Mechanical arm and mowing robot

Abstract

Provided is a mechanical arm (1), which is applied to a mowing robot. The mowing robot comprises a robot body. The mechanical arm (1) comprises a first connecting mechanism (11) and a mechanical arm body (12). The first connecting mechanism (11) is connected between the robot body and the mechanical arm body (12). The mechanical arm body (12) comprises a cutter head (125). The first connecting mechanism (11) comprises a first electric motor assembly and a first rod assembly, wherein the first electric motor assembly is connected to the robot body, and the first rod assembly is connected between the first electric motor assembly and the mechanical arm body (12). The first rod assembly can operate on the basis of rotation of the first electric motor assembly and drive the mechanical arm body (12) to move and / or rotate. The mechanical arm body (12), when moving and / or rotating, drives the cutter head (125) to operate. The first rod assembly can operate on the basis of the rotation of the first electric motor assembly, and drives the mechanical arm body (12) to perform various operations including movement and / or rotation, such that the degree of freedom of the mechanical arm (1) is improved.

Description

A robotic arm and lawnmower robot

[0001] This application claims priority to Chinese Patent Application No. 202410502633.6, filed on April 25, 2024, entitled "A Robotic Arm and a Lawn-Mowing Robot", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of robotics, and more particularly to a robotic arm and a lawnmower robot. Background Technology

[0003] A lawnmower robot is a mechanical tool used to trim lawns and other vegetation. A lawnmower robot consists of wheels and a blade; as the wheels move, the blade trims the vegetation.

[0004] With the development of lawnmower robots, the requirements for them have increased. For example, lawnmower robots are required to not only mow vegetation within the area where their wheels travel, but also outside that area (e.g., in the gap between two obstacles). Based on this, existing technologies have added a robotic arm with a blade disc to existing lawnmower robots to mow vegetation outside the area where their wheels travel.

[0005] However, due to the low degree of freedom of existing robotic arms, the cutting head has low precision in pruning vegetation. Summary of the Invention

[0006] In view of this, embodiments of this application provide a robotic arm and a lawn mowing robot to solve the problem of low degrees of freedom of the robotic arm in existing lawn mowing robots, thereby improving the degrees of freedom of the robotic arm.

[0007] In a first aspect, embodiments of this application provide a robotic arm. This robotic arm is applied to a lawnmower robot. The lawnmower robot includes a robot body. The robotic arm includes a first connecting mechanism and a robotic arm body. The first connecting mechanism is connected between the robot body and the robotic arm body. The robotic arm body includes a blade disc. The first connecting mechanism includes a first motor assembly and a first lever assembly. The first motor assembly is connected to the robot body, and the first lever assembly is connected between the first motor assembly and the robotic arm body. The first lever assembly is capable of moving based on the rotation of the first motor assembly, thereby driving the robotic arm body to move and / or rotate; when the robotic arm body moves and / or rotates, it drives the blade disc to move.

[0008] Considering the technical problem of low degrees of freedom in existing robotic arms, this application embodiment sets a first connecting mechanism at one end of the robotic arm near the robot body to connect with the robot body. The first connecting mechanism is configured to include a first motor assembly and a first lever assembly, so that the first lever assembly can perform various actions based on the rotation of the first motor assembly, and drive the robotic arm body to perform various actions including movement, rotation, and movement and rotation, thereby increasing the degrees of freedom of the robotic arm.

[0009] In one possible design, the first motor assembly includes a first motor, a second motor, and a third motor connected to the first link assembly. Both the first and second motors are connected to the robot body. The extension direction of the output shaft of the first motor has a non-zero angle with the extension direction of the output shaft of the second motor.

[0010] With the above scheme, when the first and second motors rotate while the third motor does not, the first linkage assembly can drive the robotic arm body to move or rotate (oscillate in a plane) based on the rotation of the first and second motors. When the third motor rotates, the first linkage assembly can drive the robotic arm body to rotate on its own axis based on the rotation of the third motor. When the first, second, and third motors all rotate, the first linkage assembly can drive the robotic arm body to move and rotate (including oscillate in a plane and rotate on its own axis) based on the rotation of the first, second, and third motors.

[0011] In one possible design, the first link assembly includes a first sub-link assembly, a second sub-link assembly, and a first rotating rod. A first end of the first sub-link assembly is sleeved on the output shaft of a first motor, and a second end of the first sub-link assembly is connected to the robotic arm body. A first end of the second sub-link assembly is sleeved on the output shaft of a second motor, and a second end of the second sub-link assembly is connected to the robotic arm body. A first end of the first rotating rod is connected to the output shaft of a third motor, and a second end of the first rotating rod is connected to the robotic arm body.

[0012] Through the above scheme, the first sub-link assembly and the second sub-link assembly can drive the robotic arm body to move or rotate based on the rotation of the first motor and the second motor, respectively. The first rotating rod can drive the robotic arm body to rotate based on the rotation of the third motor. The first sub-link assembly, the second sub-link assembly, and the first rotating rod can jointly drive the robotic arm body to move and rotate based on the rotation of the first motor, the second motor, and the third motor, respectively.

[0013] In one possible design, the first sub-rod assembly includes a first sleeve rod and a first connecting rod rotatably connected, with a first end of the first sub-rod assembly located on the first sleeve rod and a second end of the first sub-rod assembly located on the first connecting rod. The second sub-rod assembly includes a second sleeve rod and a second connecting rod rotatably connected, with a first end of the second sub-rod assembly located on the second sleeve rod and a second end of the second sub-rod assembly located on the second connecting rod.

[0014] With the above scheme, the first linkage can rotate with the first motor; the first connecting rod can move closer to or away from the first linkage as the first linkage rotates, and drive the robotic arm body to move or rotate (oscillate in a plane). Similarly, the second linkage can rotate with the second motor; the second connecting rod can move closer to or away from the second linkage as the second linkage rotates, and drive the robotic arm body to move or rotate (oscillate in a plane).

[0015] In one possible design, two first tie rods are provided between the third motor and the first rod assembly; the first end of one first tie rod is connected to the first sub-rod assembly, and the second end of the other first tie rod is connected to the output shaft of the third motor; the first end of the other first tie rod is connected to the second sub-rod assembly, and the second end of the other first tie rod is connected to the output shaft of the third motor.

[0016] With the above scheme, during the movement of the first sub-rod assembly and / or the second sub-rod assembly, the first pull rod can correspondingly drive the output shaft of the third motor to oscillate in accordance with the movement of the first sub-rod assembly and / or the second sub-rod, so that the third motor can drive the robotic arm body to rotate in different directions. In addition, the first pull rod can correspondingly drive the third motor to move or oscillate in accordance with the movement of the first sub-rod assembly and / or the second sub-rod, so as to avoid the third motor affecting the movement or rotation of the robotic arm body.

[0017] In one possible design, the robotic arm body includes a first arm, a second connecting mechanism, and a second arm connected to each other. The first arm is connected to the first connecting mechanism, and the second arm is connected to the cutter head. The second connecting mechanism includes a second motor assembly and a second lever assembly. The second motor assembly is connected to the first arm. The second lever assembly is connected between the second motor assembly and the second arm. The second lever assembly is capable of moving based on the rotation of the second motor assembly, thereby driving the second arm to move and / or rotate. When the second arm moves and / or rotates, it drives the cutter head to move.

[0018] Through the above scheme, the second lever assembly can move based on the rotation of the second motor assembly, and drive the second arm to perform a variety of actions including moving, rotating, and moving and rotating, thereby increasing the degree of freedom of the robotic arm.

[0019] In one possible design, the second motor assembly includes a fourth, fifth, sixth, seventh, eighth, ninth, and tenth motor connected to the second rod assembly. All of the fourth, fifth, sixth, seventh, eighth, and ninth motors are connected to the first arm. The extension directions of the output shafts of the fourth, fifth, sixth, seventh, eighth, and ninth motors are all different.

[0020] With the above scheme, when the fourth to ninth motors rotate while the tenth motor does not, the second linkage assembly can drive the second arm to move or rotate (rotate in the plane) based on the rotation of the fourth to ninth motors. When the tenth motor rotates, the second linkage assembly can drive the second arm to rotate on its own axis based on the rotation of the tenth motor. When all ten motors rotate, the second linkage assembly can drive the second arm to move and rotate (including oscillation and rotation in the plane) based on the combined rotation of the fourth to tenth motors.

[0021] In one possible design, the robotic arm body further includes a third connecting mechanism connected between the second arm and the cutter head. The third connecting mechanism includes a third motor assembly and a third lever assembly. The third motor assembly is connected to the second arm, and the third lever assembly is connected between the third motor assembly and the cutter head. The third lever assembly is capable of operating based on the rotation of the third motor assembly, thereby driving the cutter head to move and / or rotate.

[0022] Through the above scheme, the third link assembly can move based on the rotation of the third motor assembly, and drive the cutter head to perform a variety of actions including moving, rotating, and moving and rotating, thereby increasing the degree of freedom of the robotic arm.

[0023] In one possible design, the third motor assembly includes an eleventh motor and a twelfth motor connected to the third rod assembly, with the eleventh motor connected to the second arm.

[0024] With the above scheme, when the eleventh motor rotates, the third linkage assembly can drive the cutter head to move based on the rotation of the eleventh motor. When the twelfth motor rotates, the third linkage assembly can drive the cutter head to rotate based on the rotation of the twelfth motor. When both the first and second motors rotate, the third linkage assembly can drive the cutter head to move and rotate based on the combined rotation of the eleventh and twelfth motors.

[0025] In one possible design, the robotic arm body further includes a fourth connecting mechanism. The fourth connecting mechanism is disposed between the two ends of the first arm. The first arm may be configured to include a first sub-arm and a second sub-arm. The end of the first sub-arm away from the second sub-arm is connected to the first connecting mechanism, and the end of the second sub-arm away from the first arm is connected to the second connecting mechanism. The fourth connecting mechanism connects the first sub-arm and the second sub-arm.

[0026] With the above scheme, when the fourth connecting mechanism is activated, the second sub-arm can perform various actions, including movement, rotation, and movement and rotation, based on the action of the fourth connecting mechanism. In this way, the degrees of freedom of the first arm itself can also be increased.

[0027] In one possible design, the robotic arm body further includes a fifth connecting mechanism. This fifth connecting mechanism is positioned between the two ends of the second arm. The second arm can be configured to include a first branch arm and a second branch arm. The end of the first branch arm furthest from the second branch arm is connected to the second connecting mechanism, and the end of the second branch arm furthest from the first branch arm is connected to a third connecting mechanism. The fifth connecting mechanism connects the first branch arm and the second branch arm.

[0028] With the above scheme, when the fifth connecting mechanism is activated, the second arm can perform various actions, including movement, rotation, and movement and rotation, based on the action of the fifth connecting mechanism. In this way, the degree of freedom of the second arm itself can also be increased.

[0029] Secondly, embodiments of this application also provide a control system for a robotic arm. This control system includes a main control circuit, a first sub-circuit, a second sub-circuit, a third sub-circuit, a fourth sub-circuit, a fifth sub-circuit, a sixth sub-circuit, a seventh sub-circuit, an eighth sub-circuit, a ninth sub-circuit, a tenth sub-circuit, an eleventh sub-circuit, and a twelfth sub-circuit connected to a bus. The first to twelfth sub-circuits are respectively connected to the first to twelfth motors.

[0030] Through the above scheme, the main control circuit can send control signals to the bus; the first to twelfth sub-circuits can obtain control signals from the bus and control the rotation direction and rotation angle of the first to twelfth motors accordingly. Furthermore, the first, second, and third lever assemblies can precisely control the cutter head to prune vegetation based on the rotation direction and rotation angle of the first to twelfth motors.

[0031] Thirdly, embodiments of this application also provide a lawnmower robot. The lawnmower robot includes a robot body and a robotic arm, which is connected to the robot body.

[0032] Based on the aforementioned increase in the degrees of freedom of the robotic arm, the lawnmower robot of this application embodiment will also improve the trimming accuracy of vegetation.

[0033] In one possible design, the lawnmower robot also includes a control system for the robotic arm as a second aspect.

[0034] The above description is merely an overview of the technical solutions of the embodiments of this application. In order to better understand the technical means of the embodiments of this application and to implement them in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the embodiments of this application more obvious and understandable, specific implementation methods of this application are described below. Attached Figure Description

[0035] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 is a schematic diagram of a robotic arm in some embodiments of this application.

[0037] Figure 2 is a schematic diagram of the first connecting mechanism in some embodiments of this application.

[0038] Figure 3 is a schematic diagram of the second connecting mechanism in some embodiments of this application.

[0039] Figure 4 is a schematic diagram of the third connecting mechanism in some embodiments of this application.

[0040] Figure 5 is a schematic diagram of another robotic arm in some embodiments of this application.

[0041] Figure 6 is a schematic diagram of the control system of the robotic arm in some embodiments of this application.

[0042] Reference numerals: 1-robotic arm; 11-first connecting mechanism; J11-first motor; J12-second motor; J13-third motor; G11-first sub-rod assembly; G111-first sleeve rod; G112-first connecting rod; G12-second sub-rod assembly; G121-second sleeve rod; G122-second connecting rod; G13-first rotating rod; 12-robotic arm body; 121-first arm; 1211-first sub-arm; 1212-second sub-arm; 122-second connecting mechanism; J21-fourth motor; J22-fifth motor; J23-sixth motor; J24-seventh motor; J25-eighth motor; J26-ninth motor; J27-tenth motor G21 - Fourth sub-rod assembly; G211 - Fourth sleeve rod; G212 - Fourth connecting rod; G22 - Fifth sub-rod assembly; G23 - Sixth sub-rod assembly; G24 - Seventh sub-rod assembly; G25 - Eighth sub-rod assembly; G26 - Ninth sub-rod assembly; G27 - Second rotating rod; 123 - Second arm; 1231 - First branch arm; 1232 - Second branch arm; 124 - Third connecting mechanism; J31 - Eleventh motor; J32 - Twelfth motor; G31 - Eleventh sub-rod assembly; G33 - Third rotating rod; 125 - Cutter head; L1 - First pull rod; L2 - Second pull rod; L3 - Third pull rod; 126 - Fourth connecting mechanism; 127 - Fifth connecting mechanism; X1 - First-person perspective; X2 - Second-person perspective; X4 - Fourth-person perspective; X5 - Fifth-person perspective; X6 - Sixth-person perspective; X7 - Seventh-person perspective; X8 - Eighth-person perspective; X9 - Ninth-person perspective; XT - Control system; DL0 - Main control circuit; DL1 - First sub-circuit; DL2 - Second sub-circuit; DL3 - Third sub-circuit; DL4 - Fourth sub-circuit; DL5 - Fifth sub-circuit; DL6 - Sixth sub-circuit; DL7 - Seventh sub-circuit; DL8 - Eighth sub-circuit; DL9 - Ninth sub-circuit; DL10 - Tenth sub-circuit; DL11 - Eleventh sub-circuit; DL2 - Twelfth sub-circuit. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims and drawings of this application are intended to cover non-exclusive inclusion.

[0045] The directional terms appearing in the following description refer to the directions shown in the figures and are not intended to limit the specific structure of this application. For example, in the description of this application, terms such as "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the figures. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0046] Furthermore, the terms "first," "second," etc., in the specification and claims of this application or in the aforementioned drawings are used to distinguish different objects rather than to describe a specific order, and may explicitly or implicitly include one or more of the features.

[0047] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, "connection" or "joining" in mechanical structures can refer to a physical connection, such as a fixed connection, for example, a connection fixed by fasteners, such as a connection fixed by screws, bolts, or other fasteners; a physical connection can also be a detachable connection, such as a snap-fit ​​or interlocking connection; a physical connection can also be an integral connection, such as a connection formed by welding, bonding, or integral molding. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0048] Existing robotic arms used in lawnmowers have limited degrees of freedom. For example, a motor, a belt, and a gear assembly are placed at one end of the robotic arm near the robot body. The belt is fitted onto the output shaft of the motor and the shaft of one of the gears in the gear assembly. When the motor rotates, the belt rotates with the motor and drives the gear assembly to rotate, which in turn causes the robotic arm to rotate in a plane.

[0049] Based on the existing structure of the robotic arm, it can be observed that at the connection point between the robotic arm and the robot body, the robotic arm can only rotate within a single plane, indicating a low degree of freedom.

[0050] Based on this, the embodiments of this application provide a first connecting mechanism at one end of the robotic arm near the robot body, and the first connecting mechanism is configured to include a first motor assembly and a first lever assembly, so that the first lever assembly can move based on the rotation of the first motor assembly, and drive the robotic arm body to perform a variety of actions including moving, rotating, and moving and rotating, so as to improve the degree of freedom of the robotic arm.

[0051] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0052] Referring to Figure 1, this embodiment of the application provides a robotic arm 1, which includes a first connecting mechanism 11 and a robotic arm body 12. Referring to Figure 2, the first connecting mechanism 11 connects the robot body and the robotic arm body 12. The robotic arm body 12 includes a cutter head 125. The first connecting mechanism 11 includes a first motor assembly and a first lever assembly. The first motor assembly is connected to the robot body, and the first lever assembly is connected between the first motor assembly and the robotic arm body 12. The first lever assembly can move based on the rotation of the first motor assembly, and drive the robotic arm body 12 to move and / or rotate; when the robotic arm body 12 moves and / or rotates, it drives the cutter head 125 to move.

[0053] In this embodiment, the robotic arm body 12 is movably connected to the robot body via a first connecting mechanism 11. When the first connecting mechanism 11 is activated, the robotic arm body 12 performs various actions, including moving, rotating, and moving and rotating, based on the action of the first connecting mechanism 11. When performing these various actions, the robotic arm body 12 moves the cutter head 125 to the vegetation to be pruned, facilitating the pruning of the vegetation by the cutter head 125.

[0054] The operation of the first connecting mechanism 11 includes the operation of the first motor assembly and the operation of the first lever assembly. The operation of the first motor assembly includes rotation. The operation of the first lever assembly occurs based on the rotation of the first motor assembly. The operation of the first lever assembly may include the operation of multiple components; for example, multiple components may rotate based on the rotation of the first motor assembly.

[0055] Furthermore, when the robotic arm body 12 moves based on the first link assembly, including moving, rotating, and moving and rotating, for example, when a component of the first link assembly rotates, the robotic arm body 12 can move based on the rotation of the first component, can rotate based on the rotation of the second component, or can move and rotate based on the combined rotation of the first and second components. In other words, the robotic arm body 12 can move and / or rotate based on the rotation of different components. Thus, the robotic arm body 12 has a high degree of freedom; consequently, the robotic arm 1 has a high degree of freedom.

[0056] It should be noted that, in this embodiment, the rotation of the robotic arm body 12 can include oscillation and rotation within a plane. For example, when the position of a certain part of the robotic arm body 12 connected to the first link assembly remains unchanged, while the positions of other parts change, the robotic arm body 12 can oscillate within a plane around that certain part as the center of rotation. When the positions of all parts of the robotic arm body 12 connected to the first link assembly remain unchanged, the robotic arm body 12 can rotate.

[0057] Specifically, the first motor assembly in the first connecting mechanism 11 can be connected to the robot body via both electrical and physical connections. For example, when the first motor assembly is physically connected to the robot body, the robot body may include a connecting surface, and the first motor assembly can be fixed to the connecting surface. When the first motor assembly is electrically connected to the robot body, the robot body may include control lines, and the first motor assembly can be connected to the control lines. After the first motor assembly is electrically connected to the robot body, the robot body can send control signals to the first motor assembly via the control lines to control the rotation of the first motor assembly.

[0058] When the first rod assembly is connected to the first motor assembly, for example, as shown in FIG2, the first rod assembly can be sleeved on the output shaft of the motor in the first motor assembly.

[0059] When the first link assembly is sleeved with the robotic arm body 12, exemplarily, the end of the first link assembly not sleeved with the first motor assembly can be sleeved with the robotic arm body 12. Specifically, the end of the robotic arm body 12 near the first link assembly may include an inner ring and an outer ring that are rotatably fitted. Part of the first link assembly is interference-fitted with the inner ring, and another part of the first link assembly is sleeved with the outer ring. In this way, the first link assembly can drive the robotic arm body 12 to move or swing in a plane by sleeved with the outer ring, and can cause the robotic arm body 12 to rotate by being fixedly connected with the inner ring.

[0060] When another part of the first link assembly is sleeved with the outer ring, a spherical compartment can be provided on the outer ring, and a connecting ball can be provided on the other part of the first link assembly. The spherical compartment of the robotic arm body 12 can be sleeved on the connecting ball of the first link assembly.

[0061] In some embodiments, referring to FIG2, the first motor assembly includes a first motor J11, a second motor J12, and a third motor J13 connected to the first rod assembly. Both the first motor J11 and the second motor J12 are connected to the robot body. There is a non-zero angle between the extension direction of the output shaft of the first motor J11 and the extension direction of the output shaft of the second motor J12.

[0062] In this embodiment, it is assumed that the clockwise rotation angle of the first motor J11 under the first view X1 is the same as the counterclockwise rotation angle of the second motor J12 under the second view X2. Then the first rod assembly will rotate with the rotation of the first motor J11 and the second motor J12, and drive the robotic arm body 12 to move away from the robot body.

[0063] Conversely, assuming that the counterclockwise rotation angle of the first motor J11 under the first viewpoint X1 is the same as the clockwise rotation angle of the second motor J12 under the second viewpoint X2, the first rod assembly will rotate along with the rotation of the first motor J11 and the second motor J12, and drive the robotic arm body 12 to move towards the robot body.

[0064] It should be noted that during the movement of the robotic arm body 12, since the third motor J13 is connected to the first link assembly, the third motor J13 will move based on the first link assembly. That is to say, the position of the third motor J13 is not fixed; thus, during the movement of the robotic arm body 12, the third motor J13 will not affect the movement of the robotic arm body 12.

[0065] Alternatively, suppose that the clockwise rotation angle of the first motor J11 in the first viewpoint X1 is different from the counterclockwise rotation angle of the second motor J12 in the second viewpoint X2; or, the counterclockwise rotation angle of the first motor J11 in the first viewpoint X1 is different from the clockwise rotation angle of the second motor J12 in the second viewpoint X2; or, the first motor J11 rotates counterclockwise in the first viewpoint X1 and the second motor J12 rotates clockwise in the second viewpoint X2; or, the first motor J11 rotates clockwise in the first viewpoint X1 and the second motor J12 rotates counterclockwise in the second viewpoint X2; or, the first motor J11 does not rotate and the second motor J12 does not rotate; or, the first motor J11 rotates and the second motor J12 does not rotate; then the first lever assembly will drive the robotic arm body 12 to rotate (oscillate in the plane). Specifically, the oscillation of the robotic arm body 12 includes oscillation caused by some positions remaining unchanged and others changing; wherein, some positions can be a point on the robotic arm body 12 or a line on the robotic arm body 12, and this application does not make any special limitation on this.

[0066] It should be noted that during the swinging of the robotic arm body 12 in the plane, since the third motor J13 is connected to the first rod assembly, the third motor J13 will swing along with the robotic arm body 12. That is to say, the extension direction of the output shaft of the third motor J13 is not fixed; thus, during the swinging of the robotic arm body 12, the third motor J13 will not affect the swinging of the robotic arm body 12.

[0067] Alternatively, suppose that the first motor J11 and the second motor J12 do not rotate, but the third motor J13 rotates. Then the component in the first lever assembly that is connected to the third motor J13 will drive the robotic arm body 12 to rotate.

[0068] Alternatively, suppose that the first motor J11 does not rotate, while the second motor J12 and the third motor J13 rotate. Then the first lever assembly will cause the robotic arm body 12 to swing and rotate based on the rotation of the second motor J12 and the third motor J13.

[0069] It should be noted that during the process of the robotic arm body 12 swinging and rotating in the plane, since the third motor J13 is connected to the first rod assembly, the third motor J13 will swing along with the robotic arm body 12 while rotating, which facilitates the swinging and rotation of the robotic arm body 12.

[0070] In the above assumption, when the first link assembly drives the output shaft of the third motor J13 to oscillate, the extension direction of the output shaft of the third motor J13 can form an angle of 0° to 90° with the extension direction of the output shaft of the first motor J11 or the extension direction of the output shaft of the second motor J12, so that the first link assembly can drive the robotic arm body 12 to swing and / or rotate in different directions.

[0071] Specifically, when the first rod assembly connects the first motor J11, the second motor J12, and the third motor J13, for example, the first rod assembly may include three connecting ends, each of which may be provided with a socket hole, and the output shafts of the first motor J11, the second motor J12, and the third motor J13 may be inserted into the socket holes of the three connecting ends one by one.

[0072] When both the first motor J11 and the second motor J12 are connected to the robot body, for example, a fixed compartment can be provided on the side of the robot body near the robotic arm body 12. The first motor J11 and the second motor J12 can be accommodated in the fixed compartment, and the output shafts of the first motor J11 and the second motor J12 extend out of the fixed compartment. The first motor J11 and the second motor J12 can be connected to the same surface of the robot body or to different surfaces of the robot body; this application does not impose any special limitations on this.

[0073] Furthermore, a large distance can be set between the first motor J11 and the second motor J12. In this way, the first lever assembly will have a larger range of motion with the first motor J11 and the second motor J12, and the first lever assembly will drive the robotic arm body 12 to move within a larger range, so that the cutter head 125 can move within a larger range to trim vegetation.

[0074] The non-zero angle between the extension directions of the output shafts of the first motor J11 and the second motor J12 means that the angle α between them is configured as follows: 0° < α ≤ 90°. When the above condition is met, under the driving action of the first motor J11 and the second motor J12, the first lever assembly can not only drive the robotic arm body 12 to move in the direction perpendicular to the output shaft of the first motor J11 (or the output shaft of the second motor J12), but also in other directions. This increases the degree of freedom of the robotic arm body 12, thereby improving its overall freedom.

[0075] In other embodiments, unlike the embodiments described above, the first motor assembly may also include other motors, and the first lever assembly may also include other components connected to other motors. These other components can drive the robotic arm body 12 to move or rotate in other directions based on the rotation of the other motors, thereby increasing the degree of freedom of the robotic arm 1.

[0076] The connection methods between other motors and the robot body, the connection methods between other components in the first link assembly and other motors, and the connection methods between other components of the first link assembly and the robotic arm body 12 can be the same as in the aforementioned embodiments, and will not be repeated here.

[0077] In some embodiments, referring to Figure 2, the first link assembly includes a first sub-link assembly G11, a second sub-link assembly G12, and a first rotating link G13. The first end of the first sub-link assembly G11 is sleeved on the output shaft of the first motor J11, and the second end of the first sub-link assembly G11 is connected to the robotic arm body 12. The first end of the second sub-link assembly G12 is sleeved on the output shaft of the second motor J12, and the second end of the second sub-link assembly G12 is connected to the robotic arm body 12. The first end of the first rotating link G13 is connected to the output shaft of the third motor J13, and the second end of the first rotating link G13 is connected to the robotic arm body 12.

[0078] In this embodiment, the first sub-link assembly G11 can drive the robotic arm body 12 to move or rotate based on the rotation of the first motor J11. The second sub-link assembly G12 can drive the robotic arm body 12 to move or rotate based on the rotation of the second motor J12. The first rotating rod G13 can drive the robotic arm body 12 to rotate based on the rotation of the third motor J13.

[0079] Specifically, the first end of the first sub-rod assembly G11, the first end of the second sub-rod assembly G12, and the first end of the first rotating rod G13 can be the three connecting ends with the aforementioned sleeve holes, so as to be sleeved one-to-one with the output shafts of the first motor J11, the second motor J12, and the third motor J13.

[0080] The second end of the first sub-link assembly G11 and the second end of the second sub-link assembly G12 may be provided with the aforementioned connecting ball to be rotatably connected to the spherical compartment of the outer ring of the robotic arm body 12. The second end of the first rotating rod G13 may be interference-fitted into the inner ring of the robotic arm body 12.

[0081] In some embodiments, when the first motor assembly also includes other motors, the corresponding first lever assembly also includes other sub-lever assemblies, and the number of other sub-lever assemblies is the same as the number of other motors. Furthermore, the manner in which the other sub-lever assemblies are connected to the other motors and the robotic arm body 12 can be the same as the manner in which the first sub-lever assembly G11 is connected to the first motor J11 and the robotic arm body 12, and will not be elaborated here.

[0082] In some embodiments, referring to FIG2, the first sub-rod assembly G11 includes a first sleeve rod G111 and a first connecting rod G112 rotatably connected. The first end of the first sub-rod assembly G11 is located at the first sleeve rod G111, and the second end of the first sub-rod assembly G11 is located at the first connecting rod G112. The second sub-rod assembly G12 includes a second sleeve rod G121 and a second connecting rod G122 rotatably connected. The first end of the second sub-rod assembly G12 is located at the second sleeve rod G121, and the second end of the second sub-rod assembly G12 is located at the second connecting rod G122.

[0083] In this embodiment, the first linkage G111 can rotate with the rotation of the first motor J11, and the first connecting rod G112 can move closer to or further away from the first linkage G111 based on the rotation of the first linkage G111, thereby driving the robotic arm body 12 to move or rotate (oscillate in a plane). The second linkage G121 can rotate with the rotation of the second motor J12, and the second connecting rod G122 can move closer to or further away from the second linkage G121 based on the rotation of the second linkage G121, thereby driving the robotic arm body 12 to move or rotate (oscillate in a plane).

[0084] Specifically, both the first sleeve rod G111 and the second sleeve rod G121 are provided with the aforementioned socket holes, so as to be sleeved one-to-one with the output shaft of the first motor J11 and the output shaft of the second motor J12. Both the first connecting rod G112 and the second connecting rod G122 are provided with connecting balls, so as to be sleeved with the outer ring of the robotic arm body 12.

[0085] When the first sleeve rod G111 is rotatably connected to the first connecting rod G112, for example, one of the first sleeve rod G111 or the first connecting rod G112 can be provided with a rotating column, and the other can be provided with a rotating hole adapted to the rotating column. The first sleeve rod G111 and the second sleeve rod G121 can be rotatably connected through the rotating column and the rotating hole; or, one of the first sleeve rod G111 or the first connecting rod G112 can be provided with a mounting ball, and the other can be provided with a spherical mounting cavity adapted to the mounting ball. The first sleeve rod G111 and the first connecting rod G112 can be rotatably connected through the mounting ball and the spherical mounting cavity. The way in which the second sleeve rod G121 and the second connecting rod G122 are rotatably connected can be the same as the way in which the first sleeve rod G111 and the first connecting rod G112 are rotatably connected, and will not be described again here.

[0086] The first rod G111, the first connecting rod G112, the second rod G121, and the second connecting rod G122 can all be configured as cylindrical rods, prismatic rods, or U-shaped rods, etc., and the embodiments of this application do not impose any special limitations on this.

[0087] In other embodiments, when the first rod assembly includes other sub-rod assemblies, the other sub-rod assemblies may also include other sleeve rods and other connecting rods that are rotatably connected. The rotatable connection between the other sleeve rods and other connecting rods may be the same as the rotatable connection between the first sleeve rod G111 and the first connecting rod G112, which will not be described in detail here.

[0088] In some embodiments, please continue to refer to Figure 2, two first pull rods L1 are provided between the third motor J13 and the first rod assembly; the first end of one first pull rod L1 is connected to the first sub-rod assembly G11, and the second end of one first pull rod L1 is connected to the output shaft of the third motor J13; the first end of the other first pull rod L1 is connected to the second sub-rod assembly G12, and the second end of the other first pull rod L1 is connected to the output shaft of the third motor J13.

[0089] In this embodiment, during the operation of the first sub-rod assembly G11 and / or the second sub-rod assembly G12, the first pull rod L1 can drive the output shaft of the third motor J13 to oscillate in accordance with the operation of the first sub-rod assembly G11 and / or the second sub-rod, so that the third motor J13 can drive the robotic arm body 12 to rotate in different directions.

[0090] Specifically, the first ends of both first tie rods L1 are rotatably connected to the first sub-rod assembly G11 and the second sub-rod assembly G12. Thus, when the first sleeve rod G111 and the first connecting rod G112, and the second sleeve rod G121 and the second connecting rod G122 rotate relative to each other to move closer or further apart, the two first tie rods L1 can also rotate to avoid affecting the first sleeve rod G111 and the first connecting rod G112, as well as the second sleeve rod G121 and the second connecting rod G122.

[0091] Furthermore, the second ends of both first pull rods L1 can be movably connected to the output shaft of the third motor J13. In this way, the two first pull rods L1 will not affect the operation of the first sub-rod assembly G11 and the second sub-rod assembly G12 as the output shaft of the third motor J13 rotates.

[0092] The first pull rod L1 can be configured as a cylindrical rod or a prismatic rod, etc., and this application embodiment does not make any special limitation on this.

[0093] In some embodiments, referring to Figures 1 and 3, the robotic arm body 12 includes a first arm 121, a second connecting mechanism 122, and a second arm 123 connected together. The first arm 121 is connected to the first connecting mechanism 11, and the second arm 123 is connected to the cutter head 125. The second connecting mechanism 122 includes a second motor assembly and a second lever assembly. The second motor assembly is connected to the first arm 121. The second lever assembly is connected between the second motor assembly and the second arm 123. The second lever assembly is capable of moving based on the rotation of the second motor assembly, thereby driving the second arm 123 to move and / or rotate. When the second arm 123 moves and / or rotates, it drives the cutter head 125 to move.

[0094] In this embodiment, when the aforementioned first connecting mechanism 11 is activated, the first arm 121 can move based on the movement of the first connecting mechanism 11, and the first arm 121 can drive the cutter head 125 closer to the vegetation to be pruned via the second arm 123. When the second connecting mechanism 122 is activated, the second arm 123 performs various actions based on the movement of the second connecting mechanism 122, including moving, rotating, and moving and rotating. When the second arm 123 performs various actions, it drives the cutter head 125 to move to the vegetation to be pruned, so that the cutter head 125 can prune the vegetation.

[0095] The operation of the second connecting mechanism 122 includes the operation of the second motor assembly and the operation of the second lever assembly. The operation of the second motor assembly includes rotation. The operation of the second lever assembly occurs based on the operation of the second motor assembly. The operation of the second lever assembly may include the operation of multiple components; for example, multiple components may rotate based on the rotation of the second motor assembly.

[0096] Furthermore, when the second arm 123 performs actions based on the second link assembly, including movement, rotation, and movement and rotation, exemplarily, when a component of the second link assembly rotates, the second arm 123 can move based on the rotation of the first component, can rotate based on the rotation of the second component, or can move and rotate based on the combined rotation of the first and second components. In other words, the second arm 123 can move and / or rotate based on the rotation of different components, thus providing a high degree of freedom for the second arm 123. Consequently, the robotic arm 1 also has a high degree of freedom.

[0097] It should be noted that the rotation of the first arm 121 can include oscillation and rotation within a plane. For example, when the position of a certain part of the second arm 123 connected to the second rod assembly remains unchanged, while the positions of other parts change, the second arm 123 can oscillate within a plane around that certain part as the center of rotation. When the positions of all parts of the second arm 123 connected to the second rod assembly remain unchanged, the second arm 123 can rotate.

[0098] Specifically, the end of the first arm 121 closest to the robot body can be connected to the first link assembly in the first connecting mechanism 11. The end of the first arm 121 furthest from the robot body is connected to the second connecting mechanism 122.

[0099] The second motor assembly in the second connecting mechanism 122 is connected to the end of the first arm 121 furthest from the robot body, and is electrically connected to the robot body via a control line. The connection method between the second motor assembly and the first arm 121 can be the same as the connection method between the first motor assembly and the robot body. One end of the control line can be connected to the second motor assembly, and the first arm 121 can be configured as a hollow cylindrical structure. The other end of the control line passes through the first arm 121 and connects to the robot body for control by the robot body.

[0100] When the second link assembly in the second connecting mechanism 122 is connected to the second arm 123, the second link assembly can be connected to the end of the second arm 123 closest to the first arm 121. Furthermore, the connection method between the second link assembly and the end of the second arm 123 closest to the first arm 121 can be the same as the connection method between the first link assembly and the robotic arm body 12, and will not be elaborated further here. The end of the second arm 123 furthest from the first arm 121 is connected to the cutter head 125.

[0101] In some embodiments, referring to FIG3, the second motor assembly includes a fourth motor J21, a fifth motor J22, a sixth motor J23, a seventh motor J24, an eighth motor J25, a ninth motor J26, and a tenth motor J27 connected to the second rod assembly. The fourth motor J21, fifth motor J22, sixth motor J23, seventh motor J24, eighth motor J25, and ninth motor J26 are all connected to the first arm 121. The extension directions of the output shafts of the fourth motor J21, fifth motor J22, sixth motor J23, seventh motor J24, eighth motor J25, and ninth motor J26 are all different.

[0102] In this embodiment, it is assumed that the angle of clockwise rotation of the fourth motor J21 under the fourth perspective X4, the angle of counterclockwise rotation of the fifth motor J22 under the fifth perspective X5, the angle of counterclockwise rotation of the sixth motor J23 under the sixth perspective X6, the angle of counterclockwise rotation of the seventh motor J24 under the seventh perspective X7, the angle of counterclockwise rotation of the eighth motor J25 under the eighth perspective X8, and the angle of clockwise rotation of the ninth motor J26 under the ninth perspective X9 are all the same. Then, the end of the second rod assembly away from the first arm 121 will move in a direction away from the first arm 121, thereby driving the second arm 123 to move in a direction away from the first arm 121.

[0103] Conversely, assuming that the angle of counterclockwise rotation of the fourth motor J21 under the fourth perspective X4, the angle of clockwise rotation of the fifth motor J22 under the fifth perspective X5, the angle of clockwise rotation of the sixth motor J23 under the sixth perspective X6, the angle of clockwise rotation of the seventh motor J24 under the seventh perspective X7, the angle of clockwise rotation of the eighth motor J25 under the eighth perspective X8, and the angle of counterclockwise rotation of the ninth motor J26 under the ninth perspective X9 are all the same, then the end of the second rod assembly away from the first arm 121 will move towards the first arm 121, thereby driving the second arm 123 to move towards the first arm 121.

[0104] It should be noted that during the movement of the second arm 123, since the tenth motor J27 is connected to the second rod assembly, the tenth motor J27 will move based on the second rod assembly. That is to say, the position of the tenth motor J27 is not fixed; thus, during the movement of the second arm 123, the tenth motor J27 will not affect the movement of the second arm 123.

[0105] Alternatively, assuming that the clockwise rotation angle of the fourth motor J21 under the fourth perspective X4, the counterclockwise rotation angle of the fifth motor J22 under the fifth perspective X5, the counterclockwise rotation angle of the sixth motor J23 under the sixth perspective X6, the counterclockwise rotation angle of the seventh motor J24 under the seventh perspective X7, the counterclockwise rotation angle of the eighth motor J25 under the eighth perspective X8, and the clockwise rotation angle of the ninth motor J26 under the ninth perspective X9 are all different, then the end of the second rod assembly away from the first arm 121 will drive the second arm 123 to rotate (oscillate in the plane). Specifically, the oscillation of the second arm 123 includes oscillation caused by some positions remaining unchanged and others changing; wherein, some positions can be a point on the second arm 123 or a line on the second arm 123, and this application does not make any special limitation on this.

[0106] It is worth noting that, based on the different rotation angles of the fourth motor J21 and the ninth motor J26, the second rod assembly drives the second arm 123 to swing on different surfaces. In other words, the second arm 123 can swing in multiple surfaces, and the second arm 123 has a higher degree of freedom.

[0107] It should be noted that during the swinging of the second arm 123 in the plane, since the tenth motor J27 is connected to the second rod assembly, the tenth motor J27 will swing based on the second rod assembly. That is to say, the extension direction of the output shaft of the tenth motor J27 is not fixed; thus, during the swinging of the second arm 123, the tenth motor J27 will not affect the swinging of the second arm 123.

[0108] Alternatively, suppose that the fourth motor J21 does not rotate, while the fifth motor J22 through the tenth motor J27 all rotate. In this case, the second linkage assembly will cause the second arm 123 to wobble due to the rotation of the fifth motor J22 through the ninth motor J26, and the second linkage assembly will cause the second arm 123 to rotate due to the rotation of the tenth motor J27. That is to say, the second arm 123 can swing and rotate in a plane.

[0109] It should be noted that during the second swing and rotation in the plane, since the tenth motor J27 is connected to the second rod assembly, the tenth motor J27 will swing along with the second arm 123 while rotating, which facilitates the swing and rotation of the second arm 123.

[0110] In the above assumption, when the second rod assembly drives the output shaft of the tenth motor J27 to oscillate, the extension direction of the output shaft of the tenth motor J27 can form an angle of 0° to 90° with the extension direction of one or more of the output shafts of the fourth motor J21 to the ninth motor J26, so that the second rod assembly can drive the second arm 123 to swing and / or rotate in different directions.

[0111] Specifically, the connection method between the fourth motor J21 to the ninth motor J26 and the first arm 121 can be the same as the connection method between the first motor J11 and the robot body. The connection method between the fourth motor J21 to the ninth motor J26 and the second link assembly can be the same as the connection method between the first motor J11 and the first link assembly. The connection method between the tenth motor J27 and the second link assembly can be the same as the connection method between the third motor J13 and the first link assembly. The above connection methods will not be elaborated further here.

[0112] When the extension directions of the output shafts of the fourth motor J21, the fifth motor J22, the sixth motor J23, the seventh motor J24, the eighth motor J25, and the ninth motor J26 are all different, the second rod assembly can drive the second arm 123 to move or rotate in multiple directions based on the rotation of the fourth motor J21 to the ninth motor J26, and the second arm 123 has a higher degree of freedom.

[0113] In other embodiments, unlike the embodiments described above, the second motor assembly may also include other motors besides the fourth motor J21 to the ninth motor J26. The second lever assembly also includes other components connected to the other motors, which can drive the second arm 123 to move or rotate in other directions based on the rotation of the other motors, thereby increasing the degrees of freedom of the robotic arm 1.

[0114] The connection methods between other motors and the first arm 121, the connection methods between other components of the second link assembly and other motors, and the connection methods between other components of the second link assembly and the second arm 123 can be the same as the connection methods between other motors and the robot body, the connection methods between other components of the first link assembly and other motors, and the connection methods between other components of the first link assembly and the robotic arm body 12. The connection methods and driving mechanisms described above will not be elaborated further here.

[0115] In some other embodiments, unlike the embodiments described above, the second motor assembly may include some of the fourth motor J21 to the ninth motor J26, that is, the number of motors in the second motor assembly may be less.

[0116] In some embodiments, referring to Figure 3, the second rod assembly includes a fourth sub-rod assembly G21, a fifth sub-rod assembly G22, a sixth sub-rod assembly G23, a seventh sub-rod assembly G24, an eighth sub-rod assembly G25, a ninth sub-rod assembly G26, and a second rotating rod G27. The first end of the fourth sub-rod assembly G21 to the first end of the ninth sub-rod assembly G26 are respectively sleeved on the output shafts of the fourth motor J21 and the ninth motor J26; the second end of the fourth sub-rod assembly G21 to the second end of the ninth sub-rod assembly G26 are rotatably connected to the second arm 123. The first end of the second rotating rod G27 is sleeved on the output shaft of the tenth motor J27, and the second end of the second rotating rod G27 is connected to the second arm 123.

[0117] In this embodiment, the fourth sub-rod assembly G21 to the ninth sub-rod assembly G26 can drive the second arm 123 to move or rotate based on the rotation of the fourth motor J21 to the ninth motor J26. The second rotating rod G27 can drive the second arm 123 to rotate based on the rotation of the tenth motor J27.

[0118] Specifically, the way in which the first end of the fourth sub-link assembly G21 to the first end of the ninth sub-link assembly G26 are respectively sleeved on the output shafts of the fourth motor J21 to the ninth motor J26 can be the same as the way in which the first end of the first sub-link assembly G11 is sleeved on the output shaft of the first motor J11. The way in which the second end of the fourth sub-link assembly G21 to the second end of the ninth sub-link assembly G26 is connected to the second arm 123 can be the same as the way in which the second end of the first sub-link assembly G11 is connected to the robotic arm body 12. The way in which the first end of the second rotating rod G27 is sleeved on the output shaft of the tenth motor J27 can be the same as the way in which the first rotating rod G13 is sleeved on the output shaft of the third motor J13. The way in which the second end of the second rotating rod G27 is connected to the second arm 123 can be the same as the way in which the second end of the first rotating rod G13 is connected to the robotic arm body 12. The above sleeved or connected methods will not be elaborated upon here.

[0119] In some other embodiments, when the second motor assembly also includes other motors, the corresponding second rod assembly also includes other sub-rod assemblies, and the number of other sub-rod assemblies is the same as the number of other motors, and the connection method of the other sub-rod assemblies and other motors can be the same as the connection method of the fourth sub-rod assembly G21 and the fourth motor J21, which will not be elaborated here.

[0120] In some embodiments, referring to Figure 3, the fourth sub-rod assembly G21 includes a fourth sleeve rod G211 and a fourth connecting rod G212 rotatably connected. The first end of the fourth sub-rod assembly G21 is located at the fourth sleeve rod G211, and the second end of the fourth sub-rod assembly G21 is located at the fourth connecting rod G212. The structures of the fifth sub-rod assemblies G22 to the ninth sub-rod assemblies G26 are all the same as the structure of the fourth sub-rod assembly G21.

[0121] In this embodiment, the fourth sleeve rod G211 can rotate with the rotation of the fourth motor J21, and the fourth connecting rod G212 can move closer to or further away from the fourth sleeve rod G211 based on the rotation of the fourth sleeve rod G211, thereby driving the second arm 123 to move or rotate (swing in the plane). The movement mode of the sleeve rods in the fifth sub-rod assembly G22 to the ninth sub-rod assembly G26 can all be the same as that of the fourth sleeve rod G211, and the movement mode of the connecting rods in the fifth sub-rod assembly G22 to the ninth sub-rod assembly G26 can all be the same as that of the fourth connecting rod G212.

[0122] Specifically, the connection method between the fourth set of rods G211 and the fourth connecting rod G212 can be the same as the connection method between the first set of rods G111 and the first connecting rod G112 mentioned above, and will not be repeated here.

[0123] The fourth rod G211 and the fourth connecting rod G212 can be cylindrical, prismatic, or U-shaped, etc., and this application does not impose any special limitations on them.

[0124] In other embodiments, when the second rod assembly includes other sub-rod assemblies, the other sub-rod assemblies may also include other sleeve rods and other connecting rods that are rotatably connected. The rotatable connection between the other sleeve rods and other connecting rods may be the same as the rotatable connection between the fourth sleeve rod G211 and the fourth connecting rod G212, which will not be described in detail here.

[0125] In some embodiments, please continue to refer to Figure 3. A plurality of second tie rods L2 are provided between the tenth motor J27 and the second rod assembly. The first ends of the plurality of second tie rods L2 are connected to some or all of the fourth sub-rod assembly G21 to the ninth sub-rod assembly G26, and the second ends of the plurality of second tie rods L2 are all connected to the output shaft of the tenth motor J27.

[0126] In this embodiment, during the operation of the fourth sub-rod assembly G21 to the ninth sub-rod assembly G26, the second pull rod L2 can drive the output shaft of the tenth motor J27 to move or yaw in accordance with some or all of the operation of the fourth sub-rod assembly G21 to the ninth sub-rod assembly G26, so that the tenth motor J27 can drive the second arm 123 to rotate in different positions or directions.

[0127] Specifically, the first ends of each of the multiple second tie rods L2 can be fitted one-to-one into parts or all of the fourth sub-rod assembly G21 to the ninth sub-rod assembly G26. In this way, when the sleeves and connecting rods in the fourth sub-rod assembly G21 to the ninth sub-rod assembly G26 rotate relative to each other to move closer or further away, the second tie rods L2 can also rotate to avoid affecting the sleeves and connecting rods.

[0128] Furthermore, the second ends of each of the multiple second pull rods L2 can be movably connected to the output shaft of the tenth motor J27. In this way, the multiple second pull rods L2 will not affect some or all of the operation of the fourth sub-rod assembly G21 to the ninth sub-rod assembly G26 as the output shaft of the tenth motor J27 rotates.

[0129] The second tie rod L2 can be configured as a cylindrical rod or a prismatic rod, etc., and this application embodiment does not impose any special limitations on it.

[0130] In some embodiments, referring to Figures 1 and 4, the robotic arm body 12 further includes a third connecting mechanism 124, which connects the second arm 123 and the cutter head 125. The third connecting mechanism 124 includes a third motor assembly and a third lever assembly. The third motor assembly is connected to the second arm 123, and the third lever assembly is connected between the third motor assembly and the cutter head 125. The third lever assembly is capable of operating based on the rotation of the third motor assembly, thereby driving the cutter head 125 to move and / or rotate.

[0131] In this embodiment, when the third connecting mechanism 124 is activated, the cutter head 125 performs actions including moving, rotating, and moving and rotating based on the action of the third connecting mechanism 124, so as to move to the vegetation to be pruned and prune the vegetation.

[0132] The operation of the third connecting mechanism 124 includes the operation of the third motor assembly and the operation of the third lever assembly. The operation of the third motor assembly includes rotation. The operation of the third lever assembly occurs based on the operation of the third motor assembly. The operation of the third lever assembly may include the operation of multiple components; for example, multiple components may rotate based on the rotation of the third motor assembly.

[0133] Furthermore, when the cutter head 125 moves based on the third lever assembly, including movement and / or rotation, for example, when a component of the third lever assembly rotates, the cutter head 125 may move based on the rotation of the first component, or it may rotate based on the rotation of the second component, or it may move and rotate based on the combined rotation of the first and second components. The rotation of the cutter head 125 may be a self-rotation.

[0134] Specifically, the end of the second arm 123 away from the first arm 121 can be connected to the third connecting mechanism 124.

[0135] The third motor assembly in the third connecting mechanism 124 is connected to the end of the second arm 123 furthest from the first arm 121, and is electrically connected to the robot body via a control line. The connection method between the third motor assembly and the second arm 123 can be the same as the connection method between the second motor assembly and the first arm 121. The third motor assembly can be connected to one end of the control line, and the second arm 123 can also be configured as a hollow cylindrical structure, with the other end of the control line passing through the second arm 123 and the first arm 121 to connect to the robot body for control by the robot body.

[0136] When the third link assembly in the third connecting mechanism 124 is connected to the cutter head 125, the connection method between the third link assembly and the cutter head 125 can be the same as the connection method between the first link assembly and the robotic arm body 12, which will not be described in detail here.

[0137] In some embodiments, please continue to refer to FIG4, the third motor assembly includes an eleventh motor J31 and a twelfth motor J32 connected to the third rod assembly, the eleventh motor J31 being connected to the second arm 123.

[0138] In this embodiment, when the eleventh motor J31 rotates, the third linkage assembly can drive the cutter head 125 to move along with the rotation of the eleventh motor J31. When the twelfth motor J32 rotates, the third linkage assembly can drive the cutter head 125 to rotate along with the rotation of the twelfth motor J32. When both the eleventh motor J31 and the twelfth motor J32 rotate, the third linkage assembly can move and rotate along with the rotation of the eleventh motor J31 and the twelfth motor J32. The cutter head 125 can prune vegetation during rotation, movement, or movement and rotation.

[0139] Specifically, the connection method between the eleventh motor J31 and the third rod assembly can be the same as the connection method between the fourth motor J21 and the second rod assembly. The connection method between the twelfth motor J32 and the third rod assembly can be the same as the connection method between the tenth motor J27 and the second rod assembly. Details will not be elaborated here.

[0140] In some embodiments, please continue to refer to Figure 4. The third rod assembly includes an eleventh sub-rod assembly G31 and a third rotating rod G33. The first end of the eleventh sub-rod assembly G31 is sleeved on the output shaft of the eleventh motor J31, and the second end of the eleventh rod assembly is connected to the cutter head 125. The first end of the third rotating rod G33 is sleeved on the output shaft of the twelfth motor J32, and the second end of the third rotating rod G33 is connected to the cutter head 125.

[0141] In this embodiment, the eleventh sub-rod assembly G31 drives the cutter head 125 to move based on the rotation of the eleventh motor J31. The third rotating rod G33 drives the cutter head 125 to rotate based on the rotation of the twelfth motor J32. The eleventh sub-rod assembly G31 and the third rotating rod G33 together drive the cutter head 125 to move and rotate.

[0142] Specifically, the structure of the eleventh sub-rod assembly G31 can be the same as that of the first sub-rod assembly G11. The structure of the third rotating rod G33 can be the same as that of the first rotating rod G13. Further details are omitted here.

[0143] In some embodiments, a third tie rod L3 is further included between the third rod assembly and the twelfth motor J32. The first end of the third tie rod L3 is connected to the eleventh sub-rod assembly G31, and the second end of the third tie rod L3 is connected to the output shaft of the twelfth motor J32.

[0144] In this embodiment, during the operation of the eleventh sub-rod assembly G31, the third pull rod L3 can drive the output shaft of the twelfth motor J32 to move along with the operation of the eleventh sub-rod assembly G31, so that the twelfth motor J32 can drive the cutter head 125 to rotate at different positions.

[0145] Specifically, the first end of the third tie rod L3 is sleeved onto the eleventh sub-rod assembly G31. In this way, when the sleeve and connecting rod in the eleventh sub-rod assembly G31 rotate relative to each other to move closer or further away, the third tie rod L3 can also rotate to avoid affecting the sleeve and connecting rod.

[0146] Furthermore, the second end of the third pull rod L3 can be movably connected to the output shaft of the twelfth motor J32. In this way, the third pull rod L3 will not affect the operation of the eleventh sub-rod assembly G31 as the output shaft of the twelfth motor J32 rotates.

[0147] The third tie rod L3 can be set as a cylindrical rod or a prismatic rod, etc., and this application embodiment does not make any special limitation on this.

[0148] It should be noted that in the above embodiments, the first motor J11 to the twelfth motor J32 can all be servo motors, specifically magnetic encoder servo motors.

[0149] Based on the above embodiments, and referring to Figure 5, the robotic arm body 12 may further include other connecting mechanisms to further improve the degrees of freedom of the robotic arm in this application embodiment. These other connecting mechanisms may include, but are not limited to, the fourth connecting mechanism 126 and / or the fifth connecting mechanism 127.

[0150] In some embodiments, the fourth connecting mechanism 126 may be disposed between the two ends of the first arm 121. Specifically, the first arm 121 may be configured to include a first sub-arm 1211 and a second sub-arm 1212. The end of the first sub-arm 1211 away from the second sub-arm 1212 is connected to the first connecting mechanism 11, and the end of the second sub-arm 1212 away from the first sub-arm 1211 is connected to the second connecting mechanism 122. The fourth connecting mechanism 126 is connected between the first sub-arm 1211 and the second sub-arm 1212.

[0151] In this example, when the fourth connecting mechanism 126 is activated, the second sub-arm 1212 can perform various actions, including movement, rotation, and movement and rotation, based on the action of the fourth connecting mechanism 126. In this way, the degrees of freedom of the first arm itself can also be increased.

[0152] The components of the fourth connecting mechanism 126, the way the fourth connecting mechanism 126 is connected to the first sub-arm 1211 and the second sub-arm 1212, and the mode of operation of the fourth connecting mechanism 126 can all be similar to those of the aforementioned second connecting mechanism 122.

[0153] In some embodiments, the fifth connecting mechanism 127 may be disposed between the two ends of the second arm 123. Specifically, the second arm 123 may be configured to include a first branch arm 1231 and a second branch arm 1232. The end of the first branch arm 1231 away from the second branch arm 1232 is connected to the second connecting mechanism 123, and the end of the second branch arm 1232 away from the first branch arm 1231 is connected to the third connecting mechanism 124. The fifth connecting mechanism 127 is connected between the first branch arm 1231 and the second branch arm 1232.

[0154] In this example, when the fifth connecting mechanism 127 is activated, the second arm 1232 can perform various actions, including movement, rotation, and movement and rotation, based on the action of the fifth connecting mechanism 127. In this way, the degree of freedom of the second arm itself can also be increased.

[0155] The components of the fifth connecting mechanism 127, the way the fifth connecting mechanism 127 is connected to the first branch arm 1231 and the second branch arm 1232, and the mode of operation of the fifth connecting mechanism 127 can all be similar to those of the aforementioned second connecting mechanism 122.

[0156] It should be noted that other connecting mechanisms in this application embodiment are not limited to the fourth connecting mechanism 126 and the fifth connecting mechanism 127 described above. This application embodiment does not impose a specific limit on the number of other connecting mechanisms.

[0157] This application embodiment also provides a control system, as shown in Figure 6. The control system XT includes a main control circuit DL0, a first sub-circuit DL1, a second sub-circuit DL2, a third sub-circuit DL3, a fourth sub-circuit DL4, a fifth sub-circuit DL5, a sixth sub-circuit DL6, a seventh sub-circuit DL7, an eighth sub-circuit DL8, a ninth sub-circuit DL9, a tenth sub-circuit DL10, an eleventh sub-circuit DL11, and a twelfth sub-circuit DL2 connected to a bus. The first sub-circuit DL1 to the twelfth sub-circuit DL12 are respectively connected to the first motor J11 to the twelfth motor J32.

[0158] The control system XT also includes other sub-circuits and other motors in the aforementioned fourth connection mechanism 126 and fifth connection mechanism 127. These other sub-circuits are identical to the first sub-circuit DL1 to the twelfth sub-circuit DL12 described above. Furthermore, these other sub-circuits are correspondingly connected to other motors.

[0159] In this embodiment, the main control circuit DL0 can send control signals to the bus; the first sub-circuit DL1, the twelfth sub-circuit DL2, and other sub-circuits can obtain control signals from the bus and control the rotation direction and rotation angle of the first motor J11, the twelfth motor J32, and other motors accordingly. Furthermore, the first rod assembly, the second rod assembly, the third rod assembly, and the rod assemblies of other connecting mechanisms can precisely control the cutter head 125 to prune vegetation based on the rotation direction and rotation angle of the first motor J11, the twelfth motor J32, and other motors.

[0160] The bus can be a Controller Area Network (CAN) bus or an Ethernet Control Automation Technology (EtherCAT) bus; this application does not impose any special limitations on this.

[0161] The main control circuit DL0, the first sub-circuit DL1, the second sub-circuit DL2, the third sub-circuit DL3, the fourth sub-circuit DL4, the fifth sub-circuit DL5, the sixth sub-circuit DL6, the seventh sub-circuit DL7, the eighth sub-circuit DL8, the ninth sub-circuit DL9, the tenth sub-circuit DL10, the eleventh sub-circuit DL11, and the twelfth sub-circuit DL2 can all be existing technologies. The control signals include the control signals for the first motor J11 to the twelfth motor J32.

[0162] This application also provides a lawnmower robot. The lawnmower robot includes a robot body and the aforementioned robotic arm 1, with the robotic arm 1 connected to the robot body.

[0163] With the aforementioned high degree of freedom of the robotic arm 1, the mowing robot of this embodiment can also improve the accuracy of vegetation trimming.

[0164] In some embodiments, the lawnmower robot also includes the control system XT of the aforementioned robotic arm 1.

[0165] The control system of the robotic arm 1 can precisely control the rotation direction and rotation angle of the first motor J11 to the twelfth motor J32. Consequently, the first link assembly, the second link assembly, and the third link assembly can precisely control the cutter head 125 to prune vegetation based on the rotation direction and rotation angle of the first motor J11 to the twelfth motor J32.

[0166] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A robotic arm applied to a lawnmower robot, the lawnmower robot comprising a robot body, characterized in that, The robotic arm includes a first connecting mechanism and a robotic arm body, wherein the first connecting mechanism is connected between the robot body and the robotic arm body; the robotic arm body includes a cutter head; The first connecting mechanism includes a first motor assembly and a first lever assembly. The first motor assembly is connected to the robot body, and the first lever assembly is connected between the first motor assembly and the robotic arm body. The first lever assembly can move based on the rotation of the first motor assembly and drive the robotic arm body to move and / or rotate. When the robotic arm body moves and / or rotates, it drives the cutter head to move.

2. The robotic arm according to claim 1, characterized in that, The first motor assembly includes a first motor, a second motor, and a third motor connected to the first rod assembly, wherein the first motor and the second motor are both connected to the robot body; The extension direction of the output shaft of the first motor has a non-zero angle with the extension direction of the output shaft of the second motor.

3. The robotic arm according to claim 2, characterized in that, The first rod assembly includes a first sub-rod assembly, a second sub-rod assembly, and a first rotating rod; The first end of the first sub-rod assembly is sleeved on the output shaft of the first motor, and the second end of the first sub-rod assembly is connected to the robotic arm body; the first end of the second sub-rod assembly is sleeved on the output shaft of the second motor, and the second end of the second sub-rod assembly is connected to the robotic arm body; the first end of the first rotating rod is sleeved on the output shaft of the third motor, and the second end of the first rotating rod is connected to the robotic arm body.

4. The robotic arm according to claim 3, characterized in that, The first sub-rod assembly includes a first sleeve rod and a first connecting rod that are rotatably connected. The first end of the first sub-rod assembly is located on the first sleeve rod, and the second end of the first sub-rod assembly is located on the first connecting rod. The second sub-rod assembly includes a second sleeve rod and a second connecting rod that are rotatably connected. The first end of the second sub-rod assembly is located on the second sleeve rod, and the second end of the second sub-rod assembly is located on the second connecting rod.

5. The robotic arm according to claim 3 or 4, characterized in that, Two first tie rods are provided between the third motor and the first rod assembly; One first pull rod has its first end connected to the first sub-rod assembly, and the second end of another first pull rod is connected to the output shaft of the third motor; the first end of another first pull rod is connected to the second sub-rod assembly, and the second end of the other first pull rod is connected to the output shaft of the third motor.

6. The robotic arm according to any one of claims 1 to 4, characterized in that, The robotic arm body includes a first arm, a second connecting mechanism, and a second arm connected together. The first arm is connected to the first connecting mechanism, and the second arm is connected to the cutter head. The second connecting mechanism includes a second motor assembly and a second rod assembly. The second motor assembly is connected to the first arm, and the second rod assembly is connected between the second motor assembly and the second arm. The second rod assembly can move based on the rotation of the second motor assembly and drive the second arm to move and / or rotate. When the second arm moves and / or rotates, it drives the cutter head to move.

7. The robotic arm according to claim 6, characterized in that, The second motor assembly includes a fourth motor, a fifth motor, a sixth motor, a seventh motor, an eighth motor, a ninth motor, and a tenth motor connected to the second rod assembly; the fourth motor, the fifth motor, the sixth motor, the seventh motor, the eighth motor, and the ninth motor are all connected to the first arm; The extension directions of the output shafts of the fourth motor, the fifth motor, the sixth motor, the seventh motor, the eighth motor, and the ninth motor are all different.

8. The robotic arm according to claim 6, characterized in that, The robotic arm body also includes a third connecting mechanism, which connects the second arm and the cutter head; The third connecting mechanism includes a third motor assembly and a third rod assembly. The third motor assembly is connected to the second arm, and the third rod assembly is connected between the third motor assembly and the cutter head. The third rod assembly can move based on the rotation of the third motor assembly and drive the cutter head to move and / or rotate.

9. The robotic arm according to claim 8, characterized in that, The third motor assembly includes an eleventh motor and a twelfth motor connected to the third rod assembly; the eleventh motor is connected to the second arm.

10. A lawnmower robot, characterized in that, It includes a robot body and a robotic arm as described in any one of claims 1 to 9, wherein the robotic arm is connected to the robot body.

Images