Cutter head and robot

Abstract

A cutter head (10) and a robot. The cutter head (10) comprises a cutter head body (11) and a first blocking member (12); the cutter head body (11) comprises a first disc part (111) and a second disc part (112), the second disc part (112) is arranged around the first disc part (111), the first disc part (111) is configured to be connected to an output shaft (21) of a driver (20), and the first disc part (111) is obliquely arranged towards the driver (20) relative to the second disc part (112); and the first blocking member (12) is provided on the side of the first disc part (111) facing the driver (20), and the first blocking member (12) surrounds the periphery of the output shaft (21). The arrangement mode of the cutter head reduces the possibility of a cut object being wound around the output shaft, thereby ensuring that the output shaft is prevented from being wound and blocked by the cut object.

Description

Cutterhead and robot

[0001] This application claims priority to the Chinese patent application filed with the Patent Office of China on January 19, 2024, with application number 202420140895.8, and application name “Turntable and Robot”, and the Chinese patent application filed with the Patent Office of China on October 23, 2024, with application number 202422574908.5, and application name “Cutter Disc and Robot Thereof”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present application relates to the field of robotics, and in particular to a cutter head and a robot. Background Art

[0003] Against the backdrop of rapidly advancing modern technology, the use of robotic weeding is gradually transforming traditional gardening practices. With rising environmental awareness and a faster pace of life, people are increasingly demanding convenient and efficient services. Robotic weeding, with its intelligent, convenient, and environmentally friendly features, has become an ideal choice for modern home garden management.

[0004] Current weeding robots typically consist of a driver, a cutterhead, and blades mounted on the driver. The driver drives the cutterhead, which in turn rotates the blades to cut the material. When the existing cutterhead encounters long objects, the cut material forms a coiled mass as the high-speed rotation of the cutterhead causes the material to continue to coil, moving toward the center of the cutterhead and eventually becoming entangled on the driver's output shaft. This increases the driver's driving load and reduces its service life.

[0005] Regarding the above technical means, there is a defect that the output shaft of the driver is easily blocked by the cutting material when the cutter disc is working. Summary of the Invention

[0006] The present application provides a cutter disc and a robot to solve the problem that the cutter disc is easily entangled and blocked by cutting objects during operation.

[0007] In a first aspect, the present application provides a cutterhead, comprising a cutterhead body and a first blocking member. The cutterhead body comprises a first disc portion and a second disc portion, the second disc portion being disposed around the first disc portion, the first disc portion being configured to connect to an output shaft of a driver, the first disc portion being inclined relative to the second disc portion, toward the driver. The first blocking member is disposed on a side of the first disc portion facing the driver, and the first blocking member is disposed around the output shaft.

[0008] In some embodiments, the first blocking member is arranged in a ring shape, or the first blocking member is composed of a plurality of blocking teeth, and a recess is formed between adjacent blocking teeth, and the recess is used to connect the spaces on both sides of the first blocking member.

[0009] In some embodiments, a plurality of the blocking teeth are arranged in a circumferential array along the output shaft, and the cross-sectional area of ​​at least some of the blocking teeth decreases from the end close to where the blocking teeth are connected to the first disk portion to the end away from the first disk portion.

[0010] In some embodiments, at least some of the blocking teeth have ends away from the first disk portion that are blade-shaped.

[0011] In some embodiments, a second blocking member is provided on a side of the first disk portion away from the ground, and the second blocking member is located on a side of the first blocking member away from the output shaft.

[0012] In some embodiments, a plurality of the blocking teeth are connected to form two groups of blocking rings, a material flow gap is provided between the two groups of blocking rings for debris or accumulated water to flow out, and the second blocking member is provided corresponding to the material flow gap.

[0013] In some embodiments, the second blocking member includes a fixing seat and a brush, the fixing seat is arranged on one side of the output shaft and spaced from the output shaft, one end of the brush is arranged in the fixing seat, and the end of the brush away from the fixing seat is used to interference fit with the housing of the driver to prevent the cutting material from entering the space enclosed by the first blocking member.

[0014] In some embodiments, the orthographic projection of the end of the brush away from the fixed seat projected onto a vertical plane parallel to the axis of the output shaft is located between the blocking tooth and the outer shell, and the end of the brush away from the fixed seat blocks the gap between the blocking tooth and the outer shell.

[0015] In some embodiments, the first blocking member includes a fixed end, which is an end of the first blocking member close to the first disk portion and is connected to the first disk portion, at least a portion of the first blocking member extends in a direction away from the output shaft based on the fixed end, and a horizontal distance between at least a portion of the first blocking member and the axis of the output shaft is greater than a horizontal distance between the fixed end and the axis of the output shaft.

[0016] In some embodiments, at least a portion of the first blocking member is gradually inclined away from the output shaft, and an angle between the first blocking member and the output shaft is less than 90 degrees.

[0017] In some embodiments, the first blocking member further includes an extension end, which is an end of the first blocking member away from the first disk portion, and a horizontal distance between the extension end and the axis of the output shaft is greater than a horizontal distance between the fixed end and the axis of the output shaft.

[0018] In some embodiments, a difference in projection radius between an orthographic projection of the fixed end projected onto the first disk portion and an orthographic projection of the extending end projected onto the first disk portion is 1.5 mm to 5 mm.

[0019] In some embodiments, the first blocking member is gradually bent from the fixed end toward the extending end, and an end surface of the first blocking member facing away from the output shaft is an arc-shaped surface.

[0020] In some embodiments, the first blocking member is used to loosely fit with a housing on which the driver is mounted, an end of the housing close to the first disk portion is located in a space formed by the extended end, and a horizontal distance between the extended end and the axis of the output shaft is greater than a horizontal distance between a side wall of the housing and the axis of the output shaft.

[0021] In some embodiments, a protrusion is provided on a side of the first disk portion close to the driver, and the protrusion is located between the first blocking member and the output shaft.

[0022] In some embodiments, the first blocking member is connected to the cutter head body by an arc transition.

[0023] In some embodiments, the cutter disc further includes a stop structure, which is disposed on a side of the first blocking member away from the output shaft, and the stop structure and the first disc portion are spaced apart along the axial direction of the output shaft.

[0024] In some embodiments, the cutter disc further includes a connecting member and a fixing member, wherein the connecting member is arranged on the side of the first disc portion away from the ground, and the first disc portion is provided with a connecting groove, and the fixing member includes an operating portion and a clamping portion, wherein the operating portion is located on the side of the first disc portion close to the ground, and the clamping portion passes through the connecting groove and rotates with the connecting member, and the operating portion is rotated to enable the clamping portion to be engaged or disengaged with the connecting member.

[0025] In a second aspect, the present application provides a robot comprising a driver and a cutter disc as described above, wherein the cutter disc is connected to an output shaft of the driver.

[0026] In the cutter disc and robot provided by the present application, a first blocking member is arranged on a side of the first disc portion facing the driver, and the first blocking member is arranged around the output shaft. During the rotation of the cutter disc, vine-like or long cutting objects are cut and blocked by the first blocking member. The first blocking member can increase the winding radius of the output shaft, thereby preventing the cutting objects from forming a circle around the cutter disc, and further preventing the cutter disc from forming a tangled object. The first blocking member guides the tangled object so that the tangled object is wound around the outside of the first blocking member and away from the output shaft. The cutter disc continues to rotate so that the tangled object wound around the outside of the first blocking member gradually moves away from the output shaft and disperses during the rotation process, thereby separating from the first blocking member, preventing the vine-like or long tangled object from moving to the output shaft and the rotation axis of the first disc portion, thereby reducing the possibility of the cutting object being wound around the output shaft and ensuring that the output shaft is free from being blocked by the tangled object. The first blocking member can also prevent debris such as grass clippings and dust from contacting the output shaft, thereby avoiding contamination of the connection between the output shaft and the first disc portion, and improving the service life of the cutter disc. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] 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. 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 paying any creative labor.

[0028] FIG1 is a partial cross-sectional view of a robot provided in an embodiment of the present application.

[0029] FIG2 is a schematic diagram of the structure of the cutter disc provided in an embodiment of the present application.

[0030] FIG3 is a front view of a cutter head disclosed in some embodiments of the present application.

[0031] FIG4 is a schematic structural diagram of a cutter head disclosed in some embodiments of the present application.

[0032] FIG5 is a cross-sectional view of a cutter head disclosed in some embodiments of the present application.

[0033] FIG6 is a cross-sectional view of a cutter head, a driver, and a cover disclosed in some embodiments of the present application.

[0034] FIG. 7 is an enlarged view of point A in FIG. 6 .

[0035] FIG8 is a schematic structural diagram of a cutter head disclosed in some embodiments of the present application, highlighting the first stopper, the second stopper, and the outer shell.

[0036] FIG9 is a schematic structural diagram of a cutter head disclosed in some other embodiments of the present application, highlighting the first blocking member, the second blocking member, and the outer shell.

[0037] FIG10 is a cross-sectional view of a cutter disc provided in other embodiments of the present application.

[0038] FIG11 is a schematic diagram of a partial structure of a cutter disc provided in other embodiments of the present application.

[0039] FIG12 is a schematic diagram of a cutter head disclosed in an embodiment of the present application from another perspective.

[0040] Explanation of the main figure marks: cutter disc 10; cutter disc body 11; first disc portion 111; connecting groove 1110; cutter disc mounting portion 1111; raised portion 1112; cutter disc transition portion 1113; second disc portion 112; first blocking member 12; blocking teeth 120; fixed end 121; extended end 122; stop structure 123; feed gap 124; second blocking member 13; fixed seat 131; brush 132; blade 141; blade fixing member 142; driver 20; output shaft 21; connecting member 31; fixing member 32; operating portion 321; clamping portion 322; outer shell 40; cover shell 50; first shell portion 51; second shell portion 52; third shell portion 53.

[0041] The following specific implementation methods will further illustrate the present application in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments in this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0043] References herein to "embodiments" or "implementations" mean that a particular feature, structure, or characteristic described in connection with the embodiments or implementations may be included in at least one embodiment of the present application. The appearance of such phrases in various places in the specification does not necessarily refer to the same embodiment, nor do they constitute independent or alternative embodiments that are mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0044] It should be noted that the terms used in the specification, claims, and drawings of this application are intended only to describe specific embodiments and are not intended to limit this application. The terms "first," "second," and so on, used in the specification, claims, and drawings of this application are used to distinguish between different objects, not to describe a specific order.

[0045] When a conventional cutter disc encounters a long, strip-shaped or vine-shaped object, the cut vine-shaped object forms a coiled coil as the disc rotates at high speed. This coiling process causes the coiled object to move toward the center of the disc and eventually become entangled with the output shaft of the driver 20, increasing the driver's drive load and reducing its service life. To address the aforementioned technical issues, the present application provides a cutter disc and a robot therefor.

[0046] Please refer to Figures 1 and 2 . Figure 1 is a partial cross-sectional view of a robot provided in an embodiment of the present application, and Figure 2 is a schematic diagram of the structure of a cutter disc 10 provided in an embodiment of the present application. This application provides a robot. The robot can be configured as a lawn mower robot, a crop harvester robot, a sweeper robot, or the like. For example, in this embodiment, the structure of the cutter disc 10 is described in detail using a lawn mower robot as an example. The robot includes a cutting body and a walking body. The cutting body is used to cut lawns, etc., while the walking body provides power to drive the cutting body. The cutting body includes a cutter disc 10, a driver 20, a housing 40, and a cover 50. The driver 20 is disposed within the housing 40. The cover 50 is connected to the side of the housing 40 facing the ground. The driver 20 is provided with an output shaft 21. The output shaft 21 passes through the housing 40 and the cover 50. The cutter disc 10 is located within the cover 50. The cutter disc 10 is connected to the output shaft 21 of the driver 20. The driver 20 is used to drive the cutter disc 10 to rotate via the output shaft 21. In some embodiments, the robot can also be configured as a sweeping robot, and the cutter disc 10 can be configured as a brush disc of the sweeping robot.

[0047] The cutter disc 10 includes a cutter disc body 11. The cutter disc body 11 is connected to the output shaft 21 of the driver 20. The cutter disc body 11 is constructed as a disc-shaped structure. The cutter disc body 11 includes a first disc portion 111 and a second disc portion 112. The first disc portion 111 is used to connect to the output shaft 21 of the driver 20. The second disc portion 112 is arranged around the first disc portion 111. The first disc portion 111 and the second disc portion 112 both rotate around the axis of the output shaft 21. The first disc portion 111 and the second disc portion 112 can be integrally formed. Under the action of the output shaft 21, the first disc portion 111 and the second disc portion 112 rotate synchronously.

[0048] The cutter disc 10 is in the shape of an inverted vessel, that is, the cutter disc 10 gradually bulges from the edge toward the middle part of the cutter disc 10, so that the height of the middle part of the cutter disc 10 from the ground is greater than the height of the edge part from the ground, reducing the contact of the cutter disc 10 with the cutting object and reducing the rotational resistance of the driver 20.

[0049] The first disc portion 111 is tilted relative to the second disc portion 112, toward the driver 20. The first disc portion 111 is generally truncated. The first disc portion 111 includes a cutterhead mounting portion 1111 and a cutterhead transition portion 1113. The cutterhead transition portion 1113 is located between the cutterhead mounting portion 1111 and the second disc portion 112. Specifically, the second disc portion 112 is approximately flat, facilitating cutting operations. The slope of the cutterhead transition portion 1113 is greater than that of the cutterhead mounting portion 1111. The cutterhead transition portion 1113 forms a raised structure in the middle of the cutterhead 10 to reduce contact between the cutterhead 10 and the object being cut. The cutterhead mounting portion 1111 is located above the second disc portion 112, meaning the distance between the cutterhead mounting portion 1111 and the ground is greater than the distance between the second disc portion 112 and the ground. The slope of the cutterhead mounting portion 1111 is relatively gentle, and the cutterhead mounting portion 1111 is connected to the output shaft 21. The output shaft 21 passes through the rotation axis of the cutterhead mounting portion 1111 to enable rotation of the cutterhead 10.

[0050] The cutterhead 10 also includes a blade 141 and a blade holder 142. The blade 141 is mounted on the second disc portion 112 of the cutterhead body 11 via the blade holder 142. When the cutterhead 10 rotates, the blade 141 cuts the grass on the lawn. The first disc portion 111 is tilted relative to the second disc portion 112 toward the driver 20 to increase the distance between the first barrier 12 and the blade 141 along the axial direction of the output shaft 21, reducing grass clippings and dust that splash onto the first barrier 12, improving the first barrier 12's ability to block grass clippings and dust, and allowing grass clippings and dust that land on the first disc portion 111 to be more quickly removed. The blade 141 can be located on the side of the cutterhead body 11 away from the first barrier 12 to increase the distance between the blade 141 and the first barrier 12 along the axial direction of the output shaft 21.

[0051] Please refer to Figure 3, which is a front view of a cutterhead 10 disclosed in some embodiments of this application. In some other embodiments, the cutterhead transition portion 1113 is used to form a concave structure in the middle of the cutterhead 10. The cutterhead transition portion 1113 and the cutterhead mounting portion 1111 are both located below the second disc portion 112. In other words, the distance between the cutterhead mounting portion 1111 and the ground is less than the distance between the second disc portion 112 and the ground.

[0052] Referring to Figure 1 , to reduce the possibility of cut material entangled around the output shaft 21 and to ensure that the output shaft 21 is free from entanglement and obstruction, the cutter head 10 further includes a first blocking member 12. The first blocking member 12 is disposed on the side of the cutter head body 11 facing the driver 20. The first blocking member 12 surrounds the output shaft 21. The first stopper 12 can also prevent debris such as grass clippings and dust from contacting the output shaft 21, thereby preventing the connection between the output shaft 21 and the first disc 111 from being contaminated, thereby improving the service life of the cutter head 10. Since the cutterhead mounting portion 1111 has a relatively small slope, it is easy to guide the entangled material to the position of the output shaft 21. In this embodiment, the first blocking member 12 can be provided on the cutterhead transition portion 1113. In some embodiments, the first blocking member 12 can be provided at the position where the cutterhead mounting portion 1111 and the cutterhead transition portion 1113 are connected.

[0053] The first blocking member 12 includes a fixed end 121 and an extended end 122. The fixed end 121 is the end of the first blocking member 12 that is close to the blade mounting portion 1111 of the first disc portion 111 and is connected to the first disc portion 111. The extended end 122 is the end of the first blocking member 12 that is away from the blade mounting portion 1111. The extended end 122 is connected to the side of the fixed end 121 that is away from the blade body 11. The fixed end 121 and the extended end 122 can be integrally formed. The extended end 122 is used to block, break up, and cut grass clippings to prevent them from becoming entangled in the first blocking member 12.

[0054] In some embodiments, the first blocking member 12 is annularly configured to fully prevent debris such as grass clippings and dust from contacting the output shaft 21, thereby preventing contamination of the connection between the output shaft 21 and the first disc portion 111 and improving the service life of the cutterhead 10. The first blocking member 12 is an integral annular configuration, with the horizontal distance between the fixed end 121 and the axis of the output shaft 21 being less than the horizontal distance between the extended end 122 and the axis of the output shaft 21. The first blocking member 12 may be horn-shaped; alternatively, the horizontal distance between the fixed end 121 of the first blocking member 12 and the axis of the output shaft 21 is equal to the horizontal distance between the extended end 122 and the axis of the output shaft 21, and the first blocking member 12 may be cylindrical; alternatively, the first blocking member 12 may be composed of at least two spaced-apart semi-annular shapes, wherein the radii of the two semi-annular shapes may be the same or different.

[0055] In this embodiment, the fixing end 121 is annular. The fixing end 121 is generally annular. In other embodiments, the fixing end 121 may also be in other shapes such as a rectangular ring.

[0056] In some embodiments, the extension end 122 may be provided as one, and the first blocking member 12 may be provided in a cylindrical shape.

[0057] Illustratively, in this embodiment, in order to facilitate the discharge of impurities such as cutting debris or accumulated water from the enclosed area of ​​the first blocking member 12, the first blocking member 12 is composed of a plurality of blocking teeth 120. A plurality of blocking teeth 120 are arranged in a circumferential array along the output shaft 21. A plurality of blocking teeth 120 are arranged in an intermittent arrangement around the output shaft 21 or arranged adjacent to each other. Among them, a circular arc transition can be arranged between two adjacent blocking teeth 120. A recess is formed between adjacent blocking teeth 120, and the recess is used to connect the spaces on both sides of the first blocking member 12. The provision of the recess increases the possibility of the enclosed space of the first blocking member 12 being connected to the outside world. On the other hand, the provision of the recess is conducive to reducing materials, thereby reducing the weight of the cutter disc 10. An extension end 122 is formed at one end of the blocking tooth 120 away from the first disc portion 111. In other embodiments, the plurality of blocking teeth 120 may also be arranged in other annular shapes; the lower end of the recess may be set flush with the end face of the cutter disc mounting portion 1111, so that impurities such as cutting debris or accumulated water can be more easily discharged from the enclosed area of ​​the first blocking member 12.

[0058] At least some of the multiple blocking teeth 120 have a width along the circumferential direction of the output shaft 21 that decreases from the end closest to the fixed end 121 to the end further away from the fixed end 121, thereby improving the grass cutting ability of the extended end 122. The cross-sectional area of ​​at least some of the blocking teeth 120 decreases from the end closest to the connection with the first disc portion 111 to the end further away from the first disc portion 111. In other words, the cross-sectional area of ​​the blocking teeth 120 decreases from the fixed end 121 to the extended end 122. Several blocking teeth 120 have pointed portions at the ends away from the blade disc mounting portion 1111, which reduce friction caused by direct or indirect contact with the housing 40. When the blade disc 10 rotates, grass clippings slide along the opposite circumferential edges of the extended end 122 along the output shaft 21. The guiding and cutting action of the side edges of the extended end 122 forces the grass clippings to move away from the blade disc body 11 or to be cut, thereby preventing them from becoming entangled. The width of the blocking tooth 120 along the circumferential direction of the output shaft 21 may be the arc length corresponding to the blocking tooth 120 along the circumferential direction of the output shaft 21 .

[0059] The shapes of the ends of the different extension ends 122 away from the fixed end 121 can be the same, or the shapes of the ends of at least some of the extension ends 122 away from the fixed end 121 can be different. For example, in this embodiment, the end of each extension end 122 away from the fixed end 121 is arc-shaped, and the multiple extension ends 122 are connected to form a wavy structure. In some embodiments, the end of the extension end 122 away from the fixed end 121 is pointed, and the multiple extension ends 122 are connected to form a sawtooth structure. In some embodiments, the end of the extension end 122 away from the fixed end can also be regular or irregular in shape. In some embodiments, the end of at least some of the extension ends 122 away from the fixed end 121 is blade-shaped to improve the ability of the extension end 122 to cut grass clippings.

[0060] The first stopper 12 and the cutter head body 11 can be integrally formed to improve the integrity of the cutter head 10, reduce the difficulty of forming the cutter head 10, and facilitate cleaning of the cutter head 10. In some embodiments, the first stopper 12 and the cutter head body 11 can also be configured as independent structures, and the first stopper 12 and the cutter head body 11 can be fixedly connected together by welding, welding, clamping, bonding, screwing, etc.

[0061] In some embodiments, the first blocking member 12 and the blade disc body 11 can be connected by an arc transition to avoid the formation of a cleaning dead corner between the first blocking member 12 and the blade disc body 11, which is beneficial to the cleaning of the blade disc 10, and is beneficial for grass clippings to slide off the blade disc body 11 after being blocked by the first blocking member 12, and improve the connection strength of the connection between the first blocking member 12 and the blade disc body 11, avoid the problem of cracking, and improve the service life of the blade disc 10.

[0062] In some embodiments, the surface of the first stopper 12 facing away from the output shaft 21 is smooth to reduce grass debris from adhering to the first stopper 12. As the cutterhead 10 rotates, grass debris, dust, and other debris adhering to the surface of the first stopper 12 facing away from the output shaft 21 can be pulled away from the first stopper 12 by external grass debris. In some embodiments, the fixed end 121 can be configured as a bellows to prevent grass debris from sliding along the outer wall of the fixed end 121, thereby preventing grass debris from passing over the first stopper 12 and becoming entangled on the output shaft 21. In some embodiments, the fixed end 121 can also extend in a straight cylindrical shape.

[0063] Please refer to Figures 4, 5, 6, and 7. Figure 4 is a schematic structural diagram of a cutterhead 10 disclosed in some embodiments of the present application; Figure 5 is a cross-sectional view of a cutterhead 10 disclosed in some embodiments of the present application; Figure 6 is a cross-sectional view of the cutterhead 10, the driver 20, and the cover 50 disclosed in some embodiments of the present application; and Figure 7 is an enlarged view of point A in Figure 6. In some embodiments, the first stopper 12 is tilted away from the output shaft 21. The first stopper 12 is configured in an inverted frustum shape. When grass clippings are entangled with the first stopper 12, the first stopper 12 is tilted away from the output shaft 21, allowing the grass clippings to slide along the outer wall of the first stopper 12 and accumulate near the connection between the first stopper 12 and the cutterhead body 11. This prevents the grass clippings from moving along the outer wall of the first stopper 12 away from the cutterhead body 11, thereby preventing the grass clippings from passing over the first stopper 12 and becoming entangled with the output shaft 21, thereby preventing the driver 20 from stalling.

[0064] At least a portion of the first blocking member 12 extends from the fixed end 121 in a direction away from the output shaft 21, and the horizontal distance between at least a portion of the first blocking member 12 and the axis of the output shaft 21 is greater than the horizontal distance between the fixed end 121 and the axis of the output shaft 21. That is, at least a portion of the first blocking member 12 as a whole is tilted or curved in a direction away from the output shaft 21. The horizontal distance between the extended end 122 and the axis of the output shaft 21 is greater than the horizontal distance between the fixed end 121 and the axis of the output shaft 21. In some embodiments, the first blocking member 12 as a whole is tilted or curved in a direction away from the output shaft 21, and the horizontal distance between the fixed end 121 of the first blocking member 12 and the output shaft 21 is greater than the horizontal distance between other portions of the first blocking member 12 and the output shaft 21. In some embodiments, the fixed end 121 can be extended along an axial direction parallel to the output shaft 21, and the extended end 122 can be tilted or bent relative to the fixed end 121 in a direction away from the output shaft 21, that is, from the fixed end 121 toward the extended end 122, the first blocking member 12 first extends along an axial direction parallel to the output shaft 21, and then tilts or bends in a direction away from the output shaft 21.

[0065] It can be understood that the first blocking member 12 is arranged around the outer periphery of the output shaft 21 and is located at the periphery of the rotation axis of the cutter disc mounting portion 1111. The enclosed space of the first blocking member 12 provides protection for the output shaft 21 and the rotation axis of the cutter disc mounting portion 1111. During the rotation of the cutter disc 10, the vine-shaped or long winding material is cut and blocked by the first blocking member 12. The first blocking member 12 guides the winding material so that the winding material is wound to the outside of the first blocking member 12 to stay away from the output shaft 21. The cutter disc 10 continues to rotate based on the water level between the fixed end 121 and the axis of the output shaft 21. The horizontal distance is smaller than the horizontal distance between the extension end 122 and the axis of the output shaft 21, so that the windings wound around the outside of the first blocking member 12 gradually move and disperse in the direction away from the output shaft 21 based on the fixed end 121 during the rotation process, so that the windings at the extension end 122 are away from the position of the output shaft 21, which facilitates the windings to detach from the first blocking member 12, and avoids the vine-shaped or long windings from gathering on the output shaft 21 and the rotation axis of the cutter disc mounting part 1111, thereby reducing the possibility of the cut material being wound around the output shaft 21, and ensuring that the output shaft 21 is free from being blocked by the cut material.

[0066] At least a portion of the first blocking member 12 is tilted away from the cutterhead mounting portion 1111, and the angle between the first blocking member 12 and the axis of the output shaft 21 is less than 90 degrees. When the winding material is wound, based on the principle of rotational winding, the tilted portion of the first blocking member 12 helps guide the winding material downward toward the cutterhead mounting portion 1111 or be flung away by the centrifugal force of the rotation, away from the position of the output shaft 21, and prevent the winding material from entering the space enclosed by the first blocking member 12.

[0067] To enhance the guiding capability of the first stopper 12, the first stopper 12 is gradually bent from the fixed end 121 toward the extended end 122, and the end surface of the first stopper 12 facing away from the output shaft 21 is an arcuate surface. It will be appreciated that at a fixed tilt angle, the slope between the arcuate surface of the first stopper 12 facing away from the output shaft 21 and the horizontal plane gradually decreases, with the slope being the smallest at the extended end 122. This arcuate surface enhances the guiding capability of the extended end 122 of the first stopper 12. Furthermore, the difference in projection radius between the orthographic projection of the fixed end 121 projected onto the cutterhead mounting portion 1111 of the first disc portion 111 and the orthographic projection of the extended end 122 projected onto the cutterhead mounting portion 1111 of the first disc portion 111 is 1.5 mm to 5 mm. In this embodiment, the projection radius difference is preferably 2.5 to 4 mm. For example, the projection radius difference can be 1.5 mm, 2 mm, 2.5 mm, 3 mm, 3.5 mm, 4 mm, 4.5 mm, 5 mm, and so on.

[0068] Referring to FIG7 , during the rotation of the cutterhead 10, the first stopper 12 is spaced apart from the housing 40 for mounting the driver 20. This provides a clearance fit between the first stopper 12 and the housing 40, thereby reducing collision and friction between the housing 40 and the first stopper 12 during rotation and thereby increasing the service life of the first stopper 12 and the housing 40. In some embodiments, the first stopper 12 is located below the housing 40, and a gap exists between the extended end 122 of the first stopper 12 and the end surface of the housing 40. In other words, the distance between the first stopper 12 and the cutterhead mounting portion 1111 is less than the distance between the end surface of the housing 40 and the cutterhead mounting portion 1111.

[0069] Please refer to Figure 8, which is a schematic diagram of the structure of a cutterhead 10 disclosed in some embodiments of the present application, highlighting the first stopper 12, the second stopper 13, and the housing 40. In some other embodiments, the end of the housing 40 proximate the cutterhead mounting portion 1111 is located within the space surrounded by the extension end 122, and a gap exists between the sidewall of the housing 40 and the extension end 122 of the first stopper 12. In other words, when the first stopper 12 vertically overlaps with the housing 40, the first stopper 12 is ensured to not contact the housing 40 horizontally. The dimensions of the first stopper 12 can be larger than those of the housing 40, and the horizontal distance between the extension end 122 and the output shaft 21 is greater than the horizontal distance between the sidewall of the housing 40 and the axis of the output shaft 21. The distance between the first blocking member 12 and the cutter disc mounting portion 1111 of the first disc portion 111 is greater than the distance between the end face of the outer shell 40 and the cutter disc mounting portion 1111 of the first disc portion 111, which is beneficial for the first blocking member 12 to block the gap between the cutter disc mounting portion 1111 and the end face of the outer shell 40, further reducing the amount of cutting objects entering the space enclosed by the first blocking member 12, and further solving the problem of the output shaft 21 being entangled and blocked by cutting objects.

[0070] Please refer to Figures 4, 5 and 8 together. A second blocking member 13 is provided on the side of the cutter disc mounting portion 1111 of the first disc portion 111 away from the ground. The second blocking member 13 is arranged concentrically with the first blocking member 12 and the output shaft 21. The second blocking member 13 is located on the side of the first blocking member 12 away from the output shaft 21. The second blocking member 13 is used to further intercept and block the cutting object.

[0071] Specifically, two sets of second blocking members 13 are provided, symmetrically arranged along the center of the output shaft 21. The second blocking members 13 include a fixing base 131 and a brush 132. The fixing base 131 is disposed on one side of the output shaft 21 and spaced apart from the output shaft 21. One end of the brush 132 is removably mounted within the fixing base 131, facilitating replacement of the brush 132. The end of the brush 132, distal from the fixing base 131, is configured to form an interference fit with the housing 40, thereby preventing cut material from entering the space enclosed by the first blocking member 12.

[0072] In this embodiment, a plurality of blocking teeth 120 are connected to form two sets of blocking rings, and a feed gap 124 is provided between the two sets of blocking rings for debris or accumulated water to flow out. The second blocking member 13 is provided corresponding to the feed gap 124, that is, the fixing seat 131 and the brush 132 are both provided corresponding to the feed gap 124. Since the feed gap 124 has no extended protrusion, it can better discharge debris or accumulated water from the enclosed area of ​​the first blocking member 12. At the same time, the fixing seat 131 and the brush 132 block the feed gap 124, reducing the possibility of cut materials entering the enclosed area of ​​the first blocking member 12 through the feed gap 124.

[0073] Please refer to Figure 9, which is a schematic diagram of a cutter head 10 disclosed in other embodiments of the present application, highlighting the first and second stoppers 12, 13, and housing 40. In some other embodiments, the orthographic projection of the end of the brush 132 distal from the mounting base 131, projected onto a vertical plane parallel to the axis of the output shaft 21, is located between the blocking teeth 120 and the housing 40, and the end of the brush 132 distal from the mounting base 131 blocks the gap between the blocking teeth 120 and the housing 40. It is understood that the end of the brush 132 distal from the mounting base 131 can block the gap between the blocking teeth 120 and the outer wall of the housing 40, resulting in a slight lack of lateral resistance on the brush 132. Most entangled material exerts lateral forces on the walls of the brush 132. This solution places the resistance surface of the brush 132 at the top, achieving a better blocking effect and further preventing entangled material from entering the space enclosed by the first stopper 12 from above.

[0074] In the process of the output shaft 21 driving the cutter disc 10 to rotate, the cut objects and vine-like or long windings are blocked by the fixed end 121 and the extension end 122 of the first blocking member 12, and the windings are guided so that the windings gradually move away from the position of the output shaft 21; at the same time, the second blocking member 13 further blocks the windings to reduce the cut objects from entering the space enclosed by the first blocking member 12, thereby avoiding the vine-like or long windings from moving to the output shaft and the rotation axis of the cutter disc mounting part 1111, thereby reducing the possibility of the cut objects being wound around the output shaft 21, and ensuring that the output shaft 21 is free from being blocked by the cut objects.

[0075] Referring to FIG. 10 , in some embodiments, the cutterhead 10 further includes a stop structure 123. The stop structure 123 is disposed on a side of the first blocking member 12 away from the output shaft 21. The stop structure 123 is spaced apart from the cutterhead body 11 in the axial direction of the output shaft 21. The stop structure 123 extends away from the output shaft 21. The stop structure 123 is used to stop grass clippings wrapped around the first blocking member 12, further preventing the grass clippings from passing over the first blocking member 12 along the outer wall of the first blocking member 12. In some embodiments, the stop structure 123 can be configured as an annular structure and disposed around the first blocking member 12. In some embodiments, the stop structure 123 can be configured as a block-shaped or columnar structure. Multiple stop structures 123 can be provided, with the multiple stop structures 123 spaced apart or adjacently arranged circumferentially around the output shaft 21. In some embodiments, the stop structure 123 can be inclined relative to the first blocking member 12 toward the side away from the cutterhead body 11.

[0076] Referring to Figure 11 , in some embodiments, the stop structure 123 can be arranged at an angle relative to the axial direction of the output shaft 21. For example, the stop structure 123 can extend in a spiral shape. When the cutterhead 10 rotates, the stop structure 123 can drive the surrounding air flow, causing the air to blow against the cutterhead body 11, thereby blowing away grass clippings on the cutterhead body 11.

[0077] Please refer to Figure 1, the cutter disc 10 also includes a connecting member 31. The connecting member 31 is fixedly connected to the output shaft 21 and the cutter disc body 11 respectively. The connecting member 31 is used to fixedly connect the cutter disc body 11 and the output shaft 21 together. An avoidance opening is provided on the cutter disc body 11. The end of the output shaft 21 away from the driver 20 is inserted into the avoidance opening. A protrusion 1112 is protruded from the side of the first disc portion 111 close to the driver 20. The protrusion 1112 is arranged around the avoidance opening and is located on the side of the connecting member 31 away from the output shaft 21. The protrusion 1112 is located between the first blocking member 12 and the output shaft 21.

[0078] The housing 50 has a storage space therein, housing the driver 20 and the outer shell 40. The housing 50 includes a first housing portion 51, a second housing portion 52, and a third housing portion 53. The second housing portion 52 extends radially along the output shaft 21. The first housing portion 51 is connected to the end of the second housing portion 52 distal from the output shaft 21 and extends axially along the output shaft 21, away from the cutterhead body 11. The third housing portion 53 is connected to the end of the second housing portion 52 proximal to the output shaft 21 and extends axially along the output shaft 21, toward the cutterhead body 11.

[0079] The diameter of the first shell portion 51 is greater than or equal to the diameter of the first stopper 12. The end of the first stopper 12, away from the cutter body 11, is located near the second shell portion 52. When grass clippings slide along the outer sidewall of the first stopper 12 away from the cutter body 11, the first and second shell portions 51, 52 stop the grass clippings, preventing them from passing over the first stopper 12.

[0080] The third shell portion 53 and the first blocking member 12 are staggered along the axial direction of the output shaft 21. When a small amount of grass clippings, dust and other debris passes over the first blocking member 12, the third shell portion 53 can stop the grass clippings, dust and other debris, thereby preventing the grass clippings, dust and other debris from contacting the output shaft 21.

[0081] The end of the third housing portion 53, distal from the second housing portion 52, is positioned near the cutterhead body 11. The raised portions 1112 and the third housing portion 53 are interlaced along the axial direction of the output shaft 21. The raised portions 1112 extend to a position between the connector 31 and the third housing portion 53. In this way, the first blocking member 12 forms a primary barrier for the output shaft 21, while the raised portions 1112 and the third housing portion 53 form a secondary barrier, effectively preventing debris such as grass clippings and dust from coming into contact with the output shaft 21.

[0082] Please refer to Figures 4, 7 and 12. Figure 12 is a schematic diagram of a cutter disc 10 from another perspective disclosed in an embodiment of the present application. The cutter disc 10 also includes a connecting member 31 and a fixing member 32. The connecting member 31 is arranged on the side of the first disc portion 111 away from the ground. The first disc portion 111 is provided with a connecting groove 1110. The connecting member 31 is fixedly connected to the housing 40. The connecting member 31 is located at one end of the housing 40 and is arranged on the side of the cutter disc mounting portion 1111 away from the ground. The fixing member 32 includes an operating portion 321 and a clamping portion 322. The operating portion 321 and the clamping portion 322 are integrally formed. The operating portion 321 is located on the side of the cutter disc mounting portion 1111 of the first disc portion 111 close to the ground. The clamping portion 322 is provided with a connecting groove 1110 to rotate with the connecting member 31. The operating portion 321 is rotated to engage or disengage the clamping portion 322 with the connecting member 31. By rotating the operating portion 321 , the operating portion 321 drives the clamping portion 322 to rotate synchronously, and the corresponding clamping portion 322 and the connecting member 31 are clamped or released, which is simple to operate and convenient for installing or replacing the cutter head 10 .

[0083] The above are some implementation methods of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications are also considered to be within the scope of protection of the present application.

Claims

1. A cutter head, characterized in that, Comprising: A cutter head body, the cutter head body includes a first disc portion and a second disc portion, the second disc portion is disposed around the first disc portion, the first disc portion is used to connect to the output shaft of the driver, and the first disc portion is inclined relative to the second disc portion in the direction towards the driver; A first blocking member, disposed on the side of the first disc portion facing the driver, and the first blocking member surrounds the periphery of the output shaft.

2. The cutter head according to claim 1, wherein, The first blocking member is annularly arranged, or the first blocking member is composed of a plurality of blocking teeth, and a recess is formed between adjacent blocking teeth, and the recess is used to communicate the spaces on both sides of the first blocking member.

3. The cutter head according to claim 2, wherein, A plurality of the blocking teeth are arranged in a circumferential array along the output shaft, and the cross-sectional area of at least part of the blocking teeth decreases in the direction from the end close to the connection between the blocking teeth and the first disc portion to the end far from the first disc portion.

4. The cutter head according to claim 2, characterized in that, At least part of the ends of the blocking teeth far from the first disc portion are blade-shaped.

5. The cutter head according to claim 2, wherein, A second blocking member is disposed on the side of the first disc portion far from the ground, and the second blocking member is located on the side of the first blocking member far from the output shaft.

6. The cutter head according to claim 5, characterized in that, A plurality of the blocking teeth are connected to form two sets of blocking rings, and a material passing gap for debris or accumulated water to flow out is provided between the two sets of blocking rings, and the second blocking member is arranged corresponding to the material passing gap.

7. The cutter head according to claim 5, wherein The second blocking member includes a fixed seat and a brush, the fixed seat is disposed on one side of the output shaft and is spaced from the output shaft, one end of the brush is disposed in the fixed seat, and the end of the brush far from the fixed seat is used for interference fit with the outer shell of the driver to block cutting objects from entering the space surrounded by the first blocking member.

8. The cutter head according to claim 7, wherein The positive projection of the end of the brush far from the fixed seat on a vertical plane parallel to the axis of the output shaft is located between the blocking teeth and the outer shell, and the end of the brush far from the fixed seat blocks the gap between the blocking teeth and the outer shell.

9. The cutter head according to claim 1, wherein The first blocking member includes a fixed end, the fixed end is the end of the first blocking member close to the first disc portion and is connected to the first disc portion, at least part of the first blocking member extends in the direction away from the output shaft based on the fixed end, and the horizontal distance between at least part of the first blocking member and the axis of the output shaft is greater than the horizontal distance between the fixed end and the axis of the output shaft.

10. The cutter head according to claim 9, characterized in that, At least part of the first blocking member is gradually inclined in the direction away from the output shaft, and the included angle between the first blocking member and the output shaft is less than 90 degrees.

11. The cutter head according to claim 9, characterized in that, The first blocking member further includes an extending end, the extending end is the end of the first blocking member far from the first disc portion, and the horizontal distance between the extending end and the axis of the output shaft is greater than the horizontal distance between the fixed end and the axis of the output shaft.

12. The cutter head according to claim 11, characterized in that, The difference in projection radius between the positive projection of the fixed end on the first disc portion and the positive projection of the extending end on the first disc portion is 1.5 mm - 5 mm.

13. The cutter head according to claim 11, wherein The first blocking member is gradually bent from the fixed end towards the extending end, and the end face of the first blocking member facing away from the output shaft is an arc surface.

14. The cutter head according to claim 11, characterized in that, The first blocking member is used for clearance fit with the housing on which the driver is installed. One end of the housing close to the first disc portion is located in the space formed by the surrounding of the extending end. The horizontal distance between the extending end and the axis of the output shaft is greater than the horizontal distance between the side wall of the housing and the axis of the output shaft.

15. The cutter head according to claim 1, characterized in that, A convex portion is provided on one side of the first disc portion close to the driver, and the convex portion is located between the first blocking member and the output shaft.

16. The cutter head according to claim 1, wherein, An arc transition connection is provided between the first blocking member and the cutter disc body.

17. The cutter head according to claim 1, wherein, The cutter disc further includes a stop structure. The stop structure is arranged on a side of the first blocking member away from the output shaft, and the stop structure and the first disc portion are arranged at intervals along the axial direction of the output shaft.

18. The cutter head according to claim 1, wherein, The cutter disc further includes a connecting member and a fixing member. The connecting member is arranged on a side of the first disc portion away from the ground. The first disc portion is provided with a connecting groove. The fixing member includes an operating portion and a clamping portion. The operating portion is located on a side of the first disc portion close to the ground. The clamping portion passes through the connecting groove and is rotationally matched with the connecting member. Rotating the operating portion enables the clamping portion to be clamped or unclamped with the connecting member.

19. A robot, characterized in that, It includes a driver and the cutter disc according to any one of claims 1-18, and the cutter disc is connected to the output shaft of the driver.

Images