A floating mowing structure and weeding robot

Abstract

The application relates to the technical field of weeding devices, and discloses a floating mowing structure and a weeding robot. The floating mowing structure comprises a connecting frame, a mounting plate, a connecting rod mechanism and a mowing mechanism. The mounting plate is connected with the connecting frame through the connecting rod mechanism. The mowing mechanism comprises a plurality of mowing heads which are arranged at intervals on the mounting plate. The mowing head comprises a driving piece, a mowing head damping assembly, a connecting assembly and a cutter head. The mowing head damping assembly is arranged between the driving piece and the mounting plate. One end of the connecting assembly is connected with the driving end of the driving piece, and the other end penetrates through the mounting plate and is provided with the cutter head. The mowing head damping assembly can be used for damping during the working of the mowing head, and can be buffered and avoided when the mowing head touches hard obstacles, so that the mowing head is prevented from being directly damaged.

Description

Technical Field

[0001] This invention relates to the field of weeding equipment technology, specifically to a floating mowing structure and a weeding robot. Background Technology

[0002] A photovoltaic (PV) power station is a system that utilizes solar energy, employing specialized materials (such as crystalline silicon panels) and electronic equipment (such as inverters) to generate electricity. It is connected to the power grid and transmits power to it. With continuous development, the scale of PV power stations is expanding, and their application scenarios are becoming more diverse, making the overall operation and maintenance of PV power stations particularly important. For example, in areas with abundant weeds and shrubs, excessively tall weeds and shrubs can shade the PV panels, significantly reducing the efficiency of PV power generation. Furthermore, excessive weeds and shrubs can pose a fire risk, creating a safety hazard.

[0003] Therefore, weeding is particularly important for photovoltaic power plants. Currently, weeding at photovoltaic power plants is mostly performed by weeding robots. A weeding robot generally consists of a vehicle body and a mowing structure. The vehicle body is equipped with tracks or wheels to move the entire device. The mowing structure is connected to the vehicle body and is equipped with a mowing head; the blades on the mowing head rotate to cut and remove grass. However, the ground at photovoltaic power plants is sometimes uneven and may contain hard obstacles such as rocks. During operation, the mowing head can easily come into contact with the ground or obstacles and be damaged. Summary of the Invention

[0004] In view of this, the present invention provides a floating mowing structure and a mowing robot to solve the problem that the mowing head of the mowing structure is easily damaged by contact with uneven ground or obstacles during operation.

[0005] In a first aspect, the present invention provides a floating lawnmower structure, comprising:

[0006] Connection frame;

[0007] Mounting plate;

[0008] A linkage mechanism is provided, through which the mounting plate is connected to the connecting frame;

[0009] A mowing mechanism includes a plurality of mowing heads spaced apart on the mounting plate. Each mowing head includes a drive unit, a mowing head damping assembly, a connecting assembly, and a blade. The mowing head damping assembly is disposed between the drive unit and the mounting plate. One end of the connecting assembly is connected to the drive end of the drive unit, and the other end passes through the mounting plate and is provided with the blade.

[0010] Beneficial effects

[0011] By incorporating a lawnmower head shock absorption component, the lawnmower head can be flexibly buffered and shaken to avoid contact with hard obstacles during operation, preventing direct damage to the lawnmower head.

[0012] In an optional embodiment, the lawnmower head shock absorption assembly includes: an end sleeve, a guide body, a first elastic element, and fasteners. The connecting flange of the drive component has multiple first mounting holes, and the mounting plate has multiple second mounting holes. The positions of the first mounting holes and the second mounting holes correspond one-to-one. The end sleeve is disposed in the first mounting hole. The two ends of the guide body are respectively located in the end sleeve and in the second mounting holes, and the fasteners are disposed at both ends of the guide body. The portion of the guide body located between the connecting flange and the mounting plate is fitted with the first elastic element, and the two ends of the first elastic element abut against the connecting flange and the mounting plate, respectively.

[0013] Beneficial effects

[0014] This lawn mower head shock absorption component provides vertical flexible cushioning for the lawn mower head. When the blade encounters an obstacle during mowing, it avoids it by floating vertically, preventing damage to the blade.

[0015] In an optional embodiment, the connecting component includes a connecting shaft and an adapter plate, one end of the connecting shaft is connected to the driving end of the driving member, and the other end is provided with the adapter plate, on which the cutting head is provided.

[0016] In one optional embodiment, the plurality of cutter heads are arranged at different heights.

[0017] In an optional embodiment, the linkage mechanism includes two telescopic rods and two connecting rods. The two telescopic rods are respectively disposed on both sides of the connecting frame, with their fixed ends connected to the connecting frame and their driving ends connected to the mounting plate. The two connecting rods are also respectively disposed on both sides of the connecting frame, with one end connected to the connecting frame and the other end connected to the mounting plate.

[0018] Beneficial effects

[0019] This linkage mechanism allows the floating mower structure to be raised or lowered, presenting different postures, thus adapting to different types of working conditions.

[0020] In an optional embodiment, the floating lawnmower structure further includes a mounting plate damping assembly, one side of which is connected to the mounting plate and the other side to the linkage rod.

[0021] In an optional embodiment, the mounting plate damping assembly includes: a second elastic element and two connecting plates, the two connecting plates being disposed opposite to each other, one of the connecting plates being connected to the mounting plate and the other connecting plate being connected to the linkage rod, and the second elastic element being disposed on the two connecting plates.

[0022] Beneficial effects

[0023] The mounting plate damping components provide shock absorption for the entire mounting plate, preventing the lawnmower head from directly hitting the ground or hard obstacles and causing damage to the entire mounting plate.

[0024] In an optional embodiment, the telescopic pole is connected to the connecting frame via a telescopic pole damping assembly.

[0025] In an optional embodiment, the telescopic rod shock absorption assembly includes: a base, a connecting seat, a third elastic element, and a guide element. The base is connected to the connecting frame, the connecting seat is connected to the mounting end of the telescopic rod, the third elastic element is disposed between the base and the connecting seat and sleeved on the guide element, one end of the guide element is fixedly disposed on the base, and the other end is slidably connected to the connecting seat.

[0026] Beneficial effects

[0027] When the floating lawnmower structure encounters a significant impact, such as when it hits a slope, the telescopic rod shock absorption module can provide cushioning, allowing the overall mounting plate to adjust its angle accordingly and preventing overall damage.

[0028] Secondly, the present invention also provides a weeding robot, including the aforementioned floating mowing structure and vehicle body, wherein the connecting frame of the floating mowing structure is connected to the vehicle body.

[0029] Beneficial effects

[0030] Since the lawn mowing robot includes a floating mowing structure, it has the same effect as a floating mowing structure, so it will not be described in detail here. Attached Figure Description

[0031] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0032] Figure 1 This is a schematic diagram of the floating lawnmower structure according to an embodiment of the present invention;

[0033] Figure 2This is a front view of the floating lawnmower structure according to an embodiment of the present invention;

[0034] Figure 3 This is a top view of the floating lawnmower structure according to an embodiment of the present invention;

[0035] Figure 4 This is a side view of the floating lawnmower structure in the lifted state according to an embodiment of the present invention;

[0036] Figure 5 This is an isometric view of the floating lawnmower structure in the raised state according to an embodiment of the present invention;

[0037] Figure 6 This is a side view of the floating lawnmower structure in the lowered state according to an embodiment of the present invention;

[0038] Figure 7 This is a schematic diagram of the mowing head in the floating mowing structure of an embodiment of the present invention;

[0039] Figure 8 This is a cross-sectional view of the mowing head in the floating mowing structure of an embodiment of the present invention;

[0040] Figure 9 This is a cross-sectional view of the telescopic rod shock absorption component in the floating lawnmower structure according to an embodiment of the present invention.

[0041] Explanation of reference numerals in the attached figures:

[0042] 1. Connecting frame; 11. Mainboard; 12. Side panel;

[0043] 2. Mounting plate; 21. Front panel; 22. Skirt panel;

[0044] 3. Linkage mechanism; 31. Telescopic rod; 32. Connecting rod;

[0045] 4. Mowing mechanism; 41. Drive component; 42. Mowing head shock absorption assembly; 421. End sleeve; 422. Guide body; 423. First elastic element; 424. Fastener; 43. Connecting assembly; 431. Connecting shaft; 432. Adapter plate; 44. Blade head; 45. Grass cutting blade.

[0046] 5. Mounting plate shock absorption assembly; 51. Second elastic element; 52. Two connecting plates;

[0047] 6. Telescopic rod shock absorption assembly; 61. Base; 62. Connecting seat; 63. Third elastic element; 64. Guide element; 65. Guide rod. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0049] The following is combined Figures 1 to 9 The following describes embodiments of the present invention.

[0050] According to an embodiment of the present invention, a floating lawn mowing structure is provided, comprising: a connecting frame 1, a mounting plate 2, a linkage mechanism 3, and a mowing mechanism 4. The mounting plate 2 is connected to the connecting frame 1 via the linkage mechanism 3. The mowing mechanism 4 includes a plurality of mowing heads spaced apart from the mounting plate 2. Each mowing head includes: a drive member 41, a mowing head damping assembly 42, a connecting assembly 43, and a blade 44. The mowing head damping assembly 42 is disposed between the drive member 41 and the mounting plate 2. One end of the connecting assembly 43 is connected to the drive end of the drive member 41, and the other end passes through the mounting plate 2 and is provided with the blade 44.

[0051] like Figures 1 to 3 As shown, the connecting frame 1 is a structure that transitions between the floating mowing structure and the body of the mowing robot. Specifically, the connecting plate includes a main plate 11 and two side plates 12 located on both sides of the main plate 11. The side plates 12 are perpendicular to the main plate 11, forming a semi-enclosed structure. The mounting plate 2 supports the mowing mechanism 4 and provides an installation environment for the mowing mechanism 4. Specifically, the mounting plate 2 includes a front panel 21 and two skirts 22. The two skirts 22 are located at both ends of the front panel 21 and extend vertically downwards. The space between the two skirts 22 is the mowing space of the mowing mechanism 4. Generally, the connecting frame 1 is positioned higher, and the mounting plate 2 is positioned lower. The connecting frame 1 and the mounting plate 2 are connected as a whole by a linkage mechanism 3. Multiple mowing heads of the mowing mechanism 4 are spaced apart along the length of the mounting plate 2, and the mowing range of the mowing heads must be able to cover the entire mowing space. Each mowing head includes a drive unit 41, a mowing head shock absorption assembly 42, a connecting assembly 43, and a blade 44. The rotational power provided by the drive unit 41 is transmitted to the blade 44 through the connecting assembly 43, and the blade 44 rotates to cut grass. The mowing head shock absorption assembly 42 is provided between the drive unit 41 and the mounting plate 2. The mowing head shock absorption assembly 42 can not only fix the drive unit 41, but also provide vertical shock absorption and floating avoidance for the mowing head. When the mowing head touches the ground or a hard obstacle while cutting grass, it can float vertically to avoid direct damage to the mowing head.

[0052] In some embodiments, the linkage mechanism 3 includes two telescopic rods 31 and two connecting rods 32. The two telescopic rods 31 are respectively disposed on both sides of the connecting frame 1, with their fixed ends connected to the connecting frame 1 and their driving ends connected to the mounting plate 2. The two connecting rods 32 are also respectively disposed on both sides of the connecting frame 1, with one end connected to the connecting frame 1 and the other end connected to the mounting plate 2.

[0053] like Figures 1 to 3 As shown, two telescopic rods 31 are respectively disposed on both sides of the connecting frame 1, that is, the mounting ends of the two telescopic rods 31 are respectively hinged to the two side plates 12, and the driving ends of the two telescopic rods 31 are respectively hinged to the top surface of the panel 21. Two connecting rods 32 are also respectively disposed on both sides of the connecting frame 1, one end of the two connecting rods 32 is respectively hinged to the two side plates 12, but the connection position is located below the connection position between the mounting end of the telescopic rod 31 and the side plate 12, and the other end of the two connecting rods 32 is hinged to the bottom surface of the panel 21. The telescopic rods 31 are preferably electric push rods, and the extension and retraction of the electric push rods can drive the entire mounting plate 2 to rotate. Figures 4 to 6 As shown, when the electric push rod extends, it lowers the mounting plate 2, which is usually for mowing. When the electric push rod retracts, it flips the mounting plate 2 upwards, which is usually not for mowing and is mostly suitable for the rapid movement of the weeding robot.

[0054] In some embodiments, the telescopic pole 31 is connected to the connecting frame 1 via the telescopic pole damping assembly 6. That is, the mounting end of the telescopic pole 31 is not directly hinged to the side plate 12 of the connecting frame, but is connected via the telescopic pole damping assembly 6. The telescopic pole damping assembly 6 provides floating and shock absorption for the telescopic pole 31, improving the overall adaptability of the floating lawnmower structure.

[0055] In one embodiment, the telescopic rod shock absorption assembly 6 includes: a base 61, a connecting seat 62, a third elastic element 63, and a guide element 64. The base 61 is connected to the connecting frame 1, the connecting seat 62 is connected to the mounting end of the telescopic rod 31, the third elastic element 63 is disposed between the base 61 and the connecting seat 62, and is sleeved on the guide element 64. One end of the guide element 64 is fixedly disposed on the base 61, and the other end is slidably connected to the connecting seat 62.

[0056] Specifically, such as Figure 9 As shown, the base 61 is an L-shaped plate, which is fixedly connected to the side plate 12 of the connecting frame 1 by bolts. A hinge seat is provided on the side of the connecting seat 62 away from the base 61 for hinged connection of the mounting end of the telescopic rod 31. The third elastic element 63 is preferably a spring disposed between the base 61 and the connecting seat 62, with both ends of the third elastic element 63 abutting against the base 61 and the connecting seat 62 respectively. To guide the movement direction of the third elastic element 63, a guide element 64 is also provided, with one end of the guide element 64 fixedly connected to the base 61, and the other end passing sequentially through the third elastic element 63 and the connecting seat 62.

[0057] In addition, four guide rods 65 parallel to the guide members 64 are provided at the four corners of the connecting seat 62 and the base 61. The guide rods 65 are also fixedly connected to the base 61 and slidably connected to the connecting seat 62. When the connecting seat 62 is subjected to external force, it can slide along the axial direction of the guide member 64, and the external force is buffered by the deformation of the third elastic member 63.

[0058] In daily operation, the shock-absorbing module of telescopic pole 31 has a certain shock absorption capacity, providing shock absorption and buffering for the telescopic pole 31. When the floating mowing structure as a whole encounters a large impact, such as a slope, the shock-absorbing module of telescopic pole 31 can float to avoid it, allowing the entire mounting plate 2 to adjust its angle accordingly, thus preventing overall damage.

[0059] In some embodiments, the floating lawnmower structure further includes a mounting plate damping assembly 5, which is connected to the mounting plate 2 on one side and to the linkage rod 32 on the other side. The mounting plate damping assembly 5 provides effective floating and shock absorption for the mounting plate 2, improving the overall adaptability of the floating lawnmower structure.

[0060] In one embodiment, the mounting plate damping assembly 5 includes: a second elastic element 51 and two connecting plates 52, the two connecting plates 52 being disposed opposite to each other, one of the connecting plates being connected to the mounting plate 2 and the other connecting plate being connected to the linkage rod 32, and the second elastic element 51 being disposed on the two connecting plates 52.

[0061] like Figure 5 As shown, two connecting plates 52 are arranged vertically and alternately. The upper connecting plate is connected to the bottom surface of the panel 21 of the mounting plate 2 by bolts. The lower connecting plate is connected to the top surface of the linkage rod 32 by bolts. A second elastic element 51 is connected to the two connecting plates 52, and the second elastic element 51 is preferably a steel wire rope. This mounting plate shock absorption assembly 5 can provide floating and shock absorption buffering for the mounting plate 2 in both length and height directions. When the mower head encounters obstacles, the mounting plate 2 can adapt to avoid them. At the same time, the combined application of the mounting plate shock absorption assembly 5 and the telescopic rod shock absorption assembly 6 can also effectively reduce the vibration experienced by the mower head during mowing, making the operation more stable.

[0062] In some embodiments, the lawnmower head shock absorption assembly 42 includes: an end sleeve 421, a guide body 422, a first elastic element 423, and fasteners 424. The connecting flange of the drive member 41 has a plurality of first mounting holes, and the mounting plate 2 has a plurality of second mounting holes. The positions of the first mounting holes and the second mounting holes correspond one-to-one. The end sleeve 421 is disposed in the first mounting hole. The two ends of the guide body 422 are respectively located in the end sleeve 421 and the second mounting hole, and fasteners 424 are disposed at both ends of the guide body 422. The portion of the guide body 422 located between the connecting flange and the mounting plate 2 is fitted with the first elastic element 423. The two ends of the first elastic element 423 abut against the connecting flange and the mounting plate 2, respectively.

[0063] like Figure 7 , Figure 8 As shown, the driving component 41 is preferably a motor, with the motor's output shaft, i.e., the driving end, facing the top surface of the mounting plate 2. The motor has a connecting flange with pre-drilled first mounting holes. In this embodiment, each connecting flange has four first mounting holes, corresponding to the four corners of the motor. The mounting plate 2 has a second mounting hole corresponding to each of the first mounting holes. The guide body 422 has internally threaded holes at both ends. The lower end of the guide hole connects to the mounting plate 2 and is fixed by a fastener 424 located in the internally threaded hole at its lower end. An end sleeve 421 is provided inside the first mounting hole. In this embodiment, the end sleeve 421 is preferably a copper sleeve. The copper sleeve is located in the second mounting hole and its upper end engages with the connecting flange. The upper end of the guide body 422 is located inside the copper sleeve and is fixed by a fastener 424 located in the internally threaded hole at its upper end. The fastener 424 includes a flat washer and a bolt. A first elastic element 423 is fitted onto the portion of the guide body 422 located between the bottom surface of the connecting flange and the top surface of the mounting plate 2. The first elastic element 423 is preferably a rectangular spring, with its two ends abutting against the bottom surface of the connecting flange and the top surface of the mounting plate 2, respectively. A through hole is provided on the mounting plate 2 for the connecting assembly 43 to pass through. The upper end of the connecting assembly 43 is connected to the driving end of the driving member 41, and the lower end extends down to the mounting plate 2, where a cutter head 44 is provided. The power of the driving member 41 is transmitted to the cutter head 44, driving the cutter head 44 to rotate and cut grass.

[0064] With the mower head shock absorption assembly 42 installed, the drive component 41 (motor) can float along the axial direction of the guide body 422, thereby giving the cutter head 44 a certain degree of obstacle avoidance capability. When the cutter head 44 impacts the ground or hard obstacles during mowing operations, it can avoid damage from a hard collision.

[0065] In some embodiments, the connecting component 43 includes a connecting shaft 431 and an adapter plate 432. One end of the connecting shaft 431 is connected to the driving end of the driving member 41, and the other end is provided with the adapter plate 432, on which a cutting head 44 is provided.

[0066] like Figure 7 , Figure 8 As shown, the connecting shaft 431 passes through the mounting plate 2, with its upper end connected to the driving end of the driving component 41 and its lower end equipped with an adapter plate 432. The adapter plate 432 is disc-shaped and is connected to the cutter head 44. When the driving component 41 is started, it can drive the connecting shaft 431, the adapter plate 432, and the cutter head 44 to rotate synchronously.

[0067] Furthermore, multiple grass-cutting blades 45 can be added to the adapter plate 432 to prevent the cut grass from getting tangled on the blade head 44, effectively achieving the grass-cutting function.

[0068] In some embodiments, the cutting head 44 is a six-blade cutting head 44, that is, the cutting head 44 has six blades. Of course, in other embodiments, the number of blades on the cutting head 44 can be other numbers, and this embodiment does not impose a specific limitation.

[0069] In some embodiments, multiple blades 44 are arranged at different heights.

[0070] like Figure 2 As shown, this embodiment has four mowing heads, but the positions of the blades 44 are staggered, one high and one low. Furthermore, the distance between two adjacent blades 44 is less than the diameter of the blade 44, meaning that adjacent blades 44 overlap when viewed from the axial direction. This arrangement ensures that all plants within the mowing area of ​​the mowing structure can be cut.

[0071] On the other hand, this embodiment also provides a weeding robot, including a floating mowing structure and a vehicle body. The floating mowing structure is the same as the floating mowing structure in the above embodiment, so it will not be described again. The vehicle body mainly provides the weeding robot with the ability to move, and it can be in various forms such as a wheeled vehicle body or a tracked vehicle body.

[0072] The working process of the weeding robot provided in this embodiment is described below:

[0073] The telescopic pole 31 extends, lowering the mounting plate 2, and the mowing head enters the working state. The drive unit 41 starts, driving the blade 44 to rotate and begin mowing. The vehicle body moves continuously, changing the mowing position. During operation, when the mowing head encounters the ground or hard obstacles, the mowing head shock absorption assembly 42 allows the drive unit 41 to float and avoid the obstacle along the axial direction of the guide body 422, preventing the blade 44 from directly colliding with the obstacle and causing damage. At the same time, the mounting plate shock absorption assembly 5 and the telescopic pole shock absorption assembly 6 can also provide floating avoidance in different directions, and can also provide shock absorption and cushioning for the entire floating mowing structure. This floating mowing structure, through the cooperation of multiple sets of shock absorption assemblies, can achieve floating avoidance and shock absorption in different directions, adapting to various terrains.

[0074] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A floating lawnmower structure, characterized in that, include: Connection frame (1); Mounting plate (2); Linkage mechanism (3), the mounting plate (2) is connected to the connecting frame (1) through the linkage mechanism (3); The mowing mechanism (4) includes a plurality of mowing heads spaced apart on the mounting plate (2). Each mowing head includes a drive member (41), a mowing head shock absorption assembly (42), a connecting assembly (43), and a blade (44). The mowing head shock absorption assembly (42) is disposed between the drive member (41) and the mounting plate (2). One end of the connecting assembly (43) is connected to the drive end of the drive member (41), and the other end passes through the mounting plate (2) and is provided with the blade (44). The lawn mower head shock absorption assembly (42) includes: an end sleeve (421), a guide body (422), a first elastic element (423), and a fastener (424). The connecting flange of the drive unit (41) is provided with a plurality of first mounting holes, and the mounting plate (2) is provided with a plurality of second mounting holes. The positions of the first mounting holes and the second mounting holes correspond one-to-one. The end sleeve (421) is provided in the first mounting hole. The two ends of the guide body (422) are respectively located in the end sleeve (421) and in the second mounting hole, and the fastener (424) is provided at both ends of the guide body (422). The portion of the guide body (422) located between the connecting flange and the mounting plate (2) is fitted with the first elastic element (423). The two ends of the first elastic element (423) abut against the connecting flange and the mounting plate (2), respectively. The linkage mechanism (3) includes: two telescopic rods (31) and two connecting rods (32). The two telescopic rods (31) are respectively disposed on both sides of the connecting frame (1), with their fixed ends connected to the connecting frame (1) and their driving ends connected to the mounting plate (2). The two connecting rods (32) are also respectively disposed on both sides of the connecting frame (1), with one end connected to the connecting frame (1) and the other end connected to the mounting plate (2). It also includes a mounting plate damping assembly (5), one side of which is connected to the mounting plate (2) and the other side is connected to the linkage rod (32); The mounting plate shock absorption assembly (5) includes: a second elastic element (51) and two connecting plates (52), the two connecting plates are arranged opposite to each other, one of the connecting plates is connected to the mounting plate (2), and the other connecting plate is connected to the linkage rod (32). The second elastic element (51) is disposed on the two connecting plates and is a steel wire rope. The telescopic rod (31) is connected to the connecting frame (1) through the telescopic rod shock absorption assembly (6).

2. The floating lawnmower structure according to claim 1, characterized in that, The connecting assembly (43) includes a connecting shaft (431) and an adapter plate (432). One end of the connecting shaft (431) is connected to the driving end of the driving member (41), and the other end is provided with the adapter plate (432). The adapter plate (432) is provided with the cutting head (44).

3. The floating lawnmower structure according to claim 1, characterized in that, The multiple cutter heads (44) are arranged at different heights.

4. The floating lawnmower structure according to claim 1, characterized in that, The telescopic rod shock absorption assembly (6) includes: a base (61), a connecting seat (62), a third elastic element (63), and a guide element (64). The base (61) is connected to the connecting frame (1), the connecting seat (62) is connected to the mounting end of the telescopic rod (31), the third elastic element (63) is disposed between the base (61) and the connecting seat (62), and is sleeved on the guide element (64). One end of the guide element (64) is fixedly disposed on the base (61), and the other end is slidably connected to the connecting seat (62).

5. A weeding robot, characterized in that, Includes the floating lawn mower structure and vehicle body as described in any one of claims 1-4, wherein the connecting frame (1) of the floating lawn mower structure is connected to the vehicle body.

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