A wheel power module and a lawn mowing robot

Abstract

An embodiment of the present application provides a wheel power module and a lawn mowing robot, belonging to the technical field of lawn mowing equipment. The wheel power module includes a first base, a front wheel assembly, and a second base. The first base is connected to the frame of the lawn mowing robot. The front wheel assembly includes a front wheel and a wheel axle, and the front wheel is rotatably arranged on the wheel axle. The second base is sleeved on the first base, and the second base is slidably matched with the first base in the vertical direction. The wheel axle penetrates through the first base and the second base and is rotatably connected to the second base. Among them, a Hall component for monitoring the position of the second base is arranged between the first base and the second base. The second base has a first position and a second position on the first base, and the height of the first position is higher than that of the second position. When the second base is in the first position, the Hall component does not work. When the second base descends to the second position, the Hall component works to stop the lawn mowing robot from working. This wheel power module can improve the safety of the lawn mowing robot during operation.

Description

Technical Field

[0001] The present application relates to the technical field of mowing equipment, and more particularly, to a wheel power module and a mowing robot. Background Art

[0002] Existing lawn mowers have functions such as automatic walking, collision prevention, preventing wire breakage within a certain range, automatic return to charging, safety detection, and battery power detection, and have a certain climbing ability. In particular, they are suitable for lawn trimming and maintenance in places such as family courtyards and public green spaces. However, when the lawn mower encounters a raised ground or is lifted by a person, the lawn mower is still running, which poses a safety hazard. At the same time, the lawn mower will cause wear to itself during idling, shortening its service life. Summary of the Invention

[0003] An embodiment of the present application provides a wheel power module and a mowing robot, which can improve the safety of the mowing robot during operation.

[0004] An embodiment of the present application provides a wheel power module. The wheel power module includes a first base, a front wheel assembly, and a second base. The first base is connected to the frame of the mowing robot. The front wheel assembly is disposed below the first base. The front wheel assembly includes a front wheel and a wheel axle. The front wheel is rotatably disposed on the wheel axle. The second base is sleeved on the first base, and the second base is slidably engaged with the first base in the vertical direction. The wheel axle passes through the first base and the second base and is rotatably connected to the second base. Wherein, a Hall component for monitoring the position of the second base is disposed between the first base and the second base. The second base has a first position and a second position on the first base. The height of the first position is higher than that of the second position. When the second base is in the first position, the Hall component does not work. When the second base descends to the second position, the Hall component works to stop the mowing robot.

[0005] In this solution, by providing a second base and a first base, the second base is sleeved on the first base and can slide relative to it. The wheel axle passes through the first base and the second base and is rotatably connected to the second base. Thus, when the mowing robot is lifted, the front wheel in the front wheel assembly will be suspended, and the second base will be driven to slide downward under the action of gravity. To ensure the safety of the mowing robot after being lifted, a Hall component is disposed between the first base and the second base. The Hall component is used to monitor the operation of the mowing robot. When the front wheel is suspended, the second base descends to the second position, and the Hall component will generate an induction, thereby taking an emergency brake on the mowing robot to avoid a cutting accident, thus improving the safety of the mowing robot.

[0006] In some embodiments, the Hall assembly includes a Hall element and a magnet element. The Hall element is disposed on a first base, and the magnet element is disposed on a second base. When the second base is in a first position, the magnet element is located above the Hall element. When the second base descends to a second position, the magnet element enters the induction area of the Hall element to cause the lawn mowing robot to stop working.

[0007] In the above technical solution, by adopting the Hall assembly as the Hall element and the magnet element, when the lawn mowing robot is traveling normally, the second base is in the first position, that is, the magnet element is located at a higher normal position. When the lawn mowing robot is lifted externally, due to the sliding fit between the second base and the first base, the second base will slide downward relative to the first base, thereby driving the wheel axle to fall, and the magnet element will also follow and fall. When the second base descends to the second position, the magnet element enters the Hall effect induction area of the Hall element. After the Hall element detects the magnetic field, it emits an electrical signal to control the lawn mowing motor and the drive motor of the wheels in the lawn mowing robot to stop.

[0008] In some embodiments, a sliding table is provided on the top of the first base, the second base is slidably disposed on the sliding table, and a limiting assembly is further provided between the first base and the second base. The limiting assembly is used to limit the vertical sliding of the second base between the first position and the second position.

[0009] In the above technical solution, by forming a sliding table on the first base, the sliding table provides a guiding function for the second base to guide the second base to slide up and down on the first base. By providing a limiting assembly, the limiting assembly can limit the stroke of the up and down sliding of the second base, so that the second base can only slide back and forth between the first position and the second position, ensuring the overall structural stability of the first base and the second base.

[0010] In some embodiments, the limiting assembly includes a guiding column and a locking member. The guiding column is disposed on the first base and located outside the sliding table. A guiding hole for the guiding column to pass through is correspondingly provided on the second base, and the locking member is disposed at the end of the guiding column. The locking member is used to prevent the second base from sliding out of the first base.

[0011] In the above technical solution, by adopting the limiting assembly as the guiding column and the locking member, the locking member and the plane where the first base is located play a limiting role in the stroke of the second base, and the guiding column can jointly play a guiding role in the up and down sliding of the second base with the sliding table, and the stability of the up and down sliding of the second base is stronger.

[0012] In some embodiments, the number of the limiting assemblies is set to multiple groups, and the multiple groups of limiting assemblies are spaced apart along the circumferential direction of the sliding table on the first base.

[0013] In the above technical solution, by setting the number of limit components to multiple groups, the multiple groups of limit components cooperate together to block and limit the up and down movement of the second base. Compared with a single group of limit components, the limiting effect is better and the structural stability is higher.

[0014] In some embodiments, a steering motor is provided on the second base, and the driving end of the steering motor is drivingly connected to the upper part of the wheel axle to control the steering of the front wheel assembly.

[0015] In the above technical solution, by providing a steering motor on the second base, the steering motor can cooperate with the wheel axle to drive the wheel axle to rotate, thereby realizing the steering of the front wheel assembly.

[0016] In some embodiments, a positioning plate is provided at the upper end of the wheel axle, a limiting block is provided on the positioning plate, a cover plate is provided at the top of the second base, and a positioning block that abuts and cooperates with the limiting block is provided on the cover plate. When the wheel axle rotates to drive the limiting block to rotate until it abuts against the positioning block, the positioning block prevents the wheel axle from continuing to rotate.

[0017] In the above technical solution, by providing a limiting block on the positioning plate on the wheel axle and a positioning block on the cover plate, when the steering motor drives the wheel axle to rotate, when the limiting block on the wheel axle abuts against the positioning block, it represents a one-way rotation stroke, which is beneficial to the two-way steering control of the lawn mowing robot.

[0018] In some embodiments, an arc-shaped groove is formed on the cover plate, and the positioning block is slidably arranged in the arc-shaped groove.

[0019] In the above technical solution, by providing an arc-shaped groove on the cover plate for the positioning block to slide, when the steering motor drives the wheel axle to rotate clockwise (counterclockwise), when the wheel axle rotates until the limiting block touches the positioning block, the wheel axle can continue to rotate, so as to drive the positioning block to continue to slide on the arc-shaped groove to one end of the arc-shaped groove by using the limiting block. When the steering motor drives the wheel axle to rotate counterclockwise (clockwise), when the wheel axle rotates until the limiting block touches the positioning block, the wheel axle can continue to rotate, so as to drive the positioning block to continue to slide on the arc-shaped groove to the other end of the arc-shaped groove, thereby realizing the rotation of the wheel axle exceeding 360°, increasing the rotation stroke of the wheel axle, and ensuring that there is no dead angle in the rotation of the wheel axle.

[0020] In some embodiments, the front wheel assembly further includes a driving motor, the driving motor is installed on the wheel axle and is built into the front wheel, and the driving end of the driving motor is connected to the rotating shaft of the front wheel.

[0021] In the above technical solution, by integrating a driving motor in the front wheel, the driving motor can drive the front wheel to rotate, thereby realizing the power drive of the front wheel, making the lawn mowing robot four-wheel drive, with stronger power, better climbing performance, and more accurate walking route control.

[0022] In a second aspect, an embodiment of the present application further provides a lawn mowing robot, which includes a frame and the aforementioned wheel power module, and the first base is installed on the frame.

[0023] The beneficial effects of this solution are as follows: The second base is disposed on the second base in a liftable manner, and a Hall component is provided between the first base and the second base. The Hall component is used to monitor the operation of the lawn mowing robot. When the front wheel is suspended, the second base descends to the second position, and the Hall component will generate an induction, thereby taking emergency braking on the lawn mowing robot to avoid cutting accidents, thus improving the safety of the lawn mowing robot. Moreover, an arc-shaped groove for the positioning block to slide is provided on the cover plate. Under the cooperation of the limiting block and the positioning block, the wheel axle can rotate more than 360°, increasing the rotation stroke of the wheel axle, ensuring that there is no dead angle in the rotation of the wheel axle, and having stronger controllability.

[0024] Other features and advantages of the present application will be described in detail in the subsequent specific implementation part. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0026] Figure 1 Schematic structural diagram of a lawn mowing robot provided by some embodiments of the present application;

[0027] Figure 2 Schematic structural diagram of the normal driving state of the wheel in the wheel power module provided by some embodiments of the present application;

[0028] Figure 3 Schematic structural diagram of the state where the wheel in the wheel power module is lifted and suspended provided by some embodiments of the present application;

[0029] Figure 4 Schematic structural diagram of the wheel power module after the circuit board is disassembled provided by some embodiments of the present application;

[0030] Figure 5 Partial explosion schematic diagram of the wheel power module provided by some embodiments of the present application;

[0031] Figure 6 For Figure 5 Another perspective structural diagram of the wheel power module in;

[0032] Figure 7Explosion schematic diagram of the wheel power module provided by some embodiments of the present application;

[0033] Figure 8 For Figure 7 Structural schematic diagram of another angle of the wheel power module in

[0034] Icons: 100 - lawn mowing robot; 10 - frame; 20 - front wheel assembly; 21 - front wheel; 22 - wheel axle; 23 - positioning plate; 24 - limiting block; 25 - drive motor; 26 - gear; 27 - bearing; 28 - worm; 30 - first base; 31 - sliding table; 32 - guiding column; 33 - locking part; 40 - second base; 41 - guiding hole; 42 - cover plate; 420 - arc-shaped groove; 43 - positioning block; 50 - Hall assembly; 51 - Hall element; 52 - magnet element; 60 - steering motor; 70 - circuit board; 71 - second Hall; 72 - second magnet; 80 - gland. Detailed implementation manners

[0035] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Apparently, the described embodiments are some but not all of the embodiments of the present application. Usually, the components of the embodiments of the present application described and illustrated herein can be arranged and designed in various different configurations.

[0036] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the present application claimed, but merely represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without making creative efforts fall within the scope of protection of the present application.

[0037] It should be noted that: similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0038] In the description of the embodiments of the present application, it should be noted that the orientation or positional relationship indicated is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of this application is usually placed during use, or the orientation or positional relationship in which the product of this application is usually placed during use. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present application. In addition, the terms "first", "second", etc. are only used for descriptive distinction and cannot be understood as indicating or implying relative importance.

[0039] In addition, in the description of the embodiments of the present application, unless otherwise clearly defined and limited, terms such as "assembly" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in this embodiment can be understood according to specific circumstances.

[0040] Embodiment

[0041] The embodiments of the present application provide a lawn mowing robot. Please refer to Figures 1 to 8 , the lawn mowing robot 100 includes a frame 10 and a wheel power module, and the wheel power module can improve the safety of the lawn mowing robot during operation.

[0042] Specifically, please refer to Figure 2 , the wheel power module includes a first base 30, a front wheel assembly 20 and a second base 40. The first base 30 is connected to the frame 10 of the lawn mowing robot 100. The front wheel assembly 20 is arranged below the first base 30. The front wheel assembly 20 includes a front wheel 21 and a wheel axle 22. The front wheel 21 is rotatably arranged on the wheel axle 22. The second base 40 is sleeved on the first base 30. The second base 40 is slidably matched with the first base 30 in the vertical direction. The wheel axle 22 penetrates through the first base 30 and the second base 40 and is rotatably connected to the second base 40. Among them, a Hall component 50 for monitoring the position of the second base 40 is arranged between the first base 30 and the second base 40. The second base 40 has a first position and a second position on the first base 30. The height of the first position is higher than that of the second position. When the second base 40 is in the first position, the Hall component 50 does not work. When the second base 40 descends to the second position, the Hall component 50 works to stop the lawn mowing robot from working.

[0043] In this solution, by providing the second base 40 and the first base 30, the second base 40 is sleeved on the first base 30 and can slide relative to each other. The wheel axle 22 penetrates through the first base 30 and the second base 40 and is rotatably connected to the second base 40. In this way, when the lawn mowing robot is lifted, the front wheel 21 in the front wheel assembly 20 will be suspended, and the second base 40 will be driven to slide downward under the action of gravity. In order to ensure the safety of the lawn mowing robot after being lifted, a Hall component 50 is arranged between the first base 30 and the second base 40, and the Hall component 50 is used to monitor the operation of the lawn mowing robot. When the front wheel 21 is suspended, the second base 40 descends to the second position, and the Hall component 50 will generate an induction, so as to take emergency braking on the lawn mowing robot to avoid cutting accidents, thereby improving the safety of the lawn mowing robot.

[0044] Understandably, please refer to Figure 2 , when the lawn mowing robot is running normally, the second base 40 is in the first position. At this time, the front wheel 21 is in contact with the ground, and the second base 40 is in a higher position. Please refer to Figure 3 , when the lawn mowing robot is lifted by an external resistance, due to the sliding fit between the second base 40 and the first base 30, the second base 40 will slide down relative to the first base 30, thereby driving the axle 22 to fall. When the second base 40 falls to the second position, the Hall component 50 senses and emits an electrical signal, thereby controlling the lawn mowing robot to brake emergently.

[0045] It should be noted that the axle 22 passes through the first base 30 and the second base 40 and is rotatably connected to the second base 40. That is, the first base 30 is fixedly connected to the vehicle frame 10, and the first base 30 is slidably connected to the second base 40, but no angular displacement can occur. The axle 22 is rotatably and slidably connected to the first base 30, and the upper part of the axle 22 is rotatably connected to the second base 40.

[0046] In some embodiments, please refer to Figure 2 , the Hall component 50 includes a Hall element 51 and a magnet element 52. The Hall element 51 is disposed on the first base 30, and the magnet element 52 is disposed on the second base 40. When the second base 40 is in the first position, the magnet element 52 is located above the Hall element 51. When the second base 40 descends to the second position, the magnet element 52 enters the sensing area of the Hall element 51, so that the lawn mowing robot stops working. By adopting the Hall component 50 as the Hall element 51 and the magnet element 52, please refer to Figure 2 , when the lawn mowing robot is running normally, the second base 40 is in the first position, that is, the magnet element 52 is located at a relatively high normal position. Please refer to Figure 3 , when the lawn mowing robot is lifted externally, due to the sliding fit between the second base 40 and the first base 30, the second base 40 will slide down relative to the first base 30, thereby driving the axle 22 to fall, and the magnet element 52 will also follow and fall. When the second base 40 falls to the second position, the magnet element 52 enters the Hall effect sensing area of the Hall element 51. After the Hall element 51 detects the magnetic field, it emits an electrical signal, thereby controlling the lawn mowing motor and the drive motor 25 of the wheels in the lawn mowing robot to stop.

[0047] Among them, the Hall element 51 is a semiconductor magnetic electrical device, and it works by using the Hall effect. The Hall element 51 is a magnetic sensor based on the Hall effect. They can be used to detect magnetic fields and their changes and can be used in various occasions related to magnetic fields.

[0048] In some embodiments, please refer to Figure 7, a sliding table 31 is provided on the top of the first base 30, the second base 40 is slidably arranged on the sliding table 31, and a limiting component is further arranged between the first base 30 and the second base 40. The limiting component is used to limit the vertical sliding of the second base 40 between a first position and a second position. By forming the sliding table 31 on the first base 30, the sliding table 31 provides a guiding function for the second base 40, guiding the second base 40 to slide up and down on the first base 30. By providing the limiting component, the limiting component can limit the sliding stroke of the second base 40 up and down, so that the second base 40 can only slide back and forth between the first position and the second position, ensuring the overall structural stability of the first base 30 and the second base 40.

[0049] In some embodiments, please continue to refer to Figure 8 , the limiting component includes a guiding column 32 and a locking member 33. The guiding column 32 is arranged on the first base 30 and located outside the sliding table 31. A guiding hole 41 for the guiding column 32 to pass through is correspondingly arranged on the second base 40. The locking member 33 is arranged at the end of the guiding column 32, and the locking member 33 is used to prevent the second base 40 from sliding out of the first base 30. By adopting the guiding column 32 and the locking member 33 as the limiting component, the locking member 33 limits the stroke of the second base 40 relative to the plane where the first base 30 is located, and the guiding column 32 can cooperate with the sliding table 31 to guide the up and down sliding of the second base 40, and the stability of the up and down sliding of the second base 40 is stronger.

[0050] In this embodiment, the locking member 33 is adopted as a screw.

[0051] In some embodiments, the number of the limiting components is set to multiple groups, and the multiple groups of limiting components are distributed at intervals along the circumferential direction of the sliding table 31 on the first base 30. By setting the number of the limiting components to multiple groups, the multiple groups of limiting components cooperate together to play a role in blocking and limiting the up and down movement of the second base 40. Compared with a single group of limiting components, the limiting effect is better and the structural stability is higher.

[0052] In some embodiments, a steering motor 60 is arranged on the second base 40, and the driving end of the steering motor 60 is drivingly connected to the upper part of the wheel axle 22 to control the steering of the front wheel assembly 20. By arranging the steering motor 60 on the second base 40, the steering motor 60 can cooperate with the wheel axle 22 to drive the wheel axle 22 to rotate, so as to realize the steering of the front wheel assembly 20.

[0053] Among them, please refer to Figure 8The steering motor 60 adopts a worm structure, and a gear 26 is provided at the upper end of the wheel shaft 22. The steering motor 60 drives the worm 28 to rotate, and the worm 28 meshes with the gear 26, thereby realizing the steering drive of the wheel shaft 22. In addition, a through hole is opened in the middle of the first base 30 and the second base 40, and the wheel shaft 22 passes through the through holes of the first base 30 and the second base 40, and a bearing 27 is provided on the wheel shaft 22 at the position corresponding to the first base 30 and the second base 40, and the wheel shaft 22 is rotatably connected with the first base 30 or the second base 40 through the bearing 27.

[0054] In some embodiments, a positioning plate 23 is provided at the upper end of the wheel axle 22, a limiting block 24 is provided on the positioning plate 23, a cover plate 42 is provided on the top of the second base 40, a positioning block 43 abutting against the limiting block 24 is provided on the cover plate 42, and when the wheel axle 22 rotates and drives the limiting block 24 to rotate until it abuts against the positioning block 43, the positioning block 43 prevents the wheel axle 22 from continuing to rotate.

[0055] By setting a limit block 24 on the positioning plate 23 on the wheel shaft 22, and setting a positioning block 43 on the cover plate 42, when the steering motor 60 drives the wheel shaft 22 to rotate, the limit block 24 on the wheel shaft 22 abuts against the positioning block 43, which represents a unidirectional rotation stroke, which is beneficial to the bidirectional steering control of the lawn mower robot. In addition, a pressure cover 80 is also provided between the positioning plate 23 and the top of the second base 40, and the pressure cover 80 fastens the steering motor 60 to the second base 40.

[0056] In some embodiments, see Figure 6 , a circuit board 70 is also provided on the cover plate 42, a second Hall 71 is electrically connected to the circuit board 70, a second magnet 72 is built into the limit block 24, and the position of the steering motor 60 can be calibrated by the second Hall 71, that is, the limit block 24 rotates with the wheel shaft 22, and the second Hall 71 on the cover plate 42 can sense and calculate the position of the second magnet 72, thereby obtaining the real-time steering state of the steering motor 60. In fact, there is another way to calibrate the position of the steering motor 60, which is to judge that the steering motor is in the limit position after the wheel is turned to the limit position and the steering gear is blocked, thereby completing the calibration.

[0057] In some embodiments, see Figure 4The cover plate 42 is provided with an arc-shaped groove 420 , and the positioning block 43 is slidably disposed in the arc-shaped groove 420 . By providing an arc groove 420 for the positioning block 43 to slide on the cover plate 42, when the steering motor 60 drives the wheel axle 22 to rotate clockwise (counterclockwise), when the wheel axle 22 rotates to the point where the limit block 24 touches the positioning block 43, the wheel axle 22 can continue to rotate, thereby utilizing the limit block 24 to drive the positioning block 43 to continue to slide on the arc groove 420 to one groove end of the arc groove 420, and when the steering motor 60 drives the wheel axle 22 to rotate counterclockwise (clockwise), when the wheel axle 22 rotates to the point where the limit block 24 touches the positioning block 43, the wheel axle 22 can continue to rotate, thereby utilizing the limit block 24 to drive the positioning block 43 to continue to slide on the arc groove 420 to the other groove end of the arc groove 420, thereby realizing a rotation of the wheel axle 22 of more than 360°, increasing the rotation stroke of the wheel axle 22, and ensuring that the wheel axle 22 has no rotation dead angle.

[0058] In some embodiments, see Figure 7 The front wheel assembly 20 further includes a drive motor 25, which is mounted on the wheel axle 22 and built into the front wheel 21, and a drive end of the drive motor 25 is connected to a rotating shaft of the front wheel 21. By having the drive motor 25 built into the front wheel 21, the drive motor 25 can drive the front wheel 21 to rotate, thereby realizing the power drive of the front wheel 21, so that the lawn mower robot is a four-wheel drive with stronger power, stronger climbing performance, and more accurate walking route control.

[0059] It should be noted that, in the absence of conflict, the features in the embodiments of this application may be combined with each other.

[0060] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A wheel power module is applied to a lawn mowing robot, and is characterized in that, Comprising: A first base, connected to the frame of the lawn mowing robot; A front wheel assembly, disposed below the first base, the front wheel assembly including a front wheel and an axle, the front wheel being rotatably disposed on the axle; A second base, sleeved on the first base, the second base being slidably engaged with the first base in the vertical direction, the axle passing through the first base and the second base and being rotatably connected to the second base; Wherein, a Hall assembly for monitoring the position of the second base is disposed between the first base and the second base, the second base has a first position and a second position on the first base, the height of the first position is higher than that of the second position, when the second base is in the first position, the Hall assembly does not work, and when the second base descends to the second position, the Hall assembly works to stop the lawn mowing robot; The Hall assembly includes a Hall element and a magnet element, the Hall element is disposed on the first base, the magnet element is disposed on the second base, when the second base is in the first position, the magnet element is located above the Hall element, and when the second base descends to the second position, the magnet element enters the sensing area of the Hall element to stop the lawn mowing robot; A steering motor is disposed on the second base, and the driving end of the steering motor is drivingly connected to the upper part of the axle to control the steering of the front wheel assembly; A positioning plate is disposed at the upper end of the axle, a limiting block is disposed on the positioning plate, a cover plate is disposed at the top of the second base, and a positioning block for abutting against the limiting block is disposed on the cover plate. When the axle rotates to drive the limiting block to rotate until it abuts against the positioning block, the positioning block prevents the axle from continuing to rotate; An arc-shaped groove is formed on the cover plate, and the positioning block is slidably disposed in the arc-shaped groove.

2. The wheel power module according to claim 1, wherein A sliding table is disposed at the top of the first base, the second base is slidably disposed on the sliding table, and a limiting assembly is further disposed between the first base and the second base, the limiting assembly being used for restricting the vertical sliding of the second base between the first position and the second position.

3. The wheel power module according to claim 2, characterized in that, The limiting assembly includes a guiding column and a locking member, the guiding column is disposed on the first base and outside the sliding table, a guiding hole for the guiding column to pass through is correspondingly disposed on the second base, and the locking member is disposed at the end of the guiding column, the locking member being used for preventing the second base from sliding out of the first base.

4. The wheel power module according to claim 2, wherein The number of the limiting assemblies is set to be multiple groups, and the multiple groups of limiting assemblies are circumferentially spaced apart on the first base along the circumference of the sliding table.

5. The wheel power module according to claim 1, wherein The front wheel assembly further includes a driving motor, the driving motor is installed on the axle and is built in the front wheel, and the driving end of the driving motor is connected to the axle of the front wheel.

6. A lawn mowing robot, characterized in that, Including a frame and the wheel power module according to any one of claims 1-5, the first base is installed on the frame.

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