Mounting structure, lawn mowing module and yard robot

Abstract

A mounting structure, comprising: a fixing base (1) provided with a sliding groove (101) and fixedly connected to a support apparatus (7); a fixing block (2) provided with a first connecting hole (201); a connector (3), which is arranged in the sliding groove (101), has the fixing block (2) stacked thereon, is provided with a second connecting hole (301) at the position corresponding to the fixing block (2), is connected to the fixing base (1), and is fixedly connected to an external apparatus (12) corresponding to the support apparatus (7); and a fastener (4) connected to the first connecting hole (201) and the second connecting hole (301) from top to bottom, the tail end of the fastener (4) being slidably connected to the second connecting hole (301). Further disclosed are a lawn mowing module and a yard robot.

Description

A mounting structure, a mowing module, and a garden robot Technical Field

[0001] This application relates to the field of garden robot grass trimming technology, and in particular to a mounting knot, grass trimming module and garden robot. Background Technology

[0002] Rope lawnmowers, as tools designed specifically for backyards, can perform lawn mowing tasks within a pre-defined area. However, when faced with the complex and ever-changing outdoor lawn mowing environment, they are prone to collisions with various obstacles. If measures are not taken in time to stop the rope lawnmower after a collision, it may result in machine damage or safety hazards.

[0003] Therefore, the inventors realized that there was an urgent need to find a new technical solution to solve the above problems. Technical issues

[0004] The embodiments of this application aim to provide a hanging knot, a mowing module, and a yard robot, which can solve the technical problem of existing rope lawnmowers colliding with obstacles and damaging the equipment. Technical solutions

[0005] The technical problem solved by the embodiments of this application is addressed by the following technical solution:

[0006] This application discloses a mounting structure, which includes:

[0007] The fixed base is equipped with a sliding groove for fixed connection with the fixed equipment;

[0008] The fixing block is provided with a first connecting hole;

[0009] A connector is provided in the slide groove, stacked by the fixing block, and has a second connecting hole at the position corresponding to the fixing block. It can be detachably connected to the fixing base and is fixedly connected to an external device corresponding to the fixing device.

[0010] A fastener is connected from top to bottom to the first connecting hole and the second connecting hole, and the end of the fastener is slidably connected to the second connecting hole.

[0011] This application discloses a mowing module, which includes a mounting structure and a mowing structure, wherein the mowing structure is connected to the mounting structure.

[0012] This application discloses a garden robot, including a mowing module and a front end. The front end is provided with a collision strip, and the mowing module is connected to the front end. The collision strip and the mounting structure in the mowing module are used together to determine whether the garden robot collides with an obstacle. Beneficial effects

[0013] The aforementioned mounting structure, lawn mowing module, and garden robot, wherein the mounting structure includes: a fixed base with a sliding groove for fixed connection to a fixed device; a fixed block with a first connecting hole; a connector disposed in the sliding groove, stacked on the fixed block, having a second connecting hole at a position corresponding to the fixed block, detachably connected to the fixed base, and fixedly connected to an external device corresponding to the fixed device; and a fastening member connected from top to bottom to the first connecting hole and the second connecting hole, the end of the fastening member being slidably connected to the second connecting hole. This solution establishes a connection between the fixed device and the external device through a fixed base, a fixed block, a connector, and a fastener. The connector is connected to the fixed base, and the fastener is connected to both the fixed block and the connector. Specifically, after the fastener is connected to the first and second connecting holes from top to bottom, the end of the fastener is slidably connected to the second connecting hole. After the device collides with an obstacle, the fastener can first detach from the second connecting hole, and then the connector can disconnect from the fixed base. In this way, the device with the overall mounting structure can no longer collide with obstacles, thus protecting the device. Attached Figure Description

[0014] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0015] Figure 1 is a schematic diagram of an embodiment of the mounting structure disclosed in this application on the grass trimming module;

[0016] Figure 2 is a schematic diagram of the mounting structure disclosed in the embodiment of this application on the grass trimming module from another angle;

[0017] Figure 3 is a schematic diagram of the mounting structure disclosed in the embodiment of this application on the grass trimming module from another angle;

[0018] Figure 4 is a side view of an embodiment of the mounting structure disclosed in this application on the grass trimming module;

[0019] Figure 5 is a cross-sectional structural diagram of an embodiment of the mounting structure disclosed in this application on the grass trimming module;

[0020] Figure 6 is a schematic diagram of an embodiment of the mounting structure disclosed in this application installed on a fixed device;

[0021] Figure 7 is a schematic diagram of the structure of a garden robot with the mounting structure disclosed in this application.

[0022] Figure 8 is a schematic diagram of the structure of a cutter head assembly in a garden robot disclosed in this application.

[0023] Figure 9 is a cross-sectional schematic diagram of the drive connection between the lower inner ring of the cutter head assembly and the drive device disclosed in the embodiments of this application;

[0024] Figure 10 is a cross-sectional schematic diagram of the lower outer ring of the cutter head assembly and the drive device being movably connected according to an embodiment of this application;

[0025] Figure 11 is an exploded view of the lower inner ring of the cutter head assembly and the drive device driving connection disclosed in the embodiments of this application;

[0026] Figure 12 is an exploded view of the lower outer ring of the cutter head assembly and the drive device being movably connected according to an embodiment of this application;

[0027] Attached are the icon symbols and their corresponding meanings:

[0028] 1. Fixed base; 101. Slide groove; 102. Boss; 2. Fixing block; 201. First connecting hole; 202. Fixing plate; 203. Installation space; 3. Connector; 301. Second connecting hole; 3011. Conical surface; 302. Mounting groove; 303. First connecting block; 3031. Third connecting hole; 304. Second connecting block; 3041. Fourth connecting hole; 4. Fastener; 401. Support part; 402. Elastic part; 403. Arc end; 5. Connector; 6. Buffer; 7. Fixing equipment; 8. Grass trimming module; 9. Hanging structure 10. Meading structure; 11. Garden robot; 12. External equipment; 13. Front end; 14. Collision strip; 15. Drive unit; 1501. Drive shaft; 16. Cutter head assembly; 1601. Movable bearing; 16011. Inner ring; 16012. Outer ring; 1602. Blade; 17. Protective device; 1701. Connecting post; 18. First connecting plate; 19. Second connecting plate; 1901. Center hole; 1902. First connecting hole; 1903. Second connecting hole; 20. Third connecting plate; 21. Cutter head assembly; 22. Body. The best embodiment of the present invention

[0029] To facilitate understanding of this application, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as being "fixed to" another element, it can be directly on the other element, or one or more intermediate elements may exist between them. When an element is described as being "connected" to another element, it can be directly connected to the other element, or one or more intermediate elements may exist between them. The terms "upper," "lower," "inner," "outer," "vertical," and "horizontal," etc., used in this specification to indicate orientation or positional relationships are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this application and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting this application.

[0030] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Words such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connected" or "linked" are not limited to physical or mechanical connections but can include electrical connections, whether direct or indirect. Unless otherwise defined, the features such as "parallel," "perpendicular," and "identical" used in the embodiments of this application include strictly defined "parallel," "perpendicular," and "identical," as well as cases where "generally parallel," "generally perpendicular," and "generally identical" include a certain margin of error. For example, "generally" as described above may indicate that the difference between the compared objects is within 10% or 5% of the average value of the compared objects. Unless otherwise specified in the embodiments of this application, the quantity of a component or element is implied; it means that the component or element may be one or more, or can be understood as at least one. "At least one" means one or more, and "more" means at least two.

[0031] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0032] Furthermore, the technical features involved in the different embodiments of this application described below can be combined with each other as long as they do not conflict with each other. Obviously, the described embodiments are only a part of the embodiments of this application, not all of them. All other embodiments obtained by those skilled in the art based on the described embodiments of this application without creative effort are within the scope of protection of this application.

[0033] As shown in Figures 1 to 7, an embodiment of this application discloses a mounting structure 9, including:

[0034] The fixed base 1 is provided with a sliding groove 101 and is fixedly connected to the fixed device 7;

[0035] The fixing block 2 is provided with a first connecting hole 201;

[0036] The connector 3 is located in the slide groove 101 and is stacked by the fixing block 2. A second connecting hole 301 is provided at the position corresponding to the fixing block 2. It can be detachably connected to the fixing base 1 and is fixedly connected to the external device 12 corresponding to the fixing device 7.

[0037] The fastener 4 is connected from top to bottom to the first connecting hole 201 and the second connecting hole 301, and the end of the fastener 4 is slidably connected to the second connecting hole 301.

[0038] The fixed base 1 can be mounted on the fixed device 7. The fixed base 1 and the fixed device 7 (equivalent to the front of the vehicle 13) can be fixedly connected by a connecting structure such as screws. The number of screws can be two, and the screws can be distributed at the two end corners of the fixed base 1. In addition, the fixed base 1 can be a stepped structure, with a slide groove 101 on the two steps. The fixed device 7 can be the front of the garden robot 11. The fixing member can be a structure with an internal installation space 203. The installation space 203 is provided with a first connecting hole 201. The connector 3 can be placed in the installation space 203 and can pass through the first connecting hole 201. Connection hole 201; Connector 3 can be connected to external device 12. Connector 3 can be provided with multi-level connection mechanism, and connector 3 is set outward relative to fixed device 7 to form a structure that can protrude relative to the machine, so as to ensure that external device 12 can protrude relative to fixed device 7 to complete the corresponding edge work; Fastening member 4 can be a kind of pin, and a support part 401 can be provided around one surface of the pin. The support part 401 can be used to support elastic member 402. In addition, fastening member 4 is connected from top to bottom to the first connection hole 201 and the second connection hole 301, which can establish the connection relationship between fixed block 2, connector 3 and fastening member 4;

[0039] In this embodiment, the connection between the fixed device 7 and the external device 12 can be established through the fixed base 1, the fixed block 2, the connector 3, and the fastener 4. At the same time, the connector 3 is connected to the fixed base 1, and the fastener 4 is connected to the fixed block 2 and the connector 3. Specifically, after the fastener 4 is connected to the first connecting hole 201 and the second connecting hole 301 from top to bottom, the end of the fastener 4 is slidably connected to the second connecting hole 301. After the entire device collides with an obstacle, the fastener 4 can first detach from the second connecting hole 301, and then the connector 3 is disconnected from the fixed base 1. In this way, the device with the overall mounting structure 9 will no longer collide with the obstacle, thus protecting the device.

[0040] As shown in Figures 2 and 3, in one embodiment, the fixed base 1 is provided with a boss 102 near the slide groove 101, and the connector 3 is provided with an installation groove 302 that is adapted to the boss 102 for installation, and the boss 102 and the installation groove 302 are engaged.

[0041] The boss 102 can be fitted and positioned in the mounting groove 302. The boss 102 is provided with a protrusion and a spaced groove. The protrusion can be fitted in the mounting groove 302, and the groove can be fitted in the edge of the mounting groove 302. In this way, the boss 102 can be positioned and connected with the mounting groove 302, thereby realizing the positioning and connection between the connector 3 and the fixed base 1.

[0042] As shown in Figure 5, in one embodiment, the fastener 4 has a ring with a support portion 401, and an elastic member 402 is sleeved on the support portion 401.

[0043] The supporting part 401 can be configured as a ring, and the middle area of ​​the ring can be penetrated by the rod in the fastening member 4. An elastic member 402 is provided between the supporting part 401 and the fixing plate 202. The elastic member 402 can be a spring. In this way, the entire fastening member 4 can be subjected to a downward compressive spring force.

[0044] As shown in Figure 5, in one embodiment, the fixing block 2 includes a fixing plate 202 and an installation space 203 inside the fixing block 2 for accommodating the fastener 4. The fastener 4 is installed in the installation space 203, and the elastic element 402 of the support portion 401 is compressed downward by the fixing block 2.

[0045] The fixing plate 202 is located on the upper part of the fixing block 2. The downward-facing position of the fixing plate 202 is provided with an installation space 203 for accommodating the fastener 4. After the fastener 4 passes through the first connecting hole 201, its supporting part 401 and elastic part 402 are installed in the installation space 203. The elastic part 402 of the supporting part 401 is compressed downward by the fixing block 2. In this way, the entire fastener 4 is always subjected to a downward compressive spring force, which can establish a stable connection between the fixing block 2 and the connecting part 3.

[0046] As shown in Figure 5, in one embodiment, the end of the fastener 4 is configured as an arc end 403, and the hole surface of the second connecting hole 301 is configured as a conical surface 3011, and the arc end 403 and the conical surface 3011 are slidably connected.

[0047] There is an arc angle between the arc end 403 and the conical surface 3011, which allows the fastener 4 to slide relative to the second connecting hole 301 and disengage from the second connecting hole 301 when the entire device is subjected to a large-force collision.

[0048] As shown in Figure 5, in one embodiment, the connector 3 includes a first connecting block 303 and a second connecting block 304. The first connecting block 303 is provided with a third connecting hole 3031, and the second connecting block 304 is provided with a fourth connecting hole 3041. After the third connecting hole 3031 and the fourth connecting hole 3041 are connected by the plug 5, the first connecting block 303 and the second connecting block 304 are fixedly connected.

[0049] There is a connection between the first connecting block 303 and the second connecting block 304. That is, the first connecting block 303 is provided with a third connecting hole 3031 and a fourth connecting hole 3041 through which the plug-in 5 can pass simultaneously. In addition, the plug-in 5 can be set in the shape of a round strip. In this way, after the plug-in 5 passes through the third connecting hole 3031 and the fourth connecting hole 3041, a stable connection can be established between the first connecting block 303 and the second connecting block 304.

[0050] As shown in Figure 5, in one embodiment, the first connecting block 303 is provided with a plurality of third connecting holes 3031 of different heights. After the plug 5 is inserted into the third connecting holes 3031 of different heights, the height of the plug 3 relative to the ground is different.

[0051] The third connecting hole 3031 can be distributed from top to bottom on the first connecting block 303. The plug 5 is inserted into the third connecting hole 3031 at different heights. The height of the entire connector 3 relative to the ground will also be different. In this way, the working height of the external device 12 can be connected by different heights.

[0052] As shown in Figures 5, 6 and 7, in one embodiment, the connector 3 further includes a buffer 6, one end of which is movably connected to the second connector 304, and the other end of which is movably connected to the external device 12.

[0053] Among them, the buffer 6 can be a spring with high rigidity or a soft rubber column (Figure 7 shows both springs and soft rubber columns). The number can be set according to the needs. For example, three buffers 6 can be set side by side. In this way, after the entire equipment collides, the buffer 6 can shift in one direction to reduce the impact force and protect the equipment.

[0054] As shown in Figures 1 to 7, an embodiment of this application discloses a mowing module 8, which includes a mounting structure 9 and a mowing structure 10, wherein the mowing structure 10 is connected to the mounting structure 9.

[0055] The grass-cutting structure 10 is connected to the connecting piece 3 of the mounting structure 9 (more specifically, the grass-cutting structure 10 can be connected to the second connecting piece 3 of the mounting structure 9). The grass-cutting structure 10 can be an external device 12. The grass-cutting structure 10 is equipped with a grass-cutting rope, a motor, a mounting plate, and a protective component. The motor is used to drive the grass-cutting rope to rotate. The mounting plate includes a first mounting plate and a second mounting plate. The motor is embedded in the first mounting plate. The second mounting plate is connected to the grass-cutting rope. The protective component surrounds the edge of the second mounting plate and is fixedly connected to the edge of the first mounting plate.

[0056] The material of the grass-cutting rope can be selected according to specific needs, such as using nylon material with sufficient strength or other materials of the same strength. During high-speed rotation, the grass-cutting rope can generate corresponding cutting force. The grass-cutting rope is set in the winding component, which is set in the base. The base is installed on the second mounting plate. The base is driven by a motor to rotate, which can drive the grass-cutting rope to rotate around the central axis. The grass-cutting rope can generate the power to cut grass. The first mounting plate and the second mounting plate are stacked and installed. The components installed on each mounting plate are different. The motor is installed on the side of the first mounting plate away from the ground, and the grass-cutting rope is installed on the side of the second mounting plate closer to the ground. The protective component is circumferentially set on part of the edge of the second mounting plate, such as half of the edge of the second mounting plate, and the protective component can be set close to the side of the machine body.

[0057] In this embodiment, a mounting plate is provided in the grass-cutting module 8 with grass-cutting function to prevent the motor from colliding with other objects, thereby ensuring normal operation. At the same time, a protective component is provided and can be placed around the edges of the second mounting plate and the first mounting plate to prevent small objects generated by grass cutting from heading towards the user, thereby avoiding safety hazards.

[0058] As shown in Figure 7, a garden robot 11 disclosed in this application includes a mowing module 8 and a front end 13. The front end 13 is provided with a collision strip 14. The mowing module 8 is connected to the front end 13. The collision strip 14 and the mounting structure 9 in the mowing module 8 are used together to determine whether the garden robot 11 collides with an obstacle.

[0059] Among them, the front end 13 of the garden robot 11 can be connected to the body through a detachable structure. The front end 13 can be fixedly connected to the rear of the body through a mounting structure 9. The mounting structure 9 and the collision strip 14 are provided on the front end 13 (the collision strip 14 can be set at the position of the front end 13 in the forward direction, while the mounting structure 9 is set at one side of the front end 13). The grass cutting module 8 is protruding relative to the body and the front end 13, which is beneficial for the grass cutting module 8 to cut the grass in the boundary area.

[0060] In this embodiment, a collision strip 14 and a mounting structure 9 can be installed together at the front of the vehicle head 13. After the garden robot 11 has a slight collision with the obstacle via the collision strip 14, the controller controls the garden robot 11 to stop moving. When the garden robot 11 has a large collision with the obstacle, the mounting structure 9 detaches, and the controller controls the garden robot 11 to stop moving. Both structures can prevent the garden robot 11 from continuing to collide with the obstacle, thereby protecting the equipment.

[0061] In existing technologies, lawnmower robots are automated robots used in yards, integrating a walking mechanism and a mowing mechanism into one unit. The mowing mechanism is located at the bottom of the robot's body, allowing it to easily complete mowing tasks while moving. However, current lawnmower robots also face some challenges: the mowing mechanism is located at the bottom, and its blades are prone to friction with objects such as stones and grass on the ground. This can not only interfere with the effective operation of the blades but also reduce the overall mowing efficiency of the robot. Furthermore, these objects may intrude into the internal structure of the mowing mechanism, further affecting the robot's mowing performance.

[0062] Therefore, in order to solve the aforementioned technical problems, as shown in Figures 8 to 12, this application also provides a cutter head assembly 21 disposed at the bottom of the garden robot 11. The cutter head assembly 21 disclosed in this embodiment includes:

[0063] Drive unit 15;

[0064] The cutter head device 16 includes a movable bearing 1601 and at least one blade 1602 arranged circumferentially. After a portion of the movable bearing 1601 is driven to be connected to the drive device 15, the blade 1602 rotates around the central axis of the cutter head device 16.

[0065] The protective device 17 is disposed at the bottom of the cutter head device 16 and is partially movably connected to the movable bearing 1601. The protective device 17 can rotate relative to the cutter head device 16.

[0066] The drive unit 15 may include a drive motor. The high-speed rotation of the drive motor drives the blades 1602 in the cutter head device 16, which is connected to the drive shaft 1501 of the drive unit 15, to rotate at high speed, generating a cutting force capable of cutting grass. The cutter head device 16 is a main functional component of the garden robot 11. The cutter head device 16 may include a circular or elliptical cutter head, on which at least one blade 1602 may be provided. The blade 1602 and the cutter head may be rigidly connected or flexibly connected. In the rigid connection state, the connection between the blade 1602 and the cutter head is a locked connection. In the flexible connection state, the blade 1602 rotates under centrifugal force. The cutter head device 16 may also include a movable bearing 1601. The main function of the movable bearing 1601 is to support the rotating mechanical body (the drive device 15 can be partially connected to the movable bearing 1601, which can transmit the rotational power of the drive device 15 to the blade 1602 in the cutter head device 16), reduce the friction coefficient during its movement, and ensure its rotational accuracy. The movable bearing 1601 may include an inner ring 16011 and an outer ring 16012, which can be connected by a movable ball. The protective device 17 is provided at the bottom of the cutter head device 16. The shape of the protective device 17 can be adapted to the shape of the cutter head in the cutter head device 16. When the protective device 17 is installed on the cutter head device 16, the blade 1602 is provided in the gap between the two.

[0067] In this embodiment, a protective device 17 is provided at the bottom of the blade disc device 16. Under the drive of the drive device 15, the blades 1602 in the blade disc device 16 rotate, and the movable bearing 1601 in the blade disc device 16 can drive the protective device 17 to rotate together (the rotation speed of the protective device 17 can be the same as or different from the rotation speed of the blades 1602 in the blade disc device 16; the difference is that the protective device 17 reduces its rotation speed after rubbing against external objects). In this way, the protective device 17 can rub against external objects, while the blades 1602 in the blade disc do not rub against external objects, which can prevent external objects from affecting the mowing efficiency of the blades 1602. At the same time, due to the obstruction of the protective device 17, the probability of external objects entering the blade disc device 16 is reduced, which can ensure the mowing performance of the garden robot 11.

[0068] As shown in FIG9, in one embodiment, the movable bearing 1601 includes an inner ring 16011 and an outer ring 16012 connected to each other. The inner ring 16011 is drivenly connected to the driving device 15, and the outer ring 16012 is movably connected to the protective device 17.

[0069] Among them, the movable bearing 1601 can be divided into inner and outer rings 16012 that are connected to each other. The inner and outer rings 16012 are transmitted through a movable ball. The connection devices of each part in the bearing are different. The drive device 15 is connected to the inner ring 16011, and the protective device 17 is connected to the outer ring 16012. When the lever arm increases, the force on the inner ring 16011 decreases, thus protecting the inner ring 16011.

[0070] As shown in Figure 10, in one embodiment, the movable bearing 1601 includes an inner ring 16011 and an outer ring 16012 that are connected to each other. The inner ring 16011 is driven to be connected to the protective device 17, and the outer ring 16012 is movably connected to the driving device 15.

[0071] The inner and outer rings 16012 are connected by a movable ball. The connection devices of each part in the bearing are different. The drive device 15 is connected to the outer ring 16012, and the protective device 17 is connected to the inner ring 16011. The force on the outer ring 16012 is reduced, protecting the outer ring 16012 (which is subject to more collisions).

[0072] As shown in Figure 9, in one embodiment, the driving device 15 is provided with a driving shaft 1501, which passes through the inner ring 16011 and is driven to connect with the inner ring 16011.

[0073] In the drive unit 15, the drive shaft 1501 can be fixedly connected to the inner ring 16011 through a clearance fit. When the drive shaft 1501 in the drive unit 15 is subjected to torque, it will transmit the torque to the inner ring 16011 through the connection. The inner ring 16011 is therefore subjected to radial and possible axial loads, which will be further transmitted to the rolling elements and the outer ring 16012.

[0074] As shown in Figure 10, in one embodiment, the driving device 15 is provided with a driving shaft 1501, which passes through the outer ring 16012 and is driven to achieve a driving connection with the outer ring 16012.

[0075] In the drive unit 15, the drive shaft 1501 can be fixedly connected to the outer ring 16012 through a clearance fit. When the drive shaft 1501 in the drive unit 15 is subjected to torque, it will transmit the torque to the outer ring 16012 through the connection. The outer ring 16012 is therefore subjected to radial and possible axial loads, which will be further transmitted to the rolling elements and the inner ring 16011.

[0076] As shown in Figures 9 and 11, in one embodiment, a first connecting plate 18, a second connecting plate 19, and a third connecting plate 20 are provided between the cutter head device 16 and the drive device 15. The first connecting plate 18 is disposed on the upper end face of the cutter head device 16. The inner ring 16011 of the movable bearing 1601 is movably connected to the drive device 15 through the first connecting plate 18 and the second connecting plate 19. The outer ring 16012 of the movable bearing 1601 is movably connected to the protective device 17 through the third connecting plate 20.

[0077] The first connecting plate 18, the second connecting plate 19, the third connecting plate 20 and the cutter head device 16 are all connected, and the driving device 15 is also connected to the cutter head device 16. When the cutter head device 16 is driven by the driving device 15, it drives the first connecting plate 18 and the second connecting plate 19 to rotate. The first connecting plate 18 and the second connecting plate 19 drive the inner ring 16011 of the movable bearing 1601 connected to them to rotate. The inner ring 16011 of the movable bearing 1601 drives the outer ring 16012 of the movable bearing 1601 to rotate. The outer ring 16012 of the movable bearing 1601 drives the third connecting plate 20 to rotate. The third connecting plate 20 drives the protective device 17 to rotate.

[0078] In addition, during the lawn mowing process of the garden robot 11, various objects such as grass on the ground will rub against the protective device 17. The outer ring 16012 connected to the protective device 17 will be driven to rotate, while the inner ring 16011 will only be driven to rotate by the drive device 15. At this time, the inner and outer rings 16012 rotate relative to each other, and their relative rotation speeds may be different.

[0079] As shown in Figures 9 and 11, in one embodiment, the second connecting plate 19 is provided with a central hole 1901 connected to the drive shaft 1501 at a position corresponding to the central axis of the cutter head device 16. The second connecting plate 19 is provided with fifth connecting holes 1902 distributed circumferentially. After the external connector passes through the fifth connecting hole 1902, the cutter head device 16 and the protective device 17, the cutter head device 16 and the protective device 17 are connected.

[0080] The central hole 1901 can be aligned with the drive shaft 1501 passing through the drive device 15, and drive the movable bearings 1601 spaced apart from the first drive shaft 1501 to rotate. The hole position of the fifth connecting hole 1902 can be simultaneously set to correspond to the hole positions in the protective device 17 and the cutter head device 16. The external connector can pass through the connecting holes of the three devices simultaneously to connect the cutter head device 16 and the protective device 17, so that the protective device 17 will not easily fall off the cutter head device 16.

[0081] As shown in Figures 10 and 12, in one embodiment, a first connecting plate 18, a second connecting plate 19, and a third connecting plate 20 are provided between the cutter head device 16 and the drive device 15. The first connecting plate 18 is disposed on the lower end face of the cutter head device 16. The movable connection between the outer ring 16012 of the movable bearing 1601 and the drive device 15 is achieved through the cutter head device 16 and the third connecting plate 20. The movable connection between the inner ring 16011 of the movable bearing 1601 and the protective device 17 is achieved through the first connecting plate 18 and the second connecting plate 19.

[0082] The first connecting plate 18, the second connecting plate 19, the third connecting plate 20, and the cutter head device 16 are all connected. The driving device 15 is also connected to the cutter head device 16. When the cutter head device 16 is driven by the driving device 15, it drives the third connecting plate 20 to rotate. The third connecting plate 20 drives the outer ring 16012 of the movable bearing 1601 connected to it to rotate. The outer ring 16012 of the movable bearing 1601 drives the inner ring 16011 of the movable bearing 1601 to rotate. The inner ring 16011 of the movable bearing 1601 drives the first connecting plate 18 and the second connecting plate 19 to rotate. The first connecting plate 18 and the second connecting plate drive the protective device 17 to rotate.

[0083] As shown in Figures 11 and 12, at least one connecting post 1701 may be provided on the protective device 17 near the cutter head device 16, and a sixth connecting hole 1903 corresponding to the connecting post 1701 is provided on the second connecting plate. The connecting post 1701 can be snapped into or protruded into the sixth connecting hole 1903 to connect the cutter head device 16 and the protective device 17, so that the protective device 17 will not easily fall off the cutter head device 16.

[0084] In one embodiment, a barrier (not shown) is provided in the direction of the cutter head device 16 or the protective device 17 toward the other.

[0085] The enclosure structure of the barrier (not shown) can be set on the cutter head device 16 or the protective device 17. During the grass cutting process of the cutter head device 16, the barrier (not shown) can prevent the cut debris from entering the interior of the cutter head device 16, so as to avoid affecting the grass cutting performance of the cutter head device 16.

[0086] As shown in Figure 7, a garden robot 11 (lawn mowing robot) disclosed in this application includes a blade assembly 21 mounted on the front 13 and a walking assembly mounted on the body 22. The front 13 and the body 22 are detachably connected by a connecting component.

[0087] The yard robot 11 consists of a detachable front end 13 and a body 22. The front end carries functional modules, and the body 22 carries a walking module. When the yard robot 11 is working, the body 22 can carry the front end 13 to a designated yard area for lawn mowing. By simultaneously installing the blade assembly 21 and the lawn-cutting module 8 into the yard robot 11, it can achieve corresponding effects such as area-specific lawn mowing and edge-cutting, thereby ensuring the overall cleanliness of the area.

[0088] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them; under the concept of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of this application as described above, which are not provided in detail for the sake of brevity; although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A mounting structure, wherein, include: The fixed base is equipped with a sliding groove for fixed connection with the fixed equipment; The fixing block is provided with a first connecting hole; A connector is provided in the slide groove, stacked by the fixing block, and has a second connecting hole at the position corresponding to the fixing block. It can be detachably connected to the fixing base and is fixedly connected to an external device corresponding to the fixing device. A fastener is connected from top to bottom to the first connecting hole and the second connecting hole, and the end of the fastener is slidably connected to the second connecting hole.

2. The mounting structure according to claim 1, wherein The fixed base has a boss near the slide groove, and the connector has an installation groove that is adapted to the boss for installation. The boss and the installation groove are engaged.

3. The mounting structure of claim 1, wherein, The fastener has a ring with a support portion, and an elastic element is sleeved on the support portion.

4. The mounting structure according to claim 3, wherein The fixing block includes a fixing plate and an installation space inside the fixing block for accommodating the fastener. The fastener is installed in the installation space, and the elastic element of the supporting part is compressed downward by the fixing block.

5. The mounting structure of claim 1, wherein, The end of the fastener is set as an arc end, and the surface of the second connecting hole is set as a conical surface, and the arc end and the conical surface are slidably connected.

6. The mounting structure of claim 1, wherein, The connector includes a first connecting block and a second connecting block. The first connecting block has a third connecting hole, and the second connecting block has a fourth connecting hole. After the third connecting hole and the fourth connecting hole are connected by a plug, the first connecting block and the second connecting block are fixedly connected.

7. The mounting structure of claim 6, wherein, The first connecting block is provided with a plurality of third connecting holes of different heights. After the plug is inserted into the third connecting holes of different heights, the height of the plug relative to the ground is different.

8. The mounting structure according to claim 6 or 7, wherein The connector further includes a buffer, one end of which is movably connected to the second connecting block, and the other end of which is movably connected to the external device.

9. A grass cutting module wherein, Includes a mounting structure and a mowing structure as described in any one of claims 1 to 8, wherein the mowing structure is connected to the mounting structure.

10. A garden robot, wherein, Includes a mowing module as described in claim 9 and a vehicle head, wherein the vehicle head is provided with a collision strip, the mowing module is connected to the vehicle head, and the collision strip and the mounting structure in the mowing module are used together to determine whether the garden robot collides with an obstacle.

11. The yard robot of claim 10, wherein, The garden robot includes a cutter head assembly, which comprises: Drive unit; A cutter head assembly includes a movable bearing and at least one blade arranged circumferentially. After a portion of the movable bearing is driven to be connected to the drive device, the blade rotates around the central axis of the cutter head assembly. A protective device is disposed at the bottom of the cutter head assembly and is partially movably connected to the movable bearing. The protective device is capable of rotating relative to the cutter head assembly.

12. The yard robot of claim 11, wherein, The movable bearing includes an inner ring and an outer ring that are connected to each other. The inner ring is driven to the drive device, and the outer ring is movably connected to the protective device.

13. The yard robot of claim 11, wherein, The movable bearing includes an inner ring and an outer ring that are connected to each other. The inner ring is driven to the protective device, and the outer ring is movably connected to the driving device.

14. The yard robot of claim 12, wherein, The drive device is provided with a drive shaft, which passes through the inner ring and is connected to the inner ring for drive.

15. The cutterhead assembly of claim 13, wherein, The drive device is provided with a drive shaft, which passes through the outer ring and is connected to the outer ring for drive.

16. The yard robot of claim 12 or 14, wherein, A first connecting plate, a second connecting plate, and a third connecting plate are provided between the cutter head device and the drive device. The first connecting plate is disposed on the upper end face of the cutter head device. The inner ring of the movable bearing is movably connected to the drive device through the first and second connecting plates. The outer ring of the movable bearing is movably connected to the protective device through the third connecting plate.

17. The yard robot of claim 16, wherein, The second connecting plate is provided with a central hole for connection to the drive shaft at a position corresponding to the central axis of the cutter head device. The second connecting plate is provided with fifth connecting holes distributed circumferentially. The external connecting member passes through the fifth connecting hole, the cutter head device and the protective device simultaneously, thereby connecting the cutter head device and the protective device.

18. The yard robot of claim 13 or 15, wherein, A first connecting plate, a second connecting plate, and a third connecting plate are provided between the cutter head device and the drive device. The first connecting plate is located on the lower end face of the cutter head device. The outer ring of the movable bearing is movably connected to the drive device through the cutter head device and the third connecting plate. The inner ring of the movable bearing is movably connected to the protective device through the first connecting plate and the second connecting plate.

19. The yard robot of any of claims 11 to 18, wherein, One of the cutter head device or the protective device is provided with a barrier in the direction of the other.

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