Multifunctional mowing robot with quick-change modular intelligent chassis

Abstract

The multifunctional mowing robot with a quick-change modular intelligent chassis disclosed in the application comprises a driving main body and a cutting cutter head, the bottom of the driving main body is provided with a chassis module and a linear guide rail, the chassis module can slide horizontally from the middle part of the driving main body to the rear along the linear guide rail, the linear guide rail is provided with a linear driver, the inside of the driving main body is provided with a positioning structure, the chassis module is provided with a rotating motor and a machine shell, the positioning structure comprises a pressing ring and a pressing driver, the inside of the pressing ring is provided with a clamping groove, and the outside of the machine shell is provided with a clamping block matched with the clamping groove. The linear driver and the pressing driver are cooperatively controlled, the automatic sliding and accurate locking of the chassis module between the maintenance position and the working position are realized, the clamping block and the clamping groove are combined for limiting and the rubber gasket is combined for stabilizing pressure, the stable operation, reliable vibration reduction are ensured, the cutting cutter head can be quickly disassembled and assembled, and the multi-scene adaptability is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of lawn mowers, in particular to a multifunctional lawn mowing robot with a quick-change modular intelligent chassis. BACKGROUND

[0002] In diversified application scenarios such as home gardens, municipal green spaces, and agricultural parks, users have increasingly high demands for mowing efficiency, terrain adaptability, and additional functions. Most lawn mowing robots on the market still use fixed or semi-fixed mowing structures, with the cutting system and chassis highly integrated, making it difficult to independently disassemble the power, transmission, and control systems. In order to access the connection parts, the entire machine needs to be flipped over or a special support is needed, which greatly limits the practicality of on-site quick maintenance and multi-task switching.

[0003] In the prior art, for example, Chinese patent application (publication number CN119111228A) discloses a lawn mower with a modular intelligent cart, which includes a walking drive module. The walking drive module includes a drive body, the first end of the drive body is provided with a connection assembly for detachably connecting a functional module, the second end of the drive body is provided with at least one guide rail, and the drive body is further provided with a drive reduction system for driving the drive body to walk. The power module includes a walking frame and an energy pack arranged on the walking frame, the first end of the power module is provided with at least one pulley capable of sliding on the guide rail, and a first quick-release assembly is used to connect the walking drive module and the power module. The first quick-release assembly includes a locking piece and a locking pin. The lawn mower further includes a cutting panel and a connecting bracket, and the cutting panel is provided with a cutting cutter.

[0004] The above prior art realizes quick replacement of the power source through the guide rail, pulley guide cooperation, and the first quick-release assembly of the walking drive module and the power module, and realizes stable operation or overturning of the mowing module through the double-mode second quick-release assembly between the connection assembly and the cutting platform connecting bracket, thereby achieving high modularization of the entire machine and flexible adaptation of multiple functions.

[0005] However, the above prior art arranges the mowing module in front of the vehicle body, which needs to be flipped over for replacement. This not only increases the length of the entire machine and the turning radius, affecting the operational flexibility in narrow areas, but also occupies a large space and has poor stability when transporting or storing in a non-working state. Moreover, the quick release relies on exposed pin holes and manual locking, making the module replacement still cumbersome.

[0006] Therefore, there is a need for a multifunctional lawn mowing robot with a mowing module integrated under the chassis, which realizes flip-free replacement through a bottom translation straight-out quick-change mechanism. This ensures the compactness of the entire machine while improving the operational flexibility in narrow spaces, transportation stability, and on-site maintenance efficiency. SUMMARY

[0007] In order to solve the problems of the prior art, the present application provides a multifunctional mowing robot with a quick-change modular intelligent chassis, which is controlled by a linear driver and a downward driver, and the chassis module is automatically shifted and precisely locked between the maintenance position and the working position by electromagnetic drive. The chassis module is combined with the block and groove limiting and the rubber washer pressure stabilization to ensure stable operation, reliable vibration reduction, and support the quick disassembly and assembly of the cutting disc to improve the maintenance convenience, compact structure and multi-scenario adaptability.

[0008] In order to solve the problems of the prior art, the present application provides a multifunctional mowing robot with a quick-change modular intelligent chassis, which is controlled by a linear driver and a downward driver, and the chassis module is automatically shifted and precisely locked between the maintenance position and the working position by electromagnetic drive. The chassis module is combined with the block and groove limiting and the rubber washer pressure stabilization to ensure stable operation, reliable vibration reduction, and support the quick disassembly and assembly of the cutting disc to improve the maintenance convenience, compact structure and multi-scenario adaptability.

[0009] Preferably, the two sides of the chassis module are respectively provided with one linear guide rail, and the chassis module is fixedly provided with a shielding plate across and arranged between the two linear guide rails to block the weeds from entering the guide rail area. The two side edges of the shielding plate are provided with flexible edges closely fitted with the corresponding linear guide rails to form a shielding protection structure.

[0010] Preferably, the end of the shielding plate away from the chassis module is provided with a handle for conveniently manually removing the chassis module after it is shifted to the rear position of the driving body.

[0011] Preferably, the front end of the driving body is provided with a baffle connected with the two linear guide rails, and when the chassis module is shifted to the front of the driving body and contacts the baffle, the chassis module and the positioning structure are in the aligned state.

[0012] Preferably, the baffle is provided with a pressure sensor for detecting whether the chassis module is accurately positioned, and the pressure sensor is electrically connected with the downward driver.

[0013] Preferably, the bottom of the pressing ring is fixedly provided with a rubber gasket, which is pressed against the upper surface of the chassis module synchronously when the pressing ring is driven downward by the pressing driver to be engaged with the cabinet, so as to form a double fixing state of mechanical locking and elastic pressure stabilization.

[0014] Preferably, a guide sleeve is fixedly arranged in the driving body and sleeved on the pressing ring, and a compression spring is fixedly connected between the pressing ring and the guide sleeve, which is used to drive the pressing ring to move upward automatically and be unlocked when the pressing driver is reset.

[0015] Preferably, the linear driver comprises a first fixed electromagnet and a first movable electromagnet, the first fixed electromagnet is fixedly connected with the baffle, the first movable electromagnet is fixedly connected with the chassis module, and a controllable magnetic driving force is formed between the first fixed electromagnet and the first movable electromagnet in the direction of the linear guide rail.

[0016] Preferably, the chassis module is provided with a plurality of rolling balls in rolling contact with the linear guide rail.

[0017] Preferably, the pressing driver comprises a second fixed electromagnet and a second movable electromagnet, the second fixed electromagnet is fixedly connected with the guide sleeve, the second movable electromagnet is fixedly connected with the pressing ring, and a controllable magnetic driving force is formed between the second fixed electromagnet and the second movable electromagnet in the direction of the cabinet axis.

[0018] The beneficial effects of the present application compared with the prior art are:

[0019] 1. The automatic sliding and precise locking of the chassis module between the maintenance position behind the driving body and the middle working position are realized through the cooperative control of the linear driver and the pressing driver. The non-contact and stable horizontal pushing and vertical pressing are realized by electromagnetic driving, and the mechanical limiting of the clamping block and the clamping groove and the elastic pressure stabilization of the rubber gasket are matched, so that the chassis module is stable and reliable in operation, vibration is reduced, and the cutting disc is quickly disassembled and assembled.

[0020] When maintenance or replacement is needed, the chassis module can be automatically unlocked and pushed out by reverse driving, which improves the convenience and efficiency of cutting robot cutting disc replacement, cleaning and maintenance, and also considers the compactness of the structure and the adaptability to multiple scenes.

[0021] 2. The linear guide rails are arranged on both sides of the chassis module, and the shielding plate is arranged below the linear guide rails and crosses the guide rails, so as to form a continuous shielding protective barrier, which effectively blocks the invasion of grass, mud and other sundries into the moving pair, and reduces the risk of jamming and wear. The shielding plate is tightly matched with the edge of the linear guide rail, which ensures smooth sliding and improves the reliability of protection.

[0022] When replacing or maintaining, the chassis module slides to the rear, the integrated handle at the end of the cover is exposed to the rear side of the drive body, and the user can directly hold the handle to manually remove the entire chassis module without tools. It greatly improves the convenience, stability and durability of quick change operation in complex outdoor conditions.

[0023] 3. The present application generates an attractive force by the controllable magnetic force between the first fixed electromagnet and the first movable electromagnet when sliding in the middle, automatically pulls it into place, wherein the baffle integrates a pressure sensor, triggers the down driver locking action only when the chassis module is accurately pressed against, ensures the accurate alignment of the clamping block and the clamping groove and completes double limiting, avoids mislocking.

[0024] And when it pops out at the rear, it switches to repulsive force to push the chassis module to the rear of the drive body, wherein the elastic stopper is deformed under pressure to give way when the user removes it, and automatically resets after completion to prevent accidental disengagement. The whole process takes into account automatic positioning, safety protection and operational convenience, improving the reliability of the quick-change cutting head. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 is a top view of a multifunctional mowing robot of the present application carrying a quick-change modular intelligent chassis.

[0026] Figure 2 is a bottom view of a multifunctional mowing robot of the present application carrying a quick-change modular intelligent chassis.

[0027] Figure 3 is an exploded view of a multifunctional mowing robot of the present application carrying a quick-change modular intelligent chassis.

[0028] Figure 4 is a planar cross-sectional view of a multifunctional mowing robot of the present application carrying a quick-change modular intelligent chassis.

[0029] Figure 5 is a three-dimensional cross-sectional view of a multifunctional mowing robot of the present application carrying a quick-change modular intelligent chassis.

[0030] Figure 6 is a three-dimensional structure diagram of a multifunctional mowing robot of the present application carrying a quick-change modular intelligent chassis, wherein the chassis module slides to the end of the straight linear guide rail close to the baffle.

[0031] Figure 7 is a three-dimensional structure diagram of a multifunctional mowing robot of the present application carrying a quick-change modular intelligent chassis, wherein the chassis module slides to the end of the straight linear guide rail away from the baffle.

[0032] Figure 8It is a partial perspective structure section view of a chassis module of a multifunctional mowing robot carrying a quick-change modular intelligent chassis according to the application.

[0033] Figure 9 It is a lower pressing ring and shell alignment state schematic diagram of a multifunctional mowing robot carrying a quick-change modular intelligent chassis according to the application.

[0034] Figure 10 It is a Figure 5 enlarged schematic diagram of A of the application.

[0035] The figure mark is: 1, drive main body; 2, cutting cutter; 21, bolt; 3, chassis module; 31, sliding seat; 32, base plate; 33, gland; 34, ball; 4, linear guide rail; 41, shutter; 411, handle; 42, baffle; 43, elastic stopper; 5, linear driver; 51, first fixed electromagnet; 52, first movable electromagnet; 6, positioning structure; 61, lower pressing ring; 611, clamping groove; 612, rubber washer; 62, lower pressing driver; 621, second fixed electromagnet; 622, second movable electromagnet; 63, guide sleeve; 631, compression spring; 7, rotary motor; 8, shell; 81, clamping block. DETAILED DESCRIPTION

[0036] In order to further understand the features, technical means and achieved specific purposes and functions of the application, the application is further described in detail below in combination with the drawings and specific embodiments.

[0037] See Figures 1-5 , Figure 9 and Figure 10As shown, a multifunctional mowing robot with a quick-change modular intelligent chassis includes a driving body 1 and a cutting cutter 2, the bottom of the driving body 1 is provided with a chassis module 3 for installing the cutting cutter 2 and a linear guide rail 4 in sliding fit with the chassis module 3, the chassis module 3 can slide horizontally from the middle part of the driving body 1 to the rear along the linear guide rail 4, the linear guide rail 4 is provided with a linear driver 5 for driving the chassis module 3 to move, the inside of the driving body 1 is provided with a positioning structure 6 for locking the chassis module 3 after it moves to the middle part of the driving body 1, the chassis module 3 is provided with a rotating motor 7 and a casing 8 for fixing the rotating motor 7, the cutting cutter 2 is fixedly connected with the output shaft of the rotating motor 7 through a bolt 21, so as to facilitate disassembly and replacement of different types of cutting cutters 2, the positioning structure 6 includes a downward pressing sleeve ring 61 capable of vertical movement and a downward pressing driver 62, the inside of the downward pressing sleeve ring 61 is provided with a clamping groove 611, the outside of the casing 8 is provided with a clamping block 81 matched with the clamping groove 611, when the chassis module 3 slides to the middle part of the driving body 1, the clamping block 81 on the outside of the casing 8 and the clamping groove 611 on the inside of the downward pressing sleeve ring 61 are in a mutual alignment state, so that the chassis module 3 is in a locked state, when the chassis module 3 is unlocked and slides to the rear of the driving body 1, the chassis module 3 is in a replaceable and maintainable state.

[0038] The chassis module 3 is composed of a slide base 31, a base plate 32 and a gland 33 which are detachably connected, the slide base 31 is slidingly arranged on the linear guide rail 4 and has an inner cavity, the base plate 32 is embedded in the inner cavity of the slide base 31, and the gland 33 is fixedly arranged on the slide base 31 and the bottom of the gland 33 abuts against the surface of the base plate 32.

[0039] The casing 8 is fixedly arranged in the middle part of the base plate 32, and the cutting cutter 2 is arranged below the base plate 32.

[0040] Before the mowing robot is ready to enter the working state, the chassis module 3 is first in a maintenance position at the rear of the driving body 1. When installation or resetting is needed, the linear driver 5 is started to drive the chassis module 3 to slide horizontally from the rear to the middle part of the driving body 1 along the linear guide rail 4. As the chassis module 3 continues to advance, the base plate 32 embedded in the slide base 31 is just located at a predetermined working position at the bottom of the driving body 1, and the clamping block 81 arranged on the outside of the casing 8 is also synchronized with the clamping groove 611 on the inside of the downward pressing sleeve ring 61, thereby providing an accurate alignment basis for the subsequent locking action.

[0041] Once the chassis module 3 is in place, the downward pressing driver 62 acts immediately. In this process, the clamping groove 611 on the inside of the downward pressing sleeve ring 61 is embedded in the clamping block 81 on the outside of the casing 8, thereby achieving double mechanical limiting of the chassis module 3 in the circumferential and axial directions, preventing the chassis module 3 from shaking or falling out during mowing.

[0042] Meanwhile, the rubber ring 612 fixed at the bottom of the pressing ring 61 is pressed on the upper surface of the base plate 32 synchronously, which superimposes the elastic pressure stabilizing effect on the basis of rigid clamping, effectively absorbs the vibration generated by the high-speed rotation of the cutting cutter 2, and improves the operation stability and working precision of the whole machine. The rotating motor 7 is firmly installed in the shell 8 in the middle of the base plate 32, and its output shaft penetrates downward through the base plate 32 and is rigidly connected with the cutting cutter 2 located below the base plate 32 through the bolts 21. This connection mode not only reliably transmits torque, but also facilitates quick disassembly when the cutter is worn or needs to be replaced with a different width and type cutter. Only the bolts 21 need to be loosened to replace the whole cutter, without the need to disassemble the entire chassis module 3.

[0043] When the mowing task is completed or needs to be maintained and replaced, the control system drives the pressing driver 62 in reverse to reset the pressing ring 61. At this time, the compression spring 631 connected between the pressing ring 61 and the guide sleeve 63 releases the stored energy and pushes the pressing ring 61 to automatically move upward along the guide sleeve 63, so that the clamping groove 611 is separated from the clamping block 81 and the locking of the chassis module 3 is released.

[0044] Subsequently, the linear driver 5 works in reverse to smoothly push the chassis module 3 out of the middle of the driving body 1 to the rear operation area. At this time, the user can easily manually pull out the entire chassis module 3 to clean the cutting cutter 2, overhaul the motor, or replace the entire cutting cutter 2. Since the entire sliding path is located below the chassis module 3, efficient and quick replacement of the cutting cutter 2 in a compact space is achieved, improving the maintenance convenience and multi-scene adaptability of the equipment.

[0045] Referring to Figures 2-8 As shown, the two sides of the chassis module 3 are respectively provided with one linear guide rail 4, and the chassis module 3 is fixedly provided with a shielding plate 41 which is transversely arranged and erected between the two linear guide rails 4 to block the grass from entering the guide rail area. The two side edges of the shielding plate 41 are provided with flexible edges which closely fit the corresponding linear guide rails 4, forming a shielding protection structure.

[0046] During the sliding process of the chassis module 3, the chassis module 3 moves horizontally along the linear guide rails 4 arranged on its two sides. In order to prevent the common grass, debris or mud in the working environment from invading the linear guide rail 4 movement pair and causing jamming or wear, the chassis module 3 is fixedly provided with a shielding plate 41 which is transversely arranged and erected between the two linear guide rails 4 to cover the area below the linear guide rail 4.

[0047] The flexible edges of the two side edges of the chassis module 3 closely fit the surfaces of the corresponding linear guide rails 4, which effectively blocks external debris from falling into the linear guide rail 4 without hindering the smooth sliding of the chassis module 3, forming a continuous shielding protection barrier, reducing the risk of vegetation entanglement and dirt accumulation, and ensuring the long-term stable driving of the linear driver 5 to reciprocate the chassis module 3, thereby guaranteeing the reliability and durability of the quick replacement function under complex outdoor working conditions.

[0048] Referring to Figures 2-8 As shown, the end of the apron 41 away from the chassis module 3 is provided with a handle 411 for facilitating the user to manually pull out after the chassis module 3 slides to the rear position of the drive body 1.

[0049] When the chassis module 3 completes the mowing operation or needs to be replaced and maintained, the linear drive 5 smoothly slides it from the middle of the drive body 1 to the rear position along the two linear guides 4. At this time, the apron 41 moves out with the chassis module 3, and the handle 411 provided at the end of the apron 41 away from the chassis module 3 is exposed to the area behind the equipment for easy operation. The user can directly hold the handle 411 and apply a horizontal pulling force to manually pull out the entire chassis module 3 from the linear guide 4 without the need for tools or complex disassembly.

[0050] At the same time, since the apron 41 itself has the functions of protection and structural support, the handle 411 is integrally arranged, which not only saves space but also enhances the overall rigidity, making the pulling-out process stable and reliable, and further enhancing the quick-change efficiency of the entire machine in complex outdoor environments.

[0051] Referring to Figures 6-8 As shown, the front end of the drive body 1 is provided with a baffle 42 connected with the two linear guides 4, and when the chassis module 3 slides to the front of the drive body 1 to contact the baffle 42, the chassis module 3 and the positioning structure 6 are in the aligned state.

[0052] The end of each linear guide 4 away from the baffle 42 is provided with an elastic stop block 43 for blocking the chassis module 3 from being directly pulled out.

[0053] When the user pulls out the chassis module 3 from the linear guide 4 through the handle 411, the elastic stop block 43 is in a deformed state.

[0054] During the process of the chassis module 3 sliding to the maintenance position at the rear of the drive body 1, the chassis module 3 gradually approaches the elastic stop block 43 provided at the end of the linear guide 4, which is used to prevent the chassis module 3 from being directly pulled out during the sliding process. When the user pulls it out, the elastic stop block 43 is elastically deformed by being pressed by the chassis module 3, temporarily giving way, so that the chassis module 3 can be smoothly pulled out of the linear guide 4. Once the pulling-out is completed, the elastic stop block 43 automatically resets under the action of its own elastic force, restoring the limiting function to ensure the controllability of disassembly.

[0055] When the chassis module 3 slides into the middle of the driving body 1 and contacts the baffle 42, the position of the chassis module 3 is accurately limited, ensuring that the clamping block 81 on the chassis 8 of the chassis module 3 is accurately aligned with the clamping groove 611 of the lower pressing ring 61 in the horizontal direction. At this time, the control system triggers the lower pressing driver 62 to act, drives the lower pressing ring 61 to vertically descend, makes the clamping groove 611 embedded in the clamping block 81, realizes mechanical locking, and provides a stable and reliable installation basis for subsequent mowing work.

[0056] Referring to Figures 6-8 As shown, the baffle 42 is provided with a pressure sensor for detecting whether the chassis module 3 is accurately positioned, and the pressure sensor is electrically connected with the lower pressing driver 62.

[0057] In the process of resetting the chassis module 3 to slide along the linear guide rail 4 forward, the front end thereof gradually approaches and finally abuts against the baffle 42 at the front end of the driving body 1. The baffle 42 is integrated with a pressure sensor, when the chassis module 3 accurately reaches the preset working position, it contacts the baffle 42, the pressure sensor detects the pressure signal in real time, and feeds back the positioning information to the control system. The control system triggers an electrical signal to drive the lower pressing driver 62 to act, so that the lower pressing ring 61 descends to complete the mechanical locking of the chassis module 3.

[0058] If the chassis module 3 is not completely positioned or offset, the pressure value is lower than the threshold value, and the pressure sensor will not trigger the locking instruction, thereby avoiding the mislocking or half-locking state, ensuring that each locking is based on accurate positioning, and improving the operation safety and system reliability.

[0059] Referring to Figure 4 , Figure 5 , Figure 8 and Figure 10 As shown, the bottom of the lower pressing ring 61 is fixedly provided with a rubber gasket 612, when the lower pressing driver 62 drives the lower pressing ring 61 to move downward and be matched with the clamping block 81 of the chassis 8, the rubber gasket 612 is synchronously pressed against the upper surface of the chassis module 3, forming a double fixing state of mechanical locking and elastic pressure stabilizing cooperation.

[0060] When the lower pressing driver 62 is activated, the lower pressing ring 61 is driven to move vertically downward along the guide sleeve 63, so that the inner clamping groove 611 is embedded with the clamping block 81 outside the chassis 8, and the mechanical locking is completed. At the same time, the rubber gasket 612 fixed to the bottom of the lower pressing ring 61 is synchronously pressed against the upper surface of the chassis module 3, and the flexible pressing force is superimposed on the basis of rigid clamping, forming a double fixing state of mechanical limiting and elastic pressure stabilizing cooperation.

[0061] Not only effectively inhibit cutting cutter 2 high-speed rotation caused by vibration and impact, prevent the process of chassis module 3 loose or offset, also through the buffering characteristics of rubber washer 612 to protect the surface of the base plate 32 from rigid impact damage, and ensure the stability of chassis module 3 on the linear guide 4, improve the whole machine running stability, operation precision and long-term use of structural durability.

[0062] Referring to Figure 4 , Figure 5 , Figure 8 and Figure 10 As shown, the drive body 1 is fixedly provided with a guide sleeve 63 sleeved on the lower pressing sleeve 61, and a compression spring 631 is fixedly connected between the lower pressing sleeve 61 and the guide sleeve 63, which is used to drive the lower pressing sleeve 61 to automatically move upward and unlock when the lower pressing driver 62 is reset.

[0063] When the lower pressing driver 62 is reset, the compression spring 631 releases the stored elastic potential energy, applies a reset force upward, pushes the lower pressing sleeve 61 to stably and reliably vertically move upward along the inner wall of the guide sleeve 63, so that the clamping groove 611 on the inner side of the lower pressing sleeve 61 is separated from the clamping block 81 on the shell 8, thereby automatically completing the unlocking action and providing a prerequisite for the subsequent sliding or dismounting of the chassis module 3. Without additional driving elements, the mechanical energy storage is used to achieve quick and stable passive unlocking, thereby improving the safety and operation convenience of the system in the power-off or maintenance state.

[0064] Referring to Figure 4 and Figures 6-8 As shown, the linear driver 5 includes a first fixed electromagnet 51 and a first movable electromagnet 52, the first fixed electromagnet 51 is fixedly connected with the baffle 42, and the first movable electromagnet 52 is fixedly connected with the chassis module 3, and a controllable magnetic driving force in the direction of the linear guide 4 is formed between the first fixed electromagnet 51 and the first movable electromagnet 52.

[0065] When the first fixed electromagnet 51 and the first movable electromagnet 52 are energized, a controllable magnetic driving force is generated therebetween, which acts in the direction of the linear guide 4. Since the first fixed electromagnet 51 is fixedly connected with the baffle 42, and the first movable electromagnet 52 is fixedly connected with the chassis module 3, the magnetic driving force drives the chassis module 3 to move linearly relative to the baffle 42 along the linear guide 4, thereby realizing the relative displacement control between the baffle 42 and the chassis module 3.

[0066] During the process of driving the chassis module 3 to slide to the middle of the drive body 1, the first fixed electromagnet 51 and the first movable electromagnet 52 are energized to generate an attractive force therebetween, which acts in the direction of the linear guide 4, so that the chassis module 3 just put into the guide is automatically and stably slid to the middle of the drive body 1 under the traction of the magnetic force.

[0067] During the process of driving chassis module 3 to slide to the rear of driving body 1, the repulsive force is generated between the first fixed electromagnet 51 and the first movable electromagnet 52 by changing the current direction, the repulsive force pushes the chassis module 3 to move to the rear of the driving body 1 until it hits and is buffered by the elastic stopper 43, and the ejection action is completed.

[0068] Referring to Figure 7 and Figure 8 As shown in the drawings, the peripheral side of the chassis module 3 is provided with the rolling ball 34 in rolling contact with the linear guide rail 4.

[0069] The rolling ball 34 provided on the peripheral side of the chassis module 3 is in rolling contact with the surface of the linear guide rail 4, during the sliding process of the chassis module 3 along the guide rail, the rolling ball 34 reduces the movement resistance through rolling friction, so that the chassis module 3 can move smoothly and smoothly, and at the same time, the guiding accuracy is improved and the wear is reduced. The cutting cutter head 2 can smoothly slide on the linear guide rail 4 during replacement and installation, effectively reducing the jamming and friction resistance, thereby improving the smoothness and operation efficiency of the replacement and installation of the cutting cutter head 2.

[0070] Referring to Figure 5 and Figure 10 As shown in the drawings, the pressing driver 62 includes a second fixed electromagnet 621 and a second movable electromagnet 622, the second fixed electromagnet 621 is fixedly connected with the guide sleeve 63, and the second movable electromagnet 622 is fixedly connected with the pressing sleeve ring 61, and the second fixed electromagnet 621 and the second movable electromagnet 622 form a controllable magnetic driving force in the axial direction of the shell 8.

[0071] When the pressing driver 62 works, the second fixed electromagnet 621 is fixedly immovable with the guide sleeve 63, and the second movable electromagnet 622 moves with the pressing sleeve ring 61. When both of them are powered, a controllable magnetic driving force is generated in the axial direction of the shell 8. By adjusting the current size and direction, the second movable electromagnet 622 can drive the pressing sleeve ring 61 to press down or retreat in the axial direction accurately, so as to realize non-contact, stable and controllable driving of the pressing action, and improve the efficiency of locking and unlocking of the chassis module 3.

[0072] The present application realizes the automatic sliding, accurate positioning and reliable locking of the chassis module 3 between the rear maintenance position and the middle working position of the driving body 1 through the cooperative control of the linear driver 5 and the pressing driver 62, combined with electromagnetic driving, mechanical limiting and intelligent sensing technology.

[0073] In the middle sliding stage, the first fixed electromagnet 51 and the first movable electromagnet 52 generate attractive force, pull the chassis module 3 to the position steadily. The contact state is detected by the pressure sensor integrated in the baffle 42 in real time, and the electromagnetic downward driver 62 is triggered to act only when the accurate alignment is achieved, so that the clamping block 81 and the clamping groove 611 complete the circumferential and axial double limiting, and the elastic stability of the rubber washer 612 is assisted, so as to ensure the operation stability.

[0074] In the rear ejection stage, the first fixed electromagnet 51 and the first movable electromagnet 52 are switched to repulsive force to push the chassis module 3 to the end, which is limited by the elastic stop block 43, and the elastic stop block 43 deforms to give way when the user pulls away. At the same time, the shutter 41 arranged between the two linear guides 4 forms a continuous protective barrier, effectively isolating the invasion of weeds and mud, and ensuring the long-term smooth operation of the moving pair. The fast-changing efficiency, reliability and multi-scene adaptability of the lawn mowing robot in complex outdoor environment are improved.

[0075] The above embodiments only express one or several embodiments of the present application, and the description is more specific and detailed, but it cannot be understood as the limitation of the protection scope of the present application. It should be noted that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A multifunctional grass cutting robot with a quick-change modular smart chassis, comprising a driving body and a cutting cutter; characterized in that The bottom of the driving body is provided with a chassis module for mounting the cutting cutter and a linear guide rail in sliding cooperation with the chassis module; The chassis module can slide horizontally along the linear guide rail from the middle part of the driving body to the rear, and the linear guide rail is provided with a linear driver for driving the chassis module to move; The driving body is internally provided with a positioning structure for locking the chassis module after it moves to the middle part of the driving body; The chassis module is provided with a rotating motor and a motor housing for fixing the rotating motor, and the cutting cutter is fixedly connected with the output shaft of the rotating motor through bolts to facilitate disassembly and replacement of different types of cutting cutters; The positioning structure comprises a downward pressing sleeve ring capable of vertical movement and a downward pressing driver, the inner side of the downward pressing sleeve ring is provided with a clamping groove, and the outer side of the motor housing is provided with a clamping block matched with the clamping groove; When the chassis module slides to the middle part of the driving body, the clamping block on the outer side of the motor housing and the clamping groove on the inner side of the downward pressing sleeve ring are in a mutual alignment state, so that the chassis module is in a locked state; When the chassis module is unlocked and slides to the rear of the driving body, the chassis module is in a replaceable and maintainable state which can be manually removed.

2. The multi-functional mowing robot carrying a quick-change modular smart chassis according to claim 1, characterized in that, Both sides of the chassis module are respectively provided with one of the linear guide rails, and the chassis module is fixedly provided with a shielding plate which is horizontally arranged and erected between the two linear guide rails to block the grass from entering the guide rail area, and the two side edges of the shielding plate are provided with flexible edges which are closely attached to the corresponding linear guide rails, forming a shielding protection structure.

3. The multi-functional mowing robot carrying a quick-change modular smart chassis according to claim 2, characterized in that, The end of the shielding plate away from the chassis module is provided with a handle for facilitating the user to manually remove the chassis module after it slides to the rear of the driving body.

4. The multi-functional mowing robot carrying a quick-change modular smart chassis according to claim 2, characterized in that, The front end of the driving body is provided with a baffle connected with the two linear guide rails, and when the chassis module slides to the front of the driving body and contacts the baffle, the chassis module and the positioning structure are in an alignment state.

5. The multi-functional mowing robot carrying a quick-change modular smart chassis according to claim 4, characterized in that, The baffle is provided with a pressure sensor for detecting whether the chassis module is accurately positioned, and the pressure sensor is electrically connected with the downward pressing driver.

6. The multi-functional mowing robot carrying a quick-change modular smart chassis according to claim 5, characterized in that, The bottom of the downward pressing sleeve ring is fixedly provided with a rubber gasket, and when the downward pressing driver drives the downward pressing sleeve ring to move downward and be clamped with the motor housing, the rubber gasket synchronously presses the upper surface of the chassis module, forming a double fixing state of mechanical locking and elastic pressure stabilization cooperation.

7. The multi-functional mowing robot carrying a quick-change modular smart chassis according to claim 6, characterized in that, The driving body is internally fixedly provided with a guide sleeve which is sleeved on the downward pressing sleeve ring, and a compression spring is fixedly connected between the downward pressing sleeve ring and the guide sleeve to automatically move upward and unlock the downward pressing sleeve ring when the downward pressing driver is reset.

8. The multi-functional mowing robot carrying a quick-change modular smart chassis according to claim 4, characterized in that, The linear driver comprises a first fixed electromagnet and a first movable electromagnet, the first fixed electromagnet is fixedly connected with the baffle, and the first movable electromagnet is fixedly connected with the chassis module, and a controllable magnetic driving force is formed between the first fixed electromagnet and the first movable electromagnet along the direction of the linear guide rail.

9. The multi-functional mowing robot carrying a quick-change modular smart chassis according to claim 8, characterized in that, The chassis module is provided with a plurality of rolling balls which are in rolling contact with the linear guide rail.

10. The multi-functional mowing robot carrying a quick-change modular smart chassis according to claim 7, characterized in that, The downward pressing driver comprises a second fixed electromagnet and a second movable electromagnet, the second fixed electromagnet is fixedly connected with the guide sleeve, and the second movable electromagnet is fixedly connected with the downward pressing sleeve ring, and a controllable magnetic driving force is formed between the second fixed electromagnet and the second movable electromagnet along the axis direction of the motor housing.

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