A mowing robot with a height-adjustable mowing mechanism

Abstract

The application discloses a mowing robot with a highly adjustable mowing mechanism, which comprises a base, a driving shaft, a rotary driving mechanism and a lifting driving mechanism. In the rotary driving mechanism, a rotary driving cylinder is connected with the driving shaft through a spline, so that the driving shaft can move in the axial direction while rotating. The lifting driving mechanism comprises a lifting driving ring and a buffer ring. The lifting driving ring is rotationally connected with the buffer ring on the driving shaft, and the height of the driving shaft can be adjusted through the lifting driving ring. The buffer ring and the driving shaft are elastically connected, so that the driving shaft still has the longitudinal movement ability after the height of the blade is adjusted. When the blade encounters a rigid collision, the driving shaft can move in the longitudinal direction, so that the problem of blade damage caused by the rigid impact can be effectively avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of grass cutting equipment, in particular to a grass cutting robot with a height-adjustable grass cutting mechanism. BACKGROUND

[0002] As an important landscape for beautifying the environment and improving the quality of life, lawns are widely distributed in family courtyards, parks, gardens, residential areas and golf courses, etc. In order to maintain its aesthetic and functional, lawns need to be regularly trimmed and maintained. The traditional manual trimming method not only has high labor intensity and low efficiency, but also the trimming quality is highly dependent on the experience and physical strength of the operator, and it is difficult to maintain stability and uniformity.

[0003] In order to overcome the drawbacks of manual trimming, automatic grass cutting robots have emerged. This kind of equipment integrates autonomous navigation, power drive and grass cutting execution functions, and can realize automatic operation without continuous human participation. They significantly reduce the labor burden, improve the work efficiency, and can maintain the consistency of the mowing height and the trimming quality in multiple operations, so they have been increasingly widely used.

[0004] At present, in order to realize the trimming height requirements of different lawns, the automatic grass cutting robots on the market generally integrate height adjustment function. The typical adjustment method is to drive the entire grass cutting assembly (such as the cutter head, motor, etc.) to move up and down through screw transmission or motor transmission mechanism. The user can preset a fixed mowing height according to the needs.

[0005] However, when the grass cutting assembly is adjusted to the preset height and starts to work, its position is rigidly fixed in the mechanical structure and cannot be further displaced upward when encountering obstacles. In actual operation, if there are exposed stones, toys, tools or other protrusions on the ground, the fixed grass cutting assembly will have a rigid collision with them. This not only may cause equipment failure such as blade damage and motor stall, but also may bounce the debris, causing the risk of cutting injury to people or objects, which constitutes a safety hazard that cannot be ignored. SUMMARY

[0006] In view of the problems existing in the prior art, a grass cutting robot with a height-adjustable grass cutting mechanism is provided. In the rotary drive mechanism, the rotary drive cylinder is connected with the drive shaft through the spline, so that the drive shaft can move axially while rotating. The lifting drive ring in the lifting drive mechanism is rotationally connected with the buffer ring on the drive shaft, and the height of the drive shaft can be adjusted through the lifting drive ring. The elastic connection between the buffer ring and the drive shaft enables the drive shaft to have longitudinal movement ability after the height of the blade is adjusted. When the blade encounters a rigid impact, the drive shaft can move longitudinally, thereby effectively avoiding the problem of blade damage caused by rigid impact.

[0007] To solve the prior art problems, the application provides a mowing robot with a height-adjustable mowing mechanism, comprising: a base, the bottom of which is provided with walking wheels at four corners; a drive shaft, which is arranged in the base in a vertical direction, the bottom end of the drive shaft extending to the bottom of the base and being provided with a blade, and the top of the drive shaft being provided with a buffer ring elastically connected in the axial direction thereof; a rotary drive mechanism, which is arranged in the base, the rotary drive mechanism having a rotary drive cylinder rotationally connected to the bottom end of the base, the drive shaft penetrating the rotary drive cylinder and being splined therewith; and a lifting drive mechanism, which is arranged in the base, the lifting drive mechanism having a lifting drive ring rotationally connected to the buffer ring; the rotary drive mechanism further comprises: a driven gear coaxially fixed on the rotary drive cylinder; a driving gear rotationally arranged in the base and meshed with the driven gear; and a rotary drive motor arranged in the base, the output shaft of the rotary drive motor being fixedly connected with the driving gear; the lifting drive ring is arranged in the base in a sliding manner along the axial direction of the drive shaft, the lifting drive mechanism further comprises: a lifting drive cylinder rotationally arranged in the base, the lifting drive cylinder being coaxial with the lifting drive ring, the outer circumferential surface of the lifting drive ring being provided with a driving column extending in the radial direction thereof, and the inner circumference of the lifting drive cylinder being provided with an arc-shaped groove coaxial therewith, the driving column extending into the arc-shaped groove and being in sliding fit with the arc-shaped groove; and a lifting drive motor, a torque transmission assembly being arranged between the output shaft of the lifting drive motor and the lifting drive cylinder, for driving the lifting drive cylinder to rotate by a fixed angle.

[0008] Preferably, the drive shaft is provided with an upper stepped surface and a lower stepped surface, the buffer ring being located between the upper stepped surface and the lower stepped surface, an upper elastic element being arranged between the upper stepped surface and the buffer ring, and a lower elastic element being arranged between the lower stepped surface and the buffer ring.

[0009] Preferably, the drive shaft is provided with an upper limiting ring and a lower limiting ring, the bottom end of the upper limiting ring forming the upper stepped surface, and the top end of the lower limiting ring forming the lower stepped surface.

[0010] Preferably, the torque transmission assembly comprises: a worm rotationally arranged in the base and being in transmission connection with the output shaft of the lifting drive motor; and a worm wheel coaxially fixed on the outer circumferential surface of the lifting drive cylinder, the worm wheel being in transmission with the worm.

[0011] Preferably, the lifting drive mechanism further comprises an angle sensor arranged in the base, the input shaft of the angle sensor being in transmission connection with the worm.

[0012] Preferably, the lifting drive mechanism further comprises a positioning rod, the positioning rod being arranged in the base in the circumferential direction of the drive shaft, the positioning rod extending downward from the top end of the base and penetrating the lifting drive ring in a sliding manner, and the bottom end of the positioning rod being provided with a lower connecting ring coaxial with the drive shaft.

[0013] Preferably, the lifting driving mechanism further comprises an upper connecting ring arranged at the top of the inner cavity of the base, the top end of the positioning rod is fixedly connected with the upper connecting ring, and the outer circumferential surface of the upper connecting ring extends downward to form a connecting ring table which is coaxially and rotatably connected with the top end of the lifting driving cylinder.

[0014] Preferably, the buffer ring is coupled with the driving shaft through a spline.

[0015] The application has the following beneficial effects compared with the prior art:

[0016] In the rotating driving mechanism, the rotating driving cylinder is connected with the driving shaft through a spline, so that the driving shaft can move axially while rotating. The lifting driving ring in the lifting driving mechanism is rotatably connected with the buffer ring on the driving shaft, so that the height of the driving shaft can be adjusted through the structure. The elastic connection between the buffer ring and the driving shaft enables the driving shaft to still have the longitudinal movement ability after the height of the blade is adjusted. When the blade encounters a rigid impact, the driving shaft can move longitudinally, thereby effectively avoiding damage to the blade caused by the rigid impact. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a perspective view of a mowing robot with a height-adjustable mowing mechanism according to the present application.

[0018] Figure 2 is a perspective view of a mowing robot with a height-adjustable mowing mechanism according to the present application.

[0019] Figure 3 is a sectional view of a mowing robot with a height-adjustable mowing mechanism according to the present application.

[0020] Figure 4 is Figure 3 is a partial enlarged view of A of Fig.

[0021] Figure 5 is a schematic view of the internal structure of a mowing robot with a height-adjustable mowing mechanism according to the present application.

[0022] Figure 6 is a perspective view of the rotating driving mechanism and the lifting driving mechanism in a mowing robot with a height-adjustable mowing mechanism according to the present application.

[0023] Figure 7 is a perspective exploded view of the lifting driving mechanism in a mowing robot with a height-adjustable mowing mechanism according to the present application.

[0024] Figure 8 is a perspective view of the driving shaft and the lifting driving ring in a mowing robot with a height-adjustable mowing mechanism according to the present application.

[0025] Figure 9It is a sectional view of the drive shaft and the buffer ring of the mowing robot with the height-adjustable mowing mechanism of the application.

[0026] Figure 10 It is a sectional view of the drive shaft, the driven gear and the rotating drive cylinder of the mowing robot with the height-adjustable mowing mechanism of the application.

[0027] The figure marks are: 1, base; 11, walking wheel; 2, drive shaft; 21, blade; 22, buffer ring; 23, upper elastic element; 24, lower elastic element; 25, upper limit ring; 26, lower limit ring; 31, rotating drive cylinder; 32, driven gear; 33, driving gear; 34, rotating drive motor; 41, lifting drive ring; 411, drive column; 42, lifting drive cylinder; 421, arc-shaped slot; 43, lifting drive motor; 441, worm; 442, worm gear; 45, angle sensor; 46, positioning rod; 47, lower connecting ring; 48, upper connecting ring; 481, connecting ring table. DETAILED DESCRIPTION

[0028] In order to further understand the features, technical means and specific purposes and functions achieved by the application, the application will be further described in detail below in combination with the drawings and specific embodiments.

[0029] As Figures 1 to 6 shown, a mowing robot with a height-adjustable mowing mechanism, comprising: a base 1, the bottom four corners of which are provided with walking wheels 11; a drive shaft 2, which is arranged in the base 1 in the vertical direction, the bottom end of the drive shaft 2 extending to the bottom of the base 1 and being provided with a blade 21, and the top of the drive shaft 2 being provided with a buffer ring 22 elastically connected in the axial direction thereof; a rotating drive mechanism, which is arranged in the base 1 and has a rotating drive cylinder 31 rotationally connected to the bottom end of the base 1, the drive shaft 2 penetrating the rotating drive cylinder 31 and being splined therewith; a lifting drive mechanism, which is arranged in the base 1 and has a lifting drive ring 41 rotationally connected to the buffer ring 22.

[0030] The application discloses a mowing robot with a height-adjustable mowing mechanism, which comprises a base 1, a driving shaft 2, a rotary driving mechanism and a lifting driving mechanism. Four walking wheels 11 are arranged at the bottom corners of the base 1 and used for the overall movement of the robot. The driving shaft 2 is arranged in the base 1 in the vertical direction, the bottom end of the driving shaft 2 extends to the lower side of the base 1 and is provided with a blade 21, and the top end of the driving shaft 2 is provided with a buffer ring 22 which is connected in an elastic mode, so that the driving shaft 2 can move in the longitudinal direction when impacted, thereby effectively avoiding damage when the blade 21 encounters a rigid collision. The rotary driving mechanism is arranged in the base 1 and comprises a rotary driving cylinder 31 which is rotationally connected to the bottom end of the base 1, the driving shaft 2 penetrates through the rotary driving cylinder 31 and is connected through a spline, so that the driving shaft 2 can move in the axial direction while rotating, thereby realizing the rotary cutting function of the blade 21. The lifting driving mechanism is also arranged in the base 1, the lifting driving ring 41 is rotationally connected to the buffer ring 22, the height of the driving shaft 2 is adjusted through the structure, different mowing requirements are adapted to, and the height adjustment of the blade 21 is ensured to still keep the longitudinal movement ability, thereby improving the adaptability and operation flexibility.

[0031] The mowing robot moves to a working area through the walking wheels 11, the rotary driving mechanism is started, the driving shaft 2 rotates in the rotary driving cylinder 31 through the spline connection, and drives the blade 21 to cut; meanwhile, the lifting driving mechanism adjusts the height of the driving shaft 2 through the rotary connection of the lifting driving ring 41 and the buffer ring 22, and realizes the flexible adjustment of the height of the blade 21. In the working process, if the blade 21 encounters a rigid collision, the driving shaft 2 can move in the longitudinal direction through the elastic buffer ring 22, absorbs the impact and prevents damage.

[0032] The mowing robot realizes the independent control of the rotation and height adjustment of the blade 21 through the cooperative design of the rotary driving mechanism and the lifting driving mechanism, improves the adaptability and precision of mowing, the elastic buffer ring 22 structure enhances the impact resistance, effectively avoids the damage of the blade 21 caused by the rigid collision, prolongs the service life of the equipment, the overall structure is compact, the operation is flexible, is suitable for diversified terrains, and improves the practicability and reliability of the robot.

[0033] As shown in Figure 4 , Figure 5 , Figure 6 and Figure 10 , the rotary driving mechanism further comprises: a driven gear 32 which is coaxially fixed on the rotary driving cylinder 31; a driving gear 33 which is rotationally arranged in the base 1 and is in mesh with the driven gear 32; and a rotary driving motor 34 which is arranged in the base 1, wherein an output shaft of the rotary driving motor 34 is fixedly connected with the driving gear 33.

[0034] The rotating driving mechanism further comprises a driven gear 32, a driving gear 33 and a rotating driving motor 34. The driven gear 32 is coaxially fixedly installed on the rotating driving cylinder 31; the driving gear 33 is rotationally arranged inside the base 1 and is in meshing relationship with the driven gear 32; and the rotating driving motor 34 is fixed in the base 1, and its output shaft is coaxially fixedly connected with the driving gear 33.

[0035] During operation, the rotating driving motor 34 is started, and drives the driving gear 33 to rotate through the output shaft, and then drives the driven gear 32 and the rotating driving cylinder 31 in meshing relationship to rotate synchronously. The rotating driving cylinder 31 transmits the rotating motion to the driving shaft 2 through the spline coupling, so that the blade 21 realizes stable and efficient cutting operation. The gear transmission structure guarantees the stability and accuracy of power transmission, and is independent of the lifting driving mechanism, so that the height adjustment of the blade 21 and the rotating motion do not interfere with each other.

[0036] The gear meshing transmission mode significantly improves the transmission efficiency and running stability of the rotating driving mechanism, and reduces power loss; the modular design facilitates maintenance and adjustment, and enhances the reliability and service life of the overall mechanism; at the same time, the structure cooperates with the lifting adjustment function, further optimizing the mowing adaptability and operation precision of the robot in complex terrain.

[0037] As shown in Figure 4 and Figure 8 , the driving shaft 2 is provided with an upper stepped surface and a lower stepped surface, and the buffer ring 22 is located between the upper stepped surface and the lower stepped surface. An upper elastic element 23 is arranged between the upper stepped surface and the buffer ring 22, and a lower elastic element 24 is arranged between the lower stepped surface and the buffer ring 22.

[0038] When the blade 21 normally rotates and cuts, the upper elastic element 23 and the lower elastic element 24 jointly maintain the relative balance of the driving shaft 2 and the buffer ring 22. When the blade 21 encounters an impact, the driving shaft 2 moves longitudinally: if it is impacted upward, the upper elastic element 23 is compressed to store energy, and the lower elastic element 24 releases energy; if it is impacted downward, the lower elastic element 24 is compressed to store energy, and the upper elastic element 23 releases energy. After the impact is eliminated, the elastic elements return to their original state, so that the driving shaft 2 is automatically reset.

[0039] The buffer system composed of the upper elastic element 23 and the lower elastic element 24 realizes bidirectional impact protection, significantly improving the anti-collision ability of the blade 21; the elastic support keeps the driving shaft 2 always in a stable working position, improving the cutting accuracy; the automatic reset function ensures that the normal working state is restored immediately after the impact, greatly improving the reliability and service life of the continuous operation of the equipment.

[0040] As shown in Figure 4 and Figure 8As shown, the driving shaft 2 is provided with an upper limit ring 25 and a lower limit ring 26, the bottom end of the upper limit ring 25 forms the upper stepped surface, and the top end of the lower limit ring 26 forms the lower stepped surface.

[0041] On the driving shaft 2 of the mowing robot, an upper limit ring 25 and a lower limit ring 26 are arranged. The bottom end of the upper limit ring 25 constitutes the upper stepped surface, and the top end of the lower limit ring 26 constitutes the lower stepped surface. The buffer ring 22, the upper elastic element 23, and the lower elastic element 24 are installed in the space defined by the two stepped surfaces, together forming an elastic buffer unit with clear structure and accurate limiting.

[0042] When the blade 21 rotates normally or height adjustment is performed, the upper limit ring 25 and the lower limit ring 26 ensure that the buffer ring 22 and the driving shaft 2 work stably within the preset stroke range. Once the blade 21 encounters a sudden collision, the longitudinal movement of the driving shaft 2 will be immediately mechanically constrained by the limit ring to prevent displacement from exceeding the limit, and the impact energy is efficiently absorbed and buffered by the upper elastic element 23 and the lower elastic element 24. After the impact ends, the restoring force of the elastic elements drives the entire system to quickly reset, restoring the blade 21 to a stable cutting state.

[0043] By arranging the upper limit ring 25 and the lower limit ring 26 to directly form the upper stepped surface and the lower stepped surface, the structure design of the driving shaft 2 is simplified, and the integration and manufacturing process of the parts are improved. This combination of mechanical hard limiting and elastic buffering not only provides flexible overload protection but also absolutely ensures the safety of the working stroke of the driving shaft 2, fundamentally avoiding internal mechanism interference or damage caused by excessive impact displacement, greatly enhancing the working reliability and service life of the driving system and the entire machine.

[0044] As shown in Figure 4 , Figure 7 and Figure 8 , the lifting driving ring 41 is arranged in the base 1 to slide along the axial direction of the driving shaft 2, and the lifting driving mechanism further includes: a lifting driving cylinder 42 rotatably arranged in the base 1, the lifting driving cylinder 42 is coaxial with the lifting driving ring 41, the outer circumferential surface of the lifting driving ring 41 is provided with a driving column 411 extending in the radial direction thereof, and the inner circumference of the lifting driving cylinder 42 is provided with an arc-shaped groove 421 coaxial therewith, the driving column 411 extends into the arc-shaped groove 421 and is in sliding fit with the arc-shaped groove 421; and a lifting driving motor 43, a torque transmission assembly is arranged between the output shaft of the lifting driving motor 43 and the lifting driving cylinder 42, for driving the lifting driving cylinder 42 to rotate by a fixed angle.

[0045] The lifting driving cylinder 42 is coaxially arranged with the lifting driving ring 41 which can slide in the base 1 along the axial direction of the driving shaft 2. In order to realize motion conversion, a driving column 411 extending radially is arranged on the outer circumferential surface of the lifting driving ring 41, and a coaxial arc-shaped groove 421 is formed on the inner circumferential wall of the lifting driving cylinder 42; the driving column 411 is embedded in the arc-shaped groove 421 and forms a sliding fit with the arc-shaped groove 421.

[0046] When the height of the blade 21 needs to be adjusted, the lifting driving motor 43 is started, and the output torque is transmitted to the lifting driving cylinder 42 through the torque transmission assembly, and the driving cylinder rotates by a fixed angle. Due to the sliding fit of the driving column 411 and the arc-shaped groove 421, the rotary motion of the lifting driving cylinder 42 is converted into the sliding motion of the driving column 411 along the arc-shaped groove 421. Since the driving column 411 is fixedly connected with the lifting driving ring 41 and the lifting driving ring 41 is constrained to move only in the axial direction, this motion finally forces the lifting driving ring 41 to make an accurate axial lifting motion together with the buffer ring 22 connected thereto and the driving shaft 2 as a whole, thereby realizing stepless and stable adjustment of the height of the blade 21.

[0047] By controlling the rotation angle of the lifting driving cylinder 42, the lifting stroke of the blade 21 can be accurately controlled, and the digitization and automation of height adjustment are realized. The cooperation of the arc-shaped groove 421 and the driving column 411 is stable in operation and has small wear, which significantly improves the reliability and repeat positioning accuracy of the lifting action, so that the lawn mower robot can quickly respond to different mowing height requirements.

[0048] As shown in Figure 5 and Figure 6 The torque transmission assembly comprises a worm 441 which is rotatably arranged in the base 1 and connected with the output shaft of the lifting driving motor 43; and a worm gear 442 which is coaxially fixedly arranged on the outer circumferential surface of the lifting driving cylinder 42, and the worm gear 442 is in meshing transmission with the worm 441.

[0049] When the lifting driving motor 43 is started, the output shaft directly drives the worm 441 to rotate. The rotation of the worm 441 in turn drives the worm gear 442 in meshing transmission to rotate, and since the worm gear 442 is fixed on the lifting driving cylinder 42, the lifting driving cylinder 42 is driven to rotate by a precise angle. This rotary motion is finally converted into the axial lifting motion of the lifting driving ring 41 and the entire driving shaft 2 through the cooperation of the arc-shaped groove 421 and the driving column 411 in the cylinder, and the height adjustment of the blade 21 is completed.

[0050] The worm wheel 442 and the worm 441 are used as a torque transmission assembly, one-way transmission of motion is realized, and self-locking function is realized, which can effectively prevent the height of the lifting driving ring 41 from changing automatically due to external force during the mowing operation, and ensures the absolute stability of the working state. This transmission mode has the advantages of large transmission ratio and compact structure, and can output larger thrust under smaller motor torque, realize precise, stable and reliable height adjustment, and further optimize the power performance and operation precision of the whole machine.

[0051] As shown in Figure 5 The lifting driving mechanism further includes an angle sensor 45 arranged in the base 1, and an input shaft of the angle sensor 45 is in transmission connection with the worm 441.

[0052] When the lifting driving motor 43 is started, the angle sensor 45 rotating synchronously with the worm 441 can detect the rotation angle of the worm 441 in real time and accurately when the worm wheel 442 and the worm 441 drive the lifting driving cylinder 42 to rotate. Since the rotation angle of the worm 441 is strictly corresponding to the rotation angle of the lifting driving cylinder 42 and the lifting displacement of the blade 21, the system can accurately calculate the real-time height position of the blade 21 by monitoring the angle.

[0053] The introduction of the angle sensor 45 constructs a closed-loop feedback system of the height position of the blade 21. It enables the control system to accurately know and control the absolute height of the blade 21, realizes the digitization and precision of the height adjustment. Combined with the load information provided by the torque sensor, the system can not only intelligently prevent jamming, but also realize precise height setting, memory multi-position and other advanced functions, which significantly improves the intelligent level, operation accuracy and user experience of the mowing robot.

[0054] As shown in Figure 4 The lifting driving mechanism further includes a positioning rod 46, which is arranged in the base 1 along the circumference of the driving shaft 2, extends downward from the top end of the base 1 and slides through the lifting driving ring 41, and the bottom end of the positioning rod 46 is provided with a lower connecting ring 47 coaxial with the driving shaft 2.

[0055] When the lifting driving ring 41 drives the driving shaft 2 to move up and down, the positioning rod 46 penetrating through it plays a key guiding and stabilizing role. It effectively prevents the lifting driving ring 41 and the driving shaft 2 assembly connected thereto from rotating or yawing during the movement, ensuring the linearity and stability of the lifting movement. At the same time, the lower connecting ring 47 at the bottom also constitutes another mechanical limit to the lower limit of the lifting stroke.

[0056] The introduction of the positioning rod 46 structure significantly enhances the rigidity and motion accuracy of the lifting drive system, eliminates the possibility of sticking or shaking during lifting, and makes height adjustment more stable and reliable. It forms a multi-point supported stable structure with the drive shaft 2, improves the impact resistance and anti-unload capacity of the entire knife head module, and further ensures the cutting consistency and structural durability of the mowing robot when working on complex uneven terrain.

[0057] As shown in Figure 4 , the lifting drive mechanism also includes an upper connecting ring 48 arranged at the top of the inner cavity of the base 1, and the top end of the positioning rod 46 is fixedly connected with the upper connecting ring 48. The outer circumferential surface of the upper connecting ring 48 extends downward to form a connecting ring table 481, and the connecting ring table 481 is coaxially connected with the top end of the lifting drive cylinder 42.

[0058] The upper connecting ring 48 is the core fixed component of the entire lifting guide mechanism. On the one hand, it forms a solid guide frame together with the positioning rod 46 to ensure that the lifting drive ring 41 can only move axially accurately; on the other hand, the extended connecting ring table 481 bears the upper end of the lifting drive cylinder 42, allowing the drive cylinder to rotate flexibly and stably around it, so that the torque of the motor is smoothly converted into the lifting action of the drive ring through the arc-shaped groove 421.

[0059] The design of the upper connecting ring 48 ingeniously integrates the fixed support of the positioning rod 46 and the rotating bearing function of the lifting drive cylinder 42, greatly optimizing the spatial layout and structural integrity inside the base 1. This integrated support structure enhances the rigidity and coaxiality of the entire lifting transmission chain, reduces the wear and gap between moving parts, ensures that the height adjustment process of the blade 21 is more stable, accurate and without shaking, and thus improves the durability and reliability of the mechanism.

[0060] As shown in Figure 4 and Figure 9 , the buffer ring 22 is connected with the drive shaft 2 through a spline.

[0061] When the rotation driving mechanism drives the driving shaft 2 and the blade 21 to rotate, the rotation movement of the driving shaft 2 is isolated due to the anti-rotation cooperation between the buffer ring 22 and the driving shaft 2, and the buffer ring 22 and its associated lifting driving ring 41, positioning rod 46 and other components remain in a static state. When the height needs to be adjusted, the lifting driving mechanism drives the static buffer ring 22, and then pushes or pulls the driving shaft 2 as a whole to rise or fall through the upper and lower stepped surfaces and the upper and lower elastic elements 23 and 24. If the blade 21 encounters an impact, the driving shaft 2 can slide axially relative to the static buffer ring 22, and compress the upper or lower elastic element 23 or 24 to absorb the impact. The upper or lower elastic element 23 or 24 completely avoids the friction and twist caused by the rotation of the driving shaft 2, thereby ensuring the long-term stability and consistency of the buffering performance, and significantly prolonging the service life of the elastic element.

[0062] 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 a limitation on the protection scope of the present application. It should be noted that for ordinary skilled persons in the art, several modifications and improvements can be made without departing from the concept of the present application, which are all within 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 mowing robot having a height-adjustable mowing mechanism, characterized in that, The utility model relates to a cutting machine, including: The base is provided with walking wheels at the bottom of four corners; The driving shaft is arranged in the base along the vertical direction, the bottom end of the driving shaft extends to the bottom of the base and is provided with a blade, and the top of the driving shaft is provided with a buffer ring elastically connected along the axial direction thereof; The rotary drive mechanism is arranged in the base, and the rotary drive mechanism has a rotary drive cylinder rotationally connected to the bottom end of the base, the driving shaft penetrates the rotary drive cylinder and is splined with the rotary drive cylinder; The lifting drive mechanism is arranged in the base, and the lifting drive mechanism has a lifting drive ring rotationally connected to the buffer ring; The rotary drive mechanism further includes: The driven gear is coaxially fixedly arranged on the rotary drive cylinder; The driving gear is arranged in the base and is in mesh with the driven gear; The rotary drive motor is arranged in the base, and the output shaft of the rotary drive motor is fixedly connected with the driving gear; The lifting drive ring is arranged in the base in sliding connection along the axial direction of the driving shaft, and the lifting drive mechanism further includes: The lifting drive cylinder is arranged in the base, the lifting drive cylinder is coaxial with the lifting drive ring, the outer circumferential surface of the lifting drive ring is provided with a driving column extending in the radial direction thereof, the inner periphery of the lifting drive cylinder is provided with an arc-shaped groove coaxial with the lifting drive cylinder, the driving column extends into the arc-shaped groove and is in sliding connection with the arc-shaped groove; The output shaft of the lifting drive motor is provided with a torque transmission assembly between the lifting drive cylinder, which is used to drive the lifting drive cylinder to rotate by a fixed angle; The driving shaft is provided with an upper stepped surface and a lower stepped surface, the buffer ring is located between the upper stepped surface and the lower stepped surface, an upper elastic element is arranged between the upper stepped surface and the buffer ring, and a lower elastic element is arranged between the lower stepped surface and the buffer ring; The lifting drive mechanism further includes a positioning rod arranged in the base in the circumferential direction of the driving shaft, the positioning rod extends downward from the top end of the base and penetrates the lifting drive ring in sliding connection, and the bottom end of the positioning rod is provided with a lower connecting ring coaxial with the driving shaft.

2. The mowing robot having a height-adjustable mowing mechanism according to claim 1, wherein The driving shaft is provided with an upper limiting ring and a lower limiting ring, the bottom end of the upper limiting ring forms the upper stepped surface, and the top end of the lower limiting ring forms the lower stepped surface.

3. The mowing robot having a height-adjustable mowing mechanism according to claim 1, wherein The torque transmission assembly includes: The worm is rotationally arranged in the base and is in transmission connection with the output shaft of the lifting drive motor; The worm wheel is coaxially fixedly arranged on the outer circumferential surface of the lifting drive cylinder, and the worm wheel is in transmission connection with the worm.

4. The mowing robot having a height-adjustable mowing mechanism according to claim 3, wherein The lifting drive mechanism further includes an angle sensor arranged in the base, and the input shaft of the angle sensor is in transmission connection with the worm.

5. The mowing robot having a height-adjustable mowing mechanism according to claim 1, wherein The lifting drive mechanism further includes an upper connecting ring arranged at the top of the inner cavity of the base, the top end of the positioning rod is fixedly connected with the upper connecting ring, and the outer circumferential surface of the upper connecting ring extends downward to form a connecting ring table coaxially rotationally connected with the top end of the lifting drive cylinder.

6. The mowing robot having a height-adjustable mowing mechanism according to claim 1, wherein The buffer ring is splined with the driving shaft.

Images