Modular intelligent trolley and mower equipped with modular intelligent trolley

Abstract

A mower equipped with a modular intelligent trolley, wherein the modular intelligent trolley comprises a movement drive module and a power module, the movement drive module and the power module being connected by means of a first quick-release assembly. The mower further comprises a cutting panel (1) and a connecting bracket (4), wherein a cutter head (6) is disposed on the cutting panel; and a first end of the connecting bracket is fixedly connected to the upper surface of the cutting panel, and a second end of the connecting bracket is in quick-release connection with a connecting assembly by means of a second quick-release assembly. Further disclosed is a modular intelligent trolley. The mower and the intelligent trolley features strong compatibility, high adaptability, and convenient and efficient operation.

Description

Modular intelligent trolley and lawn mower carrying the same

[0001] Priority application

[0002] This application claims priority to Chinese Invention Patent Application

CN2024113881487

A lawn mower carrying a modular intelligent trolley

[0003] This application claims priority to Chinese Invention Patent Application

CN2024113881792

A modular intelligent trolley

[0004] This application claims priority to Chinese Utility Model Patent Application

CN2024224070217

A separate quick-release cutting platform for a lawn mower

[0005] This application claims priority to Chinese Utility Model Patent Application

CN202422407033X

A floating connection mechanism

[0006] This application claims priority to Chinese Utility Model Patent Application

CN2024224071027

A wet and slippery steep slope pavement strong grip force spike harrow wheel

[0007] The present application belongs to the technical field of lawn mowers, and specifically relates to a modular intelligent trolley and a lawn mower carrying the same. BACKGROUND

[0008] A lawn mower is a machine used in fields such as courtyards, gardens, and agriculture to trim or remove grass or deadwood on the ground according to actual needs. With the rapid development of municipal gardens, photovoltaic power stations, and orchards in China, the demand for lawn mowers is increasing, and due to the vast territory and non-uniform planting habits in different regions, there are high requirements for machine flexibility, high reliability, and applicability.

[0009] The existing courtyard machinery mostly adopts step-by-step or riding type, the whole machine structure is heavy, turning is not flexible, and needs experienced drivers to operate, is expensive and inconvenient to operate; handheld type is noisy and has high labor intensity, and is harmful to operators; garden mostly adopts track chassis + disc cutter type, and there is a problem of incomplete cutting of grass under the chassis, one machine is only suitable for one cutting width, and the cutting width is limited by the maximum disc diameter, and the efficiency is low, and the adaptability to different planting habits is poor; agricultural machinery mostly adopts still field machine structure, hammer cutting, high power consumption, heavy whole vehicle, poor passability, high gravity center, easy to overturn when climbing obstacles, and there are great safety hazards in complex road conditions.

[0010] On the one hand, a lawn mower is disclosed in Chinese Utility Model Patent No. 202120719909.8, which comprises a main body, a lawn cutting module, which is integrally detachably connected to the main body and electrically connected to the main body. In this scheme, the lawn cutting module is designed in a modular way, which facilitates the replacement and maintenance of the lawn cutting module, and improves the efficiency of replacement and maintenance.

[0011] For example, Chinese Invention Patent No. 202610137987.7 discloses a riding lawn mower, which comprises a mower frame for carrying passengers and a cutting unit connected to the frame, the cutting unit having at least one rotatably mounted blade. Each interchangeable power unit support assembly supports an engine or a battery unit connected to a generator, so that the power unit can be replaced.

[0012] The above-mentioned schemes can alleviate some of the above-mentioned problems to some extent, but they all adopt the setting of intermediate components to realize the replacement of part of the module, and the device structure is complex, the installation steps are cumbersome, and the cost is high.

[0013] Therefore, there is an urgent need for a low-cost, convenient-to-disassemble, and versatile modular lawn mower or modular intelligent vehicle.

[0014] On the other hand, Chinese Invention Patent No. 202410059125.5 discloses a self-walking garden lawn mower, which comprises a rack, a floating cutter head, a walking mechanism, a height adjusting mechanism, a grass collecting box and a control unit installed on the rack, a gasoline engine installed on the rack, and an electromagnetic clutch and a clutch driving wheel installed on the gasoline engine.

[0015] For example, Chinese Invention Patent No. CN102369796A discloses a multi-joint contour floating cutter table, which can ensure that the cutter table is shaped in real time while the rack does not contact the ground, ensures the lowest stubble, and avoids damaging the ground surface.

[0016] For example, the Chinese invention patent with publication number CN212876737U discloses an automatic mower, comprising: a housing; a moving module for moving the automatic mower; a mowing mechanism for mowing; a shield covering the mowing mechanism; a control module for controlling the moving module to move the automatic mower and controlling the mowing mechanism to perform cutting; a first floating mechanism; the first floating mechanism allows the mowing mechanism to move up and down; the mowing mechanism is located at the initial cutting position of its movement range in the state of not being subjected to external force; a second floating mechanism; the second floating mechanism allows the shield to move up and down; the shield is located at the initial covering position of its movement range in the state of not being subjected to external force; wherein one of the initial covering position and the initial cutting position can be actively adjusted, and the other can be passively adjusted following the actively adjusted position.

[0017] However, the above-mentioned scheme has at least the following defects:

[0018] 1. Complex structure and poor flexibility;

[0019] 2. Poor adaptability, unable to adapt to different cutting devices;

[0020] 3. Complex connection structure and complex disassembly steps.

[0021] Therefore, it is particularly important to provide an independent quick-release cutting platform for a mower and an independent floating connection mechanism. SUMMARY

[0022] The purpose of the present application is to provide a modular intelligent trolley and a mower carrying the modular intelligent trolley to partially alleviate or solve the above problems and improve the disassembly efficiency between different modules of the mower.

[0023] In order to solve the above-mentioned technical problems, the present application specifically adopts the following technical solutions:

[0024] The first aspect of the application provides a lawn mower carrying a modular intelligent small car, the modular intelligent small car comprising: a walking driving module, comprising a driving body, a first end of the driving body is provided with a connecting assembly for detachably connecting a functional module, a second end of the driving body is provided with at least one guide rail, and the driving body is further provided with a driving reduction system for driving the driving body to walk; a power module, comprising a walking frame and an energy pack provided on the walking frame, a first end of the power module is provided with at least one pulley capable of sliding on the guide rail; a first quick release assembly for connecting the walking driving module and the power module, the first quick release assembly comprising a locking piece and a locking pin, correspondingly, the second end of the driving body is provided with at least one first through hole and at least one first pin hole, the first end of the walking frame is provided with at least one second through hole matched with the first through hole, and at least one second pin hole matched with the first pin hole; when the pulley is slid along the guide rail to a first position, the first through hole and the second through hole correspond, the first pin hole and the second pin hole correspond, the locking pin is sequentially penetrated through the first pin hole and the second pin hole, the locking piece is sequentially penetrated through the first through hole and the second through hole, so that the walking driving module and the power module are quickly connected; the lawn mower further comprises a cutting panel and a connecting support, the cutting panel is provided with a cutting cutter, the first end of the connecting support is fixedly connected to the upper surface of the cutting panel, and the second end of the connecting support is quickly connected with the connecting assembly through a second quick release assembly; the second quick release assembly comprises a first fixing piece and a second fixing piece, the connecting assembly is respectively provided with a first mounting hole and a second mounting hole, the second end of the connecting support is provided with a third mounting hole matched with the first mounting hole and a fourth mounting hole matched with the second mounting hole; when the first fixing piece is penetrated through the first mounting hole and the third mounting hole, or the second fixing piece is penetrated through the second mounting hole and the fourth mounting hole, the connecting support can rotate relative to the connecting assembly; when the first fixing piece is penetrated through the first mounting hole and the third mounting hole, and the second fixing piece is penetrated through the second mounting hole and the third mounting hole, the first fixing piece and the second fixing piece cooperate to fix the connecting support and the connecting assembly.

[0025] As an improvement, the fourth mounting hole is provided with at least two, and a plurality of fourth mounting holes have different heights; when the second fixing piece is respectively penetrated through the third mounting hole and the fourth mounting hole with different heights in sequence, the cutting panel has different heights.

[0026] As an improvement, a height adjustment module is further included, the height adjustment module includes a height adjustment support, a height wheel is arranged on a first side of the height adjustment support, a second side of the height adjustment support is rotationally connected with the cutting panel, at least two fifth mounting holes with different heights are arranged between the first side and the second side of the height adjustment support, and sixth mounting holes matched with the fifth mounting holes are arranged on the cutting panel; or sixth mounting holes with different heights are arranged on the cutting panel, and fifth mounting holes matched with the sixth mounting holes are arranged on the height adjustment support; when a third fixing member penetrates the fifth mounting holes and the sixth mounting holes, the cutting panel is fixed with the height adjustment support.

[0027] As an improvement, the connecting assembly includes a floating arm, a telescopic push rod, and a push rod support arm, the first mounting hole and the second mounting hole are arranged on the floating arm, a first end of the floating arm and a second end of the push rod support arm are rotationally arranged on the driving body, a first end of the push rod support arm is rotationally connected with a second end of the push rod, a first end of the push rod is fixed on the driving body, a limiting portion for limiting the floating arm is arranged on the push rod support arm, and the limiting portion is below the floating arm; when the push rod is retracted, the push rod drives the push rod support arm to rotate around the driving body towards a first direction, the limiting portion abuts against the floating arm, so that the push rod support arm can drive the floating arm to rise; when the push rod is elongated, the push rod drives the push rod support arm to rotate around the driving body towards a second direction, and the floating arm descends synchronously with the limiting portion; wherein the first direction and the second direction are opposite.

[0028] As an improvement, the connecting assembly further includes an elastic member, two ends of the elastic member are respectively connected with the driving body and the functional module, a first end of the floating arm is rotationally connected with the driving body, and a second end of the floating arm is detachably fixed with the functional module.

[0029] As an improvement, two floating arms are arranged, the two floating arms are connected through a support rod, and correspondingly, the elastic member, the telescopic push rod, and the push rod support arm are each arranged with two; the two floating arms are respectively connected to two ends of the support rod through joint bearings.

[0030] As an improvement, a height adjustment pad is arranged between the height wheel and the height adjustment support.

[0031] As an improvement, the second end of the driving body is further provided with a foot prop assembly, the foot prop assembly comprises a support body, the first end of the support body is rotationally arranged at the second end of the driving body, and the first end of the support body is provided with a reset member; when the power module is installed to the second end of the walking driving module, the support body is rotated in the first direction under the pushing of the power module, and when the pulley slides to the first position, the support body is parallel to the ground; after the power module and the walking driving module are separated, the support body is reset under the action of the reset member, so that the second end of the support body is grounded.

[0032] As an improvement, the cutting cutter head comprises a cutter head body, the bottom of the cutter head body is sequentially rotationally arranged with a bending cutter head and a blade from top to bottom, and the cutter head body is provided with a driving device for driving the bending cutter head and the blade to rotate.

[0033] As an improvement, the cutting panel is internally provided with a mounting space, the mounting space is internally mounted with a grass baffle matched with the cutting cutter head, the grass baffle and the inner wall of the cutting panel cooperatively form a grass guide channel, one side of the cutting end of the blade is rolled towards the bending cutter head to form a bending angle part, and the acute angle included angle between the bending cutter head and the plane where the blade is located is 55°-80°.

[0034] In some embodiments, the modular intelligent car comprises: a walking driving module, comprising a driving body, a connecting assembly for detachably connecting a functional module is arranged at a first end of the driving body, at least one guide rail is arranged at a second end of the driving body, and a driving reduction system for driving the driving body to walk is further arranged on the driving body; a power module, comprising a walking frame and an energy package arranged on the walking frame, at least one pulley capable of sliding on the guide rail is arranged at a first end of the power module; a first quick release assembly for connecting the walking driving module and the power module, the first quick release assembly comprises a locking piece and a locking pin, correspondingly, at least one first through hole and at least one first pin hole are arranged at the second end of the driving body, at least one second through hole matched with the first through hole and at least one second pin hole matched with the first pin hole are arranged at the first end of the walking frame; when the pulley is slid along the guide rail to a first position, the first through hole and the second through hole are matched, the first pin hole and the second pin hole are matched, the locking pin is sequentially penetrated through the first pin hole and the second pin hole, and the locking piece is sequentially penetrated through the first through hole and the second through hole, so that the walking driving module and the power module are quickly connected; the mower further comprises a cutting panel and a connecting support, the cutting panel is provided with a cutting cutter, the first end of the connecting support is fixedly connected to the upper surface of the cutting panel, and the second end of the connecting support is quickly connected with the connecting assembly through a second quick release assembly; the second quick release assembly comprises a first fixing piece and a second fixing piece, the connecting assembly is respectively provided with a first mounting hole and a second mounting hole, the second end of the connecting support is provided with a third mounting hole matched with the first mounting hole and a fourth mounting hole matched with the second mounting hole; when the first fixing piece is penetrated through the first mounting hole and the third mounting hole, or the second fixing piece is penetrated through the second mounting hole and the fourth mounting hole, the connecting support can rotate relative to the connecting assembly; when the first fixing piece is penetrated through the first mounting hole and the third mounting hole, and the second fixing piece is penetrated through the second mounting hole and the third mounting hole, the first fixing piece and the second fixing piece match to fix the connecting support and the connecting assembly; the connecting assembly comprises a floating arm, a telescopic push rod and a push rod support arm, the first mounting hole and the second mounting hole are arranged on the floating arm, the first end of the floating arm and the second end of the push rod support arm are rotationally arranged on the driving body, the first end of the push rod support arm is rotationally connected with the second end of the telescopic push rod, the first end of the telescopic push rod is fixed on the driving body, and a limiting portion for limiting the floating arm is arranged on the push rod support arm and located below the floating arm.

[0035] In some embodiments, the modular intelligent trolley comprises a walking driving module and a power module, the walking driving module comprises a driving body; the mower comprises a cutting panel and a connecting support, the cutting panel is provided with a cutting cutter head, the first end of the connecting support is fixedly connected to the upper surface of the cutting panel, and the second end of the connecting support is quickly detachably connected with the connecting assembly through a second quick release assembly; the second quick release assembly comprises a first fixing piece and a second fixing piece, the connecting assembly is respectively provided with a first mounting hole and a second mounting hole, the second end of the connecting support is provided with a third mounting hole matched with the first mounting hole and a fourth mounting hole matched with the second mounting hole; when the first fixing piece penetrates through the first mounting hole and the third mounting hole or the second fixing piece penetrates through the second mounting hole and the fourth mounting hole, the connecting support can rotate relative to the connecting assembly; when the first fixing piece penetrates through the first mounting hole and the third mounting hole and the second fixing piece penetrates through the second mounting hole and the third mounting hole, the first fixing piece and the second fixing piece cooperate to fix the connecting support and the connecting assembly; the connecting assembly comprises a floating arm, a telescopic push rod and a push rod support arm, the first mounting hole and the second mounting hole are arranged on the floating arm, the first end of the floating arm and the second end of the push rod support arm are rotationally arranged on the driving body, the first end of the push rod support arm is rotationally connected with the second end of the telescopic push rod, the first end of the telescopic push rod is fixed to the driving body, and the push rod support arm is provided with a limiting portion for limiting the floating arm, and the limiting portion is located below the floating arm.

[0036] The principle and beneficial technical effect of the present application are that in order to enable the mower to meet the mowing demand under complex terrain, the present application provides a highly modular mower which can quickly replace the power source through the quick release assembly, and the mowing platform which is height-adjustable and can float with the terrain, the mower with the above structure has strong universality, good adaptability and convenient and fast use.

[0037] Specifically, the modular intelligent trolley in the present application adopts a split design, i.e. is divided into a walking driving module and a power module, and the two are connected through a first quick release assembly, through the disassembly and assembly of the two, the replacement of the power source can be quickly realized, and at the same time, the power source is prevented from being bumped during separate transportation; meanwhile, the front end of the walking driving module is provided with a connecting assembly which is quickly detachably connected with the connecting support of the cutting platform, which can quickly realize the disassembly and assembly between the cutting platform and the modular intelligent trolley, and the above structure cooperates with each other, which can replace the power source adaptively while replacing different cutting equipment (such as cutting platforms with different widths, cutter heads with different powers), so as to adapt to the mowing demand in different scenes.

[0038] Further, the connecting assembly and the connecting support have two connection modes, in one state, the cutting platform and the trolley are stably connected through the connection of the two, and in another state, the cutting platform can be flipped relative to the trolley with the rotation of the connecting support, thereby facilitating the transfer of the whole mower.

[0039] Further, the device is further provided with two groups of height adjusting mechanisms, active and passive lifting of the cutting panel is realized, the cutting platform is more flexible relative to the trolley, specifically, the height of the cutting panel can be quickly adjusted by inserting the fixing member into the mounting hole with different heights; during the working process of the cutting machine, the cutting panel can float up and down and left and right along with the terrain, so that the stubble during the mowing process is consistent, and the cutting effect of the cutting machine is better.

[0040] The second aspect of the present application is to provide a modular intelligent trolley, comprising: a walking driving module, comprising a driving body, a connecting assembly for connecting a functional module is arranged at the first end of the driving body, at least one guide rail is arranged at the second end of the driving body, and a foot support assembly for supporting the driving body is arranged, and a driving reduction system for driving the driving body to walk is further arranged on the driving body; a power module, comprising a walking frame and an energy pack arranged on the walking frame, at least one pulley capable of sliding on the guide rail is arranged at the first end of the power module; a first quick release assembly for connecting the walking driving module and the power module, the first quick release assembly comprises a locking piece and a locking pin, correspondingly, at least one first through hole and at least one first pin hole are arranged at the second end of the driving body, at least one second through hole matched with the first through hole and at least one second pin hole matched with the first pin hole are arranged at the first end of the walking frame; when the pulley is slid along the guide rail to a first position, the first through hole and the second through hole correspond, the first pin hole and the second pin hole correspond, the locking pin is sequentially penetrated through the first pin hole and the second pin hole, and the locking piece is sequentially penetrated through the first through hole and the second through hole, so that the walking driving module and the power module are quickly connected.

[0041] As an improvement, the first quick release assembly further comprises at least one lock catch, the lock catch comprises a first clamping piece arranged at the second end of the driving body, and a second clamping piece arranged on the walking frame; when the pulley is slid along the guide rail to the first position, the first clamping piece is pressed, the first clamping piece is clamped with the second clamping piece, so that the walking driving module and the power module are quickly connected.

[0042] As an improvement, the connecting assembly comprises a floating arm and an elastic member, two ends of the elastic member are connected with the driving body and the functional module respectively, a first end of the floating arm is rotationally connected with the driving body, and a second end of the floating arm is detachably fixed with the functional module.

[0043] As an improvement, the connecting assembly comprises a floating arm, a telescopic push rod and a push rod support arm, a first end of the floating arm and a second end of the push rod support arm are rotationally arranged on the driving body respectively, a second end of the floating arm is used for connecting the functional module, a first end of the push rod support arm is rotationally connected with a second end of the push rod, a first end of the push rod is fixed on the driving body, and a limiting part for limiting the floating arm is arranged on the push rod support arm and located below the floating arm; when the push rod is retracted, the push rod drives the push rod support arm to rotate around the driving body towards a first direction, so that the limiting part abuts against the floating arm and drives the floating arm to rise; when the push rod is elongated, the push rod drives the push rod support arm to rotate around the driving body towards a second direction, and the floating arm descends synchronously with the limiting part; wherein the first direction and the second direction are opposite.

[0044] As an improvement, the connecting assembly further comprises an elastic member, two ends of the elastic member are connected with the driving body and the functional module respectively.

[0045] As an improvement, two floating arms are arranged, and the two floating arms are connected through a support rod, and correspondingly, the elastic member, the push rod and the push rod support arm are each provided with two.

[0046] As an improvement, the two floating arms are connected to two ends of the support rod through joint bearings respectively.

[0047] As an improvement, a first end of the driving body is provided with a universal interface matched with the functional module.

[0048] As an improvement, the foot support assembly comprises a support body, a first end of the support body is rotationally arranged on a second end of the driving body, and the first end of the support body is provided with a reset member; when the power module is installed to the second end of the walking driving module, the support body is rotated in a first direction under the pushing of the power module, and when the pulley is slid to a first position, the support body is parallel to the ground; after the power module and the walking driving module are disassembled, the support body is reset under the action of the reset member, so that a second end of the support body is abutted on the ground.

[0049] As an improvement, a first end of the power module is further provided with a handle.

[0050] In some embodiments, the modular intelligent vehicle comprises:

[0051] The walking driving module comprises a driving body, a first end of the driving body is provided with a connecting assembly for connecting a functional module, a second end of the driving body is provided with at least one guide rail, and a foot support assembly for supporting the driving body, and the driving body is further provided with a driving reduction system for driving the driving body to walk; the connecting assembly comprises a floating arm, a telescopic push rod, a push rod support arm and an elastic member, two ends of the elastic member are connected with the driving body and the functional module respectively; a first end of the floating arm and a second end of the push rod support arm are rotatably arranged on the driving body, a second end of the floating arm is used for connecting the functional module, a first end of the push rod support arm is rotatably connected with a second end of the push rod, a first end of the push rod is fixed on the driving body, and a limiting portion for limiting the floating arm is arranged on the push rod support arm and located below the floating arm; the power module comprises a walking frame and an energy pack arranged on the walking frame, a first end of the power module is provided with at least one pulley capable of sliding on the guide rail; a first quick release assembly for connecting the walking driving module and the power module, the first quick release assembly comprises a locking member and a locking pin, correspondingly, the second end of the driving body is provided with at least one first through hole and at least one first pin hole, the first end of the walking frame is provided with at least one second through hole matched with the first through hole, and at least one second pin hole matched with the first pin hole; when the pulley is slid along the guide rail to a first position, the first through hole and the second through hole correspond, the first pin hole and the second pin hole correspond, the locking pin is sequentially penetrated through the first pin hole and the second pin hole, and the locking member is sequentially penetrated through the first through hole and the second through hole, so that the walking driving module and the power module are quickly connected.

[0052] In some embodiments, the modular intelligent vehicle comprises: a walking driving module and a power module, the power module comprises a walking frame and an energy pack arranged on the walking frame, the walking driving module comprises a driving body, a first end of the driving body is provided with a connecting assembly for connecting a functional module, the connecting assembly comprises a floating arm, a telescopic push rod, a push rod support arm and an elastic member, two ends of the elastic member are connected with the driving body and the functional module respectively; a first end of the floating arm and a second end of the push rod support arm are rotatably arranged on the driving body, a second end of the floating arm is used for connecting the functional module, a first end of the push rod support arm is rotatably connected with a second end of the push rod, a first end of the push rod is fixed on the driving body, and a limiting portion for limiting the floating arm is arranged on the push rod support arm and located below the floating arm.

[0053] The principle and beneficial technical effects of the present application are that the present application provides a quick disassembly and quick assembly trolley with different endurance power sources (energy sources) according to different functional requirements through modular design of the trolley. Specifically, the functional platform can be quickly replaced through the quick disassembly assembly, and the energy source matched therewith (for example, with different endurance time) can be quickly replaced. The trolley with the above structure has strong versatility, good adaptability, and is convenient and fast to use.

[0054] Specifically, the modular intelligent trolley in the present application adopts a split design, that is, is divided into a walking driving module and a power module two parts, and the two parts are connected through a first quick disassembly assembly. Through disassembly and assembly of the two parts, the power source can be quickly replaced. Meanwhile, the front end of the walking driving module is provided with a connecting assembly which is quickly disassembled and assembled with a connecting bracket of the functional module, so that the disassembly and assembly between the functional module and the modular intelligent trolley can be quickly realized. The above structure cooperates with each other, so that the power source can be adaptively replaced while different functional modules (for example, a mowing module, a pesticide spraying module, a carrying module, and a fertilizing module) are replaced, thereby adapting to different working time requirements.

[0055] Further, the walking driving module and the power module are adaptively provided with foot props, handles and other components, which can further facilitate the support and transfer of the two parts, so as to cope with the situation that the power source is heavy and difficult to carry, and prevent the power source from being bumped during the transfer process.

[0056] The third aspect of the present application provides a separate quick-release cutting platform for a mower, comprising a cutting panel, a connecting bracket and a height adjustment module, the cutting panel is provided with cutting discs respectively, and a second control module for controlling the working of the cutting discs; the first end of the connecting bracket is fixedly connected to the upper surface of the cutting panel, and the second end of the connecting bracket is detachably connected with a connecting assembly of the mower, wherein the connecting assembly is provided with a first mounting hole and a second mounting hole respectively, the second end of the connecting bracket is provided with a third mounting hole matched with the first mounting hole and at least two fourth mounting holes with different heights matched with the second mounting hole; when a first fixing member penetrates the first mounting hole and the third mounting hole, or a second fixing member penetrates the second mounting hole and the fourth mounting hole, the connecting bracket can rotate relative to the connecting assembly; when the first fixing member penetrates the first mounting hole and the third mounting hole, and the second fixing member penetrates the second mounting hole and the fourth mounting hole, the first fixing member and the second fixing member cooperate to fix the connecting bracket and the connecting assembly; the height adjustment module comprises a height adjustment bracket, the first side of the height adjustment bracket is provided with a height limiting wheel, the second side of the height adjustment bracket is rotatably connected with the cutting panel, at least two fifth mounting holes with different heights are arranged between the first side and the second side of the height adjustment bracket, and the cutting panel is provided with a sixth mounting hole matched with the fifth mounting hole; or the cutting panel is provided with at least two sixth mounting holes with different heights, and the height adjustment bracket is provided with a fifth mounting hole matched with the sixth mounting hole; when a third fixing member penetrates the fifth mounting hole and the sixth mounting hole, the cutting panel and the height adjustment bracket are fixed.

[0057] As an improvement, the connecting bracket is provided with a length-adjustable connecting chain, one end of the connecting chain is connected with the connecting bracket, and the other end is detachably connected with an elastic member of the connecting assembly.

[0058] As an improvement, a height adjustment pad is arranged between the height limiting wheel and the height adjustment bracket.

[0059] As an improvement, the cutting disc comprises a disc body, the bottom of the disc body is sequentially rotatably provided with a bent disc and a blade from top to bottom, and the disc body is provided with a driving device for driving the bent disc and the blade to rotate.

[0060] As an improvement, the cutting panel is internally provided with a mounting space, a grass baffle matched with the cutting cutter head is mounted in the mounting space, the grass baffle is matched with the inner wall of the cutting panel to form a grass guide channel, one side of the cutting end of the blade is rolled towards the bending cutter head to form an angle part, and the acute angle between the bending cutter head and the plane where the blade is located is 55-80 degrees.

[0061] As an improvement, the bending cutter head is provided with a first through hole, the blade is provided with a second through hole matched with the first through hole, the bending cutter head and the blade are connected through bolts, the bolts are contracted from the head to the end direction towards the central axis direction of the bolts to form two first and second steps, respectively, when the bolts are sequentially penetrated through the second through hole and the first through hole, the blade and the bending cutter head are located on the first and second steps, respectively, so that when the resistance of the blade is less than or equal to the first force, the blade and the bending cutter head rotate synchronously, and when the resistance of the blade is greater than the first force, the blade can rotate relative to the bending cutter head.

[0062] As an improvement, the cutting panel is provided with wear-resistant plates on both sides, front and rear protective baffle plates are arranged at the front end and the rear end of the cutting panel, respectively, and a supporting wheel is arranged at the rear end of the cutting panel, and the rear protective baffle plate covers the supporting wheel.

[0063] As an improvement, the connecting support is provided with two, and the two connecting supports are connected through an intermediate support and fixed to the cutting panel.

[0064] As an improvement, the upper surface of the cutting panel is provided with front and rear mounting seats, respectively, the sixth mounting hole is arranged on the front mounting seat, and the second side of the height adjusting support is rotatably arranged on the rear mounting seat through a rotating shaft sleeve.

[0065] As an improvement, the front end of the height adjusting support is provided with a bump stop plate.

[0066] The principle and beneficial technical effects of the application are that in order to meet different cutting requirements (such as different stubble heights) under different terrains or complex terrains, the application provides a flexible independent quick-release cutting platform which is combined with active height adjustment and up-and-down and left-and-right floating according to terrains.

[0067] Specifically, by setting two groups of height adjusting mechanisms, active and passive lifting of the cutting panel is realized, so that the cutting platform is more flexible relative to the trolley, wherein, first, the fourth mounting hole of different height can be selected to realize the adjustment of the height of the connecting bracket, then the fifth mounting hole or the sixth mounting hole of different height is selected to realize the adjustment of the relative height of the cutting platform and the height adjusting mechanism, so as to ensure that the cutting height has a larger adjustable range.

[0068] Further, by setting the floating mechanism (including the push rod support arm and the elastic member) on the connecting bracket and the connecting assembly, it can not only float up and down with the terrain, but also left and right tilt and float, and can be passively lifted, thereby keeping the grass cutting always in contact with the ground, and can adaptively float and cut when encountering high convex and low terrain, and keep the stubble consistent.

[0069] The fourth aspect of the present application is to provide a floating connection mechanism, comprising a connecting assembly and a connecting bracket; the connecting assembly comprises a floating arm, a telescopic push rod and a push rod support arm, the first end of the floating arm and the second end of the push rod support arm are respectively rotationally arranged on the drive main body of the modular intelligent trolley, the first end of the push rod support arm is rotationally connected with the second end of the push rod, the first end of the push rod is fixed on the drive main body, a limiting portion for limiting the floating arm is arranged on the push rod support arm, and the limiting portion is located below the floating arm; the first end of the connecting bracket is used for connecting a functional module, and the second end of the connecting bracket is quickly detachably connected with the floating arm through a second quick release assembly; when the push rod is retracted, the push rod drives the push rod support arm to rotate around the drive main body towards a first direction, so that the limiting portion abuts against the floating arm and drives the floating arm to rise; when the push rod is elongated, the push rod drives the push rod support arm to rotate around the drive main body towards a second direction, and the floating arm descends synchronously with the limiting portion; wherein, the first direction and the second direction are opposite.

[0070] As an improvement, the floating arm is respectively provided with a first mounting hole and a second mounting hole, the second end of the connecting bracket is provided with a third mounting hole matched with the first mounting hole, and a fourth mounting hole matched with the second mounting hole; correspondingly, the second quick release assembly comprises a first fixing member and a second fixing member, when the first fixing member penetrates the first mounting hole and the third mounting hole, or the second fixing member penetrates the second mounting hole and the fourth mounting hole, the connecting bracket can rotate relative to the floating arm; when the first fixing member penetrates the first mounting hole and the third mounting hole, and the second fixing member penetrates the second mounting hole and the third mounting hole, the first fixing member and the second fixing member cooperate to fix the connecting bracket and the floating arm.

[0071] As an improvement, the fourth mounting hole is provided with at least two, and a plurality of fourth mounting holes have different heights; when the second fixing member is respectively threaded through the third mounting hole and the fourth mounting hole with different heights in sequence, the cutting panel has different heights.

[0072] As an improvement, the connecting assembly further comprises an elastic member, two ends of the elastic member are connected with the driving body and the functional module respectively.

[0073] As an improvement, a length-adjustable connecting chain is arranged on the connecting support, and the elastic member is connected with the functional module through the connecting chain, wherein one end of the connecting chain is connected with the connecting support, and the other end is detachably connected with the elastic member of the connecting assembly.

[0074] As an improvement, the floating arm is provided with two, and the two floating arms are connected through a support rod, and correspondingly, the push rod and the push rod support arm are each provided with two.

[0075] As an improvement, the two floating arms are connected to the two ends of the support rod through joint bearings respectively.

[0076] As an improvement, the two push rod support arms are connected through a connecting arm, a support rod is fixed on the connecting arm, and the other end of the support rod is rotatably connected with the driving body.

[0077] As an improvement, the connecting support is provided with two, and the two connecting supports are connected through an intermediate support and fixed on the cutting panel.

[0078] As an improvement, the elastic member is a spring.

[0079] The principle and beneficial technical effects of the present application are that in order to adapt to the working requirements of different robots in different terrains (for example, the cutting machine needs to adjust the height of the cutting platform to achieve different stubble heights in complex terrain), the present application provides a flexible floating connection mechanism combining active height adjustment and up-down and left-right floating according to terrain.

[0080] Specifically, the present application sets up a pre-adjusting structure in cooperation with a real-time active lifting mechanism, which can set the relative height between the connecting support and the connecting assembly in advance according to the working scene / working requirement, and at the same time, can actively adjust the height of the connecting support according to the actual working environment during the working process, so that the robot has a larger adjustable height range.

[0081] Further, through the ingenious position design of the floating arm and the push rod support arm in the connecting assembly, and the cooperation of the support column and the elastic member and other structures, the robot can stably tilt up and down and left and right according to the terrain during the working process, so as to adapt to small-amplitude terrain changes.

[0082] Further, the connecting support and the connecting assembly in the application are connected through the second quick release assembly, so that the connecting support can be quickly fixed with the connecting assembly or rotated relative to the connecting assembly to realize quick fixing or overturning of the functional module of the robot.

[0083] The fifth aspect of the application provides a strong grip spike harrow wheel for a wet and slippery steep slope road surface, which comprises a rim and a tire body, the tire body is flexible, and a plurality of rows of mounting holes are arranged on the tire body in a circumferential direction; a plurality of spike harrow tooth assemblies are further included, the hardness of the spike harrow tooth assemblies is greater than that of the tire body, each spike harrow tooth assembly comprises a spike harrow tooth body and a bolt assembly, the spike harrow tooth body is provided with a through hole, the bolt of the bolt assembly sequentially penetrates the through hole and the mounting hole, and the spike harrow tooth body and the tire body are fixed relative to each other through a nut of the bolt assembly, and the spike harrow tooth body is located on the outer surface of the tire body; the cross section of the spike harrow tooth body is circular or polygonal, the outer diameter of the spike harrow tooth body gradually increases from the first end to the second end, the cross section of the head of the bolt of the bolt assembly is circular or polygonal, the outer diameter of the head of the bolt gradually increases from the first end to the second end, and the head of the bolt and the spike harrow tooth body are smoothly connected.

[0084] As an improvement, a spacer sleeve is arranged in the mounting hole.

[0085] As an improvement, the distance between the mounting holes of adjacent two rows is the same, and the mounting holes in the same row are uniformly distributed along the circumferential direction of the tire body.

[0086] As an improvement, the mounting holes of different rows are arranged in a staggered manner, so that the mounting holes of different rows are arranged in a spiral line.

[0087] As an improvement, the mounting holes are arranged in five rows, and the number of the mounting holes in each row is 10.

[0088] As an improvement, a cavity is arranged in the inside of the spike harrow tooth body, at least one opening is arranged in the side wall of the spike harrow tooth body and communicated with the cavity, so that the spike harrow tooth body forms a half hollow structure.

[0089] As an improvement, the tire body is made of wear-resistant fabric rubber.

[0090] As an improvement, the rim is provided with a tire connecting surface in the circumferential direction, one side wall of the rim is provided with a hub connecting surface, and the outer diameter of the tire connecting surface is the same as the inner diameter of the tire body.

[0091] As an improvement, the spike harrow tooth body is made of metal.

[0092] As an improvement, the rim is formed by stamping a steel sheet.

[0093] The principle and beneficial technical effects of the present application are that the application provides a replaceable harrow tooth assembly and a wet and slippery steep slope road strong grip force harrow wheel with stable strong grip effect, the harrow wheel with the above structure has good anti-skid effect and long service life.

[0094] On the one hand, the application designs a harrow tooth assembly with a circular arc structure, cooperates with a flexible tire body, so that the harrow wheel has good ground gripping effect, and when facing complex terrain, it can always ensure that the harrow tooth assembly is grounded, thereby realizing comprehensive anti-skid effect; on the other hand, the harrow tooth body is fixed on the tire body by a bolt assembly and is not easy to fall off, and at the same time, it is convenient to quickly replace the harrow tooth locally without disassembling the tire body, so that the maintenance is convenient, the use cost is low, and the service life of the harrow wheel is improved. BRIEF DESCRIPTION OF DRAWINGS

[0095] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description. In all the drawings, similar elements or parts are generally identified by similar reference signs. In the drawings, each element or part is not necessarily drawn according to the actual proportion. Obviously, the drawings described below are some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without creative labor.

[0096] Fig. 1 is a schematic diagram of the overall structure of the lawn mower with the modular intelligent car in an unfolded state according to an example embodiment of the present application;

[0097] Fig. 2 is a schematic diagram of the overall structure of the lawn mower with the modular intelligent car in a half-folded state according to an example embodiment of the present application;

[0098] Fig. 3 is a schematic diagram of the overall structure of the lawn mower with the modular intelligent car in a folded state according to an example embodiment of the present application;

[0099] Fig. 4 is a schematic diagram of the structure of the modular intelligent car and the cutting platform after being split;

[0100] Fig. 5 is a schematic diagram of the overall structure of the modular intelligent car;

[0101] Fig. 6 is a schematic diagram of the split state of the modular intelligent car;

[0102] Fig. 7 is a schematic diagram of the split state of the modular intelligent car from another angle;

[0103] Fig. 8 is a schematic diagram of a walking driving module of the modular intelligent trolley;

[0104] Fig. 9 is a schematic diagram of a power module of the modular intelligent trolley;

[0105] Fig. 10 is a schematic diagram of the combination of the power module and the walking driving module of the modular intelligent trolley;

[0106] Fig. 11 is a schematic diagram of the disassembly of the power module and the walking driving module of the modular intelligent trolley;

[0107] Fig. 12 is a structural diagram of a handle of the modular intelligent trolley;

[0108] Fig. 13 is a structural diagram of the lock in the locked state;

[0109] Fig. 14 is a structural diagram of the lock in the opened state;

[0110] Fig. 15 is a structural diagram of a foot support;

[0111] Fig. 16 is a perspective view of the assembled connection assembly and connection support;

[0112] Fig. 17 is a side view of the assembled connection assembly and connection support;

[0113] Fig. 18 is a structural diagram of a push rod support arm;

[0114] Fig. 19 is a structural diagram of a cutting platform;

[0115] Fig. 20 is a structural diagram of a cutting panel;

[0116] Fig. 21 is an exploded view of the cutting platform;

[0117] Fig. 22 is a structural diagram of a height adjustment module;

[0118] Fig. 23 is a schematic diagram of the installation position of a cutting disc on the cutting panel;

[0119] Fig. 24 is a schematic diagram of the power module when installing one kind of energy pack;

[0120] Fig. 25 is a schematic diagram of the power module when installing another kind of energy pack;

[0121] Fig. 26 is a schematic diagram of the power module when installing another kind of energy pack;

[0122] Fig. 27 is a schematic diagram of one kind of driving wheel in the present application, i.e., the overall structure of a harrow wheel;

[0123] Fig. 28 is a schematic diagram of the force deformation of the harrow wheel in an example embodiment of the present application;

[0124] FIG. 29 is a schematic view of the overall structure of a rim according to an exemplary embodiment of the present application;

[0125] FIG. 30 is a schematic view of the overall structure of a tire body according to an exemplary embodiment of the present application;

[0126] FIG. 31 is a cross-sectional view of the mounted state of a spike harrow tooth according to an exemplary embodiment of the present application;

[0127] FIG. 32 is a schematic view of the overall structure of a mower according to another exemplary embodiment of the present application;

[0128] FIG. 33 is a side view of the mower according to another exemplary embodiment of the present application;

[0129] FIG. 34 is a side view of the mower according to another exemplary embodiment of the present application, in a folded state;

[0130] FIG. 35 is another schematic view of the overall structure of the mower according to another exemplary embodiment of the present application.

[0131] Marked in the figure: 1, cutting panel; 101, wear plate; 102, support wheel; 103, front protective baffle; 104, rear protective baffle; 105, front mounting seat; 106, rear mounting seat; 107, grass baffle; 108, second control module; 2, connecting assembly; 21, floating arm; 211, support rod; 212, joint bearing; 213, first mounting hole; 214, second mounting hole; 22, push rod; 23, push rod support arm; 231, limiting part; 232, connecting arm; 233, support rod; 234, limiting groove; 24, elastic piece; 25, base; 3, modular intelligent trolley; 31, walking driving module; 311, driving main body; 312, guide rail; 313, foot support assembly; 3131, support main body; 3132, reset piece; 3133, upper folding surface; 314, driving speed reduction system; 32, power module; 321, walking frame; 322, energy package; 323, pulley; 324, handle; 3241, first handle; 3242, second handle; 325, first control module; 326, walking wheel; 327, universal ball; 331, locking piece; 332, locking pin; 333, limiting bolt; 334, lock catch; 3341, front fixed seat; 3342, rear fixed seat; 34, probe; 35, operation button; 36, key; 37, flip cover; 38, support piece; 4, connecting support; 41, third mounting hole; 42, fourth mounting hole; 43, connecting chain; 44, middle support; 45, middle support mounting seat; 51, first fixed piece; 52, second fixed piece; 6, cutting cutterhead; 61, bent cutterhead; 62, blade; 63, driving device; 64, bolt; 65, lock nut sleeve; 66, lock sleeve; 7, height adjustment module; 71, height limiting wheel; 72, height adjustment support; 73, adjustment pad; 74, rotating shaft sleeve; 75, anti-collision plate; 76, third fixed piece; 1a, tire main body; 101a, mounting hole; 2a, harrow tine assembly; 201a, harrow tine main body; 202a, bolt assembly; 203a, spacer sleeve; 204a, head of bolt; 3a, rim; 301a, hub connecting surface; 302a, tire connecting surface. DETAILED DESCRIPTION

[0132] To make the objects, technical solutions, and advantages of the embodiments of the present application clearer, the following will briefly describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of the present application.

[0133] Herein, the suffixes such as "module", "part", or "unit" used for components are merely intended for facilitation of explanation of the present application, and do not have in themselves special meanings. Thus, "module", "part", or "unit" can be mixedly used. Herein, the terms "upper", "lower", "inner", "outer", "front", "rear", "one end", "the other end", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are merely intended for convenience of description of the present application and simplification of the description, and thus cannot be construed to indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus cannot be construed as limiting the present application. In addition, the terms "first", "second", are used for descriptive purposes only, and cannot be construed to indicate or imply relative importance.

[0134] Herein, unless explicitly specified and limited otherwise, the terms "mount", "provided with", "connected", and the like, should be understood broadly, for example, "connected" can be fixedly connected, or detachably connected, or integrally connected; can be mechanically connected, can be directly connected, or indirectly connected through an intermediate medium, can be internal communication of two elements. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. Herein, "a plurality of" means two or more, that is, it includes two, three, four, five, etc.

[0135] Embodiment one

[0136] Referring to FIGS. 19-23, the present application provides a separate quick-release cutting platform for a mower, as shown in FIG. 19, comprising a cutting panel 1, a connecting bracket 4, and a height adjustment module 7, the cutting panel 1 is respectively provided with a cutting cutter 6, and a second control module 108 for controlling the working of the cutting cutter.

[0137] Among them, the cutting panel is the main frame of the cutting platform, used to carry other components, one end of the connecting bracket is connected to the upper surface of the cutting panel through a bolt assembly, and the other end is connected to the mower through a locking pin and a connecting assembly; the cutting cutter is assembled on the cutting panel, and different numbers of cutting cutters can be arranged at different positions according to the width of the cutting panel and the working conditions during implementation, so as to realize the cutting function of the stems within the width; one end of the height adjustment bracket is hingedly connected to the cutting panel through a rotating shaft sleeve, and the other end is connected to the cutting panel through a quick release pin, and different pin positions thereon realize different ground heights of the cutting panel; the second control module is connected to the cutting panel through a bolt assembly, mainly controls the power of the cutting cutter, and adjusts the cutter speed and power output in real time according to the working conditions. Through the above components, the cutting platform realizes high-quality, quiet mowing, convenient and fast replacement and maintenance, and strong expansibility and adaptability.

[0138] Specifically, as shown in FIG. 21, the first end of the connecting bracket 4 is fixedly connected to the upper surface of the cutting panel 1, and the second end of the connecting bracket 4 is detachably connected with the connecting assembly of the mower, wherein the connecting assembly is respectively provided with a first mounting hole 213 and a second mounting hole 214, the second end of the connecting bracket 4 is provided with a third mounting hole 41 matched with the first mounting hole 213 and at least two fourth mounting holes 42 of different heights matched with the second mounting hole 214; preferably, the third mounting hole 41 is arranged at the second end of the connecting bracket 4, that is, close to the end of the second end of the connecting bracket 4 (see FIG. 33), when the connecting bracket 4 rotates around the connecting assembly with the third mounting hole 41 as the rotation center, the cutting platform is folded, at this time, the included angle a between the line connecting the lowest point of the cutting platform and the bottom of the driving wheel and the horizontal plane is greater than or equal to 20 degrees (see FIG. 34).

[0139] When the first fixing member 51 penetrates the first mounting hole 213 and the third mounting hole 41, or the second fixing member 52 penetrates the second mounting hole 214 and one of the fourth mounting holes 42, the connecting bracket 4 can rotate relative to the connecting assembly; when the first fixing member 51 penetrates the first mounting hole 213 and the third mounting hole 41, and the second fixing member 52 penetrates the second mounting hole 214 and the fourth mounting hole 42, the first fixing member 51 and the second fixing member 52 cooperate to fix the connecting bracket and the connecting assembly.

[0140] In some embodiments, the connecting bracket is provided with a length-adjustable connecting chain 43, one end of the connecting chain 43 is fixed to the connecting bracket 4, and the other end is detachably connected with the elastic member (preferably a spring) of the connecting assembly.

[0141] In some embodiments, the connecting bracket is provided with two, and the two connecting brackets are connected by an intermediate bracket 44 and fixed to the cutting panel.

[0142] As shown in FIG. 22, the height adjustment module includes a height adjustment bracket 72, the first side of the height adjustment bracket 72 is provided with a height wheel 71, the second side of the height adjustment bracket 72 is rotationally connected with the cutting panel, at least two fifth mounting holes of different heights are arranged between the first side and the second side of the height adjustment bracket 72, and the cutting panel is provided with sixth mounting holes matched with the fifth mounting holes; or the cutting panel is provided with at least two sixth mounting holes of different heights, and the height adjustment bracket is provided with fifth mounting holes matched with the sixth mounting holes.

[0143] When the third fixing member penetrates the fifth mounting hole and the sixth mounting hole, the cutting panel and the height adjustment bracket are fixed.

[0144] In some embodiments, a height adjustment pad 73 is arranged between the height limiting wheel and the height adjustment support.

[0145] In some embodiments, a front end of the height adjustment support is provided with a bumper plate 75.

[0146] As shown in FIG. 23, the cutting disc includes a disc body, a bending disc 61 and a blade 62 are arranged in sequence from top to bottom at the bottom of the disc body, a driving device 63 (preferably a motor) is arranged on the disc body for driving the bending disc 61 and the blade 62 to rotate; an installation space is arranged inside the cutting panel, a grass baffle 107 cooperating with the cutting disc is installed in the installation space, the grass baffle 107 cooperates with the inner wall of the cutting panel 1 to form a grass guide channel, one side of the cutting end of the blade 62 is rolled up to form a bending angle part toward the bending disc 61, and the acute angle between the bending disc 61 and the plane where the blade 62 is located is 55°-80°.

[0147] In some embodiments, a first perforation is arranged on the bending disc, a second perforation cooperating with the first perforation is arranged on the blade, the bending disc and the blade are connected by a bolt 64 (preferably a through bolt), the bolt 64 is contracted from the head to the end direction to form two steps, i.e., a first step and a second step, respectively; when the bolt 64 is sequentially penetrated through the second perforation and the first perforation, the blade and the bending disc are located on the first step and the second step, respectively, so that when the resistance received by the blade is less than or equal to a first force, the blade and the bending disc rotate synchronously, and when the resistance received by the blade is greater than the first force, the blade can rotate relative to the bending disc.

[0148] In some embodiments, as shown in FIG. 20, wear-resistant plates 101 are arranged on both sides of the cutting panel, a front protective baffle 103 and a rear protective baffle 106 are arranged at the front end and the rear end of the cutting panel, respectively, a support wheel 102 is arranged at the rear end of the cutting panel, and the rear protective baffle 106 covers the support wheel 102; a front mounting seat 105 and a rear mounting seat 106 are arranged on the upper surface of the cutting panel, respectively, the sixth mounting hole is arranged on the front mounting seat, and the second side of the height adjustment support is rotatably arranged on the rear mounting seat through a rotating shaft sleeve. By arranging different protective devices at different positions of the cutting panel, a safety protection effect can be achieved, and the overall strength of the cutting platform is increased.

[0149] Exemplarily, as shown in FIG. 23, the cutting cutter specifically comprises a driving motor, a bent cutter 61, a blade 62, a cutter fixing anti-loosening spacer 66, a bolt 64 and an anti-loosening nut sleeve 65. The driving motor is installed on the cutting panel through a motor mounting seat to directly provide rotary power for the cutter, and is balanced, low in noise and convenient to install and maintain. The motor mounting seat plays a role in installing, positioning and protecting the motor. A large mounting boss is included (may be sleeved) on the output shaft of the driving motor to ensure that the driving motor has a large joint surface with the bent cutter, and is more stable in high-speed rotation. The bent cutter is matched with a grass collecting panel to complete grass collecting and guiding. The blade 62 is made of high-strength alloy steel with a coating to increase cutting performance and cutting life, and is matched with the bent cutter structure to achieve good grass crushing and grass discharging effects while ensuring neat stubble. The blade 62 can rotate around the bolt 64 when cutting hard stones and foreign matters by means of the boss and cutting surface structure of the bolt 64, so as to reduce damage to the blade 62 and the driving motor. That is, the blade 62 can be clamped between the second step and the head of the bolt 64 in normal mowing, and the position of the blade 62 and the cutting cutter is relatively fixed. When the blade 62 cuts hard objects, the blade 62 can rotate around the bolt 64 between the second step and the head of the bolt 64. Meanwhile, the anti-loosening nut sleeve 65 and the anti-loosening spacer have the effect of protecting the blade 62 and the bent cutter from loosening. The blade 62 of the cutting cutter can be set to have an upward bending angle according to the stubble requirement, and a wind cavity is formed by the blade 62 to achieve better stubble neatness, grass crushing and grass collecting effects.

[0150] In some embodiments, the front end of the cutting platform is inwardly recessed, that is, shrunk in the rear end direction, so as to realize lightweight of the cutting platform and make the cutting platform easier to turn over and store.

[0151] In some embodiments, the output shaft of the driving motor is provided with two semicircular cutter clamping grooves, and the combination part of the bent cutter 61 with the motor output shaft is provided with protrusions matched with the cutter clamping grooves. The two are clamped to be fixed, which can effectively prevent the bent cutter 61 from loosening during high-speed rotation, and increase safety and reliability.

[0152] In some embodiments, a protection edge is further arranged on the driving motor to prevent the high-speed rotating motor shaft from being entangled with grass during work.

[0153] Referring to FIG. 21, the connecting bracket includes one end fixed to the cutting panel 1 by the bolt assembly via the connecting mechanism mounting pad, the other end connected to the left and right welding brackets (i.e. the two connecting brackets mentioned above) on the driving body via the quick bolt, the left and right welding brackets symmetrically arranged, the left and right welding brackets combined and fixed to the middle bracket 44 on the cutting panel by the middle bracket mounting seat 45, and the connecting chain with one end connected to the connecting bracket (including the left and right welding brackets) via the bolt assembly and the other end connected to the spring. The connecting chain 43 has multiple levels, which can be adjusted according to the weight of the cutting platform supported by the connecting bracket and the working condition, thereby adjusting the spring force of the spring, changing the bearing point of the cutting platform to the modular intelligent car, adjusting the overall balance and gravity distribution, and achieving higher mobility and flexibility. The quick lock pin is symmetrically used here, and there are four pieces. For the left side, the first fixing piece 51 connects the third mounting hole on the front side of the left welding bracket and the first mounting hole on the front side of the connecting assembly, and the second fixing piece 52 connects one of the fourth mounting holes on the rear side of the right welding bracket and the second mounting hole on the rear side of the connecting assembly. At the same time, the rear hole of the connecting assembly is hinged to the car body.

[0154] In some embodiments, the combination of the above-mentioned connecting assembly and connecting bracket is also referred to as a floating connecting mechanism.

[0155] The lock pin front hole group (including the first mounting hole and the third mounting hole) and the lock pin rear hole group (including the second mounting hole and the fourth mounting hole) constitute a height adjustment system. The specific implementation method is that when the first fixing piece is inserted into the lock pin front hole group and the second fixing piece is inserted into different hole positions of the lock pin rear hole group, the connecting bracket drives the cutting panel 1 to produce different relative heights relative to the car chassis connected to the connecting assembly. At the same time, when one of the fixing pieces (for example, the second fixing piece) is pulled out of the corresponding hole group (for example, the lock pin rear hole group), the cutting panel and all the components carried by it can be flipped around the fixing piece in the other hole group (for example, the lock pin front hole group). Thus, maintenance, transfer, and transportation are more flexible and convenient. In this process, the spring always has spring tension and is transmitted to the cutting panel by the left and right welding brackets. The cutting panel stretches and contracts with different forces, thereby realizing the relative floating of the cutting panel 1 to the car within a small range.

[0156] As shown in FIG. 22 and FIG. 19, the height adjustment module comprises a height adjustment bracket 72 (hereinafter referred to as bracket), a bumper plate 75, a height limiting wheel 71 (also referred to as height limiting universal wheel), an adjustment pad 73, and a third fixing member 76 (preferably a quick release pin). One end of the bracket is hinged to the height adjustment front mounting of the cutting panel through a rotating shaft sleeve assembly and can rotate around the rotating shaft sleeve assembly. The other end is fixed to the pin hole group of the rear mounting seat through the quick release pin. Since the supporting wheel mounted thereon is always in contact with the ground, when the quick release pin is inserted into different hole positions on the front mounting seat through the bracket, the cutting panel can have different relative heights relative to the height limiting universal wheel, thereby making the blade have different ground clearance. At the same time, different ground clearances can be further obtained by increasing or decreasing the adjustment pad mounted between the height limiting universal wheel and the bracket. In addition, the wear-resistant bumper plate mounted in front of the bracket can effectively alleviate the impact and wear of the front crops on the bracket and the overall cutting platform during the working process of the cutting platform, thereby improving the service life.

[0157] Embodiment two

[0158] Referring to FIGS. 5-18, the present application further provides a modular intelligent trolley, comprising:

[0159] The walking driving module 31, as shown in FIG. 8, comprises a driving body 311, a first end of the driving body 311 is provided with a connecting assembly for connecting functional modules, a second end of the driving body 311 is provided with at least one guide rail 312, and a foot support assembly 313 for supporting the driving body is arranged on the driving body, and a driving reduction system 314 for driving the driving body to walk is further arranged on the driving body;

[0160] The power module 32, as shown in FIG. 9, comprises a walking frame 321 and an energy pack 322 arranged on the walking frame, and a first end of the power module is provided with at least one pulley 323 capable of sliding on the guide rail; as shown in FIG. 10, both sides of the walking frame 321 are provided with walking wheels 326, which cooperate with the driving wheels on the driving body to realize the walking and shifting of the trolley;

[0161] The first quick release assembly for connecting the walking driving module and the power module, as shown in FIG. 11, comprises a locking member 331 and a locking pin 332. Correspondingly, a second end of the driving body is provided with at least one first through hole and at least one first pin hole, a first end of the walking frame is provided with at least one second through hole matched with the first through hole, and at least one second pin hole matched with the first pin hole;

[0162] When the pulley is slid along the guide rail to a first position, the first through hole and the second through hole correspond, the first pin hole and the second pin hole correspond, the locking pin is sequentially penetrated through the first pin hole and the second pin hole, and the locking piece is sequentially penetrated through the first through hole and the second through hole, so that the walking driving module and the power module are quickly disassembled and connected.

[0163] Specifically, the driving reduction system is two independent motor reduction driving systems, which can realize differential steering in place and can start the parking judgment after the whole vehicle is powered off, thereby preventing sliding on a slope; the front ends of the walking driving module 31 and the power module 32 are quickly combined into a main vehicle body through the first quick disassembly assembly. The front of the walking driving module is provided with a connecting assembly, which can quickly mount a mowing platform, a carrying trolley, a pesticide spraying platform, a micro-farming platform and the like to realize different operations, and according to the operation requirements, the mounting module working process can be floating with the terrain, the maintenance can be quickly turned over, the transfer can be lifted and folded. In addition, the power module in the application is connected with the walking driving module in a quick disassembly manner, and the power source required by the operation platform can be easily and quickly replaced according to the power size, as shown in FIGS. 24-26, three examples of different power sources are given, including pure electric small energy battery, large energy battery and hybrid range extender battery, so as to adapt to different operation platforms. In the transfer process, the walking frame can protect the power source to avoid bumping of the power source in the transfer process, and the wheels on the vehicle frame make the transfer process more labor-saving.

[0164] In some embodiments, the walking driving module and the power module can also be designed as a whole, that is, an integrated design is adopted, which sacrifices the replacement convenience to some extent while improving the strength of the trolley. In this embodiment, the modular intelligent trolley comprises a walking driving module and a power module, the power module comprises a walking frame and an energy package arranged on the walking frame, and the walking driving module comprises a driving body, a first end of the driving body is provided with a connecting assembly for connecting a functional module, the connecting assembly comprises a floating arm, a telescopic push rod, a push rod support arm and an elastic piece, two ends of the elastic piece are connected with the driving body and the functional module respectively; a first end of the floating arm and a second end of the push rod support arm are rotationally arranged on the driving body respectively, a second end of the floating arm is used for connecting the functional module, a first end of the push rod support arm is rotationally connected with a second end of the push rod, a first end of the push rod is fixed on the driving body, and a limiting portion for limiting the floating arm is arranged on the push rod support arm and located below the floating arm.

[0165] In some embodiments, the first end of the driving body is further provided with a universal interface matched with the functional module. When the modular intelligent trolley is connected with the functional module through the connecting support and the connecting assembly, the functional module can be connected with the universal interface. After the two are connected, the universal interface is blocked by the functional module, and the whole is more beautiful. In summary, the modular intelligent trolley with the interface can quickly match various different functional modules. It should be noted that "universal" here is not the commonly used "universal" in the industry or international standards, but can adapt to different functional modules (including various different functional modules independently developed), transmit electric energy or communicate, or transmit electric energy while communicating.

[0166] In some embodiments, the first quick release assembly further comprises at least one lock catch, the lock catch comprising a first clamping member provided at the second end of the driving body, and a second clamping member provided on the walking frame; when the pulley is slid along the guide rail to the first position, the first clamping member is pressed, and the first clamping member is clamped with the second clamping member, so that the walking driving module and the power module are quickly connected.

[0167] Exemplarily, the first quick release assembly includes a quick lock catch, a quick release pin (i.e. a locking pin), a lifting ring limiting pin (i.e. a locking member), a guide pulley and a universal ball, which cooperate with each other to quickly disassemble the walking driving module and the power module. Further, when the power module needs to be disassembled, referring to FIGS. 10 and 11, first, the locking of the lock catch is released, second, the lifting ring bolts on the left and right sides are unscrewed from the threaded holes of the walking frame, another lifting ring limiting pin is unscrewed from the pin hole on the guide rail, and the quick release pin is pulled out of the pin hole of the driving body to release the connection. The guide pulley on the power module automatically slides out along the guide rail and is separated from the driving body by rolling with the help of the universal ball. During the separation and disengagement process, the quick lock catch attached to the walking frame is detached from the connecting pipe of the frame by its own elastic force, and the entire power package assembly is transported by the traction handle.

[0168] Further, as shown in FIGS. 13 and 14, the quick lock catch includes a handle, a front fixed seat 3341, a pin shaft connecting the handle with the front fixed seat 3341, a pull rod fixed on the handle, and a rear fixed seat 3342. Among them, the front fixed seat 3341 is fixed on the driving body 311, and the rear fixed seat 3342 is fixed on the walking frame 321. When disassembling, rotate the handle outward by 90° around the pin shaft to drive and release the pull rod from the lock hook of the rear fixed seat 3342. When clamping, reverse the operation. After the handle hooks the lock hook of the rear fixed seat 3342, rotate the handle forward to tighten. If necessary, the pin shaft can pass through the handle and the front fixed seat 3341 to lock the handle.

[0169] In some embodiments, the connecting assembly comprises a floating arm and an elastic member, two ends of the elastic member are connected with the driving body and the functional module respectively, a first end of the floating arm is rotationally connected with the driving body, and a second end of the floating arm is detachably fixed with the functional module.

[0170] In other embodiments, the connecting assembly comprises a floating arm, a telescopic push rod and a push rod support arm, a first end of the floating arm and a second end of the push rod support arm are rotationally arranged on the driving body respectively, a first end of the push rod support arm is rotationally connected with a second end of the push rod, a first end of the push rod is fixed on the driving body, and a limiting portion for limiting the floating arm is arranged on the push rod support arm and below the floating arm; when the push rod is retracted, the push rod drives the push rod support arm to rotate around the driving body towards a first direction, the limiting portion abuts against the floating arm, so that the push rod support arm can drive the floating arm to rise; when the push rod is elongated, the push rod drives the push rod support arm to rotate around the driving body towards a second direction, and the floating arm descends synchronously with the limiting portion; wherein the first direction and the second direction are opposite. The connecting assembly further comprises an elastic member, two ends of the elastic member are connected with the driving body and the functional module respectively, a first end of the floating arm is rotationally connected with the driving body, and a second end of the floating arm is detachably fixed with the functional module.

[0171] In some embodiments, the floating arm is provided with two, and the elastic member, the push rod and the push rod support arm are also provided with two respectively; the two floating arms are connected with two ends of the support rod through joint bearings respectively; the two push rod support arms are connected through a connecting arm, the connecting arm is fixed with a support rod, and the other end of the support rod is rotationally connected with the driving body.

[0172] Exemplarily, as shown in FIGS. 16-18, the floating assembly includes floating arms 21, floating springs (elastic members 24), push rods 22, push rod arms 23, brace rods 233, connecting arms 232, bases 25, joint bearings 212. The two bases 25 are symmetrically arranged, and the front and rear ends are bolted to the driving body, and the middle hole is used to articulate the floating arms 21 and the push rod arms 23. The two floating arms 21 are symmetrically arranged and connected together by the connecting arms 232, and the connecting arms 232 are provided with joint bearings 212 on both sides for realizing the up-and-down micro-motion of the left and right floating arms. One end of the floating arm 21 is articulated to the middle hole of the base 25, and the other end is connected to the mounting platform (such as the cutting platform) through the front pin hole (i.e., the first mounting hole) and the waist hole (i.e., the second mounting hole). When the mounting platform rises and falls with the terrain, it drives the floating arm 21 to rotate around its articulation point, realizing the floating of the mounting platform with the terrain. One end of the floating spring is articulated to the driving body, and the other end is hung on the connecting chain (also known as the lock chain) of the mounting platform, which provides auxiliary support for the floating arm, and can adjust the length of the lock chain hanging point according to the weight of the front mounting platform, to achieve the auxiliary effect of different sizes. In some embodiments, at least two connecting holes are provided on the connecting chain 43. When the hooks on the elastic members are hung on different connecting holes of the connecting chain 43, the center of gravity of the entire device can be adjusted, so that the weight of the device can be more concentrated on the driving wheels rather than on the supporting wheels, thereby minimizing the damage of the device to the lawn (especially in the scenarios of turning and climbing steep slopes).

[0173] The two push rods 22 are symmetrically arranged, one end is pinned to the driving body, and the other end is pinned to the push rod arm 23. One part of the push rod arm 23 spans the left and right floating arms and is arranged below the left and right floating arms. The push rod arm is provided with two limiting parts 231 (also known as grooves) for limiting the left and right floating arms above it. One end of the push rod arm 23 is pinned to the push rod 22, and the other end is articulated to the middle hole of the base. During the extension and retraction of the push rod 22, it drives the push rod arm 23 to rotate, and a limiting groove 234 is further provided on the push rod arm 23 for limiting the left and right swinging amplitude of the connecting arm 232. The push rod arm 23 can rotate around the middle hole of the floating arm base under the push of the push rod 22, and when it rotates to a certain angle, it drives the left and right floating arms above it to rise and fall, thereby driving the overall lifting of the mounting platform. The push rod arm is also provided with a mounting seat hole for articulating the brace rod 233. The other end of the brace rod 233 is articulated to the driving body, which assists and protects the push rod. The above structures cooperate with each other to complete the tool-free disassembly, passive floating, active lifting and folding of the mounting platform. It is convenient, fast, safe and efficient, and has high flexibility, applicability and machine utilization rate.

[0174] In some embodiments, the foot prop assembly comprises a support body, a first end of the support body is rotatably arranged at the second end of the driving body, and the first end of the support body is provided with a reset member (preferably a torsional spring); when the power module is installed to the second end of the walking driving module, the support body is rotated in a first direction under the pushing of the power module, and when the pulley slides to the first position, the support body is parallel to the ground; after the power module and the walking driving module are separated, the support body is reset under the action of the reset member, so that the second end of the support body is grounded.

[0175] Exemplarily, as shown in FIG. 15, the foot prop assembly comprises a support body 3131, a reset torsional spring (a reset member 3132), and a locking pin assembly. The locking pin assembly pins the reset torsional spring and the support body 3131 to the driving body, and the reset torsional spring is arranged between the baffle of the driving body and the upper folding surface 3133 of the support body 3131. When the power module and the walking driving module are separated, the support body 3131 rotates downward around the locking pin assembly under the action of the reset torsional spring until it touches the ground, thereby supporting the walking driving module; when the power module is reinstalled, as the power module slides in, the front and rear cross supports will push the upper folding surface 3133 of the support body 3131, so that the support body 3131 rotates upward around the locking pin assembly; after the power module is installed in place, the support body 3131 is retracted to the parallel ground state. This part supports and retracts during the quick separation and reinstallation of the walking driving module and the power module, so that the device is more stable, the structure is simple, and the operation is convenient.

[0176] In some embodiments, the first end of the power module is further provided with a handle.

[0177] Exemplarily, referring to FIG. 12, the handle is connected to the front of the walking frame through a pin bolt assembly and can be lengthened and rotated around the waist hole of the locking pin assembly. Specifically, the handle comprises a primary handle 3241 and a secondary handle 3242, and the secondary handle 3242 can rotate around the rod part of the primary handle 3241 to extend the length of the handle, thereby facilitating operation.

[0178] In some embodiments, as shown in Figure 9, a first control module 325 is further arranged on the power module, which exemplarily comprises a main controller, an emergency stop and switch assembly box, a rear distribution box, a front distribution box, a walking drive controller, a camera assembly, a light assembly, and a corresponding connection wire harness. All control and distribution boxes are packaged and integrated into the corresponding assembly, and the whole vehicle protection level reaches IP67, which can meet various complex and harsh working conditions. The distribution box is provided with a plurality of quick plug waterproof expansion joints, which can facilitate quick replacement and expansion of functions. The design is simple, the maintenance operation is convenient, the reliability is high, and the expansibility is strong. In other embodiments, the main controller, the emergency stop and switch assembly box, and the rear distribution box are assembled on the power module, and the front distribution box, the walking drive controller box, the camera assembly, and the light assembly are assembled on the walking drive module. When disassembled, only the positive and negative power connectors and the communication connector on the front distribution box need to be pulled out. The walking drive controller can detect the walking load in real time through the control strategy, and adaptively control the power output, which is energy-saving and efficient. The camera assembly can detect the working condition of the car in real time in the remote control or automatic navigation mode, and transmit the picture back to assist the operator or the center decision.

[0179] Embodiment three

[0180] The application also provides a mower carrying a modular intelligent car, as shown in Figures 1-4, the modular intelligent car 3 comprises:

[0181] A walking drive module comprising a drive body, a connection assembly 2 for detachably connecting a functional module is arranged at a first end of the drive body, at least one guide rail is arranged at a second end of the drive body, and a drive reduction system for driving the drive body to walk is further arranged on the drive body;

[0182] A power module comprising a walking frame and an energy pack arranged on the walking frame, at least one pulley capable of sliding on the guide rail is arranged at a first end of the power module;

[0183] A first quick release assembly for connecting the walking drive module and the power module, the first quick release assembly comprises a locking piece and a locking pin, correspondingly, at least one first through hole and at least one first pin hole are arranged at the second end of the drive body, at least one second through hole matched with the first through hole and at least one second pin hole matched with the first pin hole are arranged at the first end of the walking frame; when the pulley is slid along the guide rail to a first position, the first through hole and the second through hole are matched, the first pin hole and the second pin hole are matched, the locking pin is sequentially penetrated through the first pin hole and the second pin hole, and the locking piece is sequentially penetrated through the first through hole and the second through hole, so that the walking drive module and the power module are quickly connected;

[0184] The mower further comprises a cutting panel 1 and a connecting support, the cutting panel is provided with a cutting disc, the first end of the connecting support is fixedly connected to the upper surface of the cutting panel, and the second end of the connecting support is fast detachably connected with the connecting assembly through a second quick detach assembly;

[0185] The second quick detach assembly comprises a first fixing member and a second fixing member, the connecting assembly is respectively provided with a first mounting hole and a second mounting hole, the second end of the connecting support is provided with a third mounting hole matched with the first mounting hole and a fourth mounting hole matched with the second mounting hole, the fourth mounting hole is provided with at least two, and the fourth mounting holes with different heights; when the second fixing member is respectively penetrated through the third mounting hole and the fourth mounting hole with different heights in sequence, the cutting panel has different heights; when the first fixing member is penetrated through the first mounting hole and the third mounting hole or the second fixing member is penetrated through the second mounting hole and the fourth mounting hole, the connecting support can rotate relative to the connecting assembly; when the first fixing member is penetrated through the first mounting hole and the third mounting hole and the second fixing member is penetrated through the second mounting hole and the third mounting hole, the first fixing member and the second fixing member are matched to fix the connecting support and the connecting assembly.

[0186] In some embodiments, the modular intelligent trolley comprises a walking driving module and a power module, the walking driving module comprises a driving main body;

[0187] The mower comprises a cutting panel and a connecting support, the cutting panel is provided with a cutting disc, the first end of the connecting support is fixedly connected to the upper surface of the cutting panel, and the second end of the connecting support is fast detachably connected with the connecting assembly through a second quick detach assembly;

[0188] The second quick detach assembly comprises a first fixing member and a second fixing member, the connecting assembly is respectively provided with a first mounting hole and a second mounting hole, the second end of the connecting support is provided with a third mounting hole matched with the first mounting hole and a fourth mounting hole matched with the second mounting hole;

[0189] When the first fixing member is penetrated through the first mounting hole and the third mounting hole or the second fixing member is penetrated through the second mounting hole and the fourth mounting hole, the connecting support can rotate relative to the connecting assembly; when the first fixing member is penetrated through the first mounting hole and the third mounting hole and the second fixing member is penetrated through the second mounting hole and the third mounting hole, the first fixing member and the second fixing member are matched to fix the connecting support and the connecting assembly;

[0190] The connecting assembly comprises a floating arm, a telescopic push rod and a push rod support arm, the first mounting hole and the second mounting hole are arranged on the floating arm, the first end of the floating arm and the second end of the push rod support arm are rotatably arranged on the driving body, the first end of the push rod support arm is rotatably connected with the second end of the telescopic push rod, the first end of the telescopic push rod is fixed on the driving body, and the push rod support arm is provided with a limiting portion for limiting the floating arm, and the limiting portion is located below the floating arm.

[0191] In some embodiments, the top of the modular intelligent trolley is provided with a probe 34 (which can include a camera, a laser radar, a sensor, etc.) and at least one operation button 35.

[0192] In some embodiments, the top of the modular intelligent trolley is provided with a flip cover 37, that is, a flip type protective cover is arranged to facilitate quick opening for battery replacement or maintenance (the battery and other components are usually enclosed in the trolley), the first end of the flip cover 37 is provided with a key 36, and the second end is provided with a support 38 (preferably a damping air support), when the key 36 is pressed, the flip cover 37 can be quickly opened and supported by the support 38.

[0193] In some embodiments, the drive wheels of the drive reduction system are detachably arranged on both sides of the drive reduction system body, and different drive wheels can be quickly replaced to achieve better walking effect for different application scenarios, for example, the drive wheels can be grass tires, off-road tires, harrow wheels (see FIG. 27), and triangular track wheels.

[0194] It should be noted that the cutting panel and the connecting bracket in the embodiment can refer to the specific structure in the cutting platform in Embodiment One, and other structures in the cutting platform are also applicable to the embodiment; similarly, the specific structure of the modular intelligent trolley in the embodiment can refer to the related description in Embodiment Two.

[0195] In summary, the application provides a highly modular mower, specifically, the power source, the drive wheel and the cutting platform are designed in a modular manner, and the modules are connected through quick release structures, on the one hand, the power source, the drive wheel or the cutting platform can be replaced adaptively to adapt to different cutting scenarios, on the other hand, the quick release structure makes the disassembly and assembly of the whole machine more convenient and fast, which can effectively improve the efficiency of the mower in work.

[0196] Embodiment Four

[0197] Referring to FIG. 27, the application provides a wet and steep slope road surface strong grip spike harrow wheel, which can be applied to the above-mentioned modular intelligent car, mainly comprising a rigid rim 3a, a flexible tire body 1a and a spike harrow tooth assembly 2a. The spike harrow tooth assembly 2a is mounted on the tire body 1a and arranged in a spiral line to achieve better ground performance. The flexible tire body 1a is connected to the rigid rim 3a through the spike harrow tooth assembly 2a. In normal working conditions, the rigid rim 3a drives the tire body 1a and the spike harrow tooth assembly 2a mounted thereon to roll, thereby driving the vehicle body to move forward. On a wet or steep slope road surface, the spike harrow tooth assembly 2a can be firmly embedded into the ground to increase the grip. On a bumpy road surface, the tire body 1a can be flexibly deformed to keep the vehicle body chassis stable and improve the safety and stability of the vehicle body.

[0198] Specifically, as shown in FIG. 29, the rim is provided with a tire connecting surface 302a in the circumferential direction, and one of the side walls of the rim is provided with a hub connecting surface 301a. The outer diameter of the tire connecting surface 302a is the same as the inner diameter of the tire body, which mainly supports and transmits power to the tire body.

[0199] In some embodiments, the tire connecting surface is uniformly provided with through holes corresponding to the mounting holes, so that the rim and the tire body are fixed while the spike harrow tooth assembly is installed.

[0200] In some embodiments, the rim is formed by stamping a steel plate.

[0201] Referring to FIG. 30, the tire body is flexible, and a plurality of rows of mounting holes 101a are arranged on the tire body in the circumferential direction.

[0202] In some embodiments, the flexible tire body is composed of special wear-resistant fabric rubber, which can keep roundness to drive the vehicle body to run under normal road conditions, and can be flexibly deformed to keep the vehicle body chassis stable when encountering a large protrusion on the ground.

[0203] In some embodiments, the distance between the two adjacent rows of mounting holes is the same, the mounting holes in the same row are uniformly distributed along the circumferential direction of the tire body, and the mounting holes in different rows are arranged in a spiral line in an interlaced manner, so as to ensure uniform ground performance of the spike harrow tooth and reduce vibration and damage during walking.

[0204] In some specific embodiments, the mounting holes (threaded holes) are arranged in 5 rows, and the number of mounting holes in each row is 10, that is, the mounting holes are uniformly distributed in 5 columns in the axial direction of the tire body and 10 circles in the radial direction.

[0205] The installation holes are arranged in such a way that a certain number of the ground gripping harrow tines contact the ground no matter which direction the harrow wheel rotates, thereby reducing the impact of walking.

[0206] In some embodiments, referring to FIG. 31, a spacer 203a (preferably a rigid spacer) is arranged in the installation hole. The design of the spacer can make the connection between the bolt assembly and the harrow tine body more secure and reliable, while reducing damage to the flexible tire body when the tire rotates.

[0207] Referring to FIG. 5, a plurality of harrow tine assemblies are further included, the hardness of the harrow tine assemblies being greater than the hardness of the tire body, the harrow tine assemblies including a harrow tine body 201a and a bolt assembly 202a, the harrow tine body 201a being provided with a through hole, when the bolts of the bolt assembly 202a pass through the through hole and the installation hole in sequence and are fixed by the nuts of the bolt assembly 202a, the harrow tine body 201a and the tire body are relatively fixed, and the harrow tine body 201a is located on the outer surface of the tire body;

[0208] The cross section of the harrow tine body 201a is circular or polygonal, and the outer diameter of the harrow tine body 201a gradually increases from the first end to the second end. The cross section of the head 204a of the bolt of the bolt assembly 202a is circular or polygonal, and the outer diameter of the head 204a of the bolt gradually increases from the first end to the second end. The head 204a of the bolt and the harrow tine body 201a are smoothly transitioned, that is, the head of the bolt assembly 202a is arc-shaped, which can improve the soil penetration and gripping force while reducing the damage to the ground caused by conventional sharp tines. In addition, the harrow tine can be embedded in the ground to form better gripping force on wet and slippery road surfaces.

[0209] In some embodiments, the harrow tine body is internally provided with a cavity, and the side wall of the harrow tine body is provided with at least one opening communicating with the cavity, so that the harrow tine body forms a semi-hollow structure. The hollow design can save materials and simplify the processing technology, but does not affect the strength of the harrow tine body.

[0210] In some embodiments, the harrow tine body 201a is made of metal material (preferably cast alloy), so that the harrow tine assembly has impact strength, toughness and wear resistance, and the overall weight of the harrow tine is lightened while the strength is ensured. The bolt assembly 202a is a high-strength bolt with high wear resistance and long service life.

[0211] It should be noted that the size of the rake tooth assembly is related to the number of rows and columns of the rake teeth and the distance between the mounting holes. Those skilled in the art can make adaptive adjustments according to the actual situation to ensure that the rake tooth assembly can smoothly and orderly engage with the ground during tire rotation.

[0212] In summary, the rake wheel with the above structure allows for quick and partial replacement of the rake teeth without disassembling the entire tire, making maintenance convenient and reducing operating costs. At the same time, the rake teeth and bolts work together to form an arc-shaped grounding surface, providing good grip and minimizing damage to the ground.

[0213] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0214] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A lawnmower carrying a modular smart trolley, characterized in that, The modular intelligent trolley comprises a walking driving module, a driving body of the walking driving module is provided with a connecting assembly for detachably connecting a functional module at a first end of the driving body, at least one guide rail is arranged at a second end of the driving body, and a driving reduction system for driving the driving body to walk is further arranged on the driving body; A power module comprises a walking frame and an energy package arranged on the walking frame, a first end of the power module is provided with at least one pulley capable of sliding on the guide rail; A first quick release assembly for connecting the walking driving module and the power module, the first quick release assembly comprises a locking piece and a locking pin, correspondingly, the second end of the driving body is provided with at least one first through hole and at least one first pin hole, the first end of the walking frame is provided with at least one second through hole matched with the first through hole, and at least one second pin hole matched with the first pin hole; When the pulley is slid along the guide rail to a first position, the first through hole and the second through hole correspond, the first pin hole and the second pin hole correspond, the locking pin is sequentially penetrated through the first pin hole and the second pin hole, and the locking piece is sequentially penetrated through the first through hole and the second through hole, so that the walking driving module and the power module are quickly connected and released; The mower further comprises a cutting panel and a connecting support, the cutting panel is provided with a cutting cutter head, the first end of the connecting support is fixedly connected to the upper surface of the cutting panel, and the second end of the connecting support is quickly connected with the connecting assembly through a second quick release assembly; The second quick release assembly comprises a first fixing piece and a second fixing piece, the connecting assembly is respectively provided with a first mounting hole and a second mounting hole, the second end of the connecting support is provided with a third mounting hole matched with the first mounting hole and a fourth mounting hole matched with the second mounting hole; When the first fixing piece is penetrated through the first mounting hole and the third mounting hole, or the second fixing piece is penetrated through the second mounting hole and the fourth mounting hole, the connecting support can rotate relative to the connecting assembly; when the first fixing piece is penetrated through the first mounting hole and the third mounting hole, and the second fixing piece is penetrated through the second mounting hole and the third mounting hole, the first fixing piece and the second fixing piece cooperate to fix the connecting support and the connecting assembly; The connecting assembly comprises a floating arm, a telescopic push rod and a push rod support arm, the first mounting hole and the second mounting hole are arranged on the floating arm, the first end of the floating arm and the second end of the push rod support arm are rotationally arranged on the driving body, the first end of the push rod support arm is rotationally connected with the second end of the telescopic push rod, the first end of the telescopic push rod is fixed on the driving body, and a limiting portion for limiting the floating arm is arranged on the push rod support arm and located below the floating arm.

2. The lawnmower carrying a modular smart car according to claim 1, characterized in that, The fourth mounting hole is provided with at least two fourth mounting holes, and the plurality of fourth mounting holes have different heights; When the second fixing member is respectively penetrated through the third mounting hole and the fourth mounting hole with different heights in sequence, the cutting panel has different heights.

3. The lawnmower carrying a modular smart car according to claim 1, characterized in that, The height adjusting module further comprises a height adjusting support, a height limiting wheel is arranged on a first side of the height adjusting support, a second side of the height adjusting support is rotationally connected with the cutting panel, at least two fifth mounting holes with different heights are arranged between the first side and the second side of the height adjusting support, sixth mounting holes with different heights are arranged on the cutting panel, and the sixth mounting holes are matched with the fifth mounting holes. When the third fixing member is penetrated through the fifth mounting hole and the sixth mounting hole, the cutting panel is fixed with the height adjusting support.

4. The lawnmower carrying a modular smart car according to claim 1, characterized in that, The connecting assembly further comprises an elastic member, two ends of the elastic member are respectively connected with the driving body and the functional module, a first end of the floating arm is rotationally connected with the driving body, and a second end of the floating arm is detachably fixed with the functional module.

5. The lawnmower with a modular smart car according to claim 4, wherein, The floating arm is provided with two floating arms, the two floating arms are connected through a support rod, and the elastic member, the telescopic push rod and the push rod support arm are correspondingly provided with two elastic members, telescopic push rods and push rod support arms.

6. The lawnmower with a modular smart car according to claim 3, wherein, The height limiting wheel and the height adjusting support are provided with a height adjusting pad.

7. The lawnmower with a modular intelligent robot carried according to any one of claims 1-6, characterized in that, The second end of the driving body is further provided with a foot support assembly, the foot support assembly comprises a support body, a first end of the support body is rotationally arranged at the second end of the driving body, and the first end of the support body is provided with a reset member. When the power module is installed to the second end of the walking driving module, the support body is rotated in the first direction under the pushing of the power module, and when the pulley slides to the first position, the support body is parallel to the ground. When the power module and the walking driving module are separated, the support body is reset under the action of the reset member, so that the second end of the support body is grounded.

8. The lawnmower with a modular intelligent robot carried according to any one of claims 1-6, characterized in that, The cutting cutter head comprises a cutter head body, a bending cutter head and a blade are rotationally arranged on the cutter head body from top to bottom, and a driving device for driving the bending cutter head and the blade to rotate is arranged on the cutter head body.

9. The lawnmower carrying a modular smart trolley according to claim 8, characterized in that, The cutting panel is internally provided with a mounting space, a grass baffle matched with the cutting cutter head is arranged in the mounting space, the grass baffle and the inner wall of the cutting panel form a grass guide channel, one side of the cutting end of the blade is rolled towards the bending cutter head to form a bending angle part, and the acute angle between the bending cutter head and the plane where the blade is located is 55°-80°.

10. A modular smart trolley characterized in that, The application relates to a walking driving module and a cutting device. The walking driving module comprises a driving body, a connecting assembly for connecting a functional module is arranged at a first end of the driving body, at least one guide rail and a foot support assembly for supporting the driving body are arranged at a second end of the driving body, and a driving reduction system for driving the driving body to walk is further arranged on the driving body. The connecting assembly comprises a floating arm, a telescopic push rod, a push rod support arm and an elastic member, two ends of the elastic member are connected with the driving body and the functional module respectively, a first end of the floating arm and a second end of the push rod support arm are rotatably arranged on the driving body, a second end of the floating arm is used for connecting the functional module, a first end of the push rod is fixed on the driving body, a second end of the push rod is rotatably connected with the first end of the push rod support arm, a limiting part for limiting the floating arm is arranged on the push rod support arm, and the limiting part is located below the floating arm. The power module comprises a walking frame and an energy pack arranged on the walking frame, and a first end of the power module is provided with at least one pulley capable of sliding on the guide rail. A first quick release assembly for connecting the walking driving module and the power module, the first quick release assembly comprises a locking member and a locking pin, correspondingly, a second end of the driving body is provided with at least one first through hole and at least one first pin hole, a first end of the walking frame is provided with at least one second through hole matched with the first through hole, and at least one second pin hole matched with the first pin hole; When the pulley is slid along the guide rail to a first position, the first through hole and the second through hole correspond, the first pin hole and the second pin hole correspond, the locking pin is sequentially penetrated through the first pin hole and the second pin hole, and the locking member is sequentially penetrated through the first through hole and the second through hole, so that the walking driving module and the power module are quickly connected.

11. The modular smart cart of claim 10, wherein, The first quick release assembly further comprises at least one lock catch, the lock catch comprises a first clamping member arranged at the second end of the driving body, and a second clamping member arranged on the walking frame; When the pulley is slid along the guide rail to the first position, the first clamping member is pressed, the first clamping member is clamped with the second clamping member, so that the walking driving module and the power module are quickly connected.

12. The modular smart cart of claim 10, wherein, The floating arm is provided with two, and the two floating arms are connected through a support rod, correspondingly, the elastic member, the push rod and the push rod support arm are all provided with two.

13. The modular smart cart of claim 12, wherein, The two floating arms are connected to two ends of the support rod through joint bearings respectively.

14. The modular smart cart of claim 10, wherein, A first end of the driving body is provided with a universal interface matched with the functional module.

15. The modular smart cart of claim 10, wherein, The foot support assembly comprises a support body, a first end of the support body is rotatably arranged at a second end of the driving body, and the first end of the support body is provided with a reset member; When the power module is installed to the second end of the walking driving module, the support body is rotated in a first direction under the pushing of the power module, and when the pulley is slid to the first position, the support body is parallel to the ground; When the power module and the walking driving module are separated, the support body is reset under the action of the reset member, so that the second end of the support body is grounded.

16. The modular smart cart of claim 10, wherein, A first end of the power module is further provided with a handle.

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