Autonomous mobile device

Abstract

The application relates to an autonomous mobile device, relates to the field of lawn mowers, and aims to solve the problem that the cutting width of an existing chain-type lawn mower is small and the mowing efficiency is reduced. The autonomous mobile device comprises a first cutting assembly, a second cutting assembly and a connecting piece. The first cutting assembly comprises a first mounting seat and a plurality of first cutting pieces. The plurality of first cutting pieces are arranged on the first mounting seat and are arranged at intervals in a first direction to form gaps. The second cutting assembly comprises a second mounting seat and at least one second cutting piece. The at least one second cutting piece is arranged on the second mounting seat. The first end of the connecting piece is connected with the first mounting seat, and the second end is connected with the second mounting seat. The connecting piece is rotationally connected with at least one of the first mounting seat and the second mounting seat. When the autonomous mobile device travels in a straight line, the first direction intersects with the direction of straight-line travel, and along the direction of straight-line travel, the second cutting piece is at least partially arranged opposite the gaps. The autonomous mobile device can be used for mowing.

Description

Technical Field

[0001] This application relates to the field of lawnmowers, and more particularly to an autonomous mobile device. Background Technology

[0002] A lawnmower is a machine used to trim lawns, gardens, and other outdoor greenery. Current hinged lawnmowers only have one blade, resulting in a narrow cut width after the mower travels in a straight line, reducing mowing efficiency. Utility Model Content

[0003] This application provides an autonomous mobile device to address the problem that existing chain mowers have a small cutting width, which reduces mowing efficiency.

[0004] In a first aspect, this application provides an autonomous mobile device, including a first cutting assembly, a second cutting assembly, and a connector. The first cutting assembly includes a first mounting base and a plurality of first cutting elements. The plurality of first cutting elements are disposed on the first mounting base and spaced apart along a first direction, forming a gap. The second cutting assembly includes a second mounting base and at least one second cutting element. At least one second cutting element is disposed on the second mounting base. A first end of the connector is connected to the first mounting base, and a second end of the connector is connected to the second mounting base. The connector is rotatably connected to at least one of the first and second mounting bases. When the autonomous mobile device travels in a straight line, the first direction intersects with the direction of straight-line travel, and along the direction of straight-line travel, the second cutting element is at least partially positioned opposite the gap.

[0005] In some embodiments, the number of first cutting elements is greater than the number of second cutting elements. When the autonomous mobile device is traveling in a straight line, the second cutting elements correspond one-to-one with the gaps along the direction of travel, and each second cutting element is at least partially positioned opposite a gap.

[0006] In some embodiments, the dimension of the first mounting base along the first direction is larger than the dimension of the second mounting base along the second direction. Wherein, when the autonomous mobile device is traveling in a straight line, the second direction is parallel to the first direction.

[0007] In some embodiments, a plurality of first cutting elements are evenly spaced along a first direction.

[0008] In some embodiments, the number of second cutting elements is multiple. The multiple second cutting elements are spaced apart along a second direction.

[0009] In some embodiments, a plurality of second cutting elements are evenly spaced along a second direction.

[0010] In some embodiments, the first cutting assembly further includes two first rollers. Along a first direction, one first roller is located on one side of the plurality of first cutting elements and is rotatably connected to the first mounting base, and the other first roller is located on the other side of the plurality of first cutting elements and is rotatably connected to the first mounting base.

[0011] In some embodiments, the second cutting assembly further includes two second rollers. Along a second direction, one second roller is located on one side of at least one second cutting element, and the other second roller is located on the other side of at least one second cutting element, and is rotatably connected to the second mounting base. Wherein, when the autonomous mobile device is traveling in a straight line, the second direction is parallel to the first direction.

[0012] In some embodiments, the first cutting member includes a first cutting disc and at least one first cutting blade. The first cutting disc is rotatably connected to a first mounting base. The first cutting blade is disposed on the first cutting disc and partially extends beyond the periphery of the first cutting disc, located at the outer periphery of the first cutting disc. The second cutting member includes a second cutting disc and at least one second cutting blade. The second cutting blade is disposed on the second cutting disc and partially extends beyond the periphery of the second cutting disc, located at the outer periphery of the second cutting disc.

[0013] In some embodiments, a first cutting blade rotates with a first cutting disc to form a first cutting area. One end of the first cutting blade extending beyond the first cutting disc forms the outer contour of the first cutting area. A second cutting blade rotates with a second cutting disc to form a second cutting area. One end of the second cutting blade extending beyond the second cutting disc forms the outer contour of the second cutting area. When the autonomous mobile device is traveling in a straight line, the second cutting area is tangential to or partially opposite to two adjacent first cutting areas along the direction of travel.

[0014] In some embodiments, the connector includes a connecting body and a connecting portion. The connecting portion is connected to one end of the connecting body. At least one of the first mounting base and the second mounting base has a mounting groove. The connecting portion is rotatably connected within the mounting groove.

[0015] In some embodiments, the connecting groove is spherical. The connecting portion includes a first connecting portion. The first connecting portion is spherical and is located within the connecting groove.

[0016] In some embodiments, the connecting portion further includes a second connecting portion. A first end of the second connecting portion is connected to the first connecting portion, and a second end of the second connecting portion is connected to one end of the connecting body.

[0017] In some embodiments, the connecting body includes a first connecting body and a second connecting body. A first end of the second connecting body is rotatably connected to a first end of the first connecting body. At least one of the second ends of the first and second connecting bodies is connected to a connecting portion. The rotation axes of the first and second connecting bodies are parallel to the direction of linear travel.

[0018] The autonomous mobile device provided in this application features a rotatable connection between the connector and at least one of the first and second mounting seats. This allows the first and second mounting seats to rotate relative to the connector, making the rotation of the first and second cutting components more convenient and flexible during cutting operations. Since multiple first cutting elements are spaced apart along a first direction on the first mounting seat, these elements can cut simultaneously, increasing the cutting range. Furthermore, when the autonomous mobile device travels in a straight line, the second cutting elements are at least partially positioned opposite the gaps along the direction of travel. The multiple first cutting elements can cut first, and any uncut areas in the gaps will pass through the second cutting elements when the device passes the second cutting component. The second cutting elements can then cut these uncut areas, ensuring the overall cutting effect of the autonomous mobile device and improving cutting efficiency. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the structure of an autonomous mobile device provided in an embodiment of this application; Figure 2 A bottom view of an autonomous mobile device provided in an embodiment of this application; Figure 3 This is a schematic diagram of the structure after the second mounting base rotates relative to the connecting member; Figure 4 This is a schematic diagram of the structure of another autonomous mobile device provided in an embodiment of this application; Figure 5 This is a schematic diagram of the structure of another autonomous mobile device provided in an embodiment of this application; Figure 6 for Figure 5 A cross-sectional view of the autonomous mobile device shown; Figure 7 for Figure 5 A schematic diagram of the structure of the autonomous mobile device when the connection part is separated from the connection body; Figure 8 This is a schematic diagram of the structure of another autonomous mobile device provided in an embodiment of this application; Figure 9 for Figure 8 A cross-sectional view of the autonomous mobile device shown; Figure 10A bottom view of another autonomous mobile device provided in an embodiment of this application; Figure 11 This is a schematic diagram of the structure of a first cutting component provided in an embodiment of this application.

[0021] Explanation of reference numerals in the attached figures: 100 - Autonomous mobile device; 10 - First cutting assembly; 11 - First mounting base; 12 - First cutting element; 121 - First cutting disc; 122 - First cutting blade; 13 - First roller; 14 - First cutting drive mechanism; 20 - Second cutting assembly; 21 - Second mounting base; 211 - Connecting groove; 22 - Second cutting element; 221 - Second cutting disc; 222 - Second cutting blade; 23 - Second roller; 24 - Second cutting drive mechanism; 30 - Connector; 31 - Connecting body; 311 - First connecting body; 3111 - Rotating shaft hole; 312 - Second connecting body; 3121 - Rotating shaft protrusion; 313 - Rotating shaft hole; 32 - Connecting part; 321 - First connecting part; 322 - Second connecting part. Detailed Implementation

[0022] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0023] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0024] In the following description, the terms "first," "second," etc., are used for descriptive convenience only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0025] In this application, unless otherwise expressly specified and limited, the term "connection" shall be interpreted broadly. For example, "connection" may be a fixed mechanical connection, a detachable mechanical connection, or an integral part; or, "connection" may be a direct connection or an indirect connection through an intermediate medium.

[0026] In this application, two components are "parallel" to each other, which can mean completely parallel or approximately parallel within a certain acceptable deviation range. Furthermore, two components are "perpendicular" to each other, which can mean completely perpendicular or approximately perpendicular within a certain acceptable deviation range. The aforementioned acceptable deviation range can be determined by the limitations of the measurement system used by those skilled in the art.

[0027] In related technologies, hinged lawnmowers generally include a first platform, a second platform, and a linkage device. The first and second platforms are each equipped with a blade for mowing. The linkage device connects the first and second platforms via a rotatable connection, allowing the first and second platforms to rotate about the rotatable connection point as an axis.

[0028] However, the hinged lawnmowers in the relevant technology only have a single blade on the first and second platforms, resulting in a narrow cutting width and low mowing efficiency.

[0029] Based on this, embodiments of this application provide an autonomous mobile device capable of autonomous walking. The specific type of autonomous mobile device is not specifically limited in these embodiments. For example, the autonomous mobile device could be a lawnmower robot.

[0030] The autonomous mobile device provided in the embodiments of this application will be further described below. For example... Figure 1 As shown, Figure 1 This is a schematic diagram of the structure of an autonomous mobile device 100 provided in an embodiment of this application. The autonomous mobile device 100 may include a first cutting component 10, a second cutting component 20, and a connector 30.

[0031] like Figure 2 As shown, Figure 2 The bottom view of an autonomous mobile device 100 provided in this application embodiment shows that the first cutting assembly 10 may include a first mounting base 11 and a plurality of first cutting elements 12. The second cutting assembly 20 may include a second mounting base 21 and at least one second cutting element 22.

[0032] Multiple first cutting elements 12 are disposed on a first mounting base 11, spaced apart along a first direction X to form gaps. The first cutting elements 12 can be used for mowing grass. Thus, multiple first cutting elements 12 can cut together, increasing the cutting range and improving cutting efficiency.

[0033] When the autonomous mobile device 100 travels in a straight line, the first direction X intersects with the direction of straight-line travel. For example, as shown... Figure 2 As shown, multiple first cutting elements 12 along Figure 2 The vertical spacing is shown. At this time, when the autonomous mobile device 100 moves along... Figure 2 When moving in the left and right directions as shown, the multiple first cutting parts 12 can cut a wide range along the first direction X.

[0034] Continue to refer to Figure 2 At least one second cutter 22 is disposed on the second mounting base 21. Similarly, the second cutter 22 can also be used for mowing grass. In the direction of straight travel, the second cutter 22 is at least partially disposed opposite to the gap.

[0035] Based on this, when the autonomous mobile device 100 travels in a straight line, since the second cutting element 22 is at least partially positioned opposite to the gap along the direction of straight travel, multiple first cutting elements 12 can cut first. The uncut position at the gap of the first cutting element 12 will pass through the second cutting element 22 when passing the second cutting component 20. The second cutting element 22 can cut the uncut position at the gap, thereby ensuring the overall cutting effect of the autonomous mobile device 100 and improving the cutting efficiency.

[0036] It is understood that the aforementioned relative arrangement refers to the overlap between the projections of the second cutting element 22 and the gap onto a plane perpendicular to the first direction. For example, refer to... Figure 2 Autonomous mobile device 100 along Figure 2 When driving straight in the left and right directions as shown, along Figure 2 As shown in the left-right direction, the gap formed between the second cutting element 22 and the plurality of first cutting elements 12 is perpendicular to the left-right direction. Figure 2 The projections on the planes in the left and right directions overlap.

[0037] Therefore, autonomous mobile device 100 along Figure 2 When traveling in a straight line in the left and right directions as shown, multiple first cutting elements 12 can first perform cutting. Then, the positions left by the multiple first cutting elements 12 can pass through the second cutting element 22, which can cut the remaining positions, thereby ensuring cutting efficiency and cutting effect.

[0038] like Figure 1 As shown, the first end of the connector 30 is connected to the first mounting base 11, and the second end of the connector 30 is connected to the second mounting base 21. The connector 30 is rotatably connected to at least one of the first mounting base 11 and the second mounting base 21.

[0039] In this way, at least one of the first mounting base 11 and the second mounting base 21 can rotate relative to the connector 30, thereby preventing the wheels of the first cutting assembly 10 and the second cutting assembly 20 from abrading the grass when moving and turning using wheels, thus avoiding damage to the user's lawn, and making rotation more convenient and flexible.

[0040] It is understood that the specific connection method between the connector 30 and the first mounting base 11 and the second mounting base 21 can be selected according to requirements. In some embodiments, the connector 30 can be rotatably connected to one of the first mounting base 11 and the second mounting base 21.

[0041] For example, such as Figure 1 As shown, in some embodiments, the connector 30 can be rotatably connected to the second mounting base 21 and fixedly connected to the first mounting base 11. In this case, as... Figure 3 As shown, Figure 3 This is a schematic diagram of the structure of the second mounting base 21 after it rotates relative to the connecting member 30. The second mounting base 21 can rotate relative to the connecting member 30, and the direction adjustment of the second mounting base 21 is more flexible.

[0042] Or, such as Figure 4 As shown, Figure 4 This is a schematic diagram of another autonomous mobile device 100 provided in an embodiment of this application. In some other embodiments, the connector 30 can also be rotatably connected to the first mounting base 11 and fixedly connected to the second mounting base 21. In this case, the first mounting base 11 can rotate relative to the connector 30, and the rotation adjustment of the first mounting base 11 is more flexible.

[0043] Alternatively, in some other embodiments, the connector 30 may be rotatably connected to both the first mounting base 11 and the second mounting base 21. In this case, both the first mounting base 11 and the second mounting base 21 may rotate relative to the connector 30, and both the first mounting base 11 and the second mounting base 21 may be flexibly adjusted in direction.

[0044] As described above, in some embodiments, the connector 30 can be fixedly connected to the first mounting base 11 or the second mounting base 21. It is understood that the method of fixed connection can be selected according to actual circumstances, as long as the two can be relatively fixed after connection; no further limitations are made here. For example, the fixed connection can be achieved by snap-fitting, welding, or bonding.

[0045] To achieve a rotatable connection between the connector 30 and the first mounting base 11 or the second mounting base 21, in some embodiments, such as Figure 5 As shown, Figure 5 This is a schematic diagram of the structure of another autonomous mobile device 100 provided in an embodiment of this application. Figure 6 for Figure 5 The cross-sectional view of the autonomous mobile device 100 shown indicates that the connector 30 may include a connector body 31 and a connector portion 32. The connector portion 32 may be connected to one end of the connector body 31.

[0046] At least one of the first mounting base 11 and the second mounting base 21 may have a connecting groove 211. The connecting part 32 can be rotatably connected within the connecting groove 211. Thus, through the cooperation between the connecting part 32 and the connecting groove 211, the connecting part 32 can rotate within the connecting groove 211, thereby realizing the rotation of the first mounting base 11 or the second mounting base 21 relative to the connecting member 30.

[0047] It is understandable that, depending on the different connection methods between the connector 30 and the first mounting base 11 and the second mounting base 21, the number of connecting slots 211 and connecting parts 32 can be designed according to the actual situation.

[0048] For example, in some embodiments, such as Figure 6 As shown, the second mounting base 21 may have a connecting groove 211. Simultaneously, there may be one connecting part 32, which is rotatably connected to the connecting groove 211 of the second mounting base 21. In this case, the first mounting base 11 can be directly and fixedly connected to the connecting body 31. For example, the first mounting base 11 may be welded to the connecting body 31 or integrally formed.

[0049] Alternatively, in some other embodiments, the first mounting base 11 may have a connecting groove 211. Accordingly, there may be one connecting part 32, which can be rotatably connected to the connecting groove 211 on the first mounting base 11.

[0050] Alternatively, in some embodiments, the first mounting base 11 and the second mounting base 21 may each have a connecting groove 211. Correspondingly, there may be two connecting parts 32. The two connecting parts 32 are respectively connected to one end of the connecting body 31. One connecting part 32 is rotatably connected to the connecting groove 211 of the first mounting base 11, and the other connecting part 32 is rotatably connected to the connecting groove 211 of the second mounting base 21.

[0051] To make the rotation of the first mounting base 11 or the second mounting base 21 more flexible, such as Figure 6 As shown, in some embodiments, the connecting groove 211 can be spherical. Meanwhile, the connecting portion 32 may include a first connecting portion 321. The first connecting portion 321 is spherical and located within the connecting groove 211.

[0052] Therefore, since both the connecting groove 211 and the first connecting portion 321 are spherical, the first connecting portion 321 can rotate in any direction within the connecting groove 211 during rotation. This allows the first mounting base 11 and the second mounting base 21 to rotate in any direction.

[0053] Based on this, when the autonomous mobile device 100 travels on uneven ground, the first mounting base 11 and the second mounting base 21 can swing in the vertical direction to adapt to the ground, making it more adaptable and having stronger off-road performance during travel.

[0054] It is understood that the connecting groove 211 can also be other shapes. For example, in some other embodiments, the connecting groove 211 can also be cylindrical. Correspondingly, the first connecting portion 321 can also be cylindrical. In this case, the first connecting portion 321 can rotate axially within the connecting groove 211.

[0055] In some embodiments, such as Figure 6 As shown, the connecting portion 32 may further include a second connecting portion 322. The first end of the second connecting portion 322 is connected to the first connecting portion 321, and the second end of the second connecting portion 322 may be connected to one end of the connecting body 31.

[0056] Therefore, when the first connecting part 321 is spherical, by providing a second connecting part 322, the second connecting part 322 can easily achieve connection with the connecting body 31. For example, as shown... Figure 7 As shown, Figure 7 for Figure 5 The diagram shows the structure of the autonomous mobile device 100 when the connecting part 32 is separated from the connecting body 31. The second connecting part 322 can be a columnar structure, and the connecting body 31 can be provided with a connecting hole 313. The second connecting part 322 can be located in the connecting hole 313.

[0057] Of course, in some other embodiments, the connecting portion 32 may only include the first connecting portion 321. In this case, the first connecting portion 321 can be directly connected to the connecting body 31. For example, the connecting body 31 and the first connecting portion 321 can be welded or integrally formed.

[0058] like Figure 8 and Figure 9 As shown, Figure 8 This is a schematic diagram of the structure of another autonomous mobile device 100 provided in an embodiment of this application. Figure 9 for Figure 8 The cross-sectional view of the autonomous mobile device 100 shown illustrates that, in some embodiments, the connection body 31 may include a first connection body 311 and a second connection body 312. A first end of the second connection body 312 is rotatably connected to a first end of the first connection body 311.

[0059] At least one of the second end of the first connecting body 311 and the second end of the second connecting body 312 is connected to the connecting portion 32. The rotation axes of the first connecting body 311 and the second connecting body 312 are parallel to the direction of linear travel of the autonomous mobile device 100.

[0060] It is understood that the second end of the first connecting body 311 is directly or indirectly connected to one of the first mounting base 11 or the second mounting base 21, and the second end of the second connecting body 312 is directly or indirectly connected to the other of the first mounting base 11 or the second mounting base 21. For example, as shown... Figure 8 As shown, the second end of the second connecting body 312 is connected to a connecting part 32, which is connected to the second mounting base 21. The second end of the first connecting body 311 is directly connected to the first mounting base 11.

[0061] Therefore, when the autonomous mobile device 100 travels on uneven ground, since the first connecting body 311 and the second connecting body 312 are rotatably connected, and the axis of rotation is parallel to the direction of the autonomous mobile device 100's straight-line travel, the first mounting base 11 and the second mounting base 21 can also swing vertically to adapt to the ground, improving adaptability and off-road performance during travel.

[0062] To achieve a rotational connection between the first connecting body 311 and the second connecting body 312, in some embodiments, such as Figure 8 As shown, the first end of the first connecting body 311 has a pivot hole 3111, and the first end of the second connecting body 312 has a pivot protrusion 3121. The pivot protrusion 3121 is rotatably connected to the pivot hole 3111. Thus, through the cooperation between the pivot protrusion 3121 and the pivot hole 3111, a rotatable connection between the first connecting body 311 and the second connecting body 312 can be achieved.

[0063] It is understandable that the specific forms of the first connecting body 311 and the second connecting body 312 can be designed according to the actual situation, as long as the rotational connection between the two can be realized, and their composition and shape are not further limited here.

[0064] In other embodiments, the connecting body 31 may also be a single, integral structure, meaning that the connecting body 31 itself cannot rotate relative to the ground. To ensure the ground adaptability of the autonomous mobile device 100, optionally, as mentioned above, the first connecting portion 321 and the connecting groove 211 may be spherical. Of course, the first connecting portion 321 and the connecting groove 211 may also be cylindrical, depending on the actual situation.

[0065] The specific structures of the first cutting component 10 and the second cutting component 20 will be further described below.

[0066] In some embodiments, such as Figure 10 As shown, Figure 10 This is a bottom view of another autonomous mobile device 100 provided in an embodiment of this application, showing that there are multiple second cutting elements 22. The multiple second cutting elements 22 are arranged along a second direction (i.e., Figure 10 The first direction (X) is shown in the diagram. When the autonomous mobile device 100 is traveling in a straight line, the second direction is parallel to the first direction (X), as shown in the diagram. Figure 10 As shown, when the autonomous mobile device 100 along Figure 10 When traveling in the direction shown, both the first direction X and the second direction are... Figure 2 As shown in the vertical direction, the first cutting assembly 10 and the second cutting assembly 20 travel in the same posture. At this time, the multiple second cutting elements 22 on the second mounting base 21 can perform cutting together, which can further improve cutting efficiency and increase the cutting width along the second direction.

[0067] Of course, in other embodiments, such as Figure 2 As shown, the number of second cutting parts 22 can also be one. In this case, the number of second cutting parts 22 is small, the structure of the second cutting assembly 20 is simpler, and the manufacturing cost can be reduced.

[0068] It is understood that the specific number of the second cutting pieces 22 can be set according to the actual situation. For example, the number of the second cutting pieces 22 can be one, two, three, or five, etc.

[0069] In some embodiments, such as Figure 2 and Figure 10 As shown, the number of first cutting elements 12 can be greater than the number of second cutting elements 22. Specifically, when the autonomous mobile device 100 travels in a straight line, the second cutting elements 22 correspond one-to-one with the gaps along the direction of travel, and each second cutting element 22 is at least partially positioned opposite a gap.

[0070] At this time, as Figure 10 As shown, the first cutting element 12 and the second cutting element 22 can be arranged in an alternating staggered manner, with only one second cutting element 22 corresponding to one gap. This can avoid the second cutting elements 22 being too densely arranged, making the spacing between adjacent second cutting elements 22 more reasonable and dispersed.

[0071] Based on the above scheme, when the number of first cutting parts 12 is N, the number of second cutting parts 22 can be N-1. In this case, N first cutting parts 12 can form N-1 gaps. N-1 second cutting parts 22 can correspond one-to-one with the aforementioned N-1 gaps.

[0072] It is understood that the specific number of the first cutting piece 12 and the second cutting piece 22 can be designed according to actual conditions. For example, such as Figure 2 As shown, the number of first cutting parts 12 can be two, and the number of second cutting parts 22 can be one. Or, as... Figure 10 As shown, the number of the first cutting piece 12 can be three, and the number of the second cutting piece 22 can be two.

[0073] Of course, in other embodiments, the number of first cutting elements 12 may be less than or equal to the number of second cutting elements 22. In this case, multiple second cutting elements 22 can be arranged opposite to a gap, that is, multiple second cutting elements 22 are arranged corresponding to a gap, and the gap is cut using multiple second cutting elements 22. Accordingly, in order to avoid the gap between multiple second cutting elements 22 being too small, the gap formed between two adjacent first cutting elements 12 can be relatively large.

[0074] based on Figure 2 and Figure 10 In the illustrated scheme, when the number of first cutting elements 12 is greater than the number of second cutting elements 22, in some embodiments, the dimension of the first mounting base 11 along the first direction X can be greater than the dimension of the second mounting base 21 along the second direction (i.e., Figure 10 The dimension of the first direction (X). Wherein, when the autonomous mobile device 100 is traveling in a straight line, the second direction is parallel to the first direction. For example, Figure 10 The left and right directions are the straight-line travel directions of the autonomous mobile device 100. The first direction X and the second direction are both... Figure 10 The up and down directions.

[0075] Thus, because the number of second cutting elements 22 provided on the second mounting base 21 is relatively small, the corresponding size of the second mounting base 21 along the second direction can be relatively small, thereby reducing manufacturing costs and material consumption. At the same time, because the size of the second mounting base 21 is small, in actual use, the second mounting base 21 can adapt to relatively narrow areas, making it more flexible and convenient to move, and facilitating the cutting of narrow areas using the second cutting elements 22.

[0076] Of course, in other embodiments, the dimension of the first mounting base 11 along the first direction X may also be less than or equal to the dimension of the second mounting base 21 along the second direction. For example, the dimensions of the first mounting base 11 and the second mounting base 21 may be the same. In this case, the structures of the first mounting base 11 and the second mounting base 21 may be the same, and they can be manufactured using the same mold, which provides better versatility and makes manufacturing more convenient.

[0077] In some embodiments, a plurality of first cutting elements 12 may be evenly spaced along a first direction X. This results in a more uniform arrangement of the plurality of first cutting elements 12 on the first mounting base 11, and a more even distribution of external forces caused by the first cutting elements 12 at various positions on the first mounting base 11 during cutting, thus avoiding concentrated stress on the first mounting base 11. Simultaneously, the gap between two first cutting elements 12 can be kept consistent, resulting in a more uniform distribution of the cutting area.

[0078] In some embodiments, a plurality of first cutting elements 12 are symmetrically arranged along the central axis of the first mounting base 11 in the first direction X. In this case, the plurality of first cutting elements 12 are symmetrical with respect to the central axis of the first mounting base 11 in the first direction, which makes the force on the first mounting base 11 in the first direction more uniform and ensures the structural stability of the first mounting base 11.

[0079] Of course, in other embodiments, the plurality of first cutting elements 12 may also be arranged non-uniformly. In this case, the positions of the plurality of first cutting elements 12 can be set according to actual needs. For example, when the first mounting base 11 has an obstruction structure that prevents the first cutting elements 12 from being set, the first cutting elements 12 can be arranged non-uniformly, and set at positions where the first cutting elements 12 can be set.

[0080] Similarly, in some embodiments, a plurality of second cutting elements 22 may be evenly spaced along a second direction. In this way, the arrangement of the plurality of second cutting elements 22 on the second mounting base 21 is more uniform, and the external force caused by the second cutting elements 22 at various positions on the second mounting base 21 during cutting is more uniform, thus avoiding concentrated force on the second mounting base 21.

[0081] In some embodiments, the plurality of second cutting elements 22 may also be symmetrically arranged along the central axis of the second mounting base 21 in the second direction. In this case, the plurality of second cutting elements 22 are symmetrical with respect to the central axis of the second mounting base 21 in the second direction, which makes the force on the second mounting base 21 in the second direction more uniform and ensures the structural stability of the second mounting base 21.

[0082] In other embodiments, the multiple second cutting elements 22 may also be arranged non-uniformly. The multiple second cutting elements 22 can be arranged according to actual needs. As mentioned above, when the second mounting base 21 has an obstruction structure that prevents the second cutting elements 22 from being installed, the second cutting elements 22 can be arranged non-uniformly, and installed at positions where the second cutting elements 22 can be installed.

[0083] Understandably, in order to achieve the mobility of 100 autonomous mobile devices, such as Figure 8 As shown, the first cutting assembly 10 may further include two first rollers 13. The second cutting assembly 20 may further include two second rollers 23.

[0084] To enhance the operational security of the autonomous mobile device 100, in some embodiments, such as Figure 10 As shown, along the first direction, one first roller 13 can be located on one side of the plurality of first cutting elements 12 and rotatably connected to the first mounting base 11. Another first roller 13 can be located on the other side of the plurality of first cutting elements 12 and rotatably connected to the first mounting base 11.

[0085] Thus, since the two first rollers 13 are located on opposite sides of the plurality of first cutting elements 12 along the first direction X, when the user is on one side of the first cutting assembly 10 along the first direction X, the first rollers 13 can act as a barrier, preventing the user from putting their hands or feet into contact with the first cutting elements 12, thereby ensuring the user's safety.

[0086] Similarly, in some embodiments, such as Figure 10 As shown, one second roller 23 may be located on one side of the at least one second cutting member 22 and rotatably connected to the second mounting base 21. Another second roller 23 may be located on the other side of the at least one second cutting member 22 and rotatably connected to the second mounting base 21.

[0087] Thus, since the two second rollers 23 are located on opposite sides of the second cutting member 22 along the second direction, when the user is on one side of the second cutting assembly 20 along the second direction, the second rollers 23 can also act as a barrier to prevent the user from putting their hands or feet into contact with the second cutting member 22, thus ensuring the user's safety.

[0088] When cutting, fallen grass will affect the cutting effect, resulting in a poor cutting outcome. Based on Figure 10 The scheme shown is such that when the dimension of the first mounting base 11 along the first direction X is greater than that of the second mounting base 21 along the second direction (i.e., Figure 10 The size of the first direction (X) is such that the two first rollers 13 are located on opposite sides of the multiple first cutting pieces 12 along the first direction (X). This ensures that the first rollers 13 are not located directly in front of the second cutting piece 22 in the direction of straight travel, thus preventing the first rollers 13 from crushing the grass to be cut by the second cutting piece 22, thereby preventing the second cutting piece 22 from cutting the fallen grass and ensuring the cutting effect of the second cutting piece 22.

[0089] It is understood that, in order to drive the first roller 13, in some embodiments, the first cutting assembly 10 may also include a first drive mechanism (not shown in the figure). The first drive mechanism is connected to the first roller 13 and can be used to drive the first roller 13 to rotate.

[0090] Similarly, in order to drive the second roller 23, in some embodiments, the second cutting assembly 20 may also include a second drive mechanism (not shown in the figure). The second drive mechanism is connected to the second roller 23 and can be used to drive the second roller 23 to rotate.

[0091] Therefore, the first drive mechanism and the second drive mechanism can achieve automatic driving of the first roller 13 and the second roller 23. The specific composition of the first drive mechanism and the second drive mechanism can be selected according to the actual situation, and no further limitation is made here.

[0092] For example, the first driving mechanism may include a first driving motor. The first driving motor is connected to the first roller 13 for driving. The second driving mechanism may include a second driving motor, which is connected to the second roller 23 for driving.

[0093] Based on this, the steering of the first cutting assembly 10 and the second cutting assembly 20 can be achieved through differential speed. That is, the two first drive motors drive the first rollers 13 to rotate at different speeds, thereby achieving the steering of the first cutting assembly 10. Similarly, the two second drive motors drive the two second rollers 23 to rotate at different speeds, thereby achieving the steering of the second cutting assembly 20.

[0094] In order to achieve the cutting function of the first cutting element 12, in some embodiments, such as Figure 2 As shown, the first cutting component 12 may include a first cutting disc 121 and at least one first cutting blade 122. The first cutting disc 121 is rotatably connected to the first mounting base 11. The first cutting blade 122 is disposed on the first cutting disc 121 and partially extends out of the periphery of the first cutting disc 121, located on the outer periphery of the first cutting disc 121.

[0095] Thus, since the first cutting disc 121 is rotatably connected to the first mounting base 11, the first cutting disc 121 can rotate relative to the first mounting base 11. At this time, since the first cutting blade 122 is disposed on the first cutting disc 121, the first cutting blade 122 can rotate with the first cutting disc 121. Since the first cutting blade 122 partially extends out of the periphery of the first cutting disc 121 and is located on the outer periphery of the first cutting disc 121, the portion of the first cutting blade 122 extending out of the periphery of the first cutting disc 121 can perform cutting.

[0096] In order to drive the first cutting disc 121 to rotate, as Figure 9 As shown, the first cutting assembly 10 may further include a first cutting drive mechanism 14. The first cutting drive mechanism 14 may be connected to the first cutting disc 121 and may be used to drive the first cutting disc 121 to rotate relative to the first mounting base 11. The first cutting disc 121 may be rotatably connected to the first mounting base 11 through the first cutting mechanism.

[0097] Furthermore, it is understood that the number of first cutting pieces 12 on the first cutting disc 121 can be set according to actual needs. For example, the number of first cutting pieces 12 on the first cutting disc 121 can be one or more. Specifically, the number of first cutting pieces 12 can be one, three, or six, etc.

[0098] Of course, the first cutting element 12 can also take other forms. For example, in some embodiments, the first cutting element 12 may only include the first cutting blade 122. The first cutting blade 122 extends along a first direction. In this case, the first cutting blade 122 can directly cut the position passing through itself along its extension direction.

[0099] Similarly, regarding the second cutting member 22, in some embodiments, the second cutting member 22 may include a second cutting disc 221 and at least one second cutting blade 222. The second cutting disc 221 is rotatably connected to the second mounting base 21. The second cutting blade 222 is disposed on the second cutting disc 221 and partially extends out of the periphery of the second cutting disc 221, located at the outer periphery of the second cutting disc 221.

[0100] Because the second cutting disc 221 is rotatably connected to the second mounting base 21, the second cutting disc 221 can rotate relative to the second mounting base 21. At this time, since the second cutting blade 222 is mounted on the second cutting disc 221, the second cutting blade 222 can rotate with the second cutting disc 221. Because the second cutting blade 222 partially extends outward from the periphery of the second cutting disc 221 and is located on the outer periphery of the second cutting disc 221, the portion of the second cutting blade 222 extending outward from the periphery of the second cutting disc 221 can perform cutting.

[0101] In order to drive the second cutting disc 221 to rotate, such as Figure 9 As shown, the second cutting assembly 20 may further include a second cutting drive mechanism 24. The second cutting drive mechanism 24 may be connected to the second cutting disc 221 and may be used to drive the second cutting disc 221 to rotate relative to the second mounting base 21. The second cutting disc 221 can be rotatably connected to the second mounting base 21 through the second cutting mechanism.

[0102] Similarly, it is understandable that the number of second cutting pieces 22 on the second cutting disc 221 can be set according to actual needs. For example, the number of second cutting pieces 22 on the second cutting disc 221 can be one or more. Specifically, the number of first cutting pieces 12 can be one, three, or six, etc.

[0103] Of course, the second cutting element 22 can also take other forms. For example, in some embodiments, the second cutting element 22 may consist only of a second cutting blade 222. The second cutting blade 222 extends along a second direction. In this case, the second cutting blade 222 can directly cut the position passing through itself along its extending direction.

[0104] like Figure 11 As shown, Figure 11 This is a schematic diagram of the structure of a first cutting element 12 provided in an embodiment of this application. The first cutting blade 122 rotates with the first cutting disk 121 to form a first cutting area (i.e., Figure 11 (The area marked by the dashed line). The first cutting blade 122 extends out of the first cutting disk 121 and can form the outer contour of the first cutting area.

[0105] Similarly, the second cutting blade 222 can form a second cutting area by rotating with the second cutting disk 221. The end of the second cutting blade 222 extending out of the second cutting disk 221 can form the outer contour of the second cutting area.

[0106] In some embodiments, when the autonomous mobile device 100 is traveling in a straight line, the second cutting region is tangent to or partially opposite to two adjacent first cutting regions along the direction of straight-line travel.

[0107] When the autonomous mobile device 100 travels in a straight line, because the second cutting area is tangential to or partially opposite to the two adjacent first cutting areas, the second cutting area can completely cover the gap between the two adjacent first cutting areas along the direction of straight-line travel. In this way, during cutting, the second cutting element 22 can completely cut the remaining position in the gap, ensuring cutting efficiency and cutting effect.

[0108] The specific positional relationship between the first cutting region and the second cutting region can be set according to actual needs. In some embodiments, such as... Figure 10 As shown, the second cutting area ( Figure 10 The area formed by the two dashed lines S1 can be connected to the two adjacent first cutting areas ( Figure 10 Two dashed lines S1 and two dashed lines S2 form a first cutting area, which are partially positioned opposite each other. In this case, the second cutting area can not only completely cut the gap between two adjacent first cutting areas, but also cut parts of the areas already cut by the first cutting areas, further ensuring the cutting effect.

[0109] Alternatively, in some embodiments, the second cutting region may be tangent to two adjacent first cutting regions. In this case, the second cutting region can precisely cut the gap between the two first cutting regions.

[0110] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An autonomous mobile device, characterized in that, include: A first cutting assembly, the first cutting assembly includes a first mounting base and a plurality of first cutting elements; the plurality of first cutting elements are disposed on the first mounting base and are spaced apart along a first direction to form gaps; A connector, the first end of which is connected to the first mounting base; and, The second cutting assembly includes a second mounting base and at least one second cutting element; the second mounting base is connected to the second end of the connector; at least one second cutting element is disposed on the second mounting base. Wherein, the connector is rotatably connected to at least one of the first mounting base and the second mounting base; when the autonomous mobile device travels in a straight line, the first direction intersects with the direction of straight travel, and along the direction of straight travel, the second cutting member is at least partially disposed opposite to the gap.

2. The autonomous mobile device according to claim 1, characterized in that, The number of the first cutting components is greater than the number of the second cutting components; when the autonomous mobile device is traveling in a straight line, along the direction of the straight travel, the second cutting components correspond one-to-one with the gaps, and at least one of the second cutting components is arranged opposite to one of the gaps.

3. The autonomous mobile device according to claim 2, characterized in that, The dimension of the first mounting base along the first direction is greater than the dimension of the second mounting base along the second direction; wherein, when the autonomous mobile device is traveling in a straight line, the second direction is parallel to the first direction.

4. The autonomous mobile device according to claim 1, characterized in that, Multiple first cutting elements are evenly spaced along the first direction.

5. The autonomous mobile device according to claim 1, characterized in that, The number of the second cutting components is multiple; the multiple second cutting components are spaced apart along a second direction; wherein, when the autonomous mobile device is traveling in a straight line, the second direction is parallel to the first direction.

6. The autonomous mobile device according to claim 5, characterized in that, Multiple second cutting elements are evenly spaced along the second direction.

7. The autonomous mobile device according to any one of claims 1-6, characterized in that, The first cutting component also includes: Two first rollers, along the first direction, one first roller is located on one side of the plurality of first cutting pieces and rotatably connected to the first mounting base, and the other first roller is located on the other side of the plurality of first cutting pieces and rotatably connected to the first mounting base; and / or, The second cutting component also includes: Two second rollers are arranged in a second direction, one second roller being located on one side of the at least one second cutting member and the other second roller being located on the other side of the at least one second cutting member, and are rotatably connected to the second mounting base; When the autonomous mobile device is traveling in a straight line, the second direction is parallel to the first direction.

8. The autonomous mobile device according to any one of claims 1-6, characterized in that, The first cutting element includes: A first cutting disc, rotatably connected to the first mounting base; and... At least one first cutting blade is disposed on the first cutting disc and partially extends out of the periphery of the first cutting disc, located at the outer periphery of the first cutting disc; The second cutting component includes: A second cutting disc, rotatably connected to the second mounting base; and... At least one second cutting blade is disposed on the second cutting disc and partially extends out of the periphery of the second cutting disc, located at the outer edge of the second cutting disc.

9. The autonomous mobile device according to claim 8, characterized in that, The first cutting blade rotates with the first cutting disc to form a first cutting area; The first cutting blade extends from one end of the first cutting disc to form the outer contour of the first cutting area; The second cutting blade rotates with the second cutting disc to form a second cutting area; The second cutting blade extends from one end of the second cutting disc to form the outer contour of the second cutting area; When the autonomous mobile device is traveling in a straight line, the second cutting area is tangent to or partially opposite to two adjacent first cutting areas along the direction of the straight-line travel.

10. The autonomous mobile device according to any one of claims 1-6, characterized in that, The connector includes: Connecting the main body; and, The connecting part is connected to one end of the connecting body; In this embodiment, at least one of the first mounting base and the second mounting base is provided with a connecting groove; the connecting part is rotatably connected to the connecting groove.

11. The autonomous mobile device according to claim 10, characterized in that, The connecting groove is spherical; the connecting part includes: The first connecting part is spherical and is located within the connecting groove.

12. The autonomous mobile device according to claim 11, characterized in that, The connecting part further includes: The second connecting part has a first end connected to the first connecting part and a second end connected to one end of the connecting body.

13. The autonomous mobile device according to claim 10, characterized in that, The connection body includes: The first connecting body; and, The second connecting body has a first end that is rotatably connected to the first end of the first connecting body; Wherein, at least one of the second end of the first connecting body and the second end of the second connecting body is connected to the connecting portion; the rotation axes of the first connecting body and the second connecting body are parallel to the direction of linear travel.

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