Autonomous operation device and grass trimming operation apparatus thereof

Abstract

Provided are an autonomous operation device (100) and a grass trimming operation apparatus (200) thereof. The grass trimming operation apparatus (200) comprises a connection base (2), a direction control assembly, and an operation assembly (6). The connection base (2) is configured to be connected to a device body of the autonomous operation device (100). The direction control assembly is rotatably connected to the connection base (2) about a vertical axis. The operation assembly (6) is connected to the direction control assembly. The direction control assembly is configured to control the lifting / lowering and steering of the operation assembly (6).

Description

Autonomous operating equipment and its mowing device

[0001] Cross-referencing related applications

[0002] This patent application claims those filed on March 24, 2025 (application number 2025103509897) and those filed on September 12, 2025 (application numbers CN2025113100275, CN2025219742793, CN2025113129894, CN2025219790142, CN2025219742825, CN2025113101314, CN2025219784387, CN2025219). The priority of Chinese patent applications filed on March 23, 2026 (application numbers 741894, CN2025219784705, CN2025219784565, CN2025219790354, CN202521974163X, CN2026102162179) and (application numbers 2026203605396, 2026203605451, 2026203605343), the full text of which is incorporated herein by reference. Technical Field

[0003] This application relates to the field of autonomous operating equipment technology, and particularly to an autonomous operating equipment and its grass-cutting device. Background Technology

[0004] Current autonomous operating equipment (such as smart lawnmowers and sweeping robots) uses environmental perception and path planning technologies to achieve automated coverage of the work area. Through preset boundary recognition and obstacle avoidance, it can complete the main operation tasks within the basic area, significantly reducing the need for human intervention. However, in order to ensure safety, the core operation modules of existing autonomous operating equipment (such as the cutting element on a smart lawnmower) need to maintain a safe distance from the edge of the equipment shell to meet safety standards, resulting in blind spots in the operation of the core operation modules.

[0005] Traditional smart lawnmowers typically have a central rotating blade located at the bottom center of the casing, which is quite far from the outer edge of the casing. When a smart lawnmower reaches the edge of the lawn, it automatically turns, making it impossible to cut the lawn outside the boundary line. Users then need to use other tools to trim the edges, which is inconvenient for them. Summary of the Invention

[0006] One objective of this application is to provide an autonomous trimming device and its mowing apparatus.

[0007] To achieve the above objectives, this application provides a grass-cutting device, comprising:

[0008] Connecting base, the connecting base being used to connect to the body of the autonomous operating equipment;

[0009] A direction control assembly, wherein the direction control assembly is rotatably connected to the connecting seat about a vertical axis; and

[0010] A working component, which is connected to the direction control component;

[0011] The direction control component is used to control the lifting and turning of the working component.

[0012] In one embodiment, the direction control component includes a steering drive that is connected to the connector.

[0013] The working component can be raised and lowered relative to the connecting seat, and has a first movement mode and a second movement mode;

[0014] In the first motion mode, the steering drive controls the working component to move from the open state to the retracted state;

[0015] In the second motion mode, an external force drives the working component to move from the open state to the retracted state.

[0016] In one embodiment, the mowing device further includes:

[0017] A steering seat, wherein the steering seat and the connecting seat are rotatably connected about a vertical axis;

[0018] A robotic arm, one end of which is connected to the steering seat, and the other end extends radially outward. The steering seat can drive the robotic arm to rotate.

[0019] The working component is connected to the other end of the robotic arm;

[0020] The direction control component also includes a lifting adjustment component, which is mounted on the steering seat and can drive the robotic arm to rotate relative to the steering seat, thereby driving the working component to rise and fall.

[0021] In one embodiment, the steering seat has two side plates;

[0022] One end of the robotic arm is located between the two side plates and is rotatably connected to the two side plates. When the steering seat rotates, the two side plates can push the robotic arm to rotate synchronously.

[0023] In one embodiment, the robotic arm is a linkage structure, which includes a first link and a second link. The lifting adjustment component drives the first link and / or the second link to raise and lower the grass-cutting component.

[0024] In one embodiment, the second connecting rod is a box-shaped structure with a downward opening and / or the first connecting rod is a box-shaped structure with an upward opening, and the first connecting rod and the second connecting rod are combined to form a closed cavity.

[0025] In one embodiment, the direction control component includes a steering drive that is connected to the connector.

[0026] The grass-cutting device also includes:

[0027] A steering seat, wherein the steering seat and the connecting seat are rotatably connected about a vertical axis, and the working component is vertically connected to the steering seat;

[0028] A clutch, which is connected to the output shaft of the steering drive;

[0029] An end cap covers the clutch and is fixedly connected to the steering seat.

[0030] In one embodiment, the clutch includes:

[0031] Mounting housing, which is connected to the steering drive component and has multiple guide grooves;

[0032] Multiple transmission components, each movably disposed within a mounting housing; and each transmission component having meshing teeth, the meshing teeth of the transmission component being operably slidable along the guide groove; and

[0033] Multiple elastic elements, the same number as the transmission elements, are alternately arranged around the mounting housing, forming a surrounding area; the two ends of each elastic element abut against two adjacent transmission elements, and the two adjacent elastic elements cooperate to apply a pushing force to the abutting transmission elements, so that the transmission elements are subjected to a driving force toward the center away from the surrounding area;

[0034] The inner wall surface of the end cap is provided with a toothed groove that engages with the meshing teeth of the transmission component.

[0035] The steering motor drives the clutch to rotate, and the transmission component of the clutch cooperates with the end cover to drive the end cover, the steering seat and the working component to rotate.

[0036] In one embodiment, the mowing device further includes a clutch, the clutch comprising:

[0037] A drive shaft that extends vertically and is drively connected to the output shaft of the direction control component;

[0038] The first fitting component is sleeved on the outside of the drive shaft and can rotate with the drive shaft. The first fitting component is configured to be movable relative to the drive shaft along the axial direction. One end of the first fitting component is provided with a plurality of first slots arranged around the axis of the drive shaft. The sidewalls of the first slots along the circumferential direction are inclined surfaces.

[0039] The second mating component, at least a portion of which is provided corresponding to the end of the first mating component that has a first slot, and which has a plurality of first locking blocks arranged around the axis of the drive shaft;

[0040] The first biasing member is disposed between the drive shaft and the first mating member or at the other end of the first mating member, and is used to apply a force toward the second mating member to the first mating member, so that the plurality of first locking blocks are respectively locked into the plurality of first locking slots.

[0041] In one embodiment, the mowing device further includes a housing, one end of which is connected to the connecting seat;

[0042] The working components include:

[0043] A grass-cutting motor, wherein the grass-cutting motor is vertically and retractably connected to the outer casing;

[0044] A hay trimmer head, which is connected to a hay trimmer motor, and the hay trimmer motor drives the hay trimmer head to rotate;

[0045] A lifting adjustment assembly is connected to the housing and can operably drive the grass-trimming motor to lift.

[0046] In one embodiment, the working component includes:

[0047] The grass-cutting motor, in its working state, forms a negative pressure zone inside;

[0048] The motor housing covers the grass-cutting motor and has an air inlet and a heat dissipation structure. The air inlet is connected to the negative pressure zone of the grass-cutting motor, and the heat dissipation structure surrounds the radial outer side of the grass-cutting motor.

[0049] In one embodiment, the mowing device includes:

[0050] The bottom cover is detachably connected to the connecting seat and cooperates to form a receiving space;

[0051] A control module is installed within the accommodating space.

[0052] In one embodiment, the mowing device further includes a protective structure connected to the working component.

[0053] This application also relates to an autonomous operating device, characterized in that it comprises:

[0054] The fuselage, which is equipped with interfaces;

[0055] In the aforementioned grass-cutting device, the connecting seat is connected to the machine body, one of the connecting seat and the machine body is provided with a guide groove, and the other is provided with a guide member located in the guide groove; the grass-cutting device includes a plug, which is disposed on the connecting seat and inserted into the interface.

[0056] This application also relates to an autonomous operating device, characterized in that it comprises:

[0057] body;

[0058] The aforementioned grass-cutting device has a connecting seat connected to the machine body and equipped with a first limiting member;

[0059] The direction control component includes a steering drive and a steering seat, the steering seat being rotatably connected to the connecting seat and having a second limiting member;

[0060] The working component is connected to the steering seat;

[0061] The steering drive is connected to the connecting seat and can drive the steering seat to rotate between the open state and the retracted state;

[0062] In the open state, the first limiting member abuts against the second limiting member;

[0063] In the retracted state, a portion of the steering seat is in contact with the fuselage.

[0064] This application also relates to an autonomous operating device, characterized in that it comprises:

[0065] The fuselage, which can move forward in a first direction.

[0066] In the aforementioned grass-cutting device, the connecting seat is connected to one side of the machine body;

[0067] The grass-cutting device includes a first vision module, wherein the angle between the optical axis of the first vision module and the first direction is α, and the range of α is 0°-360°. Attached Figure Description

[0068] Figures 1 and 2 are perspective views of an autonomous operating device according to an embodiment of this application, wherein the grass-cutting device is in a retracted state.

[0069] Figure 2a is a partial enlarged view of area A in the embodiment shown in Figure 2.

[0070] Figures 3, 4 and 5 are perspective views of an autonomous operating device according to an embodiment of this application, with the grass-cutting device in the open state.

[0071] Figure 6 is a perspective view of an autonomous operating device according to an embodiment of this application.

[0072] Figure 7 is a cross-sectional view of the autonomous operating equipment in the embodiment shown in Figure 6 along the shape direction.

[0073] Figure 8 is a cross-sectional view of area B of the autonomous operating equipment in the embodiment shown in Figure 7, with the grass cutting component in the highest position.

[0074] Figure 9 is a cross-sectional view of the autonomous operating device of the first embodiment of this application, with the grass-cutting component in the lowest position.

[0075] Figure 10 is a perspective view of the chassis of one embodiment of this application.

[0076] Figure 11 is an assembly diagram of the chassis and grass-cutting device according to an embodiment of this application.

[0077] Figure 12 is an assembly diagram of the chassis and grass-cutting device according to an embodiment of this application, with a waterproof shell.

[0078] Figure 13 is a cross-sectional view of an autonomous operating device according to an embodiment of this application, perpendicular to the walking direction.

[0079] Figure 14 is a partial enlarged view of region C in the embodiment shown in Figure 13.

[0080] Figures 15 and 16 are perspective views of the grass-cutting apparatus of the first embodiment of this application.

[0081] Figure 17 is an exploded view of the grass-cutting device in the embodiment shown in Figure 15.

[0082] Figure 18 is an exploded view of the grass-cutting device according to the second embodiment of this application.

[0083] Figure 19 is a cross-sectional view of the grass-cutting device of the embodiment shown in Figure 18.

[0084] Figure 20 is a cross-sectional view of the mowing device of the embodiment shown in Figure 18, with the mowing component in the highest position.

[0085] Figure 21 is a cross-sectional view of the mowing device of the embodiment shown in Figure 18, with the mowing components in the lowest position.

[0086] Figure 22 is a cross-sectional view of the grass-cutting device of the embodiment shown in Figure 18 from different angles, with the grass-cutting component at the highest position.

[0087] Figure 23 is a cross-sectional view of the grass-cutting device of the embodiment shown in Figure 18 from different angles, with the grass-cutting component in the lowest position.

[0088] Figure 24 is an assembly diagram of the grass-cutting device of the embodiment shown in Figure 18.

[0089] Figure 25 is a cross-sectional view of the grass-trimming motor assembly in the embodiment shown in Figure 24.

[0090] Figure 26 is a schematic diagram of the clutch structure in the first embodiment of this application.

[0091] Figure 27 is an exploded view of the clutch in the embodiment shown in Figure 26.

[0092] Figure 28 is a schematic diagram of the structure of the clutch and the mating parts in the embodiment of Figure 26.

[0093] Figure 29 is an exploded view of the clutch, end cover, connecting seat, steering motor seat, and steering motor in one embodiment of this application.

[0094] Figure 30 is an assembly diagram of the grass-cutting device according to the third embodiment of this application.

[0095] Figure 31 is a cross-sectional view of the grass-cutting device of the embodiment shown in Figure 30.

[0096] Figure 32 is a perspective view of an autonomous operating device according to an embodiment of this application.

[0097] Figures 33 and 34 are perspective views of a clutch according to another embodiment of this application.

[0098] Figure 35 is a vertical cross-sectional view of a grass-cutting device according to an embodiment of this application.

[0099] Figure 36 is a cross-sectional view of a grass-cutting device according to an embodiment of this application.

[0100] Figure 37 is a perspective view of an autonomous operating device according to another embodiment of this application.

[0101] Figure 38 is a perspective view of the grass-cutting device in the recovery state in the embodiment shown in Figure 37.

[0102] Figure 39 is a perspective view of the grass-cutting device in the open state in the embodiment shown in Figure 37.

[0103] Figure 40 is an exploded view of the grass-cutting device in the embodiment shown in Figure 37.

[0104] Figure 41 is a perspective view of the grass-cutting device in the embodiment shown in Figure 37.

[0105] Figure 42 is a cross-sectional view of the grass-cutting device in the embodiment shown in Figure 37.

[0106] Figure 43 is a perspective view of the grass-cutting device in the embodiment shown in Figure 37.

[0107] Figures 44 and 45 are cross-sectional views of a grass-cutting device according to another embodiment of this application.

[0108] Figure 46 is a magnified view of a portion of region D in Figure 45.

[0109] Figure 47 is a magnified view of a portion of region E in Figure 45.

[0110] Figure 48 is an exploded view of the grass-cutting components, lifting motor, and steering motor in the grass-cutting device of the embodiment shown in Figure 44.

[0111] Figure 49 is a cross-sectional view of the grass-cutting device in the embodiment shown in Figure 43.

[0112] Figure 50 is an assembly diagram of the grass-cutting device according to the fifth embodiment of this application.

[0113] Figure 51 is an exploded view of the grass-cutting device in the embodiment shown in Figure 50.

[0114] Figure 52 is an exploded view of the steering motor, gear housing, and clutch in the embodiment shown in Figure 50.

[0115] Figure 53 is a perspective view of the first mating component in the embodiment shown in Figure 50.

[0116] Figure 54 is a perspective view of the second mating component in the embodiment shown in Figure 50.

[0117] Figures 55 and 56 are perspective views of the gear housing in the embodiment shown in Figure 50.

[0118] Figures 57, 58, and 59 are cross-sectional views of the grass-cutting device in the embodiment shown in Figure 50 at different angles.

[0119] Figure 60 is an assembly diagram of the grass-cutting device in the embodiment shown in Figure 50 after removing the protective shell.

[0120] Figure 61 is an exploded view of the grass-cutting device according to the sixth embodiment of this application.

[0121] Figure 62 is an exploded view of the steering motor, gear housing, and clutch in the embodiment shown in Figure 61.

[0122] Figure 63 is a cross-sectional view of the grass-cutting device in Figure 61 with part of the protective shell removed.

[0123] Figure 64 is a perspective view of the positioning ring in the embodiment shown in Figure 61.

[0124] Figure 65 is a perspective view of the steering seat in the embodiment shown in Figure 61.

[0125] Figure 66 is a cross-sectional view of the grass-cutting device in Figure 61.

[0126] Figure 67 is a perspective view of the steering motor mount in the embodiment shown in Figure 61.

[0127] Figure 68 is an assembly diagram of the clutch and gear seat in the embodiment shown in Figure 61.

[0128] Figure 69 is an assembly diagram of the first gear and the second gear in the embodiment shown in Figure 61.

[0129] Figures 70 and 71 are perspective views of the gear housing in the embodiment shown in Figure 61.

[0130] Figure 72 is a cross-sectional view of the grass-cutting device in Figure 61.

[0131] Figures 73, 74 and 75 are schematic diagrams of an autonomous operating device according to the seventh embodiment of this application.

[0132] Figures 76, 77 and 78 are perspective views of an autonomous operating device according to the seventh embodiment of this application. Detailed Implementation

[0133] The preferred embodiments of this application will be described in detail below with reference to the accompanying drawings to provide a clearer understanding of the purpose, features, and advantages of this application. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of this application, but are merely for illustrating the essential spirit of the technical solution of this application.

[0134] In the following description, certain specific details are set forth for the purpose of illustrating various disclosed embodiments in order to provide a thorough understanding of the various disclosed embodiments. However, those skilled in the art will recognize that embodiments may be practiced without one or more of these specific details. In other instances, well-known apparatuses, structures, and techniques associated with this application may not have been shown or described in detail to avoid unnecessarily obscuring the description of the embodiments.

[0135] Unless the context requires otherwise, throughout the specification and claims, the word “comprising” and its variations, such as “including” and “having”, shall be understood to have an open, inclusive meaning, that is, to be interpreted as “including, but not limited to”.

[0136] Throughout this specification, references to "an embodiment" or "an embodiment" indicate that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Therefore, the appearance of "in an embodiment" or "an embodiment" in various places throughout the specification does not necessarily refer to the same embodiment. Furthermore, a particular feature, structure, or characteristic may be combined in any manner in one or more embodiments.

[0137] The singular forms “a” and “the” used in this specification and the appended claims include plural references unless otherwise expressly stated herein. It should be noted that the term “or” is generally used to mean “and / or” unless otherwise expressly stated herein.

[0138] In the following description, in order to clearly demonstrate the structure and working method of this application, a number of directional terms will be used. However, terms such as "front", "back", "left", "right", "outside", "inside", "outward", "inward", "up", and "down" should be understood as convenient terms and not as limiting terms.

[0139] This application relates to an autonomous operating device 100 and its mowing apparatus, as shown in Figures 1-5. The autonomous operating device 100 is, in particular, a robot capable of autonomously moving within a preset area and performing specific tasks, typically such as a smart sweeper or vacuum cleaner for cleaning, or a smart lawnmower for mowing. The specific tasks specifically refer to tasks that treat the work surface and change its state. This application uses a smart lawnmower as an example for detailed description. The autonomous operating device 100 can autonomously move on the surface of the work area, and in particular, as a smart lawnmower, it can autonomously perform mowing operations on the ground.

[0140] The autonomous operating equipment 100 includes a body 1, a cutting device, a moving mechanism, an energy module, a detection module, an interaction module, a control module, and a grass-cutting device. The body 1 includes a main structure, a working mechanism, an energy module, a detection module, and an interaction module. The main structure typically includes a chassis 11, which is used to install and accommodate at least one of the functional mechanisms and modules, such as the moving mechanism, the working mechanism, the energy module, the detection module, the interaction module, and the control module.

[0141] The working mechanism is configured to perform specific work tasks, including a workpiece and a prime mover that drives the workpiece. The energy module is configured to provide energy for the various tasks of the autonomous working device 100. The detection module is configured to be at least one sensor that senses the environmental parameters of the autonomous working device 100 or its own operating parameters. The interaction module is configured to at least receive control command information input by the user, issue information that the user needs to perceive, and communicate with other systems or devices to send and receive information. The control module typically includes at least one processor and at least one non-volatile memory, in which a pre-written computer program or instruction set is stored, and the processor controls the execution of actions such as movement and operation of the autonomous working device 100 according to the computer program or instruction set.

[0142] The mobile mechanism is mounted on the body 1 and is configured to support the main body on the ground and drive the vehicle to move and turn along a horizontal plane on the horizontal ground. The horizontal plane mentioned here is an imaginary ideal plane, which is used to more conveniently describe the structural relationship between the components of the autonomous operating equipment 100. However, such an ideal plane usually does not exist in a real lawn.

[0143] The cutting device is located at the bottom of the chassis 11 and includes a main blade disc 12 and a power unit that drives the main blade disc 12. The main blade disc 12 is the main mechanism that performs the primary grass-cutting function in the lawnmower. Due to safety regulations, the main blade disc 12 is positioned at a certain protective distance from the side of the machine body 1, preventing it from accurately cutting grass on the side of the equipment. In one embodiment, this grass-cutting device (i.e., the grass-cutting work device) is detachable and can be purchased and installed by the user as an extension accessory for the equipment.

[0144] The grass trimming device is fixedly installed on the machine body 1 and is used for trimming and trimming grass.

[0145] The following description refers to the accompanying drawings of the first embodiment of the mowing device of this application. The mowing device described below takes the mowing device 200 as an example. The mowing device 200 includes a direction control component, a working component and a control module. The direction control component is used to drive the mowing working component to turn and lift. It includes a base unit, a steering adjustment component 4 and a lifting adjustment component 5. The steering adjustment component 4 is used to drive the mowing working component to rotate between an open state and a retracted state.

[0146] The base unit is connected to the body 1 of the autonomous operating equipment. In one embodiment, the base unit includes a connecting seat 2 and a steering seat 3. The connecting seat 2 is used to mount the entire mowing device 200 onto the autonomous operating equipment 100. The steering seat 3 is rotatably connected to the connecting seat 2. Specifically, the steering seat can rotate about a vertical axis. The steering seat 3 carries the core frame of the working components and the drive system.

[0147] The steering adjustment assembly 4 includes a steering drive component, which is connected to the connecting seat of the base unit and is used to drive the steering seat to rotate.

[0148] The lifting and adjusting assembly 5 includes a lifting drive component. The lifting drive component is connected to the base unit and is used to drive the working assembly to lift and lower. The lifting drive component can be a power source such as an electric push rod or a lifting motor. By receiving height adjustment commands from the controller, it drives the working assembly to move vertically or tilted. This automated adjustment method allows the mowing device to adjust the cutting height in real time and precisely according to a preset program or information from ground sensors to adapt to different lawn heights or terrain undulations.

[0149] The working component can be either the mowing working component 6 or the cutting component. The following description will use the mowing working component 6 as an example.

[0150] The mowing assembly 6 is connected to the steering seat of the base unit and has a first movement mode and a second movement mode. In the first movement mode, the mowing assembly 6 responds to a first control signal from the steering drive component, moving from an open state to a retracted state. Specifically, the steering drive component drives the steering seat to rotate around a vertical axis, and the steering seat drives the mowing assembly 6 from the open state to the retracted state. In the second movement mode, the mowing assembly 6 responds to an external force, moving from an open state to the retracted state. In the open state, the lifting drive component can drive the mowing assembly 6 to perform trimming operations.

[0151] The open position represents the normal operating position, in which the mowing component is away from the machine body. The retracted position represents the obstacle avoidance position, in which the mowing component 6 is close to the machine body.

[0152] The first mode of movement can be active obstacle avoidance or active control. When there is an obstacle in the working path of the mowing component 6, driven by the first control signal sent by the steering drive, the mowing component 6 can actively swing from the open state to the retracted state, achieving obstacle avoidance before collision. The second mode of movement can be passive obstacle avoidance or passive triggering. If the active obstacle avoidance fails to completely avoid the obstacle, or if the active obstacle avoidance malfunctions, or if there is a sudden collision with an obstacle, when the external force generated by the obstacle exceeds a preset threshold, the mowing component 6 directly responds to the external force and retreats under mechanical adaptation. Mechanical adaptation means that after a physical collision, it overcomes mechanical resistance and passively shifts. This obstacle avoidance method, which combines active and passive obstacle avoidance, provides dual protection for the mowing device and can significantly reduce the mechanical damage rate.

[0153] The rotation of the steering seat 3 relative to the connecting seat 2 provides basic freedom for the grass-cutting working component 6 to swing between the open and retracted states, ensuring the smoothness of obstacle avoidance actions.

[0154] In one embodiment, the steering drive includes a steering motor and a detection element, the steering motor being mounted on a connecting seat and capable of driving the steering seat to rotate.

[0155] The detection element is installed within the base unit to sense the external environment. In one embodiment, the detection element includes at least one of a distance sensor, a pressure sensor, an angle sensor, or a vision sensor. By employing ultrasonic, time-of-flight (TOF), or visual recognition technologies, the mowing device can perceive the environment non-contactly, and the pressure sensor can assist in determining the force conditions for passive obstacle avoidance.

[0156] The control module is connected to the steering motor and the detection element. The control module can receive signals from the detection element and control the steering motor to rotate. This control module can be a control module inside the machine body, or it can be a separate control module set up in the grass trimming device and operate independently from the control module inside the machine body.

[0157] The control module generates a first control signal based on the signal from the detection element. The detection element monitors the environmental information around the grass-cutting device in real time. When an obstacle is detected that meets the preset triggering conditions, an electrical signal is immediately generated and transmitted to the control module. After receiving the signal, the control module controls the steering motor 41 to rotate the steering seat 3. By integrating perception and execution into the steering drive component, a rapid response from environmental recognition to active obstacle avoidance is achieved.

[0158] In another embodiment, the steering drive also includes a clutch 42 and an end cover, the clutch 42 being drive-connected to the output shaft of the steering motor 41, and the end cover covering the clutch and fixedly connected to the steering seat.

[0159] In the second motion mode, when the grass-cutting component 6 is subjected to an external force exceeding a preset threshold, the clutch 42 is overloaded and disengages from the output shaft of the steering motor. At this time, the hard connection between the motor shaft of the steering motor 41 and the steering seat 3 is cut off, allowing the grass-cutting component 6 to move quickly from the open state to the retracted state in the direction of the external force without the resistance of the steering motor (or only subject to a very small friction force). The presence of the clutch 42 can prevent the impact force of the obstacle from directly impacting the steering motor 41, thus protecting the core power component.

[0160] The clutch 42 includes a mounting housing 421, multiple transmission components 422, and multiple elastic components. Specific embodiments of the clutch will be described in detail below. Of course, this clutch can also be the clutch of the fifth or sixth embodiment described below.

[0161] In another embodiment, the movement trajectory of the mowing component 6 in the first movement mode and the movement trajectory in the second movement mode do not overlap. The first movement mode is an active rotation driven by the steering motor 41, while the second movement mode is a mechanical response after being impacted by an external force. The two can be achieved through different mechanical transmission paths. When facing obstacles impacting from different directions and intensities, the mowing device has more flexible avoidance space, avoiding secondary jamming that may be caused by a single retreat path.

[0162] Preferably, in the first and second movement modes, after the mowing component is in the retracted state, the steering drive controls the component to move from the retracted state to the open state. The steering drive can drive the component to switch between the retracted and open states relative to the machine body 1. In non-operation or walking mode, the mowing device 200 is retracted towards the machine body 1, reducing the overall width and improving its ability to pass through narrow passages. In the open state, the mowing device is in operation mode, opening away from the machine body 1 to expand the working width.

[0163] In one specific embodiment, the lifting drive includes a lifting motor mounted on a steering seat. Preferably, the lifting motor can drive the working component to move up and down via a robotic arm; implementations of the lifting motor and robotic arm will be detailed below.

[0164] The machine body is also equipped with a guide groove, and the grass cutting device is also equipped with a guide and a plug. The plug can be inserted into the interface to facilitate the connection between the grass cutting device and the power supply inside the machine body.

[0165] The specific implementation methods of the guide and plug will be described in detail below.

[0166] In another embodiment, the grass-cutting device also includes a grass-cutting motor 61 for grass cutting and trimming.

[0167] The main cutter head is located at the bottom of the chassis 11 and acts on the main area of ​​the working surface, while the mowing device acts on the edge area of ​​the working surface, the edge area at least partially overlapping the orthographic projection of the machine body 1. The cutting blind zone between the main cutter head and the side of the machine body 1 can be covered by the mowing device.

[0168] In another implementation, the cutting speed of the main blade disc is the same as that of the working component 6. By coordinating the rotational speeds of the two drive systems through the control system, the cutting force at different locations remains consistent, avoiding uneven breakage at the edges due to excessively low rotational speed or excessive wear due to excessively high rotational speed, thus ensuring a highly uniform visual effect across the entire lawn.

[0169] In another embodiment, the main cutter head is equipped with a main cutter head height adjustment component. The main cutter head height adjustment component and the lifting adjustment component 5 of the grass cutting device are not mechanically linked in structure. The two can adjust their working heights independently. When the autonomous operating equipment 100 is working on complex terrain, it can make differentiated height adjustments to the main cutter head and the grass cutting component 6 of the grass cutting device. For example, when the autonomous operating equipment 100 is working on a slope, the main cutter head can maintain the conventional cutting height, and the grass cutting device 200 can be raised or lowered separately, increasing the equipment's adaptability to terrain.

[0170] The autonomous operating device 100 of the second embodiment of this application is described below with reference to the accompanying drawings.

[0171] As shown in Figures 6 and 7, the mowing device is also a mowing device 200. The mowing device also includes a connecting seat 2, a direction control component, a mowing component 6, a control module, and a robotic arm 8. The connecting seat 2 is used to fix the connection to the chassis 11 of the machine body 1 and also to support the direction control component.

[0172] The direction control component is used to drive the mowing component to turn and lift. It includes a steering seat 3, a steering adjustment component 4, and a lifting adjustment component 5. The steering adjustment component 4 is used to drive the mowing component to rotate between the open state and the retracted state.

[0173] As shown in Figure 1-2, when the mowing component 6 is in the retracted state, it is stored parallel to the side of the machine body 1. When the mowing component 6 needs to work, the steering adjustment component 4 will drive the mowing component 6 to open outward to the working angle, as shown in Figure 3-5. At this time, the mowing component 6 is in the open state, which facilitates the operation of the mowing component 6.

[0174] The lifting adjustment component 5 is used to drive the mowing component 6 to rise and fall between the highest position (Figure 8) and the lowest position (Figure 9). The height of the mowing component 6 can be adjusted to a suitable mowing height according to work requirements (such as weed height) for trimming and mowing. When the mowing component encounters an obstacle, the lifting adjustment component can also raise the mowing component to pass over the obstacle, avoiding collisions and achieving a floating lifting obstacle avoidance effect, thus improving passability.

[0175] The lawn trimming component 6 is used to clearly separate the lawn edges from other areas such as flower beds, sidewalks, and driveways, making the lawn look neater and more aesthetically pleasing.

[0176] The control module is electrically or signal-connected to the steering adjustment assembly 4, the mowing assembly 6, and the lifting adjustment assembly 5, respectively, and controls the operation of the steering adjustment assembly 4, the mowing assembly 6, and the lifting adjustment assembly 5.

[0177] As shown in Figures 10 and 11, the connecting seat 2 and the bottom surface of the chassis 11 are fixedly connected. The chassis 11 is provided with a connecting position 111, which is located at the edge of the chassis 11. The bottom surface of the connecting position 111 is provided with a recessed mounting groove 112. The bottom wall of the mounting groove 112 is provided with an annular guide groove, which is defined as the first guide groove 113.

[0178] In addition, the bottom surface of the connection position 111 is also equipped with a socket interface 114, which is open towards the ring of the first guide groove 113. The socket is used to plug in the plug of the grass cutting device.

[0179] As shown in Figures 15 and 17, the connecting seat 2 includes a body connecting part 21 and a mounting part 22. The body connecting part 21 is used to connect with the connecting position 111 of the chassis 11.

[0180] Specifically, as shown in Figure 12, the fuselage connection part 21 includes a first part 211 and a second part 212. The first part 211 includes a horizontal plate 2111 and a vertical plate 2112. The horizontal plate 2111 and the vertical plate 2112 are integrally formed and form an "L" shape. The horizontal plate is installed in the mounting groove 112 of the chassis 11 and has an annular flange 213 on its top surface. The annular flange 213 is located in the first guide groove 113.

[0181] Both the horizontal plate 2111 and the machine body connection part 21 are provided with pre-embedded screw holes. The horizontal plate is locked in the connection position by screws, and the grass cutting device is installed and fixed to the machine body 1.

[0182] The top of the vertical plate 2112 is connected to the outer edge of the horizontal plate 2111, and the bottom extends vertically or slightly outward at an angle, that is, the side away from the fuselage 1.

[0183] The mowing device 200 also includes a plug, which is mounted on a horizontal plate and located within the ring of the annular flange 213. The plug can be inserted into the interface of the connection position. During installation, first align the plug with the interface and insert it, then tighten the base and main body with screws to secure the mowing device 200.

[0184] The alignment of the annular flange 213 and the first guide groove 113 can help the plug align with the interface in the connection position, thereby powering on the grass cutting device 200 and the machine body 1, and also facilitates the positioning and installation of the machine body connection part 21 at the connection position of the chassis 11.

[0185] It should be understood that in other embodiments, a protruding guide member may also be provided at the connection position of the chassis 11, and a downwardly recessed first guide groove 113 may be provided on the top surface of the horizontal plate of the first part 211. The guide member may be the aforementioned annular flange 213, and the first guide groove 113 may also be the aforementioned annular shape. Of course, the guide member may also be provided as a column, and the first guide groove 113 may also be a columnar groove. The specific shape of the first guide groove 113 and the guide member is not limited.

[0186] This interface design, independent of the steering seat 3, allows the entire mowing device to function as a complete module, enabling mechanical connection and electrical communication with autonomous operating equipment 100 (such as a lawnmower robot) via a plug assembly, thus achieving a convenient plug-and-play installation experience.

[0187] The inner side of the second part 212 is connected to the bottom end of the vertical plate, and the outer side extends away from the fuselage 1. The second part 212 is used to install the mounting part 22.

[0188] As shown in Figures 11, 12, 18, and 19, a bottom cover 23 is also installed at the bottom of the second part 212. The bottom cover 23 is detachably connected to the bottom surface of the second part 212, and the two parts 212 are assembled to form a receiving space 216, which can be used to receive the control module.

[0189] The control module includes a main control board 7, as shown in Figure 17. The main control board 7 is an integrated circuit board that can independently control the angle adjustment of the steering adjustment component 4, the height adjustment of the lifting adjustment component 5, and the grass cutting operation of the grass cutting component 6, without relying on the main control unit inside the machine body 1.

[0190] The control modules for height adjustment and grass trimming are integrated on the main control board 7, which is mounted on the connector. Compared to mounting the main control board 7 on the robotic arm 8, this reduces the load on the steering motor 41 to some extent, avoids interference caused by the vibration of the robotic arm 8, facilitates fault location during maintenance, and avoids the trouble of troubleshooting multi-board collaborative faults.

[0191] As shown in Figures 8 and 19, the main control board 7 is located on the top surface of the bottom cover and is situated at the bottom of the connecting seat 2. During disassembly, only the bottom cover 23 needs to be removed to expose the main control board 7, making maintenance and repair more convenient. In the embodiments shown in Figures 11 and 12, the bottom cover 23 is fixed with screws. In other embodiments, other quick-release methods that do not rely on disassembly tools, such as slots and clips, can also be used for installation.

[0192] The main control board 7 is connected to the plug located in the first part 211 via cable 9, and supplies power to the grass cutting device through the energy module of the machine body 1.

[0193] As shown in Figures 11 and 12, the bottom surface of the first part 211 is also provided with a cable tray 215 and a waterproof shell 214 covering the outside of the cable tray 215. The cable tray 215 is used for cable 9 routing.

[0194] The waterproof shell 214 and the bottom surface of the first part 211 are detachably connected. For example, the waterproof shell 214 can be installed on the first part 211 by screws or clips. The specific detachable connection method between the waterproof shell 214 and the first part 211 is not limited.

[0195] The plug and cable 9 connected to the main control board 7 are housed in the waterproof housing 214. The plug and cable 9 are separated from the housing space 216 of the main control board 7. The main control board 7 is fully sealed in the bottom cover 23 and the second part 212. The plug and cable 9 connected to the body 1 are independently sealed by the waterproof housing 214. The waterproof housing 214 has a multi-step structure, so even if water enters the cable 9, it will not directly enter the housing space 216 of the main control board 7.

[0196] The waterproof housing 214 does not cover the bottom cover 23. It can be placed adjacent to or spaced apart from the bottom cover 23, achieving excellent waterproof performance without affecting the heat dissipation of the main control board 7. When the plug and cable 9 need maintenance, it is not necessary to disassemble the entire connector 2; only the waterproof housing 214 needs to be removed to expose the plug and cable 9 connected to the machine body 1. In addition, the cable is hidden in the cable tray 215 and covered by the waterproof housing 214, which not only effectively prevents the water mist, dust, and grass clippings generated during lawn mowing from affecting electrical performance, but also prevents the cable from getting tangled and pulled in complex environments, greatly improving the safety and durability of the electrical connection.

[0197] As shown in Figure 16, the mounting part 22 covers and connects to the top of the second part 212 of the fuselage connection part 21. In the embodiments of Figures 16 and 17, the mounting part 22 is fixedly connected to the second part 212 by screws. The mounting part 22 is used to install the steering adjustment assembly 4.

[0198] The mounting part 22 includes a motor base and a support platform 222, as shown in Figures 17 and 18. The support platform 222 is flat and is fixedly connected to the motor base or integrally formed.

[0199] The motor mount is cylindrical and is used to mount the steering motor 41 of the steering adjustment assembly 4. This motor mount is defined as steering motor mount 221.

[0200] Specifically, as shown in Figure 17, the steering motor mount 221 includes a cylindrical first housing 2211 and a second housing 2212. The first housing 2211 and the second housing 2212 are concentrically arranged and integrally formed. The first housing 2211 is located at the bottom of the second housing 2212 and the outer diameter of the first housing 2211 is larger than the outer diameter of the second housing 2212. That is, the radial outer edge of the first housing 2211 is exposed to the outside of the second housing 2212.

[0201] The top opening of the first housing 2211 is connected to the second housing 2212, and the top of the second housing 2212 is also provided with an opening.

[0202] As shown in Figures 17 and 18, the steering adjustment assembly 4 includes a steering drive component, a clutch 42, an end cover 43, a bearing 45, and a bearing support component 44. The steering drive component is also known as the steering motor 41. Both the steering motor 41 and the bearing support component 44 are installed within the first housing 2211. As shown in Figures 17, 18, 35, and 36, a protruding mounting post 2213 is provided at the top edge of the first housing 2211. The first housing 2211 has bolt holes that extend into the mounting post 2213 for mounting bolts.

[0203] The steering motor 41 and the bearing support 44 are both fixedly connected to the first housing 2211 by the aforementioned bolts.

[0204] The output shaft of the steering motor 41 extends vertically upward to the second housing 2212, while the clutch 42 is fixedly connected to the output shaft of the steering motor 41, and the clutch 42 is also installed inside the second housing 2212.

[0205] The bottom of the end cap 43 is fitted around the outside of the clutch 42 and is also located in the second housing 2212. Its top extends beyond the top of the second housing 2212 for fixed connection with the steering seat 3. The steering motor can drive the clutch to rotate, causing the end cap and steering seat to rotate between the open and retracted states. The assembly method of the clutch 42, the end cap 43, and the steering seat 3 will be detailed below.

[0206] As shown in Figures 8 and 19, the bearing 45 is located on the top surface of the bearing support 44 and radially outward from the bottom of the ring end cap 43. The bearing 45 is also located inside the second housing 2212. The bearing 45 is used to facilitate the rotation of the end cap 43. The specific implementation of the bearing 45 will not be described in detail.

[0207] When the steering motor 41 is started, it drives the clutch 42 and the end cover 43 to rotate together. The end cover 43 drives the steering seat 3 to rotate around a vertical axis, thereby driving the grass trimming assembly 6 to rotate around a vertical axis.

[0208] As shown in Figures 9, 16 and 17, the steering seat 3 includes a seat body 31, a lifting motor seat 32 and an upper cover 33. The seat body 31 is generally cylindrical and covers the outside of the steering motor seat 221. The top surface of the seat body 31 is fixedly connected to the top of the end cover 43. The seat body 31 can rotate with the end cover 43.

[0209] In addition, the outer side of the steering motor mount 221 is provided with a protruding first limiting member, and the inner wall of the mount 31 is provided with a protruding second limiting member.

[0210] When the grass-cutting device is in the open state, the first limiting member and the second limiting member abut against each other, which can limit the working angle of the grass-cutting device in the open state.

[0211] The optimal working angle 'a' of the mowing device is 80°, as shown in Figure 5. This working angle 'a' is the angle relative to the machine body 1 along the travel direction X, which is the direction of the machine body. In existing technology, the working angle is generally set to 90°, with the mowing device perpendicular to the machine body 1. Upon impact, the impact force would be perpendicular to the mechanical arm 8 of the mowing device. At 80°, the impact force is decomposed into axial and tangential forces, effectively reducing the impact at the connection between the mowing device and the machine body.

[0212] Furthermore, when the mowing device is opened to 90°, grass clippings easily scatter beyond the boundary. If the boundary is close to a wall, the clippings will adhere to the wall. However, when the mowing device is opened to 80°, the cut grass clippings accumulate concentrically, making it less likely for them to scatter beyond the boundary. If the working angle of the mowing device is set to less than 80°, such as 60°, the extended length of the mowing device is shorter, resulting in a smaller cutting coverage area. Moreover, compared to 80°, when the mowing working angle is set to 60°, the mowing head 62 is closer to the machine body 1, overlapping with the wheel's travel path. This causes grass clippings to accumulate forward on the travel path, potentially affecting the machine's movement.

[0213] In the embodiment shown in Figure 28, the first limiting member is a first limiting ridge 2214 located radially outward of the second housing 2212. The first limiting ridge 2214 is a convex ridge. The second limiting member is a second limiting ridge 311 located radially inward of the base 31. The second limiting ridge 311 is a convex ridge located on the inner wall of the base 31. When the rotating motor drives the base 31 to rotate, the first limiting ridge 2214 and the second limiting ridge 311 abut against each other, at which point the entire grass-cutting device rotates to the working angle.

[0214] In another embodiment, as shown in FIG36, the first limiting member is a mounting post 2213 disposed on the top of the first housing 2211, which is used to connect the steering motor 41. The second limiting member is also a convex ridge, namely the second limiting ridge 311. That is to say, there is no need to separately set the first limiting ridge 2214, and the mounting post 2213 and the second limiting ridge 311 are used for limiting.

[0215] As a preferred option, the side of the mounting post 2213 that abuts against the second limiting member is made into a plane, which can increase the contact area between the mounting post 2213 and the second limiting member.

[0216] The machine body 1 is also provided with a limiting groove 13, and the lifting motor seat 32 of the steering seat 3 is provided with a protruding limiting protrusion, as shown in Figure 2a. When the grass trimming device is in the retracted state, the limiting protrusion is located in the limiting groove 13, and the two together limit the retraction angle. Of course, in another embodiment, a protruding limiting protrusion can also be provided on the outside of the machine body 1, and a limiting groove 13 can be provided on the lifting motor seat 32.

[0217] In addition, the depth of the limiting groove 13 cannot fully accommodate the limiting protrusion, so that there is a certain gap between the body 1 and the steering seat 3, so as to prevent the steering seat 3 from directly hitting the body 1 during the retrieval of the grass cutting device.

[0218] To further cushion the impact of the mowing component 6 on the machine body 1, a buffer pad can be installed in the limiting groove. The buffer pad can be a colloid or a flexible pad, as long as it can buffer the impact.

[0219] The lifting motor base 32 and the base body 31 are integrally formed. The lifting motor base 32 is located on the top surface of the support platform 222 and can rotate with the base body 31. It is used to install the lifting adjustment component 5.

[0220] Specifically, as shown in Figure 17, the lifting motor base 32 is provided with a first space 321 and a second space 322, with a baffle 323 separating the first space 321 and the second space 322.

[0221] The lifting and adjusting component 5 responds to the applied operating force to adjust the working height of the mowing component 6. The lifting and adjusting component 5 can be equipped with a manual operation interface such as a handle, knob, pin, or slot. Users can directly lock the height of the mowing component 6 mechanically by manually lifting, rotating, or shifting gears. This method is simple in structure, low in cost, and can still ensure reliable height adjustment even in extreme situations where an electrical control environment is unavailable or the motor fails. The lifting drive component includes at least one of an electric height adjustment structure and a manual height adjustment structure. The electric height adjustment structure includes at least one of a lifting motor, a lead screw assembly, and a gear transmission assembly.

[0222] This embodiment employs an electrically adjustable structure. Its lifting adjustment component 5 includes a lifting drive and a cam 52. The lifting drive includes a lifting motor 51, which is located within the first space 321 and fixed to the lifting motor base 32 via a lifting motor fixing component 324. The specific fixing method is not limited. The output shaft of the lifting motor 51 extends through the baffle 323 into the second space 322.

[0223] Cam 52 is installed in the second space 322. Cam 52 is fixedly connected to the output shaft of lifting motor 51. Cam 52 can rotate with lifting motor 51.

[0224] The top cover 33 covers the top of the base 31 and is fixedly connected to the base 31 and the lifting motor base 32. Specifically, the top cover 33 is provided with multiple connecting protrusions 333, which can be fixedly connected to the base 31 and the lifting motor base 32 by bolts. As shown in Figures 2a and 5, one of the connecting protrusions 333 can also replace the aforementioned limiting protrusion, serving as a retraction limiting function.

[0225] The upper cover 33 can also rotate with the base 31. The upper cover 33 is connected to the inner end of the robotic arm 8. During the rotation of the upper cover 33, the robotic arm 8 can drive the grass-cutting work component 6 to rotate.

[0226] The robotic arm 8 can be configured as a column, with its inner end movably connected to the upper cover 33 and its outer end movably connected to the grass-cutting work component 6.

[0227] The top cover 33 comprises two integrally formed parts. One part covers the top of the seat 31 and is fixedly connected to the seat 31, while the other part is located on the top of the steering motor seat 221 and is connected to the steering motor seat 221. The part located on the top of the steering motor seat 221 includes a base plate 331 and two side plates 332, which are spaced apart and located on the top surface of the base plate 331.

[0228] One end of the robotic arm 8 is connected to the top cover 33 and located between two side plates 332, while the other end extends radially and is connected to the grass-cutting work assembly 6. When the steering seat rotates, the two side plates 322 can push the robotic arm to rotate synchronously. The two side plates facing each other push the robotic arm to rotate synchronously, which can provide stability for the rotation of the robotic arm.

[0229] In one embodiment, the robotic arm 8 includes a first link 81 and a second link 82, wherein the first link 81 and the second link 82 form a linkage structure. The inner end of the linkage structure is rotatably connected to the steering seat, and the outer end extends radially outward and is rotatably connected to the mowing component. In the embodiment shown in Figure 17, the linkage structure is located between and abuts against the two side plates 332. The inner end of the linkage structure is rotatably connected to the two side plates 332. The lifting adjustment component 5 can drive the inner end of the linkage structure to rotate, thereby causing the outer end to lift and lower the mowing component.

[0230] Specifically, the first link 81 and the second link 82 are arranged vertically and their ends are movably connected to the two side plates 332 of the upper cover 33 and the mowing component 6, respectively. The movable connection point between the first link 81 and the upper cover 33 is the first fulcrum, and the movable connection point with the mowing component 6 is the second fulcrum. The movable connection point between the second link 82 and the upper cover 33 is the third fulcrum, and the movable connection point with the mowing component 6 is the fourth fulcrum. The first, second, third, and fourth fulcrums form a quadrilateral geometric constraint, preferably a parallelogram geometric constraint.

[0231] The first link 81 and the second link 82 can be hinged to the top cover 33 or the mowing component 6. The first fulcrum and the second fulcrum are the hinge points of the first link 81 with the top cover 33 and the mowing component 6, respectively. The third fulcrum and the fourth fulcrum are the hinge points of the second link 82 with the top cover 33 and the mowing component 6, respectively.

[0232] In the embodiment shown in Figure 8, the first connecting rod 81 is rotatably connected to the upper cover 33 via a first rotating shaft 841 and rotatably connected to the mowing assembly 6 via a second rotating shaft 842. The second connecting rod 82 is rotatably connected to the upper cover 33 via a third rotating shaft 843 and rotatably connected to the mowing assembly 6 via a fourth rotating shaft 844. The first rotating shaft 841, the second rotating shaft 842, the third rotating shaft 843, and the fourth rotating shaft 844 respectively form the first fulcrum, the second fulcrum, the third fulcrum, and the fourth fulcrum. The first rotating shaft 841 and the second rotating shaft 842 are respectively disposed on the two side plates 332 of the upper cover 33.

[0233] The axes of the first rotating shaft 841, the second rotating shaft 842, the third rotating shaft 843, and the fourth rotating shaft 844 all extend horizontally and are set parallel to each other. The connection between the two connecting rods and the upper cover 33 and the grass-cutting working component 6 via the rotating shafts is more stable than the hinge. The first connecting rod 81 and the second connecting rod 82 can only rotate around the first rotating shaft 841 and the third rotating shaft 843, that is, swing up and down, and cannot move in other directions, making the overall movement more stable.

[0234] Both the first link 81 and the second link 82 are packaged in a box, with the first link 81 located below the second link 82 and partially enclosing the second link 82.

[0235] The bottom surface of the first link 81 abuts against the aforementioned cam 52. The rotation of the cam 52 can drive the first link 81 and the second link 82 to rotate around the first pivot 841 and the third pivot 843 between the highest and lowest positions, thereby driving the grass-cutting work assembly 6 to rise and fall.

[0236] As shown in Figures 8 and 20, when the mowing assembly 6 is in its highest position, the cam 52 is at its maximum lift point, and the mowing head 62 is at its highest position, which is also its initial height. When it is necessary to lower the height of the mowing head 62, the lifting motor 51 drives the cam 52 to rotate clockwise. Due to the weight of the mowing head 62, the first connecting rod 81 rotates counterclockwise around the first pivot 841, and the second connecting rod 82 rotates counterclockwise around the third pivot 843, which manifests as the descent of the mowing head 62. As shown in Figures 9 and 21, when the mowing assembly 6 is in its lowest position, since the mowing assembly 6 can rotate around the third pivot 843 and the fourth pivot 844, the mowing head 62 can always remain perpendicular to the ground during the descent.

[0237] When it is necessary to drive the grass trimmer head 62 to rise, the lifting motor 51 can drive the cam 52 to rotate counterclockwise to the initial height.

[0238] Of course, in other embodiments, the first connecting rod 81 can also be driven to rotate around the first pivot 841 and the first connecting rod 81 around the third pivot 843 in other ways. For example, the cylinder can also be mounted on the steering seat 3, and the piston rod of the cylinder can be hinged to the bottom surface of the first connecting rod 81. The piston rod can drive the first connecting rod 81 to rotate around the first fulcrum when it rises or falls.

[0239] In some embodiments, a single connecting rod may be provided, such as a separate first connecting rod 81. The two ends of the first connecting rod 81 are movably connected to the steering seat 3 and the mowing assembly 6, respectively. The bottom surface of the first connecting rod 81 abuts against the cam 52 and can slide with the cam 52 to drive the mowing assembly 6 to rise and fall. Providing two connecting rods can improve the stability of the lifting and lowering process.

[0240] In another embodiment, the two connecting rods can also be arranged side by side in the horizontal direction. The inner ends of the two connecting rods are rotatably connected to the steering seat 3, and the outer ends are rotatably connected to the grass trimming component 6. One of the connecting rods is driven by the cam 52 to swing, which will drive the other connecting rod to swing.

[0241] As shown in Figures 15, 16, and 17, the first connecting rod 81 is a box-shaped structure with its opening facing upwards, and the second connecting rod 82 is a box-shaped structure with its opening facing downwards. The first connecting rod 81 partially encloses the second connecting rod 82, and the first and second connecting rods together form a closed cavity. In other words, the two sides of the first connecting rod 81 are located on the two sides of the second connecting rod 82. The first and second connecting rods 81 and 82 serve both as transmission components and as prevent foreign objects from entering the grass-cutting device. This eliminates the need for a separate protective mechanism, satisfying both transmission and protection functions while making the entire device lighter.

[0242] The mowing device essentially forms a cantilever structure on the side of the machine. During cutting, it encounters resistance from soil, grass roots, and small stones, generating reaction forces. If the mowing device is heavy, it can cause the machine's center of gravity to shift, and the resistance and vibration can generate significant bending stress and torque, potentially leading to the machine tipping over, tilting, or even fatigue fracture at the connection between the mowing device and the machine body. In this application, the first and second connecting rods work together, providing not only transmission but also individual protection, resulting in a lighter mowing device and preventing breakage at the connection between the mowing device and the machine body.

[0243] Furthermore, the two sides of the first connecting rod 81 abut against the two side plates 332 of the upper cover 33 respectively, that is, the two sides of the first connecting rod 81 and the two side plates 332 of the upper cover are face-to-face transmissions. The steering motor 41 drives the upper cover 33 of the steering seat 3 to rotate, and then the two side plates 332 of the upper cover 33 push the two sides of the first connecting rod 81 to rotate face-to-face. This driving method replaces the traditional method of the motor directly driving the robotic arm, which solves the shaking problem caused by the lightweighting of the robotic arm. The robotic arm forms a lever structure with its hinge point with the steering seat as the fulcrum. With the position of the cam 52 and the installation position of the grass cutting motor and other related structural features, the steering and lifting functions of the grass cutting work component 6 are realized, and the entire grass cutting work device is made lighter and more stable.

[0244] In another embodiment, the first link 81 is a box-shaped structure with its opening facing upwards, and the second link 82 can be a rod-shaped structure located inside the first link, or the second link 82 can be a box-shaped structure with its opening removed, and the first link 81 can be a rod-shaped structure located inside the second link 82.

[0245] As a preferred embodiment, the lifting adjustment assembly 5 includes a rolling element, which can be a roller 53 or a ball bearing, etc. As shown in Figures 8 and 9, the roller 53 is disposed on the bottom surface of the first connecting rod 81 and is rotatably connected to the first connecting rod 81. The roller 53 abuts against the outer contour of the cam 52 and rolls along the outer contour of the cam 52 as the cam 52 rotates. When it is necessary to lower the height of the trimmer head 62, the lifting motor 51 drives the cam 52 to rotate clockwise, the roller 53 slides along the outer contour of the cam 52, and the first connecting rod 81 rotates counterclockwise around the first rotating shaft 841 and the second connecting rod 82 rotates counterclockwise around the third rotating shaft 843.

[0246] Further, as shown in Figures 22 and 23, the baffle 323 is also equipped with a first limiting post 325 and a second limiting post 326. The first limiting post 325 and the second limiting post 326 are located on the left and right sides of the cam 52, respectively, defining the two surfaces of the outer contour of the cam 52 as the first contour surface 521 and the second contour surface 522. When the mowing assembly 6 is in the highest position, as shown in Figure 22, the first contour surface 521 abuts against the first limiting post 325, and the second contour surface 522 and the second limiting post 326 are spaced apart. When the mowing assembly 6 is in the lowest position, as shown in Figure 23, the second contour surface 522 abuts against the second limiting post 326, and the first contour surface 521 is away from the first limiting post 325. The first limiting post 325 and the second limiting post 326 are used to limit the rotation of the cam 52 in the highest and lowest positions.

[0247] The function of the second limit post 326 is to limit the rotation angle of the cam 52, so as to prevent the cam 52 from continuing to rotate too much when the grass-beating head 62 descends to the lowest position. When the lifting motor reverses to raise the grass-beating head 62, the return angle of the cam 52 is too large, which cannot push the rolling parts in time, resulting in a delay in raising the grass-beating head 62.

[0248] In another embodiment, as shown in FIG16, the baffle 323 is also provided with an abutment groove 327. When the grass trimming working component 6 is at the lowest position, the roller 53 slides down along the outer contour of the cam 52. However, the roller 53 does not move downward in a straight line, but rotates around the first rotating shaft 841. During the descent and ascent, the roller 53 will have a relative lateral displacement relative to the working surface of the cam 52. The grass trimming head 62 descends from the highest position to the lowest position, and the projections of the cam 52 and the working surface of the follower always overlap.

[0249] At its lowest position, roller 53 moves laterally, with part of it abutting against the outer contour of cam 52 and the other part abutting against the abutment groove 327 of baffle 323. The abutment groove 327 also limits the lowest position of the mowing assembly 6.

[0250] Furthermore, the lowest position can be limited by restricting the descent height of the first link 81 or the second link 82. As shown in Figures 15, 16, and 17, the bottom plate 331 of the upper cover 33 is an inclined plate, and the top surface of the bottom plate 331 is an inclined limiting surface 334. In the highest position, this limiting surface 334 is located below the first link 81 and the second link 82. In the lowest position, the bottom surface of the first link 81 abuts against the inclined limiting surface 334, which also limits the position of the first link 81 and the second link 82.

[0251] As shown in Figure 8, the distance between the axis of the first rotating shaft 841 and the axis of the fourth rotating shaft 844 is L, and the distance from the position where the roller 53 abuts against the cam 52 to the position of the axis of the first rotating shaft 841 is L1. The ratio of L1 to L ranges from 1 / 3 to 2 / 3. Furthermore, the ratio of L1 to L is 1 / 2.

[0252] The first rotating shaft 841 and the fourth rotating shaft 844 are respectively located on both sides of the contact point between the cam 52 and the robotic arm. The contact point of the robotic arm is also the contact point between the roller 53 and the cam 52. The first rotating shaft 841 and the fourth rotating shaft 844 form a lever structure with the mounting point of the robotic arm 8 as the fulcrum. The self-weight of the grass-cutting working component 6 is used to ensure that the roller 53 below the robotic arm 8 is in reliable contact with the cam 52. This avoids the following situations that may occur when the grass-cutting motor 61 and other structures are too lightweight: when the lifting motor adjusts the grass-cutting head 62 to descend, the end weight cannot overcome the friction at the mounting fulcrum to descend, or the descending response is too slow.

[0253] In one embodiment, the closer the robotic arm contact point is to the first rotating shaft 841, the greater the driving power of the lifting motor 51. If the robotic arm contact point is far from the first rotating shaft 841, a heavier grass-trimming motor 61 and grass-trimming head 62 are required to ensure reliable contact between the roller 53 and the cam 52, which is not conducive to lightweight design. Therefore, the robotic arm contact point can be set in the range of 1 / 3 to 2 / 3 of the robotic arm 8, and further, it can be at 1 / 2.

[0254] As shown in Figures 30 and 31, the mowing assembly 6 includes a mowing motor 61, a mowing head 62, and a housing 67. The mowing motor 61 is connected to the housing 67, and the mowing head 62 is connected to the mowing motor 61, with a mowing rope 63 on the mowing head 62. The mowing motor 61 drives the mowing head 62 to rotate the mowing rope 63. The mowing device also includes a cutting assembly 64, which includes a guard plate 65 extending out of the mowing head 62 and a cutting member 641 connected to the guard plate 65. The guard plate 65 is fixedly connected to the housing 67, and the cutting member 641 is used to cut the mowing rope 63 when it rotates to the cutting member 641. The cutting component is used to cut the grass trimming rope 63, which is wound inside the grass trimming head 62. The length pulled out is not easy to control precisely. If the rope is too long, the grass trimming motor 61 will be overloaded or collide with surrounding objects during the rotation of the grass trimming rope 63. The cutting component 641 is set so that the grass trimming rope 63 will be cut to a fixed length when it is thrown out, and there is no need to manually control its length.

[0255] The steering motor 41 is housed within the connecting seat 2, while the lifting motor 51 is housed within the lifting motor seat 32 of the steering seat 3. This lifting motor seat 32 is located on the support platform 222 of the connecting seat 2. Essentially, the connecting seat 2 bears the weight of both the steering motor 41 and the lifting motor 51, leaving only the necessary weight of the mowing motor 61 component in the robotic arm 8. The steering motor 41 and lifting motor 51 belong to the orientation control group, while the mowing motor 61 belongs to the operation execution group. The structural counterweight is concentrated in the connecting seat 2, meaning the overall weight is closer to the connection between the mowing device and the machine body 1. This significantly reduces the weight and inertia of the robotic arm 8, improves overall machine balance, and reduces vibration during operation. Concentrating the height adjustment power source and obstacle avoidance power source within or on the surface of the base unit reduces the overall volume of the mowing device, centralizes the center of gravity, unifies wiring and protection, and also reduces the risk of external weeds entangled in the motor shaft.

[0256] In one embodiment, a lifting motor 51 and a steering motor 41 of similar weight can be used, and they can be installed symmetrically. The centers of the lifting motor 51 and the steering motor 41 are on the same horizontal plane, that is, at the same height, so that the center of gravity of the entire connecting seat 2, steering adjustment component 4, lifting adjustment component 5, and steering seat 3 is closer to the geometric center of the connecting seat 2. Due to the presence of magnets and other structures in the lifting motor 51 and the steering motor 41, the motor housing of the grass-cutting device is generally made of plastic. The weight of the grass-cutting motor 61 can also be less than that of the lifting motor 51 or the steering motor 41. The weight of the grass-cutting motor 61 and the motor housing 66 are smaller than the mass of the lifting motor 51 and the steering motor 41. The center of gravity of the entire connecting seat 2, steering adjustment component 4, lifting adjustment component 5, and steering seat 3 mainly depends on the installation position of the steering motor 41 and the lifting motor 51. In order to ensure the connection balance between the grass-cutting device and the whole machine, and the force balance of the internal connecting parts of the connecting seat 2, so as not to make one side of the connecting seat 2 bear more connection compression and overturning force, a lifting motor 51 and a steering motor 41 of similar weight are used. The symmetrical arrangement and consistent installation height ensure that the center of gravity of the entire mowing device is close to the geometric center of the connecting seat 2, which can improve the stability of the entire mowing device.

[0257] The grass cutting device also includes multiple rubber plugs 91, which are installed in the cable routing holes of the steering seat 3 and the two connecting rods, allowing the cable 9 to pass through while also providing a sealing function.

[0258] As shown in Figures 18-25, the third embodiment of the grass-cutting device of this application also includes a connecting seat 2, a steering seat 3, a steering adjustment component 4, a lifting adjustment component 5, a grass-cutting component 6, and a robotic arm 8. The principle of the entire device is basically the same as that of the grass-cutting device of the first embodiment. For example, the steering motor 41, clutch 42, lifting motor 51 and cam 52 cooperate, and the grass-cutting method of the grass-cutting motor 61 and the detachable method of the bottom cover 23 are all the same as those of the first embodiment. The operation of the entire grass-cutting device will not be described in detail.

[0259] In this embodiment, as shown in Figures 18 and 19, the first link 81 and the second link 82 are both box-shaped, and the second link 82 is located above the first link 81. The second link is also a box-shaped structure with an opening facing downwards, and the first link 81 is also a box-shaped structure with an opening facing upwards.

[0260] Unlike the first embodiment, the second link 82 partially surrounds the first link 81. The second link 82 covers the first link 81 and is combined with the first link 81 to form a closed cavity. Compared with setting an additional top shielding structure, using the second link 82 as a top shield can prevent weeds and foreign objects from entering the interior of the two links, greatly reducing the weight of the robotic arm 8 and improving the flexibility and motion response of the trimming.

[0261] In addition, an elastic element is provided between the first link 81 and the second link 82, which is defined as the first elastic element 85. The first elastic element 85 is located in the closed cavity formed by the first link 81 and the second link 82, with one end connected to the first link 81 and the other end connected to the second link 82. The first elastic element 85 is a spring, which can improve the stability of the linkage height adjustment of the two links.

[0262] Furthermore, in this embodiment, the steering seat 3 includes a seat body, a lifting motor seat, and a top cover, with a sealing ring 35 provided at the connection between the top cover and the seat body. The lifting motor seat is connected to the radially outer side of the seat body, while the top cover covers the top of the seat body and the lifting motor seat.

[0263] The steering seat 3 also includes a protective shell 34, which is arranged radially outside the seat body, the lifting motor seat, and the top cover. It does not cover the top of the top cover and does not affect the lifting of the two connecting rods. The height of the protective shell 34 is basically the same as the overall height of the seat body and the top cover, and it is fixedly connected to the radially outside of the seat body, the lifting motor seat, and the top cover.

[0264] The first link 81 and the second link 82 are connected to the upper cover via the first pivot 841 and the second pivot 842, respectively. That is, the first pivot 841 and the second pivot 842 are provided on the two side plates 332 of the upper cover. The working angle of the robotic arm 8 is adjusted by the protective shell 34 and the upper cover.

[0265] The two sides of the second link 82 abut against the two side plates 332 of the upper cover 33, meaning that the two sides of the second link 82 and the two side plates 332 of the upper cover are in face-to-face transmission. The steering motor 41 drives the upper cover 33 of the steering seat 3 to rotate, and then the two side plates 332 of the upper cover 33 push the two sides of the second link 82 to rotate face-to-face, while simultaneously driving the first link 81 to rotate. Compared with the existing technology where the angle motor directly drives the mechanical arm 8 to rotate, changing the force from the shaft driving the mechanical arm 8 to a face-to-face force can reduce the shaking of the lightweight mechanical arm 8 during angle adjustment, reduce stress concentration at the shaft position, allow the use of lighter connecting parts, and the protective shell 34 set on the outside of the mechanical arm 8 can also prevent foreign objects from entering the mechanical arm 8.

[0266] Furthermore, the protective shell 34 essentially encloses the seat, the lifting motor seat, and the top cover, forming a basically enclosed space, with only an opening between the two side plates 332 of the top cover, which facilitates the lifting and lowering of the first and second links. The second link covers the first link 81, with the two side plates 332 abutting against each other, forming a closed space between the first and second links. The abutting between the second link and the two side plates allows for face-to-face transmission, and the overall enclosed space prevents external foreign objects from entering the steering seat or the first and second links.

[0267] In this embodiment, the lifting motor base 32 only has a first space 321 and a baffle 323 to accommodate the lifting motor 51, and no second space 322 is provided. That is, the cam 52, the first limiting post 325, and the second limiting post 326 are all exposed outside the baffle 323. Compared with the first embodiment, the mounting space of the cam 52 has eliminated the bottom surface, eliminating the space for the accumulation of grass clippings, soil, and other debris on the platform, and avoiding mechanism jamming caused by the accumulation of debris.

[0268] The grass-cutting motor 61 in this embodiment is also provided with a motor housing 66, as shown in Figures 24 and 25. The motor housing 66 is provided with a heat dissipation structure and an air inlet 663. When the grass-cutting motor 61 is in operation, a negative pressure area 611 is formed near the motor shaft of the grass-cutting motor 61 under high-speed rotation. The negative pressure area 611 is also the gap between the coil and the magnet.

[0269] The air inlet 663 is located at the bottom of the motor housing 66 and extends into the negative pressure zone 611 inside the grass-cutting motor 61, that is, the air inlet 663 and the negative pressure zone 611 are connected.

[0270] Cool air enters through the air inlet 663, contacts the motor shaft, and flows through the internal coils and other structures of the motor. Under the action of centrifugal force, the hot air is thrown to all sides of the motor and dissipates from the heat dissipation structure of the motor housing 66. This heat dissipation structure includes multiple heat dissipation fins 661, or other vents and other structures, and surrounds the radial outer side of the grass-trimming motor 61 to facilitate the outward dissipation of hot air.

[0271] A heat-conducting layer 662 is provided between the grass-cutting motor 61 and the motor housing 66. The heat-conducting layer 662 can be a heat-conducting silicone pad or a heat-conducting colloid injected between the motor housing 66 and the grass-cutting motor 61.

[0272] The motor housing 66 is provided with an air inlet 663 and a heat dissipation structure to cool the key heat-generating structure of the grass-cutting motor 61. A thermally conductive silicone pad is provided between the grass-cutting motor 61 and the motor housing 66. Under centrifugal force, hot air is thrown to the surrounding area of ​​the grass-cutting motor 61. The surface of the motor housing 66 is provided with heat dissipation fins 661, which dissipate heat to the motor housing 66 through the thermally conductive silicone pad.

[0273] This application uses a thermally conductive silicone pad to replace the traditional air-cooled heat dissipation of the grass trimming motor 61. Traditional air-cooled heat dissipation requires an air outlet, and there will be gaps in the motor body. However, grass trimming requires long-term outdoor operation, which places high demands on the sealing of the grass trimming motor 61. Traditional air-cooled heat dissipation cannot meet the operational needs.

[0274] In addition, potting compound can be used for heat dissipation. In conjunction with the integrated motor housing 66, the potting compound is filled between the motor housing 66 and the grass-trimming motor 61. The potting compound dissipates heat to the surrounding area of ​​the motor housing 66. Since the potting compound needs to be poured between the integrated motor housing 66 and the grass-trimming motor 61, in order to ensure uniform flow, the flow gap needs to be at least 4mm. That is, the gap on one side between the motor housing 66 and the grass-trimming motor 61 needs to be at least 4mm. The gap requirement is relatively large, so this implementation method is suitable for motors with smaller diameters, so as not to make the grass-trimming part too large.

[0275] Furthermore, when using a thermally conductive silicone pad, this implementation can employ a modular motor housing 66. The thermally conductive silicone pad does not require flow filling; it only needs to be installed on the outer periphery of the mowing motor 61. Therefore, an integrated motor housing 66 is not required, and flow gaps do not need to be considered. The gap between the motor housing 66 and the mowing motor 61 only needs to be large enough to install the thermally conductive silicone pad, typically 1mm. This method can reduce the size of the motor housing 66 and is suitable for both large-diameter and small-diameter motors.

[0276] An air inlet 663 is provided in the motor housing 66. The air inlet 663 extends into the motor housing 66 to form an air duct. The end of the air duct is located in the negative pressure zone 611 of the cooling fan blade of the grass trimmer motor 61, making full use of the negative pressure suction to enhance the air intake efficiency and improve the heat dissipation effect.

[0277] The third embodiment of this application also includes a connecting seat 2, a steering adjustment assembly 4, a lifting adjustment assembly 5, a grass-cutting assembly 6, and a robotic arm 8. The connecting seat 2 is used to be fixedly connected to the machine body 1. The steering motor 41, the clutch 42, and the end cover 43 are respectively installed on the connecting seat 2. The grass-cutting method of the steering motor 41, the clutch 42, and the grass-cutting motor 61 is the same as that of the first embodiment.

[0278] The difference lies in this embodiment, as shown in Figures 30 and 31. The outer casing 67 of the mowing motor 61 is directly fixedly connected to the end cap 43, and the end cap 43 directly drives the outer casing 67 and the mowing motor 61 to rotate. The outer casing 67 includes a first section 671, a second section 672, and a third section 673. The first section 671 covers the top of the connecting seat 2 and is fixedly connected to the end cap 43. The second section 672 is located between the first section 671 and the third section 673, acting as a robotic arm 8, but the second section 672 cannot be raised or lowered. The third section 673 covers the radially outer side of the mowing motor 61.

[0279] Furthermore, the lifting adjustment component 5 differs from the first embodiment. In this embodiment, the lifting adjustment component 5 is installed in the housing 67 and is used to drive the lifting of the mowing motor 61 and the mowing head 62. Specifically, as shown in FIG31, the lifting adjustment component 5 includes not only the lifting motor 51 but also the lifting rope 54. The lifting motor 51 is located inside the housing 67 and is fixedly connected to the second section 672 of the housing 67, while the lifting rope 54 is located inside the third section 673 of the housing 67, with its bottom end connected to the mowing motor 61 and its top end wound around the output shaft of the lifting motor 51. As the lifting motor 51 rotates, it drives the mowing motor 61 to rise and fall between the highest and lowest positions.

[0280] The third section 673 of the outer casing 67 is also provided with a guide rod 56 extending vertically, while the lawn mower motor 61 is provided with a pair of roller pulleys 55, which are roller-clamped to the outside of the guide rod 56. The rollers 55 and the guide rod 56 work together to provide guidance.

[0281] Of course, in other embodiments, a guide rail extending vertically can be provided in the third segment 673, and a slider that can slide in the guide rail can be provided outside the grass trimming motor 61. The two can work together to play a guiding role.

[0282] The third segment 673 also includes an elastic element, designated as the second elastic element 68. The bottom end of the second elastic element 68 is connected to the third segment 673, and the top end is connected to the mowing motor 61. When the mowing motor 61 is in its lowest position, the second elastic element 68 is compressed. When the mowing motor 61 needs to rise, the second elastic element 68 assists the lifting motor 51 in driving the mowing motor 61 to rise.

[0283] It should be understood that, in this embodiment, the housing 67 can also be driven by a lead screw assembly or a gear transmission assembly to raise and lower the grass trimming motor. For example, the lead screw assembly includes a motor and a ball screw, which are located inside the housing 67. The motor is connected to the housing 67 and can drive the ball screw to rotate. The ball screw is connected to the grass trimming motor 61 and drives the grass trimming motor to raise and lower.

[0284] The gear transmission assembly can also drive the grass trimming motor to lift and lower. The gear transmission assembly includes a motor, a gear and a rack. The gear and the motor are respectively connected to the housing 67. The motor drives the gear to rotate. The rack is connected to the grass trimming motor and meshes with the gear. The motor can drive the gear to rotate, thereby driving the grass trimming motor to lift and lower.

[0285] The mowing assembly 6 includes a telescopic tube 69, which is fitted around the mowing motor 61 and has its bottom end connected to the bottom end of the motor 61, and its top end connected to the bottom end of the third section 673 of the outer casing 67. The telescopic tube 69 is telescopic and can also prevent foreign objects from entering the outer casing 67.

[0286] Furthermore, as shown in Figures 44-49, a connecting ring 674 is also installed at the bottom end of the third segment 673 of the outer shell 67. The connecting ring is annular and fixedly connected to the third segment 673 of the outer shell 67, and is used to fix the telescopic tube 69 to the bottom end of the third segment 673 of the outer shell 67.

[0287] Specifically, as shown in Figures 44, 45 and 46, the top end of the telescopic tube 69 is provided with an annular first connecting part 691. The first connecting part 691 extends circumferentially along the telescopic tube 69 and is located on the inner wall of the telescopic tube. The top surface of the first connecting part 691 is provided with a first mounting groove 692. The first mounting groove 692 is a groove extending circumferentially and is locked at the bottom end of the third segment 673.

[0288] The inner wall of the third segment 673 is provided with a mounting protrusion 675, as shown in Figure 45. The connecting ring 674 is installed on the inner wall of the third segment 673 and the top of the connecting ring is provided with a screw hole 676, as shown in Figure 48. The top of the connecting ring 674 can be fixedly connected to the mounting protrusion 675 by screws.

[0289] A protruding fixing plate 677 is provided on the radially outer side of the connecting ring 673, as shown in Figures 44, 46 and 48. The fixing plate 677 is arranged circumferentially along the connecting ring 673 and abuts against the bottom end of the first connecting part 691, thereby fixing the top end of the telescopic tube 69 to the third section 673.

[0290] In addition, the connecting ring 674 is provided with a protruding guide rod mounting position 678 on its radial inner side, as shown in Figures 44 and 48. The guide rod mounting position 678 is used for fixed assembly with the bottom end of the guide 56. The guide rod 56 can be fixedly assembled with the guide rod 56 by providing a hole in the guide rail mounting position 678.

[0291] Furthermore, in the embodiments shown in Figures 44, 45, and 48, the third segment 673 is also provided with two guide rods 56 extending vertically. The two guide rods 56 are located on both sides of the mowing motor, and the bottom ends of the two guide rods 56 are fixedly connected to the two guide rod mounting positions 678 of the connecting ring 673, respectively. The mowing motor 61 is provided with two pairs of roller pulleys 55, which are rotatably clamped around the two guide rods 56.

[0292] A mowing motor base 679 is installed outside the mowing motor. The mowing motor base 679 is equivalent to the motor housing 66 mentioned above. The mowing motor base 679 is cylindrical and located inside the third section 673, as shown in Figures 47 and 48. The bottom surface of the mowing motor base 679 is provided with a second mounting groove 6791, which extends circumferentially.

[0293] The bottom surface of the telescopic tube 69 is provided with a second connecting part 693, which is a ring extending in the circumferential direction and has a top surface that is fitted into a second mounting groove 6791.

[0294] The guard plate 65 is installed on the radial outer side of the grass trimmer motor base 679 and is fixedly connected to the bottom end of the grass trimmer motor base 679. The guard plate 65 abuts against the bottom surface of the second connecting part 693, and the first connecting part 693 is clamped between the guard plate 65 and the grass trimmer motor base 679.

[0295] The clutches 42 in the above embodiments of this application are all the same. As shown in Figures 26 and 27, the clutch 42 includes: a mounting housing 421, multiple transmission members 422, and multiple elastic members. The elastic members are defined as third elastic members 423, each with a single elastic portion. The mounting housing 421 has multiple guide grooves 4211, defined as second guide grooves 4211. Each transmission member 422 is movably disposed within the mounting housing 421, and each transmission member 422 has meshing teeth 4221, which can operably slide along the second guide grooves 4211. The number of third elastic members 423 is the same as the number of transmission members 422. The third elastic members 423 and transmission members 422 are alternately arranged around the mounting housing 421, forming a surrounding area. Each of the two ends of the third elastic member 423 abuts against the two adjacent transmission members 422 respectively. The two adjacent third elastic members 423 cooperate to apply a pushing force to the transmission members 422 that abut against each other, so that the transmission members 422 are driven away from the center of the surrounding area.

[0296] In normal operation or retrieval, the elastic element pressure keeps the transmission component 422 engaged to transmit torque. When the grass-cutting assembly experiences a violent collision that generates overload torque, the transmission component 422 overcomes the elastic element pressure and retracts into the guide groove, disengaging the meshing teeth. This ring array arrangement ensures uniform force distribution and features an automatic reset function after disengagement, allowing operation to resume without manual intervention.

[0297] This embodiment takes three transmission components 422 and three third elastic components 423 as an example, as shown in Figures 26 and 27. The second guide groove 4211 also has three sections. The two ends of the third elastic component 423 are connected to two transmission components 422. Each transmission component 422 has a connecting portion 4222 formed by a cross seat. The elastic portion is exemplified by a spring, which is fitted onto the cross seat. Two third elastic components 423 simultaneously push one transmission component 422, ensuring that the meshing teeth 4221 of the transmission component 422 always protrude from the mounting housing 421 through the second guide groove 4211 in its original state. In this embodiment, the mounting housing 421 also has an external connection hole 4212 located in the surrounding area. The external connection hole 4212 is used to connect to the output shaft of the steering motor. When the clutch 42 is driven by the steering motor, the meshing teeth 4221 of the transmission component 422 engage with the grooves 431 on other external components, such as the end cover 43, to rotate the end cover 43, thereby rotating the grass-cutting device connected to the end cover 43.

[0298] As shown in Figures 26 and 28, when the grass-cutting device is struck by an obstacle, the end cap 43 slides relative to the meshing teeth 4221 of the transmission member 422, pushing the transmission member 422 to slide into the mounting housing 421. This slippage between the transmission member 422 and the end cap 43 enables the clutch 42 to engage or disengage, as shown in the direction in the figure. When the obstacle disappears, the third elastic member 423 releases its accumulated elastic potential energy, allowing the transmission member 422 to return to its initial position, as shown in direction 1 in Figure 28. As shown in Figure 26, O is the center of the surrounding area, and the transmission member 422 slides outward from the mounting housing 421 in the direction of arrow A. In other words, the force state of the spring and the clutch principle under different operating conditions are different from those of the clutch 42 in the prior art. This application uses a spring that expands to both sides in its natural state (expansion spring / expansion spring). When "engaged", the spring naturally pushes out the transmission component 422. When "disengaged", the spring is passively compressed and stores energy. When returning to "engaged" from "disengaged", the spring releases the stored elastic potential energy to achieve reset. The entire clutch and reset process does not require adjustment of the power source. In contrast, the prior art generally uses a tension spring. When "engaged", it relies on the centrifugal force / electromagnetic force / hydraulic pressure generated by the power source. When "disengaged", it is necessary to cut off or reduce the power supply of the power source. When returning to "engaged" from "disengaged", the power supply of the power source is restored or increased. The entire process depends on the active adjustment of the power source. In other words, the force state and clutch principle of the third elastic element 423 under different working conditions are different from those of the clutch 42 in the prior art. In this embodiment, the third elastic element 423 (expansion spring / expansion spring) expands to both sides in its natural state. When "engaged", the third elastic element 423 naturally pushes out the transmission element 422. When "disengaged", the third elastic element 423 is passively compressed and stores energy. When "disengaged" and "engaged" again, the third elastic element 423 releases the stored elastic potential energy to achieve reset. The entire clutch and reset process does not require adjustment of the power source.

[0299] Understandably, the third elastic element 423 may also be other elastic functional elements that expand to both sides in their natural state, and is not limited to the spring in this embodiment. In addition, the number of the third elastic element 423 and the transmission element 422 is not limited to three, and may be more, or even two.

[0300] In addition, as shown in Figure 26, in this embodiment, the third elastic element 423 is connected to the transmission element 422, and the two transmission elements 422 share one third elastic element 423 (the third elastic element 423 is provided with transmission elements 422 at both ends / the third elastic element 423 is located between the two transmission elements 422). The load is evenly distributed, and the third elastic element 423 performs work synchronously on both sides, resulting in synchronous transmission and small working error. It can be applied to high-speed applications and also has high adaptability to low-speed transmission and applications that require fine adjustment of transmission relationship.

[0301] Additionally, as shown in Figures 26 and 27, the mounting housing 421 includes a positioning post 4213 for mounting the transmission component 422. The transmission component 422 has a mounting hole 4223 into which the positioning post 4213 is inserted. Along the radial direction of the surrounding area, the length of the mounting hole 4223 is greater than the length of the positioning post 4213, allowing the transmission component 422 to move operably in the radial direction, i.e., in the direction of arrow A. The mounting hole 4223 can be an oblong hole with semicircular ends and a parallel section in the middle, providing sliding space along the path of the second guide groove 4211. This allows the transmission component 422 to slide relative to the positioning post 4213 along the path of the second guide groove 4211, thereby achieving disengagement / engagement switching.

[0302] Further, as shown in Figures 26 and 27, the mounting housing 421 includes: a housing bottom 4214, and a housing sidewall 4215 surrounding the outer periphery of the housing bottom 4214. The second guide groove 4211 is formed on the housing sidewall 4215, and the side of the mounting housing 421 away from the housing bottom 4214 is an open side, which facilitates maintenance.

[0303] Additionally, as shown in Figures 26 and 27, the clutch 42 further includes a limiting member 4216. The limiting member 4216 is connected to the positioning post 4213 and abuts against the side of the transmission member 422 opposite to the bottom of the housing 4214. The limiting member 4216 can be a screw, which longitudinally positions the transmission member 422 to ensure that the transmission member 422 will not come out of the mounting housing 421, but does not restrict its sliding along the second guide groove 4211. However, it is not limited to screws; any structure that achieves the same limiting function is acceptable. The existence of this limiting ensures that the clutch 42 can adapt to different installation environments, not only the installation structure in this embodiment, but also other installation structures. When the mounting housing 421 is not closed, it can ensure that the transmission member 422 will not fall out of the mounting housing 421, ensuring reliable installation.

[0304] Furthermore, as shown in Figures 26 and 27, the side of the meshing tooth 4221 facing away from the housing sidewall 4215 of the mounting housing 421 is an arc surface 4224, which facilitates the slippage and retraction of the clutch 42 after being impacted.

[0305] The clutch 42 in this embodiment can be used in the transmission systems of various devices, such as lawnmowers or sweeping robots. The third elastic element 423 achieves the contact and disengagement of the transmission relationship. The third elastic element 423 naturally expands to achieve transmission contact, and passively applies pressure to achieve transmission disengagement. The entire process requires no manual control, achieving overload disengagement of the transmission relationship and thus protecting the power source (such as a motor). In other words, the transmission element 422 of the clutch 42 meshes with other mating parts. The natural tension of the third elastic element 423 pushes the transmission element 422 outward, engaging with the mating parts. When the motor is operating, the rotation of the motor shaft drives the mating parts to rotate via the transmission element 422 on the clutch structure. The mating parts are often connected to a working mechanism. This process can achieve the effect of driving the working mechanism (e.g., making the working mechanism rotate). When the working mechanism encounters an external obstacle or other impact, the transmission element 422 slips and retracts under the squeezing force of the mating parts, achieving the clutch function. Unlike ordinary gear meshing transmission, it does not directly impact the tooth surface, and the impact force is transmitted to the motor shaft, causing damage to the motor. In this application, the clutch 42 in this embodiment can protect the motor.

[0306] Understandably, this example uses a third elastic element 423 having one elastic portion as an example. In other embodiments, the third elastic element 423 may also have multiple elastic portions, such as a third elastic element 423 having several connected elastic portions. The specific number of elastic portions is set according to requirements. In addition, among the multiple third elastic elements 423, some third elastic elements 423 may have multiple elastic portions, while others may have only one elastic portion; or all third elastic elements 423 may have only one elastic portion, or all third elastic elements 423 may have multiple elastic portions.

[0307] In other embodiments, as shown in Figures 33 and 34, the structure of the transmission member 422 may differ from the above embodiments. As shown, the transmission member 422 has a transmission member body 4225, and a meshing tooth 4221 is disposed on the side of the transmission member body 4225 facing away from the sidewall 4215 of the mounting housing 421. The transmission member body, carrying the meshing tooth 4221, slides along the second guide groove 4211, and the meshing tooth 4221 is separated from the groove sidewall of the second guide groove 4211. That is, the meshing tooth 4221 is a component that completely protrudes from the middle area of ​​the end face of the transmission member body. When the transmission member body moves along the second guide groove 4211, the meshing tooth 4221 is driven. There is a gap between the edge of the meshing tooth 4221 and the second guide groove 4211, so that it will not hit the edge of the second guide groove 4211 during engagement, reducing the impact of the second guide groove 4211 on the tooth surface and effectively improving the service life of the clutch 42.

[0308] In addition, as shown in Figures 33 and 34, the root 4226 of the meshing tooth 4221 is a plane. Designing the root 4226 of the meshing tooth 4221 as a plane obtains a larger surface area, which can effectively disperse the stress at the root position.

[0309] Furthermore, to prevent the transmission component 422 from detaching from the mounting housing 421, a transmission limiting component 4227 is provided on the side wall of the transmission component body. When the transmission component 422 moves to its limit position along the second guide groove 4211 outward from the mounting housing 421, the transmission limiting component 4227 abuts against the inner wall of the mounting housing 421.

[0310] The second embodiment of this application relates to a mowing device. As shown in Figures 30, 31, and 32, the mowing device can be the mowing device in an autonomous operating device 100 such as a lawnmower, including: a housing 67, a clutch 42 as in the first embodiment, a steering motor 41, an end cover 43, and a mowing assembly 6. The steering motor 41 is connected to the clutch 42 and drives the clutch 42 to rotate. The end cover 43 covers the clutch 42 and is fixedly connected to the housing 67, and the inner wall of the end cover 43 is provided with a toothed groove 431 that engages with the meshing teeth 4221 of the transmission member 422. The mowing assembly 6 is disposed inside the housing 67. The steering motor 41 drives the clutch 42 to rotate, and the transmission member 422 of the clutch 42, in cooperation with the end cover 43, drives the end cover 43, the housing 67, and the mowing assembly 6 to rotate. The end cap 43 is connected to the outer shell 67 by bolts. In its natural state, the transmission component 422 is pushed outward and meshes with the tooth groove 431. When the steering motor 41 rotates, it drives the end cap 43 to rotate. At the same time that the transmission component 422 drives the end cap 43 to rotate, the outer shell 67 also rotates, driving the outer shell 67 and other parts on it to rotate, thereby realizing the overall steering of the grass cutting device.

[0311] Additionally, as shown in Figure 28, the grass-cutting device also includes: a connecting seat 2 movably connected to the outer casing 67, and a motor mount for mounting the steering motor 41, which is a steering motor mount 221, and the connecting seat 2 is fixedly connected to the steering motor mount 221. An end cover 43 and a clutch 42 are installed inside the connecting seat 2. A bearing 45 is fixed inside the connecting seat 2 and fitted over the end cover 43, allowing the end cover 43 to rotate relative to the connecting seat 2. The outer side wall of the connecting seat 2 has a first limiting ridge 2214. The portion of the connecting seat 2 with the first limiting ridge 2214 is nested inside the outer casing 67, and the inner side wall of the outer casing 67 has a second limiting ridge 311 that cooperates with the first limiting ridge 2214. When the outer casing 67 is driven by the clutch 42 to a preset position, the first limiting ridge 2214 abuts against the second limiting ridge 311. Thus, after rotating to a preset working angle, the first limiting ridge 2214 and the second limiting ridge 311 abut against each other, achieving angle limiting. As shown in Figure 29, a sealing ring 46 is also provided at the joint between the connecting seat 2 and the outer shell 67, and a sealing ring 46 is also provided at the joint between the top of the connecting seat 2 and the steering motor seat 221.

[0312] In this embodiment, the second limiting ridge 311 is a separately provided ridge. In other embodiments shown in Figures 35 and 36, the second limiting ridge 311 can also be formed by the abutment part of the docking motor, instead of a separately provided ridge. The abutment part is the mounting post 2213 mentioned above, which is connected to the connection hole on the motor by bolts. The abutment part also serves as the second limiting ridge 311, which is used to cooperate with the first limiting ridge 2214. The transmission component 422 of the clutch 42 and the end cover 43 are meshed and matched. The natural tension of the third elastic element 423 pushes the transmission component 422 outward and meshes with the end cover 43. When the steering motor 41 is working, the rotation of the motor shaft drives the end cover 43 to rotate through the transmission component 422 on the clutch structure. The end cover 43 is connected to the steering seat 3 of the first and second embodiments or the outer shell 67 of the third embodiment. Other components are connected to the outer shell 67. This process can achieve the effect of driving the grass cutting device. When the grass cutting device encounters an external obstacle or other impact, the transmission component 422 is squeezed by the mating component and slips back. Specifically, the transmission component 422 is squeezed, and the mating relationship between the transmission component 422 and the mating component slips. The mating component rotates a certain angle, thereby realizing the clutch function. Unlike ordinary gear meshing transmission, it will not directly impact the tooth surface, and then the impact force will be transmitted to the motor shaft, causing damage to the steering motor 41. In this embodiment, the clutch 42 can protect the steering motor 41 in this application.

[0313] Specifically, for working mechanisms that need to operate at a fixed angle, such as those used to cut weeds at the work boundary during the movement of a lawnmower, the mowing device needs to be opened to the working angle to work. When encountering obstacles or other external impacts, it will slip and retract at a certain angle under the action of the aforementioned clutch structure, as shown in the figure. After avoiding the obstacle, it needs to return to the preset working angle to continue working. In this case, the motor shaft is set to always maintain a torque along the tangent of the opening direction after rotating to the preset working angle, as shown in direction 1 in Figure 28. With the clutch 42, even if it is hit by an obstacle and retracts, it will still return to the working angle to continue the trimming operation after avoiding the obstacle. When the steering motor 41 is energized, the torque of the motor shaft is the same as the load torque of the working mechanism. More specifically, the torque of the transmission component 422 is the same as the resistance torque generated by the reaction of the mating component. In short, the transmission component 422 can neither drive the mating component to rotate nor can the mating component squeeze the transmission component 422 to retract, and it remains fixed in a balanced state at the working angle. After hitting an obstacle, this balance is disrupted, causing the clutch 42 to slip, the angle to turn back, and the third elastic component 423 to be compressed and store energy. When the obstacle disappears, the third elastic component 423 releases the stored elastic potential energy. Under the combined action of the elastic force and the inherent motor torque (the torque is the same before and after, and there is no need to change the magnitude of the motor torque, which is fundamentally different from the existing technology that requires changing the magnitude of the motor power to restore the original position), the driving angle is restored. The magnitude of the restored angle can be controlled by the first limit edge 2214 and the second limit edge 311 on the equipment, or detected and controlled by the magnetic code disk on the motor, to ensure that it is restored to the preset working angle before the impact.

[0314] In one embodiment, when the equipment is performing edge trimming operations and there are obstacles in the working path of the trimming device, if the height of the obstacle is within the height adjustment range of the lifting and adjusting component (i.e., the trimming component can be raised above the height of the obstacle), the height of the trimming component can be adjusted by the lifting and adjusting component to pass through the obstacle and avoid direct collision. When the height of the obstacle is higher than the height adjustment range of the lifting and adjusting component (i.e., the trimming component is raised to its highest position but still cannot pass through the obstacle), the steering adjustment component is used to avoid the obstacle. Specifically, as described above, when the device collides with an obstacle under the action of the clutch, the steering component is passively rotated due to the obstruction of the obstacle (i.e., the clutch slips as described above) to pass through the obstacle area. After passing through the obstacle, the steering component actively resets to the preset working angle. The two obstacle avoidance methods work together to form a complete multi-dimensional obstacle avoidance system. No manual intervention is required. The system completes obstacle avoidance in complex scenarios through mechanical self-adaptation, improving equipment reliability and yard coverage.

[0315] In this embodiment, a grass-cutting device is used as an example. In other embodiments, the grass-cutting device may also be a grass-cutting disc device, etc., and is not limited to a grass-cutting device.

[0316] The user installs and secures the mowing device to the machine body. When navigating narrow passages or returning to the charging station, the device can be retracted to a position close to the side of the machine body, minimizing its size and allowing for easier passage through confined spaces. When the mowing device starts working, the steering motor drives the robotic arm to open outwards to its working angle (optimal 80 degrees). The mowing motor rotates, and the mowing rope is cut to the working length by the cutting component. The lifting motor adjusts the height of the mowing head according to work requirements (such as weed height) to a suitable mowing height for trimming. When the robotic arm collides with an obstacle, the clutch slips and retracts, protecting the steering motor while allowing the robotic arm to rotate and avoid the obstacle. After passing the obstacle, the robotic arm returns to its working angle under the inherent motor torque, and the machine continues its trimming operation.

[0317] This application also relates to a fourth embodiment of an autonomous operating device and its grass-cutting apparatus, as shown in Figures 37-43.

[0318] Except for the grass-cutting device, the other components of this autonomous operating equipment are the same as those in the embodiments shown in Figures 1 and 18.

[0319] The mowing device 200 of this embodiment also includes a connecting seat 2, a steering seat 3, a steering adjustment component 4, a lifting adjustment component 5, a mowing component 6, a control module, and a robotic arm 8, as shown in the embodiment of FIG18. The steering seat 3 is rotatably connected to the connecting seat 2, and the steering adjustment component 4 is mounted on the connecting seat 2 and drives the steering seat to rotate. The robotic arm 8 is connected to the steering seat 3 and the mowing component 6 and can rotate with the steering seat 3. The lifting adjustment component 5 is connected to the connecting seat 2 and is used to drive the mowing component 6 to lift and lower. Its specific implementation is the same as that of the mowing device in the embodiment of FIG18, and will not be described again.

[0320] The difference is that the mowing device 200 also includes a protective structure, which is connected to the mowing component 6, while the cutting part is connected to the protective structure. The protective structure is used to prevent the mowing rope from damaging the machine body.

[0321] Specifically, as shown in Figures 38, 39, and 40, the protective structure includes a first cover 101, a second cover 102, and an elastic element. The first cover 101 is rotatably connected to the mowing assembly, and the second cover 102 is located below the first cover 101 and fixedly connected to the mowing assembly. The cutting element is connected to the bottom surface of the second cover 102.

[0322] The elastic element is defined as the fourth elastic element 103. One end of the fourth elastic element 103 is connected to the first cover 101, and the other end is connected to the connecting seat 2.

[0323] When the mowing assembly 6 is in the open state, as shown in Figure 39, the second cover 102 and the first cover 101 are vertically offset. When the mowing assembly is in the retracted state, as shown in Figures 37, 38, 41 and 43, the second cover 102 and the first cover 101 are vertically stacked.

[0324] The first cover 101 and the second cover 102 of this application can be folded and opened. During operation, the grass-trimming motor 61 and the grass-trimming head 62 are opened to the working angle under the drive of the robotic arm 8. The second cover 102 moves with the grass-trimming motor 61, while the first cover 101 rotates in the opposite direction around the grass-trimming motor 61 under the pulling force of the fourth elastic element 103. The first cover 101 and the second cover 102 are opened in a staggered manner, so that the protective structure is miniaturized and occupies less space when stored, but can have a larger protective area when working.

[0325] The mowing assembly 6 also includes a bracket 104, which is radially fitted around the outer side of the motor housing 66 of the mowing motor 61. Of course, in other embodiments, the bracket 104 may also be integrally formed with the motor housing 66.

[0326] The first cover 101 and the bracket 104 are rotatably connected, and the second cover 102 is fixedly connected to the bracket 104. After the second cover 102 is installed on the bracket 104, a certain distance is left between it and the motor housing, and the connecting part of the first cover 101 is accommodated within this distance.

[0327] Specifically, as shown in Figures 38-41, the first cover 101 includes a first protective top plate 1011, a second protective side plate 1022, and a protective side 1013. A rotating ring 1016 is provided at the radially inner end of the first protective top plate 1011. This rotating ring 1016 is fitted around the support 104 and can rotate relative to the support 104. The radially outer end of the first protective top plate 1011 is connected to the top end of the first protective side plate 1012. The first protective side plate 1012 is an arc-shaped plate centered on the rotation center of the second cover 102 and extends along the radial end of the first protective top plate 1011.

[0328] The top of the protective side 1013 is connected to the first protective top plate 1011 and the first protective side plate 1012 along one side of the circumference. The first protective top plate 1011, the second protective side plate 1022 and the protective side 1013 are preferably integrally formed.

[0329] The second cover 102 includes a second protective top plate 1021 and a second protective side plate 1022. The second protective top plate 1021 is located below the first protective top plate 1011 and has an annular connecting end 1025 protruding towards the top surface at its radially inner end. The annular connecting end 1025 is fixedly connected to the bracket 104 by screws. Of course, in other embodiments, the radially inner end of the second protective top plate 1021 can also be fixedly connected to the bracket 104 in other ways.

[0330] The radially outer end of the second protective top plate 1021 is connected to the second protective side plate 1022. The second protective side plate 1022 is an arc-shaped plate centered on the rotation center of the second cover 102 and extends along the radially outer end of the second protective top plate 1021, and is located radially inner to the first protective side plate 1012. The cutting member 641 is connected to the bottom surface of the second protective top plate 1021 and is located at the outer edge of the second protective top plate 1021.

[0331] In other words, the cross-section of the second cover 102 along the vertical direction is approximately L-shaped, and the cross-section of the first cover 101 along the vertical direction is also L-shaped, and the first cover 101 covers the top and radially outer side of the second cover 102.

[0332] The second cover 102 moves with the mowing motor, while the first cover 101 is restricted from movement by the fourth elastic element 103. When the mowing device is in the open state, that is, when it is in operation, the first cover 101 and the second cover 102 are offset by the maximum angle, providing a larger protective area. In the retracted state, the second cover 102 rotates to be below the first cover 101, reducing the space occupied.

[0333] The bottom end of the protective side 1013 is attached to the top surface of the second protective top plate 1021 and the radial outer surface of the second protective side plate 1022, which can prevent external debris from entering between the first cover 101 and the second cover 102 and hindering the normal opening of the protective structure.

[0334] The radial inner end of the protective side 1013 is also attached to the radial outer side of the annular connecting end 1025 at the inner end of the second protective top plate 1021, which can play a certain guiding role.

[0335] In addition, the protective structure also includes a first limiting part and a second limiting part 1024. The first limiting part is connected to the first cover 101. The second limiting part 1024 is connected to the second cover 102. When the grass cutting component is in the open state, the first limiting part and the second limiting part 1024 abut against each other, at which time the first cover 101 and the second cover 102 are opened at the maximum angle.

[0336] In the embodiment shown in Figure 40, the first limiting part is part of the protective side 1013, and the second limiting part 1024 is disposed on the top surface of the second protective top plate 1021. The inner side of the protective side 1013 can also serve as an abutting surface to abut against the second limiting part 1024 on the top surface of the second protective top plate 1021, thereby limiting the opening angle of the first cover 101 and the second cover 102.

[0337] Of course, in other embodiments, the second limiting part 1024 may also be disposed on the radially outer side of the second protective side plate 1022, and may also abut against the inner side of the protective side 1013.

[0338] As a preferred embodiment, the first cover 101 is provided with a guide groove 1014 extending along its rotation direction. The guide groove 1014 is an arc-shaped groove with the rotation center of the second cover 102 as the center. The second cover 102 is provided with a guide protrusion 1023 located in the guide groove 1014. The cooperation between the guide groove 1014 and the guide protrusion 1023 makes the first cover 101 open more smoothly and with better stability when it is relative to the second cover 102.

[0339] Of course, in other embodiments, the guide groove 1014 may also be provided on the second cover 102, and the guide protrusion 1023 may also be provided on the first cover 101.

[0340] In the embodiments shown in Figures 39 and 40, the guide groove 1014 is a groove disposed radially inner to the first protective side plate 1012, which extends circumferentially along the first protective side plate 1012. The guide protrusion 1023 is an arc-shaped protrusion protruding radially outer to the second protective side plate 1022, which extends circumferentially along the second protective side plate 1022 and can slide relative to it within the guide groove 1014.

[0341] The top surface of the first protective top plate 1011 is provided with a mounting base 1015, and the fourth elastic element 103 is connected to the mounting base 1015.

[0342] The fifth embodiment of the mowing device of this application is shown in Figures 59-60. In this embodiment, the mowing device is similar to that in the second embodiment described above. The mowing device 200 in this embodiment also includes a connecting seat 2, a steering seat 3, a steering adjustment component 4, a lifting adjustment component 5, a mowing component 6, a control module, and a robotic arm 8, as shown in Figures 2-18. The connecting seat 2 is connected to the machine body, and the steering seat 3 is rotatably connected to the connecting seat 2. The steering adjustment component 4 is mounted on the connecting seat 2 and drives the steering seat to rotate. The robotic arm 8 is connected to the steering seat 3 and the mowing component 6 and can rotate with the steering seat 3. The lifting adjustment component 5 is connected to the connecting seat 2 and is used to drive the mowing component 6 to rise and fall. Its specific implementation is the same as that of the mowing device in the embodiment shown in Figure 18, and will not be described again.

[0343] It should be understood that in other embodiments, the height of the mowing assembly can also be adjusted manually by driving the structure to raise and lower. Specifically, an adjustment rod can be provided on the steering seat, with both ends of the adjustment rod connected to the base unit and the robotic arm 8 or the mowing assembly, respectively. By adjusting the length of the adjustment rod, the robotic arm 8 is driven to rotate, thereby adjusting the height of the mowing assembly.

[0344] In other embodiments, the height of the mowing assembly can also be adjusted by adjusting a screw, adjusting a handle, or a resilient locking block assembly.

[0345] In one embodiment, the adjusting screw is threadedly connected to the steering seat of the base unit, and one end of the adjusting screw is abutted or rotatably connected to the robotic arm. By rotating the adjusting screw, the screw moves up and down relative to the base unit through threaded transmission, thereby pushing or pulling the robotic arm to rotate around the horizontal axis, realizing the raising or lowering of the working component. After adjustment, the self-locking of the thread is used to achieve positioning, ensuring that the working component operates stably at the set height.

[0346] In another embodiment, the adjustment handle is rotatably mounted on the steering seat of the base unit, and the adjustment handle is connected to the robotic arm via a gear, cam, or linkage mechanism. The user manually rotates the adjustment handle, driving the transmission mechanism to swing the robotic arm, thereby adjusting the height of the mowing component. The adjusted height is maintained by the handle's own damping or positioning structure.

[0347] In another embodiment, the elastic latch assembly includes an elastic element, a latch, and multiple slots arranged along the height direction. The latch is mounted on the robotic arm or the mowing assembly, and the slots are correspondingly mounted on the steering seats of the base unit. By pressing the latch to disengage it from the slots, the assembly can be manually raised or lowered. After releasing the latch, the elastic element causes it to engage with the corresponding slot at the correct height, achieving height positioning.

[0348] The mowing device 200 also includes the protective structure shown in the embodiment of FIG4, which is connected to the mowing component 6.

[0349] The clutch 47 in this embodiment differs from the clutches described above. This embodiment's clutch 47 includes a drive shaft 471, a first mating member 472, a second mating member 473, and a first biasing member 474. The drive shaft 471 extends vertically and is fixedly connected to the output shaft of the steering motor. In the embodiment shown in Figure 51, the drive shaft 471 is connected to the output shaft of the steering motor via a power transmission member. Specifically, the power transmission member includes two gears, each mounted in a gear housing 475. The two gears are defined as a first gear 4711 and a second gear 4712. The gear housing 475 is connected to the top of the steering motor and has two gear slots 4751 on its top surface for mounting the two gears.

[0350] The output shaft of the steering motor extends into the gear slot 4751 and is connected to the first gear 4711, which can drive the first gear 4711 to rotate, and the first gear 4711 drives the second gear 4712 to rotate.

[0351] The gear housing 475, the first gear 4711, and the second gear 4712 are respectively located within the first housing 2211 of the steering motor housing, while the drive shaft 471 extends into the second housing 2212. In this embodiment, the steering motor housing also includes a first housing 2211 and a second housing 2212, with the second housing 2212 also located on the top surface of the first housing 2211, and the outer diameter of the second housing 2212 being smaller than the outer diameter of the first housing 2211.

[0352] To stabilize the second gear 4712, a second gear shaft 4752 extending vertically is also provided inside the gear groove 4751. The bottom end of the second gear shaft 4752 is rotatably connected to the gear groove 4751 via a bearing, and the top end extends beyond the top of the second housing 2212. The second gear 4712 is fitted around the second gear shaft 4752 and can drive the second gear shaft 4752 to rotate.

[0353] The drive shaft 471 is also located inside the second housing 2212 and sleeved outside the second gear shaft 4752. The bottom end of the drive shaft 471 is fixedly connected to the axis of the second gear 4712, and the second gear 4712 can drive the drive shaft 471 to rotate around its axis.

[0354] It should be understood that in other embodiments, the power transmission element may also be a flange or a coupling.

[0355] The first mating component 472 is also installed inside the second housing 2212, including a cylindrical sidewall 4721 and a top wall 4722. The cylindrical sidewall 4721 is sleeved around the drive shaft 471 and located on the top surface of the second gear 4712. The top wall 4722 is connected to the top surface of the cylindrical sidewall 4721 and has a shaft hole 4723. The drive shaft 471 passes through the shaft hole 4723 and drives the first mating component 472 to rotate. The first mating component 472 can also move vertically relative to the drive shaft 471. In the embodiment shown in FIG51, the two sides of the drive shaft 471 are respectively provided with working surfaces 4713 extending vertically. The two working surfaces 4713 are respectively planes formed by the recess or cutting of the drive shaft 471. The shaft hole 4723 of the first mating component 472 is also provided with a plane that mates with the two working surfaces 4713, so that the first mating component 472 can move vertically, and the drive shaft 471 can also drive the first mating component 472 to rotate.

[0356] The top surface of the top wall 4722 is provided with a plurality of first slots 4724 arranged around the axis of the drive shaft 471. Each first slot 4724 has two inclined surfaces 4725 along the circumferential direction, so that the width of the first slot 4724 along the circumferential direction gradually increases from top to bottom.

[0357] The second mating component 473 includes a top portion 4732 and a side portion 4731. The side portion 4731 is also cylindrical and fits outside the first mating component 472, located inside the second housing 2212. The side portion 4731 is rotatably connected to the second housing 2212 via two bearings 476. The top ends of the top portion 4732 and the side portion are connected and fixedly connected to the steering seat 3 by bolts. The second gear shaft 4752 extends to the top portion 4732 of the second mating component 473 and is rotatably connected to the second mating component 473 via bearings. When the second mating component 473 rotates, it does not drive the second gear shaft 4752 to rotate.

[0358] The top part 4732 is also located above the top wall of the first mating part 472 and is provided with a plurality of first locking blocks 4733 arranged around the axis of the drive shaft 471, and the plurality of first locking blocks 4733 and the plurality of first locking slots 4724 engage with each other.

[0359] The first biasing member 474 is a spring and is sleeved outside the transmission shaft 471 and located inside the cylindrical side wall 4721 of the first mating member 472. The bottom end of the first biasing member 474 abuts against the second gear 4712 and the top end abuts against the top wall 4722 of the first mating member 472. It can push the first mating member 472 toward the second mating member to apply force. In this embodiment, that is, to apply force upward, so that the multiple first locking blocks 4733 are respectively locked into the multiple first locking slots 4724.

[0360] In this embodiment, the first biasing element is a spring. It should be understood that in other embodiments, the first biasing element may also be an elastic element of other shapes, such as any one of a sheet, a rubber element, or an elastic column. The elastic element may be sleeved on the outside of the drive shaft, or symmetrically arranged on both sides of the drive shaft, or embedded in the first mating part and abutting against the top of the first mating part. The specific implementation of the elastic element is not limited.

[0361] In the embodiments shown in Figures 51-55, the top surface of the top wall 4722 of the first mating member 472 and the bottom surface of the top portion 4732 of the second mating member 473 are respectively provided with inclined teeth. A first slot 4724 is formed between two adjacent inclined teeth of the first mating member 472, and the inclined teeth of the second mating member 473 are also the first locking blocks 4733. In the open state, they are in contact and engaged with each other, and the first mating member 472 transmits power to the second mating member through the engagement relationship.

[0362] When an obstacle exists in the working path of the mowing component, the robotic arm or the mowing component collides with the obstacle and is obstructed. Under the force of the obstacle, the robotic arm 8 rotates from the open state to the inside of the body 1. The inclined teeth of the second mating part 473 retract on the inclined teeth of the first mating part 472 under the drive of the robotic arm. Since the tooth surface is inclined and the first biasing part 474 is provided below the first mating part 472, the first biasing part 474 is compressed and provides longitudinal space for the retraction of the inclined teeth. Through the slippage of the meshing relationship, the impact force generated by the obstacle is not further transmitted to the steering motor, thus protecting the steering motor. The rotation of the robotic arm is not hindered by the meshing of the transmission parts. This elastic slippage method can help the trimming module pass through the obstacle. Since the steering motor always outputs a fixed torque, after passing the obstacle, the torque generated by the obstacle's force disappears, and the motor torque forms an acceleration. The first mating part 472 and the second mating part 473 mesh and push the robotic arm to rotate back to the previous open state, and the mowing device 200 continues to work.

[0363] The clutch 47 has a two-way movement structure, meaning that even when the steering motor is not powered or does not output torque (such as due to failure or damage), the operator can still manually rotate the grass trimming components to the open position without affecting the trimming operation.

[0364] It can be seen that the mowing component has two modes of motion. In the first mode of motion, the steering motor drives the clutch 47 to rotate the mowing component around the transmission shaft between the open and retracted states.

[0365] In the second motion mode, external force can drive the mowing component to rotate the second mating part 473, causing the first locking block 4733 to disengage from the first locking groove 4724 along the inclined surface of the first locking groove 4724, thereby driving the mowing component to move from the open state to the retracted state. Then, the first biasing member 474 pushes the first mating part 472 upward to apply force, causing multiple first locking blocks 4733 to re-enter multiple first locking grooves 4724. The steering drive member drives the clutch 47 to rotate the mowing component from the retracted state to the open state, and the mowing device 200 continues to work.

[0366] In the open state, the steering motor forms a rigid power chain through the first gear 4711, the second gear 4712, the first mating part 472, the second mating part 473, the steering seat 3, and the robotic arm. At this time, the meshing relationship of the inclined teeth converts the torque of the steering motor into the unfolding torque of the robotic arm, maintaining an 80-degree working angle.

[0367] When the robotic arm hits an obstacle, the reaction force of the obstacle forces the robotic arm to rotate inward to the inside of the body 1. The rotational torque is transmitted to the inclined teeth of the second mating part 473 through the steering seat 3, causing the second mating part 473 to slide back along the tooth surface of the first mating part 472. The first biasing part 474 is compressed and contracts to absorb the impact energy and prevent the torque from being transmitted to the steering motor.

[0368] When the force of the obstacle disappears, the torque of the steering motor generates an acceleration, causing the inclined teeth of the first mating part 472 and the second mating part 473 to return to their original meshing position, and the grass cutting working component returns to the open state to start operation.

[0369] It is understood that the biasing component can also be configured as other elastic components, or other components that can push the first mating component 472 to move upward, without limiting the specific implementation of the biasing component.

[0370] Furthermore, when encountering an obstacle, the grass-cutting component needs to be switched from the open state to the retracted state. If the second mating part 473 rotates clockwise, one side wall of the first slot 4724 along the clockwise rotation direction can be set as an inclined surface 4725. Similarly, one side wall of the first locking block 4733 along the clockwise rotation direction can be set as an inclined surface to cooperate with the first slot 4724, making it convenient for the first locking block 4733 to disengage from the first slot 4724.

[0371] When encountering an obstacle, the mowing assembly needs to switch from the open to the retracted state. The second mating part 473 needs to rotate counter-clockwise. In this case, the other sidewall of the first slot 4724 and the first locking block 4733 is set as an inclined surface, allowing the first locking block 4733 to disengage from the first slot 4724. That is, from the open to the retracted state, one sidewall of the first slot 4724 and the first locking block 4733 in the direction of rotation needs to be set as an inclined surface. Of course, in a preferred embodiment, both sidewalls of the first slot 4724 are set with inclined surfaces 4725, and both sides of the two locking blocks of the first locking block 4733 are set with inclined surfaces 4734 along the circumferential direction, making it easier for them to engage and disengage.

[0372] The sixth embodiment of the grass-cutting device 200 of this application is basically the same as the fifth embodiment of the grass-cutting device 200, including a connecting seat 2, a steering seat 3, a steering adjustment component 4, a lifting adjustment component 5, a grass-cutting component 6, a control module and a robotic arm 8. In addition, the principle of the clutch 47 in this embodiment is also basically the same as the principle of the clutch 47 in the fifth embodiment.

[0373] The difference is that the grass-cutting device 200 in this embodiment also includes a positioning mechanism 48, which includes a positioning ring 481, a second biasing member 482 and a cylinder 483. The second biasing member 482 is the same as the first biasing member 474, preferably both being springs. The second biasing member 482 is sleeved outside the second housing 2212, while the cylinder 483 is sleeved outside the second biasing member 482 and located on the top surface of the first housing 2211.

[0374] It should be understood that in other embodiments, the second biasing member may also be an elastic member of other shapes, such as any one of a spring sheet, a rubber member, or an elastic column. The elastic member may be sleeved on the outside of the drive shaft, or symmetrically arranged on both sides of the drive shaft, or embedded in the first mating member and abutting against the top of the first mating member. The specific implementation of the elastic member is not limited.

[0375] The positioning ring 481 is located on the top surface of the second housing 2212 and is sleeved on the outside of the third housing 2215 of the steering motor seat. The positioning ring abuts against the top of the second biasing member, which has the function of applying a force to the positioning ring 481 toward the distance from the connecting seat.

[0376] The third housing 2215 is connected to the top surface of the second housing 2212 and is also connected to the second housing 2212. The third housing 2215 and the second housing 2212 are concentric, and the outer diameter of the third housing 2215 is smaller than that of the second housing 2212. The positioning ring 481 can move in the vertical direction. The first housing, the second housing, and the third housing can be connected by any of the following methods: bolt fixing, welding, or integral molding.

[0377] Specifically, the third housing 2215 has multiple protruding positioning posts 2216 on its radially outer side, each positioning post 2216 extending vertically. The positioning ring 481 has multiple recessed positioning slides 4812 on its radially inner side. The multiple positioning slides 4812 and the multiple positioning posts 2216 are respectively matched and assembled, so that the positioning ring 481 can move vertically and restrict the rotation of the positioning ring 481.

[0378] The top surface of the positioning ring 481 is provided with multiple protruding positioning teeth 4811, which are arranged around the axis of the drive shaft 471.

[0379] The seat 31 of the steering seat 3 is fitted outside the steering motor seat and has multiple positioning grooves 312 inside. The multiple positioning grooves 312 are located on the top of the seat 31 and are arranged circumferentially around the drive shaft 471. Multiple positioning teeth 4811 are located in the multiple positioning grooves 312 respectively.

[0380] Each positioning groove 312 has an inclined sidewall along its circumferential direction, causing the circumferential dimension of the positioning groove 312 to gradually increase from bottom to top. Each positioning tooth 4811 also has an inclined sidewall along its circumferential direction, and the circumferential width of each positioning tooth 4811 gradually increases from top to bottom. The shapes of the positioning teeth 4811 and the positioning groove 312 are matched.

[0381] The positioning structure limits the working angle of the robotic arm, ensuring it remains in the open position even when the steering motor is de-energized. When the steering motor drives the robotic arm to the open position, the positioning groove 312 in the steering seat 3 aligns with the positioning teeth 4811 of the positioning ring 481, mechanically limiting the robotic arm to this working angle. At this point, the steering motor can be de-energized, eliminating the need to use it to maintain the working angle.

[0382] When encountering an obstacle, similar to the principle of clutch 47 described above, both the positioning ring 481 and the positioning teeth 4811 are inclined surfaces. The positioning groove 312 and the positioning teeth 4811 of the steering seat 3 separate from each other, and the steering seat 3 rotates, while the positioning ring 481 is fixed on the third housing 2215. When rotating to the retracted state, the steering motor drives the steering seat 3 to rotate to the open state, and the second biasing member 482 drives the positioning ring 481 to move away from the connecting seat, that is, to move upward. The positioning teeth 4811 on the positioning ring 481 and the positioning groove 312 on the steering seat 3 are aligned again, restricting the rotation of the steering seat 3.

[0383] In other words, in the second motion mode, external force can drive the mowing component to rotate the steering seat 3, causing the positioning teeth 4811 to disengage from the positioning groove 312 along the inclined surface of the positioning groove 312, thereby driving the mowing component to move from the open state to the retracted state. The steering drive unit drives the clutch 47 to rotate the mowing component from the retracted state to the open state. Then, the second biasing member 482 pushes the positioning ring 481 upward to apply force, causing the multiple positioning teeth 4811 to re-enter the multiple positioning grooves 312.

[0384] Furthermore, unlike the fifth embodiment, the internal teeth of the second gear 4712 mesh with the first gear 4711.

[0385] A sensing magnet 4714 is also installed on the top surface of the drive shaft 471. The sensing magnet 4714 is embedded in the top of the second gear shaft 4752 of the drive shaft 471 or the top of the drive shaft 471. A magnetic encoder 49 is also provided on the top of the steering seat 3. The magnetic encoder 49 has a sensing element 491. The sensing element 491 cooperates with the sensing magnet 4714 to sense the rotation angle of the drive shaft 471 and the steering seat 3, and determine whether the grass trimming work assembly is in the open state. When it is in the open state, the control module can control the steering motor to cut off the power. If the steering seat 3 and the robotic arm are detected to have rotated, the control module will control the steering motor to turn on and drive the robotic arm to rotate back to the open state.

[0386] Furthermore, in the fifth and sixth embodiments, the seat body 31 and the upper cover 33 of the steering seat 3 are connected by hooks, as shown in Figures 51 and 61. The side plate of the upper cover 33 is provided with a downwardly extending hook, which is defined as the first hook 335. The lifting motor seat 32 is provided with a hook that engages with the hook, which is defined as the first hook 328. The seat body 31 and the upper cover 33 are assembled by the first hook 335 and the first hook 328, and then fixed by screws.

[0387] The protective shell 34, the seat 31 of the steering seat 3, and the upper cover 33 are also connected by a similar hook-and-loop mechanism, as shown in Figure 63. The protective shell 34 is formed by assembling two parts, which are hook-and-loop connected to the upper cover 33 and the seat 31, respectively. Specifically, each part of the protective shell 34 is provided with a second hook 341, while the upper cover 33 and the seat 31 are provided with a second hook 313. The second hook 341 of the protective shell 34 engages with the second hook 313 of the seat 31 and the upper cover 33, and the protective shell 34, the seat 31, and the upper cover 33 are assembled and then fixed with screws.

[0388] The grass-cutting device 200 of this application has a clutch function, which can protect the steering motor when the robotic arm or the grass-cutting device 200 collides with an obstacle, allowing it to pass through the obstacle smoothly and reducing rigid impact.

[0389] In the seventh embodiment of this application, as shown in Figures 73 to 78, the forward direction of the machine body 1 is defined as the first direction X. The mowing device 200 is installed on the left side of the machine body 1. The mowing device also includes a first vision module. The first vision module 201 is installed on the base unit or robotic arm of the mowing device 200, or installed on the left side of the machine body 1 near the mowing device 200. The first vision module 201 can be an RGB vision module. In other embodiments, it can also be a camera, a depth camera, etc. Image acquisition devices such as binocular cameras and infrared cameras have an angle α between their optical axis direction Y and the first direction X. The magnitude of this angle can measure whether the first vision module can acquire an image of the working area of ​​the grass-cutting device and whether there are blind spots in the field of view. As shown in Figures 73, 75, 76, and 77, α ranges from 0° to 360°, and can be selected from 0°, 30°, 60°, 90°, 120°, 150°, 180°, 210°, 240°, 270°, 300°, 330°, and 360°. It should be understood that this angle α is the projection angle between the optical axis direction Y and the first direction X along the vertical direction.

[0390] In one implementation, α ranges from 100° to 260°, while in another implementation, α ranges from 90° to 270°, which is suitable for most trimming operation scenarios and can also improve the accuracy of data collection.

[0391] Assuming the camera body 1 is located on a horizontal plane Z, and the optical axis direction Y of the first vision module 201 forms an angle β with the horizontal plane Z, this angle is used to adapt to the height difference of the trimming area, ensuring clear acquisition of image information of the trimming work surface. As shown in Figure 74, β ranges from 0° to 180°. Different field-of-view heights of the first vision module adapt to different weeding operation scenarios, and can be selected from, but are not limited to, 0°, 30°, 60°, 90°, 120°, 150°, and 180°. In one embodiment, the β range is 30°-120°. This angle range can take into account both the detailed acquisition of the near-ground weeding area and the detection of surrounding obstacles, improving operational safety. In another embodiment, the β range is 60°-90°, adapting to the field-of-view requirements of low-lying weed trimming operations.

[0392] A second vision module 14 is also installed at the front of the main body 1. The second vision module is directly connected to the main body or indirectly connected via a connector, such as a bracket. The second vision module 14 is oriented towards the forward direction, and its horizontal field of view 141 overlaps with the horizontal field of view 2011 of the first vision module 201, as shown in Figures 75 and 76. The angle of the overlap area 142 is γ, which is greater than 10°, including but not limited to 15°, 20°, 25°, and 30°. Alternatively, the lens of the first vision module 201 can be oriented forward, while the lens of the second vision module 14 can be oriented in other ways, with an overlap area 142 between them. This overlap area allows for seamless connection of the fields of view of the first and second vision modules, improving the accuracy of environmental detection.

[0393] In one implementation, γ is greater than 15°, including but not limited to 20°, 25°, 30° and 40°, which can expand the field of view coverage of the overlapping area, improve the comprehensiveness of environmental information collection and reduce operational risks.

[0394] The first visual module 201 and the second visual module 14 can also be configured to rotate 360°. The first visual module 201 and the second visual module 14 are connected to the control module, and the control module controls the rotation of the first visual module 201 and the second visual module 14. The two work together to capture more information.

[0395] Preferably, the first and second visual modules are RGB visual modules, that is, smart cameras capable of simultaneously capturing visible light (RGB) and infrared light (IR). The preferred embodiments of this application have been described in detail above, but it should be understood that, if necessary, aspects of the embodiments can be modified to utilize aspects, features, and concepts from various patents, applications, and publications to provide other embodiments.

[0396] In light of the detailed description above, these and other changes can be made to the embodiments. Generally, the terminology used in the claims should not be considered limited to the specific embodiments disclosed in the specification and claims, but should be understood to include all possible embodiments together with the full scope of equivalents enjoyed by these claims.

Claims

1. A grass cutting work device characterized by, include: Connecting base, the connecting base being used to connect to the body of the autonomous operating equipment; A direction control component, wherein the direction control component is rotatably connected to the connecting seat about a vertical axis; as well as A working component, which is connected to the direction control component; The direction control component is used to control the lifting, lowering, and steering of the working component.

2. The grass trimming device of claim 1, wherein, The direction control component includes a steering drive unit, which is connected to the connecting seat. The working component can be raised and lowered relative to the connecting seat, and has a first movement mode and a second movement mode; In the first motion mode, the steering drive controls the working component to move from the open state to the retracted state; In the second motion mode, an external force drives the working component to move from the open state to the retracted state.

3. The grass-cutting device according to claim 1, characterized in that, The grass-cutting device also includes: A steering seat, wherein the steering seat and the connecting seat are rotatably connected about a vertical axis; A robotic arm, one end of which is connected to the steering seat, and the other end extends radially outward. The steering seat can drive the robotic arm to rotate. The working component is connected to the other end of the robotic arm; The direction control component also includes a lifting adjustment component, which is mounted on the steering seat and can drive the robotic arm to rotate relative to the steering seat, thereby driving the working component to rise and fall.

4. The grass trimming device of claim 3, wherein, The steering seat has two side plates; One end of the robotic arm is located between the two side plates and is rotatably connected to the two side plates. When the steering seat rotates, the two side plates can push the robotic arm to rotate synchronously.

5. The grass trimming device of claim 4, wherein, The robotic arm has a linkage structure, which includes a first link and a second link. The lifting adjustment component drives the first link and / or the second link to raise and lower the grass-cutting component.

6. The grass trimming device of claim 5, wherein, The second connecting rod is a box-shaped structure with a downward opening and / or the first connecting rod is a box-shaped structure with an upward opening, and the first connecting rod and the second connecting rod are combined to form a closed cavity.

7. The grass trimming device of claim 1, wherein, The direction control component includes a steering drive unit, which is connected to the connecting seat. The grass-cutting device also includes: A steering seat, wherein the steering seat and the connecting seat are rotatably connected about a vertical axis, and the working component is vertically connected to the steering seat; A clutch, which is connected to the output shaft of the steering drive; An end cap covers the clutch and is fixedly connected to the steering seat.

8. The grass trimming device of claim 7, wherein, The clutch includes: Mounting housing, which is connected to the steering drive component and has multiple guide grooves; Multiple transmission components, each movably disposed within a mounting housing; and each transmission component having meshing teeth, the meshing teeth of the transmission component being operably slidable along the guide groove; and Multiple elastic elements, the same number as the transmission elements, are alternately arranged around the mounting housing, forming a surrounding area; the two ends of each elastic element abut against two adjacent transmission elements, and the two adjacent elastic elements cooperate to apply a pushing force to the abutting transmission elements, so that the transmission elements are subjected to a driving force toward the center away from the surrounding area; The inner wall surface of the end cap is provided with a toothed groove that engages with the meshing teeth of the transmission component. The steering motor drives the clutch to rotate, and the transmission component of the clutch cooperates with the end cover to drive the end cover, the steering seat and the working component to rotate.

9. The grass trimming device of claim 1, wherein, The mowing device also includes a clutch, which comprises: A drive shaft that extends vertically and is drively connected to the output shaft of the direction control component; The first fitting component is sleeved on the outside of the drive shaft and can rotate with the drive shaft. The first fitting component is configured to be movable relative to the drive shaft along the axial direction. One end of the first fitting component is provided with a plurality of first slots arranged around the axis of the drive shaft. The sidewalls of the first slots along the circumferential direction are inclined surfaces. The second mating component, at least a portion of which is provided corresponding to the end of the first mating component that has a first slot, and which has a plurality of first locking blocks arranged around the axis of the drive shaft; The first biasing member is disposed between the drive shaft and the first mating member or at the other end of the first mating member, and is used to apply a force toward the second mating member to the first mating member, so that the plurality of first locking blocks are respectively locked into the plurality of first locking slots.

10. The grass trimming device of claim 1, wherein, The grass-cutting device also includes a housing, one end of which is connected to the connecting seat; The working components include: A grass-cutting motor, wherein the grass-cutting motor is vertically and retractably connected to the outer casing; A hay trimmer head, which is connected to a hay trimmer motor, and the hay trimmer motor drives the hay trimmer head to rotate; A lifting adjustment assembly is connected to the housing and can operably drive the grass-trimming motor to lift.

11. The grass-cutting device according to claim 1, characterized in that, The working components include: The grass-cutting motor, in its working state, forms a negative pressure zone inside; The motor housing covers the grass-cutting motor and has an air inlet and a heat dissipation structure. The air inlet is connected to the negative pressure zone of the grass-cutting motor, and the heat dissipation structure surrounds the radial outer side of the grass-cutting motor.

12. The grass trimming device of claim 1, wherein, The grass-cutting device includes: The bottom cover is detachably connected to the connecting seat and cooperates to form a receiving space; A control module is installed within the accommodating space.

13. The grass trimming device of claim 1, wherein, The grass-cutting device also includes a protective structure, which is connected to the working component.

14. An autonomous work apparatus characterized by comprising: include: The fuselage, which is equipped with interfaces; According to any one of claims 1-13, the connecting seat is connected to the machine body, one of the connecting seat and the machine body is provided with a guide groove, and the other is provided with a guide member located in the guide groove; the grass cutting device includes a plug, the plug is disposed on the connecting seat and inserted into the interface.

15. An autonomous work apparatus characterized by comprising: include: body; The grass-cutting device according to any one of claims 1-13, wherein the connecting seat is connected to the machine body and is provided with a first limiting member; The direction control component includes a steering drive and a steering seat, the steering seat being rotatably connected to the connecting seat and having a second limiting member; The working component is connected to the steering seat; The steering drive is connected to the connecting seat and can drive the steering seat to rotate between the open state and the retracted state; In the open state, the first limiting member abuts against the second limiting member; In the retracted state, a portion of the steering seat is in contact with the fuselage.

16. An autonomous work apparatus characterized by comprising: include: The fuselage, which can move forward in a first direction. The grass-cutting device according to any one of claims 1-13, wherein the connecting seat is connected to one side of the machine body; The grass-cutting device includes a first vision module, wherein the angle between the optical axis of the first vision module and the first direction is α, and the range of α is 0°-360°.

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