CN216532638U - Mowing device and mowing robot - Google Patents
Mowing device and mowing robot Download PDFInfo
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- CN216532638U CN216532638U CN202122839147.8U CN202122839147U CN216532638U CN 216532638 U CN216532638 U CN 216532638U CN 202122839147 U CN202122839147 U CN 202122839147U CN 216532638 U CN216532638 U CN 216532638U
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Abstract
The application provides a grass cutting device and a robot mower. The mowing device comprises a trigger 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 trigger mechanism, and the mowing mechanism is arranged to adjust the ground clearance of the mowing mechanism according to the triggered state of the trigger mechanism. The mowing device is applied to the mowing robot, the triggering mechanism is set to be triggered by a lower barrier 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 is lifted to a position higher than the barrier, the mowing robot can smoothly pass through the barrier in the advancing process, the mowing mechanism cannot be clamped on the barrier, and the problem of bottom clamping of the mowing robot cannot occur.
Description
Technical Field
The application relates to the field of greening equipment, in particular to a mowing device and a mowing robot.
Background
The mowing robot is a new product developed on the basis of the traditional mowing machine, can autonomously finish the lawn mowing work, and does not need manual direct control and operation. The mowing robot generally has the functions of automatically mowing, cleaning grass scraps, automatically sheltering from rain, automatically walking, automatically sheltering from obstacles, electrically and virtually fencing, automatically returning and charging, network control and the like, and is suitable for lawn trimming and maintenance in places such as family courtyards and public greenbelts. The robot mower not only has the advantages of being simple in operation, high in mowing efficiency and the like, but also can automatically finish mowing tasks, reduce labor cost and time cost, has the advantages of being safe, free of noise, high in intelligent degree and the like, and has become a main development direction of the mower industry.
However, when the existing mowing robot encounters a low obstacle (lower than a chassis of the mowing robot) in the traveling process, a mowing mechanism of the mowing robot is easily stuck on the obstacle, and the problem that the mowing robot is stuck at the bottom is caused.
SUMMERY OF THE UTILITY MODEL
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 and when running in-process and meet lower barrier, the mechanism of mowing causes the problem at the bottom of the robot card that mows because of the card on the barrier.
The application also provides a mowing robot and a control method of the mowing robot.
In order to achieve the above object, the mowing device for the mowing robot provided by the present application comprises a triggering mechanism, a lifting mechanism and a mowing mechanism, wherein the mowing mechanism is mounted on the lifting mechanism, and the lifting mechanism is electrically connected with the triggering mechanism and is configured to adjust the height of the mowing mechanism from the ground according to the state of the triggering mechanism.
In an exemplary embodiment, the trigger mechanism includes: the trigger switch is arranged on a chassis of the mowing robot; and the trigger piece is hinged on a chassis of the mowing robot and is arranged to swing towards the trigger switch based on the obstruction of the mowing robot in the traveling process so as 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 is located in front of the trigger switch, and the trigger 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 cutter head assembly is arranged on the first driving assembly, and the first driving assembly is arranged to drive the cutter head assembly to rotate.
In an exemplary embodiment, the mowing device further comprises: and the control device is used for controlling the first driving assembly to stop driving the cutter head assembly to rotate and controlling the lifting mechanism to lift the mowing mechanism in a state that the trigger 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 located on two sides of the cutter head assembly respectively along the axial direction of the cutter head assembly, and the first cover body and the second cover body are connected in an articulated mode.
In an exemplary embodiment, the first cover body is located on one side of the cutter head assembly facing the lifting mechanism and fixed on the first driving assembly, the second cover body is located on the other side of the cutter head assembly and hinged to the first cover body, the trigger mechanism comprises a trigger switch, the trigger switch is fixed on one side of the first cover body facing the second cover body, and the second cover body is configured to swing towards the trigger switch based on being blocked by an obstacle in the traveling process of the mowing robot so as to trigger the trigger switch.
In an exemplary embodiment, an elastic member for restoring 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 side of the second cover facing away from the first cover is formed with a guide portion configured to guide the second cover to swing toward the trigger switch by contacting an obstacle during travel of the lawn mowing robot.
In an exemplary embodiment, the mowing device further comprises: and the control device is arranged to control the lifting mechanism to lift the mowing mechanism in a triggered state of the trigger mechanism, and is further arranged to control the mowing mechanism to return to the initial ground clearance under a first instruction.
In an exemplary embodiment, the elevating mechanism includes: 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 to enable the mowing mechanism to be lifted by driving the first transmission assembly to act in a state that the trigger mechanism is triggered.
The mowing robot comprises a vehicle body and the mowing device for the mowing robot in any embodiment, wherein the mowing device is installed on the vehicle body, and the triggering mechanism is arranged to be triggered based on the fact that the mowing device is blocked by an obstacle during the traveling of the mowing robot.
The control method of the mowing robot provided by the application is used for the mowing robot in any one of the embodiments, and comprises the following steps: controlling a lift mechanism to lift the mowing mechanism in response to a trigger mechanism being triggered by an obstacle in a traveling direction of the mowing robot.
In an exemplary embodiment, 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 return to the original ground clearance in response to that the mowing mechanism is lifted for a set time and the trigger mechanism is not triggered by an obstacle.
In an exemplary embodiment, the step of triggering by an obstacle in the direction of travel of the lawn mowing robot in response to the trigger mechanism comprises:
the trigger mechanism is triggered based on the trigger mechanism being blocked by an obstacle in a direction of travel of the lawn mowing robot.
Among this application technical scheme, grass cutting device is applied to robot that mows, sets to the lower barrier that is met at robot that mows at trigger mechanism and triggers, and elevating system will mow the mechanism and rise when trigger mechanism is triggered, makes the mechanism that mows rise to the position that is higher than the barrier, and robot that mows like this can pass through the barrier smoothly at the in-process of advancing, and the mechanism that mows can not block on the barrier, therefore the problem at the bottom of the card can not appear in robot that mows.
Drawings
In order to more clearly illustrate the technical solutions in the present application or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a front view schematically illustrating a lawn mowing robot according to an embodiment of the present disclosure;
FIG. 2 is a front view of the assembled chassis and mowing device of FIG. 1;
FIG. 3 is a perspective view of the mowing device of FIG. 2, with the first drive assembly and the cutterhead assembly not shown;
FIG. 4 is a front view of the assembled protective cover and trigger mechanism of FIG. 2, the second cover body showing two positions, one position with the trigger mechanism unactuated and the other position with the trigger mechanism actuated;
fig. 5 is a front view schematically illustrating a lawn mowing robot according to another embodiment of the present disclosure.
Wherein, the correspondence between the reference numbers and the component names in fig. 1 to 5 is:
100, 110, 120, 200, 210, second driving component, 220, first driving component, 230, installation frame, 300, 310, trigger switch, 320, 400, mowing mechanism, 410, first driving component, 420, cutterhead component, 430, first cover, 440, second cover.
The implementation, functional features and advantages of the objectives of the present application will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the present application will be described clearly and completely with reference to the drawings in the present application, and it should be apparent that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that all the directional indications (such as up, down, left, right, front, and rear … …) in this application are only used to explain the relative position relationship between the components, the movement, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indication is changed accordingly.
In addition, descriptions in this application as to "first", "second", etc. are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In this application, unless expressly stated or limited otherwise, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; "coupled" may be direct or indirect through an intermediary, and may be internal to two elements or an interaction of two elements unless otherwise specifically limited. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In addition, technical solutions between the various embodiments of the present application may be combined with each other, but it must be based on the realization of the technical solutions by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should be considered to be absent and not within the protection scope of the present application.
Fig. 1 is a front view schematic structural diagram of a mowing robot according to an embodiment of the present application. Fig. 2 is a front view of the assembled chassis and mowing device of fig. 1. Fig. 3 is a perspective view of the mower of fig. 2 with the first drive assembly and the cutterhead assembly not shown. FIG. 4 is a front view of the assembled protective shield and trigger mechanism of FIG. 2, the second shield body showing two positions, one position with the trigger mechanism unactuated and the other position with the trigger mechanism actuated.
The present application provides a robot mower, 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 mounted on the chassis 110. The mowing device comprises a lifting mechanism 200, a trigger mechanism 300 and a mowing mechanism 400, wherein the lifting mechanism 200 is fixedly arranged on a 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 trigger mechanism 300 through a control device, the trigger mechanism 300 is arranged to be triggered when a load is applied from an obstacle below a vehicle body 100, and the lifting mechanism is arranged to adjust the ground clearance of the mowing mechanism 400 according to the state of the trigger mechanism 300 under the control of the control device. The electrical connection may be a wired connection or a wireless connection, and those skilled in the art may make reasonable selections according to needs, which are not limited herein but are within the scope of the present application.
Namely: when the robot mower 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 by the obstacle to the trigger mechanism 300 causes the trigger mechanism 300 to be triggered. The control device then controls the elevating mechanism 200 to raise the mowing mechanism 400 when the trigger mechanism 300 is triggered. The traveling direction of the mowing robot is the front.
According to the mowing robot with the mowing device, the trigger mechanism 300 is set to be triggered by a lower obstacle encountered in the traveling process of the mowing robot, the lifting mechanism 200 lifts the mowing mechanism 400 when the trigger mechanism 300 is triggered, so that the mowing mechanism 400 is lifted to a position higher than the obstacle (the mowing mechanism 400 can be lifted upwards to an upper limit position), the mowing robot can smoothly pass through the obstacle in the traveling process, the mowing mechanism 400 cannot be clamped on the obstacle, and the problem of bottom clamping of the mowing robot cannot occur.
In an embodiment, the lifting mechanism 200 is further configured to control the mowing mechanism 400 to fall and return to the initial height from the ground under the first instruction, which may be that after the triggering mechanism 300 is in the non-triggered 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 and return to the initial height from the ground, the first instruction is configured to be generated by the control device, and the set time may be set to 3 s-15 s (e.g. 3s, 5s, 8s, or 15 s), which may be reasonably set by those skilled in the art as required, and will not be described herein again.
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 is in transmission connection with the second driving assembly 210 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 stepping motor, and all of the purposes of the present application can be achieved.
In one embodiment, the first transmission assembly 220 is 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. The installation frame 230 is further provided with a guide mechanism for guiding the mowing mechanism 400 in the moving process, the guide mechanism can be a matching structure of a guide rail and a sliding block, the guide rail is vertically arranged and fixed on the side wall of the installation frame 230 along the vertical direction, the sliding block is fixed on the mowing mechanism 400, and the guide mechanism is used for ensuring that the mowing mechanism 400 moves linearly and avoiding the mowing mechanism 400 from swinging. The motor and the lead screw can be directly connected, the motor and the lead screw can also be indirectly connected through a belt wheel structure, the motor and the lead screw can also be indirectly connected through a gear structure, the purpose of the application can be achieved, the purpose of the application is not separated from the design idea of the application, repeated description is omitted, and the motor and the lead screw belong to the protection range of the application.
Of course, the first transmission assembly 220 may also be a rack and pinion transmission assembly or a sprocket chain transmission assembly, which all can achieve the purpose of the present application, and the purpose thereof does not depart from the design concept of the present application, and therefore, the details are not described herein again, and all of them should fall within the protection scope of the present application.
In one embodiment, as shown in fig. 2 and 3, the mowing mechanism 400 includes a first driving assembly 410 and a cutter head assembly 420, the first driving assembly 410 is fixedly mounted on the first transmission assembly 220, the cutter head assembly 420 is in transmission connection with a driving shaft of the first driving assembly 410, the first driving assembly 410 drives the cutter head assembly 420 to rotate when power is supplied, and the first driving assembly 410 stops driving the cutter head assembly 420 to rotate when power is not supplied.
In an embodiment, the first driving assembly 410 is configured as a motor, and the motor may be a dc motor, which is low in purchasing cost and can effectively reduce the manufacturing cost of the mowing robot.
In an embodiment, the first driving assembly 410 is also configured to be electrically connected to the control device, and when the triggering mechanism 300 is triggered, the control device controls the first driving assembly 410 to be powered off, so that the first driving assembly 410 stops driving the cutter head assembly 420 to rotate, thereby avoiding the problem of cutter head assembly 420 damage caused by cutter collision.
In one embodiment, as shown in fig. 2 to 4, the mowing mechanism 400 further includes a protective cover, the protective cover includes a second cover body 440 and a first cover body 430, the first cover body 430 and the second cover body 440 are respectively located on two sides of the cutter head assembly 420 along the axial direction of the cutter head assembly 420, and the first cover body 430 and the second cover body 440 are hinged to each other.
In an embodiment, the first cover 430 is located on the upper side of the cutter head assembly 420 and fixed to the housing of the first driving assembly 410, the second cover 440 is located on the lower side of the cutter head assembly 420 and 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 provided as a trigger switch, the trigger switch is fixedly mounted on the lower side of the first cover 430 facing the second cover 440, when the second cover 440 encounters an obstacle during traveling of the mowing robot, the obstacle applies a force to the second cover 440 in a direction opposite to a traveling direction of the mowing robot, so that the second cover 440 swings towards the trigger switch (the swing angle can be set to 3 degrees to 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 a micro switch, a torsion spring for resetting is disposed at a position where the first cover 430 and the second cover 440 are hinged (or a spring is disposed at the first cover 430 and the second cover 440), the torsion spring is used to keep the second cover 440 at an initial position, the second cover 440 automatically resets after the second cover 440 passes through an obstacle, and after the second cover 440 resets, the second cover 440 releases the micro switch, and the micro switch returns to an unfired state.
In one embodiment, the periphery of the second cover 440 may be provided with an inclined surface (i.e., a guide) extending outward and in the direction of the first cover 430, and the inclined surface may cause the second cover 440 to swing in the direction of 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 is higher and the rear part is lower (forming the guiding part), so that when the obstacle touches the second cover 440, the second cover 440 swings toward the first cover 430. By selecting a proper torsion spring or a proper spring, a certain resistance can be generated, and when the second cover body touches soft objects which do not influence the traveling, such as a grass, the lifting control is not carried out, namely, the objects which do not influence the traveling are not considered as obstacles.
In summary, the mowing robot provided by the embodiment has the advantages that the trigger mechanism is set to be triggered by a lower obstacle encountered in the traveling process of the mowing robot, the lifting mechanism lifts the mowing mechanism when the trigger mechanism is triggered, so that the mowing mechanism is lifted to a position higher than the obstacle, the mowing robot can smoothly pass through the obstacle in the traveling process, the mowing mechanism cannot be clamped on the obstacle, the problem of clamping of the mowing robot cannot occur, and the practicability of the mowing robot is better.
Fig. 5 is a front view schematically illustrating a lawn mowing robot according to another embodiment of the present disclosure. The mowing robot of this embodiment differs from the mowing robot of the foregoing embodiment in that: the trigger mechanism 300 includes a trigger switch 310 and a trigger 320. In the traveling direction of the mowing robot, the trigger switch 310 is located in front of both the lifting mechanism 200 and the mowing mechanism 400, and the trigger switch 310 is spaced apart from the lifting mechanism 200 and the mowing mechanism 400. In the traveling direction of the mowing robot, the trigger 320 is also located in front of the lifting mechanism 200 and the mowing mechanism 400, 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 320 is hinged to the chassis 110, and the lower end of the trigger 320 is located below the trigger 310 and covers the trigger 310 toward the upper rear. When the mowing robot travels, the lower end of the trigger 320 (which can be arranged to be flush with the lower end of the cutter head assembly 420) encounters a lower obstacle (which is lower than the chassis but higher than the lower end of the mowing mechanism 400), the obstacle applies an acting force to the trigger 320 in the direction opposite to the traveling direction of the mowing robot, so that the trigger 320 swings backwards and upwards, the trigger 320 presses the trigger switch 310, the trigger switch 310 is triggered, 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, the lifting mechanism 200 lifts the mowing mechanism 400, the mowing mechanism 400 is lifted to a position higher than the obstacle, and therefore the mowing robot can smoothly pass through the obstacle during traveling, and the mowing mechanism 400 cannot be clamped on the obstacle, and therefore the mowing robot cannot have the problem of bottom clamping.
Because the trigger 320 is hinged and the structure of the trigger 320 can be made smaller, the trigger 320 cannot be clamped on an obstacle to cause the problem of bottom clamping of the mowing robot; the trigger 320 may be configured as a trigger bar, a trigger plate, a trigger sheet, or the like, all of which can achieve the purpose of the present application, and the purpose of which does not depart from the design direction of the present application, and therefore, the details are not described herein again, and all of which should fall within the protection scope of the present application.
In one embodiment, the mowing mechanism 400 further comprises a protective cover configured to include a second cover 440 and a first cover 430, the first cover 430 is positioned on an upper side of the cutterhead assembly 420 and is fixed to the housing of the first drive assembly 410, the second cover 440 is positioned on a lower side of the cutterhead assembly 420, and the second cover 440 and the first cover 430 are configured to be fixedly connected in a removable manner.
In summary, the mowing robot provided by the embodiment has the advantages that the trigger mechanism is set to be triggered by a lower obstacle encountered in the traveling process of the mowing robot, the lifting mechanism lifts the mowing mechanism when the trigger mechanism is triggered, so that the mowing mechanism is lifted to a position higher than the obstacle, the mowing robot can smoothly pass through the obstacle in the traveling process, the mowing mechanism cannot be clamped on the obstacle, the problem of clamping of the mowing robot cannot occur, and the practicability of the mowing robot 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: controlling a lift mechanism to lift the mowing mechanism in response to a trigger mechanism being triggered by an obstacle in a traveling direction of the mowing robot.
According to the control method of the mowing robot, when the trigger mechanism is triggered by the obstacle in the advancing process of the mowing robot, the lifting mechanism is controlled to lift the mowing mechanism, so that the mowing mechanism is lifted to a position higher than the obstacle, 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 elevator mechanism to raise the mowing mechanism, the control method further comprises: after the mowing mechanism is lifted for a set time and the trigger mechanism is not triggered by the obstacle, the lifting mechanism is controlled to drive the mowing mechanism to fall and return to the original ground clearance, and the mowing robot smoothly passes through the obstacle and continues to move to mow. The setting time can be set to 3 s-15 s (such as 3s, 5s, 8s or 15 s), and can be set reasonably as required by those skilled in the art, and will not be described herein.
In one embodiment, the step of triggering by an obstacle in the direction of travel of the mowing robot in response to the trigger mechanism is: when the trigger mechanism is blocked by an obstacle in the traveling process of the mowing robot, the trigger 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 cutter head assembly to rotate, and energy conservation of the mowing robot is achieved.
The application provides a control method of a mowing robot, comprising the following steps:
when the trigger mechanism is blocked by an obstacle in the advancing process of the mowing robot, the trigger mechanism is triggered by the obstacle, and the lifting mechanism is controlled to lift the mowing mechanism;
and after the mowing mechanism is lifted for a set time and the trigger mechanism is not triggered by an obstacle, controlling the lifting mechanism to drive the mowing mechanism to recover to the original height above the ground.
The application also provides a control method of the mowing robot, which comprises the following steps:
detecting obstacles in the advancing process of the mowing robot through a trigger mechanism;
when the trigger mechanism is triggered due to the fact that the trigger mechanism is blocked by the obstacle, 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 the trigger mechanism is in a non-triggering state, the control device controls the lifting mechanism to drive the mowing mechanism to fall and recover to the initial ground clearance.
Therefore, the mowing mechanism of the mowing robot cannot be clamped on the barrier in the mowing process of the mowing robot, and the using performance of the mowing robot is better.
In summary, according to the control method of the mowing robot, when the trigger mechanism is triggered by the obstacle in the traveling process of the mowing robot, the lifting mechanism is controlled to lift the mowing mechanism, so that the mowing mechanism is lifted to a position higher than the obstacle, the mowing robot can smoothly pass through the obstacle in the traveling 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 of the present application, it should be noted that the terms "upper", "lower", "one side", "the other side", "one end", "the other end", "side", "opposite", "four corners", "periphery", "mouth" word structure ", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present application and simplifying the description, but do not indicate or imply that the structures referred to have a specific orientation, are configured and operated in a specific orientation, and thus, cannot be construed as limiting the present application.
In the description of the present application, unless otherwise expressly specified or limited, the terms "connected," "directly connected," "indirectly connected," "fixedly connected," "mounted," and "assembled" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; the terms "mounted," "connected," and "fixedly connected" may be directly connected or indirectly connected through intervening media, or may be connected through two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Although the embodiments disclosed in the present application are described above, the descriptions are only for the convenience of understanding the present application, and are not intended to limit the present application. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the disclosure as defined by the appended claims.
The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications and equivalents of the subject matter of the present application, which is conceived to be equivalent to the above description and the accompanying drawings, or to be directly/indirectly applied to other related arts, are intended to be included within the scope of the present application.
Claims (12)
1. A mowing device for a mowing robot is characterized by comprising a trigger 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 trigger mechanism and is arranged to adjust the ground clearance of the mowing mechanism according to the state of the trigger mechanism.
2. The mowing device of claim 1, wherein the trigger mechanism comprises:
the trigger switch is arranged on a chassis of the mowing robot; and
the trigger piece is hinged on a chassis of the mowing robot and is arranged to swing towards the trigger switch based on being blocked by an obstacle during the traveling of the mowing robot so as to trigger the trigger switch.
3. The mowing device according to claim 2, wherein the trigger switch is located in front of the mowing mechanism in a traveling direction of the mowing robot, wherein the trigger is located in front of the trigger switch, and wherein the trigger 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.
4. The mowing device of claim 1, wherein the mowing mechanism comprises:
a first drive assembly; and
the cutter head assembly is installed on the first driving assembly, and the first driving assembly is arranged to drive the cutter head assembly to rotate.
5. The mowing device of claim 4, further comprising:
and the control device is used for controlling the first driving assembly to stop driving the cutter head assembly to rotate and controlling the lifting mechanism to lift the mowing mechanism in a state that the trigger mechanism is triggered.
6. The mowing device according to claim 4, wherein 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 on two sides of the cutter head assembly along the axial direction of the cutter head assembly, and the first cover body and the second cover body are connected in an articulated mode.
7. The mowing device according to claim 6, wherein the first cover is located on one side of the cutter head assembly facing the lifting mechanism and fixed to the first drive assembly, the second cover is located on the other side of the cutter head assembly and is in hinged connection with the first cover, the trigger mechanism comprises a trigger switch fixed on one side of the first cover facing the second cover, and the second cover is configured to swing towards the trigger switch based on being blocked by an obstacle during traveling of the mowing robot so as to trigger the trigger switch.
8. The mowing device according to claim 6, wherein an elastic member for restoring is installed between the first cover and the second cover.
9. The mowing device according to claim 7, wherein a side of the second cover facing away from the first cover is formed with a guide portion configured to guide the second cover to swing toward the trigger switch by contacting an obstacle during travel of the mowing robot.
10. The mowing device according to any one of claims 1 to 4, further comprising:
and the control device is arranged to control the lifting mechanism to lift the mowing mechanism in a triggered state of the trigger mechanism, and is further arranged to control the mowing mechanism to return to the initial ground clearance under a first instruction.
11. The mowing device 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 to enable the mowing mechanism to be lifted by driving the first transmission assembly to act in a triggered state of the triggering mechanism.
12. A robot lawnmower comprising a vehicle body and a lawnmower device for a robot lawnmower according to any one of claims 1 to 8, the lawnmower device being mounted on the vehicle body, the trigger mechanism being arranged to be triggered during travel of the robot lawnmower on the basis of being blocked by an obstacle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202122839147.8U CN216532638U (en) | 2021-11-18 | 2021-11-18 | Mowing device and mowing robot |
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| CN202122839147.8U CN216532638U (en) | 2021-11-18 | 2021-11-18 | Mowing device and mowing robot |
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| CN216532638U true CN216532638U (en) | 2022-05-17 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024017154A1 (en) * | 2022-07-21 | 2024-01-25 | 追觅创新科技(苏州)有限公司 | Control method for self-propelled device, and self-propelled device and storage medium |
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2021
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024017154A1 (en) * | 2022-07-21 | 2024-01-25 | 追觅创新科技(苏州)有限公司 | Control method for self-propelled device, and self-propelled device and storage medium |
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