CN116134997A - Mowing device, mowing robot and control method of mowing robot - Google Patents

Abstract

The application provides a mowing device, a mowing robot and a control method thereof. The mowing device comprises a triggering mechanism, a lifting mechanism and a mowing mechanism, wherein the mowing mechanism is arranged on the lifting mechanism, the lifting mechanism is electrically connected with the triggering mechanism, and the mowing mechanism is arranged to adjust the ground clearance of the mowing mechanism according to the triggered state of the triggering mechanism. The mowing device is applied to the mowing robot, the triggering mechanism is set to be triggered by a lower obstacle encountered in the advancing process of the mowing robot, the lifting mechanism lifts the mowing mechanism when the triggering mechanism is triggered, so that the mowing mechanism lifts to a position higher than the obstacle, the mowing robot can smoothly pass through the obstacle in the advancing process, and the mowing mechanism cannot be clamped on the obstacle, so that the mowing robot cannot have the problem of clamping the bottom.

Description

Mowing device, mowing robot and control method of mowing robot

Technical Field

The application relates to the field of greening equipment, in particular to a mowing device, a mowing robot and a control method of the mowing robot.

Background

The mowing robot is a new variety developed on the basis of the traditional mower, can autonomously complete the work of trimming lawns, and does not need to be controlled and operated directly by people. The mowing robot generally has the functions of automatically mowing, cleaning grass scraps, automatically taking shelter from rain, automatically walking, automatically avoiding obstacles, automatically returning to charge, controlling a network and the like, and is suitable for trimming and maintaining lawns in places such as home courtyards, public greenhouses and the like. The mowing robot has the advantages of being simple in operation, high in mowing efficiency and the like, can automatically complete mowing tasks, reduces labor cost and time cost, has the advantages of being safe, noiseless, high in intelligent degree and the like, and has become a main development direction of the mower industry.

However, when the current mowing robot encounters a lower obstacle (lower than the chassis of the mowing robot) in the running process, the mowing mechanism of the mowing robot is easy to clamp on the obstacle, so that the problem that the mowing robot is clamped at the bottom is solved.

Disclosure of Invention

The utility model provides a main objective provides a grass cutting device, is applied to the robot that mows, can solve the robot that mows when running in-process runs into lower barrier, mows the mechanism and causes the problem of robot card foundation because of the card on the barrier.

The application also provides a mowing robot and a control method of the mowing robot.

To achieve the above object, a mowing device for a mowing robot according to the present application includes a trigger mechanism, a lifting mechanism and a mowing mechanism, wherein the mowing mechanism is mounted on the lifting mechanism, the lifting mechanism is electrically connected with the trigger mechanism, and is configured to adjust a ground clearance of the mowing mechanism according to a state of the trigger mechanism.

In an exemplary embodiment, the triggering mechanism includes: the trigger switch is arranged on the chassis of the mowing robot; and a trigger member hinge-mounted on a chassis of the robot mower, and configured to swing toward the trigger switch based on being blocked by an obstacle during traveling of the robot mower to trigger the trigger switch.

In an exemplary embodiment, the trigger switch is located in front of the mowing mechanism in a traveling direction of the mowing robot, the trigger piece is located in front of the trigger switch, and the trigger piece is configured to swing toward the trigger switch based on being blocked by an obstacle during traveling of the mowing robot to trigger the trigger switch.

In an exemplary embodiment, the mowing mechanism comprises: a first drive assembly; and the cutterhead assembly is installed on the first driving assembly, and the first driving assembly is arranged to drive the cutterhead assembly to rotate.

In an exemplary embodiment, the mowing apparatus further comprises: and the control device is arranged to control the first driving assembly to stop driving the cutterhead assembly to rotate and control the lifting mechanism to lift the mowing mechanism in a state that the triggering mechanism is triggered.

In an exemplary embodiment, the mowing mechanism further comprises a protective cover, the protective cover comprises a first cover body and a second cover body, the first cover body and the second cover body are respectively located at two sides of the cutterhead assembly along the axial direction of the cutterhead assembly, and the first cover body and the second cover body are hinged.

In an exemplary embodiment, the first cover is located at one side of the cutterhead assembly, facing the lifting mechanism, and is fixed on the first driving assembly, the second cover is located at the other side of the cutterhead assembly, and is hinged to the first cover, the triggering mechanism comprises a triggering switch, the triggering switch is fixed at one side of the first cover, facing the second cover, and the second cover is arranged to swing towards the triggering switch based on being blocked by an obstacle during the running process of the mowing robot so as to trigger the triggering switch.

In an exemplary embodiment, an elastic member for resetting is installed between the first cover and the second cover.

In an exemplary embodiment, the elastic member is a torsion spring or a coil spring.

In an exemplary embodiment, a guide portion is formed at a side of the second cover facing away from the first cover, and is configured to guide the second cover to swing toward the trigger switch by contact with an obstacle during traveling of the robot.

In an exemplary embodiment, the mowing apparatus further comprises: and the control device is used for controlling the lifting mechanism to lift the mowing mechanism in a state that the triggering mechanism is triggered, and is also used for controlling the mowing mechanism to return to the initial ground clearance under a first instruction.

In an exemplary embodiment, the lifting mechanism includes: a second drive assembly; and the first transmission assembly is in transmission connection with the second driving assembly and the mowing mechanism, and the second driving assembly is arranged in a state that the triggering mechanism is triggered, and the mowing mechanism is lifted by driving the first transmission assembly to act.

The mowing robot comprises a vehicle body and the mowing device for the mowing robot, wherein the mowing device is installed on the vehicle body, and the triggering mechanism is arranged to be triggered based on being blocked by an obstacle in the travelling process of the mowing robot.

The control method of the mowing robot provided by the application is used for the mowing robot in any embodiment, and comprises the following steps: and controlling a lifting mechanism to lift the mowing mechanism in response to the triggering mechanism being triggered by an obstacle in the travelling direction of the mowing robot.

In an exemplary embodiment, after the step of controlling the lifting mechanism to raise the mowing mechanism, the method further comprises: and controlling the lifting mechanism to drive the mowing mechanism to restore to the original ground clearance height in response to the mowing mechanism being lifted for a set time and the triggering mechanism not being triggered by an obstacle.

In an exemplary embodiment, the step of triggering by an obstacle in a traveling direction of the mowing robot in response to a triggering mechanism includes:

the trigger mechanism is triggered based on the trigger mechanism being blocked by an obstacle in a traveling direction of the mowing robot.

In this technical scheme, grass cutting device is applied to grass cutting robot, sets up trigger mechanism into the lower barrier that is encountered in the grass cutting robot advancing process and triggers, and elevating system rises grass cutting mechanism when trigger mechanism is triggered, makes grass cutting mechanism rise to the position that is higher than the barrier, and grass cutting robot can pass through the barrier smoothly like this in the advancing process, and grass cutting mechanism can not block on the barrier, therefore grass cutting robot can not appear the problem of card end.

Drawings

In order to more clearly illustrate the technical solutions of the present application or the prior art, the following description will briefly introduce the drawings used in the embodiments or the description of the prior art, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic front view of a mowing robot according to an embodiment of the present disclosure;

FIG. 2 is a schematic front view of the chassis and mowing apparatus of FIG. 1 assembled;

FIG. 3 is a schematic perspective view of the mowing apparatus in FIG. 2, with the first drive assembly and cutterhead assembly not shown;

FIG. 4 is a schematic front view of the assembled protective cover and trigger mechanism of FIG. 2, with the second cover showing two positions, one position trigger mechanism not triggered and the other position trigger mechanism triggered;

fig. 5 is a schematic front view of a mowing robot according to another embodiment of the present disclosure.

The correspondence between the reference numerals and the component names in fig. 1 to 5 is:

100 car bodies, 110 chassis, 120 upper covers, 200 lifting mechanisms, 210 second driving components, 220 first transmission components, 230 mounting frames, 300 triggering mechanisms, 310 triggering switches, 320 triggering pieces, 400 mowing mechanisms, 410 first driving components, 420 cutter head components, 430 first covers and 440 second covers.

The realization, functional characteristics and advantages of the present application will be further described with reference to the embodiments, referring to the attached drawings.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

It should be noted that all directional indications (such as up, down, left, right, front, and rear … …) in this application are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indication is changed accordingly.

In addition, descriptions such as those related to "first," "second," and the like, are provided for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated in this application. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless explicitly defined otherwise.

In the present application, unless explicitly specified and limited otherwise, the terms "coupled," "secured," and the like are to be construed broadly, and for example, "secured" may be either permanently attached or removably attached, or integrally formed; can be mechanically or electrically connected; "coupled" may be directly connected or indirectly connected through intervening media, and may be in the internal communication of two elements or in the interaction of two elements, unless expressly defined otherwise. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

In addition, the technical solutions of the embodiments of the present application may be combined with each other, but it is necessary to be based on the fact that those skilled in the art can implement the technical solutions, and when the technical solutions are contradictory or cannot be implemented, the combination of the technical solutions should be considered to be absent, and is not within the scope of protection claimed in the present application.

Fig. 1 is a schematic front view of a mowing robot according to an embodiment of the present disclosure. Fig. 2 is a schematic front view of the chassis and mowing apparatus of fig. 1 assembled. Fig. 3 is a schematic perspective view of the mowing apparatus in fig. 2, with the first drive assembly and cutterhead assembly not shown. Fig. 4 is a schematic front view of the assembled protective cover and trigger mechanism of fig. 2, with the second cover showing two positions, one position trigger mechanism not triggered and the other position trigger mechanism triggered.

The application provides a mowing robot, as shown in fig. 1 to 4, comprising a vehicle body 100, a control device and a mowing device, wherein the vehicle body 100 comprises a chassis 110 and an upper cover 120, and the mowing device is fixedly arranged on the chassis 110. The mowing device comprises a lifting mechanism 200, a triggering mechanism 300 and a mowing mechanism 400, wherein the lifting mechanism 200 is fixedly arranged on the chassis 110, the mowing mechanism 400 is arranged on the lifting mechanism 200, the lifting mechanism 200 can drive the mowing mechanism 400 to move upwards to lift, the lifting mechanism 200 can also drive the mowing mechanism 400 to move downwards to fall, the lifting mechanism 200 is electrically connected with the triggering mechanism 300 through a control device, the triggering mechanism 300 is triggered when being subjected to a load applied by an obstacle below the car body 100, and under the control of the control device, the lifting mechanism is arranged to adjust the ground clearance of the mowing mechanism 400 according to the state of the triggering mechanism 300. The electrical connection may be a wired connection or a wireless connection, and those skilled in the art may reasonably select according to needs, which are not limited herein, but all fall within the protection scope of the present application.

Namely: when the robot encounters a low obstacle (the obstacle is lower than the chassis 110 but higher than the lower end of the mowing mechanism 400) during travel, the trigger mechanism 300 presses the obstacle forward, and the load (i.e., pressure) applied to the trigger mechanism 300 by the obstacle causes the trigger mechanism 300 to be triggered. The control device then controls the lifting mechanism 200 to raise the mowing mechanism 400 when the trigger mechanism 300 is triggered. The advancing direction of the mowing robot is the front.

According to the mowing robot with the mowing device, the triggering mechanism 300 is set to be triggered by a lower obstacle encountered in the advancing process of the mowing robot, the lifting mechanism 200 lifts the mowing mechanism 400 to a position higher than the obstacle (the mowing mechanism 400 can be lifted to an upper limit position) when the triggering mechanism 300 is triggered, so that the mowing robot can smoothly pass through the obstacle in the advancing process, the mowing mechanism 400 cannot be blocked on the obstacle, and the problem of blocking the bottom of the mowing robot cannot occur.

In an embodiment, the lifting mechanism 200 is further configured to control the mowing mechanism 400 to fall to return to the initial ground clearance under the first instruction, which may be that after the triggering mechanism 300 is in the non-triggering state and the mowing mechanism 400 is lifted for a set time, the lifting mechanism 200 is controlled by the first instruction to drive the mowing mechanism 400 to fall to return to the initial ground clearance, the first instruction is configured to be generated by the control device, the set time may be set to 3 s-15 s (such as 3s, 5s, 8s or 15s, etc.), and a person skilled in the art may reasonably set the setting as required and will not be described herein.

In an embodiment, as shown in fig. 2 and 3, the lifting mechanism 200 includes a first transmission assembly 220 and a second driving assembly 210, the mowing mechanism 400 and the second driving assembly 210 are in transmission connection through the first transmission assembly 220, when the triggering mechanism 300 is triggered, the control device controls the second driving assembly 210 to act, the second driving assembly 210 drives the first transmission assembly 220 to act, and the second driving assembly 210 drives the mowing mechanism 400 to lift upwards.

In an embodiment, the second driving assembly 210 is configured as a motor, which may be a dc motor or a stepper motor, and the purpose of the present application may be achieved.

In one embodiment, the first transmission assembly 220 is configured as a screw-nut transmission assembly, the housing of the second driving assembly 210 is fixed with a mounting frame 230, the screw is rotatably fixed in the mounting frame 230, the nut is rotatably mounted on the screw, the mowing mechanism 400 is fixedly connected with the nut, the screw rotates, and the nut and the mowing mechanism 400 move up or down along the screw. Still be equipped with the guiding mechanism to mowing mechanism 400 in the removal in-process in mounting frame 230, guiding mechanism can be the cooperation structure of guide rail and slider, and the guide rail is established immediately along the upper and lower direction and is fixed on the lateral wall of mounting frame 230, and the slider is fixed on mowing mechanism 400, and guiding mechanism is used for guaranteeing that mowing mechanism 400 carries out rectilinear movement, avoids mowing mechanism 400 swing. The motor and the screw rod can be directly connected, the motor and the screw rod can also be indirectly connected through a belt wheel structure, and the motor and the screw rod can also be indirectly connected through a gear structure, so that the aim of the application can be achieved, the aim is not separated from the design thought of the application, and the motor and the screw rod are not described in detail herein and all belong to the protection scope of the application.

Of course, the first transmission assembly 220 may be a rack-and-pinion transmission assembly or a sprocket-and-chain transmission assembly, etc., which can achieve the purposes of the present application, and the purpose thereof is not departing from the design concept of the present application, and therefore, the present application shall not be repeated herein.

In one embodiment, as shown in fig. 2 and 3, the mowing mechanism 400 includes a first driving assembly 410 and a cutter assembly 420, the first driving assembly 410 is fixedly mounted on the first transmission assembly 220, the cutter assembly 420 is in transmission connection with a driving shaft of the first driving assembly 410, the first driving assembly 410 drives the cutter assembly 420 to rotate when power is supplied, and the first driving assembly 410 stops driving the cutter assembly 420 to rotate when power is cut off.

In an embodiment, the first driving component 410 is configured as a motor, and the motor may be a dc motor, which has a relatively low purchase cost, so as to effectively reduce the manufacturing cost of the mowing robot.

In an embodiment, the first driving component 410 is also electrically connected to the control device, and when the triggering mechanism 300 is triggered, the control device controls the first driving component 410 to be powered off, so that the first driving component 410 stops driving the cutterhead component 420 to rotate, and the problem that the cutterhead component 420 is damaged due to collision of the cutter is avoided.

In an embodiment, as shown in fig. 2 to 4, the mowing mechanism 400 further includes a protective cover, where the protective cover includes a second cover 440 and a first cover 430, the first cover 430 and the second cover 440 are respectively located at two sides of the cutterhead assembly 420 along an axial direction of the cutterhead assembly 420, and the first cover 430 and the second cover 440 are hinged.

In an embodiment, the first cover 430 is located on the upper side of the cutterhead assembly 420 and is fixed on the housing of the first driving assembly 410, the second cover 440 is located on the lower side of the cutterhead assembly 420 and is hinged to the first cover 430, the second cover 440 can swing up and down relative to the first cover 430, the trigger mechanism 300 is set as a trigger switch, the trigger switch is fixedly installed on the lower side surface of the first cover 430 facing the second cover 440, when the second cover 440 encounters an obstacle during the travelling process of the mowing robot, the obstacle applies a force to the second cover 440 in the direction opposite to the travelling direction of the mowing robot, so that the second cover 440 swings towards the trigger switch (the swing angle can be set to 3-10 degrees), and the second cover 440 presses the trigger switch, so that the trigger switch is triggered.

In an embodiment, as shown in fig. 2 to 4, the trigger switch is configured as a micro switch, a torsion spring (or a spring is disposed between the first cover 430 and the second cover 440) for resetting is disposed at a hinged position of the first cover 430 and the second cover 440, the torsion spring is used to keep the second cover 440 at an initial position, and after the second cover 440 passes through an obstacle, the second cover 440 performs self-resetting, and after the second cover 440 resets, the second cover 440 releases the micro switch, and the micro switch returns to an unactuated state.

In an embodiment, the periphery of the second cover 440 may be provided with a slope (i.e., a guide) extending outward and in the direction of the first cover 430, which swings the second cover 440 toward the first cover 430 when contacting an obstacle. Alternatively, the second cover 440 may be inclined with respect to the ground plane, and the front part may be higher and the rear part may be lower (form a guide part), so that the second cover 440 swings in the direction of the first cover 430 when the obstacle touches the second cover 440. By selecting a suitable torsion spring or spring, certain resistance can be generated, and when the second cover body touches soft objects such as a grass and the like which do not influence the travelling, the lifting control is not performed, namely the objects which do not influence the travelling are not regarded as barriers.

In summary, the mowing robot provided in this embodiment sets the trigger mechanism to be triggered by the lower obstacle encountered in the advancing process of the mowing robot, and the lifting mechanism lifts the mowing mechanism to a position higher than the obstacle when the trigger mechanism is triggered, so that the mowing robot can smoothly pass through the obstacle in the advancing process, and the mowing mechanism cannot be blocked on the obstacle, so that the mowing robot cannot have the problem of bottom blocking, and the practicability is better.

Fig. 5 is a schematic front view of a mowing robot according to another embodiment of the present disclosure. The mowing robot of this embodiment differs from the mowing robot of the previous embodiment in that: the trigger mechanism 300 includes a trigger switch 310 and a trigger 320. The trigger switch 310 is located in front of both the elevating mechanism 200 and the mowing mechanism 400 in the traveling direction of the mowing robot, and the trigger switch 310 is spaced apart from the elevating mechanism 200 and the trigger switch 310 is also spaced apart from the mowing mechanism 400. The trigger 320 is also located in front of both the lifting mechanism 200 and the mowing mechanism 400 in the traveling direction of the mowing robot, and the trigger 320 is spaced from the lifting mechanism 200 and the trigger 320 is spaced from the mowing mechanism 400. The upper end of the trigger piece 320 is hinged with the chassis 110, and the lower end of the trigger piece 320 is located below the trigger switch 310 and covers the trigger switch 310 rearward and upward. In the advancing process of the mowing robot, the lower end of the trigger piece 320 (which can be arranged to be flush with the lower end of the cutter head assembly 420) encounters a lower obstacle (lower than the chassis but higher than the lower end of the mowing mechanism 400), the obstacle applies a force to the trigger piece 320 in the direction opposite to the advancing direction of the mowing robot, so that the trigger piece 320 swings upwards and backwards, the trigger piece 320 presses the trigger switch 310, the trigger switch 310 is triggered, then the control device controls the first driving assembly 410 to be powered off, the first driving assembly 410 stops driving the cutter head assembly 420 to rotate, then the lifting mechanism 200 lifts the mowing mechanism 400 to a position higher than the obstacle, and therefore the mowing robot can smoothly pass through the obstacle in the advancing process, the mowing mechanism 400 cannot be clamped on the obstacle, and the mowing robot cannot have the problem of clamping the bottom.

Because the trigger piece 320 is hinged, and the structure of the trigger piece 320 can be made smaller, the trigger piece 320 can not be blocked on an obstacle to cause the problem that the mowing robot is blocked at the bottom; the trigger 320 may be configured as a trigger lever, a trigger plate, a trigger piece, or the like, which can achieve the purposes of the present application, and the purpose thereof is not departing from the design direction of the present application, and is not described herein again, and should be within the protection scope of the present application.

In an embodiment, the mowing mechanism 400 further includes a protective cover, where the protective cover includes a second cover 440 and a first cover 430, where the first cover 430 is located on an upper side of the cutterhead assembly 420 and is fixed on a housing of the first driving assembly 410, the second cover 440 is located on a lower side of the cutterhead assembly 420, and the second cover 440 is fixedly connected with the first cover 430 in a detachable manner.

In summary, the mowing robot provided in this embodiment sets the trigger mechanism to be triggered by the lower obstacle encountered in the advancing process of the mowing robot, and the lifting mechanism lifts the mowing mechanism to a position higher than the obstacle when the trigger mechanism is triggered, so that the mowing robot can smoothly pass through the obstacle in the advancing process, and the mowing mechanism cannot be blocked on the obstacle, so that the mowing robot cannot have the problem of bottom blocking, and the practicability is better.

The control method of the mowing robot provided by the application is applied to the mowing robot provided by any one of the embodiments, and comprises the following steps: and controlling the lifting mechanism to lift the mowing mechanism in response to the triggering mechanism being triggered by the obstacle in the travelling direction of the mowing robot.

According to the control method of the mowing robot, when the triggering mechanism is triggered by the obstacle in the advancing process of the mowing robot, the lifting mechanism is controlled to lift the mowing mechanism to a position higher than the obstacle, so that the mowing robot can smoothly pass through the obstacle in the advancing process, the mowing mechanism cannot be clamped on the obstacle, and the problem of bottom clamping of the mowing robot cannot occur.

In an exemplary embodiment, after the step of controlling the lifting mechanism to lift the mowing mechanism, the control method further comprises: when the mowing mechanism is lifted for a set time and the triggering mechanism is not triggered by the obstacle, the lifting mechanism is controlled to drive the mowing mechanism to fall and restore to the original ground clearance, and at the moment, the mowing robot smoothly passes through the obstacle and continuously moves to mow. The setting time can be set to 3 s-15 s (e.g., 3s, 5s, 8s or 15s, etc.), and those skilled in the art can reasonably set the setting time according to needs, which is not described herein.

In one embodiment, the step of triggering by the obstacle in the direction of travel of the robot in response to the triggering mechanism is: when the obstacle blocks the triggering mechanism in the advancing process of the mowing robot, the triggering mechanism is triggered by the obstacle.

In an exemplary embodiment, when the lifting mechanism is controlled to lift the mowing mechanism, the first driving assembly is also controlled to stop driving the cutterhead assembly to rotate, so that energy conservation of the mowing robot is realized.

The application provides a control method of a mowing robot, which comprises the following steps:

when the barrier blocks the triggering mechanism in the advancing process of the mowing robot, the triggering mechanism is triggered by the barrier, and the lifting mechanism is controlled to lift the mowing mechanism;

and after the mowing mechanism is lifted for a set time and the triggering mechanism is not triggered by an obstacle, controlling the lifting mechanism to drive the mowing mechanism to return to the original ground clearance.

The application also provides a control method of the mowing robot, which comprises the following steps:

detecting an obstacle in the advancing process of the mowing robot through a trigger mechanism;

when the triggering mechanism is blocked by the barrier and is triggered, the control device controls the first driving assembly to stop driving the cutter head assembly to rotate and controls the lifting mechanism to lift the mowing mechanism, and after the mowing mechanism is lifted for a set time and in a non-triggering state of the triggering mechanism, the control device controls the lifting mechanism to drive the mowing mechanism to fall down and restore to the initial ground clearance.

Therefore, the mowing mechanism cannot be clamped on the obstacle in the mowing process of the mowing robot, and the mowing robot is better in service performance.

In summary, according to the control method of the mowing robot, when the triggering mechanism is triggered by the obstacle in the advancing process of the mowing robot, the lifting mechanism is controlled to lift the mowing mechanism to a position higher than the obstacle, so that the mowing robot can smoothly pass through the obstacle in the advancing process, the mowing mechanism cannot be clamped on the obstacle, and the problem of bottom clamping of the mowing robot cannot occur.

In the description herein, it should be noted that, the terms "upper", "lower", "one side", "another side", "one end", "another end", "side", "opposite", "four corners", "periphery", "mouth" and "letter structure", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the structures referred to have a specific orientation, are configured and operated in a specific orientation, and therefore should not be construed as limiting the present application.

In the description of the present application, unless explicitly stated and limited otherwise, the terms "connected," "directly connected," "indirectly connected," "fixedly connected," "mounted," "assembled" should be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; the terms "mounted," "connected," and "fixedly connected" may be directly connected or indirectly connected through intervening media, and may also be in communication between two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art in a specific context.

Although the embodiments disclosed in the present application are described above, the embodiments are only used for facilitating understanding of the present application, and are not intended to limit the present application. Any person skilled in the art to which this application pertains will be able to make any modifications and variations in form and detail of implementation without departing from the spirit and scope of the disclosure, but the scope of the patent claims of this application shall be defined by the appended claims.

The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the scope of the claims, and all equivalent structural changes made in the present application and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the present application.

Claims (15)

1. A mowing device for a mowing robot is characterized by comprising a triggering mechanism, a lifting mechanism and a mowing mechanism,

the mowing mechanism is arranged on the lifting mechanism;

the lifting mechanism is electrically connected with the triggering mechanism and is arranged to adjust the ground clearance of the mowing mechanism according to the state of the triggering mechanism.

2. The mowing apparatus of claim 1, wherein the trigger mechanism comprises:

the trigger switch is arranged on the chassis of the mowing robot; and

and the trigger piece is hinged on the chassis of the mowing robot and is arranged to swing towards the trigger switch to trigger the trigger switch when the mowing robot is blocked by an obstacle during the running process.

3. A mowing device according to claim 2, wherein the trigger switch is located in front of the mowing mechanism in the travelling direction of the mowing robot, the trigger piece is located in front of the trigger switch, the trigger piece being arranged to swing towards the trigger switch upon being blocked by an obstacle during travelling of the mowing robot to trigger the trigger switch.

4. The mowing apparatus of claim 1, wherein the mowing mechanism comprises:

a first drive assembly; and

the cutterhead assembly is installed on the first driving assembly, and the first driving assembly is arranged to drive the cutterhead assembly to rotate.

5. The mowing apparatus of claim 4, further comprising:

and the control device is arranged to control the first driving assembly to stop driving the cutterhead assembly to rotate and control the lifting mechanism to lift the mowing mechanism in a state that the triggering mechanism is triggered.

6. The mowing apparatus of claim 4, wherein the mowing mechanism further comprises a protective cover comprising a first cover and a second cover, the first cover and the second cover being positioned on either side of the cutterhead assembly along an axial direction of the cutterhead assembly, respectively, the first cover and the second cover being hingedly connected.

7. The mowing apparatus of claim 6, wherein the first housing is positioned on a side of the cutterhead assembly facing the lifting mechanism and is fixed to the first drive assembly, the second housing is positioned on the other side of the cutterhead assembly and is hingedly connected to the first housing, the triggering mechanism comprises a trigger switch fixed on a side of the first housing facing the second housing, and the second housing is configured to swing toward the trigger switch based on being blocked by an obstacle during travel of the mowing robot to trigger the trigger switch.

8. The mowing apparatus according to claim 6, wherein an elastic member for resetting is installed between the first cover and the second cover.

9. The mowing device according to claim 7, wherein a guide portion is formed on a side of the second housing facing away from the first housing, the guide portion being configured to guide the second housing to swing toward the trigger switch by contact with an obstacle during travel of the mowing robot.

10. The mowing apparatus according to any one of claims 1 to 4, further comprising:

and the control device is used for controlling the lifting mechanism to lift the mowing mechanism in a state that the triggering mechanism is triggered, and is also used for controlling the mowing mechanism to return to the initial ground clearance under a first instruction.

11. The mowing apparatus according to any one of claims 1 to 9, wherein the lifting mechanism comprises:

a second drive assembly; and

the first transmission assembly is in transmission connection with the second driving assembly and the mowing mechanism, the second driving assembly is arranged in a state that the triggering mechanism is triggered, and the mowing mechanism is lifted by driving the first transmission assembly to act.

12. A robot lawnmower comprising a vehicle body and the grass cutting device for a robot lawnmower of any one of claims 1 to 8, the grass cutting device being mounted on the vehicle body, the trigger mechanism being arranged to be triggered during travel of the robot lawnmower based on being blocked by an obstacle.

13. A control method of a mowing robot for a mowing robot as claimed in claim 12, comprising:

and controlling the lifting mechanism to lift the mowing mechanism in response to the triggering mechanism being triggered by the obstacle in the travelling direction of the mowing robot.

14. The control method of claim 13, wherein after the step of controlling the lift mechanism to raise the mowing mechanism, the method further comprises:

and controlling the lifting mechanism to drive the mowing mechanism to restore to the original ground clearance height in response to the mowing mechanism being lifted for a set time and the triggering mechanism not being triggered by an obstacle.

15. The control method of claim 13, wherein the step of triggering by an obstacle in a direction of travel of the lawnmower robot in response to a triggering mechanism comprises:

the trigger mechanism is triggered based on the trigger mechanism being blocked by an obstacle in a traveling direction of the mowing robot.

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