Robot body and mowing robot

Abstract

A robot body (100), comprising: a housing (10) and a plurality of functional modules detachably mounted on the housing (10). The plurality of functional modules comprise a driving wheel module (20) used for driving the housing (10) to move, a driven wheel module (30) used for following the movement of the housing (10), a collision module (40) used for performing collision detection, and a cutting module (50) used for mowing. When the functional modules on the robot body require repair or replacement, the functional modules can be individually removed for replacement or repair, thereby reducing the overall maintenance difficulty of the robot body. Also provided is a mowing robot.

Description

Body and mowing robot Technical Field

[0001] The present application relates to the technical field of lawn mowing equipment, and more specifically, to a body and a lawn mowing robot. Background Art

[0002] A lawn mower robot is an intelligent device used to mow lawns, vegetation, etc. It can replace manual mowing operations, saving a lot of human resources.

[0003] A lawn mower robot is typically equipped with multiple functional modules, such as a walking module and a cutting module, to meet the different functional requirements of the lawn mower robot. In related technologies, each functional module is integrated into the body, making it difficult to disassemble and increase the difficulty of maintaining the lawn mower robot.

[0004] Therefore, the existing technology still needs to be improved and developed.

[0005] Summary of the Invention

[0006] The purpose of the present application is to provide a body and a lawn mowing robot, wherein each functional module of the lawn mowing robot can be individually disassembled and assembled on the body, thereby reducing the difficulty of maintaining the body and the lawn mowing robot.

[0007] To achieve the above-mentioned object, the present application provides, in a first aspect, a body, comprising a housing and a plurality of functional modules detachably mounted on the housing; the plurality of functional modules comprising:

[0008] A driving wheel module for driving the housing to move, a driven wheel module for following the housing to move, a collision module for performing collision detection, and a cutting module for mowing grass.

[0009] A second aspect of the present application provides a lawn mowing robot, comprising the above-mentioned body.

[0010] The beneficial effects of the fuselage and lawn mowing robot provided by the present application are at least that: when the functional modules on the fuselage need to be repaired or replaced, they can be removed from the casing separately for replacement or repair, thereby reducing the difficulty of maintaining the fuselage and even the lawn mowing robot as a whole. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0012] FIG1 is a schematic diagram of the three-dimensional structure of a fuselage provided in an embodiment of the present application;

[0013] FIG2 is a schematic diagram of the three-dimensional structure of the fuselage in FIG1 from another perspective;

[0014] FIG3 is an exploded view of the fuselage in FIG1 ;

[0015] FIG4 is an exploded view of a housing provided in an embodiment of the present application;

[0016] FIG5 is a schematic diagram of the three-dimensional structure of the chassis in FIG4 ;

[0017] FIG6 is a schematic diagram of the three-dimensional structure of the chassis in FIG4 from another perspective;

[0018] FIG7 is a schematic diagram of the three-dimensional structure of the cover body in FIG4 ;

[0019] FIG8 is a schematic diagram of the three-dimensional structure of the cover body in FIG4 from another perspective;

[0020] FIG9 is a schematic diagram of the three-dimensional structure of a drive wheel module provided in an embodiment of the present application;

[0021] FIG10 is a schematic diagram of the three-dimensional structure of the travel motor provided in an embodiment of the present application;

[0022] FIG11 is a schematic diagram of the three-dimensional structure of the first wheel body provided in an embodiment of the present application;

[0023] FIG12 is a schematic diagram of a three-dimensional structure in which a first through hole is provided on a chassis according to an embodiment of the present application;

[0024] FIG13 is an enlarged view of area A in FIG12 ;

[0025] FIG14 is a schematic diagram of the three-dimensional structure of the drive wheel module installed on the chassis;

[0026] FIG15 is a schematic diagram of the three-dimensional structure of a driven wheel module provided in an embodiment of the present application;

[0027] FIG16 is a schematic diagram of the three-dimensional structure of the driven wheel module in FIG15 from another perspective;

[0028] FIG17 is a cross-sectional view of the driven wheel module in FIG15 at the first end of the mounting arm;

[0029] FIG18 is a schematic diagram of the three-dimensional structure of a collision module provided in an embodiment of the present application;

[0030] FIG19 is a schematic diagram of the three-dimensional structure of the collision module in FIG18 from another perspective;

[0031] FIG20 is an exploded view of a detection unit provided in an embodiment of the present application;

[0032] FIG21 is a schematic diagram of the three-dimensional structure of a detection unit provided in an embodiment of the present application;

[0033] FIG22 is a schematic diagram of the three-dimensional structure of the floating shell provided in an embodiment of the present application;

[0034] FIG23 is a schematic diagram of the three-dimensional structure of the second sub-shell provided in an embodiment of the present application;

[0035] FIG24 is a schematic diagram of the three-dimensional structure of the support portion provided by an embodiment of the present application when positioned on the first sub-shell;

[0036] FIG25 is a schematic diagram of the three-dimensional structure of the collision module provided by an embodiment of the present application when installed on the chassis;

[0037] FIG26 is a schematic diagram of the three-dimensional structure of a cutting module provided in an embodiment of the present application;

[0038] FIG27 is a schematic diagram of the three-dimensional structure of the cutting module in FIG26 from another perspective;

[0039] FIG28 is a schematic diagram of the three-dimensional structure of the cutting module in FIG26 when it is installed on the chassis;

[0040] FIG29 is a schematic diagram of the three-dimensional structure of the cutting motor provided by an embodiment of the present application when it is installed on the first mounting base;

[0041] FIG30 is a schematic diagram of the three-dimensional structure when the cavity cover is installed on the first mounting seat in FIG29;

[0042] FIG31 is a schematic diagram of the three-dimensional structure of the first mounting base provided in an embodiment of the present application;

[0043] FIG32 is a schematic diagram of the three-dimensional structure of a radiator provided in an embodiment of the present application;

[0044] FIG33 is a schematic diagram of the three-dimensional structure of the radiator in FIG32 from another perspective;

[0045] FIG34 is a schematic diagram of the three-dimensional structure of the height adjustment mechanism provided in an embodiment of the present application;

[0046] FIG35 is a schematic diagram of the three-dimensional structure of the height adjustment mechanism in FIG34 from another perspective;

[0047] FIG36 is a schematic diagram of the three-dimensional structure of the height adjustment mechanism in FIG34 when the second mounting seat is not provided;

[0048] FIG37 is a schematic diagram of the three-dimensional structure of the second mounting base in FIG34;

[0049] FIG38 is a schematic diagram of the three-dimensional structure of a charging head provided in an embodiment of the present application;

[0050] FIG39 is a schematic diagram of the three-dimensional structure of the charging head in FIG38 from another perspective;

[0051] FIG40 is a schematic diagram of a three-dimensional structure in which a sixth through hole is provided on a cover body according to an embodiment of the present application;

[0052] FIG41 is a schematic diagram of the three-dimensional structure of the lawn mowing robot provided in an embodiment of the present application;

[0053] FIG42 is a schematic diagram of the three-dimensional structure of the lawn mowing robot in FIG41 from another perspective.

[0054] In the figures, reference numerals are as follows: 1000, lawn mower robot; 1001, first body; 1002, second body; 100, body; 10, housing; 11, chassis; 111, first mounting compartment; 112, first through-hole; 113, first connecting portion; 114, first mounting hole; 115, mounting slot; 116, first slot body; 117, second slot body; 12, cover; 121, second through-hole; 122, sixth through-hole; 123, connecting portion; 124, fourth mounting hole; 13, second mounting compartment; 20, driving wheel module; 21, travel motor; 211, first connecting ear; 212, connecting block; 213, first guide portion; 22, first wheel body; 221, second guide portion; 30. Driven wheel module; 31. Mounting arm; 311. First end; 312. Second end; 313. Threaded hole; 314. Third subshell; 315. Fourth subshell; 316. First cavity; 317. Magnetic induction sensor; 32. Second wheel body; 321. Axle seat; 322. Axle; 323. Universal wheel; 324. Axle hole; 325. Magnet; 40. Collision module; 41. Connecting arm; 42. Detection unit; 421. Support unit; 422. First subsection; 423. Second subsection; 424. Second cavity; 43. Floating housing; 431. First subshell; 432. Second subshell; 433. Accommodation cavity; 434. Third through hole; 435. Wire hole; 44. Resetting elastic member; 441. Detection member; 442. Trigger member; 50. Cutting module; 51. Connecting seat; 52. First mounting seat; 521. First mounting cavity; 522. Fourth through hole; 523. Cavity cover; 524. Third mounting hole; 525. Limiting slot; 53. Cutting motor; 54. Cutting mechanism; 541. Cutting disc; 542. Blade; 543. Guard disc; 55. Radiator; 551. Plate; 552. Contact portion; 553. Heat sink; 554. Heat sink; 56. Height adjustment mechanism; 561. Second mounting seat; 5611. Fifth through hole; 5612. First mounting space; 5613. Second mounting space; 562. Height adjustment motor; 563. Transmission assembly; 5631. Screw; 5632. Gear; 564. Swing arm; 565. Connecting rod; 566. First detection unit; 567. First trigger unit; 568. Second detection unit; 569. Second trigger unit; 60. Charging head; 61. Fifth mounting hole; 62. Charging base; 63. Charging electrode; 64. Insulating barrier strip. DETAILED DESCRIPTION

[0055] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0056] It should be noted that when a component is referred to as being "fixed on" or "disposed on" another component, it may be located directly or indirectly on the other component. When a component is referred to as being "connected to" another component, it may be directly or indirectly connected to the other component. The directions or positions indicated by the terms "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. are based on the directions or positions shown in the accompanying drawings and are only for the convenience of description and cannot be understood as limitations on this technical solution. The terms "first" and "second" are only used for the purpose of convenience of description and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. "Multiple" means two or more, unless otherwise clearly and specifically defined.

[0057] In a first aspect of an embodiment of the present application, a fuselage is provided for use in a lawn mowing robot. The fuselage can meet multiple functional requirements and is easy to maintain. The fuselage of an embodiment of the present application is described below in conjunction with the accompanying drawings.

[0058] Please refer to Figures 1-3, which show the structure of the body 100 of the present application. The body 100 includes a housing 10 and multiple functional modules detachably mounted on the housing 10. The multiple functional modules include a driving wheel module 20, a driven wheel module 30, a collision module 40, and a cutting module 50. Each functional module is used to implement a different function of the lawn mower robot 1000.

[0059] Specifically, the driving wheel module 20 is used to drive the housing 10 to move, and the driven wheel module 30 is used to follow the housing 10 to move. The driving wheel module 20 cooperates with the driven wheel module 30 to realize the overall movement of the housing 10 and each functional module. The collision module 40 is used to perform collision detection, that is, the collision module 40 can detect whether the housing 10 collides with an obstacle during movement, thereby improving the safety of the movement of the housing 10. The cutting module 50 is used to mow grass, realizing the mowing function of the mowing robot 1000. Therefore, after the various functional modules are assembled on the housing 10, the functions of movement, mowing grass and collision detection can be realized, meeting the basic functions required by the body 100 and the mowing robot 1000 when moving and mowing grass.

[0060] Understandably, each functional module on the body 100 is a consumable item and inevitably requires repair or replacement after a period of use. In the embodiments of the present application, when each functional module on the body 100 requires repair or replacement, it can be individually removed from the housing 10 for replacement or repair, thereby reducing the maintenance difficulty of the body 100, and even the entire lawn mower robot 1000. Furthermore, when repairing or replacing a faulty functional module, only the corresponding functional module needs to be disassembled and replaced, without having to replace other non-faulty components, thereby reducing the complexity of disassembly and maintenance costs.

[0061] Optionally, each functional module can be screwed or clipped onto the housing 10. When screwing, the functional module and the housing 10 are provided with connecting holes, which are fastened by bolts or screws to achieve a detachable connection between the functional module and the housing 10. When clipping, the functional module is provided with either a clip or a slot, and the housing 10 is provided with the other clip or slot. The clip and slot cooperate to achieve a detachable connection between the functional module and the housing 10.

[0062] When repairing and replacing the various functional modules on the fuselage 100, most of the time of the entire repair and replacement process is occupied by the disassembly and assembly steps. Therefore, further facilitating the disassembly and assembly steps can further reduce the maintenance difficulty, improve maintenance efficiency, and save maintenance time.

[0063] In order to make it easier to install and remove each functional module from the housing 10 , in some embodiments, multiple functional modules are not only detachably connected to the housing 10 , but are also detachably installed on the housing 10 .

[0064] Here, "externally removable" means that the corresponding components can be removed from the outside of the housing 10 without opening the housing 10. In other words, each functional module is not only removable, but can also be removed and installed from the outside of the housing 10 without opening the housing 10, thus eliminating the need to remove or install the housing 10.

[0065] Understandably, the steps of disassembling and assembling the housing 10 include opening and closing the housing 10, as well as aligning the housing 10 with the various functional modules to prevent the housing 10 from becoming stuck. In some robots with complex structures, disassembling and assembling the housing 10 may require first disassembling other components before reaching the functional modules that require maintenance or replacement. Therefore, in practice, the steps of disassembling and assembling the housing 10 include the aforementioned cumbersome sub-steps, which is one of the reasons why the disassembly and assembly steps take up the majority of the time during the maintenance and replacement of the various functional modules.

[0066] By detachably mounting multiple functional modules on the housing 10, the present invention can eliminate the tedious sub-steps of disassembling and assembling the housing 10. Each functional module can be more conveniently disassembled and assembled on the housing 10, thereby further reducing maintenance difficulty, improving maintenance efficiency, and saving maintenance time.

[0067] In some embodiments, referring to FIG. 4 to FIG. 8 , the housing 10 includes a chassis 11 , and the driving wheel module 20 , the driven wheel module 30 , the collision module 40 , and the cutting module 50 are mounted on the chassis 11 .

[0068] As the name suggests, the chassis 11 is located at the bottom of the housing 10. When the housing 10 moves, the chassis 11 is close to the ground. The driving wheel module 20 and the driven wheel module 30 are used to support the chassis 11 and drive the housing 10 on the ground. Mounting the driving wheel module 20 and the driven wheel module 30 on the chassis 11 brings them closer to the ground, reducing the size of the body 100. During collision detection, the collision module 40 primarily detects obstacles located on the ground. Mounting the collision module 40 on the chassis 11 places it closer to the ground, making it easier to detect obstacles on the ground. The cutting module 50 is used to cut grass on the ground. Mounting the cutting module 50 on the chassis 11 places it closer to the ground, making it easier to cut grass on the ground.

[0069] Optionally, the driving wheel module 20 can be detachably mounted on the chassis 11 .

[0070] Optionally, referring to Figures 4 to 14, a first mounting compartment 111 is provided on the chassis 11, the driving wheel module 20 includes a walking motor 21 and a first wheel body 22 driven to rotate by the walking motor 21, and the chassis 11 is also provided with a first through hole 112 connecting the first mounting compartment 111 and the outside world. The walking motor 21 extends into the first mounting compartment 111 through the first through hole 112, and the walking motor 21 is detachably connected to the outer side of the chassis 11, and the first wheel body 22 is located outside the first mounting compartment 111.

[0071] When installing the driving wheel module 20, the walking motor 21 is extended from the outside of the first mounting compartment 111 to the inside of the first mounting compartment 111 through the first through hole 112. After the walking motor 21 is extended into the first mounting compartment 111, the walking motor 21 is connected and fixed to the outside of the chassis 11, thereby accommodating at least a portion of the walking motor 21 in the first mounting compartment 111. After the driving wheel module 20 is installed on the chassis 11, the first wheel body 22 is located outside the first mounting compartment 111 and is suitable for rolling on the ground.

[0072] When disassembling the driving wheel module 20 , the connection between the travel motor 21 and the chassis 11 is released, and the travel motor 21 is then pulled out of the first installation compartment 111 to complete the disassembly.

[0073] The travel motor 21 provided in the embodiment of the present application is operated corresponding to the first mounting compartment 111 on the chassis 11 during the installation or disassembly process. The first mounting compartment 111 is directly connected to the outside world through the first through hole 112 and does not involve other structures of the casing 10. Therefore, there is no need to disassemble other structures of the casing 10 during the disassembly process. The travel motor 21 can be directly disassembled and assembled into the first mounting compartment 111 of the chassis 11 from the outside, realizing modular external disassembly, simplifying the disassembly and assembly steps of the drive wheel module 20, making the disassembly and assembly of the drive wheel module 20 easier, and improving the disassembly and assembly efficiency of the drive wheel module 20.

[0074] In some embodiments, after the travel motor 21 is inserted into the first mounting compartment 111, the travel motor 21 is detachably connected and fixed to the outside of the chassis 11 via a first connecting lug 211. Referring to Figure 13, the first connecting lug 211 is provided on the outer periphery of the travel motor 21, and a first connecting portion 113 is provided on the outer side of the chassis 11, surrounding the first through-hole 112. The first connecting portion 113 is configured to abut against the first connecting lug 211 after the travel motor 21 is inserted into the first mounting compartment 111 through the first through-hole 112. The first connecting portion 113 and the first connecting lug 211 are screwed together and fixed by first fasteners.

[0075] During installation, the walking motor 21 is extended into the first mounting compartment 111 through the first through hole 112. The first connecting ear 211 moves with the walking motor 21 and cannot pass through the first through hole 112. The first connecting ear 211 stops at the first connecting portion 113 around the first through hole 112. At this time, the walking motor 21 no longer continues to extend into the first mounting compartment 111. Then the first connecting ear 211 is screwed to the first connecting portion 113 through the first fastener, and the walking motor 21 can be positioned and fixed on the chassis 11.

[0076] When disassembling the travel motor 21 , the first fastener is removed, the first connecting ear 211 and the first connecting portion 113 are disconnected, and the travel motor 21 is then pulled out of the first mounting compartment 111 to complete the disassembly of the drive wheel module 20 .

[0077] When installing the drive wheel module 20, the first connecting lug 211 abuts against the outside of the chassis 11, allowing it to not only secure the module but also position it. During installation, the operator no longer needs to consider the length of the travel motor 21 extending into the first mounting compartment 111. When the first connecting lug 211 abuts against the first connecting portion 113, the travel motor 21 has reached its pre-set position, reducing installation complexity while ensuring precise positioning.

[0078] In some embodiments, the first wheel body 22 is detachably connected to the travel motor 21. The travel motor 21 is provided with a motor shaft. After the travel motor 21 is inserted into the first mounting compartment 111, the motor shaft is located outside the first mounting compartment 111 and is detachably connected to the hub of the first wheel body 22.

[0079] When installing the drive wheel module 20, there are two installation methods. One installation method is to connect the first wheel body 22 to the motor shaft before installing the travel motor 21. When installing the travel motor 21, the first wheel body 22 is installed on the chassis 11 together with the travel motor 21; the other installation method is to install the travel motor 21 first, and then install the first wheel body 22 to the motor shaft after the travel motor 21 is installed.

[0080] Similarly, when disassembling the travel motor 21, there are two disassembly methods. One disassembly method is to disassemble the travel motor 21 and the first wheel body 22 together, that is, directly disassemble the drive wheel module 20 as a whole; the other disassembly method is to first disassemble the first wheel body 22 from the motor shaft, and then disassemble the travel motor 21 from the chassis 11.

[0081] Regardless of the installation or disassembly method used for assembly, it is not necessary to disassemble other structures of the housing 10. In addition, the first wheel body 22 provided in the embodiment of the present application is detachably connected to the motor shaft. Not only can the drive wheel module 20 be disassembled and assembled as a whole from the outside of the chassis 11, but the travel motor 21 and the first wheel body 22 can also be installed on the chassis 11 step by step from the outside of the chassis 11. This provides greater assembly flexibility. When only one of the travel motor 21 or the first wheel body 22 needs maintenance, the travel motor 21 or the first wheel body 22 can be removed separately for replacement and maintenance, thereby improving repair flexibility.

[0082] Optionally, the first connecting ear 211 is provided on the side of the walking motor 21 close to the motor shaft. In a specific implementation, the walking motor 21 includes a chassis and a motor assembly (not shown) provided in the chassis. The two end faces of the walking motor 21 in the extension direction are the outer end face and the inner end face respectively. The motor shaft is connected to the motor assembly and extends from the outer end face to the outside of the chassis. The motor assembly is used to drive the motor shaft to rotate. The first connecting ear 211 is also connected to the outer end face of the chassis. The first through hole 112 is adapted to the size of the outer end face. In the radial direction of the outer end face, the first connecting ear 211 protrudes from the outer end face. That is to say, after the chassis is inserted into the first through hole 112, the first connecting ear 211 will stop on the chassis 11 near the first through hole 112. Specifically, the first connecting ear 211 will stop on the first connecting portion 113 of the chassis 11.

[0083] During the specific installation, the inner end face of the travel motor 21 is inserted into the first through hole 112 from the outside of the chassis 11, and the travel motor 21 is moved along the length direction of the chassis, and the travel motor 21 slowly extends into the first installation compartment 111. When the outer end face of the chassis moves to the first through hole 112, since the first connecting ear 211 protrudes from the outer end face in the radial direction of the outer end face, the first connecting ear 211 will stop on the first connecting portion 113 near the first through hole 112, preventing the travel motor 21 from continuing to extend into the first installation compartment 111. At this time, the chassis of the travel motor 21 just extends completely into the first installation compartment 111, and the first connecting ear 211 and the motor shaft of the travel motor 21 are located outside the chassis 11. The operator can directly fix the first connecting ear 211 to the first connecting portion 113 of the chassis 11 from the outside of the chassis 11.

[0084] Of course, in addition to being fixedly connected to the outer end surface of the chassis, the first connecting lug 211 can also be fixedly connected to the side wall of the chassis on the side close to the motor shaft of the travel motor 21, that is, the side wall of the chassis close to the outer end surface. In the radial direction of the outer end surface, the first connecting lug 211 can also protrude from the outer end surface. In other words, after the chassis is inserted into the first through hole 112, the first connecting lug 211 can also abut against the first connecting portion 113 near the first through hole 112.

[0085] For ease of description, in the following embodiments, the first connecting ear 211 is described as being arranged on the side of the travel motor 21 close to the motor shaft, that is, the first connecting ear 211 is fixedly connected to the outer end surface of the chassis of the travel motor 21.

[0086] In some embodiments, the first connecting ear 211 is configured as a ring-shaped part, and an axial hole 324 is provided in the middle of the first connecting ear 211. The aperture of the axial hole 324 is larger than the diameter of the motor shaft. The first connecting ear 211 is sleeved on the motor shaft through the axial hole 324 and is tightly attached to the outer end face of the chassis of the walking motor 21. The first connecting ear 211 is then fixedly connected to the walking motor 21.

[0087] Of course, in addition to the annular structure, the first connecting ear 211 can also be set as a strip-shaped piece. The number of first connecting ears 211 is set to multiple, and multiple first connecting ears 211 are connected to the outer end surface of the chassis of the travel motor 21 at intervals around the motor shaft.

[0088] Optionally, the first connecting ear 211 can be detachably connected to the travel motor 21 by means of threaded connection or snap connection to facilitate replacement of the first connecting ear 211; or when pre-processing the drive wheel module 20, the first connecting ear 211 and the travel motor 21 can be constructed into an integrated structure by welding or injection molding, and the drive wheel module 20 can be directly modularized and produced by the processing plant.

[0089] In some embodiments, both the first connecting lug 211 and the first connecting portion 113 are provided with screw holes. When the first connecting lug 211 abuts against the first connecting portion 113, the screw holes of the two lugs align and are screwed together using a first fastener. The fastener includes, but is not limited to, at least one of a screw and a bolt. For example, when the fastener is a screw, the first connecting lug 211 is threadedly connected to the chassis 11 via the screw. Removing the screw allows the travel motor 21 to be removed from the chassis 11.

[0090] In some embodiments, referring to Figures 13 and 14, a first slot 116 is provided on the chassis 11, the first through hole 112 and the first connecting portion 113 are provided in the first slot 116, and the first connecting ear 211 is accommodated in the first slot 116 when connected to the chassis 11.

[0091] A first slot 116 is provided on the chassis 11 to provide a housing space for the first connecting ear 211 . When the driving wheel module 20 and the chassis 11 are assembled, the first slot 116 will cover the first connecting ear 211 , and the first connecting ear 211 will not be exposed, making the assembly more beautiful and neat.

[0092] Optionally, the first groove body 116 is adapted to fit the first connecting ear 211. That is, when the first connecting ear 211 is accommodated in the first groove body 116, the four sides of the first connecting ear 211 abut against the groove walls of the first groove body 116 or are loosely fitted with the first groove body 116. In this way, the first groove body 116 can serve as an installation guide, facilitating the alignment and installation of the first connecting ear 211 on the chassis 11. Furthermore, after the first connecting ear 211 is connected to the chassis 11, the four sides of the first connecting ear 211 are also restrained by the groove walls of the first groove body 116, reducing the risk of the first connecting ear 211 shifting along the chassis 11 and improving the connection stability of the first connecting ear 211.

[0093] In some embodiments, referring to FIG. 9 to FIG. 11 , a connecting block 212 is fixedly connected to the motor shaft of the travel motor 21 , and the connecting block 212 is mated with the hub guide of the first wheel body 22 and fixed by bolts.

[0094] Optionally, the connecting block 212 is fixed to the motor shaft of the travel motor 21 and rotates with the motor shaft. A first guide portion 213 is provided on the side of the connecting block 212 facing away from the travel motor 21. A second guide portion 221 is provided on the hub of the first wheel body 22, and the second guide portion 221 cooperates with the first guide portion 213 for guidance. The connecting block 212 is detachably fixedly connected to the hub of the first wheel body 22, so that the first wheel body 22 and the motor shaft rotate synchronously.

[0095] When assembling the travel motor 21 and the first wheel body 22, the side of the connecting block 212 having the first guide portion 213 is moved toward the hub of the first wheel body 22. During the movement, the first guide portion 213 is aligned with the second guide portion 221 and cooperates with the second guide portion 221. Through the guiding cooperation of the first guide portion 213 and the second guide portion 221, the connecting block 212 can be quickly and accurately connected to the hub of the first wheel body 22. Then, the connecting block 212 is fixed to the hub of the first wheel body 22 to complete the assembly of the first wheel body 22 and the travel motor 21.

[0096] When the driving wheel module 20 is working, the walking motor 21 is started, and the motor shaft of the walking motor 21 rotates. During the rotation, the motor shaft drives the connecting block 212 to rotate, and the first wheel body 22 connected to the connecting block 212 is driven by the connecting block 212 to rotate, thereby realizing the overall operation of the driving wheel module 20.

[0097] The driving wheel module 20 provided in the embodiment of the present application is composed of a detachably connected walking motor 21 and a first wheel body 22. When the first wheel body 22 needs to be replaced and repaired due to factors such as wear, the first wheel body 22 can be removed separately for replacement and repair, and there is no need to replace the driving wheel structure as a whole, which greatly saves maintenance costs. In the process of assembling the walking motor 21 and the first wheel body 22, the first wheel body 22 solves the problem of difficult alignment during the assembly process through the guiding cooperation of the first guide part 213 and the second guide part 221. The first wheel body 22 can be quickly and accurately assembled to the walking motor 21. The assembly process is fast, efficient, and accurate, thereby reducing the difficulty of disassembly and assembly.

[0098] It is understood that the connecting block 212 is mechanically connected to the hub of the first wheel body 22, including but not limited to threaded connections and snap connections. For example, the connecting block 212 is threadedly connected to the hub of the first wheel body 22 via screws, and the first wheel body 22 can be removed by removing the screws. Of course, the connecting block 212 can also be connected to the hub of the first wheel body 22 via snap connections.

[0099] After the connecting block 212 and the hub of the first wheel body 22 are connected and fixed, the guiding cooperation of the first guide portion 213 and the second guide portion 221 can also limit the connecting block 212 and the hub of the first wheel body 22, so that in addition to the fixed connection reinforcement method, the connecting block 212 and the hub of the first wheel body 22 are also limited and reinforced by the first guide portion 213 and the second guide portion 221. During the operation of the driving wheel module 20, the risk of dislocation and separation of the walking motor 21 and the first wheel body 22 is reduced, and the stability of the connection and the torque transmission efficiency are improved.

[0100] In some embodiments, the first guide portion 213 is one of a docking groove and a docking protrusion, and the second guide portion 221 is the other of a docking groove and a docking protrusion. The diameter of the docking groove gradually increases from the bottom of the groove to the groove mouth, and the docking protrusion is adapted to the docking groove.

[0101] The first guide portion 213 and the second guide portion 221 are connected in a plug-in manner. When the docking protrusion is plugged into the docking groove, the mating protrusion and the docking groove that adapt to each other will guide each other, thereby achieving guiding cooperation between the first guide portion 213 and the second guide portion 221.

[0102] Optionally, referring to FIG10 , the first guide portion 213 is configured as a docking groove formed on the surface of the connecting block 212. Referring to FIG11 , the second guide portion 221 is configured as a docking protrusion formed on the hub of the first wheel body 22. When the connecting block 212 is fixedly connected to the hub of the first wheel body 22, the docking protrusion on the hub of the first wheel body 22 is inserted into the docking groove on the connecting block 212 to achieve a guided fit. Of course, the first guide portion 213 can also be configured as a docking protrusion formed on the surface of the connecting block 212, and the second guide portion 221 can be configured as a docking groove formed on the hub of the first wheel body 22. When the connecting block 212 is fixedly connected to the hub of the first wheel body 22, the docking protrusion on the connecting block 212 is inserted into the docking groove on the hub of the first wheel body 22 to achieve a guided fit.

[0103] For the convenience of description, in the following embodiments, unless otherwise specified, the first guide portion 213 is a docking groove and the second guide portion 221 is a docking protrusion.

[0104] Referring to Figures 9 and 10 , the docking groove of the first guide portion 213 has a gradually increasing diameter from the bottom to the top, and the groove walls are configured as bevels. The docking protrusion is adapted to the docking groove; that is, the cross-sectional area of ​​the docking protrusion gradually decreases from the bottom to the top. The docking protrusion is a columnar shape with a larger cross-sectional area at the bottom than at the top, and the sidewalls of the docking protrusion are configured as bevels.

[0105] When the docking protrusion is first inserted into the docking slot, the top cross-section of the docking protrusion is smaller than the notch of the docking slot. The top of the docking protrusion has a certain amount of free space at the notch of the docking slot. This free space provides fault tolerance for the docking protrusion, making it easier for the docking protrusion to be inserted into the docking slot. As the docking protrusion gradually inserts into the bottom of the docking slot, the free space around the top of the docking protrusion becomes smaller and smaller until the top of the docking protrusion abuts against the bottom of the docking slot. Because the walls of the docking slot are inclined, they can guide the docking protrusion, making it less likely for the docking protrusion to get stuck during insertion, allowing the docking protrusion to smoothly insert into the docking slot along the walls of the docking slot. When the docking protrusion is fully inserted into the docking slot, because the docking protrusion is compatible with the docking slot, the top of the docking protrusion abuts against the bottom of the docking slot, and the side walls of the docking protrusion abut against the walls of the docking slot, eliminating the gap between the docking protrusion and the docking slot, making the assembly more compact.

[0106] It is understandable that in order for the docking protrusion to be smoothly inserted into the docking groove, a certain gap must be left between the docking groove and the docking protrusion before plugging in. This part of the gap is the movable margin; however, if there is still a gap after the plugging is completed, then the assembly between the docking protrusion and the docking groove is not compact enough. When the driving wheel structure is running, the docking protrusion will shake in the docking groove, affecting the stability of the rotation of the first wheel body 22.

[0107] Although the docking groove of the present application provides a movable margin for the docking protrusion during plugging, the purpose of this movable margin is to facilitate the insertion of the docking protrusion into the docking groove; during the plugging process, the side wall of the docking protrusion will gradually abut against the groove wall of the docking groove, and finally be pressed against the groove wall of the docking groove to reduce the gap between the docking protrusion and the docking groove, making the connection compact, thereby achieving the effect of improving the stability of the rotation of the first wheel body 22.

[0108] In some embodiments, the height of the docking protrusion is no less than the depth of the docking groove. For example, when the height of the docking protrusion is equal to the depth of the docking groove, after the docking protrusion is assembled with the docking groove, the docking protrusion is fully inserted into the docking groove, and the connecting block 212 is attached to the surface of the hub of the first wheel body 22, resulting in a compact installation. For example, when the height of the docking protrusion is greater than the depth of the docking groove, a portion of the docking protrusion is fully inserted into the docking groove, while another portion is located outside the docking groove. This allows the docking protrusion to not only fit tightly with the docking groove, but also a portion of the docking protrusion to be compressed by an external force. After the docking protrusion is compressed, the gap between the docking groove and the docking protrusion is further eliminated, further improving the compactness of the assembly and the stability of the first wheel body 22. Furthermore, although the portion of the docking protrusion located outside the docking groove creates a certain gap between the connecting block 212 and the hub of the first wheel body 22, it does not affect the connection and fixation between the connecting block 212 and the hub of the first wheel body 22.

[0109] When the first guide portion 213 is configured as a docking groove formed on the surface of the connecting block 212, and the second guide portion 221 is configured as a docking protrusion formed on the hub of the first wheel body 22, according to the above-mentioned structural principle, the first guide portion 213 and the second guide portion 221 can also achieve the effect of convenient assembly and elimination of gaps during the process of mating and plugging, which will not be elaborated here.

[0110] In some embodiments, the driven wheel module 30 is detachably mounted on the housing 10 .

[0111] Optionally, referring to Figures 5, 7, 8, and 15-17, the casing 10 also includes a cover body 12 arranged on the chassis 11, and the chassis 11 and the cover body 12 enclose a second mounting compartment 13, and the driven wheel module 30 includes a mounting arm 31 and a second wheel body 32, and the two ends of the mounting arm 31 in the length direction are respectively a first end 311 and a second end 312, and a second through hole 121 connecting the second mounting compartment 13 and the outside world is opened on the cover body 12, and the first end 311 extends into the second mounting compartment 13 through the second through hole 121, and the first end 311 is detachably connected to the chassis 11, and the second end 312 is located outside the second mounting compartment 13 and connected to the second wheel body 32.

[0112] When the driven wheel module 30 is installed on the casing 10, the first end 311 of the mounting arm 31 is extended into the second mounting compartment 13 and connected to the chassis 11. The driven wheel module 30 is operated corresponding to the second mounting compartment 13 on the chassis 11 during the installation or disassembly process. The second mounting compartment 13 is directly connected to the outside world through the second through hole 121 and does not involve other structures of the casing 10. Therefore, there is no need to disassemble other structures of the casing 10 during the disassembly process. The mounting arm 31 of the driven wheel module 30 can be directly disassembled and assembled into the second mounting compartment 13 of the chassis 11 from the outside, realizing modular external disassembly, simplifying the disassembly and assembly steps of the driven wheel module 30, making the disassembly and assembly of the driven wheel module 30 easier, and improving the disassembly and assembly efficiency of the driven wheel module 30. In addition, the second end 312 of the mounting arm 31 can extend to the side of the casing 10. The mounting arm 31 itself has a certain length. The mounting arm 31 is used to make the driven wheel module 30 partially extend to the side of the casing 10. The distance between the second wheel bodies 32 is no longer limited by the width of the casing 10. The distance between the second wheel bodies 32 is increased, and the stability of the body 100 during walking is improved, making it less likely to roll over when climbing or descending a slope.

[0113] In some embodiments, the mounting arm 31 is detachably connected to the chassis 11 by screwing. Specifically, a threaded hole 313 is provided on the first end 311, and a first mounting hole 114 corresponding to the threaded hole 313 is provided on the chassis 11. The chassis 11 and the mounting arm 31 are screwed and fixed by a second fastener passing through the first mounting hole 114 and the threaded hole 313.

[0114] When installing the driven wheel module 30, the first end 311 of the mounting arm 31 is inserted into the second mounting compartment 13 through the second through-hole 121. From the outside of the body 100, a second fastener is inserted into the first mounting hole 114 and the threaded hole 313 on the first end 311 to secure the first end 311 of the mounting arm 31 to the chassis 11. To remove the driven wheel module 30, the second fastener is removed from the outside of the body 100, allowing the mounting arm 31 to be withdrawn from the second mounting compartment 13, completing the removal of the driven wheel module 30. During the removal process, the driven wheel module 30 can be removed from the outside of the body 100 without opening the chassis 11 and cover 12 of the body 100, further enhancing assembly and removal convenience. Furthermore, the first end 311 of the mounting arm 31, intended for secure connection, is concealed within the second mounting compartment 13 and is not exposed to the outside of the body 100, enhancing the cleanliness and aesthetics of the body 100.

[0115] In some embodiments, the second wheel body 32 includes an axle seat 321, an axle 322 and a universal wheel 323. The axle seat 321 is detachably connected to the mounting arm 31. An axle hole 324 is provided through the axle seat 321. One end of the axle 322 can be rotatably installed in the axle hole 324, and the universal wheel 323 can be rotatably installed at the other end of the axle 322.

[0116] When assembling the driven wheel module 30 , the shaft seat 321 is connected to the second end 312 of the mounting arm 31 , and then the universal wheel 323 is rotatably connected to the shaft seat 321 via the wheel axle 322 .

[0117] The shaft seat 321 is detachably connected to the second end 312 of the mounting arm 31. When only the second wheel body 32 of the driven wheel module 30 needs maintenance, the second wheel body 32 can be removed from the mounting arm 31 for maintenance or replacement. There is no need to replace the second wheel body 32 as a whole, which saves time, effort and cost.

[0118] It should be noted that the extension direction of the wheel axle 322 intersects the extension direction of the mounting arm 31. The extension direction of the wheel axle 322 refers to the direction from one end of the wheel axle 322 to the other end, while the extension direction of the mounting arm 31 refers to the direction from the first end 311 to the second end 312 of the mounting arm 31. In other words, the universal wheel 323 mounted on the wheel axle 322 is located on one side of the plane in which the mounting arm 31 extends. In this way, after the driven wheel module 30 is installed on the housing 10, the universal wheel 323 contacts the ground, and a certain space is provided between the mounting arm 31 and the universal wheel 323. This space can elevate the housing 10, thereby improving the passability of the lawn mower robot 1000 during walking.

[0119] Exemplarily, referring to Figures 15 to 17, the extension direction of the wheel axle 322 is perpendicular to the extension direction of the mounting arm 31. After the driven wheel module 30 is installed on the housing 10, the universal wheel 323 is located on the side of the mounting arm 31 facing the ground.

[0120] Of course, the axle 322 can also be extended and connected to the mounting arm 31 at an angle, so that there is a space between the universal wheel 323 and the mounting arm 31. The extension direction of the axle 322 and the extension direction of the mounting arm 31 form an angle, which is greater than 0° and less than 90°. For example, the angle can be any one of 30°, 45°, and 60°.

[0121] The assembly process reveals that the entire driven wheel module 30 is a modular structure independent of the housing 10. The housing 10 and the modular driven wheel module 30 can be mass-produced separately by the factory, and then the driven wheel module 30 can be installed on the housing 10. In this way, the driven wheel module 30 and the housing 10 can be manufactured using separate molds, which can reduce the factory's production difficulty and cost compared to the method of integrally molding the driven wheel module 30 on the housing 10.

[0122] The driven wheel module 30 needs to support the housing 10 after installation, which requires the mounting arm 31 to have a certain structural strength, which in turn requires the mounting arm 31 to be relatively large and heavy. To prevent the mounting arm 31 from affecting the movement of the housing 10 due to its excessive weight, as shown in Figures 16 and 17, the mounting arm 31 includes a third sub-shell 314 and a fourth sub-shell 315. The first end 311 of the fourth sub-shell 315 is connected to the chassis 11, and the second end 312 of the fourth sub-shell 315 is connected to the axle seat 321 of the second wheel body 32. The third sub-shell 314 is fastened to the side of the fourth sub-shell 315 facing away from the axle seat 321. When fastened together, the third sub-shell 314 and the fourth sub-shell 315 form a first cavity 316.

[0123] The mounting arm 31, formed by fastening the third sub-shell 314 and the fourth sub-shell 315, has a first cavity 316 formed therein. Compared to a structure without the first cavity 316 on the mounting arm 31, this reduces the weight of the mounting arm 31, thereby reducing the weight of the body 100 and improving the driving efficiency of the body 100 and even the lawn mower robot 1000. Furthermore, when manufacturing the mounting arm 31, the third sub-shell 314 and the fourth sub-shell 315 can be formed using a mold, eliminating the need to manufacture the mounting arm 31 all at once, thereby reducing the manufacturing difficulty of the mounting arm 31.

[0124] After the driven wheel module 30 is mounted on the housing 10, it will move with the housing 10. If the housing 10 is lifted or falls into a pit during movement, the driven wheel module 30 will be suspended in the air, and the housing 10 will be in an abnormal operating state. If not discovered in time, it is easy to cause the driving wheel module 20 to idle and damage the driving wheel module 20. To this end, a lifting detection function module is provided on the driven wheel module 30.

[0125] Specifically, referring to Figure 17, an axis hole 324 is provided on the axis seat 321, and the other end of the wheel shaft 322 can be rotatably and can be raised and lowered and slidably installed in the axis hole 324. A magnet 325 is also provided on the other end of the wheel shaft 322, and the magnet 325 is located outside the first cavity 316. A magnetic induction sensor 317 is installed on the fourth sub-shell 315, and the magnetic induction sensor 317 corresponds to the magnet 325 and is located in the first cavity 316. The magnet 325 is used to follow the lifting and lowering movement of the wheel shaft 322 and approach or move away from the magnetic induction sensor 317.

[0126] When the driven wheel module 30 moves normally with the housing 10, the housing 10 applies its own weight to the mounting arm 31, which presses down the shaft seat 321. At this time, the other end of the wheel axle 322 moves upward relative to the shaft hole 324 and approaches the magnetic induction sensor 317. When the housing 10 is lifted or dropped into a pit, the weight applied by the housing 10 on the mounting arm 31 decreases. At this time, the driven wheel module 30 moves downward relative to the shaft hole 324 and away from the magnetic induction sensor 317 under the action of its own weight.

[0127] The magnet 325 sends different electrical signals when it approaches and moves away from the magnetic induction sensor 317. The electrical signals are sent to the controller of the housing 10, which issues an alarm of abnormal operation and performs emergency control to avoid equipment failure and improve safety.

[0128] The magnetic induction sensor 317 is connected to the controller of the lawn mower robot 1000 via a wire, which is connected to the controller on the housing 10 inside the mounting arm 31. The mounting arm 31 forms a first cavity 316 by fastening the third sub-shell 314 and the fourth sub-shell 315 together, providing space for wiring. Wiring can be performed by disassembling the third and fourth sub-shells 314, 315, making wiring convenient and concealed.

[0129] Optionally, the magnetic induction sensor 317 is an electronic component and is easily interfered by external debris. Placing the magnetic induction sensor 317 in the first cavity 316 can protect the magnetic induction sensor 317 and reduce the impact of moisture and debris on the magnetic induction sensor 317.

[0130] The magnetic induction sensor 317 includes but is not limited to a reed switch and a Hall sensor.

[0131] If magnetic sensor 317 is a reed switch, it consists of two magnetic reeds (typically made of iron and nickel) sealed within a glass tube. The two reeds overlap, separated by a small gap. When magnet 325 approaches magnetic sensor 317, the magnetic field near sensor 317 increases, causing the two reeds to contact, turning on magnetic sensor 317 and emitting a first detection signal. When magnet 325 moves away from magnetic sensor 317, the magnetic field near sensor 317 decreases, disconnecting the two reeds and emitting a second detection signal. The controller then determines the abnormal operation based on the first and second detection signals and issues an alarm.

[0132] When magnetic induction sensor 317 is a Hall effect sensor, it generates different Hall effect voltages depending on the strength of the nearby magnetic field. Stronger magnetic fields generate higher voltages, while weaker magnetic fields generate lower voltages. When magnet 325 approaches magnetic induction sensor 317, the magnetic field near magnetic induction sensor 317 increases, causing the Hall effect voltage of magnetic induction sensor 317 to rise and generate a first detection signal. When magnet 325 moves away from magnetic induction sensor 317, the magnetic field near magnetic induction sensor 317 weakens, causing the Hall effect voltage of magnetic induction sensor 317 to decrease and generate a second detection signal. The controller determines the abnormal operation based on the first and second detection signals and issues an alarm.

[0133] In some embodiments, the collision module 40 is detachably connected to the housing 10 .

[0134] Optionally, referring to Figures 18-25, the collision module 40 includes a connecting arm 41 and a detection part 42 for collision detection. The connecting arm 41 is detachably connected to the chassis 11, and the detection part 42 is connected to the connecting arm 41 and spaced apart from the chassis 11.

[0135] The collision module 40 is configured to detect collisions, thereby assisting the robot mower 1000 in avoiding obstacles. When an object collides with the collision module 40 from the outside, a detection unit 42 located on the periphery of the chassis 11 detects the collision. The detection unit 42 is configured to send a third detection signal to the controller of the robot mower 1000. Upon receiving the third detection signal, the robot mower 1000 performs obstacle avoidance.

[0136] In some embodiments, the connecting arm 41 is screwed onto the outside of the chassis 11. More specifically, the connecting arm 41 is screwed onto the bottom of the chassis 11. Without opening the body 100, the connecting arm 41 can be directly connected to the chassis 11 from the bottom. Furthermore, the connection position of the connecting arm 41 is concealed, making the appearance of the body 100 more concise and beautiful.

[0137] A second slot 117 is provided at the bottom of the chassis 11. The slot of the second slot 117 communicates with the outside of the chassis 11. The connecting arm 41 is fitted within the second slot 117 and is screwed to the bottom wall of the second slot 117 via threaded fasteners. The provision of the second slot 117 allows the connecting arm 41 to be quickly positioned and mounted on the chassis 11, making installation quick and easy.

[0138] In some embodiments, the detection unit 42 includes a support portion 421, a floating housing 43, a reset elastic member 44, a detection member 441, and a trigger member 442. The support portion 421 is fixedly connected to the connecting arm 41, and the floating housing 43 is disposed around the outer periphery of the support portion 421, with a movable gap between the support portion 421 and the floating housing 43. The reset elastic member 44 is located within the movable gap and supported between the floating housing 43 and the support portion 421. The reset elastic member 44 is used to enable the floating housing 43 to displace relative to the support portion 421 after a collision and to reset the floating housing 43 after the collision disappears. One of the detection member 441 and the trigger member 442 is disposed on the support portion 421, and the other is correspondingly disposed on the floating housing 43.

[0139] The detection member 441 and the trigger member 442 are a set of detection components that cooperate with each other. During use, when the floating shell 43 is displaced relative to the support part 421, it means that a relative displacement occurs between the detection member 441 and the trigger member 442. At this time, the trigger member 442 triggers the detection member 441. After the detection member 441 is triggered, it generates an electrical signal (a third detection signal) and sends it to the controller of the lawn mower robot 1000. The lawn mower robot 1000 can know that the floating shell 43 is blocked or hit by an object based on the third detection signal sent by the detection member 441, so that its movement strategy can be changed to make reasonable avoidance.

[0140] In some embodiments, the floating housing 43 is supported by the restoring elastic member 44 and is able to float and cover the outer periphery of the supporting portion 421 .

[0141] It is understood that the outer periphery of support portion 421 refers to the area surrounding the outer side of support portion 421. In other words, the outer side of support portion 421 is surrounded by floating housing 43. When an external object collides with detection portion 42, it will first collide with floating housing 43, causing floating housing 43 to shift and triggering detection member 441. This reduces the occurrence of situations where collisions occur but no collision detection results are obtained, thereby reducing the missed detection rate of collision detection. In addition, floating housing 43 is provided around the outer periphery of support portion 421. Support portion 421, detection member 441, and trigger member 442 are all located within floating housing 43. Floating housing 43 protects these components, reducing the risk of support portion 421, detection member 441, and trigger member 442 being wetted and damaged by rain.

[0142] In some embodiments, the floating housing 43 includes a first sub-shell 431 and a second sub-shell 432 . The first sub-shell 431 and the second sub-shell 432 are buckled together to form a receiving cavity 433 . The support portion 421 is located in the receiving cavity 433 .

[0143] This arrangement can also reduce the difficulty of manufacturing the floating shell 43, especially when the floating shell 43 is a plastic part. Setting a receiving cavity 433 in the floating shell 43 will cause difficulty in demolding. By separately manufacturing the first sub-shell 431 and the second sub-shell 432, and jointly constructing the receiving cavity 433 by the first sub-shell 431 and the second sub-shell 432, the demolding problem is solved.

[0144] Of course, in addition to the aforementioned butt-jointed connection, in some other embodiments, a certain gap may be provided between the first sub-shell 431 and the second sub-shell 432 to form an open floating housing 43. For example, the first sub-shell 431 is disposed directly opposite the second sub-shell 432, and the first sub-shell 431 and the second sub-shell 432 are supported and connected to the support portion 421 via the resetting elastic member 44. The first sub-shell 431 and the second sub-shell 432 are disposed around the periphery of the support portion 421, with a gap between them. In this case, the first sub-shell 431 and the second sub-shell 432 may not be fixedly connected.

[0145] When there is no fixed connection between the first sub-shell 431 and the second sub-shell 432, the first sub-shell 431 can move relative to the second sub-shell 432. At this time, the first sub-shell 431 and the second sub-shell 432 are both connected to the support portion 421 through the reset elastic member 44, and the periphery of the support portion 421 is divided into a first area and a second area, and the first sub-shell 431 and the second sub-shell 432 respectively cover the first area and the second area. In other words, the first sub-shell 431 and the second sub-shell 432 together cover most of the area outside the support portion 421. When an obstacle collides with the collision module 40, it at least collides with one of the first sub-shell 431 and the second sub-shell 432. At least one of the first sub-shell 431 and the second sub-shell 432 can move relative to the support portion 421, thereby achieving the purpose of collision detection. As an example, the reset elastic member 44 includes a first elastic member and a second elastic member, one end of the first elastic member is fixedly connected to the support part 421, and the other end is fixedly connected to the first sub-shell 431; one end of the second elastic member is fixedly connected to the support part 421, and the other end is fixedly connected to the second sub-shell 432.

[0146] When there is no fixed connection between the first sub-shell 431 and the second sub-shell 432, a detection member 441 is provided on both the first sub-shell 431 and the second sub-shell 432, or a trigger member 442 is provided on both the first sub-shell 431 and the second sub-shell 432, so that the detection member 441 can be triggered when either the first sub-shell 431 or the second sub-shell 432 moves.

[0147] In some embodiments, referring to the connection forms in Figures 18 to 25, the first sub-shell 431 is fixedly connected to the second sub-shell 432, at least one of the first sub-shell 431 and the second sub-shell 432 is fixedly connected to one end of the reset elastic member 44, and the other end of the reset elastic member 44 is fixedly connected to the support portion 421.

[0148] It is understandable that when the first sub-shell 431 and the second sub-shell 432 are fixedly connected, the movement between the first sub-shell 431 and the second sub-shell 432 is synchronized. Therefore, the reset elastic member 44 only needs to be connected to either the first sub-shell 431 or the second sub-shell 432 to support the entire floating housing 43 on the periphery of the support portion 421. As an example, the reset elastic member 44 includes a first elastic member and a second elastic member. One end of the first elastic member is fixedly connected to the support portion 421, and the other end provides positional support for the first sub-shell 431 but is not fixedly connected to the first sub-shell 431. The second elastic member has one end fixedly connected to the support portion 421, and the other end fixedly connected to the second sub-shell 432. As an example, the reset elastic member 44 includes a first elastic member and a second elastic member. One end of the first elastic member is fixedly connected to the support portion 421, and the other end is fixedly connected to the first sub-shell 431. One end of the second elastic member is fixedly connected to the support portion 421, and the other end provides positional support for the second sub-shell 432 but is not fixedly connected to the second sub-shell 432. As an example, the reset elastic member 44 includes a first elastic member and a second elastic member. One end of the first elastic member is fixedly connected to the support portion 421, and the other end is fixedly connected to the first sub-shell 431. One end of the second elastic member is fixedly connected to the support portion 421, and the other end is fixedly connected to the second sub-shell 432.

[0149] Optionally, a third through hole 434 is further provided on the floating shell 43. The first sub-shell 431 is buckled onto the second sub-shell 432 to form the third through hole 434. One end of the connecting arm 41 extends into the accommodating cavity 433 through the third through hole 434 and is fixedly connected to the support part 421. The other end of the connecting arm 41 is located outside the accommodating cavity 433.

[0150] The support portion 421 is surrounded by the floating housing 43. When the lawn mower robot 1000 is moving, no matter from which direction an obstacle hits the detection portion 42, it will contact the floating housing 43. The floating housing 43 bears the impact and moves relative to the support portion 421 under the action of the reset elastic member 44, causing the trigger member 442 to trigger the detection member 441, thereby realizing collision detection.

[0151] The resetting elastic member 44 is also disposed in the accommodating cavity 433 and supported between the floating housing 43 and the supporting portion 421 .

[0152] In some embodiments, the angle between the extending direction of the restoring elastic member 44 and the plane where the floating housing 43 is located is 60° to 90°.

[0153] In other words, the resetting elastic member 44 extends vertically between the first sub-shell 431 and the second sub-shell 432 of the floating housing 43, or alternatively, the resetting elastic member 44 extends at a slight angle between the first sub-shell 431 and the second sub-shell 432 of the floating housing 43. In this way, combined with the fact that the floating housing 43 is positioned around the outer periphery of the support portion 421, the resetting elastic member 44 can bend if the floating housing 43 is struck from the front, rear, left, or right sides. If the floating housing 43 is struck from the top or bottom, the resetting elastic member 44 can extend or contract. Either way, the resetting elastic member 44 can cause the floating housing 43 to move, thereby improving the collision detection coverage angle.

[0154] Optionally, the angle between the reset elastic member 44 and the horizontal plane is 80° to 90°. In this way, the reset elastic member 44 extends nearly vertically between the first sub-shell 431 and the second sub-shell 432 of the floating shell 43. When the front, rear, left and right sides of the floating shell 43, as well as the top and bottom sides of the floating shell 43 are hit, the reset elastic member 44 can make a larger deformation, and the collision detection sensitivity of the floating shell 43 is higher.

[0155] Optionally, the support portion 421 includes a first sub-portion 422 and a second sub-portion 423, which are connected and enclosed to form a second cavity 424. The detection member 441 is disposed in the second cavity 424. The detection member 441 is a non-contact detection member 441, that is, the trigger member 442 can trigger the detection member 441 without contacting the detection member 441. Exemplarily, the detection member 441 is a Hall sensor and the trigger member 442 is a magnet.

[0156] Of course, the detection member 441 may also include a magnetoresistive effect sensor, and the corresponding trigger member 442 may also include a magnet. The detection member 441 may also include a photoelectric detection sensor, and the corresponding trigger member 442 may include a reflector. When the trigger member 442 moves relative to the detection member 441, the detection member 441 can be triggered. This application does not specifically limit the selection of the detection member 441 and the trigger member 442.

[0157] It is understandable that the detection member 441 is used to send an electrical signal after being triggered. The detection member 441 is connected to the control device of the robot. Therefore, once the detection member 441 is interfered with by debris, such as being immersed in water, it is easy to cause damage to the detection member 441. The present application achieves a double protection effect by arranging the detection member 441 in the second cavity 424, so that the detection member 441 can not only be shielded and protected by the floating shell 43, but also by the support portion 421, so as to isolate the detection member 441 from the outside world and effectively reduce the impact of external debris on the detection member 441. At this time, the detection member 441 is a non-contact detection member 441. In this way, the detection member 441 can be installed in the second cavity 424, that is, inside the support portion 421, and the trigger member 442 arranged on the floating shell 43 can also trigger the detection member 441 without directly contacting the detection member 441.

[0158] In some embodiments, referring to Figures 20 and 24, a wire hole 435 communicating with the second cavity 424 is provided on the support portion 421, and the wire hole 435 is formed after the first sub-portion 422 is buckled onto the second sub-portion 423. The wire hole 435 is used for passing the wire connected to the detection member 44115, thereby connecting the wire to the control device on the robot.

[0159] In some embodiments, after the wire extends out of the support portion 421 through the wire hole 435 , it directly extends along the connecting arm 41 through the third through hole 434 on the floating shell 43 to be connected to the control device on the robot.

[0160] In some embodiments, a wire hiding groove extending to the outside of the floating housing 43 is provided on the connecting arm 41 , and the wires are arranged along the wire hiding groove and extend to the outside of the floating housing 43 in a concealed manner.

[0161] Optionally, the floating shell 43 is a shell having a certain length, and along the length direction of the floating shell 43, the appearance is set to any one of a long strip, an arc, a bent strip, or a combination thereof. For example, referring to Figure 18, the floating shell 43 is set to a long strip. Since the collision module 40 is used to be installed on the chassis 11, in other embodiments, the appearance of the floating shell 43 can be set to other shapes according to the appearance of the housing 10. When the position of the collision module 40 in the housing 10 is an arc, the corresponding floating shell 43 is set to an arc; when the collision module 40 needs to be set to the corner position of the housing 10, and the corner position is a bent surface, the floating shell 43 is set to a bent strip, so that the floating shell 43 can extend around the circumference of the housing 10, thereby covering a wider area of ​​collision detection and reducing the volume of the robot.

[0162] Optionally, the support portion 421 is arranged in the accommodating cavity 433 of the floating shell 43, and the accommodating cavity 433 is also a cavity with a certain length. The shape of the cavity is consistent with the floating shell 43, and the support portion 421 is also a strip-shaped body with a certain length. The appearance of the support portion 421 is consistent with the appearance of the floating shell 43 and the accommodating cavity 433. The floating shell 43 and the support portion 421 adapt to each other to achieve installation, so that each position of the support portion 421 can be covered by the floating shell 43. After each position of the floating shell 43 is collided by the same external force, the displacement of the floating shell 43 relative to the support portion 421 is almost the same, which facilitates the setting of the detection component 441 and the trigger component 442, so that the collision detection result is more accurate.

[0163] In some embodiments, the cutting module 50 can be detachably mounted on the chassis 11.

[0164] Optionally, the chassis 11 is provided with a mounting slot 115 with an outward-facing notch, and the cutting module 50 is removably mounted in the mounting slot 115. When installing and removing the cutting module 50, both are performed from the outside of the housing 10, and the disassembly process does not involve other structures of the housing 10. Therefore, the cutting module 50 can be directly removed from the outside of the housing 10 without removing other structures of the housing 10, simplifying the disassembly and assembly steps and reducing the difficulty of maintaining the body 100.

[0165] In some embodiments, referring to Figures 26-37, the cutting module 50 includes a connecting seat 51, a first mounting seat 52, a cutting motor 53 and a cutting mechanism 54.

[0166] Specifically, at least part of the connecting seat 51 is located in the mounting groove 115 and is detachably fixedly connected to the chassis 11. The first mounting seat 52 is connected to the connecting seat 51. The first mounting seat 52 is provided with a first mounting cavity 521 and a fourth through hole 522 connecting the first mounting cavity 521 with the outside world. The cutting motor 53 is arranged in the first mounting cavity 521 to protect the cutting motor 53. The output shaft of the cutting motor 53 extends out of the first mounting cavity 521 through the fourth through hole 522. The cutting mechanism 54 is located outside the first mounting cavity 521 and is connected to the output shaft of the cutting motor 53.

[0167] The cutting motor 53 is arranged in the first installation cavity 521. In addition to supporting the cutting motor 53, the first mounting seat 52 can also protect the cutting motor 53. It can to a certain extent prevent grass clippings, grass pulp, etc. generated by the cutting module 50 during operation from adhering to the cutting motor 53, thereby reducing the risk of damage to the cutting motor 53.

[0168] Furthermore, the cutting module 50 is semi-hiddenly arranged in the mounting groove 115 of the chassis 11 through the connecting seat 51. Optionally, the connecting seat 51 and the first mounting seat 52 of the cutting module 50 are located in the mounting groove 115, and the cutting motor 53 is arranged in the first mounting cavity 521, and naturally also located in the mounting groove 115. In this way, the driving and connecting part of the cutting module 50 can be hidden on the side of the chassis 11 facing the ground, without being exposed outside the chassis 11. While being aesthetically pleasing, it can also reduce the space occupied by the lower part of the chassis 11 (the space between the chassis 11 and the ground), and avoid the situation where the chassis 11 is too high due to the setting of the cutting module 50. At the same time, at least a portion of the cutting mechanism 54 used for mowing is located outside the mounting groove 115 to perform mowing operations. Of course, the cutting mechanism 54 can also be completely located outside the mounting groove 115.

[0169] Optionally, the connecting seat 51 is detachably fixed in the mounting groove 115 by bolts, and screw holes are provided in both the connecting seat 51 and the mounting groove 115 and are fastened by bolts.

[0170] Optionally, the first mounting seat 52 can be fixedly connected to the connecting seat 51. For example, the first mounting seat 52 is molded on the connecting seat 51 by injection molding. Of course, the first mounting seat 52 can also be detachably connected to the connecting seat 51 by bolts, which is not limited here.

[0171] In some embodiments, in order to reduce the amount of grass clippings, debris, etc. generated during mowing that enters the first mounting cavity 521 of the first mounting seat 52, a cavity cover 523 is provided on the first mounting cavity 521. The cavity cover 523 covers the cavity opening of the first mounting cavity 521. The cutting motor 53 can operate in a clean and tidy space, thereby improving the service life of the cutting motor 53 to a certain extent.

[0172] In order to reduce the amount of debris that enters the first mounting cavity 521 from the surrounding side walls of the mounting base and the fourth through hole 522, referring to Figures 26 and 31, the area of ​​the first mounting base 52 other than the cavity opening and the fourth through hole 522 is solid (i.e., not a hollowed-out setting), and the diameter of the output shaft of the cutting motor 53 is adapted to or slightly smaller than the aperture of the fourth through hole 522. After the cutting module 50 is installed, the output shaft of the cutting motor 53 can rotate in the fourth through hole 522 while also blocking the fourth through hole 522. Debris cannot enter the first mounting cavity 521 from the blocked fourth through hole 522, nor can it enter the first mounting cavity 521 from the surrounding side walls of the first mounting base 52, so that the cutting motor 53 can operate in the clean and tidy first mounting cavity 521, reducing the risk of aging and damage to the cutting motor 53 and increasing the service life of the cutting motor 53.

[0173] Usually, when a cavity cover 523 is also provided on the first mounting seat 52, the first mounting cavity 521 exchanges less media with the outside world. If the radiator 55 is not provided, the cutting motor 53 installed in the first mounting cavity 521 is more likely to increase its working temperature quickly. By providing the radiator 55, the heat of the cutting motor 53 is transferred to the outside of the first mounting seat 52 by utilizing the radiator 55.

[0174] 32 and 33 , the heat sink 55 includes a plate body 551 and a contact portion 552 protruding from a first surface of the plate body 551 . A third mounting hole 524 is provided through the side wall of the first mounting seat 52 . The contact portion 552 extends into the first mounting cavity 521 through the third mounting hole 524 and contacts the cutting motor 53 . The first surface of the plate body 551 abuts against the outer surface of the first mounting seat 52 , and the plate body 551 is connected to the side wall of the first mounting seat 52 .

[0175] The contact portion 552 of the heat sink 55 extends into the first mounting cavity 521 and contacts the cutting motor 53. The heat of the cutting motor 53 can be conducted to the plate 551 through the contact portion 552, and the heat is then conducted to the outside of the first mounting seat 52 through the plate 551. The heat sink 55 acts as a heat-conducting medium and directly contacts the cutting motor 53, so that the heat of the cutting motor 53 can be quickly and efficiently dissipated to the outside of the first mounting seat 52. This greatly improves the heat conduction efficiency compared to using air as a heat-conducting medium. In addition, after the heat sink 55 is installed on the side wall of the first mounting seat 52, the plate 551 will block the third mounting hole 524, making it difficult for water vapor and debris to enter the first mounting cavity 521 through the third mounting hole 524.

[0176] Optionally, the contact portion 552 is adapted to fit within the third mounting hole 524. That is, after the contact portion 552 extends through the third mounting hole 524 into the first mounting cavity 521, the sidewalls of the contact portion 552 abut against the wall of the third mounting hole 524. In this way, the third mounting hole 524 can be used to position the contact portion 552, making assembly more convenient and efficient.

[0177] In some embodiments, each plate 551 is provided with multiple contact portions 552, and a third mounting hole 524 corresponding to the contact portion 552 on the plate 551 is provided on the sidewall of the first mounting seat 52. The term "correspondence" includes both quantity and position. For example, if two contact portions 552 are provided on a plate 551, two third mounting holes 524 are provided on the sidewall of the first mounting seat 52 corresponding to the area where the plate 551 is mounted.

[0178] Optionally, one or more radiators 55 are provided on the sidewall of the first mounting base 52. When a plurality of radiators 55 are provided, the area of ​​the heat dissipation region can be increased to dissipate heat for the cutting motor 53 more efficiently.

[0179] Of course, multiple radiators 55 can be evenly distributed around the cutting motor 53, that is, the first mounting seat 52 is evenly provided with multiple radiators 55 in the circumferential direction, so that the cutting motor 53 can be cooled all around, and the radiator 55 can dissipate heat for the cutting motor 53 more evenly and comprehensively.

[0180] The heat sink 55 is made of a metal material with high thermal conductivity, including but not limited to iron, copper, steel, and aluminum alloy. For example, when the heat sink 55 is made of an aluminum alloy, the plate 551 is constructed as an aluminum alloy plate, and the contact portion 552 is an aluminum alloy bump protruding from the plate 551.

[0181] Optionally, the plate 551 is detachably connected to the side wall of the first mounting base 52. Specifically, the plate 551 is screwed to the side wall of the first mounting base 52 using screws or bolts. For example, threaded holes 313 are provided on the side wall of the first mounting base 52 and the plate 551. During installation, the plate 551 is placed against the side wall of the first mounting base 52 and then fastened using screws or bolts.

[0182] Of course, the plate 551 can also be snap-fitted to the side wall of the first mounting seat 52. A first snap-fitting portion is provided on the plate 551, and a second snap-fitting portion is provided on the side wall of the first mounting seat 52. The first snap-fitting portion and the second snap-fitting portion snap-fit ​​together. For example, the first snap-fitting portion is a buckle, and the second snap-fitting portion is a slot. When the plate 551 is pressed against the side wall of the first mounting seat 52, the buckle fits into the slot, securing the plate 551 to the side wall of the first mounting seat 52.

[0183] In some embodiments, in order to further improve the heat conduction efficiency between the cutting motor 53 and the contact portion 552, referring to Figures 32 and 33, the end surface of the contact portion 552 away from the plate body 551 is a contact surface, which is used to contact the surface of the cutting motor 53, and the shape of the contact surface is adapted to the surface of the cutting motor 53.

[0184] It can be understood that the heat conduction efficiency of the cutting motor 53 and the radiator 55 is proportional to the contact area between the two. Since the surface of the cutting motor 53 may be an irregular surface such as a curved surface or a prismatic surface, if the contact portion 552 simply rests on the surface of the cutting motor 53, especially on the surface of the angular area of ​​the cutting motor 53, then the actual contact area between the contact portion 552 and the surface of the cutting motor 53 will be reduced, thereby reducing the heat conduction efficiency.

[0185] When the contact portion 552 of the heat sink 55 of the present application contacts the cutting motor 53, the shape of the contact surface is adapted to the surface of the cutting motor 53, which relatively increases the actual contact area between the heat sink 55 and the surface of the cutting motor 53, thereby improving the heat conduction efficiency and achieving better heat dissipation effect.

[0186] For example, when the cutting motor 53 is set to a cylindrical shape, the surface of the cutting motor 53 is an arc surface. Accordingly, the contact surface of the contact portion 552 is set to an arc surface that matches the surface of the cutting motor 53. The contact surface of the contact portion 552 can be completely attached to the surface of the cutting motor 53, thereby increasing the actual contact area between the contact portion 552 and the surface of the cutting motor 53.

[0187] Of course, in order to adapt to cutting motors 53 of different shapes, the shape of the contact surface can be any one of a plane, an angular surface, and an arc surface, or a combination thereof.

[0188] In some embodiments, to further improve the heat dissipation efficiency of the radiator 55 , referring to FIG. 33 , the radiator 55 further includes heat dissipation fins 553 , which are arranged corresponding to the contact portion 552 and located on the side of the contact portion 552 away from the cutting motor 53 .

[0189] It can be understood that the heat dissipation efficiency of the radiator 55 is proportional to the heat dissipation area of ​​the radiator 55. The heat dissipation fins 553 set on the radiator 55 increase the heat dissipation area of ​​the radiator 55 per unit volume, thereby dissipating heat to the outside of the first mounting base 52 more quickly, thereby improving the heat dissipation efficiency of the radiator 55.

[0190] In some embodiments, referring to Figure 33, the side of the contact portion 552 facing away from the cutting motor 53 is recessed to form a heat dissipation groove 554, and the notch of the heat dissipation groove 554 is located on the second surface of the plate body 551. The second surface is a side surface of the plate body 551 opposite to the first surface, and the heat dissipation fins 553 are arranged in the heat dissipation groove 554 and extend toward the notch.

[0191] As can be understood, the bottom of the heat sink 554 is closer to the contact portion 552 than the second surface, allowing heat from the contact portion 552 to be transferred more quickly to the heat sink fins 553. The heat sink fins 553 then transfer the heat to the notches of the heat sink 554 for dissipation, thereby improving heat dissipation efficiency. Furthermore, the heat sink fins 553 are disposed within the heat sink 554. When heat sink fins 553 of the same size are provided, the volume of the heat sink fins 553 protruding from the sidewall surface of the first mounting base 52 can be reduced, making the structure of the first mounting base 52 more compact and the structural layout more reasonable. When the first mounting base 52 is assembled to the chassis 11, it occupies less space.

[0192] In some embodiments, referring to FIG33 , there are multiple heat dissipation fins 553 , which are spaced apart. Providing multiple heat dissipation fins 553 further increases the heat dissipation area per unit volume of the heat sink 55 , further improving the heat dissipation efficiency of the heat sink 55 .

[0193] The plurality of heat dissipating fins 553 are spaced apart, and the spaced apart arrangement can be direct or indirect. As shown in FIG33 , the heat dissipating fins 553 are directly spaced apart, and the plurality of heat dissipating fins 553 are parallel and spaced apart.

[0194] When the heat dissipation fins 553 are arranged in an indirect spacing arrangement, this means that some portions of the heat dissipation fins 553 are spaced apart, while others are connected. For example, the plurality of heat dissipation fins 553 may intersect with each other to form a mesh structure connected within the heat dissipation slot 554. This allows the plurality of heat dissipation fins 553 to support each other, thereby increasing the structural strength of the heat dissipation fins 553 and improving the structural strength of the first mounting base 52 at the heat dissipation slot 554.

[0195] In some embodiments, the heat dissipation fins 553 do not extend beyond the slots of the heat dissipation slots 554. That is, the ends of the heat dissipation fins 553 near the slots are flush with the slots, or the ends of the heat dissipation fins 553 near the slots are lower than the slots. The heat dissipation fins 553 are completely contained within the heat dissipation slots 554, making the first mounting base 52 more neat and preventing the heat dissipation fins 553 from scratching against external objects.

[0196] Of course, the ends of some heat dissipation fins 553 close to the notches of the heat dissipation slots 554 may be flush with the notches of the heat dissipation slots 554 , while the ends of other heat dissipation fins 553 close to the notches of the heat dissipation slots 554 may be lower than the notches of the heat dissipation slots 554 .

[0197] In some embodiments, to facilitate the installation of the radiator 55, referring to Figures 29-31, the outer surface of the first mounting seat 52 is concave to form a limiting groove 525, and the third mounting hole 524 is opened on the bottom wall of the limiting groove 525. The plate body 551 is fixedly installed in the limiting groove 525 and cooperates with the limiting groove 525 to limit the position.

[0198] When the radiator 55 is installed on the first mounting seat 52 , the limiting groove 525 can serve as a guide for the plate 551 , so that the radiator 55 can be more accurately and conveniently installed on the first mounting seat 52 .

[0199] Optionally, when the plate 551 is fixedly installed in the limiting groove 525, the surface of the plate 551 is not higher than the notch of the limiting groove 525. The plate 551 is completely received in the limiting groove 525, making the appearance of the first mounting seat 52 neater and preventing the plate 551 from being scratched by external objects.

[0200] In some embodiments, referring to Figures 26 and 27 , the cutting mechanism 54 includes a cutter disc 541 fixedly connected to the output shaft of the cutting motor 53. A plurality of blades 542 are rotatably mounted on the cutter disc 541. When the cutting motor 53 is activated, the output shaft of the cutting motor 53 rotates, which in turn drives the cutter disc 541. The blades 542 on the rotating cutter disc 541 cut the weeds, thereby achieving a mowing operation.

[0201] Optionally, the blade 542 is rotatably mounted on the cutter disc 541 . When the cutter disc 541 rotates, the blade 542 rotates to a horizontal or nearly horizontal state under the action of centrifugal force to achieve mowing.

[0202] The cutter disc 541 can be fixed to the output shaft of the cutting motor 53 through a flange connection.

[0203] When the cutting mechanism 54 is mowing, the rotating cutter disc 541 and blade 542 will cause the cut grass to fly around, making it easy for the grass to enter the first mounting seat 52. In particular, when the cavity cover 523 is not provided, to reduce the occurrence of this situation, the cutting mechanism 54 also includes a protective plate 543. The protective plate 543 is fixed to the first mounting seat 52 and is located outside the first mounting cavity 521. The protective plate 543 is covered above the cutting mechanism 54.

[0204] In this way, when mowing, weeds flying around will be blocked by the protective plate 543, which not only prevents the weeds from entering the first mounting cavity 521 of the first mounting seat 52, but also reduces the splashing range of the weeds, thereby improving the user experience.

[0205] In some embodiments, to enable cutting of lawns at varying heights, the cutting module 50 further includes a height adjustment mechanism 56, which is used to adjust the height of the cutting mechanism 54. Optionally, the first mounting base 52 is movably connected to the connecting base 51. The height adjustment mechanism 56 is removably mounted within the mounting slot 115. The first mounting base 52 is disposed on the height adjustment mechanism 56, which is used to drive the first mounting base 52 in a lifting motion, wherein the lifting motion refers to movement toward or away from the mounting slot 115. The first mounting base 52 is movably connected to the connecting base 51, which can be a rotating or sliding connection.

[0206] Usually, the notch of the mounting groove 115 faces the outside of the chassis 11. When disassembling the height adjustment mechanism 56, it can be directly disassembled and assembled from the outside of the housing 10 without opening the housing 10, which is convenient for replacement and maintenance.

[0207] The height adjustment structure is used to cooperate with the first mounting seat 52 and adjust the height of the cutting mechanism 54, thereby adjusting the mowing height.

[0208] Optionally, referring to Figures 34-37 , the height adjustment mechanism 56 includes a second mounting base 561, a height adjustment motor 562, a transmission assembly 563, and a swing arm 564. The second mounting base 561 is at least partially located within the mounting slot 115 and is detachably fixedly connected to the chassis 11. The height adjustment motor 562 is disposed on the second mounting base 561. The transmission assembly 563 is disposed on the second mounting base 561 and is connected to the height adjustment motor 562. The height adjustment motor 562 is configured to drive the transmission assembly 563 to move. The swing arm 564 is rotatably disposed on the second mounting base 561 and is connected to the transmission assembly 563. The transmission assembly 563 is configured to drive the swing arm 564 to rotate. The first mounting base 52 is disposed on the swing arm 564.

[0209] After the height adjustment motor 562 drives the transmission assembly 563 to move, the transmission assembly 563 drives the swing arm 564 to rotate. One end of the swing arm 564 is rotatably connected to the second mounting seat 561. Therefore, the other end of the swing arm 564 will swing relative to the second mounting seat 561 during rotation, thereby driving the first mounting seat 52 to perform a lifting movement, that is, driving the first mounting seat 52 to reciprocate in the direction away from the mounting groove 115 and close to the mounting groove 115. The cutting mechanism 54 also performs a lifting movement following the first mounting seat 52 to adjust the cutting height of the cutting mechanism 54.

[0210] Optionally, the second mounting seat 561 is detachably connected to the chassis 11 via bolts. The second mounting seat 561 can also be connected to the chassis 11 via a snap-fit ​​structure, which is not specifically limited here.

[0211] In some embodiments, the transmission assembly 563 includes a screw 5631 and a gear 5632. The screw 5631 is connected to the height adjustment motor 562, and the gear 5632 is connected to the swing arm 564. The screw 5631 and the gear 5632 mesh and transmit power. The height adjustment motor 562 drives the screw 5631 to rotate, and the screw 5631 meshes with the gear 5632 to drive the gear 5632 to rotate. The rotating gear 5632 drives the swing arm 564 to swing, thereby achieving the lifting and lowering movement of the second mounting base 561.

[0212] Of course, the transmission method of the transmission component 563 includes but is not limited to the above-mentioned gear 5632 transmission method, and can also adopt a hinge transmission or a transmission belt transmission method, so as to be able to transmit the rotation of the height adjustment motor 562 to the swing arm 564, so that the swing arm 564 swings. No specific limitation is made here.

[0213] Optionally, a connecting rod 565 is provided between the first mounting base 52 and the connecting base 51, with both ends of the connecting rod 565 hinged to the first mounting base 52 and the connecting base 51, respectively. That is, one end of the connecting rod 565 is hinged to the first mounting base 52, and the other end is hinged to the connecting base 51, which is fixedly connected to the chassis 11. Optionally, two connecting rods 565 are provided between the first mounting base 52 and the connecting base 51. The two connecting rods 565 are parallel to each other and can move synchronously. When the swing arm 564 drives the first mounting base 52 to move up and down, the provided connecting rods 565 can help the first mounting base 52 maintain stability, allowing the first mounting base 52 to move up and down stably.

[0214] In some embodiments, a first installation space 5612 and a second installation space 5613 are formed on the second installation seat 561, and the transmission assembly 563 is installed in the first installation space 5612. A portion of the swing arm 564 is rotatably installed in the second installation space 5613 and connected to the transmission assembly 563, while another portion of the swing arm 564 extends outside the second installation space 5613. The first installation seat 52 is mounted on the other portion of the swing arm 564. Optionally, the first installation space 5612 and the second installation space 5613 are independent but partially connected installation compartments enclosed by a rib or plate 551. The swing arm 564 and the transmission assembly 563 are respectively arranged in different installation compartments and transmit power through the connected portion. This can, to a certain extent, reduce the possibility of debris being entangled in the swing arm 564 or the transmission assembly 563, thereby reducing the interference of external debris with the transmission.

[0215] During mowing, there are inevitably raised surfaces or rocks on the lawn. When the mowing robot 1000 passes over these raised surfaces or rocks, if the cutting mechanism 54 crosses over them, the cutter disc 541 can easily scrape against the ground or rocks, causing damage to the cutter disc 541. Alternatively, the raised surfaces or rocks can block the mowing robot 1000 from passing through. In the embodiment of the present application, the first mounting seat 52 is mounted on another portion of the swing arm 564. When the cutting mechanism 54 moves over the raised surfaces or rocks, even if the cutter disc 541 scrapes against the raised surfaces, the force applied to the cutter disc 541 is transmitted to the first mounting seat 52, allowing the first mounting seat 52 to rise and fall relative to the swing arm 564. At this point, the cutter disc 541 and the first mounting seat 52 can be lifted by the ground, thereby preventing the cutter disc 541 from colliding with the lawn surface and damaging the blades 542, thereby improving the passability of the body 100 and the mowing robot 1000. After passing over the raised ground of the lawn, the first mounting base 52 can be again connected to the swing arm 564 under the action of gravity.

[0216] Optionally, referring to Figures 34, 35 and 37, a fifth through hole 5611 is further provided on the second mounting seat 561 to connect the first mounting space 5612 with the outside world. The height adjustment motor 562 is fixed outside the second mounting seat 561, and the output shaft of the height adjustment motor 562 extends into the first mounting space 5612 through the fifth through hole 5611 and is connected to the transmission assembly 563.

[0217] The height adjustment motor 562 is arranged outside the second mounting base 561 , which is convenient for maintenance and replacement and is beneficial to heat dissipation of the height adjustment motor 562 .

[0218] In some embodiments, the cutting module 50 also includes a height detection mechanism, which includes a first detection module. Referring to Figures 35 and 36, the first detection module includes a first detection part 566 and a first trigger part 567. One of the first detection part 566 and the first trigger part 567 is movably connected to the gear 5632, and the other of the first detection part 566 and the first trigger part 567 is fixed on the second mounting base 561.

[0219] Optionally, a first triggering portion 567 is fixed to the gear 5632, and two first detecting portions 566 are mounted on the sidewalls of the second mounting base 561 from top to bottom. When the first triggering portion 567 approaches the first detecting portion 566, the first detecting portion 566 is triggered and emits a fourth detection signal. The first detecting portion 566 is electrically connected to the control device of the lawn mower robot 1000 to transmit the fourth detection signal to the control device. The control device restricts the functions of various functional modules of the lawn mower robot 1000 based on the fourth detection signal. Exemplarily, the first detecting portion 566 is a Hall sensor, and the first triggering portion 567 is a magnet. When the magnet approaches the Hall sensor, it changes the magnetic field strength around the Hall sensor, triggering the Hall sensor.

[0220] It is understandable that the first mounting base 52 cannot be raised too high or too low during the lifting movement. If the first mounting base 52 rises too high, it will stop against the chassis 11 and cannot continue to rise, which may easily damage the lifting motor. In addition, if the first mounting base 52 falls too low, the cutter disc 541 will stick to the ground and damage the cutter disc 541. Therefore, the swing arm 564 has a certain lifting range requirement during the swinging process, which is defined as a first height and a second height, respectively, with the second height being higher than the first height. In addition, the gear 5632 drives the swing arm 564 to rise and fall by rotating. Therefore, the gear 5632 will also rotate to the first position and the second position during the rotation process. When the gear 5632 rotates to the first position, the swing arm 564 moves to the first height. When the gear 5632 rotates to the second position, the swing arm 564 moves to the second height.

[0221] Therefore, the two first detection parts 566 are respectively located at the highest point and the lowest point of the allowable swing range of the swing arm 564, that is, they are set at the positions corresponding to the first position and the second position of the second mounting seat 561. When the swing arm 564 is lifting and lowering, when the swing arm 564 rises to the second height position and falls to the first height position, the first trigger part 567 on the gear 5632 will trigger the first detection part 566, and the first detection part 566 will send a fourth detection signal to the control device. After receiving the fourth detection signal, the control device can control the braking of the height adjustment motor 562 to prevent the second mounting seat 561 and the cutting mechanism 54 from rising or falling too high or too low, thereby improving safety.

[0222] Optionally, the height detection mechanism further includes a second detection module for calculating the height of the cutting module 50. Referring to Figures 26-36, the second detection module includes a second detection portion 568 and a second trigger portion 569. One of the second detection portion 568 and the second trigger portion 569 is disposed on the screw 5631, and the other of the second detection portion 568 and the second trigger portion 569 is disposed on the side wall of the second mounting base 561. Exemplarily, the second detection portion 568 is a Hall sensor, and the second trigger portion 569 is a magnet. The operating principle is the same as in the above embodiment. When the second detection portion 568 and the second trigger portion 569 approach each other, the second detection portion 568 is triggered and sends a fifth detection signal to the control device.

[0223] It is understandable that the lifting height of the first mounting seat 52 can be calculated by the number of revolutions of the screw 5631 in combination with the transmission ratio, pitch, etc. Each time the screw 5631 rotates one revolution, the second triggering portion 569 can trigger the second detection portion 568 once. Based on the number of times the second detection portion 568 is triggered, that is, the number of fifth detection signals received by the control device, the number of revolutions of the screw 5631 can be calculated, and then the lifting height of the first mounting seat 52 can be calculated. For example, each time the screw 5631 rotates one revolution, the height to which the swing arm 564 rises or falls is a. Then, based on the number of times the control device receives the fifth detection signal, the number of revolutions b of the screw 5631 can be determined, and the lifting height h of the swing arm 564 can be determined, h=a*b, thereby achieving the measurement of the lifting height of the first mounting seat 52.

[0224] In some embodiments, referring to Figures 38-40, the multiple functional modules further include a charging head 60, and the body 100 further includes a rechargeable battery (not shown) provided on the housing 10. The charging head 60 is electrically connected to the rechargeable battery, and the charging head 60 is detachably mounted on the housing 10. When the charging head 60 fails to charge normally, the charging head 60 can be removed and replaced. Optionally, the rechargeable battery can be detachably mounted on the housing 10. When the rechargeable battery fails to supply power normally, the rechargeable battery can be removed and replaced. This reduces the difficulty of maintaining the body 100 and the lawn mower robot 1000.

[0225] In some embodiments, the charging head 60 is detachably mounted on the housing 10. Specifically, the housing 10 includes a chassis 11 and a cover 12. The chassis 11 and the cover 12 together form a second mounting compartment 13. The cover 12 is provided with a sixth through hole 122. One end of the charging head 60 extends into the second mounting compartment 13 through the sixth through hole 122, while the other end of the charging head 60 is exposed outside the housing 10. When installing the charging head 60, one end of the charging head 60 is inserted from the outside of the housing 10 into the second mounting compartment 13 inside the housing 10 through the sixth through hole 122, completing the installation of the charging head 60. The other end of the charging head 60 is located outside the housing 10. When removing the charging head 60, it can be pulled out through the other end of the charging head 60. The disassembly process does not require opening the housing 10, thereby reducing the difficulty of disassembling the charging head 60.

[0226] Optionally, the cover 12 is provided with a connection portion 123 positioned within the second mounting cavity 13, and the chassis 11 is provided with a second mounting hole corresponding to the connection portion 123. One end of the charging head 60, the connection portion 123, and the chassis 11 are screwed together using a third fastener that passes through the second mounting hole. After the charging head 60 is inserted into the second mounting cavity, the charging head 60 is aligned with the connection portion 123 and the second mounting hole, and the third fastener is then used to connect and secure the charging head 60 between the chassis 11 and the connection portion 123.

[0227] Specifically, a fourth mounting hole 124 is provided on the connecting portion 123, and a fifth mounting hole 61 is provided at one end of the charging head 60. The third fastener is adapted to the second mounting hole, the fourth mounting hole 124 and the fifth mounting hole 61. The second mounting hole, the fifth mounting hole 61 and the fourth mounting hole 124 are all threaded holes 313. The third fastener is a bolt or a screw. The third fastener is screwed to the second mounting hole, the fifth mounting hole 61 and the fourth mounting hole 124 in sequence to fix the charging head 60 to the casing 10.

[0228] Optionally, the charging head 60 includes a charging base 62 and a charging electrode 63 mounted on the charging base 62. The charging electrodes 63 are respectively a positive electrode and a negative electrode. The charging electrodes 63 are metal parts, and the charging base 62 is made of flame-retardant and fireproof materials, which can be plastic parts. An insulating barrier strip 64 is provided on the charging base 62. The insulating barrier strip 64 protrudes from the charging electrode 63. That is, on the plane where the charging base 62 is located, the insulating barrier strip 64 is higher than the charging electrode 63. When an external object or a human body approaches the charging head 60, the insulating barrier strip 64 can be contacted first. Under normal circumstances, the object or the human body will contact the positive electrode and the insulating barrier strip 64 at the same time, or contact the negative electrode and the insulating barrier strip 64 at the same time, thereby preventing the positive and negative poles from being accidentally connected and improving safety.

[0229] A second aspect of the present invention provides a lawn mower robot 1000. Referring to Figures 41 and 42 , the lawn mower robot 1000 includes the aforementioned body 100. When the functional modules of the body 100 need to be repaired or replaced, they can be individually removed from the housing 10 for replacement or repair, thereby reducing the overall maintenance difficulty of the lawn mower robot 1000.

[0230] In some embodiments, the lawn mower robot 1000 includes a first body 1001 and a second body 1002, with the first body 1001 and the second body 1002 arranged vertically. The body 100 serves as the second body 1002. The first body 1001 is provided with a sealed chamber, within which a controller is installed. The controller is electrically connected to the functional modules. The controller is used to control the operation of each functional module. For example, the controller is used to control the braking of the travel motor 21, thereby controlling the drive wheel module 20 to drive the housing 10. The controller also performs collision detection based on the first electrical signal from the collision module 40. That is, the collision module 40 can detect whether the housing 10 collides with an obstacle during movement. If the lawn mower robot 1000 collides with an obstacle, the controller controls the drive wheel module 20 and the cutting module 50 to stop operation, thereby improving the safety of the housing 10's movement. The controller is also used to control the braking of the cutting module 50 to start or stop mowing.

[0231] Optionally, the second body 1002 is arranged below the first body 1001, that is, when the lawn mower robot 1000 is normally placed on the ground, the second body 1002 is closer to the ground than the first body 1001, so as to facilitate the walking and mowing of the lawn mower robot 1000.

[0232] The first body 1001 and the second body 1002 are each formed as separate parts, and the first body 1001 can be detachably connected to the second body 1002 and assembled to form the lawn mowing robot 1000 .

[0233] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A fuselage, characterized in that, Comprising: A housing and a plurality of functional modules detachably mounted on the housing; The plurality of functional modules include: A drive wheel module for driving the housing to move, a driven wheel module for following the movement of the housing, a collision module for performing collision detection, and a cutting module for mowing grass.

2. The fuselage according to claim 1, characterized in that, The plurality of functional modules are all detachably mounted on the housing.

3. The fuselage according to claim 2, characterized in that, The housing includes a chassis, and the drive wheel module, the driven wheel module, the collision module, and the cutting module are mounted on the chassis.

4. The fuselage according to claim 3, characterized in that, A first installation chamber is provided on the chassis. The drive wheel module includes a traveling motor and a first wheel body driven by the traveling motor to rotate. A first through hole communicating the first installation chamber with the outside is also provided on the chassis. The traveling motor extends into the first installation chamber through the first through hole, and the traveling motor is detachably connected to the outside of the chassis. The first wheel body is located outside the first installation chamber.

5. The fuselage according to claim 4, characterized in that, A first connecting ear is provided on the outer periphery of the traveling motor. A first connecting portion surrounding the first through hole is provided on the outside of the chassis. The first connecting portion is used to abut against the first connecting ear after the traveling motor extends into the first installation chamber through the first through hole. The first connecting portion and the first connecting ear are fixedly connected by screwing with a first fastener.

6. The fuselage according to claim 3, characterized in that The housing further includes a cover body provided on the chassis. The chassis and the cover body enclose to form a second installation chamber. The driven wheel module includes a mounting arm and a second wheel body. The two ends of the mounting arm in the length direction are respectively a first end and a second end. A second through hole communicating the second installation chamber with the outside is opened on the cover body. The first end extends into the second installation chamber through the second through hole, and the first end is detachably connected to the chassis. The second end is located outside the second installation chamber and is connected to the second wheel body.

7. The fuselage according to claim 6, characterized in that, A threaded hole is provided on the first end. A first installation hole corresponding to the threaded hole is provided on the chassis. The chassis and the mounting arm are fixedly connected by screwing with a second fastener passing through the first installation hole and the threaded hole.

8. The fuselage according to claim 6, characterized in that, The second wheel body includes a shaft seat, a wheel shaft, and a universal wheel. The shaft seat is detachably connected to the mounting arm. A shaft hole is provided through the shaft seat. One end of the wheel shaft is rotatably installed in the shaft hole, and the universal wheel is rotatably installed at the other end of the wheel shaft.

9. The fuselage according to claim 3, wherein, The collision module includes a connecting arm and a detection portion for performing collision detection. The connecting arm is detachably connected to the chassis. The detection portion is connected to the connecting arm and is spaced from the chassis.

10. The fuselage according to claim 9, characterized in that, The connecting arm is screwed on the outside of the chassis.

11. The fuselage according to claim 9, characterized in that, The detection portion includes: A support portion fixedly connected to the connecting arm; A floating housing covering the outer periphery of the support portion and having an activity gap with the support portion; A reset elastic member located in the activity gap and supported between the floating housing and the support portion. The reset elastic member is used to enable the floating housing to displace relative to the support portion after being collided and to reset the floating housing after the collision disappears. A detection component and a triggering component, one of the detection component and the triggering component is arranged on the support part, and the other is correspondingly arranged on the floating housing.

12. The fuselage according to claim 11, characterized in that, The floating housing includes a first sub-housing and a second sub-housing. The first sub-housing and the second sub-housing are snapped together and enclose to form a receiving cavity, and the support part is located in the receiving cavity; a third through hole is further provided on the floating housing. One end of the connecting arm extends into the receiving cavity through the third through hole and is fixedly connected to the support part, and the other end of the connecting arm is located outside the receiving cavity.

13. The fuselage according to claim 11, characterized in that, The reset elastic member extends in a first direction, and the included angle between the reset elastic member and the horizontal plane is 60°-90°; and / or, the detection component includes a Hall sensor, and the triggering component includes a magnet.

14. The fuselage according to claim 3, characterized in that, A mounting groove with an outward-facing notch is provided on the chassis, and the cutting module is detachably mounted in the mounting groove.

15. The fuselage according to claim 14, characterized in that, The cutting module includes: A connecting seat, at least partially located in the mounting groove and detachably and fixedly connected to the chassis; A first mounting seat, connected to the connecting seat. A first mounting cavity and a fourth through hole communicating the first mounting cavity with the outside are provided on the first mounting seat; A cutting motor, arranged in the first mounting cavity, and an output shaft of the cutting motor extends out of the first mounting cavity through the fourth through hole; A cutting mechanism, located outside the first mounting cavity and connected to the output shaft of the cutting motor.

16. The fuselage according to claim 15, characterized in that, The cutting module further includes a height adjustment mechanism. The first mounting seat is movably connected to the connecting seat. The height adjustment mechanism is detachably mounted in the mounting groove. The first mounting seat is arranged on the height adjustment mechanism, and the height adjustment mechanism is used to drive the first mounting seat to move up and down.

17. The fuselage according to claim 16, characterized in that, The height adjustment mechanism includes: A second mounting seat, at least partially located in the mounting groove and detachably and fixedly connected to the chassis; A height adjustment motor, arranged on the second mounting seat; A transmission assembly, arranged on the second mounting seat. The transmission assembly is connected to the height adjustment motor, and the height adjustment motor is used to drive the transmission assembly to move; A swing arm, rotatably arranged on the second mounting seat. The swing arm is connected to the transmission assembly, and the transmission assembly is used to drive the swing arm to rotate. The first mounting seat is arranged on the swing arm.

18. The fuselage according to claim 17, characterized in that, The transmission assembly includes a screw rod and a gear. The screw rod is connected to the height adjustment motor, the gear is connected to the swing arm, and the screw rod is in meshing transmission with the gear; and / or, a connecting rod is arranged between the first mounting seat and the connecting seat, and two ends of the connecting rod are respectively hinged to the first mounting seat and the connecting seat; and / or, a first mounting space and a second mounting space which are communicated are formed on the second mounting seat. The transmission assembly is installed in the first mounting space, a part of the swing arm is rotatably installed in the second mounting space and is connected to the transmission assembly, another part of the swing arm extends out of the second mounting space, and the first mounting seat is erected on the other part of the swing arm; a fifth through hole communicating the first mounting space with the outside is further formed on the second mounting seat. The height adjustment motor is fixed outside the second mounting seat, and an output shaft of the height adjustment motor extends into the first mounting space through the fifth through hole and is connected to the transmission assembly.

19. The fuselage according to claim 1 or 2, characterized in that, The plurality of functional modules further includes a charging head. The fuselage further includes a rechargeable battery arranged on the housing. The charging head is electrically connected to the rechargeable battery, and the charging head is detachably installed on the housing; and / or, the rechargeable battery is detachably installed on the housing.

20. The fuselage according to claim 19, characterized in that, The housing includes a chassis and a cover body. The chassis and the cover body enclose to form a second installation bin. A sixth through hole is formed in the cover body. One end of the charging head extends into the second installation bin through the sixth through hole, and the other end of the charging head is exposed outside the housing; a connecting portion located in the second installation bin is arranged on the cover body, a second installation hole corresponding to the connecting portion is formed in the chassis, and one end of the charging head, the connecting portion and the chassis are fixedly connected by screwing with a third fastener passing through the second installation hole.

21. A lawn mowing robot, characterized in that, Comprising a fuselage according to any one of claims 1-20.

22. The lawn mowing robot according to claim 21, characterized in that, The lawn mowing robot includes a first fuselage and a second fuselage, the first fuselage and the second fuselage are distributed up and down, the fuselage is the second fuselage, a sealing cavity is arranged on the first fuselage, and a controller is installed in the sealing cavity. The controller is electrically connected to the functional module.

Images