Lawn mowing robot

Abstract

The application provides a mowing robot, comprising: a machine body; a shell arranged on the machine body; a moving wheel arranged below the machine body and configured to drive the machine body to move; and a brush assembly comprising first brush hairs arranged on the outer side of the moving wheel and configured to clean the outer side of the moving wheel during movement of the mowing robot. The present application can reduce the accumulation of grass clippings on the outer side of the moving wheel and improve the working efficiency of the mowing robot by arranging the brush hairs on the outer side of the moving wheel to clean the outer side of the moving wheel during movement of the mowing robot.

Description

Technical Field

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

[0002] Self-propelled robots can automatically identify the work area and work within it. Taking a self-propelled intelligent lawnmower as an example, the intelligent lawnmower visually identifies the boundary between grass and non-grass, and moves along the boundary based on the identification result, or randomly walks within the work area to perform the mowing task without going beyond the boundary.

[0003] Most lawnmower robots currently rely on wheels to move their bodies. However, during movement, grass clippings, dirt, and other obstacles can accumulate on the wheels. These obstacles can cover the wheel teeth and affect the wheels' grip, thus impacting the robot's efficiency. Summary of the Invention

[0004] In view of this, the purpose of this application is to propose a lawn mowing robot that can clean up obstacles such as grass clippings or mud on the outside of the driving wheels without affecting the rotation of the driving wheels, thereby improving the working efficiency of the lawn mowing robot.

[0005] To achieve the aforementioned objectives, a lawnmower robot is proposed, comprising:

[0006] body;

[0007] A housing is disposed on the body of the machine;

[0008] The motion wheel, located at the bottom of the fuselage, is configured to move the fuselage.

[0009] A bristle assembly, comprising a first bristle disposed on the outer side of the drive wheel and configured to clean the outer side of the drive wheel during the movement of the lawnmower robot.

[0010] As a further improvement of one embodiment of this application, in the axial direction of the moving wheel, the distance between the first bristle and the outer end face of the moving wheel is less than or equal to 4 mm.

[0011] As a further improvement of one embodiment of this application, in the axial direction of the moving wheel, the distance between the first bristle and the outer end face of the moving wheel is less than or equal to 2 mm.

[0012] As a further improvement of one embodiment of this application, in the axial direction of the moving wheel, the distance between the first bristle and the outer end face of the moving wheel is less than or equal to 0.

[0013] As a further improvement of one embodiment of this application, the bristle assembly further includes a second bristle disposed inside the drive wheel and configured to clean the inside of the drive wheel during the movement of the lawnmower robot.

[0014] As a further improvement of one embodiment of this application, in the axial direction of the moving wheel, the distance between the second bristle and the inner end face of the moving wheel is less than or equal to 4 mm.

[0015] As a further improvement of one embodiment of this application, in the axial direction of the moving wheel, the distance between the second bristle and the inner end face of the moving wheel is less than or equal to 2 mm.

[0016] As a further improvement of one embodiment of this application, in the axial direction of the moving wheel, the distance between the first bristle and the outer end face of the moving wheel is less than or equal to 4 mm, and the distance between the second bristle and the inner end face of the moving wheel is less than or equal to 4 mm.

[0017] As a further improvement of one embodiment of this application, the driving wheel includes an exposed portion not covered by the housing;

[0018] The lawnmower robot includes a protective device comprising a first protective plate that at least partially covers the exposed portion and a side protective plate that extends from the first protective plate toward the inside of the drive wheel; the side protective plate extends at least to the rear edge of the drive wheel in the radial direction of the drive wheel.

[0019] As a further improvement of one embodiment of this application, the first protective plate has a first surface facing the driving wheel, and the bristle assembly is disposed on the first surface;

[0020] In the axial direction of the moving wheel, the width of the bristle assembly is smaller than the width of the first protective plate.

[0021] This application provides brush bristles on the outside of the driving wheels of a lawnmower robot, enabling the robot to clean the outside of the driving wheels during movement, thereby reducing the accumulation of grass clippings on the outside of the driving wheels and improving the working efficiency of the lawnmower robot. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of a lawnmower robot provided in one embodiment of this application;

[0023] Figure 2 This is a schematic diagram of the structure of the brush assembly and protective device provided in one embodiment of this application;

[0024] Figure 3 For this application Figure 2 Top view of the brush assembly and protective device provided in the image;

[0025] Figure 4 This is a partial structural diagram of the lawnmower robot's drive wheels and brush assembly in one embodiment of this application;

[0026] Figure 5 This is a partial structural cross-sectional view of the lawnmower robot's drive wheels and brush assembly in one embodiment of this application.

[0027] Marker explanation:

[0028] 100. Lawn-mowing robot; 10. Brush assembly; 11. First brush; 12. Second brush; 13. Third brush; 20. Protective device; 21. First protective plate; 22. Side protective plate; 23. Fixing device; 30. Housing; 40. Wheels. Detailed Implementation

[0029] The present application will now be described in detail with reference to the specific embodiments shown in the accompanying drawings. However, these embodiments do not limit the present application, and any structural, methodological, or functional modifications made by those skilled in the art based on these embodiments are included within the scope of protection of this application.

[0030] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this application should have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "first," "second," and similar terms used in the embodiments of this application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are only used to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0031] A lawnmower robot is used to automatically walk and work on the ground, powered by batteries. The lawnmower robot includes a housing, a walking module, and a working module (not shown) for mowing the lawn. The walking module is used for walking and steering. The working module includes a cutting motor, a drive shaft connected to the cutting motor, and a cutting device (not shown) mated to the drive shaft. The cutting device can be a cutting blade, cutting wire, or other cutting element capable of mowing the lawn. Additionally, the lawnmower robot includes a control module, which controls the automatic lawnmower's walking and working on the ground. Specifically, the control module coordinates the working module and the walking module, enabling the lawnmower robot to automatically walk and mow the lawn without human supervision.

[0032] The walking module includes walking wheels (wheel set) for driving the lawnmower and a motor for driving the walking wheels; the motor can be a brushless motor with a gearbox and a Hall sensor; after the motor is started, it can drive the walking wheels through the gearbox, and by controlling the speed and direction of the walking wheels, it can realize driving actions such as forward and backward straight movement, turning on the spot and circular movement.

[0033] The driving wheels may include motor-driven drive wheels and auxiliary wheels that support the housing. In some implementations, the number of driving wheels may be two or more. Specifically, for example, along the direction of travel of the lawnmower robot, the housing includes a front and a rear section arranged opposite each other, and correspondingly, the driving wheels may include two front wheels and two rear wheels, each of the two rear wheels connected to an independent motor. In this way, by controlling the speed difference between the two motors, the lawnmower can be easily steered.

[0034] During the operation of a lawnmower robot, its wheels may become covered with obstacles, affecting its movement. For lawnmower robots, these obstacles are primarily the weeds being cut, but may also include other debris picked up along the path, which will not be elaborated upon here. To improve the operation of the lawnmower robot, this embodiment includes brush components at appropriate locations on the wheels to clean them during the robot's movement.

[0035] Please see Figure 1 , Figure 2 and Figure 4 This application discloses a lawnmower robot 100, which includes a body, a housing 30, wheels 40, and a brush assembly 10. The body is the main supporting structure of the lawnmower robot 100, integrating the power system, control unit, and other functional modules. Specifically, the body may be constructed of engineering plastic or an aluminum alloy frame to provide structural rigidity. A housing 30 is provided on the body, covering the top of the body and isolating the internal electronic components from the external environment. For example, the housing 30 may be waterproof to prevent rainwater or grass clippings from entering.

[0036] A set of wheels 40 is located on the underside of the robot body. These wheels are used to move the lawnmower robot 100. The wheels 40 are driven by a motor and generate friction with the ground. Specifically, the wheels 40 may include rubber treads and high-strength hubs. For example, the wheels 40 can be pneumatic or solid. The motor can be a brushless motor with a gearbox and a Hall sensor. After the motor starts, the gearbox drives the wheels to move, and by controlling the speed and direction of the wheels, the robot can perform forward and backward linear movement, turning in place, and circular movement. The wheels 40 may include drive wheels driven by the motor and auxiliary wheels on the auxiliary support housing 30.

[0037] The bristle assembly 10 is a functional module containing flexible cleaning elements that remove deposits from the surface of the drive wheel 40 through physical contact. For example, the bristle assembly 10 may contain bundles of bristles made of nylon or polyester and be mounted adjacent to the drive wheel 40. The bristle assembly 10 may be configured as one or more sets relative to the same drive wheel 40.

[0038] Please see Figure 4 The brush assembly 10 may include first bristles 11, which are cleaning units located outside the drive wheel 40 within the brush assembly 10. The first bristles 11 are configured to remove obstacles such as dirt and grass clippings from the outer surface of the drive wheel 40 during the movement of the lawnmower robot 100. In other words, when the drive wheel 40 rotates, the first bristles 11 can remove obstacles from the outer surface of the drive wheel 40, preventing grass clippings from tangling around the axis of the drive wheel 40, avoiding a decrease in drive efficiency due to obstacle accumulation, and reducing the frequency of manual cleaning. The outer side of the drive wheel 40 refers to the area on the side of the drive wheel 40 away from the central axis of the lawnmower robot 100; that is, the outer side of the drive wheel 40 can refer to the side of the drive wheel 40 facing the external environment.

[0039] In some embodiments, the distance between the first bristles 11 and the outer end face of the drive wheel 40 in the axial direction is less than or equal to 4 mm. This allows for efficient cleaning in both non-contact and contact states without affecting the rotation of the drive wheel 40. For example, this distance can be 0 mm, 1 mm, 2 mm, 3 mm, 4 mm, etc.

[0040] The axial direction of the motion wheel 40 refers to the direction parallel to the wheel axle (rotation axis) of the motion wheel 40. The outer end face of the motion wheel 40 refers to the side surface of the motion wheel 40 away from the central axis of the body of the mowing robot 100. In other words, the outer end face of the motion wheel 40 is the end face of the motion wheel 40 away from the central axis of the body, that is, the outermost end face of the motion wheel.

[0041] In some embodiments, the distance between the first bristles 11 and the outer end face of the drive wheel 40 in the axial direction is less than or equal to 2 mm, which further improves the ability to remove fine grass clippings. Exemplarily, this distance can be 0 mm, 0.5 mm, 1 mm, 1.5 mm, and 2 mm, etc.

[0042] In some embodiments, the distance between the first bristles 11 and the outer end face of the drive wheel 40 in the axial direction is less than or equal to 0, meaning that the first bristles 11 and the outer end face of the drive wheel 40 are interference-fitted. This interference fit avoids gaps between the first bristles 11 and the outer end face of the drive wheel 40, allowing for more thorough cleaning of grass clippings close to the tire and those on the tire tread. Specifically, the first bristles 11 can be made of a material with elastic deformation, ensuring that the first bristles 11 will not damage the drive wheel 40 or themselves when cleaning the stains.

[0043] Please see Figure 5 In some embodiments, the brush assembly 10 further includes a second brush 12 disposed inside the drive wheel 40 and configured to clean the inside of the drive wheel 40 during the movement of the lawnmower robot 100.

[0044] The second bristle 12 can be a cleaning unit located inside the drive wheel 40 within the bristle assembly 10. During the movement of the lawnmower robot 100, the second bristle 12 relies on the rotation of the drive wheel 40 to remove obstacles such as grass clippings and dirt from the inside of the drive wheel 40. Specifically, the second bristle 12 can remove obstacles from the inside of the tire and the bearing area, preventing obstacles from entering the transmission structure of the drive wheel 40, thereby reducing the risk of bearing jamming. Specifically, the second bristle 12 can be arranged in an arc shape to match the curvature of the tire. The inside of the drive wheel 40 refers to the area of ​​the drive wheel 40 closest to the central axis of the robot body; that is, the inside of the drive wheel 40 can refer to the side of the drive wheel 40 furthest from the external environment.

[0045] In some embodiments, the distance between the second bristles 12 and the inner end face of the moving wheel 40 in the axial direction is less than or equal to 4 mm. This allows for efficient cleaning in both non-contact and contact states, preventing excessive bending and damage to the second bristles 12. For example, this distance can be 0 mm, 1 mm, 2 mm, 3 mm, 4 mm, etc. The inner end face of the moving wheel 40 refers to the end face of the moving wheel 40 closest to the central axis of the machine body.

[0046] In some embodiments, the distance between the second bristle 12 and the inner end face of the drive wheel 40 in the axial direction is less than or equal to 2 mm, which further improves the ability to remove fine grass clippings. Exemplarily, this distance can be 0 mm, 0.5 mm, 1 mm, 1.5 mm, and 2 mm, etc.

[0047] In some embodiments, in the axial direction of the moving wheel 40, the distance between the first bristle 11 and the outer end face of the moving wheel 40 is less than or equal to 4 mm, and the distance between the second bristle 12 and the inner end face of the moving wheel 40 is less than or equal to 4 mm. Exemplarily, the distance between the first bristle 11 and the outer end face and the distance between the second bristle 12 and the inner end face can be the same or different. Specifically, for example, the distance between the first bristle 11 and the outer end face is 4 mm, and the distance between the second bristle 12 and the inner end face is 4 mm. Another example is that the distance between the first bristle 11 and the outer end face is 2 mm, and the distance between the second bristle 12 and the inner end face is 3 mm. Yet another example is that the distance between the first bristle 11 and the outer end face is 0 mm, and the distance between the second bristle 12 and the inner end face is 2 mm. In this way, the second bristle 12, together with the first bristle 11, increases the cleaning area of ​​the bristle assembly 10, which can not only remove obstacles from the inner and outer end faces of the moving wheel 40, but also improve the walking efficiency of the moving wheel 40.

[0048] Please see Figure 2 , Figure 4 and Figure 5 In some embodiments, the brush assembly 10 may further include a third brush 13, which may correspond to the tread of the drive wheel 40 and can clean obstacles such as grass clippings on the tread of the drive wheel 40 during the movement of the lawnmower robot 100.

[0049] This application improves tire cleaning by incorporating a brush assembly on a lawnmower robot capable of cleaning the tire tread, tire end caps, and both sides of the tire. This allows for convenient and rapid cleaning of grass clippings adhering to the tire sides during the robot's movement. By setting the distance between the brush bristles and the tire to be less than a preset value, grass clippings very close to the tire and on the tire tread can be cleaned more thoroughly without affecting tire rotation.

[0050] In some embodiments, the drive wheels 40 in any of the above-described lawnmower robots 100 may also include exposed portions not covered by the housing 30. Specifically, the housing 30 may selectively cover the drive wheels 40; for example, typically the housing 30 covers the upper portion of the drive wheels 40, in which case the drive wheels 40 are exposed except for the upper portion. Of course, in some embodiments, the housing 30 may also avoid the drive wheels 40, for example, the drive wheels 40 may be completely exposed outside the housing 30.

[0051] Please see Figure 2 and Figure 3 In some embodiments, the lawnmower robot includes a protective device 20, which includes a first protective plate 21 and side protective plates 22.

[0052] The first protective plate 21 can at least partially cover the exposed portion. The bristle assembly 10 is disposed on the first protective plate 21. In this way, when it is necessary to replace the bristle assembly 10, it can be quickly removed from the first protective plate 21 to replace the bristle assembly 10.

[0053] The side guard plate 22 extends inward from the edge of the first guard plate 21 toward the inner side of the drive wheel 40. In the radial direction of the drive wheel, the side guard plate 22 extends at least to the rear edge of the drive wheel 40. That is, while extending inward from the edge of the first guard plate 21 toward the inner side of the drive wheel 40, the side guard plate 22 also extends at least to the rim of the drive wheel opposite to the direction of travel. In this way, when the lawnmower is moving, the side guard plate 22 can shield the inner side and rear of the drive wheel, thereby preventing grass clippings brushed off by the brush assembly from falling or adhering to the tire sidewalls and the machine body, and preventing grass clippings splashed during mowing from the sides and rear from entering the interior of the drive wheel 40. Here, the radial direction of the drive wheel 40 refers to the radial direction perpendicular to the axis of rotation, that is, the direction extending outward from the axle (axis of rotation) to the outer edge of the tire.

[0054] In some embodiments, the bristle assembly 10 is detachable from the first protective plate 21, or it can be integrally formed with the first protective plate 21.

[0055] When the bristle assembly 10 is detachable from the first protective plate 21, the first protective plate 21 and the housing 30 can be integrally formed; alternatively, the first protective plate 21 can be detachable from the housing 30. When the first protective plate 21 and the housing 30 are integrally formed, the first protective plate 21 is part of the housing 30. When the first protective plate 21 is detachable from the housing 30, it can be detachably mounted on the housing 30 or directly mounted on the machine body. Thus, when the bristle assembly 10 needs to be replaced, it can be directly removed from the first protective plate 21 for quick replacement, or the first protective plate 21 can be disassembled and reassembled first, followed by the replacement of the bristle assembly 10.

[0056] In some embodiments, the detachable nature of the bristle assembly 10 relative to the first protective plate 21 can include various methods, which are not limited in this application. Specifically, in some implementations, the bristle assembly 10 can be fixed to the first protective plate 21 by bolts and nuts, by plugging and unplugging, or by connecting it to the first protective plate 21 via a connector. Figure 2 As shown, in a preferred embodiment of this application, the bristle assembly 10 and the first protective plate 21 are detachably connected by a guide rail and a sliding groove. Specifically, one of the first protective plate 21 and the bristle assembly 10 is provided with a guide rail, and the other is provided with a sliding groove that cooperates with the guide rail. When the bristle assembly 10 needs to be replaced, the guide rail slides relative to the sliding groove, and when the guide rail disengages from the sliding groove, the bristle assembly 10 can be detached from the first protective plate 21. Furthermore, handles or other components can be provided on the side of the bristle assembly 10 to facilitate the detachment of the bristle assembly 10 from the first protective plate 21. In some embodiments, a locking unit can also be selectively provided between the first protective plate 21 and the bristle assembly 10. The locking unit can cooperate with the sliding groove and the guide rail to prevent the bristle assembly 10 from accidentally falling off the first protective plate 21. Of course, the above is only an exemplary description of the connection method between the bristle assembly 10 and the first protective plate 21, and it does not constitute a limitation on other implementation scenarios.

[0057] When the bristle assembly 10 and the first protective plate 21 are integrally formed, the first protective plate 21 is detachable from the housing 30. When the bristle assembly 10 needs to be replaced, the first protective plate 21 can be disassembled and reassembled as a whole, enabling quick replacement of the bristle assembly 10. The integral forming of the bristle assembly 10 and the first protective plate 21 allows the bristle assembly 10 to be incorporated into the first protective plate 21, or it can be installed using a one-time assembly method such as adhesive bonding.

[0058] In some embodiments, when the drive wheel 40 is fully exposed outside the housing 30, the projection of the first protective plate 21 on the plane parallel to the mowing robot overlaps with the projection of the drive wheel 40 on the same plane. Specifically, when the drive wheel is fully exposed outside the housing, the first protective plate can be positioned above the drive wheel, where the upper part can include directly above, diagonally above, etc. In another possible implementation, when the drive wheel 40 is fully exposed outside the housing 30, the projection of the first protective plate 21 on a first plane overlaps with the projection of the drive wheel 40 on a first plane, where the first plane represents a plane perpendicular to the direction of travel of the mowing robot 100, i.e., the first protective plate 21 is selectively positioned on the side of the drive wheel 40; where, in the direction of travel of the robot, this side can be the front side and / or the rear side. Of course, in other configurations, the bristle assembly 10 can be configured as one or more sets relative to the same drive wheel, and correspondingly, its position can be adjusted according to the number of sets, which will not be elaborated here.

[0059] Correspondingly, in embodiments where the entire moving wheel 40 is exposed outside the housing 30, when the housing 30 covers the upper part of the moving wheel 40, the projection of the first protective plate 21 on the first plane overlaps with the projection of the moving wheel 40 on the first plane, where the first plane represents a plane perpendicular to the direction of travel of the lawnmower robot; that is, the first protective plate 21 is selectively disposed on the side of the moving wheel 40. This method also facilitates the quick assembly and disassembly of the brush assembly 10.

[0060] In some embodiments, the side guard plate 22 is integrally formed with the first guard plate 21. It can bend and extend inward from the edge of the first guard plate 21 toward the inside of the drive wheel 40. Furthermore, in the radial direction of the drive wheel, the side guard plate 22 extends at least to the rear edge of the drive wheel 40. Thus, by expanding the area of ​​the side guard plate, it can prevent grass clippings and other debris from falling and accumulating inside the drive wheel during the movement of the lawnmower. Of course, in other embodiments, the side guard plate 22 is detachable from the first guard plate 21, and this application does not limit this to such cases.

[0061] In some embodiments, the first protective plate 21 has a first surface facing the drive wheel 40, which provides a mounting base for the bristle assembly 10. The bristle assembly 10 is disposed on the first surface. In some embodiments, the bristle assembly 10 may include a plate-shaped body, with first bristles 11, second bristles 12, and third bristles 13 disposed on the side of the plate-shaped body near the drive wheel 40, and the side of the plate-shaped body away from the drive wheel 40 fixed to the first protective plate 21. The plate-shaped body may be flat or curved. In some embodiments, the bristle assembly 10 may be mounted at a preset angle on the plate-shaped body. The preset angle can be set according to the actual scenario; for example, the bristle assembly 10 may be fixed at a 60-degree angle on the plate-shaped body, which is not limited in this application. Thus, by tilting the mounting angle of the bristle assembly, grass clippings attached to the tire can be effectively brushed off, while preventing the brushed-off grass clippings from falling and adhering to the tire sidewall, improving the cleaning effect on the tire.

[0062] In some embodiments, the arrangement of the third bristles 13 on the plate-shaped body can be specifically set as needed. For example, they can be arranged in an orderly shape such as an S-shape, rectangle, or circle, or they can be arranged in an irregular shape. The shape of the third bristles 13 can also be specifically set as needed, such as a circle, rhombus, hexagon, or irregular polygon. The length of the third bristles 13 and their distance from the plate-shaped body can also be specifically set as needed, which will not be elaborated here.

[0063] In some embodiments, the width of the bristle assembly 10 is smaller than the width of the first protective plate 21 in the axial direction of the drive wheel 40. This ensures that the bristle assembly 10 is fully supported by the first protective plate 21, preventing it from being suspended and vibrating off. It also maintains the coverage of the wheel surface by the first protective plate 21, preventing grass clippings and other obstacles from entangled in the bristle assembly 10, thereby improving the cleaning ability of the bristle assembly 10. The width of the bristle assembly 10 can be understood as its dimension in the axial direction of the drive wheel 40, and the width of the first protective plate 21 can be understood as its dimension in the axial direction of the drive wheel 40.

[0064] In some embodiments, the protective device 20 may further include a fixing device 23 for securing the protective device 20 to the housing or body. Specifically, one end of the fixing device 23 is fixedly connected to the housing 30 or body, and the other end is connected to the side protective plate 22. The methods of fixing the device to the housing 30 or body include, but are not limited to, threaded connection, riveting, adhesive bonding, snap-fit, etc. The connection to the side protective plate 22 can be integral or detachable; this application does not limit this.

[0065] It should be noted that "a certain body" or "a certain part" can be a portion of the corresponding "component," meaning that "a certain body" or "a certain part" is integrally formed and manufactured with the "other parts of the component"; or it can be an independent component that can be separated from the "other parts of the component," meaning that "a certain body" or "a certain part" can be manufactured independently and then combined with the "other parts of the component" to form a whole. The expression of "a certain body" or "a certain part" in this application is only one embodiment for ease of reading, and is not intended to limit the scope of protection of this application. Any technical solution that includes the above features and has the same function should be understood as an equivalent technical solution of this application.

[0066] It should be noted that the above description describes some embodiments of this application. Other embodiments are within the scope of the appended claims.

[0067] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of this application (including the claims) is limited to these examples; this manner of description is merely for clarity, and those skilled in the art should consider the description as a whole. Within the framework of this application, the technical features of the above embodiments or different embodiments can also be appropriately combined, and there are many other variations of different aspects of the embodiments of this application as described above, which are not provided in the details for the sake of brevity.

[0068] The embodiments described herein are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made without departing from the spirit and principles of the embodiments described herein should be included within the protection scope of this application.

Claims

1. A lawnmower robot, characterized in that, include: body; A housing is disposed on the body of the machine; The motion wheel, located at the bottom of the fuselage, is configured to move the fuselage. A bristle assembly, comprising a first bristle disposed on the outer side of the drive wheel and configured to clean the outer side of the drive wheel during the movement of the lawnmower robot.

2. The lawnmower robot according to claim 1, characterized in that, In the axial direction of the moving wheel, the distance between the first bristle and the outer end face of the moving wheel is less than or equal to 4 mm.

3. The lawnmower robot according to claim 2, characterized in that, In the axial direction of the moving wheel, the distance between the first bristle and the outer end face of the moving wheel is less than or equal to 2 mm.

4. The lawnmower robot according to claim 3, characterized in that, In the axial direction of the moving wheel, the distance between the first bristle and the outer end face of the moving wheel is less than or equal to 0.

5. The lawnmower robot according to claim 1, characterized in that, The brush assembly also includes a second brush, which is disposed inside the drive wheel and configured to clean the inside of the drive wheel during the movement of the lawnmower robot.

6. The lawnmower robot according to claim 5, characterized in that, In the axial direction of the moving wheel, the distance between the second bristle and the inner end face of the moving wheel is less than or equal to 4 mm.

7. The lawnmower robot according to claim 6, characterized in that, In the axial direction of the moving wheel, the distance between the second bristle and the inner end face of the moving wheel is less than or equal to 2 mm.

8. The lawnmower robot according to claim 5, characterized in that, In the axial direction of the moving wheel, the distance between the first bristle and the outer end face of the moving wheel is less than or equal to 4 mm, and the distance between the second bristle and the inner end face of the moving wheel is less than or equal to 4 mm.

9. The lawnmower robot according to any one of claims 1-8, characterized in that, The wheels include exposed portions not covered by the housing; The lawnmower robot includes a protective device comprising a first protective plate that at least partially covers the exposed portion and a side protective plate that extends from the first protective plate toward the inside of the drive wheel; the side protective plate extends at least to the rear edge of the drive wheel in the radial direction of the drive wheel.

10. The lawnmower robot according to claim 9, characterized in that, The first protective plate has a first surface facing the drive wheel, and the bristle assembly is disposed on the first surface; In the axial direction of the moving wheel, the width of the bristle assembly is smaller than the width of the first protective plate.

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