Protective cover, edge cutting device and mowing apparatus

Abstract

A protective cover, comprising a first top plate (21), a side plate (22) and a bottom plate (23), wherein the side plate (22) is connected between the first top plate (21) and the bottom plate (23) to form a receiving space, a first feed port (25) is provided at least on the bottom plate (23), the first feed port (25) being in communication with the receiving space, a retaining wall is formed at least at the position of the side plate (22) close to the first top plate (21), and an area of the side plate (22) that is not provided with the retaining wall in the circumferential direction thereof and the first top plate (21) and the bottom plate (23) enclose a discharge port (27), the discharge port (27) being in communication with the receiving space. The protective cover enables single-direction discharging by means of the discharge port, thereby avoiding pollution caused by multi-direction discharging. Further comprised are an edge cutting device and a mowing apparatus.

Description

Protective covers, edge cutting devices, and lawn mowing equipment

[0001] This application claims priority to Chinese Patent Application No. 2024220974547, filed on August 28, 2024, entitled "Protective Cover, Edge Cutting Device and Lawn Mowing Equipment"; Chinese Patent Application No. 2024221011876, filed on August 28, 2024, entitled "Edge Cutting Device and Lawn Mowing Equipment"; and Chinese Patent Application No. 2024220976044, filed on August 28, 2024, entitled "Cutting Mechanism and 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 in particular to a protective cover, an edge-cutting device, and a lawn mowing device. Background Technology

[0003] Lawn mowing robots can automatically plan mowing paths. However, for the edges of the lawn, a dedicated edge-cutting device is generally required. But existing edge-cutting devices produce grass clippings that fly everywhere, which is not conducive to clipping management. Summary of the Invention

[0004] In view of this, this application provides a protective cover, an edge cutting device, and a grass mowing equipment, which can control the grass clippings to be discharged in a single direction, making it convenient to manage the grass clippings, thereby solving the above-mentioned technical problems.

[0005] The first aspect of this application provides a protective cover for use in an edge cutting device. The protective cover includes a first top plate, a first side plate, and a bottom plate. The first side plate is connected between the first top plate and the bottom plate to form a receiving space. At least the bottom plate is provided with a first feed inlet, which communicates with the receiving space. At least the position of the first side plate near the first top plate forms a baffle. The area of ​​the first side plate without a baffle along its circumference forms a discharge port with the first top plate and the bottom plate. The discharge port communicates with the receiving space.

[0006] The second aspect of this application provides an edge-cutting device, which includes a mowing mechanism and a protective cover, the protective cover being the same as that of the first aspect.

[0007] The third aspect of this application provides a lawn mowing device, including a robot and an edge-cutting device, the edge-cutting device being detachably mounted on one side of the robot, the edge-cutting device being the edge-cutting device of the second aspect, at least when the edge-cutting device is working, the discharge port faces the robot side.

[0008] Therefore, at least the bottom plate has a first feed inlet. The grass enters the protective cover through the first feed inlet and is broken into grass clippings by the blade assembly located inside the protective cover. The clippings rotate under the airflow generated by the rotation of the blade assembly. Since at least the first side plate near the first top plate forms a baffle, the baffle can prevent the grass clippings from flying out laterally from the side wall. The area of ​​the first side plate without a baffle along its circumference forms a discharge port with the first top plate and the bottom plate. When the grass clippings rotate to the discharge port, since there is no baffle at the discharge port, the grass clippings are discharged along the discharge port, realizing unidirectional discharge and avoiding pollution caused by multidirectional discharge. Moreover, in the lawn mowing equipment of this application, the discharge port faces the robot side at least when the edge cutting device is working, which can prevent the grass clippings discharged by the lawn mowing equipment from flying beyond the edge of the lawn during edge cutting. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 is a schematic diagram of the structure of a lawn mowing device according to an embodiment of the present application, wherein the edge cutting device of the lawn mowing device in Figure 1 is retracted to the robot side;

[0011] Figure 2 is a schematic diagram of the structure of a lawn mowing device in one embodiment of this application, wherein the edge cutting device of the lawn mowing device in Figure 2 extends away from the robot.

[0012] Figure 3 is a three-dimensional structural schematic diagram of the edge cutting device in one embodiment of this application;

[0013] Figure 4 is a cross-sectional view of Figure 3 at point IV-IV;

[0014] Figure 5 is a three-dimensional structural diagram of the protective cover in the first embodiment of this application;

[0015] Figure 6 is a bottom view of Figure 5;

[0016] Figure 7 is a three-dimensional structural diagram of the protective cover in Figure 5 from another perspective;

[0017] Figure 8 is a three-dimensional structural diagram of the protective cover in Figure 5 from another perspective;

[0018] Figure 9 is a schematic diagram of the decomposition of Figure 5;

[0019] Figure 10 is an exploded view of the mowing mechanism in one embodiment of this application from another direction;

[0020] Figure 11 is a three-dimensional structural diagram of the protective cover in another embodiment of this application;

[0021] Figure 12 is a cross-sectional view of Figure 11;

[0022] Figure 13 is a diagram of Figure 4 with components omitted. The mowing mechanism in Figure 13 is located at the top dead center of the stroke.

[0023] Figure 14 is a schematic diagram of Figure 13 in another state, wherein the mowing mechanism in Figure 14 is located at the bottom of the stroke;

[0024] Figure 15 is a diagram showing the state changes of the first and second connecting rods under the limit rotation angle in an embodiment of this application, as well as a schematic diagram showing the length relationship between the limiting member and the limiting groove.

[0025] Figure 16 is a three-dimensional structural diagram of the lifting mechanism and the mowing mechanism in one embodiment of this application;

[0026] Figure 17 is a schematic diagram of the decomposition of Figure 16;

[0027] Figure 18 is a further exploded schematic diagram of the lifting mechanism in Figure 17;

[0028] Figure 19 is a three-dimensional structural diagram of the lawn mowing mechanism in Figure 17 from another perspective;

[0029] Figure 20 is a bottom view of Figure 2;

[0030] Figure 21 is a schematic diagram of the edge cutting device provided in some embodiments of this application;

[0031] Figure 22 is an exploded view of one of the structures in Figure 21;

[0032] Figure 23 is an exploded view of another structure of part of the structure in Figure 21;

[0033] Figure 24 is a structural block diagram of a driving component provided in some embodiments of this application;

[0034] Figure 25 is a structural block diagram of a driving component provided in some other embodiments of this application;

[0035] Figure 26 is a schematic diagram of the explosion of the first part of the structure in Figure 23;

[0036] Figure 27 is a schematic diagram of the explosion of the second part of the structure in Figure 23;

[0037] Figure 28 is a top view of the structure in Figure 23. Detailed Implementation

[0038] The technical solutions in 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, and not all embodiments.

[0039] 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 belongs. The terminology used herein in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application.

[0040] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. The terms "a," "an," or "the," etc., used in this application do not indicate a quantity limitation, but simply indicate the presence of at least one. Terms such as "comprising" or "including" mean that the element or object preceding the term encompasses the element or object listed after the term and its equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

[0041] In the description of this specification, the references to terms such as "embodiment," "specific embodiment," and "example" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions 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 one or more embodiments or examples.

[0042] Please refer to Figure 1, which is a schematic diagram of the structure of a lawn mowing device 1 according to an embodiment of this application. The lawn mowing device 1 includes a robot 11 and an edge-cutting device 12. The robot 11 is a robot capable of automatically mowing lawns. Its working principle is to locate and sense the area through built-in sensors to achieve traversal of the working area. However, since the projection of the working area of ​​the mowing module of the robot 11 on the ground is within the projection of the outer contour of the robot 11 on the ground, the robot 11 cannot mow the boundary areas of the lawn or areas near obstacles due to its shape limitations. The edge-cutting device 12 is detachably mounted on the robot 11 and can be used to mow the boundary areas or areas near obstacles on the lawn that the robot 11 cannot mow.

[0043] As shown in Figure 1, the edge cutting device 12 can be retracted to one side or inside the robot 11. As shown in Figure 2, the edge cutting device 12 can be extended away from the robot 11 to trim the boundary area of ​​the lawn.

[0044] Therefore, when the lawn needs to be mowed in the boundary area or near the obstacle, the edge cutting device 12 can extend away from the robot 11 and mow the lawn in the boundary area or near the obstacle; conversely, when the lawn does not need to be mowed in the boundary area or near the obstacle, the edge cutting device 12 can retract towards the robot 11 or be directly removed from the robot 11 for easy storage.

[0045] Please refer to Figure 3, which is a three-dimensional structural schematic diagram of the edge-cutting device 12 in one embodiment of this application. The edge-cutting device 12 includes a mowing mechanism 124. The mowing mechanism 124 is connected to the robot 11. It is understood that the mowing mechanism 124 can be connected to the side, tail, or top of the robot 11, etc. In this embodiment, the mowing mechanism 124 is connected to the right side of the robot 11. It is understood that the mowing mechanism 124 can be directly or indirectly connected to the robot 11. The mowing mechanism 124 is used for mowing. When the mowing device 1 is near the boundary area of ​​the lawn and needs to mow the boundary area of ​​the lawn or the area near the obstacle and needs to mow the area near the obstacle, the mowing mechanism 124 can be used to mow the boundary area of ​​the lawn or the area near the obstacle. When the mowing device 1 is located in other areas of the lawn, the mowing mechanism 124 can also be used to mow other areas of the lawn when it is activated.

[0046] In some embodiments, referring to Figures 3 and 4 together, the mowing mechanism 124 includes a housing 1241, a second motor 1242 installed inside the housing 1241, and a blade assembly 1243 connected to the second motor 1242 and located outside the housing 1241. The blade assembly 1243 is used for mowing. The mowing mechanism 124 also includes a protective cover 2, which is connected to the housing 1241 and covers the periphery of the blade assembly 1243. A discharge port 27 is provided on the side of the protective cover 2, and at least when the edge cutting device 12 is working, the discharge port 27 of the protective cover 2 faces the robot 11.

[0047] Therefore, when the edge cutting device 12 is located on the lawn and is performing edge cutting work at the edge of the lawn, the grass discharged by the mowing mechanism 124 through the discharge port 27 is sprayed toward the robot 11 and remains on the lawn, so as not to cause pollution to areas outside the edge of the lawn (walls, roads, etc.), which helps to keep the boundary clean after cutting.

[0048] Please refer to Figure 5. The protective cover 2 includes a first top plate 21, a first side plate 22, and a bottom plate 23. The first side plate 22 is connected between the first top plate 21 and the bottom plate 23 to form a receiving space 24. At least the bottom plate 23 is provided with a first feed inlet 25, which communicates with the receiving space 24. At least the position of the first side plate 22 near the first top plate 21 forms a baffle 26. The area of ​​the first side plate 22 without the baffle 26 along its circumference forms a discharge port 27 with the first top plate 21 and the bottom plate 23. The discharge port 27 communicates with the receiving space 24.

[0049] Thus, the grass enters the receiving space 24 of the protective cover 2 from the first feed inlet 25, is broken into grass clippings by the blade assembly 1243 located in the receiving space 24, and rotates under the airflow generated by the rotation of the blade assembly 1243. Since at least the first side plate 22 forms a baffle 26 near the first top plate 21, the baffle 26 can prevent grass clippings from flying out tangentially from multiple positions on the side of the first side plate 22. The area of ​​the first side plate 22 without the baffle 26 along its circumference forms a discharge port with the first top plate 21 and the bottom plate 23. When the grass clippings rotate to the discharge port 27, since there is no baffle 26 at the discharge port 27, the grass clippings are discharged along the discharge port 27, realizing single-direction discharge and avoiding pollution caused by multi-direction discharge.

[0050] In some embodiments, the height of the discharge port 27 of the protective cover 2 is less than the height of the robot body 11.

[0051] Therefore, the grass clippings discharged from the discharge port 27 of the protective cover 2 will be sprayed towards the bottom of the robot 11, and will not be sprayed onto the body of the robot 11 itself, thus preventing the grass clippings from soiling the surface of the robot 11.

[0052] In some embodiments, a retaining wall 26 is formed at the position of the first side plate 22 near the first top plate 21, and a second feed inlet 28 is formed at the position of the first side plate 22 near the bottom plate 23.

[0053] Thus, the first side panel 22 is divided into two areas along its height direction: a first area where the retaining wall 26 is set and a second area where the second feed inlet 28 is set. The second feed inlet 28 can increase the feeding area of ​​the protective cover 2, thereby increasing the mowing efficiency.

[0054] In some embodiments, the first feed port 25 and the second feed port 28 are connected and are grid-shaped, and the first side plate 22 and the bottom plate 23 have a smooth transition.

[0055] Therefore, connecting the first feed port 25 and the second feed port 28 can increase the feeding efficiency.

[0056] In some embodiments, referring to Figure 6, the base plate 23 includes a first rib 230 and a plurality of second ribs 233. The plurality of second ribs 233 are arranged parallel to each other and at equal intervals in one direction. The first ribs 230 pass through the plurality of second ribs 233 to form a plurality of openings. The plurality of openings on the base plate 23 are the first feed inlets 25. The plurality of openings on the base plate 23 extend from the base plate 23 to the first side plate 22, and the plurality of openings on the first side plate 22 are the second feed inlets 28.

[0057] Therefore, the first feed inlet 25 and the second feed inlet 28 have the function of combing grass, which can comb the grass entering the first feed inlet 25 and the second feed inlet 28, and the combed grass is easier to cut.

[0058] In some embodiments, referring to Figures 7 and 8, the first side plate 22 includes an arcuate ring portion 221, a tangential extension portion 222, and an intersecting extension portion 223. The tangential extension portion 222 is tangentially connected to the arcuate ring portion 221, and the intersecting extension portion 223 intersects with the arcuate ring portion 221. The first top plate 21 includes a first arcuate portion 211 and a first tangential protrusion 212 connected to one end of the first arcuate portion 211. The bottom plate 23 includes a second arcuate portion 231 and a second tangential protrusion 212 connected to one end of the second arcuate portion 231. A tangential protrusion 232 and an arc ring 221 are connected to the periphery of the first arc portion 211 and the second arc portion 231. A tangential extension 222 is connected to the same side edge of the first tangential protrusion 212 and the second tangential protrusion 232. An intersecting extension 223 is connected to the other side edge of the first tangential protrusion 212 and the second tangential protrusion 232. The tangential extension 222, the intersecting extension 223, the first tangential protrusion 212 and the second tangential protrusion 232 surround to form a discharge port 27.

[0059] Therefore, the discharge port 27 extends along the tangential direction of the rotation path of the straw in the receiving space 24, which is beneficial for discharge.

[0060] In some embodiments, the protective cover 2 is integrally formed. In other embodiments, referring to FIG9, the first side plate 22 includes an upper side plate 224 and a lower side plate 225. The upper side plate 224 is connected to the periphery of the first top plate 21 to form an upper cover, and the lower side plate 225 is connected to the periphery of the bottom plate 23 to form a lower cover. The upper cover and the lower cover can be connected to each other. The upper side plate 224 forms at least a portion of the retaining wall 26.

[0061] Therefore, the protective cover 2 consists of two parts: an upper cover and a lower cover, which facilitates molding and simplifies the molding process. The retaining wall 26 can prevent grass clippings from flying out from any direction on the side wall, achieving unidirectional material discharge.

[0062] In some embodiments, the portion of the lower side plate 225 near the upper side plate 224 forms another part of the retaining wall 26, and the portion of the side wall of the lower side plate 225 away from the upper side plate 224 forms a second feed inlet 28.

[0063] Thus, the height of the retaining wall 26 can be increased by forming another part of the retaining wall 26 on the lower side plate 225, further increasing the blocking effect of the retaining wall 26 in preventing grass clippings from flying out from any direction on the side wall. Moreover, the other part of the retaining wall 26 formed by the lower side plate 225 can be used to connect several second reinforcing bars 233, increasing the structural strength of the lower cover.

[0064] In some embodiments, referring to Figures 4 and 10, the blade assembly 1243 includes a plurality of blades 1243a and a plurality of airflow guides 1243b. The blades 1243a are used for cutting. The airflow guides 1243b are used to guide airflow to the first top plate 21 side of the protective cover 2. The grass clippings guided to the first top plate 21 side of the protective cover 2 rotate within the baffle 26 following the swirling airflow generated by the blade assembly 1243, and are discharged from the discharge port 27 when they rotate to the discharge port 27, which can better control the discharge direction of the grass clippings.

[0065] In some embodiments, an airflow guide 1243b is fixed to the side of a blade 1243a away from the first top plate 21. In some embodiments, each blade 1243a is provided with an airflow guide 1243b, while in other embodiments, only some blades 1243a are provided with airflow guides 1243b; this is not limited here.

[0066] In some embodiments, one end of the airflow guide 1243b is fixed to the blade 1243a, and the other end extends obliquely from the surface of the blade 1243a toward the side away from 1243a, and the other end extends from the side near the center of the blade assembly 1243 toward the side away from the center of the blade assembly 1243.

[0067] In some embodiments, the airflow guide 1243b is a cyclone blade, which can also participate in cutting the forage and improve cutting efficiency.

[0068] In some embodiments, referring again to FIG4, a first connecting block 1245 is provided on the side of the housing 1241 facing the protective cover 2, and a second connecting block 29 is provided on the side of the first top plate 21 of the protective cover 2 facing outward. The first connecting block 1245 is connected to the second connecting block 29. A second motor 1242 is installed inside the housing 1241. The second output shaft 1242a of the second motor 1242 passes through the first connecting block 1245 and the second connecting block 29 and is connected to the blade assembly 1243 located in the receiving space 24.

[0069] In some embodiments, the first connecting block 1245 is a protrusion and the second connecting block 29 is a groove, with the protrusion inserted into the groove to achieve connection. In other embodiments, the first connecting block 1245 is a groove and the second connecting block 29 is a protrusion. The connection method between the protrusion and the groove can be, but is not limited to, snap-fit, riveting, threaded connection, etc., and is not limited here.

[0070] Please refer to Figures 11 and 12. Figure 11 is a three-dimensional structural diagram of the protective cover 2 in the second embodiment of this application, and Figure 12 is a cross-sectional view of Figure 11. Unlike the previous embodiment, in the second embodiment, the first top plate 21 of the protective cover 2 bulges away from the bottom plate 23. Therefore, the first top plate 21 bulges relative to the bottom plate 23. This increases the upper space of the receiving space 24 of the protective cover 2.

[0071] Therefore, when the blade assembly 1243 rotates at high speed, it divides the receiving space 24 of the protective cover 2 into an upper space 241 and a lower space 242. The grass is chopped into grass chips in the lower space 242, and most of the grass chips flow to the upper space 241 with the airflow generated by the high-speed rotation of the blade assembly 1243, and are finally discharged through the discharge port 27.

[0072] Referring to Figure 13, the edge-cutting device 12 includes a lifting mechanism 123 and a mowing mechanism 124. The lifting mechanism 123 is rotatably connected between the robot 11 and the mowing mechanism 124. It is understood that the lifting mechanism 123 can be rotatably connected to the side, tail, or top of the robot 11, etc., without limitation. In this embodiment, the lifting mechanism 123 is rotatably connected to the right side of the robot 11. It is understood that the lifting mechanism 123 can be directly rotatably connected to the robot 11, or indirectly rotatably connected to the robot 11 through other structural components. The lifting mechanism 123 is used to adjust the lifting height of the mowing mechanism 124. The mowing mechanism 124 is used for mowing. When the mowing device 1 is near the boundary area of ​​the lawn and needs to mow the boundary area or the area near an obstacle and needs to mow the area near the obstacle, the mowing mechanism 124 can be used to mow the boundary area or the area near the obstacle. When the mowing device 1 is located in other areas of the lawn, the mowing mechanism 124 can also be used to mow other areas of the lawn when activated.

[0073] Therefore, the lifting mechanism 123 enables the mowing mechanism 124 to adjust its lifting height based on the unevenness of the ground, thus avoiding the problem that the mowing mechanism 124 cannot adjust its lifting height and collide with the ground in some raised areas or cannot cut grass in some sunken areas. This improves its adaptability to uneven ground, protects the mowing mechanism 124, and makes the mowing effect better.

[0074] In some embodiments, when the mowing mechanism 124 is subjected to force in its height direction, causing it to rise and fall, the mowing mechanism 124 drives the lifting mechanism 123 to move to adjust the rising and falling height of the mowing mechanism 124. In other embodiments, the edge-cutting device 12 further includes a sensor and a controller. The sensor is used to detect uneven ground, and the controller sends a command to the lifting mechanism 123 based on the detection results of the sensor, so that the lifting mechanism 123 drives the mowing mechanism 124 to rise and fall accordingly, thereby adapting to uneven ground.

[0075] In some embodiments, referring to Figures 13 and 14, the lifting mechanism 123 includes a first link 1231 and a second link 1232. The second link 1232 and the first link 1231 are arranged along the lifting direction of the mowing mechanism 124. The first link 1231 includes a first end 1231a and a second end 1231b disposed opposite to each other. The second link 1232 includes a third end 1232a and a fourth end 1232b disposed opposite to each other, wherein the first end 1231a and the third end 1232a are rotatably connected to the robot 11, and the second end 1231b and the fourth end 1232b are rotatably connected to the mowing mechanism 124.

[0076] Therefore, when the mowing mechanism 124 moves to a raised portion of the ground, the raised portion exerts an upward force on the mowing mechanism 124. Since the first link 1231 and the second link 1232 are pivotally connected to the robot 11 and the mowing mechanism 124 respectively, the first link 1231 and the second link 1232 allow the mowing mechanism 124 to move upward without interference. The mowing mechanism 124 can thus adapt to the raised portion of the ground and continue mowing. When the mowing mechanism 124 moves to a recessed portion of the ground, since the recessed portion cannot provide sufficient support for the mowing mechanism 124, the mowing mechanism 124 moves downward to abut against the recessed portion due to gravity. The first link 1231 and the second link 1232 allow the mowing mechanism 124 to move downward without interference. The mowing mechanism 124 can thus adapt to the recessed portion of the ground and continue mowing, improving the adaptability of the edge cutting device 12 to ground of different heights. Moreover, since the first link 1231 and the second link 1232 are rotatably connected to different parts of the mowing mechanism 124, the mowing mechanism 124 can be positioned, so that the orientation of the mowing mechanism 124 is certain and can always face the ground.

[0077] In some embodiments, the first length of the first line A connecting the pivot point of the first end 1231a and the pivot point of the second end 1231b is equal to the second length of the second line B connecting the pivot point of the third end 1232a and the pivot point of the fourth end 1232b, and the third length of the third line C connecting the pivot point of the first end 1231a and the pivot point of the third end 1232a is equal to the fourth length of the fourth line D connecting the pivot point of the second end 1231b and the pivot point of the fourth end 1232b.

[0078] Thus, the first link 1231, the second link 1232, the robot 11, and the lawn mowing mechanism 124 form a parallel four-bar linkage. The parallel four-bar linkage allows the lawn mowing mechanism 124 to have a larger lifting stroke, and the lawn mowing mechanism 124 has a shorter lateral translation stroke relative to the robot 11, which can be better applied in small spaces.

[0079] Of course, in some other embodiments, the first length may not be equal to the second length, and the third length may not be equal to the fourth length. That is to say, the first link 1231, the second link 1232, the robot 11 and the lawn mowing mechanism 124 form a four-bar linkage, but not a parallel four-bar linkage. This four-bar linkage can also realize the lifting and lowering of the lawn mowing mechanism 124, which is also within the protection scope of this application.

[0080] In some embodiments, one of the first link 1231 and the second link 1232 is provided with a limiting member 1233, and the other is provided with a limiting groove 1234. At least the end of the limiting member 1233 can extend into the limiting groove 1234. The cooperation between the limiting member 1233 and the limiting groove 1234 limits the height that the mowing mechanism 124 can be raised or lowered.

[0081] Thus, the lifting height of the mowing mechanism 124 is limited by the cooperation between the limiting member 1233 and the limiting groove 1234, making the maximum lifting height of the mowing mechanism 124 controllable.

[0082] In some embodiments, a limiting member 1233 is provided on the side of the first connecting rod 1231 facing the second connecting rod 1232, and a limiting groove 1234 is provided on the side of the second connecting rod 1232 facing the first connecting rod 1231. The limiting groove 1234 extends along the length direction of the second connecting rod 1232, and at least the end of the limiting member 1233 can extend into the limiting groove 1234. In other embodiments, the limiting member 1233 may be provided on the side of the second connecting rod 1232 facing the first connecting rod 1231, and the limiting groove 1234 may be provided on the side of the first connecting rod 1231 facing the second connecting rod 1232, and the limiting groove 1234 extends along the length direction of the first connecting rod 1231.

[0083] Therefore, when the mowing mechanism 124 moves up and down, it drives the second end 1231b of the first connecting rod 1231 and the fourth end 1232b of the second connecting rod 1232 to move up and down together. This causes the limiting member 1233 to slide within the limiting groove 1234. Since the length of the limiting groove 1234 is limited, the length of the limiting groove 1234 limits the range of motion of the limiting member 1233 relative to the limiting groove 1234, that is, it limits the relative range of motion of the first connecting rod 1231 and the second connecting rod 1232. Thus, the lifting height of the mowing mechanism 124 can be limited. When the mowing mechanism 124 needs to adapt to uneven ground, the limiting groove 1234 can be set to be relatively longer; conversely, when the mowing mechanism 124 needs to adapt to uneven ground, the limiting groove 1234 can be set to be relatively shorter. In addition, when the limiting groove 1234 is located on the side of the first connecting rod 1231 facing the second connecting rod 1232, it can prevent debris, dust and other things from accumulating in the limiting groove 1234. Because debris, dust and other things accumulating in the limiting groove 1234 will hinder the normal sliding of the limiting member 1233 in the limiting groove 1234, thereby affecting the lifting height adjustment of the mowing mechanism 124.

[0084] In some embodiments, the limiting groove 1234 has a first side 1234a away from the mowing mechanism 124 and a second side 1234b close to the mowing mechanism 124. When the limiting member 1233 is located on the first side 1234a, the mowing mechanism 124 is located at the lower end of the stroke. When the limiting member 1233 is located on the second side 1234b, the mowing mechanism 124 is located at the upper end of the stroke.

[0085] Therefore, the distance between the lower end point and the upper end point of the stroke of the mowing mechanism 124 is the height that the mowing mechanism 124 can lift. It can be seen that the length of the limiting groove 1234 is positively correlated with the height that the mowing mechanism 124 can lift. The length of the limiting groove 1234 can limit the height that the mowing mechanism 124 can lift.

[0086] In some embodiments, the gap width between the first link 1231 and the second link 1232 is variable. As shown in Figure 13, the gap width between the first link 1231 and the second link 1232 is the largest when the mowing mechanism 124 is at the top dead center of its stroke. As shown in Figure 14, the gap width between the first link 1231 and the second link 1232 is the smallest when the mowing mechanism 124 is at the bottom dead center of its stroke. Therefore, the gap width between the first link 1231 and the second link 1232 during the stroke of the mowing mechanism 124 is positively correlated with the height of the mowing mechanism 124. Moreover, the difference between the maximum and minimum values ​​of the gap between the first link 1231 and the second link 1232 is positively correlated with the height that the mowing mechanism 124 can be raised or lowered.

[0087] Therefore, by setting the gap width between the first link 1231 and the second link 1232, the lifting height of the mowing mechanism 124 can also be limited.

[0088] In summary, by limiting the length of the limiting groove 1234 and the width of the gap between the first link 1231 and the second link 1232, the height of the mowing mechanism 124 can be limited. Therefore, the height of the mowing mechanism 124 is doubly limited, which can prevent at least one of the limiting parts 1233 or the limiting groove 1234 from failing to limit due to wear.

[0089] In some embodiments, the height of the limiting member 1233 is at least greater than the maximum value of the gap between the first link 1231 and the second link 1232. This ensures that the limiting member 1233 can at least extend into the limiting groove 1234, avoiding a situation where the limiting member 1233 and the limiting groove 1234 cannot engage and limit the movement. However, the height of the limiting member 1233 is not necessarily better the higher it is. When the limiting member 1233 is located on the first side 1234a, the depth to which the limiting member 1233 extends into the limiting groove 1234 is the first depth. When the limiting member 1233 is located on the second side 1234b, the depth to which the limiting member 1233 extends into the limiting groove 1234 is the second depth. When the limiting member 1233 slides between the first side 1234a and the second side 1234b of the limiting groove 1234, the depth to which the limiting member 1233 extends into the limiting groove 1234 is between the first depth and the second depth. The first depth is greater than the second depth, the second depth is greater than zero, and the first depth is less than or equal to the depth of the limiting groove 1234. Therefore, when the limiting member 1233 slides from the second side 1234b of the limiting groove 1234 to the first side 1234a, the depth of the limiting member 1233 extending into the limiting groove 1234 gradually increases, but it will not interfere with the bottom of the limiting groove 1234.

[0090] In other embodiments, the limiting member 1233 may be omitted, but a limiting block is provided to limit the rotation angle of the first link 1231 and / or the second link 1232. The limiting block may be disposed adjacent to the first link 1231, and the limiting block is used to limit the height of the mowing mechanism 124 by limiting the rotation angle of the first link 1231; or, the limiting block may be disposed adjacent to the second link 1232, and the limiting block is used to limit the height of the mowing mechanism 124 by limiting the rotation angle of the second link 1232.

[0091] Referring to Figure 15, we set the first and second lengths to be equal, both L1, and the third and fourth lengths to be equal, both L2. We set the gap between the first link 1231 and the second link 1232 in the horizontal state to be X, and the limit rotation angle of the first link 1231 and the second link 1232 to be α. Then, the liftable height H of the first link 1231 is L1*sinα, and X = L2 - L2*cosα.

[0092] Therefore, after determining the liftable height H, the limit rotation angle α can be determined by working backwards. After determining the limit rotation angle α, the maximum clearance value X can be determined. Thus, based on the liftable height H, the limit rotation angle α and the maximum clearance value X can be determined. By setting a limit block, the rotation angle of the first link 1231 or the second link 1232 can be limited to its limit rotation angle α. The maximum clearance value X of the first link 1231 and the second link 1232 can be set. Therefore, even without setting a limit member 1233, the liftable height of the mowing mechanism 124 can be limited by setting a limit block.

[0093] Furthermore, the formula for calculating the length L of the limiting groove 1234 is: L = M1 + M2. Where M1 is equal to half the length of the limiting member 1233, and M2 refers to the effective sliding distance of the limiting member 1233 within the limiting groove 1234. The minimum value of M2 should be L2 * sinα. Therefore, after determining the limit rotation angle α, the minimum length of the limiting groove 1234 can also be calculated.

[0094] In some embodiments, referring again to Figures 4 and 5, the edge cutting device 12 includes a first connecting portion 125 and a second connecting portion 126. One side of the first connecting portion 125 is connected to the robot 11, and the other side is rotatably connected to the first end 1231a and the third end 1232a, respectively. One side of the second connecting portion 126 is connected to the mowing mechanism 124, and the other side is rotatably connected to the second end 1231b and the fourth end 1232b, respectively.

[0095] Thus, through the first connecting part 125 and the second connecting part 126, the rotational connection between the first link 1231 and the second link 1232 and the robot 11 and the mowing mechanism 124 can be made more stable and reliable.

[0096] In some embodiments, please refer to Figures 16 and 17. The first connecting part 125 includes two first connecting side plates 1251 spaced apart. The first end 1231a of the first connecting rod 1231 is rotatably connected between the two first connecting side plates 1251, and the third end 1232a of the second connecting rod 1232 is rotatably connected between the two first connecting side plates 1251.

[0097] Thus, a first receiving space 1252 is formed between the two first connecting side plates 1251. The first end 1231a of the first connecting rod 1231 and the third end 1232a of the second connecting rod 1232 are respectively received in different positions above and below the first receiving space 1252. Furthermore, a pin passes through the first connecting side plate 1251, the first end 1231a of the first connecting rod 1231, and the other first connecting side plate 1251 to achieve a rotatable connection between the first end 1231a of the first connecting rod 1231 and the two first connecting side plates 1251. Another pin passes through the first connecting side plate 1251, the third end 1232a of the second connecting rod 1232, and the other first connecting side plate 1251 to achieve a rotatable connection between the third end 1232a of the second connecting rod 1232 and the two first connecting side plates 1251. The connection is stable and reliable and not easy to slip off.

[0098] In some embodiments, the first connecting rod 1231 is provided with a first abutting surface 1231c at a position adjacent to the first end 1231a, each first connecting side plate 1251 is "B" shaped, and the end face of the first connecting side plate 1251 corresponding to the installation position of the first connecting rod 1231 is provided with a first mating surface 1253, and the first abutting surface 1231c is used to abut against the first mating surface 1253.

[0099] In some embodiments, the first abutting surface 1231c is closer to the second end 1231b than the first end 1231a, and the first abutting surface 1231c is an arc-shaped surface facing the first end 1231a.

[0100] Therefore, the contact between the first abutting surface 1231c and the first mating surface 1253 can increase the contact area between the first connecting rod 1231 and the first connecting side plate 1251, resulting in better load-bearing capacity. Moreover, since both the first abutting surface 1231c and the first mating surface 1253 are curved surfaces, they can provide guidance for the movement of the first connecting rod 1231 relative to the first connecting side plate 1251.

[0101] In some embodiments, the second link 1232 is provided with a third abutment surface 1232c at a position adjacent to the third end 1232a, and the first connecting side plate 1251 is provided with a third mating surface 1254 on the end face corresponding to the installation position of the second link 1232, and the third abutment surface 1232c is used to abut against the third mating surface 1254.

[0102] In some embodiments, the third abutment surface 1232c is closer to the fourth end 1232b than the third end 1232a, and the third abutment surface is an arc-shaped surface facing the third end 1232a.

[0103] Therefore, the contact between the third abutting surface 1232c and the third mating surface 1254 can increase the contact area between the second connecting rod 1232 and the first connecting side plate 1251, resulting in better load-bearing capacity. Moreover, since both the third abutting surface 1232c and the third mating surface 1254 are curved surfaces, they can provide guidance for the movement of the second connecting rod 1232 relative to the first connecting side plate 1251.

[0104] In some embodiments, referring to Figures 18 and 19, the second connecting portion 126 includes two second connecting side plates 1261 spaced apart, the second end 1231b of the first connecting rod 1231 is rotatably connected between the two second connecting side plates 1261, and the fourth end 1232b of the second connecting rod 1232 is rotatably connected between the two second connecting side plates 1261.

[0105] Thus, a second receiving space 1262 is formed between the two second connecting side plates 1261. The second end 1231b of the first connecting rod 1231 and the fourth end 1232b of the second connecting rod 1232 are respectively received in different positions above and below the second receiving space 1262. Furthermore, a pin passes through the second connecting side plate 1261, the second end 1231b of the first connecting rod 1231, and the other second connecting side plate 1261 to achieve a rotatable connection between the second end 1231b of the first connecting rod 1231 and the two second connecting side plates 1261. Another pin passes through the second connecting side plate 1261, the fourth end 1232b of the second connecting rod 1232, and the other second connecting side plate 1261 to achieve a rotatable connection between the fourth end 1232b of the second connecting rod 1232 and the two second connecting side plates 1261. The connection is stable and reliable and not easy to slip off.

[0106] In some embodiments, the first connecting rod 1231 is provided with a second abutting surface 1231d at a position adjacent to the second end 1231b, each second connecting side plate 1261 is "B" shaped, and the end face of the second connecting side plate 1261 corresponding to the installation position of the first connecting rod 1231 is provided with a second mating surface 1263, and the second abutting surface 1231d is used to abut with the second mating surface 1263.

[0107] In some embodiments, the second abutment surface 1231d is closer to the first end 1231a than the second end 1231b, and the second abutment surface 1231d is an arc-shaped surface facing the second end 1231b.

[0108] Therefore, the contact between the second abutting surface 1231d and the second mating surface 1263 can increase the contact area between the first connecting rod 1231 and the second connecting side plate 1261, resulting in better load-bearing capacity. Moreover, since both the second abutting surface 1231d and the second mating surface 1263 are arc surfaces, they can provide guidance for the movement of the first connecting rod 1231 relative to the second connecting side plate 1261.

[0109] In some embodiments, the second link 1232 is provided with a fourth abutment surface 1232d at a position adjacent to the fourth end 1232b, and the second connecting side plate 1261 is provided with a fourth mating surface 1264 on the end face corresponding to the installation position of the second link 1232, and the fourth abutment surface 1232d is used to abut with the fourth mating surface 1264.

[0110] In some embodiments, the fourth abutment surface 1232d is closer to the third end 1232a than the fourth end 1232b, and the fourth abutment surface 1232d is an arc-shaped surface facing the fourth end 1232b.

[0111] Therefore, the contact between the fourth abutment surface 1232d and the fourth mating surface 1264 can increase the contact area between the second connecting rod 1232 and the second connecting side plate 1261, resulting in better load-bearing capacity. Moreover, since both the fourth abutment surface 1232d and the fourth mating surface 1264 are arc surfaces, they can provide guidance for the movement of the second connecting rod 1232 relative to the second connecting side plate 1261.

[0112] As shown in Figure 20, the robot 11 includes wheels 201, a first housing 202, and a main mowing mechanism 203, which is used for mowing grass.

[0113] Referring to Figure 3, the edge-cutting device 12 also includes a rotating mechanism 122, which is connected between the robot 11 and the lifting mechanism 123. A first connecting part 125 is provided on the rotating mechanism 122. The rotating mechanism 122 at least drives the mowing mechanism 124 away from the robot 11, so that the mowing mechanism 124 extends outward relative to the robot 11.

[0114] Thus, the rotating mechanism 122 can drive the lifting mechanism 123 and the mowing mechanism 124 to move away from the robot 11 or retract towards the robot 11 for easy storage.

[0115] In some embodiments, the rotating mechanism 122 itself is an elastic element, such as a torsion spring. When the mowing mechanism 124 is retracted, the rotating mechanism 122 stores kinetic energy through elastic deformation. A latching element may be provided on the mowing mechanism 124 or the rotating mechanism 122 to latch onto the robot 11. When the mowing mechanism 124 needs to extend for edge trimming, the latching element releases from the robot 11, and the elastic element drives the mowing mechanism 124 to extend away from the robot 11.

[0116] Referring to Figures 21 to 23, in some embodiments, the rotating mechanism 122 includes a drive member 10, an elastic member 20, and a mowing mechanism 124; the elastic member 20 is connected between the drive member 10 and the mowing mechanism 124. The drive member 10 outputs a steering drive force to cause the elastic member 20 to undergo elastic deformation and store a first elastic restoring force. When the stored first elastic restoring force is greater than or equal to a preset force value, the first elastic restoring force of the elastic member 20 drives the mowing mechanism 124 to move in a first direction K. The elastic member 20 is also used to undergo elastic deformation and store a second elastic restoring force when the mowing mechanism 124 encounters resistance that hinders its movement.

[0117] In this application, the drive member 10 is used to output a steering drive force to cause the elastic member 20 to undergo elastic deformation and store a first elastic restoring force. When the stored first elastic restoring force is greater than or equal to a preset force value, the first elastic restoring force of the elastic member 20 drives the mowing mechanism 124 to move in the first direction K. Thus, when the rotating mechanism 122 is connected to the robot 11 of the mowing device 1, by causing the first elastic restoring force of the elastic member 20 to drive the mowing mechanism 124 to move away from the robot 11 and extend relative to the robot 11, it is beneficial for the mowing device 1 to cut the grass at the edge of the area to be mowed. Meanwhile, since the elastic element 20 is connected between the drive element 10 and the mowing mechanism 124, the force transmission between the drive element 10 and the mowing mechanism 124 will be transmitted through the elastic element 20. The elastic element 20 is elastic and has a good buffering and shock absorption effect. Therefore, compared with the resistance being transmitted to the drive element 10 through rigidity, the elastic element 20 is used to store the second elastic restoring force when the mowing mechanism 124 is hindered by resistance. This can buffer the resistance transmission to the drive element 10, thereby reducing the damage to the drive element 10. At the same time, after the resistance that hinders the movement of the mowing mechanism 124 disappears, the second elastic restoring force can reset the mowing mechanism 124.

[0118] When the rotating mechanism 122 is connected to the robot 11, the first direction K is the direction in which the rotating mechanism 122 moves away from the robot 11.

[0119] In some embodiments, the first direction K is either clockwise or counterclockwise.

[0120] In some embodiments, referring to Figures 3 and 22, the edge-cutting device 12 further includes a mounting base 121, which is mounted on the robot 11. It is understood that the mounting base 121 can be mounted on the side, tail, or top of the robot 11, etc., and is not limited thereto. In this embodiment, the mounting base 121 is mounted on the right side of the robot 11. The rotating mechanism 122 is mounted on the mounting base 121. The lifting mechanism 123 is connected between the rotating mechanism 122 and the mowing mechanism 124.

[0121] Therefore, the rotating mechanism 122 can be mounted on the robot 11 via the mounting base 121, making the installation more stable and reliable.

[0122] In some embodiments, the mounting base 121 is generally shaped like a long-handled spoon. The mounting base 121 includes an adapter 1211 and a tray 1212. The adapter 1211 is elongated and connected to the side of the robot 11's body. The tray 1212 is connected to the adapter 1211. A rotating mechanism 122 is mounted on the tray 1212.

[0123] Thus, through the cooperation and connection between the mounting base 121 and the rotating mechanism 122, other components of the rotating mechanism 122 can be reliably and stably mounted on the mounting base 121, and the connection is stable and reliable.

[0124] Please refer to Figures 21 to 23. Both the drive component 10 and the elastic component 20 are mounted on the mounting base 121.

[0125] In some embodiments, as shown in FIG23, the rotating mechanism 122 further includes a transmission assembly 40, which is connected between the driving member 10 and the elastic member 20. The transmission assembly 40 rotates and pulls the elastic member 20 under the action of the steering driving force, so that the elastic member 20 undergoes elastic deformation and stores the first elastic restoring force.

[0126] Due to the influence of the mechanical structure shape and the force transmission method, it is difficult to achieve a direct connection between the drive component 10 and the elastic component 20, and the structure is not stable enough. The transmission component 40 is connected between the drive component 10 and the elastic component 20, which helps to improve the stability of the overall structural connection.

[0127] In some embodiments, the maximum value of the first elastic restoring force acting on the transmission assembly 40 is less than the maximum value of the second elastic restoring force.

[0128] Since the mowing mechanism 124 moves in the first direction K under the drive of the first elastic restoring force of the elastic element 20, the maximum value of the first elastic restoring force is equal to the force required to drive the mowing mechanism 124 to start moving. At the same time, since the braking structure 111 generates braking force to prevent the motor body 110 from reversing when it stops rotating, the second elastic restoring force cannot be released when the mowing mechanism 124 is subjected to resistance that hinders its movement. This resistance pushes the mowing mechanism 124 to move, causing the elastic element 20 to undergo elastic deformation and store the second elastic restoring force. Therefore, the maximum value of the first elastic restoring force acting on the transmission assembly 40 is less than the maximum value of the second elastic restoring force.

[0129] In some embodiments, as shown in FIG24, the drive unit 10 includes a first motor 11a, the first motor 11a includes a motor body 110 and a braking structure 111, the braking structure 111 is used to generate braking force to prevent the motor body 110 from reversing when the motor body 110 stops rotating or when the second elastic restoring force is transmitted to the first motor 11a.

[0130] When the mowing mechanism 124 collides with an obstacle and encounters resistance, the elastic element 20 undergoes elastic deformation to store a second elastic restoring force, thus buffering the resistance transmitted to the drive element 10. However, if the second elastic restoring force is transmitted to the drive element 10 and causes the first motor 11a to reverse, it will still cause damage to the first motor 11a. Since the first motor 11a includes a braking structure 111, the braking structure 111 is used to generate braking force to prevent the motor body 110 from reversing when the motor body 110 stops rotating or when the second elastic restoring force is transmitted to the first motor 11a. Therefore, the second elastic restoring force cannot cause the shaft of the first motor 11a to reverse, thereby reducing the damage to the first motor 11a.

[0131] The braking structure 111 can be, but is not limited to, an electromagnetic brake. The electromagnetic brake includes a coil, an armature, a spring, and a brake disc. The electromagnetic brake operates as follows: when the coil is energized, it generates a magnetic field that attracts the armature, causing it to disengage from the brake disc, thus allowing the first motor to rotate freely. When the coil is de-energized, the armature returns to its original position under the action of the spring, engaging with the brake disc. The friction between the friction pads and the shaft of the motor body 110 locks the shaft of the motor body 110, preventing it from rotating.

[0132] The braking structure 111 can also be a phase sequence adjustment structure. The phase sequence adjustment structure is used to adjust the phase sequence of the power supply connected to the motor body 110, thereby generating a back electromotive force to prevent the motor body 110 from reversing.

[0133] The braking structure 111 can generate braking force through active triggering or passive triggering. Specifically, when the braking structure 111 is an electromagnetic brake, generating braking force through electromagnetic de-energization braking is passive triggering, meaning that the electromagnetic de-energization braking will only generate braking force when the second elastic restoring force is transmitted to the first motor 11a. When the braking structure 111 is a phase sequence adjustment structure, generating braking force through adjusting the phase sequence of the power supply connected to the motor body 110 is active triggering, meaning that the phase sequence of the power supply connected to the motor body 110 is adjusted to generate braking force when the motor body 110 stops rotating.

[0134] In some embodiments, please refer to FIG25, which is a structural block diagram of the driver provided in other embodiments of this application.

[0135] In some embodiments, the drive unit 10 includes a first motor 11a and a reduction mechanism 12a. The reduction mechanism 12a is connected to the first motor 11a. The second elastic restoring force is transmitted to the first motor 11a through the reduction mechanism 12a. The reduction mechanism 12a is used to reduce the second elastic restoring force when it is transmitted to the first motor 11a.

[0136] When the mowing mechanism 124 collides with an obstacle and encounters resistance, the elastic element 20 undergoes elastic deformation to store a second elastic restoring force, thereby buffering the resistance transmitted to the drive element 10. However, if the second elastic restoring force is transmitted to the first motor 11a and causes the first motor 11a to reverse, it will still cause damage to the first motor 11a. Since the drive element 10 includes a reduction mechanism 12a, the reduction mechanism 12a can reduce the second elastic restoring force transmitted to the first motor 11a, thereby reducing the possibility that the second elastic restoring force will cause the shaft of the first motor 11a to reverse.

[0137] The reduction mechanism 12a can be composed of multiple gears.

[0138] Referring to Figures 23 and 27, the drive component 10 includes a first motor 11a, which includes a first output shaft 112a; the transmission assembly 40 includes a first gear 41, a second gear 42, and an inner housing 43. The first output shaft 112a is connected to the first gear 41, the second gear 42 meshes with the first gear 41, the inner housing 43 is fixedly connected to the second gear 42, and the elastic element 20 is connected to the inner housing 43. The first gear 41 rotates under the steering drive force output by the first output shaft 112a, the second gear 42 rotates with the rotation of the first gear 41, and the inner housing 43 rotates with the rotation of the second gear 42, pulling the elastic element 20, causing the elastic element 20 to undergo elastic deformation and store the first elastic restoring force.

[0139] Because gear transmission is smooth and highly reliable, the transmission assembly 40 includes a first gear 41, a second gear 42, and an inner housing 43. The first output shaft 112a is connected to the first gear 41, the second gear 42 meshes with the first gear 41, the inner housing 43 is fixedly connected to the second gear 42, and the elastic element 20 is connected to the inner housing 43. The first gear 41 rotates under the steering driving force output by the first output shaft 112a, the second gear 42 rotates with the rotation of the first gear 41, and the inner housing 43 rotates with the rotation of the second gear 42, pulling the elastic element 20, which makes the entire structure operate more smoothly and reliably.

[0140] The number of teeth of the first gear 41 is less than the number of teeth of the second gear 42. Therefore, the first output shaft 112a is connected to the first gear 41, and the first gear 41 meshes with the second gear 42, which can increase the torque output to the elastic element 20.

[0141] The inner shell 43 and the second gear 42 can be fixedly connected by means of, but not limited to, welding, gluing, screwing, and snap-fitting.

[0142] Among them, the maximum value of the first elastic restoring force acting on the inner shell 43 is less than the maximum value of the second elastic restoring force.

[0143] In some embodiments, as shown in FIG27, the rotating mechanism 122 further includes a housing 50, which includes a base 51 and a cover plate 52. The base 51 and the cover plate 52 are detachably connected. The base 51 includes a first base 511 and a second base 512. The cover plate 52 includes a first cover plate 521 and a second cover plate 522. The first cover plate 521 covers the first base 511 to form a first cavity 531. The second cover plate 522 covers the second base 512 to form a second cavity 532. The first cavity 531 and the second cavity 532 are internally connected. The first motor 11a and the first gear 41 are disposed in the first cavity 531. The second gear 42 and the inner shell 43 are disposed in the second cavity 532. The mowing mechanism 124 is disposed outside the housing 50.

[0144] Because the sealing requirements for each structure are different, the interior of the outer casing 50 is divided into two cavities, allowing for different sealing strategies to be applied to each cavity. The base 51 and the cover plate 52 are detachably connected, facilitating the installation of the first motor 11a, the first gear 41, the second gear 42, and the inner casing 43. The first cavity 531 and the second cavity 532 are internally connected, facilitating the meshing of the first gear 41 and the second gear 42.

[0145] The base 51 is fixedly connected to the mounting base 121.

[0146] In some embodiments, as shown in FIG27, the rotating mechanism 122 further includes a seal 53 disposed between the first cover plate 521 and the first base 511.

[0147] This prevents liquid from entering the first cavity 531 through the gap between the first cover plate 521 and the first base 511, thus avoiding problems such as short circuit and leakage in the first motor 11a.

[0148] In some embodiments, as shown in FIG27, the rotating mechanism 122 further includes an angle sensor 70 and a triggering device 71; the angle sensor 70 is disposed on the second cover plate 522, and the triggering device 71 is disposed on the inner shell 43. Under the action of the triggering device 71, the angle sensor 70 is used to determine the rotation angle of the inner shell 43.

[0149] Therefore, the rotation angle of the mowing mechanism 124 relative to the robot 11 can be further determined based on the rotation angle of the inner shell 43.

[0150] In some embodiments, the triggering device 71 is disposed on the second top plate 432.

[0151] In some embodiments, the angle sensor 70 is a Hall sensor, and the triggering device 71 is a magnet. The Hall sensor is used to detect the magnetic field strength to determine the rotation angle of the inner shell 43.

[0152] In some embodiments, as shown in Figures 23 and 26, the rotating mechanism 122 further includes a support assembly 60, which includes an inner support shaft 61 and an outer support member 62. The inner support shaft 61 passes through the shaft hole 420 of the inner shell 43 and the second gear 42, and both ends of the inner support shaft 61 are connected to the outer shell 50. The outer support member 62 is sleeved on the inner support shaft 61. An elastic member 20 is connected between the inner shell 43 and the outer support member 62, and the outer support member 62 is also connected to the mowing mechanism 124.

[0153] In actual structural assembly, it is not easy to achieve direct contact between the elastic element 20 and the mowing mechanism 124. Moreover, the mowing mechanism 124 has a certain weight, and too little contact at the connection point will lead to poor structural reliability. Therefore, the elastic element 20 is connected to the mowing mechanism 124 through the outer support 62, which makes assembly easier and increases the contact area at the connection point to improve the reliability of the structure.

[0154] As shown in Figure 26, the inner shell 43 includes a second side plate 431 and a second top plate 432. The second side plate 431 is connected between the end face 421 of the second gear 42 and the second top plate 432, and the second side plate 431 is an open side plate. Specifically, the inner support shaft 61 passes through the shaft hole 420 of the second top plate 432 and the second gear 42.

[0155] As shown in Figure 27, the inner surfaces of the second base 512 and the second cover plate 522 are provided with receiving grooves 54. The two ends of the inner support shaft 61 are set in the receiving grooves 54. As shown in Figure 26, the support assembly 60 also includes bearings 63. The bearings 63 are sleeved on both ends of the inner support shaft 61 and are both located in the receiving grooves 54. The outer ring of the bearings 63 is interference-fitted or fixedly connected to the receiving grooves 54, thereby reducing the friction of the receiving grooves 54 on the support shaft 61.

[0156] In some embodiments, as shown in Figures 23 and 27, the elastic element 20 includes a torsion spring 21a, which includes a spring body 211a, a mounting foot 212a, and a torsion arm 213. The spring body 211a is connected to the mounting foot 212a and the torsion arm 213. The mounting foot 212a is connected to the inner shell 43. The spring body 211a is wound around the outer support member 62, and the torsion arm 213 is connected to the outer support member 62. When the inner shell 43 rotates, it pulls the mounting foot 212a and stores the first elastic restoring force through the spring body 211a, while pushing the outer support member 62 to rotate through the torsion arm 213.

[0157] Mounting foot 212a is connected to inner shell 43, and spring body 211a is wrapped around outer support member 62. When inner shell 43 rotates, it pulls mounting foot 212a and stores first elastic restoring force through spring body 211a. The outer support member 62 is pushed to rotate through torsion arm 213. Thus, the actual deformation is caused by spring body 211a, which helps to avoid mechanical interference from structures outside inner shell 43.

[0158] The spring body 211a of the torsion spring 21a stores the first elastic restoring force. When the stored first elastic restoring force is greater than or equal to a preset force value, the torsion arm 213 pushes the outer support 62 to rotate, thereby causing the mowing mechanism 124 connected to the outer support 62 to move in the first direction K.

[0159] In this embodiment, the mounting foot 212a is bent into a U-shape and hooked onto the inner shell 43. Specifically, the mounting foot 212a hooks onto the second side plate 431. In other embodiments, the mounting foot 212a can be wound around a threaded portion provided on the inner shell 43 to connect it to the inner shell 43. It should be noted that this is only an example, and other methods can also be used to connect the mounting foot 212a to the inner shell 43.

[0160] In some embodiments, as shown in Figures 23 and 26, the outer support member 62 includes a shaft portion 621 and a first connecting portion 125. The shaft portion 621 is sleeved on the inner support shaft 61, the first connecting portion 125 is fixedly connected to the shaft portion 621, the spring portion 211a is wound around the shaft portion 621, and the first connecting portion 125 is connected to the torsion arm 213 and the mowing mechanism 124.

[0161] The torsion arm 213 is connected to the first connecting part 125. Compared with the torsion arm 213 being connected to the shaft part 621, the torsion arm 213 can easily apply the first elastic restoring force to the outer support member 62, causing the outer support member 62 to rotate, thereby driving the mowing mechanism 124 to move in the first direction K.

[0162] Both the inner support shaft 61 and the shaft body 621 are cylindrical. This facilitates the connection between the inner support shaft 61 and the shaft body 621, and ensures that the inner support shaft 61 will not obstruct the rotation of the shaft body 621 even when the two parts do not rotate synchronously. In other embodiments, the inner support shaft 61 and the shaft body 621 may also be cubic or other shapes.

[0163] The first connecting part 125 and the shaft part 621 can be an integral structure or a separate structure, and are connected and fixed by means of screwing, welding or other methods.

[0164] As shown in Figure 26, two first connecting side plates 1251 are spaced apart and arranged opposite to each other. The rotation direction of the two first connecting side plates 1251 is a first direction K. Each first connecting side plate 1251 includes a first side surface 6221 and a second side surface 6222. The rotation direction from the first side surface 6221 to the second side surface 6222 is the first direction K. A torsion arm 213 is connected to the first side surface 6221. In some embodiments, as shown in Figure 24, the first side surface 6221 is provided with a slot 623, and the torsion arm 213 is engaged in the slot 623, thereby enhancing the connection stability between the torsion arm 213 and the first connecting part 125.

[0165] In some embodiments, as shown in Figures 23 and 26, the spring body portion 211a includes a first spring body portion 211a1 and a second spring body portion 211a2, and the torsion arm 213 connects the first spring body portion 211a1 and the second spring body portion 211a2. Mounting foot 212a includes a first mounting foot 212a1 and a second mounting foot 212a2; the first mounting foot 212a1 connects the first spring body 211a1 and the inner shell 43; the second mounting foot 212a2 connects the second spring body 211a2 and the inner shell 43; when the first mounting foot 212a1 and the second mounting foot 212a2 are subjected to the tension of the inner shell 43, the first elastic restoring force is stored through the first spring body 211a1 and the second spring body 211a2, and the first elastic restoring force is applied to the first connecting part 125 through the torsion arm 213, so that the first connecting part 125 rotates around the inner support shaft 61, and drives the mowing mechanism 124 connected to the first connecting part 125 to move in the first direction K.

[0166] Compared to a single spring body and a single mounting foot connecting to the inner shell 43, the mounting foot 212a includes a first mounting foot 212a1 and a second mounting foot 212a2. The first mounting foot 212a1 connects the first spring body 211a1 to the inner shell 43, and the second mounting foot 212a2 connects the second spring body 211a2 to the inner shell 43. This allows for more contact points between the torsion arm 213 and the inner shell 43. Furthermore, by storing the first elastic restoring force through the first spring body 211a1 and the second spring body 211a2, the load can be distributed more evenly, thus improving the structure's balance and stability. Simultaneously, the torsion arm 213 connects the first spring body 211a1 and the second spring body 211a2. By applying the first elastic restoring force to the first connecting portion 125 through the torsion arm 213, a greater torque can be provided.

[0167] The torsion arm 213 connects the first spring body 211a1 and the second spring body 211a2. The first side 6221 of the first connecting part 125 is provided with a slot 623. The torsion arm 213 extends along the first side 6221 and is engaged in the slot 623. The first elastic restoring force is stored through the first spring body 211a1 and the second spring body 211a2, and the first elastic restoring force is applied to the first connecting part 125 through the torsion arm 213. This achieves a more uniform application of the first elastic restoring force to the first connecting part 125, which is beneficial to strengthening the structural stability.

[0168] In some embodiments, as shown in Figures 23 and 27, the outer shell 50 is fixedly connected to the robot 11, and the outer shell 50 has a first opening 510. The mowing mechanism 124 is connected to the first connecting part 125 through the first opening 510. The first opening 510 is used to limit the range of motion of the mowing mechanism 124.

[0169] When the angle sensor 70 or the triggering device 71 malfunctions, the housing 50 is fixed. The housing 50 has a first opening 510. The mowing mechanism 124 is connected to the first connecting part 125 through the first opening 510. The mowing mechanism 124 rotates with the rotation of the first connecting part 125. Therefore, the size of the first opening 510 can limit the rotation angle of the mowing mechanism 124, and thus limit the mowing mechanism 124 to move within a corresponding range. This double protection limits the mowing mechanism 124 to move within a corresponding range.

[0170] The outer casing 50 is fixedly connected to the robot 11 by being fixedly connected to the mounting base 121.

[0171] In some embodiments, as shown in Figures 21, 26, and 27, the outer casing 50 includes a first side 501 and a second side 502, with a first opening 510 between the first side 501 and the second side 502. On a plane perpendicular to the inner support shaft 61, the included angle θ between the first connecting line L1 and the second connecting line L2 is greater than the rotation angle of the lawn mowing mechanism 124 relative to the central axis of the inner support shaft 61. The first connecting line L1 is the line connecting the center of the first side 501 and the inner support shaft 61, and the second connecting line L2 is the line connecting the center of the second side 502 and the inner support shaft 61.

[0172] Thus, the rotation angle of the mowing mechanism 124 is limited by the first side 501 and the second side 502 of the housing 50.

[0173] In some embodiments, as shown in FIG26, the inner shell 43 has a second opening 430, and the inner surface 433 of the inner shell 43 is provided with a rib 44 near the second opening 430, and the side of the rib 44 away from the inner surface 433 is inclined toward the second opening 430.

[0174] Specifically, a rib 44 is provided on the inner surface 433 of the second side plate 431 near the second opening 430.

[0175] Since the first connecting part 125 may come into contact with the edge of the second opening 430 of the inner shell 43 during rotation, this will cause stress concentration and may easily lead to the inner shell 43 breaking. Therefore, a rib 44 is provided on the inner surface 433 of the inner shell 43 near the second opening 430. The rib 44 can abut against the first connecting part 125. The side of the rib 44 away from the inner surface 433 is inclined towards the second opening 430, which can increase the contact area between the rib 44 and the first connecting part 125. This helps to disperse the abutment force between the first connecting part 125 and the rib 44, thereby enhancing the strength of the inner shell 43 and reducing the risk of the inner shell 43 breaking.

[0176] In some embodiments, when the mowing mechanism 124 is in the target position, the elastic element 20 is in a stretched state and has a third elastic restoring force, wherein the third elastic restoring force is a force in the opposite direction to the second elastic restoring force, and the target position is the position reached by the mowing mechanism 124 rotating from the initial position to the maximum rotatable angle.

[0177] Therefore, when the mowing mechanism 124 encounters resistance that hinders its movement, the third elastic restoring force of the elastic element 20 will be preferentially used to offset the resistance. When the resistance is small, the elastic element 20 will no longer generate the second elastic restoring force, which will be transmitted to the first motor 11a, thus helping to protect the first motor 11a. When the resistance is large, the third elastic restoring force of the elastic element 20 will be preferentially used to offset the resistance, and then the elastic element 20 will generate the second elastic restoring force. Therefore, compared to the case where there is no third elastic restoring force, that is, when the mowing mechanism 124 encounters resistance that hinders its movement, the elastic element 20 undergoes elastic deformation and stores the second elastic restoring force, which makes the elastic deformation of the elastic element 20 smaller, thus helping to extend the life of the elastic element 20.

[0178] The elastic element 20 is in a stretched state and has a third elastic restoring force in the following way: when the mowing mechanism 124 is restricted by the first opening 510 of the outer shell 50, that is, when it abuts against the second side 502, the first motor 11a continues to rotate, thereby driving the inner shell 43 to continue to rotate, so that the elastic element 20 undergoes elastic deformation and is in a stretched state and has a third elastic restoring force.

[0179] In some embodiments, the first motor 11a, angle sensor 70, and second motor 1242 in the rotating mechanism 122 are all connected to the controller in the robot 11. The controller is used to control the start, rotation direction, and number of rotations of the first motor 11a and the second motor 1242, so that the rotating mechanism 122 extends relative to the robot 11 to cut grass outside the projection area of ​​the robot 11, or retracts relative to the robot 11. The controller is also used to obtain the detection results of the angle sensor 70 and precisely adjust the working state of the first motor 11a and / or the second motor 1242. For example, when the first motor 11a drives the mowing mechanism 124 to move in the first direction K, if the magnetic field strength detected by the angle sensor 70 is less than the preset magnetic field strength, the controller controls the first motor 11a to continue rotating and drive the mowing mechanism 124 to move in the first direction K. When the magnetic field strength detected by the angle sensor 70 is equal to the preset magnetic field strength, the controller controls the motor body 110 to stop working and controls the braking structure 111 to brake.

[0180] The controller may be, but is not limited to, a central processing unit (CPU), a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof.

[0181] It should be noted that in other embodiments, the control relationship between the controller in the robot 11 and the rotating mechanism 122 can be other than the examples in this application.

[0182] It should be noted that those skilled in the art should also understand that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to this application. The processor can be a general-purpose processor, digital signal processor, application-specific integrated circuit, off-the-shelf programmable gate array or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component. The robot also includes a memory, which can be random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers, or other mature storage media in the art.

[0183] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several modifications and improvements can be made without departing from the inventive concept of this application, and these all fall within the protection scope of this application.

Claims

1. A protective cover, characterized in that, The protective cover, applied to an edge cutting device, includes a first top plate, a first side plate, and a bottom plate. The first side plate is connected between the first top plate and the bottom plate to form a receiving space. At least the bottom plate is provided with a first feed inlet, which communicates with the receiving space. At least the position of the first side plate near the first top plate forms a retaining wall. The area of ​​the first side plate without the retaining wall along its circumference forms a discharge port with the first top plate and the bottom plate, which communicates with the receiving space.

2. The protective cover according to claim 1, characterized in that, A retaining wall is formed at the position of the first side plate near the first top plate, and a second feed inlet is formed at the position of the first side plate near the bottom plate.

3. The protective cover according to claim 2, characterized in that, The first feed port and the second feed port are connected.

4. The protective cover according to claim 1, characterized in that, The first side plate is provided with a tangential extension and an intersecting extension, the first top plate is provided with a first tangential protrusion, and the bottom plate is provided with a second tangential protrusion. The tangential extension, the intersecting extension, the first tangential protrusion, and the second tangential protrusion surround each other to form the discharge port.

5. An edge-cutting device, characterized in that, The edge-cutting device includes a mowing mechanism, the mowing mechanism including a protective cover, the protective cover being the protective cover according to any one of claims 1 to 4.

6. The edge-cutting device according to claim 5, characterized in that, The edge-cutting device includes a mowing mechanism, which includes a housing, a second motor installed inside the housing, and a blade assembly connected to the second motor and located outside the housing. The protective cover is connected to the housing, and the blade assembly is located within the receiving space of the protective cover.

7. The edge-cutting device according to claim 6, characterized in that, The blade assembly includes several blades and an airflow guide, which guides the airflow to the top plate side of the protective cover.

8. The edge-cutting device according to claim 7, characterized in that, The airflow guide is a cyclone blade, which is used to generate an upward airflow.

9. The edge-cutting device according to claim 5, characterized in that, The edge-cutting device includes a mowing mechanism and a lifting mechanism. The lifting mechanism is rotatably connected between a robot and the mowing mechanism, and is used to adjust the lifting height of the mowing mechanism.

10. The edge-cutting device according to claim 9, characterized in that, The lifting mechanism includes a first link and a second link, which are arranged in the height direction of the edge cutting device. The first link includes a first end and a second end that are arranged opposite to each other, and the second link includes a third end and a fourth end that are arranged opposite to each other. The first end and the third end are rotatably connected to the robot, and the second end and the fourth end are rotatably connected to the mowing mechanism.

11. The edge-cutting device according to claim 10, characterized in that, The first length of the first line connecting the pivot point at the first end and the pivot point at the second end is equal to the second length of the second line connecting the pivot point at the third end and the pivot point at the fourth end, and the third length of the third line connecting the pivot point at the first end and the pivot point at the third end is equal to the fourth length of the fourth line connecting the pivot point at the second end and the pivot point at the fourth end.

12. The edge-cutting device according to claim 10 or 11, characterized in that, One of the first link and the second link is provided with a limiting member, and the other is provided with a limiting groove. At least the end of the limiting member can extend into the limiting groove. The cooperation between the limiting member and the limiting groove limits the lifting height of the mowing mechanism.

13. The edge-cutting device according to claim 12, characterized in that, The limiting groove has a first side away from the mowing mechanism and a second side close to the mowing mechanism. When the limiting member is located on the first side, the mowing mechanism is located at the lower end of the stroke. When the limiting member is located on the second side, the mowing mechanism is located at the upper end of the stroke.

14. The edge-cutting device according to claim 12, characterized in that, The height of the limiting member is at least greater than the maximum value of the gap between the first link and the second link.

15. The edge-cutting device according to claim 10, characterized in that, The edge-cutting device includes a first connecting part and a second connecting part. One side of the first connecting part is connected to the robot, and the other side is rotatably connected to the first end and the third end respectively. One side of the second connecting part is connected to the mowing mechanism, and the other side is rotatably connected to the second end and the fourth end respectively.

16. The edge-cutting device according to claim 15, characterized in that, The first connecting part includes two first connecting side plates spaced apart, the first end of the first connecting rod is rotatably connected between the two first connecting side plates, and the third end of the second connecting rod is rotatably connected between the two first connecting side plates.

17. The edge-cutting device according to claim 16, characterized in that, The first connecting rod has a first abutting surface near its first end, and the end face of the first connecting side plate corresponding to the mounting position of the first connecting rod has a first mating surface, the first abutting surface being used to abut against the first mating surface; and / or, The second connecting rod has a third abutting surface at a position adjacent to the third end, and the first connecting side plate has a third mating surface on the end face corresponding to the installation position of the second connecting rod, the third abutting surface being used to abut against the third mating surface.

18. The edge-cutting device according to claim 15, characterized in that, The second connecting part includes two second connecting side plates spaced apart. The second end of the first connecting rod is rotatably connected between the two second connecting side plates, and the fourth end of the second connecting rod is rotatably connected between the two second connecting side plates.

19. The edge-cutting device according to claim 18, characterized in that, The first connecting rod has a second abutment surface near the second end, and the end face of the second connecting side plate corresponding to the mounting position of the first connecting rod has a second mating surface, the second abutment surface being used to abut against the second mating surface; and / or, The second connecting rod has a fourth abutting surface at a position adjacent to the fourth end, and the second connecting side plate has a fourth mating surface on the end face corresponding to the installation position of the second connecting rod, the fourth abutting surface being used to abut against the fourth mating surface.

20. The edge-cutting device according to claim 15, characterized in that, The edge-cutting device further includes a rotating mechanism mounted on the robot. The first connecting part is disposed on the rotating mechanism. The rotating mechanism at least drives the mowing mechanism away from the robot, so that the mowing mechanism extends outward relative to the robot.

21. The edge-cutting device according to claim 20, characterized in that, The rotating mechanism includes a driving component and an elastic component; The elastic element is connected between the drive element and the mowing mechanism; The drive member is used to output a steering drive force to cause the elastic member to undergo elastic deformation and store a first elastic restoring force. When the stored first elastic restoring force is greater than or equal to a preset force value, the first elastic restoring force of the elastic member drives the mowing mechanism to move in a first direction. The elastic element is also used to store a second elastic restoring force by undergoing elastic deformation when the mowing mechanism encounters resistance that hinders its movement.

22. The edge-cutting device according to claim 21, characterized in that, The driving component includes a first motor, which includes a motor body and a braking structure. The braking structure is used to generate braking force to prevent the motor body from reversing when the motor body stops rotating or when the second elastic restoring force is transmitted to the first motor.

23. The edge-cutting device according to claim 21, characterized in that, The driving component includes a first motor and a reduction mechanism. The reduction mechanism is connected to the first motor. The second elastic restoring force is transmitted to the first motor through the reduction mechanism. The reduction mechanism is used to reduce the second elastic restoring force when it is transmitted to the first motor.

24. The edge-cutting device according to claim 22, characterized in that, When the braking force and the second elastic restoring force are respectively transmitted to the rotating shaft of the motor body, the braking force is greater than the second elastic restoring force.

25. The edge-cutting device according to claim 21, characterized in that, The rotating mechanism also includes a transmission assembly; The transmission assembly is connected between the driving member and the elastic member; The transmission assembly rotates and pulls the elastic element under the action of the steering driving force, causing the elastic element to undergo elastic deformation and store the first elastic restoring force.

26. The edge-cutting device according to claim 25, characterized in that, The maximum value of the first elastic restoring force acting on the transmission component is less than the maximum value of the second elastic restoring force.

27. The edge-cutting device according to claim 25, characterized in that, The driving component includes a first motor, and the first motor includes a first output shaft; The transmission assembly includes a first gear, a second gear, and an inner housing. The output shaft is connected to the first gear, the second gear meshes with the first gear, the inner housing is fixedly connected to the second gear, and the elastic element is connected to the inner housing. The first gear rotates under the steering driving force output by the first output shaft, the second gear rotates with the rotation of the first gear, and the inner housing rotates with the rotation of the second gear, pulling the elastic element so that the elastic element undergoes elastic deformation and stores the first elastic restoring force.

28. The edge-cutting device according to claim 27, characterized in that, The rotating mechanism further includes a housing, which includes a base and a cover plate. The base and the cover plate are detachably connected. The base includes a first base and a second base, and the cover plate includes a first cover plate and a second cover plate. The first cover plate is placed on the first base to form a first cavity, and the second cover plate is placed on the second base to form a second cavity. The first cavity and the second cavity are internally connected. The first motor and the first gear are disposed in the first cavity, and the second gear and the inner shell are disposed in the second cavity. The mowing mechanism is disposed outside the housing.

29. The edge-cutting device according to claim 28, characterized in that, The rotation mechanism further includes an angle sensor and a triggering device; the angle sensor is disposed on the second cover plate, and the triggering device is disposed on the inner shell. Under the action of the triggering device, the angle sensor is used to determine the rotation angle of the inner shell.

30. The edge-cutting device according to claim 28, characterized in that, The rotating mechanism further includes a support assembly, which includes an inner support shaft and an outer support member; The inner support shaft passes through the shaft hole of the inner shell and the second gear, and both ends of the inner support shaft are connected to the outer shell; The outer support component is sleeved on the inner support shaft; The elastic element is connected to the inner shell and the outer support, and the outer support is also connected to the mowing mechanism.

31. The edge-cutting device according to claim 30, characterized in that, The elastic element includes a torsion spring, which includes a spring body, a mounting foot, and a torsion arm. The spring body is connected to the mounting foot and the torsion arm. The mounting foot is connected to the inner shell. The spring body is wound around the outer support member, and the torsion arm is connected to the outer support member. When the inner shell rotates, it pulls the mounting foot and stores the first elastic restoring force through the spring body, and pushes the outer support to rotate through the torsion arm.

32. The edge-cutting device according to claim 31, characterized in that, The outer support member includes a shaft portion and a first connecting portion. The shaft portion is sleeved on the inner support shaft. The first connecting portion is fixedly connected to the shaft portion. The spring portion is wound around the shaft portion. The first connecting portion is connected to the torsion arm and the mowing mechanism.

33. The edge-cutting device according to claim 32, characterized in that, The spring body includes a first spring body and a second spring body, and the torsion arm connects the first spring body and the second spring body; The mounting feet include a first mounting foot and a second mounting foot; The first mounting foot connects the first spring body to the inner shell; The second mounting foot connects the second spring body to the inner shell; When the first mounting foot and the second mounting foot are subjected to the tension of the inner shell, the first elastic restoring force is stored through the first spring body and the second spring body, and the first elastic restoring force is applied to the first connecting part through the torsion arm, so that the first connecting part rotates around the inner support shaft and drives the mowing mechanism connected to the first connecting part to move in the first direction.

34. The edge-cutting device according to claim 32, characterized in that, The outer casing has a first opening, and the mowing mechanism is connected to the first connecting part through the first opening. The first opening is used to limit the range of motion of the mowing mechanism.

35. The edge-cutting device according to claim 34, characterized in that, The outer casing includes a first side and a second side, and the first opening is located between the first side and the second side. On a plane perpendicular to the inner support shaft, the angle between the first line and the second line is greater than the rotation angle of the mowing mechanism relative to the central axis of the inner support shaft. The first line is the line connecting the first side and the center of the inner support shaft, and the second line is the line connecting the second side and the center of the inner support shaft.

36. The edge-cutting device according to claim 21, characterized in that, When the mowing mechanism is in the target position, the elastic element is in a stretched state and has a third elastic restoring force, wherein the third elastic restoring force is a force in the opposite direction to the second elastic restoring force, and the target position is the position reached by the mowing mechanism after rotating to the maximum rotatable angle from the initial position.

37. A lawn mowing device, characterized in that, The device includes a robot and an edge cutting device, the edge cutting device being detachably mounted on one side of the robot, the edge cutting device being the edge cutting device according to any one of claims 5 to 36, and at least when the edge cutting device is in operation, the discharge port faces the robot side.

38. The lawnmower according to claim 37, characterized in that, The height of the discharge port of the protective cover is less than the height of the robot's body.

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