A mowing robot

Abstract

The application relates to the field of lawn mowers, in particular to a lawn mowing robot which comprises a main body, a cutting mechanism, a control mechanism, a guide mechanism, a detection piece and a height adjusting mechanism; the control mechanism is arranged in the main body or the cutting mechanism, the control mechanism is connected with the height adjusting mechanism and the detection piece; the cutting mechanism is arranged in front of the main body and rotationally connected with the main body; the guide mechanism is arranged on the cutting mechanism and can move relative to the cutting mechanism; when the guide mechanism contacts an obstacle, the guide mechanism moves from an initial position to a detection position and triggers the detection piece; the detection piece is used for sending a signal to the control mechanism after being triggered, so that the control mechanism controls the height adjusting mechanism to drive the cutting mechanism to rotate relative to the main body. The lawn mowing robot can perceive obstacles through the guide mechanism and effectively avoid rigid collision between the cutting mechanism and obstacles (such as stones, curbs and the like).

Description

Technical Field

[0001] This application relates to the field of lawnmower technology, and more particularly to a lawnmower robot. Background Technology

[0002] In existing technologies, whether it's a push-type, self-propelled, or intelligent robotic lawnmower, the cutting mechanism mostly adopts a rigid or semi-rigid fixing method. Specifically, the cutting mechanism is usually directly mounted on the output shaft of the drive motor, or connected to the main body of the device through a simple swing suspension mechanism.

[0003] While this structural design is simple and reliable, it lacks an effective obstacle-crossing mechanism in practical use, resulting in poor adaptability to terrain. Its traversal performance is poor when facing uneven lawns with slight undulations or numerous obstacles. Summary of the Invention

[0004] This application provides a lawnmower robot, which aims to improve the problem of relatively poor obstacle-crossing ability of existing lawnmower robots.

[0005] This application provides a lawnmower robot, including a main body, a cutting mechanism, a control mechanism, a guiding mechanism, a detection component, and a height adjustment mechanism; The control mechanism is disposed within the main body or the cutting mechanism, and the control mechanism is connected to the height adjustment mechanism and the detection component; The cutting mechanism is located in front of the main body and is rotatably connected to the main body; The guiding mechanism is mounted on the cutting mechanism and can move relative to the cutting mechanism. When it comes into contact with an obstacle, the guiding mechanism moves from the initial position to the detection position and triggers the detection element. The detection element is used to send a signal to the control mechanism after being triggered, so that the control mechanism controls the height adjustment mechanism to drive the cutting mechanism to rotate relative to the main body.

[0006] Optionally, the guiding mechanism includes a contact portion and a connecting portion, the connecting portion being connected to the cutting mechanism, and the contact portion being connected to the connecting portion; The contact portion is used to contact an obstacle, and at least a portion of the surface of the contact portion is an arc surface; One of the contact portion or the connecting portion can trigger the detection element when the guide mechanism moves to the detection position.

[0007] Optionally, the contact portion includes a guide wheel, the connecting portion includes a bracket, the guide wheel is mounted on the bracket, and the bracket is rotatably connected to the cutting mechanism.

[0008] Optionally, the guiding mechanism further includes an elastic element, one end of which is connected to the cutting mechanism and the other end of which is connected to the bracket, with the guide wheel and the elastic element located at both ends of the bracket; The elasticity of the elastic element is used to maintain the guiding mechanism in the initial position when it is not in contact with an obstacle.

[0009] Optionally, the contact portion includes a guide wheel, and the connecting portion has a first sliding structure; The cutting mechanism is provided with a second sliding structure, and the first sliding structure and the second sliding structure are slidably engaged.

[0010] Optionally, the guiding mechanism further includes an elastic element, one end of which is connected to the cutting mechanism and the other end of which is connected to the first sliding structure; The elasticity of the elastic element is used to maintain the guiding mechanism in the initial position when it is not in contact with an obstacle.

[0011] Optionally, the height adjustment mechanism includes a movable roller, a drive assembly, and a transmission assembly; The movable roller is located in front of the cutting mechanism and at the bottom of the cutting mechanism; The transmission component is connected to the cutting mechanism, and the input end of the transmission component is connected to the drive component, while the output end of the transmission component is connected to the movable roller. The drive component is connected to the control mechanism, and the drive component drives the transmission component to move the movable roller up and down.

[0012] Optionally, the transmission assembly includes a driving gear, a driven gear, a transmission rod, and a swing arm; The driving gear is fixedly connected to the output shaft of the drive assembly, the driven gear meshes with the driving gear, and the driven gear is fixedly mounted on the transmission rod; The transmission rod is rotatably mounted on the cutting mechanism via bearings; One end of the swing arm is fixedly connected to the transmission rod, and the other end is hinged to the movable roller; The swing arm swings as the transmission rod rotates, thereby driving the movable roller to move up and down relative to the cutting mechanism.

[0013] Optionally, the guide mechanism can be detachably connected to the cutting mechanism.

[0014] Optionally, the cutting mechanism includes an anti-collision mechanism, which includes an anti-collision strip and a base. The base is fixed to the cutting mechanism, and the anti-collision strip is slidably connected to the base. The guiding mechanism is connected to the anti-collision strip.

[0015] Optionally, the cutting mechanism includes a housing with a receiving groove, the length of which in the vertical direction is greater than the diameter of the guide wheel, and the guide wheel is disposed in the receiving groove.

[0016] This invention achieves active and sensitive detection of obstacles by setting up a guide mechanism that can move relative to the cutting mechanism and a detection component that works in conjunction with it. When the guide mechanism contacts the obstacle and moves from the initial position to the detection position, it immediately triggers the detection component and generates a signal. After receiving the signal from the detection component, the control mechanism adjusts the mechanism's movement according to the signal command, driving the cutting mechanism to lift relative to the main body. This closed-loop control process effectively avoids rigid collisions between the cutting mechanism and obstacles (such as stones, curbs, etc.). Attached Figure Description

[0017] Figure 1 This is an overall view of a lawnmower robot provided in one embodiment of this application; Figure 2 This is an overall side view of a lawnmower robot provided in one embodiment of this application. Figure 3 This is an overall diagram of the guidance mechanism of a lawnmower robot provided in one embodiment of this application; Figure 4 This is a schematic diagram of the cooperation between the cutting mechanism and the guiding mechanism of a lawnmower robot provided in one embodiment of this application; Figure 5 This is a schematic diagram of the working mechanism of the lawnmower robot provided in one embodiment of this application; Figure 6 This is a schematic diagram of the guidance mechanism of a lawnmower robot provided in one embodiment of this application; Figure 7 This is a schematic diagram of the cutting mechanism of a lawnmower robot provided in one embodiment of this application, without being raised; Figure 8 This is a schematic diagram of the lifting mechanism of the lawnmower robot provided in one embodiment of this application; Figure 9 This is a schematic diagram of the height adjustment mechanism of a lawnmower robot provided in one embodiment of this application.

[0018] Explanation of reference numerals in the attached figures: 1. Main body; 2. Cutting mechanism; 21. Housing; 211. Receiving groove; 212. First slide groove; 213. Second slide groove; 3. Guiding mechanism; 31. Contact part; 311. Guide wheel; 32. Connecting part; 321. Bracket; 33. Elastic element; 34. Detection element; 4. Height adjustment mechanism; 41. Movable roller; 42. Drive assembly; 43. Transmission assembly; 431. Drive gear; 432. Driven gear; 433. Transmission rod; 434. Swing arm. Detailed Implementation

[0019] To make the technical problems, technical solutions, and beneficial effects solved by this application clearer, the following detailed description is provided in conjunction with embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0020] Reference Figures 1 to 9 This application provides a lawnmower robot, including a main body 1, a cutting mechanism 2, a control mechanism, a guide mechanism 3, a detection component 34, and a height adjustment mechanism 4. The control mechanism is disposed within the main body 1 or the cutting mechanism 2, and is connected to the height adjustment mechanism 4 and the detection component 34. The cutting mechanism 2 is located in front of the main body 1 and rotatably connected to the main body 1. The guide mechanism 3 is disposed on the cutting mechanism 2 and can move relative to the cutting mechanism 2. When it contacts an obstacle, the guide mechanism 3 moves from an initial position to a detection position and triggers the detection component 34. The detection component 34 is used to send a signal to the control mechanism after triggering, so that the control mechanism controls the height adjustment mechanism 4 to drive the cutting mechanism 2 to rotate relative to the main body 1.

[0021] Specific reference Figures 2 to 4 In this embodiment, the lawnmower robot achieves active and sensitive detection of obstacles by setting up a guide mechanism 3 that can move relative to the cutting mechanism 2 and a detection element 34 that works in conjunction with it. When the guide mechanism 3 contacts the obstacle and moves from the initial position to the detection position, it immediately triggers the detection element 34 and generates a signal. After receiving the signal from the detection element 34, the control mechanism immediately adjusts the lifting mechanism 4 according to the signal instruction, driving the cutting mechanism 2 to lift relative to the main body 1. This closed-loop control process effectively avoids rigid collisions between the cutting mechanism 2 and obstacles (such as stones, curbs, etc.), which not only significantly reduces the risk of damage to the machine itself due to impact and extends its service life, but more importantly, ensures the continuity and stability of the lawnmower operation, and improves the robot's intelligence level and safety performance. At the same time, this mechanically triggered detection scheme has a simple and reliable structure, responds quickly, and helps to reduce system costs and improve resistance to environmental interference.

[0022] In this embodiment, the detection element 34 is generally a contact sensor, such as a strain gauge sensor. In this embodiment, the front-back direction refers to the front-back direction of the main body 1's movement.

[0023] Reference Figure 3 and Figure 4In one embodiment, the guiding mechanism 3 includes a contact portion 31 and a connecting portion 32, the connecting portion 32 being connected to the cutting mechanism 2, and the contact portion 31 being connected to the connecting portion 32; the contact portion 31 is used to contact an obstacle, and at least a portion of the surface of the contact portion 31 is an arc surface; one of the contact portion 31 or the connecting portion 32 can trigger the detection element 34 when the guiding mechanism 3 moves to the detection position.

[0024] By designing at least a portion of the surface of the contact part 31 as an arc surface, when the lawnmower encounters an obstacle while moving, the arc surface structure can effectively reduce the impact and friction during contact, allowing the guide mechanism 3 to deflect more smoothly along the obstacle surface, thereby transitioning to the detection position smoothly and reliably. This design not only reduces the instantaneous impact on the obstacle and the robot body, avoiding sudden stops or jamming, but also helps to improve the accuracy and consistency of the detection action.

[0025] In one embodiment, the contact portion 31 includes a guide wheel 311, the connecting portion 32 includes a bracket 321, the guide wheel 311 is mounted on the bracket 321, and the bracket 321 is rotatably connected to the cutting mechanism 2.

[0026] Furthermore, the guiding mechanism 3 also includes an elastic element 33, one end of which is connected to the cutting mechanism 2 and the other end is connected to the bracket 321. The guide wheel 311 and the elastic element 33 are located at both ends of the bracket 321. The elasticity of the elastic element 33 is used to maintain the guiding mechanism 3 in the initial position when it does not contact an obstacle.

[0027] In this embodiment, refer to Figure 3 and Figure 4 The guide wheel 311, support 321, and elastic element 33 form a lever. The guide wheel 311 and elastic element 33 are located at opposite ends of the lever. When the guide wheel 311 contacts an obstacle, it moves to the left, causing the elastic element 33 to stretch until it contacts and triggers the detection element 34. This achieves the efficient and reliable automatic reset function of the guide mechanism 3. Once the obstacle is removed, the restoring force of the elastic element 33 immediately drives the support 321 to rotate in the opposite direction, automatically resetting the guide wheel 311 to its initial position, preparing for the next collision detection. This design not only ensures low resistance, high sensitivity, and rapid response in the detection action but also significantly improves the efficiency and reliability of the robot's continuous operation through the automatic reset mechanism.

[0028] In this design, the guide wheel 311 is used as the contact part 31 and is designed as a rotatable wheel structure, which can greatly reduce the sliding friction when in contact with obstacles, so that the collision kinetic energy can be more effectively converted into the motion of the bracket 321 rotating around the axis, thereby triggering detection sensitively and smoothly.

[0029] Reference Figure 5 In one embodiment, the contact portion 31 includes a guide wheel 311, the connecting portion 32 has a first sliding structure, and the cutting mechanism 2 is provided with a second sliding structure, wherein the first sliding structure and the second sliding structure are slidably engaged.

[0030] In this embodiment, the first sliding structure is an axle, and the guide wheel 311 is mounted on the axle. The second sliding structure is a first groove 212, in which the axle is located and slides along the length of the first groove 212. Since the first groove 212 slopes upwards from front to back, when the guide wheel 311 contacts an obstacle, it pushes the axle to slide backwards along the upward-sloping groove, thereby raising the entire guide mechanism 3 until it triggers the detection element 34 located at the rear. Once it leaves the obstacle, the guide mechanism 3, without the need for elastic elements, automatically slides forward along the groove under its own gravity, returning to its initial position at the lowest point of the front end.

[0031] This sliding design achieves guidance, triggering, and automatic reset of the guide mechanism 3 through a sophisticated physical structure. The tilting chute converts horizontal collision force into upward displacement, ensuring not only the controllability and accuracy of the detection position but also utilizing gravity, a constant natural force, as the reset power source, achieving purely mechanical automatic return to position. This solution eliminates the elastic component 33, simplifying the overall structure, significantly reducing the number of parts, potential failure points, and manufacturing costs. It also avoids fatigue and failure issues that may occur with the elastic component 33 over long-term use, greatly improving the system's durability and reliability. This gravity-based reset design enables the lawnmower robot to perform countless stable, maintenance-free obstacle avoidance maneuvers in complex environments.

[0032] Reference Figure 6In one embodiment, the contact portion 31 includes a guide wheel 311, and the connecting portion 32 has a first sliding structure; the cutting mechanism 2 is provided with a second sliding structure, and the first sliding structure and the second sliding structure are slidably engaged. The guiding mechanism 3 also includes an elastic element 33, one end of which is connected to the cutting mechanism 2, and the other end is connected to the first sliding structure. In this embodiment, the first sliding structure is an axle, the guide wheel 311 is mounted on the axle, and the second sliding structure is a second groove 213, the axle is located in the second groove 213, and slides within the second groove 213 along its length. However, unlike the first groove 213 described above, the second groove 213 in this embodiment is horizontally arranged, that is, the length direction of the second groove 213 is parallel to the robot's forward direction, or the length direction of the second groove 213 is parallel to the ground. In this case, the elastic element 33 needs to perform a reset function, so the elasticity of the elastic element 33 is used to maintain the guiding mechanism 3 in the initial position when no obstacle is contacted.

[0033] Reference Figures 7 to 9 In one embodiment, the height adjustment mechanism 4 includes a movable roller 41, a drive assembly 42, and a transmission assembly 43; the movable roller 41 is disposed in front of the cutting mechanism 2 and located at the bottom of the cutting mechanism 2; the transmission assembly 43 is connected to the cutting mechanism 2, and the input end of the transmission assembly 43 is connected to the drive assembly 42, and the output end of the transmission assembly 43 is connected to the movable roller 41; the drive assembly 42 is connected to the control mechanism, and the drive assembly 42 drives the transmission assembly 43 to move the movable roller 41 up and down.

[0034] Specifically, the transmission assembly 43 includes a driving gear 431, a driven gear 432, a transmission rod 433, and a swing arm 434; the driving gear 431 is fixedly connected to the output shaft of the drive assembly 42, the driven gear 432 meshes with the driving gear 431, and the driven gear 432 is fixedly mounted on the transmission rod 433; the transmission rod 433 is rotatably mounted on the cutting mechanism 2 via bearings; one end of the swing arm 434 is fixedly connected to the transmission rod 433, and the other end is hinged to the movable roller 41; the swing arm 434 swings with the rotation of the transmission rod 433, thereby driving the movable roller 41 to move up and down relative to the cutting mechanism 2.

[0035] In this embodiment, the drive component 42 is a motor. The output shaft of the motor is connected to the drive gear 431, and the driven gear 432 is connected to the transmission rod 433. The transmission rod 433 is mounted on the cutting mechanism 2 via bearings. When the drive motor drives the drive gear 431 to rotate, it drives the driven gear 432 to rotate, which in turn drives the transmission rod 433 to rotate relative to the bearings. The transmission rod 433 drives the swing arm 434 connected to it to rotate, and the movable roller 41 at the other end of the swing arm 434 rotates accordingly. Referring to the attached drawings, when the swing arm 434 is not in contact with an obstacle and the height of the cutting mechanism 2 is not raised, the swing arm 434 is retracted into the cutting mechanism 2. However, when it comes into contact with an obstacle and the cutting mechanism 2 is raised, the swing arm 434 rotates forward with the transmission rod 433. As the swing arm 434 gradually becomes perpendicular to the ground, the length of the swing arm 434 increases the distance between the cutting mechanism 2 and the ground, causing the height of the cutting mechanism 2 to rise relative to the ground.

[0036] In one embodiment, the guide mechanism 3 is detachably connected to the cutting mechanism 2. In this embodiment, the guide mechanism 3 is mounted on the cutting mechanism 2 as a separate accessory.

[0037] In one embodiment, the cutting mechanism 2 includes an anti-collision mechanism, which includes an anti-collision strip and a base. The base is fixed to the cutting mechanism 2, and the anti-collision strip is slidably connected to the base. The guiding mechanism 3 is connected to the anti-collision strip.

[0038] In this embodiment, the cutting mechanism 2 includes an anti-collision mechanism. The base of the anti-collision mechanism is mounted on the housing 21 of the cutting mechanism 2. The guide mechanism 3 is set on the anti-collision strip. When the anti-collision strip contacts an obstacle, the guide mechanism 3 can also guide the cutting mechanism 2 to extend quickly.

[0039] Reference Figure 1 In one embodiment, the cutting mechanism 2 includes a housing 21, on which a receiving groove 211 is provided. The length of the receiving groove 211 in the vertical direction is greater than the diameter of the guide wheel 311, and the guide wheel 311 is disposed in the receiving groove 211. Referring to the accompanying drawings, in this embodiment, the guide wheel 311 is disposed within the receiving groove 211, thereby preventing the guide wheel 311 from excessively increasing the size of the lawnmower robot.

[0040] In this application, "multiple" refers to two or more.

[0041] In this application, unless otherwise expressly defined, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0042] The terms “first,” “second,” “third,” “fourth,” etc., in this application (if present) are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0043] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, in this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0044] Unless otherwise specified, all steps in this application may be performed sequentially or randomly. For example, if the method includes steps A and B, it means that the method may include steps A and B performed sequentially, or it may include steps B and A performed sequentially. For example, if the method may also include step C, it means that step C may be added to the method in any order. For example, the method may include steps A, B, and C, or it may include steps A, C, and B, or it may include steps C, A, and B, etc.

[0045] 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, It includes the main body, cutting mechanism, control mechanism, guiding mechanism, detection components, and height adjustment mechanism; The control mechanism is disposed within the main body or the cutting mechanism, and the control mechanism is connected to the height adjustment mechanism and the detection component; The cutting mechanism is located in front of the main body and is rotatably connected to the main body; The guiding mechanism is mounted on the cutting mechanism and can move relative to the cutting mechanism. When it comes into contact with an obstacle, the guiding mechanism moves from the initial position to the detection position and triggers the detection element. The detection element is used to send a signal to the control mechanism after being triggered, so that the control mechanism controls the height adjustment mechanism to drive the cutting mechanism to rotate relative to the main body.

2. The lawnmower robot according to claim 1, characterized in that, The guiding mechanism includes a contact part and a connecting part, the connecting part being connected to the cutting mechanism, and the contact part being connected to the connecting part; The contact portion is used to contact an obstacle, and at least a portion of the surface of the contact portion is an arc surface; One of the contact portion or the connecting portion can trigger the detection element when the guide mechanism moves to the detection position.

3. The lawnmower robot according to claim 2, characterized in that, The contact portion includes a guide wheel, the connecting portion includes a bracket, the guide wheel is mounted on the bracket, and the bracket is rotatably connected to the cutting mechanism.

4. The lawnmower robot according to claim 3, characterized in that, The guiding mechanism also includes an elastic element, one end of which is connected to the cutting mechanism and the other end of which is connected to the bracket. The guide wheel and the elastic element are located at both ends of the bracket. The elasticity of the elastic element is used to maintain the guiding mechanism in the initial position when it is not in contact with an obstacle.

5. The lawnmower robot according to claim 2, characterized in that, The contact portion includes a guide wheel, and the connecting portion has a first sliding structure; The cutting mechanism is provided with a second sliding structure, and the first sliding structure and the second sliding structure are slidably engaged.

6. The lawnmower robot according to claim 5, characterized in that, The guiding mechanism also includes an elastic element, one end of which is connected to the cutting mechanism and the other end of which is connected to the first sliding structure; The elasticity of the elastic element is used to maintain the guiding mechanism in the initial position when it is not in contact with an obstacle.

7. The lawnmower robot according to claim 1, characterized in that, The height adjustment mechanism includes movable rollers, a drive assembly, and a transmission assembly; The movable roller is located in front of the cutting mechanism and at the bottom of the cutting mechanism; The transmission component is connected to the cutting mechanism, and the input end of the transmission component is connected to the drive component, while the output end of the transmission component is connected to the movable roller. The drive component is connected to the control mechanism, and the drive component drives the transmission component to move the movable roller up and down.

8. The lawnmower robot according to claim 7, characterized in that, The transmission assembly includes a driving gear, a driven gear, a transmission rod, and a swing arm; The driving gear is fixedly connected to the output shaft of the drive assembly, the driven gear meshes with the driving gear, and the driven gear is fixedly mounted on the transmission rod; The transmission rod is rotatably mounted on the cutting mechanism via bearings; One end of the swing arm is fixedly connected to the transmission rod, and the other end is hinged to the movable roller; The swing arm swings as the transmission rod rotates, thereby driving the movable roller to move up and down relative to the cutting mechanism.

9. The lawnmower robot according to claim 1, characterized in that, The guiding mechanism is detachably connected to the cutting mechanism.

10. The lawnmower robot according to claim 1, characterized in that, The cutting mechanism includes an anti-collision mechanism, which includes an anti-collision strip and a base. The base is fixed to the cutting mechanism, and the anti-collision strip is slidably connected to the base. The guiding mechanism is connected to the anti-collision strip.

11. The lawnmower robot according to claim 3 or 5, characterized in that, The cutting mechanism includes a housing with a receiving groove. The length of the receiving groove in the vertical direction is greater than the diameter of the guide wheel, and the guide wheel is disposed in the receiving groove.

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