An adjustable mowing mechanism for a mowing robot and a height control method

Abstract

The embodiment of the application provides a height control method and an adjustable mowing mechanism for a mowing robot, and belongs to the technical field of mowing equipment. The adjustable mowing mechanism comprises a base, a mowing assembly, a connecting rod assembly and an adjusting assembly. The base is arranged at the bottom of the frame of the mowing robot. The base has a mounting cavity. A mounting shaft is rotatably arranged in the mounting cavity. The mowing assembly is used for providing a cutting action on grass. The connecting rod assembly is connected to the mowing assembly and the base. The adjusting assembly is arranged in the mounting cavity. The adjusting assembly drives the connecting rod assembly to rotate by driving the mounting shaft to rotate, so as to adjust the height of the mowing assembly. A Hall component is used for monitoring the height change of the mowing assembly. The Hall component comprises a Hall element and a magnet element. The Hall element is arranged in the mounting cavity. The magnet element is arranged on the mounting shaft and located in the sensing area of the Hall element. The adjustable mowing mechanism for the mowing robot can quantize the height adjustment of the mowing assembly, and the user experience is better.

Description

Technical Field

[0001] This application relates to the field of lawn mowing equipment technology, and more specifically, to an adjustable lawn mowing mechanism and height control method for a lawn mowing robot. Background Technology

[0002] Lawns require regular mowing and maintenance; however, manual mowing is not only labor-intensive but also inefficient. Automated lawnmowing robots can move and mow automatically without human intervention, thus reducing manpower, increasing work efficiency, and maintaining consistent mowing height and quality. Therefore, they are widely used in lawn mowing and maintenance in homes, parks, gardens, residential areas, golf courses, and other similar settings.

[0003] Lawn heights vary. Existing automatic lawn mowing robots typically use screw drives or motor drives to raise and lower the mowing components, thereby adjusting the height of the mowing components. Currently, the height adjustment of the mowing components cannot be quantified, resulting in a less than ideal user experience. Summary of the Invention

[0004] This application provides an adjustable mowing mechanism and height control method for a lawnmower robot, which can quantify the height adjustment of the mowing components, resulting in a better user experience.

[0005] In a first aspect, embodiments of this application provide an adjustable mowing mechanism for a lawnmower robot. The adjustable mowing mechanism is configured on the lawnmower robot and includes a base, a mowing assembly, a linkage assembly, and an adjustment assembly. The base is located at the bottom of the lawnmower robot's frame and has a mounting cavity within it. A mounting shaft is rotatably mounted within the mounting cavity. The mowing assembly is located on one side of the base and is used to cut grass. The linkage assembly connects the mowing assembly and the base. The adjustment assembly is located within the mounting cavity and drives the linkage assembly to rotate by driving the mounting shaft, thereby adjusting the height of the mowing assembly. A Hall effect sensor is located within the base and is used to monitor changes in the height of the mowing assembly. The Hall effect sensor includes a Hall element and a magnetic element. The Hall element is located within the mounting cavity, and the magnetic element is mounted on the mounting shaft and located within the sensing area of ​​the Hall element.

[0006] In this solution, a linkage assembly is installed between the base and the mowing assembly. Driven by the adjustment assembly, the linkage assembly can raise or lower the mowing assembly via the mounting shaft, thereby adjusting the cutting height of the mowing assembly. Furthermore, a Hall effect sensor is installed within the base. Utilizing the sensing between the Hall element and the magnet in the Hall effect sensor, the angle between the magnet and the Hall element changes when the mounting shaft rotates, causing a change in the Hall element's detection value. This detection value can then be compared with a calibration table to obtain real-time data on the height change of the mowing assembly, allowing users to quantify the height adjustment of the mowing assembly and improving the user experience.

[0007] In some embodiments, the end of the mounting shaft is provided with a connecting portion, the connecting portion having a mounting groove for embedding a magnetic element, the magnetic element being embedded in the mounting groove; when the mounting shaft rotates to drive the mowing assembly to rise and fall, the Hall element can determine the height change of the mowing assembly based on the rotation angle of the magnetic element.

[0008] In the above technical solution, a connecting part is provided at the end of the mounting shaft, and a mounting groove is provided on the connecting part. The magnetic element is embedded and positioned in the mounting groove, thereby ensuring that the position of the magnetic element in the connecting part will not easily shift, thus improving the accuracy of the sensing process between the Hall element and the magnetic element, and making the height adjustment of the lawn mowing component more precise.

[0009] In some embodiments, the linkage assembly includes a first linkage plate and a second linkage plate. One end of the first linkage plate is connected to a mounting shaft, and the other end is hinged to a mowing assembly. A rotating shaft is rotatably disposed above the mounting shaft in the base. One end of the second linkage plate is hinged to the rotating shaft, and the other end is hinged to the mowing assembly.

[0010] In the above technical solution, the first and second connecting plates in the linkage assembly work together to achieve the hinge between the base and the mowing assembly. The first connecting plate, the second connecting plate, the mowing assembly and the base form a parallel four-bar linkage mechanism. When the first connecting plate rotates upward, the mowing assembly can lift upward. When the first connecting plate rotates downward, the mowing assembly can lower as a whole.

[0011] In some embodiments, the adjustment assembly includes a first drive member, a worm gear, an external gear sleeve, and a support plate. The first drive member is installed in the mounting cavity, and the worm gear is connected to the drive end of the first drive member. The worm gear extends vertically within the mounting cavity. The external gear sleeve is disposed at the connecting portion and meshes with the worm gear. The support plate is disposed on the mounting shaft and located below the first connecting rod plate. Under the rotation of the external gear sleeve, the support plate drives the connecting rod assembly to rotate, thereby raising or lowering the mowing assembly.

[0012] In the above technical solution, the driving end of the first driving component is connected to the worm gear. The first driving component drives the worm gear to rotate, and the rotation of the worm gear drives the external gear sleeve to rotate. The rotation of the external gear sleeve drives the mounting shaft to rotate through the connecting part. The support plate is set on the mounting shaft, so the support plate rotates synchronously with the mounting shaft. The support plate is located below the first connecting rod plate, so the support plate will drive the first connecting rod plate to rotate upward to realize the lifting of the mowing component. When the support plate rotates downward, the mowing component will descend with the support plate under the action of gravity, thereby realizing the descent of the mowing component.

[0013] In some embodiments, an elastic element is provided between the second linkage plate and the mowing assembly, the elastic element being used to provide a restoring force when the mowing assembly is raised and to accumulate elastic force when the mowing assembly is lowered.

[0014] In the above technical solution, an elastic element is provided between the second linkage plate and the mowing assembly. This elastic element can provide some of the potential energy for the mowing assembly to rise, so that the power required for the mowing assembly to rise is less. In addition, the elastic element can also play a certain buffering role for the mowing assembly, making the movement of the mowing assembly more stable when it rises or falls.

[0015] The elastic element can be either a torsion spring or a return spring. In this embodiment, the elastic element is a return spring, with one end connected to the second connecting rod plate and the other end connected to the mowing assembly.

[0016] In some embodiments, a first connecting rod plate is sleeved on the mounting shaft so that the first connecting rod plate can rotate upward relative to the mounting shaft; a guide block is provided on the front side of the mowing assembly, and the guide block has a guide ramp, which is used to squeeze the mowing assembly when the guide block contacts an external obstruction, so that the mowing assembly is lifted upward by rotating the first connecting rod plate along the mounting shaft.

[0017] In the above technical solution, by sleeved the first connecting rod plate onto the mounting shaft, the first connecting rod plate can rotate upward relative to the mounting shaft. This allows the mowing assembly to maintain upward freedom even after height adjustment. When the mowing assembly encounters an obstacle at the bottom, it can passively move upward to automatically avoid it, thus enhancing safety. Furthermore, a guide block with a guide slope is provided on the front side of the mowing assembly. When the bottom of the mowing assembly encounters an external obstruction, the obstruction will press against the blocking part, and under the action of the guide slope, the mowing assembly will automatically rise upward. This causes the first connecting rod plate to automatically rotate upward along the mounting shaft, completing the passive upward lifting of the mowing assembly. This provides automatic obstacle avoidance without human intervention and is easy to promote.

[0018] In some embodiments, the mowing assembly includes a blade holder, a second drive member, a blade disc, and a plurality of blades. The blade holder is connected to a linkage assembly, the second drive member is mounted on the blade holder, and the drive end of the second drive member is driven to drive the blade disc to rotate. The plurality of blades are disposed on the blade disc and are spaced apart along the outer periphery of the blade disc.

[0019] In the above technical solution, the blade holder serves as the mounting carrier for the grass-cutting component. The second driving component is mounted on the blade holder and is connected to the blade disc drive, thereby driving the blade disc to rotate in the horizontal direction. Multiple blades are located on the outer periphery of the blade disc, and the multiple blades work together to achieve the grass-cutting function, resulting in high grass-cutting efficiency.

[0020] In some embodiments, a contact block is provided on the outer gear sleeve, and an upper micro switch is provided in the base. When the outer gear sleeve rotates to the point where the contact block contacts the upper micro switch, the second drive unit stops working to prevent the mowing assembly from continuing to rise.

[0021] In the above technical solution, a contact block is provided on the outer gear sleeve, and an upper micro switch is correspondingly provided in the base. After the contact block contacts the upper micro switch, the upper limit position of the adjustment component can be calibrated and adjusted so that the mowing component cannot continue to rise. This is the upper limit height of the mowing component, and the upper micro switch can play the role of calibrating the upper limit height.

[0022] In some embodiments, a lower micro switch is provided in the base. When the outer gear sleeve rotates to the point where the contact block contacts the lower micro switch, the second drive stops working to prevent the mowing assembly from continuing to descend.

[0023] In the above technical solution, a lower micro switch is correspondingly provided in the base. After the contact block contacts the lower micro switch, the lower limit position of the component can be calibrated and adjusted so that the mowing component cannot continue to descend. This is the lower limit height of the mowing component. The lower micro switch can play the role of calibrating the lower limit height.

[0024] Secondly, this application also provides a height control method for an adjustable mowing mechanism for a lawn mowing robot. Based on the aforementioned adjustable mowing mechanism for a lawn mowing robot, the height control method includes the following steps: allowing the adjustment component to drive the mounting shaft to rotate, thereby causing the height of the mowing component to change; the Hall element detects the change in the angle between the magnet element and the Hall element in the mounting shaft, thereby obtaining a real-time Hall detection value; and the real-time height of the mowing component is obtained by comparing the Hall detection value.

[0025] The beneficial effects of this solution are as follows: A Hall effect sensor is installed within the base. Utilizing the sensing between the Hall element and the magnetic element within the sensor, when the mounting shaft rotates, the angle between the magnetic element and the Hall element changes, causing a change in the Hall element's detection value. This detection value can then be correlated with a calibration table to obtain real-time data on the height change of the lawnmower assembly. This allows users to quantify the height adjustment of the lawnmower assembly, resulting in a better user experience. Furthermore, a floating height adjustment structure is adopted, where the first linkage plate is fitted onto the mounting shaft, giving the lawnmower upward freedom. When the lawnmower assembly encounters an obstacle at the bottom, guided by a guide block, it can passively move upward, automatically completing an emergency avoidance maneuver without human intervention.

[0026] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0027] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of the structure of a lawnmower robot provided in some embodiments of this application;

[0029] Figure 2 A schematic diagram of the adjustable lawnmower mechanism provided in some embodiments of this application;

[0030] Figure 3 An exploded view of an adjustable lawnmower mechanism provided in some embodiments of this application;

[0031] Figure 4 Another exploded view of the adjustable lawnmower mechanism provided in some embodiments of this application;

[0032] Figure 5 A schematic diagram of the adjustable lawn mowing mechanism provided in some embodiments of this application after removing one side of the housing on the base;

[0033] Figure 6 for Figure 5 Enlarged diagram of A in the middle;

[0034] Figure 7 for Figure 5 The front view;

[0035] Figure 8This is a schematic diagram illustrating the structural changes in the angles of the magnet and Hall elements during the movement of the mowing component in an adjustable mowing mechanism provided in some embodiments of this application.

[0036] Icons: 100-Lawn mower robot; 10-Frame; 20-Base; 21-Mounting shaft; 210-Connector; 211-Mounting slot; 22-Upper micro switch; 23-Lower micro switch; 24-Rotating shaft; 30-Lawn mowing assembly; 40-Linkage assembly; 41-First link plate; 42-Second link plate; 43-Elastic element; 50-Adjustment assembly; 51-First drive component; 52-Worm gear; 53-External gear sleeve; 54-Support plate; 55-Contact block; 60-Guide block; 61-Guide ramp; 70-Hall assembly; 71-Hall element; 72-Magnetic element. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0038] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0039] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0040] In the description of the embodiments of this application, it should be noted that the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product is usually placed during use. This is only for the convenience of describing this application and simplifying the description, and is not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this application. Furthermore, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0041] Furthermore, in the description of the embodiments of this application, unless otherwise explicitly specified and limited, the terms "assembly," "connection," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in this embodiment can be understood according to the specific circumstances.

[0042] Example

[0043] This application provides an adjustable lawn mowing mechanism for a lawn mowing robot. Please refer to [link to relevant documentation]. Figures 1 to 8 An adjustable mowing mechanism is configured on the mowing robot 100. The adjustable mowing mechanism includes a base 20, a mowing assembly 30, a linkage assembly 40, and an adjustment assembly 50. The base 20 is located at the bottom of the frame 10 of the mowing robot 100 and has a mounting cavity within it. A mounting shaft 21 is rotatably mounted within the mounting cavity. The mowing assembly 30 is located on one side of the base 20 and is used to cut the grass. The linkage assembly 40 connects the mowing assembly 30 and the base 20. The adjustment assembly 50 is located within the mounting cavity and drives the linkage assembly 40 to rotate by driving the mounting shaft 21, thereby adjusting the height of the mowing assembly 30. (See also...) Figure 3 and Figure 4 A Hall component 70 is provided inside the base 20. The Hall component 70 is used to monitor the height change of the lawn mowing component 30. The Hall component 70 includes a Hall element 71 and a magnetic element 72. The Hall element 71 is disposed in the mounting cavity, and the magnetic element 72 is disposed on the mounting shaft 21 and located in the sensing area of ​​the Hall element 71.

[0044] In this design, a linkage assembly 40 is provided between the base 20 and the mowing assembly 30. Driven by the adjustment assembly 50, the linkage assembly 40 can raise or lower the mowing assembly 30 via the mounting shaft 21, thereby adjusting the cutting height of the mowing assembly 30. Furthermore, a Hall effect sensor 70 is installed within the base 20. The Hall effect sensor 70 utilizes the sensing between the Hall element 71 and the magnetic element 72. (See [link to previous section]). Figure 8 When the mounting shaft 21 rotates, the angle between the magnet element 72 and the Hall element 71 changes, which causes the detection value of the Hall element 71 to change. Then, based on the detection value and the calibration table, the real-time height change data of the lawn mowing assembly 30 can be obtained, which makes it easier for users to quantify the height adjustment of the lawn mowing assembly 30 and provides a better user experience.

[0045] The Hall element 71 is a semiconductor magnetoelectric device that operates using the Hall effect. A Hall element is a magnetic sensor based on the Hall effect. They can detect magnetic fields and their changes, and can be used in various magnetic field-related applications. In existing technology, the height of the lawnmower assembly 30 is typically determined by placing a Hall element on the motor shaft, recording the motor's rotation speed, and recording the changes in the height of the lawnmower assembly 30. In this solution, however, the angle between the magnet element 72 and the Hall element 71 changes, causing a change in the detected value (voltage) of the Hall element 71, thus obtaining real-time height change data for the lawnmower assembly 30.

[0046] In some embodiments, the end of the mounting shaft 21 is provided with a connecting portion 210, and the connecting portion 210 has a mounting groove 211 for embedding the magnetic element 72. The magnetic element 72 is embedded in the mounting groove 211. When the mounting shaft 21 rotates to drive the mowing assembly 30 to rise and fall, the Hall element 71 can determine the height change of the mowing assembly 30 according to the rotation angle of the magnetic element 72. By providing a connecting portion 210 at the end of the mounting shaft 21 and providing a mounting groove 211 on the connecting portion 210, the magnetic element 72 is embedded and positioned in the mounting groove 211, thereby ensuring that the position of the magnetic element 72 in the connecting portion 210 will not easily shift, thus improving the accuracy of the sensing process between the Hall element 71 and the magnetic element 72, and making the height adjustment of the mowing assembly 30 more precise.

[0047] In some embodiments, please refer to Figure 2 and Figure 3 The linkage assembly 40 includes a first linkage plate 41 and a second linkage plate 42. One end of the first linkage plate 41 is connected to the mounting shaft 21, and the other end is hinged to the mowing assembly 30. A rotating shaft 24 is rotatably mounted above the mounting shaft 21 within the base 20. One end of the second linkage plate 42 is hinged to the rotating shaft 24, and the other end is hinged to the mowing assembly 30. Through the cooperation of the first linkage plate 41 and the second linkage plate 42 in the linkage assembly 40, the hinge between the base 20 and the mowing assembly 30 is realized. The first linkage plate 41, the second linkage plate 42, the mowing assembly 30, and the base 20 form a parallel four-bar linkage mechanism. When the first linkage plate 41 rotates upward, the mowing assembly 30 can achieve an upward lifting action; when the first linkage plate 41 rotates downward, the mowing assembly 30 can achieve an overall downward action.

[0048] In some embodiments, please refer to Figure 2The adjustment assembly 50 includes a first drive member 51, a worm gear 52, an external gear sleeve 53, and a support plate 54. The first drive member 51 is installed in the mounting cavity, and the worm gear 52 is connected to the drive end of the first drive member 51. The worm gear 52 extends vertically within the mounting cavity. The external gear sleeve 53 is located at the connecting part 210 and meshes with the worm gear. The support plate 54 is located on the mounting shaft 21 and below the first connecting rod plate 41. Under the rotation of the external gear sleeve 53, the support plate 54 drives the connecting rod assembly 40 to rotate, thereby raising or lowering the mowing assembly 30. The first driving member 51 is connected to the worm gear 52 through its driving end. The first driving member 51 drives the worm gear 52 to rotate. When the worm gear 52 rotates, it drives the external gear sleeve 53 to rotate. The rotation of the external gear sleeve 53 drives the mounting shaft 21 to rotate through the connecting part 210. The support plate 54 is set on the mounting shaft 21, so the support plate 54 rotates synchronously with the mounting shaft 21. The support plate 54 is located on the lower side of the first connecting rod plate 41. The support plate 54 will drive the first connecting rod plate 41 to rotate upward, so as to lift the mowing assembly 30. When the support plate 54 rotates downward, the mowing assembly 30 will descend together with the support plate 54 under the action of gravity, so as to lower the mowing assembly 30.

[0049] In some embodiments, please refer to Figure 7 An elastic element 43 is provided between the second linkage plate 42 and the mowing assembly 30. The elastic element 43 provides a restoring force when the mowing assembly 30 is raised and accumulates elastic force when the mowing assembly 30 is lowered. By providing the elastic element 43 between the second linkage plate 42 and the mowing assembly 30, the elastic element 43 can provide some of the potential energy for the mowing assembly 30 to rise, making the force required for the mowing assembly 30 to rise less. In addition, the elastic element 43 can also play a certain role in buffering the mowing assembly 30, making the movement of the mowing assembly 30 more stable when it rises or falls.

[0050] The elastic element 43 can be either a torsion spring or a return spring. In this embodiment, the elastic element 43 is a return spring, with one end connected to the second connecting rod plate 42 and the other end connected to the mowing assembly 30.

[0051] In some embodiments, the first connecting plate 41 is sleeved on the mounting shaft 21 so that the first connecting plate 41 can rotate upward relative to the mounting shaft 21; a guide block 60 is provided on the front side of the mowing assembly 30, and the guide block 60 has a guide ramp 61. The guide ramp 61 is used to squeeze the mowing assembly 30 when the guide block 60 comes into contact with an external obstacle, so that the first connecting plate 41 rotates along the mounting shaft 21 to lift the mowing assembly 30 upward. By sleeved on the mounting shaft 21, the first connecting plate 41 can rotate upward relative to the mounting shaft 21, so that the mowing assembly 30 still has an upward degree of freedom even after the height adjustment is completed. When the mowing assembly 30 encounters an obstacle at the bottom, it can passively move upward and automatically complete the avoidance, thus improving safety. Furthermore, a guide block 60 is provided on the front side of the mowing assembly 30, and the front side of the guide block 60 has a guide slope 61. When the bottom of the mowing assembly 30 encounters an external obstruction, the obstruction will squeeze the blocking part, and under the action of the guide slope 61, the mowing assembly 30 will be guided to automatically lift upward, so that the first connecting rod plate 41 will automatically rotate upward along the mounting shaft 21, thus completing the passive upward lifting of the mowing assembly 30. It has an automatic obstacle avoidance function, does not require human intervention, and is easy to promote.

[0052] In some embodiments, the mowing assembly 30 includes a blade holder, a second drive member, a blade disc, and multiple blades. The blade holder is connected to a linkage assembly 40. The second drive member is mounted on the blade holder, and its drive end is driven to the blade disc to rotate it. The multiple blades are disposed on the blade disc and spaced apart along its outer periphery. The blade holder serves as the mounting carrier for the mowing assembly 30. The second drive member is mounted on the blade holder and driven to the blade disc, thereby rotating the blade disc horizontally. The multiple blades are located on the outer periphery of the blade disc, and they work together to achieve the mowing function, resulting in high mowing efficiency.

[0053] In some embodiments, a contact block 55 is correspondingly provided on the outer gear sleeve 53, and an upper micro switch 22 is provided in the base 20. When the outer gear sleeve 53 rotates until the contact block 55 contacts the upper micro switch 22, the second drive component stops working to prevent the mowing assembly 30 from continuing to rise. By providing a contact block 55 on the outer gear sleeve 53 and a corresponding upper micro switch 22 in the base 20, the upper limit position of the adjustment assembly 50 can be calibrated after the contact block 55 contacts the upper micro switch 22, so that the mowing assembly 30 cannot continue to rise. This is the upper limit height of the mowing assembly 30, and the upper micro switch 22 can play the role of upper limit height calibration.

[0054] In some embodiments, a lower micro switch 23 is provided within the base 20. When the outer gear sleeve 53 rotates until the contact block 55 contacts the lower micro switch 23, the second drive component stops working to prevent the mowing assembly 30 from continuing to descend. Because the lower micro switch 23 is correspondingly provided within the base 20, after the contact block 55 contacts the lower micro switch 23, the lower limit position of the adjustment assembly 50 can be calibrated, preventing the mowing assembly 30 from descending further. This is the lower limit height of the mowing assembly 30, and the lower micro switch 23 serves as a lower limit height calibration mechanism.

[0055] This application provides a height control method for an adjustable mowing mechanism for a lawnmowing robot. Based on the aforementioned adjustable mowing mechanism for a lawnmowing robot, the height control method includes the following steps: the adjustment component 50 drives the mounting shaft 21 to rotate, causing the height of the mowing component 30 to change. The Hall element 71 detects the change in the angle between the magnet element 72 and the Hall element 71 in the mounting shaft 21, and obtains the real-time Hall detection value. The real-time height of the mowing component 30 is obtained by comparing the Hall detection value.

[0056] Specifically, the Hall detection value here is actually a voltage value. The table below shows a set of measured data for the Hall element 71.

[0057]

[0058]

[0059] By fitting the relationship curve between voltage and relative height using the above measured data, and comparing the real-time voltage value of the Hall element with the table, the relative height of the lawn mowing component can be calculated. In this way, the real-time height value of the lawn mowing component can be obtained during the height adjustment process, resulting in a better user experience.

[0060] It should be noted that, where there is no conflict, the features in the embodiments of this application can be combined with each other.

[0061] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An adjustable mowing mechanism for a lawnmowing robot, configured in the lawnmowing robot, characterized in that, include: A base is provided at the bottom of the frame of the lawnmower robot. The base has a mounting cavity, and a mounting shaft is rotatably mounted in the mounting cavity. A connecting part is provided at the end of the mounting shaft. A grass-cutting assembly is disposed on one side of the base, and the grass-cutting assembly is used to provide a cutting action on the grass; A linkage assembly is connected to the mowing assembly and the base; the linkage assembly includes a first linkage plate and a second linkage plate, one end of the first linkage plate is connected to the mounting shaft and the other end is hinged to the mowing assembly, a rotating shaft is rotatably disposed above the mounting shaft in the base, one end of the second linkage plate is hinged to the rotating shaft and the other end is hinged to the mowing assembly; An adjustment component, disposed within the mounting cavity, drives the mounting shaft to rotate, thereby rotating the linkage assembly to adjust the height of the mowing component; the adjustment component includes: The first driving component is installed inside the mounting cavity; A worm gear is connected to the driving end of the first driving member, and the worm gear extends vertically within the mounting cavity; An external gear sleeve is disposed at the connecting part, and the external gear sleeve meshes with the worm gear; A support plate is disposed on the mounting shaft and located below the first connecting rod plate. Under the rotation of the external gear sleeve, the support plate drives the connecting rod assembly to rotate, thereby raising or lowering the mowing assembly. The first connecting rod plate is sleeved on the mounting shaft so that the first connecting rod plate can rotate upward relative to the mounting shaft; An elastic element is provided between the second linkage plate and the mowing assembly. The elastic element is used to provide a restoring force when the mowing assembly is raised and to accumulate elastic force when the mowing assembly is lowered. The base is equipped with a Hall effect assembly for monitoring the height changes of the lawn mowing assembly. The Hall effect assembly includes a Hall element and a magnetic element. The Hall element is disposed in the mounting cavity, and the magnetic element is disposed on the mounting shaft and located in the sensing area of ​​the Hall element.

2. The adjustable mowing mechanism for a lawnmowing robot as described in claim 1, characterized in that, The connecting part has a mounting groove for embedding the magnet element, and the magnet element is embedded in the mounting groove; when the mounting shaft rotates to drive the lawn mowing assembly to rise and fall, the Hall element can determine the height change of the lawn mowing assembly based on the rotation angle of the magnet element.

3. The adjustable mowing mechanism for a lawnmowing robot as described in claim 1, characterized in that, A guide block is provided on the front side of the mowing assembly. The guide block has a guide slope. The guide slope is used to squeeze the mowing assembly when the guide block comes into contact with an external obstruction, so that the mowing assembly is lifted upward by rotating the first connecting rod plate along the mounting axis.

4. The adjustable mowing mechanism for a lawnmowing robot as described in claim 1, characterized in that, The mowing assembly includes a blade holder, a second drive member, a blade disc, and multiple blades. The blade holder is connected to the linkage assembly. The second drive member is mounted on the blade holder, and its drive end is connected to the blade disc to drive the blade disc to rotate. The multiple blades are disposed on the blade disc and are spaced apart along the outer periphery of the blade disc.

5. The adjustable mowing mechanism for a lawnmowing robot as described in claim 4, characterized in that, A contact block is correspondingly provided on the external gear sleeve, and an upper micro switch is provided in the base. When the external gear sleeve rotates to the point where the contact block contacts the upper micro switch, the second drive component stops working to prevent the mowing assembly from continuing to rise.

6. The adjustable mowing mechanism for a lawnmowing robot as described in claim 5, characterized in that, A lower micro switch is provided inside the base. When the outer gear sleeve rotates to the point where the contact block contacts the lower micro switch, the second drive component stops working to prevent the mowing assembly from continuing to descend.

7. A height control method for an adjustable mowing mechanism for a lawnmowing robot, based on the adjustable mowing mechanism for a lawnmowing robot as described in any one of claims 1-6, characterized in that, Includes the following steps: The adjustment component drives the mounting shaft to rotate, causing the height of the mowing component to change. The Hall element detects the change in the angle between the magnet element and the Hall element within the mounting shaft, obtaining a real-time Hall detection value. The real-time height of the mowing component is then determined by comparing the Hall detection value.

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