Lawn mowing device and intelligent lawn mower

Abstract

The application discloses a mowing device and an intelligent mower, and relates to the technical field of outdoor robots, wherein the mowing device is applied to an outdoor robot, the outdoor robot comprises a device main body, the mowing device comprises a supporting shaft which is installed on the device main body and can produce vertical displacement relative to the device main body, a rotating cylinder which is provided with a cutter head, a supporting wheel which is arranged at the lower end of the supporting shaft, the rotating cylinder, a lifting assembly and a floating module, the rotating cylinder is slidably and rotatably sleeved on the supporting shaft, and the lifting assembly is used for adjusting the relative position of the rotating cylinder and the supporting shaft; the floating module is fixed to the device main body and is used for enabling the supporting wheel to roll against the working surface. The technical scheme provided by the application aims at reducing the influence of the change of the terrain on the mowing height and guaranteeing the uniformity of the vegetation height after mowing.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of outdoor robots, and particularly relates to a mowing device and an intelligent mower. BACKGROUND

[0002] With the continuous improvement of intelligent agriculture and garden machinery automation level, outdoor robots are increasingly widely used in the field of lawn maintenance. Generally speaking, the outdoor robot for mowing, the mowing device as its core executive component, directly affects the quality of mowing operation. In the related technology, the position of the cutter head of the mowing device relative to the main body of the outdoor robot is adjusted, and the cutter head after the adjustment is positionally fixed, so as to change the mowing height.

[0003] However, due to the unevenness of the terrain, the cutter head is difficult to adapt to the complex and changeable ground environment, resulting in fluctuations in the height of the lawn after mowing, affecting the aesthetic appearance; secondly, during the movement of the equipment, the cutter head is easy to be lifted or sunk instantaneously due to the bumping, thereby causing the mowing to be too deep or too shallow in the local area, and destroying the overall consistency of the lawn. SUMMARY

[0004] The main purpose of the present application is to provide a mowing device and an intelligent mower, which aims to reduce the influence of terrain changes on the mowing height and ensure the uniformity of the vegetation height after mowing.

[0005] To achieve the above-mentioned purpose, the mowing device provided by the present application is applied to an outdoor robot, the outdoor robot comprising an equipment main body, and the mowing device comprising:

[0006] a support shaft installed on the equipment main body and capable of vertically displacing relative to the equipment main body;

[0007] a rotating cylinder slidably and rotatably sleeved on the support shaft; and

[0008] a lifting assembly for adjusting the relative position of the rotating cylinder and the support shaft;

[0009] a cutter head connected to the rotating cylinder;

[0010] a support wheel arranged at the lower end of the support shaft; and

[0011] a floating module fixed to the equipment main body, the floating module tending to make the support wheel float against the working surface.

[0012] In an embodiment, a first bearing member is fixed to the inner periphery of the rotating cylinder, and the first bearing member is rollingly / slidably connected to the outer periphery of the support shaft.

[0013] In an embodiment, the mowing device further comprises a rotating driving member arranged on the device body, a transmission ring is arranged around the outer periphery of the rotating cylinder, and an output wheel is arranged on the output end of the rotating driving member; at least one of the output wheel and the transmission ring extends along the axial direction of the rotating cylinder, so that the output wheel and the transmission ring are kept in engagement during the height adjustment process.

[0014] In an embodiment, a mounting seat for mounting the lifting assembly is arranged on the support shaft.

[0015] In an embodiment, a support ring is further arranged around the outer periphery of the rotating cylinder, a second bearing member is fixed to the lower side of the support ring, and the lifting assembly abuts against the lower side of the second bearing member.

[0016] In an embodiment, the lifting assembly comprises a lifting driving member and an eccentric wheel, the lifting driving member is arranged on the mounting seat, the lifting driving member is drivingly connected to the eccentric wheel, and the eccentric wheel abuts against the lower side of the second bearing member.

[0017] In an embodiment, the lifting assembly comprises a lifting driving member and a telescopic rod, the lifting driving member is arranged on the mounting seat, the lifting driving member is drivingly connected to the telescopic rod, and the telescopic rod is arranged to be telescopically adjustable at least along the axial direction and abuts against the lower side of the second bearing member.

[0018] In an embodiment, the elastic force of the floating module acting on the support shaft is F, the gravity of the outdoor robot except the support shaft and the components fixed to the support shaft is MG, and the following condition is satisfied: .

[0019] In an embodiment, the floating module comprises an air cylinder, the air cylinder is filled with compressed air, the upper end of the support shaft is slidingly connected to the air cylinder, and the compressed air abuts against the top side of the support shaft.

[0020] In an embodiment, the floating module comprises an elastic member, the elastic member is connected to the support shaft, and the elastic member is elastically deformable along the axial direction of the support shaft.

[0021] In an embodiment, the floating module comprises an air cylinder and an elastic member arranged in the air cylinder, the upper end of the support shaft is provided with a first piston, the first piston is slidingly connected to the air cylinder, a second piston is arranged in the air cylinder and is slidable, the first piston and the second piston are spaced apart and are filled with compressed air, the elastic member is connected to the side of the second piston away from the first piston and is elastically deformable along the axial direction of the support shaft in the extension direction of the air cylinder.

[0022] In an embodiment, the support wheel is configured as a universal wheel, and / or the support wheel is clamped to the lower end of the support shaft.

[0023] In an embodiment, the device body is provided with a steering wheel and a driving wheel at opposite ends in the length direction of the device body, respectively, and the support wheel is between the steering wheel and the driving wheel, the distance between the center of the driving wheel and the support wheel is L1, the distance between the center of the steering wheel and the support wheel is L2, and the following conditions are met: .

[0024] The application also provides an intelligent mower comprising the mower as described above.

[0025] The technical scheme of the application achieves vertical displacement of the support shaft by the floating module, the lower end of the support shaft is provided with a support wheel that rolls against the working surface, and a rotating cylinder that can rotate in a circumferential direction and slide in an axial direction is sleeved on the support shaft, the relative vertical position of the rotating cylinder and the support shaft is adjusted by the lifting assembly, and the rotating cylinder is supported by the lifting assembly, so that the support shaft, the support wheel and the rotating cylinder can be set to follow the changes in the terrain under the action of the floating module, the rotating cylinder rotates around the support shaft to drive the cutter head on the rotating cylinder to rotate and cut the vegetation. In this way, when the outdoor robot travels on the lawn, the unevenness of the ground will cause the support wheel to rise and fall with the terrain, thereby pushing the support shaft to produce vertical displacement relative to the device body. At the same time, under the support of the lifting assembly, the rotating cylinder can also move up and down synchronously with the sliding of the support shaft, thereby adjusting the height of the cutter head, so that the cutter head can adapt to the changes in the height of the ground in real time during the mowing process, reducing the influence of the changes in the terrain on the mowing height, and avoiding the problem of uneven mowing height caused by the uneven terrain, and reducing the probability of collision between the cutter head and obstacles and damage. In addition, the rotating cylinder can also slide in the axial direction relative to the support shaft, and the height position of the cutter head on the rotating cylinder relative to the support shaft is adjusted by the lifting assembly, thereby adjusting the height of the rotating cylinder relative to the ground, i.e., adjusting the cutting height of the cutter head on the vegetation, adapting to the mowing requirements of different heights, and improving the applicability of the outdoor robot. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the application, and for those skilled in the art, other drawings can also be obtained from the structures shown in the drawings without creative labor.

[0027] Figure 1 The cross-sectional view of an embodiment of the mower provided by the application is shown.

[0028] Figure 2 For Figure 1 the local enlarged view at A in figure 1;

[0029] Figure 3 the sectional schematic view of another embodiment of the grass cutting device provided by the present application;

[0030] Figure 4 For Figure 3 the local enlarged view at B in figure 2;

[0031] Figure 5 the structural schematic view of an embodiment of the intelligent grass cutter provided by the present application.

[0032] BRIEF DESCRIPTION OF DRAWINGS

[0033] 100, device main body; 200, support shaft; 210, shaft main body; 220, connecting rod; 230, first piston; 240, mounting seat; 250, protective sleeve; 300, rotating cylinder; 310, first bearing piece; 320, transmission ring; 330, support ring; 340, second bearing piece; 400, cutter head;

[0034] 500, lifting assembly; 510, lifting driving piece; 520, eccentric wheel; 601, rotating driving piece; 602, output wheel; 700, floating module; 710, air cylinder; 711, first cylinder segment; 712, second cylinder segment; 713, limiting flange; 714, sliding opening; 720, second piston; 730, elastic piece; 801, support wheel; 802, steering wheel; 803, driving wheel.

[0035] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0036] 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. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0037] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement condition, etc. between components in a certain posture, and if the certain posture changes, the directional indications also change accordingly.

[0038] In addition, if the description of "first", "second" and the like is involved in the embodiments of the present application, the description of "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears throughout the text, it means that the three parallel schemes are included, for example, "A and / or B" includes A scheme, or B scheme, or A and B scheme. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of the ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor in the protection scope required by the present application.

[0039] The present application provides a mowing device.

[0040] Please refer to Figure 1 , Figure 2 and Figure 5 In an embodiment of the present application, the mowing device is applied to an outdoor robot, the outdoor robot comprising a device body 100, and the mowing device comprising:

[0041] A support shaft 200 mounted on the device body 100 and capable of generating a vertical position relative to the device body 100;

[0042] A rotating cylinder 300 slidably and rotatably sleeved on the support shaft 200;

[0043] A lifting assembly 500 for adjusting the relative position of the rotating cylinder 300 and the support shaft 200;

[0044] A cutter head 400 connected to the rotating cylinder 300;

[0045] A support wheel 801 arranged at the lower end of the support shaft 200; and

[0046] A floating module 700 fixed to the device body, for enabling the support wheel 801 to roll against the working surface.

[0047] The technical scheme of the present application sets the floating module 700 on the device body 100, so that the floating module 700 causes the vertical displacement of the support shaft 200, the lower end of the support shaft 200 is provided with the support wheel 801 which rolls against the working surface, and the rotating cylinder 300 which can rotate circumferentially and slide axially is sleeved on the support shaft 200, the relative vertical position of the rotating cylinder 300 and the support shaft 200 is adjusted by the lifting assembly 500, and at the same time, the rotating cylinder 300 is supported by the lifting assembly 500, under the action of the floating module 700, the support shaft 200, the support wheel 801 and the rotating cylinder 300 can be set along with the terrain change, the rotating cylinder 300 rotates around the support shaft 200 to rotate and cut the vegetation on the cutter head 400 on the rotating cylinder 300. In this way, when the outdoor robot travels on the lawn, the unevenness of the ground will cause the support wheel 801 to rise and fall with the terrain, so as to push the support shaft 200 to produce vertical displacement relative to the device body 100. At the same time, under the support action of the lifting assembly 500, the rotating cylinder 300 can also move up and down synchronously with the sliding of the support shaft 200, so as to adjust the height of the cutter head 400, so that the cutter head 400 can adapt to the change of the ground height in real time during mowing, reduce the influence of the change of the terrain on the mowing height, avoid the problem of uneven mowing height caused by the terrain fluctuation, and also reduce the probability of collision between the cutter head 400 and the obstacle and damage. In addition, the rotating cylinder 300 can also slide along the axial direction relative to the support shaft 200, and the height position of the cutter head 400 on the rotating cylinder 300 relative to the support shaft 200 is adjusted by the lifting assembly 500, so as to adjust the height of the rotating cylinder 300 relative to the ground, that is, adjust the cutting height of the cutter head 400 to the vegetation, adapt to the mowing requirements of different heights, and improve the applicability of the outdoor robot.

[0048] It should be noted that the axial, circumferential, radial and other directional descriptions in the embodiments and the following embodiments are all with reference to the axial direction of the support shaft 200. For the case of the outdoor robot being configured as an intelligent mower, the axial direction of the support shaft 200 can be parallel to the vertical direction or slightly inclined relative to the vertical direction. In addition, for the connection form of the cutter head 400 and the rotating cylinder 300, the cutter head 400 and the rotating cylinder 300 can be integrally formed or fixedly connected after being separately formed, so that the cutter head 400 and the rotating cylinder 300 can synchronously rotate in the circumferential direction and synchronously slide in the axial direction. Without loss of generality, in the connection relationship between the rotating cylinder 300 and the support shaft 200, the lower end of the support shaft 200 connected to the support wheel 801 is provided with a limiting structure. In the process of the rotating cylinder 300 sliding relative to the support shaft 200 in the axial direction, the limiting structure can limit the rotating cylinder 300 from being separated from the support shaft 200, and at the same time, ensure that the support shaft 200 and the rotating cylinder 300 can synchronously float up and down. Alternatively, a support ring 330 is arranged around the outer periphery of the rotating cylinder 300, so that the lifting assembly 500 movably abuts against the support ring 330 in the vertical direction, so that the height of the rotating cylinder 300 relative to the support shaft 200 is adjusted by the lifting assembly 500, and at the same time, the lifting assembly 500 supports the rotating cylinder 300, so as to avoid the rotating cylinder 300 from being separated from the support shaft 200, and control the rotating cylinder 300 and the support shaft 200 to synchronously float. In addition, for the relationship between the floating module 700 and the support shaft 200, the floating module 700 makes the support wheel 801 roll against the working surface, which indicates that the support shaft 200 provided with the support wheel 801 at the lower end is connected to the equipment main body 100 through the floating module 700, so that the support shaft 200 can produce vertical displacement relative to the equipment main body 100.

[0049] In an embodiment, please refer to Figure 1 , Figure 2 and Figure 5The inner periphery of the rotating cylinder 300 is fixed with a first bearing member 310, which is rolling / sliding connected to the outer periphery of the support shaft 200. It can be understood that by arranging the first bearing member 310, the rotating cylinder 300 can not only realize low-friction and high-efficiency rotary motion on the support shaft 200, but also can slide relatively in the axial direction, so as to meet the height adjustment and floating demand of the cutter head 400 due to the terrain undulation in the operation process, and improve the motion flexibility and operation stability of the rotating cylinder 300 on the support shaft 200. Among them, the first bearing member 310 can adopt a rolling bearing (such as a deep groove ball bearing, a tapered roller bearing, etc.) or a sliding bearing. In addition, due to the arrangement of the first bearing member 310, the frictional resistance in the sliding process of the rotating cylinder 300 relative to the support shaft 200 is reduced, so that the action of height adjustment of the cutter head 400 is more sensitive and smooth, and the problems of jamming or slow response caused by excessive friction are avoided. It should be noted that the first bearing member 310 is fixed to the inner periphery of the rotating cylinder 300 and can displace up and down with the rotating cylinder 300, and the first bearing member 310 can be slidingly or rollingly connected to the support shaft 200 at any height position of the rotating cylinder 300. Without loss of generality, the first bearing member 310 corresponds to the length of the rotating cylinder 300 in the axial direction, so as to guarantee the rotation stability of the rotating cylinder 300 around the support shaft 200. Of course, in other embodiments, the inner periphery of the rotating cylinder 300 can be directly slidingly connected to the support shaft 200, or the inner periphery of the rotating cylinder 300 is arranged with a ball, which is rollingly abutted to the support shaft 200.

[0050] For the structure of the first bearing member 310, in the embodiment, please refer to Figure 1 、 Figure 2 and Figure 5The first bearing member 310 comprises a plurality of balls (not shown in the figure) and a bearing outer ring (not shown in the figure) fixed to the inner periphery of the rotating cylinder 300. The inner periphery of the bearing outer ring is concavely provided with a limiting ring groove, and the plurality of balls are rollably arranged in the limiting ring groove and rollingly arranged in the circumferential direction of the support shaft 200. It can be understood that the limiting ring groove is arranged in the circumferential direction along the inner periphery of the bearing outer ring. In this way, the plurality of balls are kept in a reasonable distribution state under the guidance of the limiting ring groove and roll on the outer peripheral surface of the support shaft 200, thereby reducing the frictional resistance of the rotating cylinder 300 during rotation, improving the rotation accuracy and motion stability thereof. At the same time, since the balls can freely roll in various directions in the limiting ring groove, the effective contact between the balls and the support shaft 200 can still be maintained when the rotating cylinder 300 slides in the axial direction of the support shaft 200, thereby reducing the risk of interference between the rotation of the cutter head 400 and the axial adjustment, on the one hand, ensuring that the cutter head 400 still has stable rotation performance during the height change process, and on the other hand, reducing the frictional force of the axial sliding of the rotating cylinder 300 along the support shaft 200. Of course, in other embodiments, a plurality of balls can also be distributed on the outer periphery of the support shaft 200, and the balls are limitedly installed on the outer periphery of the support shaft 200, so that the inner periphery of the rotating cylinder 300 abuts against the balls, thereby reducing the frictional force between the rotating cylinder 300 and the support shaft 200 under the rolling action of the balls.

[0051] In an embodiment, please refer to Figure 1 , Figure 2 and Figure 5The mowing device further comprises a rotating driving member 601 arranged on the device body 100, and a transmission ring 320 is arranged around the outer periphery of the rotating cylinder 300. The output end of the rotating driving member 601 is provided with an output wheel 602, and at least one of the output wheel 602 and the transmission ring 320 extends along the axial direction of the rotating cylinder 300, so that the output wheel 602 and the transmission ring 320 are kept in engagement during the height adjustment process. It can be understood that the transmission ring 320 and / or the output wheel 602 has a certain extension length along the axial direction of the support shaft 200, and the output wheel 602 and the transmission ring 320 are in transmission connection, and the transmission connection state between the output wheel 602 and the transmission ring 320 can be maintained when the rotating cylinder 300 slides along the axial direction of the support shaft 200, so as to ensure that the power of the rotating driving member 601 can be continuously and stably transmitted to the cutter head 400 to drive the cutter head 400 to rotate stably. In other words, the output wheel 602 and the transmission ring 320 form a transmission matching relationship which can transmit torque in the circumferential direction and allow the relative sliding in the axial direction. In this way, when the outdoor robot travels on uneven terrain, the support shaft 200 will change in floating due to the ups and downs of the ground, and then drive the rotating cylinder 300 to move axially along the support shaft 200. At this time, due to the axial sliding matching relationship between the output wheel 602 and the transmission ring 320, the cutter head 400 can freely float along with the support shaft 200 while keeping the rotating state, without interrupting the power transmission between the rotating driving member 601 and the cutter head 400, and without causing the transmission ring 320 and the output wheel 602 to be stuck or separated due to the height change. Among them, the transmission ring 320 can be configured as an external gear ring, and the output wheel 602 is configured as an output gear, and the external gear ring and the output gear are engaged, and in other embodiments, the transmission ring 320 can be configured as a magnetic wheel, and the output wheel 602 is also configured as a magnetic wheel, and at least one of the two magnetic wheels extends in the axial direction to cover the sliding range of the rotating cylinder 300 in the axial direction.

[0052] In an embodiment, referring to Figures 1 to 3The mounting seat 240 for mounting the lifting assembly 500 is arranged on the support shaft 200. Without loss of generality, the support shaft 200 is provided with a connecting frame (not shown in the figure) away from the cutter head 400 and the rotating cylinder 300. The connecting frame is formed with a space for avoiding the rotation of the rotating cylinder 300 on the outer periphery of the support shaft 200. The mounting seat 240 is arranged below the support ring 330, and the lifting assembly 500 is arranged on the mounting seat 240. It can be known that the rotating cylinder 300 will not interfere with the connecting frame during the rotation relative to the support shaft 200, so as to ensure that the cutter head 400 can stably and smoothly rotate during the cutting operation. The connecting frame and the rotating cylinder 300 have a spacing in the axial direction to meet the space requirement of the axial sliding of the rotating cylinder 300 relative to the support shaft 200. At the same time, the mounting seat 240 connected with the connecting frame is located below the first bearing 310, which is adapted to the mounting requirement of the lifting assembly 500 to ensure that the lifting assembly 500 is stably mounted and can accurately abut on the lower side of the first bearing 310 on the support ring 330. In this way, the lifting assembly 500 arranged on the mounting seat 240 of the connecting frame is responsible for providing upward supporting force and height adjustment function to the rotating cylinder 300, and does not participate in the floating of the rotating cylinder 300 relative to the support shaft 200, so that the floating response is more independent and sensitive, and the self-adaptive ability of the cutter head 400 under complex terrain is improved, and the damage of the cutter head 400 caused by the impact of obstacles is reduced. Of course, in other embodiments, a ring groove can be arranged on the inner periphery of the rotating cylinder 300, the ring groove forms a downward abutting surface, and the lifting assembly 500 is arranged on the ring groove of the support shaft 200, so that the lifting assembly 500 can freely and flexibly adjust the axial position of the rotating cylinder 300 relative to the support shaft 200.

[0053] The lifting assembly 500 is connected to the mounting seat 240, the lifting assembly 500 remains relatively stationary with the support shaft 200, and the rotating cylinder 300 can slide along the support shaft 200 above the lifting assembly 500 and realize the rising or falling action under the driving action of the lifting assembly 500. In this way, since the lifting assembly 500 and the support shaft 200 are relatively fixed in the vertical direction, the probability of relative vertical displacement between the lifting assembly 500 and the support shaft 200 is low, which can avoid the height control deviation caused by the loosening, deviation or sliding error of the lifting assembly 500, and ensure that the cutter head 400 has higher position repeat accuracy and running stability during the lifting process, which is suitable for the mowing scene requiring multi-stage height adjustment or fine operation. Similarly, when the cutter head 400 encounters obstacles during the mowing operation, the rotating cylinder 300 can freely float upward along the axial direction of the support shaft 200, and the lifting assembly 500 as a fixed reference only provides supporting force and does not participate in the floating movement of the cutter head 400 relative to the support shaft 200, which helps to reduce the risk of tool damage and improve the continuity of the mowing operation.

[0054] In an embodiment, please refer to Figure 1and Figure 3 The outer periphery of the rotating cylinder 300 is further provided with a support ring 330. The lifting assembly 500 can reciprocate along the axial direction of the support shaft 200 and slide against the lower side of the support ring 330. In the process of the rotating cylinder 300 dragging the cutter head 400 to rotate, the support ring 330 can guarantee the abutting relationship with the lifting assembly 500, so that the height of the cutter head 400 can be adjusted in real time on the lower side of the support ring 330 in the process of the cutter head 400 rotating to cut the vegetation. At the same time, the lifting assembly 500 slides against the lower side of the support ring 330, so that the rotating cylinder 300 can float vertically, thereby driving the cutter head 400 to float vertically, reducing the risk of affecting the operation of the outdoor robot due to the cutter head 400 being stuck, and better adapting to the undulating outdoor ground. In this way, the rotating cylinder 300 is rotatably sleeved on the support shaft 200, and the lifting assembly 500 slides against the support ring 330 on the outer periphery of the rotating cylinder 300, so as to flexibly control the sliding of the rotating cylinder 300 along the axial direction of the support shaft 200, reduce the interference risk between the rotation of the cutter head 400 and the height adjustment of the cutter head 400, and also guarantee that the cutter head 400 can float on the lifting assembly 500 to buffer the stress of the cutter head 400 in the vertical direction, thereby reducing the risk of damage to the cutter head 400 or the ground vegetation. The sliding abutment of the lifting assembly 500 and the lower side of the support ring 330 is understood as that the lifting assembly 500 slides relative to the support ring 330, or the support ring 330 slides relative to the lifting assembly 500.

[0055] Further, in the present embodiment, please refer to Figures 1 to 3The lower side of the support ring 330 is fixed with a second bearing member 340, and the lifting assembly 500 abuts against the lower side of the second bearing member 340. It is to be noted that a part of the structure of the second bearing member 340 can rotate together with the rotating cylinder 300 around the circumference of the support shaft 200. Since the lifting assembly 500 needs to support the support ring 330 in the vertical direction, during the rotation of the rotating cylinder 300, the lifting assembly 500 abuts against the second bearing member 340, and the other part of the second bearing member 340 remains stationary relative to the lifting assembly 500. By using the relative sliding of the two parts of the second bearing member 340, the friction between the lifting assembly 500 and the second bearing member 340 is reduced, so as to convert the sliding friction between the support ring 330 and the lifting assembly 500 into the rolling friction of the second bearing member 340, reduce the wear and frictional resistance between the lifting assembly 500 and the rotating cylinder 300, and ensure the smooth rotation of the rotating cylinder 300 and the faster and smoother lifting action of the lifting assembly 500 on the tool disc 400. Without loss of generality, the second bearing member 340 has two rings, and the two rings are clamped with rollable balls therebetween. One of the rings is connected to the support ring 330, and the other ring is stressed by the lifting assembly 500, so that the two rings of the second bearing member 340 are axially stable. Of course, in other embodiments, the lower side of the support ring 330 can be provided with a guide ring groove, and the lifting assembly 500 is slidingly connected to the guide ring groove.

[0056] In this embodiment, please refer to Figures 1 to 3The second bearing member 340 is configured as a thrust bearing, the race of the thrust bearing is connected to the support ring 330, the shaft of the thrust bearing is located at the lower side of the race, and the lifting assembly 500 abuts against the shaft on the outer periphery of the rotating cylinder 300. It can be understood that the thrust bearing has the race and the shaft on two sides in the axial direction, and the rolling balls are arranged between the race and the shaft. The lifting assembly 500 abuts against the shaft on the outer periphery of the rotating cylinder 300, and the race is connected to the support ring 330 on the outer periphery of the rotating cylinder 300. Therefore, the lifting assembly 500 and the support ring 330 can guarantee the stability between the race and the shaft of the thrust bearing in the vertical and circumferential force distribution, so as to guarantee the smooth rolling of the rolling balls of the second bearing member 340. Alternatively, the race and the shaft have a vertical hanging connection structure between them. When the shaft is subjected to the upward support of the lifting assembly 500, the hanging connection structure between the race and the shaft is not abutted, and only the rolling friction occurs between the race and the shaft. When the shaft is not subjected to the action of the lifting assembly 500, such as when the rotating cylinder 300 slides along the axial direction of the support shaft 200 and is separated from the lifting assembly 500 to form a floating state, the hanging connection structure between the race and the shaft is abutted, so as to avoid the separation of the race and the shaft and guarantee the stability of the thrust bearing. In this way, during the process that the rotating cylinder 300 is driven to rotate and drags the cutter head 400 to rotate, the support ring 330 and the race are synchronously rotated, the rolling of the rolling balls between the race and the shaft is utilized, the probability of rotation of the shaft is reduced, so as to avoid the sliding friction between the lifting assembly 500 and the second bearing member 340, and further reduce the probability of interference between the rotation of the rotating cylinder 300 and the vertical movement of the lifting assembly 500, so as to guarantee the operation stability of the lifting mechanism of the cutter head 400. The race or the inner ring described below can be integrally formed with the support ring 330 or fixedly connected after being separately formed. Of course, in other embodiments, the second bearing member 340 can also be configured as a rolling ball bearing capable of being subjected to force in the axial direction. The inner ring of the rolling ball bearing is fixedly sleeved on the support ring 330, and the lower side of the outer ring of the rolling ball bearing abuts against the lifting assembly 500.

[0057] In an embodiment, please refer to Figures 1 to 3, the lifting assembly 500 comprises a lifting drive 510 and an eccentric wheel 520, the lifting drive 510 is arranged on the mounting seat 240, the lifting drive 510 is drivingly connected to the eccentric wheel 520, and the eccentric wheel 520 abuts against the lower side of the second bearing member 340. It can be understood that the eccentric wheel 520 is rotatably connected to the output end of the lifting drive 510 and abuts against the second bearing member 340 on the lower side of the support ring 330. When the lifting drive 510 works, the eccentric wheel 520 is driven to rotate. Since the geometric center of the eccentric wheel 520 does not coincide with the rotation center thereof, with the rotation of the eccentric wheel 520, the outer contour of the eccentric wheel 520 will periodically change the contact height between the eccentric wheel 520 and the support ring 330, thereby pushing the rotating cylinder 300 to move up and down along the support shaft 200, so as to adjust the height of the cutter head 400. In this way, the eccentric wheel 520 pushes the support ring 330 to lift the cutter head 400, which simplifies the lifting assembly 500 and guarantees the accuracy of the height adjustment of the cutter head 400 by the lifting assembly 500. In other embodiments, a plurality of balls can be arranged on the outer periphery of the eccentric wheel 520, and the second bearing member 340 is not arranged, so as to reduce the friction between the eccentric wheel 520 and the support ring 330 and guarantee the stability and flexibility of the height adjustment of the rotating cylinder 300 by the lifting assembly 500.

[0058] In another embodiment, referring to Figures 1 to 3 , the lifting assembly 500 comprises a lifting drive 510 and a telescopic rod, the lifting drive 510 is arranged on the mounting seat 240, the lifting drive 510 is drivingly connected to the telescopic rod, and the telescopic rod is arranged to be telescopic at least in the axial direction and abuts against the lower side of the second bearing member 340. It can be understood that the lifting assembly 500 is configured as a power device capable of outputting linear displacement, such as an electric push rod, a servo motor cooperating with a lead screw mechanism, an air cylinder or a hydraulic cylinder, and is fixedly installed on the mounting seat 240 of the connecting frame. The telescopic rod is drivingly connected to the lifting drive 510 and can be telescopically moved in the axial direction under the driving of the lifting drive 510. When the lifting drive 510 is started, the telescopic rod is extended or retracted, thereby pushing or releasing the second bearing member 340 on the support ring 330, driving the rotating cylinder 300 to move up and down along the support shaft 200, and realizing the height adjustment function of the cutter head 400. In this way, the telescopic rod has strong linear thrust output capacity and is suitable for mowing scenarios that require large adjustment torque or frequent floating adjustment in complex terrain, so as to ensure that the cutter head 400 can still stably operate under various load conditions. In other embodiments, a plurality of balls can be arranged on the end of the telescopic rod, so that the telescopic rod does not need to abut against the second bearing member 340 on the support ring 330, thereby reducing the probability of friction between the lifting assembly 500 and the support ring 330 and guaranteeing the stability and flexibility of the height adjustment of the rotating cylinder 300 by the lifting assembly 500.

[0059] For the floating connection of the support shaft 200 relative to the device body 100, in an embodiment, please refer to Figure 3 and Figure 4 , the upper end of the support shaft 200 is slidably connected to the floating module 700 to generate vertical displacement. In actual mowing operations, the outdoor robot often needs to face uneven and undulating ground surface environment. The upper end of the support shaft 200 in this embodiment is vertically and slidably connected to the floating module 700, which is understood as that the floating module 700 has a certain elasticity or controllable floating range, allowing the support shaft 200 to float or buffer in the vertical direction relative to the device body 100. When the outdoor robot travels on the undulating ground, the support wheel 801 drives the support shaft 200 to move up and down with the change of the ground height, and the floating module 700 provides an elastic support environment with adjustable stiffness, so that the support shaft 200 can more smoothly and gently follow the terrain changes, avoiding the problem of jumping of the cutter head 400 or uneven mowing caused by rigid impact. In addition, the floating module 700 also plays a buffering protection role on the support shaft 200, preventing the support shaft 200 and the rotating cylinder 300 and the cutter head 400 thereon from being damaged by excessive stress. Without loss of generality, the floating module 700 can be configured as at least one of the elastic member 730 and the air cylinder 710.

[0060] Further, in this embodiment, the elastic force of the floating module 700 acting on the device body 100 is F, the gravity of the outdoor robot except the components floating with the support shaft 200 is MG, and the following is satisfied: It can be understood that the direction of the elastic force F between the floating module 700 and the support shaft 200 is parallel or close to parallel to the vertical direction, and MG represents the gravity of the outdoor robot except the components floating with the support shaft 200, both of which are in units of N. Here, the components floating with the support shaft 200 include the support shaft 200, the rotating cylinder 300, the cutter head 400, the lifting assembly 500 and other components arranged on the support shaft 200. Since the floating module 700 is fixed on the machine body, when the outdoor robot is running, the working surface, i.e. the ground, will apply a reaction force to the device body 100 through the support shaft 200. If the elastic force F is too large, it is easy to excessively support the device body, reducing the grip of the outdoor robot, and even causing the wheel body of the outdoor robot to be separated from the working surface and to be idling. If the elastic force F is too small, it may cause the support shaft to float up and down unsensitively, so the ratio of F to MG is limited to be greater than 0.05 and less than 0.2, so as to balance the smoothness of the sliding of the support shaft 200 relative to the floating module 700, and to protect the grip of the support wheel 801 with the ground, and to reduce the interference of the force between the support wheel 801 and the ground on the grip of the steering wheel 802 and the driving wheel 803 of the device body 100, thereby protecting the grip of the outdoor robot during movement.

[0061] In an embodiment, please refer toFigure 3 and Figure 4 The floating module 700 comprises an air cylinder 710 filled with compressed air, and the upper end of the support shaft 200 is slidingly connected to the air cylinder 710. Specifically, when the mowing device is assembled, the air cylinder 710 is filled with compressed air through an air inlet, so that the air pressure in the air cylinder 710 is greater than the external air pressure. It should be understood that the top side of the support shaft 200 is not limited to the top surface of the upper end of the support shaft 200, but should be understood as the surface of the support shaft 200 opposite to the compressed air in the air cylinder in the up-down direction. When the support shaft 200 moves up and down under the action of external force, the gas in the air cylinder 710 is compressed or expanded accordingly, thereby generating a corresponding change in air pressure, which hinders the upward movement of the support shaft 200 or pushes the support shaft 200 downward, thereby achieving adaptive floating control of the cutterhead 400. In this embodiment, the air pressure in the air cylinder 710 is configured to be greater than 1 standard atmosphere and less than 1.2 standard atmospheres. The reverse thrust generated by the gas during compression can quickly respond to the upward movement of the support shaft 200, form a certain damping effect, and make the cutterhead 400 maintain good attitude stability and action controllability while avoiding obstacles. In addition, the floating cooperation between the air cylinder 710 and the support shaft 200 has good guiding performance, and the air cylinder 710 has a large acting area on the support shaft 200, which can ensure that the cutterhead 400 maintains a stable attitude during floating and avoids deflection or shaking to affect the cutting quality of the vegetation.

[0062] In an embodiment, please refer to Figure 3 and Figure 4The lower end of the air cylinder 710 is provided with a sliding opening 714, the support shaft 200 comprises a first piston 230, a shaft body 210 and a connecting rod 220, the first piston 230 is slidingly inserted into the air cylinder 710, the first piston 230 and the support shaft 200 are respectively arranged at the opposite ends of the connecting rod 220, and the connecting rod 220 is slidingly arranged in the sliding opening 714. It should be noted that the diameter of the connecting rod 220 is smaller than the diameter of the shaft body 210, that is, the diameter of the sliding opening 714 is smaller than the inner diameter of the air cylinder 710, so that the first piston 230 is slidingly arranged in the air cylinder 710, and the shaft body 210 is synchronously vertically movable outside the air cylinder 710. In this way, when the cutter head 400 encounters an obstacle or a terrain protrusion during the operation of the outdoor robot, the shaft body 210 will be subjected to a reaction force from the support wheel 801 below, and the force will be transmitted to the first piston 230 through the connecting rod 220; or when the support wheel 801 slides into a recessed terrain, the compressed air in the air cylinder 710 exerts a downward force on the first piston 230 to make the support wheel 801 adhere to the ground. Since the first piston 230 is slidingly arranged inside the air cylinder 710 and can freely move vertically in the inner cavity of the air cylinder 710, at this time, the first piston 230 will compress the compressed air in the air cylinder 710, thereby increasing the air pressure in the air cylinder 710, and after the upper end of the first piston 230 slides to a predetermined position relative to the air cylinder 710, the first piston 230 will no longer move upward under the action of the pressure difference between the inside and outside of the air cylinder 710, thereby realizing the automatic avoidance of the cutter head 400; after the shaft body 210 is separated from the obstacle, or when the support wheel 801 moves downward, the compressed air in the air cylinder 710 will push the support shaft 200 downward, thereby realizing the flexible floating control of the cutter head 400. In addition, corresponding to different diameter length positions of the support shaft, the sliding abutment positions of the connecting rod 220 and the sliding opening 714, and the sliding abutment positions of the first piston 230 and the inner wall of the air cylinder 710, the shaft center of the support shaft 200 has differences, so as to realize sliding guidance at different diameter positions and reduce the risk of shaking of the cutter head 400 caused by the deflection of the support shaft 200. At the same time, the sliding opening 714 also limits the first piston 230 from separating from the air cylinder 710, which is also a limit position for the downward movement of the support shaft 200, to avoid the cutter head 400 from being stuck during normal use. Of course, in other embodiments, the support shaft 200 can also be configured as a rod with uniform diameter and slidingly inserted into the air cylinder 710.

[0063] Further, in the present embodiment, please refer to Figure 3 and Figure 4, the air cylinder 710 is provided with a limiting flange 713 at the periphery of the sliding opening 714, which is protruded inwardly of the air cylinder 710. It can be understood that the limiting flange 713 forms an annular protruding structure at the periphery of the sliding opening 714, which on one hand limits the downward movement of the connecting rod 220, for example, when the support shaft 200 moves downward with the support wheel 801, the first piston 230 slides in the air cylinder 710, and after abutting against the limiting flange 713, it moves downward to the limit position, on the other hand, after the first piston 230 abuts against the limiting flange 713, there is a gap between the first piston 230 and the lower side wall of the air cylinder 710, which avoids the close abutment between the first piston 230 and the lower side wall of the air cylinder 710 to form a vacuum, and thus affects the floating of the support shaft 200. In addition, the limiting flange 713 also forms a long wrapping effect on the periphery of the connecting rod 220 in the vertical direction, so as to guide the connecting rod 220 to slide in the vertical direction, thereby reducing the risk of the wobble of the support shaft 200 causing the shaking of the cutter head 400. Of course, in other embodiments, in addition to the sliding opening 714, a vent hole can also be provided on the lower side wall of the air cylinder 710, so that after the first piston 230 abuts against the lower side wall of the air cylinder 710, it can move upward more easily, thereby ensuring the stability of the floating of the support shaft 200.

[0064] Correspondingly, in an embodiment, please refer to Figure 3 and Figure 4 , the diameter of the shaft body 210 is greater than the diameter of the air cylinder 710. It can be understood that in the case that the cutter head 400 encounters an obstacle or a sudden change in terrain, the shaft body 210 will be pulled by the support shaft 200 and drive the rotating cylinder 300 and the cutter head 400 to move upward. At this time, since the diameter of the shaft body 210 is greater than the diameter of the air cylinder 710, it will naturally abut against the lower end face of the air cylinder 710 or the edge region of the sliding opening 714, forming a mechanical barrier to prevent the support shaft 200 from being excessively lifted as a whole, and even damaging the air cylinder 710. In this way, it is not necessary to additionally provide a limiting structure to limit the upward movement of the support shaft 200, thereby ensuring the sliding stability of the first piston 230 in the air cylinder 710. Without loss of generality, the lower end periphery of the air cylinder 710 is protruded, and the shaft body 210 abuts against the protruding structure of the lower periphery of the air cylinder 710, which avoids the close abutment between the shaft body 210 and the outer lower side of the air cylinder 710 to form a vacuum, thereby affecting the vertical floating of the support shaft 200. Of course, in other embodiments, in addition to the sliding opening 714, a vent hole can also be provided on the lower side wall of the air cylinder 710, so that after the shaft body 210 abuts against the lower side wall of the air cylinder 710, it can move downward more easily, thereby ensuring the stability of the floating of the support shaft 200.

[0065] In an embodiment, please refer to Figure 3 and Figure 4The air cylinder 710 includes a first cylinder segment 711 and a second cylinder segment 712 in communication, the support shaft 200 is slidingly connected to the first cylinder segment 711, and the second cylinder segment 712 is in communication with an end of the first cylinder segment 711 away from the support shaft 200. The second cylinder segment 712 is arranged to intersect the first cylinder segment 711 or at least partially staggered in the vertical direction. It can be understood that the first cylinder segment 711 serves as a mounting channel for the support shaft 200, and an internal sliding cavity is formed therein for accommodating and guiding the up-and-down movement of the support shaft 200. The second cylinder segment 712 is in internal communication with the first cylinder segment 711 through a connecting channel or directly at the end, thereby forming an overall space that can be adjusted in air pressure. During the mowing operation of the cutterhead 400, the support shaft 200 and the support wheel 801 slide vertically along the terrain, causing the internal air pressure of the first cylinder segment 711 to change. Since the first cylinder segment 711 is in internal communication with the second cylinder segment 712, gas can flow between the two cylinder segments, thereby achieving dynamic balance and buffer adjustment of air pressure. In this way, the intersection or partial staggering of the first cylinder segment 711 and the second cylinder segment 712 allows the air cylinder 710 to have a larger effective volume, which helps to improve the sensitivity of air pressure adjustment and the controllability of floating stroke, thereby achieving more precise height adjustment of the cutterhead 400. At the same time, the intersection or partial staggering of the first cylinder segment 711 and the second cylinder segment 712 shortens the vertical space occupied by the air cylinder 710 relative to a single air cylinder, which is beneficial to reducing the vertical space occupied by the air cylinder 710 and facilitating its integration into the chassis structure of the outdoor robot, adapting to the installation requirements of different models and improving the universality and adaptability. Of course, in other embodiments, the air cylinder 710 can also be configured in a single-cylinder vertical extension state.

[0066] In an embodiment, referring to Figure 3 and Figure 4 The floating module 700 includes an air cylinder 710 and an elastic member 730 mounted in the air cylinder 710. The upper end of the support shaft 200 is provided with a first piston 230, and the first piston 230 is slidingly connected to the air cylinder 710. A second piston 720 is slidingly arranged in the air cylinder 710. The first piston 230 and the second piston 720 are spaced apart and filled with compressed air. In the extension direction of the air cylinder 710, the elastic member 730 is connected to the side of the second piston 720 away from the first piston 230 and can elastically deform along the axial direction of the support shaft 200. In combination with the above description of the first cylinder segment 711 and the second cylinder segment 712, the second piston 720 and the elastic member 730 are arranged in the second cylinder segment 712. The second piston 720 slidingly abuts the inner periphery of the second cylinder segment 712, and the elastic member 730 is located below the second piston 720. The opposite ends of the elastic member 730 are respectively connected to the opposite sides of the second piston 720 and the second cylinder segment 712 and can elastically deform along the axial direction of the support shaft 200.

[0067] It can be understood that when the support shaft 200 and the support wheel 801 move up with the change of the terrain, the first piston 230 of the support shaft 200 moves up, causing the air pressure in the first cylinder segment 711 to rise, and in turn pushing the gas to flow into the second cylinder segment 712. At this time, the second piston 720 is synchronously moved down under the action of the air pressure, and compresses the elastic member 730 to accumulate a certain elastic potential energy. When the external obstacle disappears, the elastic member 730 releases the energy, pushes the second piston 720 to reset upwards, and at the same time pushes the support shaft 200 to restore to the initial state, realizing the automatic reset function of the cutter head 400. Correspondingly, when the support shaft 200 and the support wheel 801 move down with the change of the terrain, the first piston 230 of the support shaft 200 moves down, reducing the air pressure in the first cylinder segment 711, so that the air in the second cylinder segment 712 flows into the first cylinder segment 711. At this time, the elastic force of the elastic member 730 on the lower side of the second piston 720 is greater than the force on the upper side of the second piston 720 by the compressed air in the second cylinder segment 712, and the elastic member 730 can promote the first piston 230 to move downwards, so as to guarantee the synchronous activity ability of the support wheel 801 and the ground concave change, and guarantee the uniformity of the mowing height of the cutter head 400. In this way, the elastic cooperation of the elastic member 730 and the second piston 720, the second cylinder segment 712 not only serves as an auxiliary air chamber, but also participates in the floating control, guaranteeing the stability of the floating of the support shaft 200 dragging the cutter head 400; at the same time, in the floating process of the support shaft 200 and the cutter head 400, the elastic member 730 can absorb part of the impact energy, reducing the degree of the floating. In addition, the combination of the second piston 720 and the elastic member 730 can form a double resistance mechanism in the floating process of the support shaft 200, that is, the air pressure resistance and the elastic resistance jointly act, so that the floating process of the cutter head 400 is more stable and controllable, effectively preventing the rebound or overshoot phenomenon caused by too large inertia, and guaranteeing the height of the vegetation after cutting by the cutter head 400. Of course, in other embodiments, the second cylinder segment 712 can also be above the first cylinder segment 711 to form a straight cylinder, and the spring, that is, the elastic member 730, is clamped between the upper side of the second piston 720 and the upper side wall in the second cylinder segment 712, and the elastic member 730 can be elastically deformed along the axial direction of the support shaft 200.

[0068] In another embodiment, please refer to Figure 1 and Figure 3The floating module 700 comprises an elastic member 730 connected to the support shaft 200, which can be elastically deformed in the vertical direction. Specifically, the elastic member 730 is fixedly connected between the support shaft 200 and the device main body 100, and can be compressed or stretched in the vertical direction, thereby allowing the support shaft 200 to float up and down relative to the device main body 100 within a certain range. When the outdoor robot travels on the undulating ground, the support wheel 801 moves up and down with the terrain, driving the support shaft 200 to move up and down accordingly, while the elastic member 730 elastically deforms correspondingly in the process, absorbing impact energy and providing a rebound force, so that the support shaft 200 can smoothly follow the terrain changes, thereby driving the rotating cylinder 300 and the cutter head 400 to realize height self-adaptive adjustment, so as to guarantee the uniformity of the vegetation height after the cutter head 400 cuts.

[0069] In an embodiment, in order to reduce the interference of the external environment on the rotation of the rotating cylinder 300 around the support shaft 200, please refer to Figure 1 and Figure 3 The outer periphery of the support shaft 200 is provided with a protective sleeve 250 which can axially slide, the protective sleeve 250 is located below the rotating cylinder 300 and the cutter head 400, the upper end of the protective sleeve 250 is connected in the circumferential direction relative to the rotating cylinder 300 or the cutter head 400, and / or the lower end of the protective sleeve 250 is connected in the circumferential direction relative to the support shaft 200. It can be understood that the protective sleeve 250 is configured as an annular structure which can slide in the circumferential direction relative to the support shaft 200 and / or the rotating cylinder 300, and is arranged below the rotating cylinder 300 and the cutter head 400, which can block and intercept dust, sand, rainwater and other impurities from the ground, preventing them from entering the gap between the rotating cylinder 300 and the support shaft 200, i.e. avoiding invading the bearing member, thereby avoiding problems such as jamming, wear or transmission failure caused by foreign matter invasion. In order to ensure that the protective sleeve 250 can still maintain a stable installation state during the rotation of the rotating cylinder 300 without affecting the rotation of the cutter head 400, the upper end of the protective sleeve 250 and the rotating cylinder 300 or the cutter head 400 are connected in the circumferential direction, for example, through a guide groove and a protrusion matching structure, a sliding bearing structure or other connection forms allowing relative circumferential sliding; at the same time, the lower end of the protective sleeve 250 and the support shaft 200 are also connected in the circumferential direction, so that the protective sleeve 250 can slide in the circumferential direction relative to the support shaft 200 when the rotating cylinder 300 rotates, thereby avoiding interfering with the rotation of the rotating cylinder 300. Without loss of generality, the protective sleeve 250 can be telescopic in the axial direction of the support shaft 200 to adapt to the axial sliding of the rotating cylinder 300, or the protective sleeve 250 can rotate in the circumferential direction relative to the support shaft 200 while also sliding in the axial direction relative to the support shaft 200.

[0070] In an embodiment, please refer to Figure 5 , Figure 5 and​ The support wheel 801 is configured as a universal wheel. During the mowing operation of the outdoor robot, the outdoor robot needs to frequently turn and travel on irregular ground or even narrow areas. By configuring the support wheel 801 as a universal wheel, the support wheel 801 has the ability to freely rotate around the support shaft 200, so that the rolling posture of the support wheel 801 can be automatically adjusted according to the movement direction during the movement of the outdoor robot, the turning resistance is reduced, and the flexibility and smoothness of the mowing device when moving with the device main body 100 are improved. When performing edge trimming, obstacle bypassing, or narrow space operation, the universal wheel can flexibly follow the movement trajectory of the device main body 100, reduce the problems of jamming, slipping, or poor ground contact, and significantly improve the passing performance and control performance of the outdoor robot, ensuring that the cutter head 400 is always in a stable mowing height state and improving the overall operation quality. In an embodiment, the support wheel 801 is clamped to the lower end of the support shaft 200. On the one hand, the connection stability between the support wheel 801 and the support shaft 200 is ensured, and the support wheel 801 is less likely to be axially offset or fall off when bearing the impact load from the ground, thereby improving the structural stability and safety of the mowing device during operation. At the same time, it is also convenient for assembling and disassembling the support wheel 801 and the support shaft 200, and replacing the support wheel 801 after wear, thereby reducing maintenance costs.

[0071] For the position of the support wheel 801 on the device main body 100, in an embodiment, please refer to ​ The device main body 100 is provided with a steering wheel 802 and a drive wheel 803 at opposite ends in the length direction, respectively, and the support wheel 801 is between the steering wheel 802 and the drive wheel 803. In the horizontal projection plane, the distance between the center of the drive wheel 803 and the support wheel 801 is L1, and the distance between the center of the steering wheel 802 and the support wheel 801 is L2, which satisfies: It can be understood that L1 and L2 are in mm, and the center of gravity of the outdoor robot is close to the drive wheel 803 in the length direction of the outdoor robot. From the projection of the outdoor robot on the horizontal working surface in the vertical direction, it can be understood that the center of the support wheel 801 corresponds to the center of the support shaft 200, and the center of the steering wheel 802 corresponds to the center of the steering wheel 802 connected to the device main body 100, and the definition It can be understood that the support wheel 801 is away from the drive wheel 803 relative to the center of gravity of the outdoor robot, and the steering wheel 802 better balances the stress between the device main body 100 and the ground, ensures the anti-overturning capability of the outdoor robot, and also reduces the influence of the ground force of the support shaft 200 through the support wheel 801 on the power output of the drive wheel 803.

[0072] The application further provides an intelligent mower, which comprises a mowing device, and the specific structure of the mowing device is referred to the above-mentioned embodiments. Since the intelligent mower adopts all the technical solutions of the above-mentioned embodiments, it has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here. The above-mentioned outdoor robot is configured as the intelligent mower of the embodiment.

[0073] The above-mentioned is only an exemplary embodiment of the application, and does not limit the protection scope of the application. Any equivalent structural transformation, direct / indirect application in other related technical fields, or the like made by using the content of the application specification and drawings under the technical concept of the application is included in the protection scope of the application.

Claims

1. A grass cutting device, characterised in that, The application is applied to an outdoor robot, and the outdoor robot comprises a device body, and the mowing device comprises: a support shaft mounted on the device body and vertically displaceable relative to the device body; a rotating cylinder slidably and rotatably sleeved on the support shaft; a lifting assembly for adjusting the relative position of the rotating cylinder and the support shaft; a rotating drive arranged on the device body, a transmission ring being annularly arranged on the outer periphery of the rotating cylinder, and an output end of the rotating drive being provided with an output wheel, at least one of the output wheel and the transmission ring extending in the axial direction of the rotating cylinder, so that the output wheel and the transmission ring are kept in engagement during height adjustment; a cutter head connected to the rotating cylinder; a support wheel arranged at the lower end of the support shaft; and a floating module fixed to the device body and used for enabling the support wheel to roll against the working surface; wherein the floating module comprises an air cylinder filled with compressed air, the upper end of the support shaft being slidably connected to the air cylinder, and the compressed air being used for supporting the top side of the support shaft; or the floating module comprises an elastic member connected to the support shaft, and the elastic member is elastically deformed in the axial direction of the support shaft; or the floating module comprises an air cylinder and an elastic member mounted in the air cylinder, the upper end of the support shaft is provided with a first piston, the first piston is slidably connected to the air cylinder, a second piston is slidably arranged in the air cylinder, the first piston and the second piston are spaced apart and filled with compressed air, and the elastic member is connected to the side of the second piston away from the first piston and is elastically deformed in the axial direction of the support shaft.

2. The mower of claim 1, wherein A first bearing member is fixed to the inner periphery of the rotating cylinder and is rollingly / slidably connected to the outer periphery of the support shaft.

3. The mower of claim 1, wherein The support shaft is provided with a mounting seat for mounting the lifting assembly.

4. The mower of claim 3, wherein The outer periphery of the rotating cylinder is further annularly provided with a support ring, the lower side of the support ring is fixed with a second bearing member, and the lifting assembly abuts against the lower side of the second bearing member.

5. The mower of claim 4 wherein, The lifting assembly comprises a lifting drive and an eccentric wheel, the lifting drive is arranged on the mounting seat and is drivingly connected to the eccentric wheel, and the eccentric wheel abuts against the lower side of the second bearing member. Or, the lifting assembly comprises a lifting drive and a telescopic rod, the lifting drive is arranged on the mounting seat and is drivingly connected to the telescopic rod, and the telescopic rod is at least axially telescopic and abuts against the lower side of the second bearing member.

6. The mower of claim 1, wherein, The elastic force of the floating module acting on the support shaft is F, the gravity of the outdoor robot except the support shaft and the components fixed to the support shaft is MG, and the following is satisfied: .

7. The mower device according to any one of claims 1 to 6, characterized in that The support wheel is configured as a universal wheel, and / or the support wheel is clamped on the lower end of the support shaft. And / or, the device body is provided with a steering wheel and a driving wheel at the opposite ends of its length direction respectively, the support wheel is between the steering wheel and the driving wheel, in the horizontal projection plane, the center of the driving wheel to the support wheel is L1, the center of the steering wheel to the support wheel is L2, satisfying: .

8. A smart lawnmower, characterized in that, The application further provides a mowing device comprising the mowing device according to any one of claims 1 to 7.

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