3011) can fall into the external environment through the first discharge gap (30); And / or, the lower part of the first recycling inlet (3031) is formed as a second discharge ramp (3032); during at least part of the movement of the cutting module (200) relative to the recycling module, a second discharge gap (40) is formed between the second discharge ramp (3032) and the channel cavity (21) to communicate with the channel cavity (21), the recycling cavity (3011) and the external environment, and part of the material between the channel cavity (21) and the recycling cavity (3011) can fall into the external environment through the second discharge gap (40).

9. The mobile robot according to claim 6, characterized in that, The mobile robot is adapted to move on the working plane (500). The cutting module (200) can move relative to the recycling module (300) in a direction close to or away from the working plane (500). An upper baffle (27) is provided at one end of the channel (20) away from the cover (10). The upper baffle (27) is located above the material outlet (23) and, as the cutting module (200) moves relative to the recycling module (300), it is used to at least partially cover the first recycling inlet (3031).

10. The mobile robot according to claim 9, characterized in that, One of the upper baffle (27) and the recycling module (300) is provided with a friction-reducing structure (271) facing the other, and the upper baffle (27) and the recycling module (300) are in sliding contact with each other through the friction-reducing structure (271).

11. The mobile robot according to claim 6, characterized in that, The recycling module (300) includes a recycling container (301) and the recycling chamber (3011) is formed inside the recycling container (301). The mobile robot is adapted to move on a working plane (500), and the recycling container (301) has a reference center plane (302) extending along the forward or backward direction of the mobile robot and perpendicular to the working plane (500). The channel cavity (21) extends in a direction that is inclined relative to the reference center plane (302) and close to the reference center plane (302).

12. The mobile robot according to claim 11, characterized in that, The reference center plane (302) passes through the helical shaft (13) of the cutter head cover (201); And / or, the center of the material outlet (23) does not coincide with the reference center plane (302); wherein, at least a portion of the material outlet (23) intersects with the reference center plane (302), or, the material outlet (23) is located entirely on one side of the reference center plane (302); And / or, the center of the first recycling inlet (3031) does not coincide with the reference center plane (302); wherein, at least a portion of the first recycling inlet (3031) intersects with the reference center plane (302), or, the first recycling inlet (3031) is located entirely on one side of the reference center plane (302).

13. The mobile robot according to claim 12, characterized in that, The channel portion (20) includes a first sidewall (24) and a second sidewall (25) disposed opposite to each other. A reference symmetry plane (28) is defined through the channel cavity (21). The reference symmetry plane (28) makes the first sidewall (24) and the second sidewall (25) at least partially symmetrical. The extension direction of the reference symmetry plane (28) is the extension direction of the channel cavity (21). The reference symmetry plane (28) is virtually extended at one end near the recycling container (301) and intersects with the end of the recycling container (301) away from the cutting module (200) in the intersection area. The horizontal distance from the center of the end of the recycling container (301) away from the cutting module (200) to the intersection area is a, where 0cm≤a≤5cm.

14. The mobile robot according to claim 6, characterized in that, The recycling module further includes a gantry (303) and a recycling container (301). The recycling container (301) has a recycling chamber (3011) formed inside. The gantry (303) is connected to the machine body (100). The recycling container (301) is connected to the gantry (303) or the machine body (100). The gantry (303) has a first recycling inlet (3031). The recycling container (301) has a second recycling inlet (3012). The material outlet (23), the first recycling inlet (3031), the second recycling inlet (3012), and the recycling chamber (3011) are connected in sequence. The recycling container (301) is fixedly disposed relative to the gantry portion (303); or, the recycling container (301) may rotate relative to the gantry portion (303).

15. The mobile robot according to claim 5, characterized in that, At least a portion of the outer sidewall of the channel section (20) extends along the forward or backward direction of the mobile robot; And / or, at least a portion of the outer sidewall of the channel portion (20) is tangent to the outer sidewall of the cover portion (10); And / or, at least a portion of the inner wall of the channel portion (20) is tangent to the inner wall of the cutter head cavity (11).

16. The mobile robot according to claim 5, characterized in that, The mobile robot also includes a walking wheel (400), which is adapted to move on the working plane (500) by means of the walking wheel (400); the walking wheel (400) is disposed on the body (100), and the body (100) is provided with a clearance recess (101), at least a portion of the walking wheel (400) is located in the clearance recess (101), and a clearance gap (600) is formed between the walking wheel (400) and the clearance recess (101) along the radial direction of the walking wheel (400); the cutting module (200) also includes a cutting blade assembly (202), which is disposed in the blade disc cavity (11); a protective part (14) is provided at the bottom of the cover part (10), and the projection of the protective part (14) is located between the projection of the clearance gap (600) and the projection of the cutting blade assembly (202) in a direction perpendicular to the working plane (500).

17. The mobile robot according to claim 16, characterized in that, The protective part (14) includes a protective protrusion that extends from the bottom of the cover part (10) toward the working plane (500).

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 5 to 17.

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