Robot

Abstract

A robot, the robot comprising a robot body (2000) and a cutting mechanism (1000). The robot body (2000) comprises a vehicle body and a moving assembly, the moving assembly being arranged on the vehicle body and used for driving the vehicle body to advance. The cutting mechanism (1000) comprises a connecting assembly and a cutting assembly (100), the cutting assembly (100) being connected to the vehicle body by means of the connecting assembly, and the cutting assembly (100) being located on the peripheral side of the vehicle body. The cutting assembly (100) comprises a cutter head (20) and a protective cover, the protective cover being rotatably mounted on one side of the cutter head (20). The robot structure prevents a cutting blade from colliding with obstacles and getting damaged, thereby prolonging the service life of the cutter head and the cutting blade.

Description

robot

[0001] This invention claims priority to the Chinese invention patent filed on February 4, 2024 (patent number 202410159229.3, patent name: Robot). Technical Field

[0002] The present application relates to the field of lawn mowing equipment, and in particular to a robot. Background Art

[0003] As people's living standards continue to improve, they have higher and higher requirements for leisure environments. Private gardens, parks, playgrounds and other places have become the best places for people to relax and have fun. Currently, robots are used to trim the lawns of private gardens, parks, playgrounds and other places from time to time to ensure their beauty.

[0004] However, the robot uses a high-speed rotating cutter disc for cutting. Since the cutter disc is provided with a sharp cutting blade, effective protection is required for the cutting blade to protect the cutting blade and prevent the cutting blade from harming the user to avoid accidents. Summary of the Invention

[0005] The present application provides a robot that can effectively protect a cutting blade through a protective cover to prevent the cutting blade from being damaged by collision with obstacles.

[0006] The present application provides a robot, comprising:

[0007] The robot body includes a body and a moving component, wherein the moving component is arranged on the body and is used to drive the body to move;

[0008] The cutting mechanism comprises a connecting assembly and a cutting assembly, wherein the cutting assembly is connected to the vehicle body via the connecting assembly and the cutting assembly is located on a peripheral side of the vehicle body;

[0009] The cutting assembly includes a cutter disc and a protective cover. The cutter disc is equipped with a cutting blade, and the protective cover is arranged above the cutter disc.

[0010] In the robot of one embodiment of the present application, the protective cover is rotatably mounted on one side of the cutter head.

[0011] In a robot of one embodiment of the present application, the protective cover includes a compressible and deformable protective edge strip. When the protective edge strip is not compressed, the projection of at least part of the structure of the protective cover covers the projection of the cutting area of ​​the cutting blade; when the protective edge strip is compressed, the projection of the protective cover approaches the projection of the cutting area of ​​the cutting blade.

[0012] In the robot of one embodiment of the present application, the protective cover further includes a cover body, the protective edge strip has a connecting portion and an anti-collision portion made of a flexible material, and the anti-collision portion is arranged on the outside of the cover body through the connecting portion.

[0013] In the robot of one embodiment of the present application, the anti-collision portion includes a plurality of flexible units arranged at intervals, and the flexible units extend radially outward from the cover body and can bend when subjected to force.

[0014] In the robot of one embodiment of the present application, the outward extension length of the flexible unit is greater than the distance between two adjacent flexible units; and / or the flexible units extend obliquely along the same direction.

[0015] In the robot of one embodiment of the present application, the connecting portion has a edging structure made of a flexible material, the edging structure is arranged around the outer circumference of the cover body, and the anti-collision portion is integrally formed with the edging structure.

[0016] In the robot of one embodiment of the present application, an annular groove is provided on the edging structure, and the connecting portion is sleeved on the outer side of the cover body through the annular groove.

[0017] In the robot of one embodiment of the present application, the cutting assembly includes a drive motor, the cutter disc is transmission-connected to the output shaft of the drive motor, and the protective cover is rotationally connected to the drive housing of the drive motor.

[0018] In the robot of one embodiment of the present application, the cutting mechanism includes a bearing assembly, the protective cover is provided with a mounting hole, the outer ring of the bearing assembly is installed in the mounting hole, and the inner ring of the bearing assembly is connected to the drive housing.

[0019] In a robot of one embodiment of the present application, the bearing assembly includes a first rolling bearing and a second rolling bearing, and a first countersunk groove and a second countersunk groove are respectively provided at both ends of the mounting hole. The first rolling bearing is installed in the first countersunk groove, and the second rolling bearing is installed in the second countersunk groove.

[0020] In the robot of one embodiment of the present application, the protective device further includes a protective member, which is arranged on the outside of the protective cover, and at least a part of the structure of the protective member exceeds the outer contour of the protective cover in the forward direction of the robot.

[0021] In the robot of one embodiment of the present application, an escape opening is formed on the protective member, and the escape opening is arranged on the side away from the robot toward the cutting mechanism, so that the protective edge strip located on the side of the escape opening can be compressed when abutted by an obstacle.

[0022] In the robot of one embodiment of the present application, the protective member includes a protective strip, which is surrounded to form a semi-ring structure with the avoidance opening, and the semi-ring structure is fixedly connected to the drive motor and is arranged toward the forward direction of the robot.

[0023] In the robot of one embodiment of the present application, the cutting blade is provided with a cutting segment and a protection segment for protecting non-cutting objects from entering the cutting segment at intervals.

[0024] In the robot of one embodiment of the present application, the cutting segment is a thin sheet-like structure, and the protective segment is a thick and blunt structure and protrudes from the cutting end surface of the cutting segment.

[0025] In the robot of one embodiment of the present application, a fan structure is provided on the side of the cutter disc facing away from the cutting blade, for generating an air flow blowing toward the cutting blade.

[0026] In the robot of one embodiment of the present application, the cutting assembly includes an abutment member, which is arranged below the cutter disc and is used to drive the cutting blade to move upward when the cutting assembly contacts an obstacle.

[0027] In the robot of one embodiment of the present application, the side of the abutment member facing away from the cutting blade is an outwardly convex arc structure.

[0028] In the robot of one embodiment of the present application, the connecting assembly includes a connecting arm and a mounting assembly connected to the vehicle body, and the cutting assembly is rotatably connected to the mounting assembly via the connecting arm.

[0029] In a robot of one embodiment of the present application, the connecting arm includes a first link, a second link and an adjusting member, the first link and the second link are connected between the mounting assembly and the cutting assembly, and the adjusting member is connected between the first link and the second link for adjusting the swing amplitude of the connecting arm.

[0030] In a robot of one embodiment of the present application, the adjusting member includes an adjusting screw and an elastic member, a threaded hole is provided on the first connecting rod, the adjusting screw is threadedly connected in the threaded hole and extends to the second connecting rod, and the elastic member is arranged between the first connecting rod and the second connecting rod.

[0031] In a robot of one embodiment of the present application, the mounting assembly includes a rotating part and a mounting part connected to the vehicle body, the connecting arm is connected to the rotating part and can rotate around a first axis, the rotating part is connected to the mounting part and can rotate around a second axis, and the first axis is perpendicular to the second axis.

[0032] In the robot of one embodiment of the present application, the protective cover is rotatable; the rotation axis of the protective cover is parallel to the rotation axis of the cutter disc, or the angle between the rotation axis of the protective cover and the rotation axis of the cutter disc is a, where 0 degrees < a < 45 degrees.

[0033] In the robot of one embodiment of the present application, the rotation axis of the cutter head is parallel to the height direction of the vehicle body.

[0034] The technical solution provided by the embodiments of the present application may include the following beneficial effects: The present application designs a robot, including a robot body and a cutting mechanism, the cutting assembly includes a cutter disc and a protective cover, a cutting blade is installed on the cutter disc, and the protective cover is arranged above the cutter disc to effectively protect the cutting blade to avoid damage caused by collision between the cutting blade and obstacles, thereby improving the service life of the cutter disc and the cutting blade.

[0035] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are 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.

[0037] FIG1 is a schematic structural diagram of a cutting mechanism provided in one embodiment of the present application;

[0038] FIG2 is a schematic cross-sectional view of the cutting mechanism in FIG1 ;

[0039] FIG3 is a schematic diagram of the cutting mechanism deflected in the horizontal plane and in an extended state when the vehicle body in FIG1 is placed horizontally;

[0040] FIG4 is a schematic diagram of the cutting mechanism in FIG1 when in contact with an obstacle;

[0041] FIG5 is a schematic diagram of the cutting mechanism in FIG1 in a compressed state;

[0042] FIG6 is a partial cross-sectional schematic diagram of the cutting mechanism in FIG1 ;

[0043] FIG7 is a schematic cross-sectional view of the cutting assembly in FIG1 ;

[0044] FIG8 is an exploded schematic diagram of the cutting assembly in FIG1 ;

[0045] FIG9 is an exploded schematic diagram of the protective cover in FIG1 ;

[0046] FIG10 is a schematic structural diagram of the cutting blade in FIG1 ;

[0047] FIG11 is an exploded schematic diagram of the connecting arm in FIG1 ;

[0048] FIG. 12 is an exploded schematic diagram of the mounting assembly in FIG. 1 .

[0049] Explanation of reference numerals: 1000, cutting mechanism; 2000, robot body; 100, cutting assembly; 101, first area; 102, second area; 10, protective cover; 11, cover body; 111, mounting hole; 1111, sink structure; 12, protective edge strip; 121, anti-collision portion; 122, connecting portion; 123, edging structure; 20, cutter head; 21, cutting blade; 211, cutting section; 212, protective section; 213, blade mounting portion; 22, rotating disk; 221, fan structure; 30, driving motor; 31, motor body; 32, connecting housing; 311, output shaft; 40, bearing assembly; 50, abutment member; 60, transmission member; 200, connecting arm; 201, first connecting rod; 2011, first connecting portion; 2012, second connecting portion; 2013, threaded hole; 202, second connecting rod; 2021, first connecting portion; 2022, second connecting portion; 203, adjusting member; 2031, adjusting screw; 2032, elastic member; 300, mounting assembly; 301, mounting portion; 3011, limiting groove; 302, rotating portion; 3021, first mounting hole; 3022, second mounting hole; 3023, limiting column; 303, reset member; 304, connecting shaft; 400, obstacle. DETAILED DESCRIPTION

[0050] 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 part of the embodiments of this application, not all of them. 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.

[0051] It should also be understood that the terms used in this specification of the present application are only for the purpose of describing specific realities. In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0052] The following describes some embodiments of the present application in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features therein may be combined with each other.

[0053] As shown in Figures 1 to 12, the present application provides a robot comprising a robot body 2000 and a cutting mechanism 1000. The robot body 2000 comprises a body and a moving assembly. The cutting mechanism 1000 is disposed on the body, and the moving assembly is disposed on the body for driving the body forward, enabling the cutting mechanism 1000 to perform cutting while moving. The cutting mechanism 1000 comprises a connecting assembly and a cutting assembly 100. The cutting assembly 100 is connected to the body via the connecting assembly, and the cutting assembly 100 is located on the circumference of the body.

[0054] In this embodiment, the cutting assembly 100 includes a cutter disc 20 and a protective device. A cutting blade 21 is installed on the cutter disc 20. The protective device cover is arranged above the cutter disc to effectively protect the cutting blade 21 to prevent the cutting blade 21 from being damaged by collision with obstacles, thereby improving the service life of the cutter disc 20 and the cutting blade 21.

[0055] In an optional embodiment, as shown in Figures 1 to 4, the protective device can be rotatably connected so that when the robot body 2000 drives the cutting assembly 100 to cut the cutting object in scenes such as the aisle edge, wall surface, and fence of the lawn, when the protective device contacts the obstacle 400 such as the aisle edge, wall surface or fence, the protective device can rotate relative to the obstacle 400 such as the aisle edge, wall surface or fence, thereby reducing the wear of the protective device by the cutting assembly 100 during the cutting process.

[0056] In an optional embodiment, the protective device includes a protective cover at least partially made of a flexible material. The protective cover can be rotatably connected and covered on one side of the cutting blade 21 to effectively protect the cutting blade 21 and prevent the cutting blade 21 from colliding with an obstacle 400 and being damaged.

[0057] In an optional embodiment, the protective cover includes a compressible and deformable protective edge strip 12. When the protective edge strip 12 is not compressed, the projection of at least part of the structure of the protective cover covers the projection of the cutting area of ​​the cutting blade 21, which can effectively protect the cutting blade 21 and prevent the cutting blade 21 from colliding with the obstacle 400 and being damaged; when the protective edge strip 12 is compressed, the projection of the protective cover approaches the projection of the cutting area of ​​the cutting blade 21, which can reduce the edge distance between the cutting blades 21 and the cutting blades 21, thereby effectively cutting the edge of the cutting blade 21.

[0058] Exemplarily, the protective cover further includes a cover body 11 for protecting the cutting blade 21. The cover body 11 is disposed on one side of the cutting blade 21, and a protective edge strip 12 is disposed on the edge of the cover body 11. The projection of the cutting area of ​​the cutting blade 21 overlaps the projection of the cover body 11. When the protective edge strip 12 is uncompressed, the projection of the protective cover overlaps the projection of the cutting area. This not only effectively protects the cutting blade 21 from damage caused by collisions with obstacles 400, but also allows the compressed and deformed protective edge strip 12 to bring the cutting blade 21 closer to the edge of the cover body 11, thereby enabling the cutting of objects on the edge of the cover body 11 to be cut.

[0059] After adopting the above technical solution, since the protective cover has a compressible and deformable protective edge strip 12, when the protective edge strip 12 is not compressed, the projection of at least part of the structure of the protective cover covers the projection of the cutting area of ​​the cutting blade 21, so that the cutting blade 21 can be effectively protected to prevent the cutting blade 21 from causing damage to the blade itself, the human body, and obstacles 400; when the protective edge strip 12 is compressed, the projection of the protective cover approaches the projection of the cutting area of ​​the cutting blade 21, which can not only prevent the cutting blade 21 from being exposed on the outside of the protective edge strip 12, but also reduce the distance between the cutting blade 21 and the edge of the cover body 11, thereby effectively cutting the cutting object on the edge of the cover body 11.

[0060] For example, when the robot body 2000 drives the cutting assembly 100 to cut objects at the edge of a lawn aisle, a wall surface, a fence, etc., the cutting assembly 100, driven by the connecting assembly, extends toward the edge of the aisle, the wall surface, or the fence, or the cutting assembly 100 abuts against the edge of the aisle, the wall surface, or the fence during the movement of the robot body 2000. At this time, the protective edge strip 12 is deformed under the pressure of the obstacle such as the edge of the aisle, the wall surface, or the fence, allowing the cutting blade 21 to approach the edge of the obstacle such as the edge of the aisle, the wall surface, or the fence, thereby effectively cutting objects at the edge of the obstacle such as the edge of the aisle, the wall surface, or the fence. At the same time, when the cutting assembly 100 collides with the edge of the aisle, wall, or fence, the protective strip 12 can act as a buffer, reducing the impact force applied to the cutting assembly 100 by the obstacle 400. As the robot body 2000 continues to move, the protective strip 12 compresses and adheres to the edge of the aisle, wall, or fence, reducing the distance between the cutting blade 21 and the edge of the protective cover, thereby effectively cutting the object at the edge of the protective cover. Furthermore, the protective cover is rotatably connected so that when the protective cover contacts the obstacle 400, such as the aisle edge, wall, or fence, the protective cover can rotate relative to the obstacle 400, thereby reducing wear on the protective cover by the cutting assembly 100 during the cutting process.

[0061] In an optional embodiment, the protective edge strip has a connecting portion 122 and an anti-collision portion 121 made of a flexible material. The anti-collision portion 121 is arranged around the outside of the protective cover 10 through the connecting portion 122. The projection formed by the anti-collision portion 121 and the cover body 11 approaches the projection of the cutting area. When not compressed, the projection formed by the anti-collision portion 121, the anti-collision portion 121, and the cover body 11 covers the projection of the cutting area. When compressed, the projection formed by the anti-collision portion 121, the anti-collision portion 121, and the cover body 11 approaches the projection of the cutting area. The anti-collision portion 121 and the connecting portion 122 are integrally formed, and the connecting portion 122 is sleeved on one side or the periphery of the cover body 11. This reduces the production cost of the protective edge strip 12 and provides advantages such as structural stability, high strength, and long service life.

[0062] In an optional embodiment, the anti-collision portion 121 includes a plurality of flexible units arranged at intervals, which extend radially outward from the connecting portion 122 and can be compressed or bent when subjected to force, thereby reducing the possibility of the flexible units breaking due to friction with the obstacle 400. At the same time, it can also make the end of the cutting blade 21 approach the edge of the protective cover 10, thereby effectively cutting the cutting object at the edge of the protective cover.

[0063] In an optional embodiment, as shown in Figures 4, 8 and 9, the length of the flexible unit extending outward is greater than the distance between two adjacent flexible units, so that when the robot body 2000 drives the cutting component 100 along the aisle edge, wall surface, fence and other obstacles of the lawn, when the cutting blade 21 cuts the cutting object, the flexible unit contacts and compresses the obstacles 400 such as the aisle edge, wall surface, fence, etc., and the length of the flexible unit extending outward is set to be greater than the distance between two adjacent flexible units. The flexible unit compressed first can be used to fit and compress the flexible unit compressed later during the compression process. This not only buffers the flexible unit compressed first, but also avoids the flexible unit compressed later from directly colliding with the obstacle 400. The noise can be reduced by compressing the flexible units layer by layer, and the force points of the flexible units can be dispersed, thereby improving the service life of the flexible units. Among the two adjacent flexible units, when the first flexible unit is squeezed and deformed, the end of the first flexible unit away from the cover body 11 covers the root of the second flexible unit close to the cover body 11. In this way, each flexible unit contacts the obstacle through the end, which can avoid wear of the root of the flexible unit, causing the flexible unit to break from the root, and shortening the service life of the flexible unit.

[0064] In an optional embodiment, the flexible unit extends obliquely in the same direction of the connection portion 122, so that when the robot body 2000 drives the cutting assembly 100 to form, when the cutting assembly 100 collides with the obstacle 400, the flexible unit can act as a buffer; and when the robot body 2000 continues to drive the cutting assembly 100 to cut the object, the flexible unit is compressed one by one along the obstacles 400.

[0065] Exemplarily, the flexible units are arranged counterclockwise on the outer circumference of the protective cover, so that the compression direction of the flexible units is arranged counterclockwise along the protective cover, and one flexible unit is stacked on top of another flexible unit.

[0066] In an optional embodiment, the connecting portion 122 has a edging structure 123 made of a flexible material, and the edging structure 123 is arranged around the periphery of the cover body 11. The anti-collision portion 121 and the edging structure 123 are integrally formed, so that the connecting portion 122 can be firmly fixed on the periphery of the cover body 11. At the same time, the anti-collision portion 121 can also be used to play a buffering role and reduce the distance between the cutting blade 21 and the edge of the protective cover, thereby effectively cutting the cutting object at the edge of the protective cover.

[0067] In one optional embodiment, the edging structure 123 is provided with an arcuate annular groove, and the connecting portion 122 secures the arcuate annular groove to the outer side of the cover body 11 by assembly. Alternatively, the edging structure 123 is injection-molded onto the circumference of the cover body 11 to achieve a fixed connection between the protective edge strip 12 and the cover body 11. This simplifies the assembly process between the protective edge strip 12 and the cover body 11, and by securing the arcuate annular groove to the outer side of the cover body 11 by assembly, it is possible to replace only the protective edge strip 12 if it is damaged, without having to replace the entire protective cover 10, thereby reducing the cost of use.

[0068] In an optional embodiment, the projection of the cover body 11 on the first plane forms a first circle, the projection of the cutting area of ​​the cutting blade 21 on the first plane forms a second circle, and when the protective edge strip 12 is not compressed, the projection of the outer boundary of the protective edge strip 12 on the first plane forms a third circle; wherein, the first circle, the second circle and the third circle are concentric circles, and the diameter of the first circle is smaller than the diameter of the second circle, and the diameter of the second circle is smaller than the diameter of the third circle, so that the protective edge strip 12 can protect the cutting blade 21 when it is not compressed, and when the protective edge strip 12 is compressed by force, it deforms and brings the cutting blade 21 closer to the edge of the obstacle, so that the grass on the edge can be cut.

[0069] It should be noted that when the protective edge strip 12 is squeezed by an obstacle, it is deformed so that the diameter of the third circle approaches the diameter of the first circle. At this time, the edge of the protective cover contacts the edge of the obstacle, so that the cutting blade 21 can cut the grass on the edge.

[0070] In an optional embodiment, when at least a portion of the protective edge strip 12 is compressed to a preset shape, the projection of the protective cover overlaps with a portion of the projection of the cutting area to protect the cutting blade 21 and prevent the cutting blade 21 from colliding with an obstacle.

[0071] In an optional embodiment, the cutting mechanism also includes a drive assembly for driving the cutter disc 20 to rotate, and the cover body 11 is rotatably connected to the drive assembly, so that when the cover body 11 is cutting the aisle edge, wall surface, fence, etc. of the lawn, the cover body 11 can contact the obstacle 400 such as the aisle edge, wall surface or fence, and rotate relative to the obstacle 400 such as the aisle edge, wall surface or fence, so as to reduce the wear of the cutting assembly 100 on the protective device during the cutting process.

[0072] In an optional embodiment, the drive assembly includes a drive motor 30, which is connected to the vehicle body through a connecting assembly. The drive motor 30 is transmission-connected to the cutting blade 21 for driving the blade 21 to rotate for performing cutting operations. The protective cover is rotationally connected to the drive motor 30 and is arranged on the outside of the cutting blade 21 for effectively protecting the cutting blade 21 to prevent the cutting blade 21 from being damaged by collision with an obstacle 400.

[0073] In an optional embodiment, as shown in Figures 2, 11 and 12, the drive motor 30 includes a drive housing 32 and a motor body 31 having an output shaft 311. The motor body 31 is installed on the inner side of the drive housing 32, and the output shaft 311 is transmission-connected to the cutter disc 20. The cover body 11 is rotationally connected to the drive housing 32 so that the protective cover can protect the cutter disc 20 and can move independently relative to the output shaft 311. When the protective cover is close to the edge of the aisle, wall surface, fence, etc., it can convert the contact friction with the edge of the aisle, wall surface and fence into rolling friction, thereby reducing the damage to the protective edge strip 12 caused by friction.

[0074] In an optional embodiment, the cutting mechanism includes a bearing assembly 40. The protective shield is provided with a mounting hole 111. The outer ring of the bearing assembly 40 is mounted in the mounting hole 111, and the inner ring of the bearing assembly 40 is connected to the drive housing 32. This means that the protective shield can rotate independently of the drive motor 30. When the cutting assembly 100 approaches the edge of a corridor, a wall, a fence, or the like, the protective shield's independent rotation can convert contact friction between the shield and the edge into rolling friction, thereby reducing frictional damage to the protective edge strip 12.

[0075] In an optional embodiment, the bearing assembly 40 includes a first rolling bearing 41 and a second rolling bearing 42, and a first groove 1111 and a second groove 1112 are respectively provided at both ends of the mounting hole 111. The first rolling bearing 41 is installed in the first groove 1111, and the second rolling bearing 42 is installed in the second groove 42 to ensure the stability of the protective cover after being connected to the drive housing 32.

[0076] In an optional embodiment, the cutting mechanism further includes a protective member, which is arranged on the outside of the protective cover, and at least part of the structure of the protective member extends in the forward direction of the robot and exceeds the outer contour of the protective cover, which can effectively prevent the cutting assembly 100 from causing frontal injuries in the front position, thereby improving the safety of the protective cover.

[0077] In an optional embodiment, a protective portion is formed on the protective member, which extends toward the forward direction of the robot and exceeds the outer contour of the protective cover to prevent the cutting assembly 100 from accidentally causing direct injury to people in the front position, thereby improving the safety of the protective cover 10.

[0078] In an optional embodiment, a avoidance opening is formed on the protective member, and the avoidance opening is arranged on the side away from the robot toward the cutting mechanism 1000, so that the protective edge strip 12 located on the side of the avoidance opening can contact the obstacle 400 and be compressed or bent, thereby reducing the distance between the cutting blade 21 and the edge of the protective cover, and thus effectively cutting the cutting object on the edge of the protective cover.

[0079] In an optional embodiment, the protective member includes a protective strip, which is surrounded to form a semi-ring structure with an avoidance opening. The semi-ring structure is fixedly connected to the drive motor 30 and is arranged in the forward direction of the robot, so as to prevent the cutting assembly 100 from causing direct injuries in the front position, thereby improving the safety of the protective cover 10. The avoidance opening can compress the protective edge strip 12 when it contacts the obstacle 400, reducing the distance between the cutting blade 21 and the edge of the protective cover, so that the cutting object at the edge of the protective cover can be effectively cut.

[0080] In an optional embodiment, the protective member may also include a special-shaped baffle of other shapes, at least a portion of the special-shaped baffle extends along the forward direction of the robot and exceeds the outer contour of the protective cover to form a protective portion, and at least a portion of the special-shaped baffle is recessed toward its inner side to form a avoidance opening, so that the protective edge strip 12 located on one side of the avoidance opening can contact and compress the obstacle 400, thereby reducing the distance between the cutting blade 21 and the edge of the protective cover, and further effectively cutting the cutting object at the edge of the protective cover.

[0081] In an optional embodiment, the protective cover is arranged between the drive motor 30 and the cutter disc 20 and is rotatably connected to the drive housing 32 of the drive assembly, independently of the output shaft 311. It can not only protect the cutter disc 20, but also move independently relative to the output shaft 311. When the protective cover is close to the edge of the aisle, wall surface, fence, etc., it can convert the contact friction with the edge of the aisle, wall surface and fence into rolling friction, thereby reducing the damage to the protective edge strip 12 caused by friction.

[0082] In an optional embodiment, the protective cover is rotatable, and the rotation axis of the protective cover is parallel to the rotation axis of the cutter head 20 , so that the protective cover can rotate relative to the obstacle 400 when in contact with or pressed against the obstacle 400 .

[0083] In an optional embodiment, the angle between the rotation axis of the protective cover and the rotation axis of the cutter head 20 is a, wherein 0 degrees < a < 45 degrees.

[0084] In an optional embodiment, the rotation axis of the cutter head 20 is parallel to the height direction of the vehicle body 10 .

[0085] In an optional embodiment, a cutting section and a protection section are provided at intervals on the cutting blade 21 , and the protection section 212 is used to protect non-cutting objects from entering the cutting section 211 .

[0086] In an optional embodiment, the cutting section 211 has a thin sheet structure to form a cutting blade, and the protective section 212 has a thick and blunt structure and protrudes from the cutting end face of the cutting section 211, which can not only protect the blade but also tear the cutting object during cutting.

[0087] In an alternative embodiment, as shown in Figures 8 and 10, the blade 21 includes a blade body, a cutting segment 211, and a protective segment 212 disposed on a fixed edge of the blade body and extending from the fixed edge toward the cutting edge on the other side. The cutting segment 211 is primarily used to cut the material, while the protective segment 212 is used to protect the cutting segment 211. The protective segment 212 can also be used to tear the material while the cutting segment 211 is cutting. The cross-sectional area of ​​the protective segment 212 gradually decreases from the fixed edge toward the cutting edge, such that the spacing between adjacent protective segments 212 increases along the extension direction of the protective segment 212, thereby increasing the cutting area of ​​the cutting segment 211 and improving the cutting effect of the cutting segment 211. Furthermore, if the cutting segment 211 fails to completely sever the material in one go, a portion of the protective segment 212 located on one side of the cutting segment 211 can be used to tear the material a second time, thereby ensuring the cutting effect of the robot.

[0088] In an optional embodiment, a fan structure is provided on the side of the cutter disc 20 facing away from the cutting blade 21 for generating an air flow blowing toward the cutting blade 21 .

[0089] Exemplarily, the cutter disc 20 includes a rotating disc 22, and the cutting blade 21 is mounted on the rotating disc 22. The rotating disc 22 is connected to the output shaft 311 of the drive motor 30 in a transmission manner to receive the mechanical energy of the drive motor 30, so that the cutting blade 21 as a whole can perform a circular motion, thereby achieving a cutting operation. Among them, the fan structure 221 is arranged on the side of the rotating disc 22 facing away from the cutting blade 21, and is used to generate an airflow blowing toward the cutting blade 21. The debris of the cut object can be blown out of the rotating disc 22 to prevent the debris from entering the gap between the protective cover and the rotating disc 22, affecting the operation of the drive motor 30, or even causing the drive motor 30 to get stuck. In addition, the airflow can also dissipate heat for the drive motor 30, effectively preventing the drive motor 30 from overheating.

[0090] In an optional embodiment, the number of cutting blades 21 can be two or more. When the number of cutting blades 21 is two, the two cutting blades 21 are symmetrically arranged on both sides of the rotating disk 22; when the number of cutting blades 21 is three or more, the three or more cutting blades 21 can be arranged on the peripheral side of the rotating disk 22 to form a circular array around the center of the rotating disk 22.

[0091] It should be noted that too many cutting blades 21 will cause interference between the cutting blades 21, while too few will reduce the cutting efficiency. Therefore, it is best to set the number to two to three.

[0092] In an optional embodiment, a blade mounting portion 213 is provided at one end of the cutting blade 21 , so that the cutting blade 21 can be rotatably mounted on the rotating disk 22 through the blade mounting portion 213 .

[0093] In an optional embodiment, as shown in Figures 6 to 8, the cutting assembly 100 includes an abutment 50, which is arranged below the cutting blade 21 and is used to drive the cutting blade 21 to move upward when the cutting assembly 100 contacts the obstacle 400, so that the cutting assembly 100 floats upward as a whole, avoiding the collision of the cutting blade 21 with the obstacle 400, thereby effectively extending the service life of the cutting blade 21; or, when the obstacle 400 enters the bottom of the abutment 50, the obstacle 400 can reduce the cutting speed of the cutting blade 21 when lifting the cutting assembly 100 as a whole, thereby avoiding secondary damage to the cutting blade 21.

[0094] In an optional embodiment, the side of the abutment 50 facing away from the cutting blade 21 is an outwardly convex arc structure, which can reduce the contact area between the obstacle 400 and the abutment 50, thereby ensuring that the cutting blade 21 can cut slowly when it contacts the obstacle 400, avoiding secondary damage to the cutting blade 21; it can also protect the abutment 50 and the drive motor 30, reducing the friction between the abutment 50 and the obstacle 400 and the risk of damage to the drive motor 30 due to stalling, thereby increasing the life of the drive motor 30.

[0095] In an optional embodiment, the cutting assembly 100 includes a transmission member 60 , one end of the transmission member 60 is connected to the output shaft 311 of the drive motor 30 , and the other end of the transmission member 60 is connected to the rotating disk 22 .

[0096] In an optional embodiment, as shown in Figures 1, 2 and 11, the connecting assembly includes a connecting arm 200 and a mounting assembly 300 connected to the vehicle body. The cutting assembly 100 is rotatably connected to the mounting assembly 300 via the connecting arm 200, so that the cutting assembly 100 can rotate in the horizontal direction and / or height direction relative to the vehicle body, thereby adjusting the height and extended length of the cutting assembly 100.

[0097] For example, as shown in Figures 3 to 5, the cutting assembly 100 rotates in the horizontal direction relative to the vehicle body to form a first area 101 and a second area 102. The area of ​​the first area 101 is larger than the area of ​​the second area 102. When the cutting assembly 100 contacts the obstacle 400, the obstacle 400 applies a reverse force to the cutting assembly 100, which can force the cutting assembly 100 to deflect toward one side of the vehicle body, that is, the cutting assembly 100 moves from the first area 101 to the second area 102, and at the same time, the cutting assembly 100 can also move from the second area 102 to the first area 101; when the cutting assembly 100 is in the first area 101, the cutting assembly 100 performs cutting work, and the speed at which the driving motor 30 drives the rotating disk 22 to drive the blade 21 gradually decreases as the cutting assembly 100 moves from the first area 101 to the second area 102; when the cutting assembly 100 is in the second area 102, the driving motor 30 stops driving the rotating disk 22 to drive the blade 21.

[0098] In an optional embodiment, the connecting component includes a detection component, which is arranged on at least one of the vehicle body, the connecting arm 200 and the mounting component 300, and is used to detect the moving position of the cutting component 100; when the detection component detects that the cutting component 100 is in the first area 101, the cutting component 100 performs the cutting work; when the detection component detects that it is in the second area 102, the cutting component 100 stops working.

[0099] In an optional embodiment, as shown in Figures 1, 3 and 12, the mounting assembly 300 includes a rotating portion 302 and a mounting portion 301 connected to the vehicle body, wherein the connecting arm 200 is rotatably connected to the rotating portion 302, and the rotating portion 302 is connected to the mounting portion 301, so that the cutting assembly 100 can rotate in the height direction and horizontal direction of the vehicle body. When the obstacle 400 enters the bottom of the abutment 50, the obstacle 400 can raise the height of the cutting assembly 100 through the abutment 50, thereby effectively avoiding damage to the cutting assembly 100 due to terrain height differences or obstacles such as stones; when the obstacle 400 contacts or collides with the protective cover 10, the obstacle 400 can force the cutting assembly 100 to deflect toward one side of the vehicle body so that the cutting material at the edge of the aisle can be cut.

[0100] It should be noted that the obstacle 400 may be an edge of an aisle, a wall surface, a fence, etc. The obstacle 400 may also be gravel, branches, and uneven ground, etc., and this application does not limit this.

[0101] In an optional embodiment, the connecting arm 200 can rotate relative to the rotating portion 302 around a first axis, and the rotating portion 302 can rotate relative to the mounting portion 301 around a second axis, and the first axis is perpendicular to the second axis.

[0102] In an optional embodiment, the mounting assembly 300 further includes a connecting shaft 304, through which the rotating portion 302 is rotatably connected to the mounting portion 301. The mounting portion 301 is provided with a first connecting end surface, and the rotating portion 302 is provided with a second connecting end surface. The first connecting end surface and the second connecting end surface are matingly connected, and the connecting shaft 304 is disposed between the first connecting end surface and the second connecting end surface to rotatably mount the rotating portion 302 on the mounting portion 301.

[0103] In an optional embodiment, a limiting groove 3011 is provided on the first connecting end surface, and a limiting column 3023 is provided on the second connecting end surface. After the rotating part 302 is installed on the mounting part 301 through the cooperation between the first connecting end surface and the second connecting end surface, the limiting column 3023 extends into the limiting groove 3011, and is used to limit the rotation position of the rotating part 302 when the rotating part 302 rotates relative to the mounting part 301, so that the connecting arm 200 can switch between the first area 101 and the second area 102.

[0104] In an optional embodiment, the mounting assembly 300 further includes a reset member 303, which is used to drive the connecting arm 200 to turn toward the direction of the first area 101. At the same time, the reset member 303 can also provide a buffering force when the cutting assembly 100 collides with the obstacle 400, thereby reducing the impact force applied to the cutting assembly 100 when the obstacle 400 collides, avoiding damage to the cutting assembly 100, and extending the service life of the cutting assembly 100.

[0105] Exemplarily, the reset member 303 includes, but is not limited to, a torsion spring, which is sleeved on the outside of the connecting shaft 304, and the two ends of the torsion spring are respectively connected to the rotating portion 302 and the mounting portion 301, so that the rotating portion 302 can always maintain an elastic force in the direction of the first area 101. When the cutting assembly 100 is in the first area 101 and contacts the obstacle 400, the impact force of the obstacle 400 on the cutting assembly 100 is greater than the elastic force of the reset member 303, and the limiting column 3023 slides from one end of the limiting groove 3011 to the other end of the limiting groove 3011, and the reset member 303 is deformed to buffer the impact force generated when the obstacle 400 collides with the cutting assembly 100. At the same time, the cutting assembly 100 can rotate relative to the mounting portion 301 toward the second area 102 to form an avoidance position for avoiding the obstacle 400. At this time, the rotation speed of the drive motor 30 driving the blade 21 gradually decreases; when the cutting assembly 100 completely enters the second area 102, the drive motor 30 stops driving the blade 21 to rotate.

[0106] In an optional embodiment, the detection component includes a mechanical sensor electrically connected to the drive motor 30, and the mechanical sensor is arranged between the mounting portion 301 and the rotating portion 302, and is used to detect the force condition of the torsion spring, so that the drive motor 30 can control its output speed or stop working according to the mechanical data detected by the mechanical sensor.

[0107] Exemplarily, when the mechanical data received by the drive motor 30 is greater than a predetermined value, the drive motor 30 stops working, and the cutting assembly 100 completely enters the second area 102; when the mechanical data received by the drive motor 30 is less than the predetermined value, the drive motor 30 controls its output speed according to the size of the mechanical data, so that the cutting assembly 100 can cut at different speeds in the first area 101; when the mechanical data is minimum, the output speed of the drive motor 30 is maximum, and the cutting assembly 100 is located on the side of the first area 101 away from the second area 102; when the mechanical data approaches the predetermined value, the output speed of the drive motor 30 gradually decreases until the mechanical data is equal to the predetermined value, and the drive motor 30 stops working.

[0108] It should be noted that the detection component can also be other sensors, such as a travel switch, etc., and this application is not limited thereto.

[0109] In an optional embodiment, as shown in Figures 1, 2 and 11, the connecting arm 200 includes a first connecting rod 201, a second connecting rod 202 and an adjusting member 203. The first connecting rod 201 and the second connecting rod 202 are connected between the mounting assembly 300 and the cutting assembly 100. The adjusting member 203 is connected between the first connecting rod 201 and the second connecting rod 202 and is used to adjust the swing amplitude of the connecting arm so as to be able to adjust the height of the cutting assembly 100 and the ground, and then the cutting height of the cutting object can be adjusted.

[0110] For example, as shown in Figures 2, 11 and 12, the motor body 31 is installed on the inner side of the drive housing 32, and the drive housing 32 is provided with two first connecting holes at intervals along the height direction, and the rotating part 302 is provided with first mounting holes 3021 and second mounting holes 3022 at intervals, and the two ends of the first connecting rod 201 are respectively rotatably connected to the first mounting hole 3021 and one of the first connecting holes, and the two ends of the second connecting rod 202 are respectively rotatably connected to the second mounting hole 3022 and the other first connecting hole, so that the motor body 31 can be floatingly connected to the rotating part 302 through the first connecting rod 201 and the second connecting rod 202.

[0111] Exemplarily, the first connecting rod 201 is provided with a first connecting part 2011 and a second connecting part 2012 at both ends; the second connecting rod 202 is provided with a first connecting part 2021 and a second connecting part 2022 at both ends, the first connecting part 2011 and the first connecting part 2021 are rotatably connected to the two first connecting holes, the second connecting part 2012 and the second connecting part 2022 are correspondingly connected to the first mounting hole 3021 and the second mounting hole 3022, the adjusting member 203 is threadedly connected to the first connecting rod 201 and can extend or retract toward one side of the second connecting rod 202, so that the floating angle of the motor body 31 can be changed by adjusting the distance between the first connecting rod 201 and the second connecting rod 202, and the cutting height can be adjusted.

[0112] In an optional embodiment, the adjusting member 203 includes an adjusting screw 2031 and an elastic member 2032. A threaded hole 2013 is provided on the first connecting rod 201. The adjusting screw 2031 is threadedly connected in the threaded hole 2013 and extends to the second connecting rod 202. The elastic member 2032 is arranged between the first connecting rod 201 and the second connecting rod 202.

[0113] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they can refer to fixed connections, detachable connections, or integral connections. They can refer to mechanical connections or electrical connections. They can refer to direct connections or indirect connections through an intermediary. They can refer to internal communication between two components or interactions between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0114] In this application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0115] The disclosure above provides many different embodiments or examples for realizing the different structures of the present application. In order to simplify the disclosure of the present application, the components and settings of specific examples are described above. Of course, they are merely examples and are not intended to limit the present application. In addition, the present application may repeat reference numerals and / or reference letters in different examples, and such repetition is for the purpose of simplicity and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present application provides examples of various specific processes and materials, but those of ordinary skill in the art will appreciate the application of other processes and / or the use of other materials.

[0116] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with an embodiment or example is included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Claims

1. A robot comprising: The robot body includes a body and a moving component, wherein the moving component is arranged on the body and is used to drive the body to move; The cutting mechanism comprises a connecting assembly and a cutting assembly, wherein the cutting assembly is connected to the vehicle body via the connecting assembly and the cutting assembly is located on a peripheral side of the vehicle body; Wherein, the cutting assembly includes a cutter disc and a protective cover, and the protective cover is rotatably mounted on one side of the cutter disc.

2. The robot according to claim 1, wherein: A cutting blade is installed on the cutter disc, and the protective cover is arranged above the cutter disc.

3. The robot according to claim 1, wherein: The protective cover includes a compressible and deformable protective edge strip. When the protective edge strip is not compressed, the projection of at least part of the structure of the protective cover covers the projection of the cutting area of the cutting blade; when the protective edge strip is compressed, the projection of the protective cover approaches the projection of the cutting area of the cutting blade.

4. The robot according to claim 2, wherein: The protective cover further comprises a cover body, the protective edge strip comprises a connecting portion and an anti-collision portion made of a flexible material, and the anti-collision portion is arranged on the outside of the cover body through the connecting portion.

5. The robot according to claim 4, wherein: The anti-collision portion includes a plurality of flexible units arranged at intervals, wherein the flexible units extend radially outward from the cover body and can bend when subjected to force.

6. The robot according to claim 5, wherein: The outward extension length of the flexible units is greater than the distance between two adjacent flexible units; and / or the flexible units extend obliquely along the same direction.

7. The robot according to claim 4, wherein: The connecting portion has a edging structure made of a flexible material, the edging structure is arranged around the outer circumference of the cover body, and the anti-collision portion and the edging structure are formed in one piece.

8. The robot according to claim 7, wherein: An annular groove is provided on the edge-wrapping structure, and the connecting portion is sleeved on the outer side of the cover body through the annular groove.

9. The robot according to claim 1, wherein: The cutting assembly includes a driving motor, the cutter disc is drivingly connected to the output shaft of the driving motor, and the protective cover is rotatably connected to the driving housing of the driving motor.

10. The robot according to claim 9, wherein: The cutting mechanism includes a bearing assembly. The protective cover is provided with a mounting hole. The outer ring of the bearing assembly is mounted in the mounting hole. The inner ring of the bearing assembly is connected to the drive housing.

11. The robot according to claim 10, wherein: The bearing assembly includes a first rolling bearing and a second rolling bearing. Both ends of the mounting hole are respectively provided with a first sink groove and a second sink groove. The first rolling bearing is mounted in the first sink groove, and the second rolling bearing is mounted in the second sink groove.

12. The robot according to claim 1, wherein: The protection device further includes a protection member, which is arranged on the outside of the protection cover. At least a part of the structure of the protection member exceeds the outer contour of the protection cover in the forward direction of the robot.

13. The robot according to claim 12, wherein: An escape opening is formed on the protective member, and the escape opening is arranged on a side facing the cutting mechanism away from the robot, so that the protective edge strip located on one side of the escape opening can be compressed when abutted by an obstacle.

14. The robot according to claim 13, wherein: The protective member includes a protective strip, which is surrounded to form a semi-ring structure with the avoidance opening. The semi-ring structure is fixedly connected to the driving motor and is arranged toward the forward direction of the robot.

15. The robot according to claim 1, wherein The cutting blade is provided with a cutting section and a protection section for protecting non-cutting objects from entering the cutting section at intervals.

16. The robot according to claim 15, wherein: The cutting section is in a thin sheet-like structure, and the protection section is in a thick and blunt structure and protrudes from the cutting end surface of the cutting section.

17. The robot according to claim 1, wherein: A fan structure is provided on the side of the cutter disc facing away from the cutting blade, for generating an air flow blowing toward the cutting blade.

18. The robot according to claim 1, wherein: The cutting assembly includes an abutment member, which is arranged below the cutter disc and is used to drive the cutting blade to move upward when the cutting assembly contacts an obstacle.

19. The robot according to claim 18, wherein The side of the abutment member facing away from the cutting blade is an outwardly convex arc structure.

20. The robot according to claim 1, wherein The connecting assembly includes a connecting arm and a mounting assembly connected to the vehicle body, and the cutting assembly is rotatably connected to the mounting assembly through the connecting arm.

21. The robot according to claim 20, wherein: The connecting arm includes a first connecting rod, a second connecting rod and an adjusting member. The first connecting rod and the second connecting rod are connected between the mounting assembly and the cutting assembly. The adjusting member is connected between the first connecting rod and the second connecting rod and is used to adjust the swing amplitude of the connecting arm.

22. The robot according to claim 21, wherein The adjusting member includes an adjusting screw and an elastic member. A threaded hole is provided on the first connecting rod. The adjusting screw is threadedly connected in the threaded hole and extends to the second connecting rod. The elastic member is arranged between the first connecting rod and the second connecting rod.

23. The robot according to claim 20, wherein: The mounting assembly includes a rotating part and a mounting part connected to the vehicle body, the connecting arm is connected to the rotating part and can rotate around a first axis, the rotating part is connected to the mounting part and can rotate around a second axis, and the first axis is perpendicular to the second axis.

24. The robot according to any one of claims 1 to 23, wherein: The protective cover is rotatable; The rotation axis of the protective cover is parallel to the rotation axis of the cutter disc, or the angle between the rotation axis of the protective cover and the rotation axis of the cutter disc is a, wherein 0 degrees < a < 45 degrees.

25. The robot according to claim 24, wherein: The rotation axis of the cutter disc is parallel to the height direction of the vehicle body.

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