Mowing robot and mowing system

Abstract

The invention discloses a mowing robot and a mowing system, and relates to the technical field of mowing equipment.The mowing robot comprises a chassis, an axle assembly, an energy storage module, a cutterhead assembly and a lifting assembly; an energy storage mounting position and a cutterhead mounting position are arranged on the chassis from front to back; the axle assembly is at least located on the front side of the chassis and can be connected to the chassis in a swinging mode in the horizontal direction; the energy storage module is mounted at the energy storage mounting position; the cutterhead assembly is mounted at the cutterhead mounting position through a swing rod, and the swing rod can swing relative to the chassis; the lifting assembly is arranged on the chassis and is in driving connection with the cutter head assembly so as to drive the cutter head assembly to swing along with the swing rod. According to the technical scheme, the risk that the mowing robot is stuck in advancing is reduced, and the operation stability of the mowing robot is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of lawn mowing equipment, in particular to a lawn mowing robot and a lawn mowing system. BACKGROUND

[0002] With the rapid development of intelligent garden equipment technology, lawn mowing robots have been widely used in home gardens, public green spaces, golf courses and other scenarios due to their automation, intelligence and high efficiency. However, in actual operation, lawn mowing robots often face complex and variable terrain environments, such as uneven grasslands, gravel areas, tree root protrusions or slopes. When working on these grounds, the existing lawn mowing robots generally have the problem that the cutterhead assembly cannot effectively adapt to the changes in ground height, and the wheel obstacle crossing ability is poor, which makes it difficult for the lawn mowing robot to efficiently travel. SUMMARY

[0003] The main purpose of the present application is to provide a lawn mowing robot and a lawn mowing system, which aims to reduce the risk of travel jam of the lawn mowing robot and improve the running stability of the lawn mowing robot.

[0004] To achieve the above-mentioned purpose, the lawn mowing robot provided by the present application comprises: a chassis, the chassis is provided with an energy storage mounting position and a cutterhead mounting position from front to back; an axle assembly, at least the axle assembly located on the front side of the chassis can be swingably connected to the chassis in the horizontal direction; an energy storage module, the energy storage module is installed on the energy storage mounting position; a cutterhead assembly, the cutterhead assembly is installed on the cutterhead mounting position through a swing rod, and the swing rod can be swingably arranged relative to the chassis; and a lifting assembly, the lifting assembly is arranged on the chassis, and the lifting assembly is drivingly connected to the cutterhead assembly to drive the cutterhead assembly to swing with the swing rod.

[0005] In an embodiment, the axle assembly comprises a main axle body and a secondary axle body, the main axle body is swingably connected to the chassis, the secondary axle body is rotationally connected to the main axle body in the vertical direction, and the lower end of the secondary axle body is connected with a wheel body.

[0006] In an embodiment, the chassis is provided with a mounting seat, the mounting seat is upwardly provided with two opposite connecting ears, a swing shaft is arranged between the two connecting ears, the swing shaft penetrates the middle part of the main axle body and can rotate relative to the main axle body, a torsional spring is fixed on the swing shaft, the torsional spring is limitingly connected to the mounting seat, and the torsional arm of the torsional spring elastically abuts against the main axle body.

[0007] In an embodiment, the lifting assembly comprises a lifting drive and a lifting rope, the lifting drive is installed at the cutter disc installation position and is drivingly connected to the lifting rope, the lifting rope is connected to the cutter disc assembly, and the cutter disc assembly is swung in the front-rear direction by the swing rod.

[0008] In an embodiment, the cutter disc assembly comprises a cutter disc body and a cutter disc frame, the cutter disc body is installed at the cutter disc frame, and the lifting rope is connected to the cutter disc frame.

[0009] In an embodiment, the lifting assembly further comprises a winding and unwinding wheel and at least one transmission wheel, one end of the lifting rope is connected to the winding and unwinding wheel, the other end is wound around the transmission wheel and is connected to the cutter disc assembly, the winding and unwinding wheel is arranged close to the front side of the cutter disc installation position, the transmission wheel is arranged close to the rear side of the cutter disc installation position and is located above the connection between the lifting rope and the cutter disc assembly.

[0010] In an embodiment, the axle assembly is configured as a front axle assembly, the energy storage installation position is between the front axle assembly and the cutter disc installation position, and the energy storage module is installed at the energy storage installation position from bottom to top.

[0011] In an embodiment, the lawn mowing robot further comprises a front axle control module, and the chassis is provided with the front axle control module between the energy storage installation position and the cutter disc installation position.

[0012] In an embodiment, the lawn mowing robot further comprises a machine shell and a decorative shell, the machine shell is arranged on the chassis, the machine shell is provided with a control module, and the decorative shell is connected to the outside of the machine shell and is at least partially arranged on the control module.

[0013] In an embodiment, the control module comprises a display and control assembly and an emergency stop key, a part of the display and control assembly covered by the decorative shell is arranged to be reversible, and the emergency stop key is exposed outside the decorative shell.

[0014] In an embodiment, the machine shell is further provided with a rainwater detection assembly, the control module is arranged at a height higher than the rainwater detection assembly, the rainwater detection assembly is exposed outside the decorative shell, and from the control module to the rainwater detection assembly, the outside of the decorative shell is arranged to be inclined from top to bottom.

[0015] In an embodiment, the front side of the machine shell is further provided with a camera module, the camera module is exposed outside the decorative shell and at least has a front camera arranged in the front direction and a side camera arranged in the side direction.

[0016] In an embodiment, the front side, the rear side and the side of the chassis are respectively provided with a front handle, a rear handle and a side handle.

[0017] In one embodiment, the lawnmower robot further includes a rear axle control module, which is disposed adjacent to the rear axle assembly of the lawnmower robot and mounted on the rear side of the blade mounting position. The chassis is provided with a heat dissipation structure corresponding to the rear axle control module.

[0018] In one embodiment, the lawnmower robot has an expansion interface on its rear side, which can be connected to the energy storage module.

[0019] The present invention also proposes a lawn mowing system, which includes a base station and a lawn mowing robot as described above. The lawn mowing robot is provided with a power socket on its front side, and the base station is provided with a power plug. At least one of the power plug and the power socket is swayable at least in the horizontal direction.

[0020] The technical solution of this invention involves sequentially providing an energy storage mounting position and a cutter head mounting position along the front-rear direction on the chassis, for respectively supporting the energy storage module and the cutter head assembly. At least the front axle assembly, i.e., the axle assembly located at the front of the chassis, can swing relative to the chassis around a horizontal axis, allowing the front wheels to float up and down when encountering uneven terrain such as bumps, potholes, or slopes. This improves the obstacle-crossing ability and driving stability of the lawnmower robot, avoiding the risk of body bumps or overturning caused by rigid connections. The cutter head assembly is not directly and rigidly fixed to the chassis, but is swayably mounted on the cutter head mounting position via a swing arm. The upper end of the swing arm is rotatably connected to the chassis, and the lower end is connected to the cutter head assembly, allowing the entire cutter head assembly to swing up and down in the vertical plane with the undulations of the ground. Simultaneously, a lifting assembly is fixedly mounted on the chassis, and its output end is driven and connected to the middle of the cutter head assembly or the swing arm, thereby adjusting the ground clearance of the cutter head assembly. When the robot encounters terrain with localized elevation differences during its movement, the swing arm allows the blade assembly to passively conform to the ground contour, mitigating impact. When adjusting the mowing height or traversing significant obstacles, the lifting mechanism actively drives the blade assembly to rise or fall along the swing arm's trajectory, achieving excellent height control to avoid obstacles and ensure optimal mowing height. An energy storage module, located in front of the blade mounting position, powers the axle assembly, blade assembly, and lifting mechanism, ensuring the robot's center of gravity is positioned forward, which improves stability during movement. This solution reduces the instantaneous impact load on the blade assembly caused by sudden obstacles, lowering the risk of robot jamming, blade assembly damage, or blade breakage. Furthermore, the combination of the axle assembly's swing and the blade assembly's adaptive swing, along with the forward-positioned energy storage module, makes the robot's center of gravity more stable, its movement smoother, and improves operational stability and mowing uniformity in complex terrain. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the structure of an embodiment of the lawnmower robot provided by the present invention; Figure 2 for Figure 1 An explosion diagram of a Chinese lawnmower robot; Figure 3 for Figure 1 A cross-sectional view of a lawnmower robot; Figure 4 for Figure 3 A magnified view of a section at point A in the middle; Figure 5 for Figure 1 A structural schematic diagram of a lawnmower robot from another perspective; Figure 6 for Figure 1 Another structural diagram of the lawnmower robot; Figure 7 for Figure 1 Schematic diagram of the CRRC axle assembly; Figure 8 for Figure 7 Cross-sectional view of CRRC axle assembly; Figure 9 for Figure 1 A schematic diagram of the structure of the intermediate cutter head assembly and the lifting assembly in cooperation; Figure 10 A cross-sectional view showing the interaction between the base station's power connector and the lawnmower's power socket in one embodiment of the lawnmower system provided by the present invention.

[0023] Explanation of icon numbers: 100. Chassis; 110. Energy storage mounting position; 120. Cutter head mounting position; 130. Mounting base; 131. Connecting lug; 132. Swing shaft; 133. Torsion spring; 140. Heat dissipation structure; 200. Front axle assembly; 210. Main axle body; 220. Sub-axle body; 300. Lifting assembly; 310. Lifting drive component; 320. Lifting rope; 330. Retractor and extender wheel; 340. Transmission wheel; 400. Cutter head assembly; 410. Cutter head body; 420. Cutter head holder; 440. Swing arm; 501. Energy storage module; 502. Front axle control module; 503. Rear axle control module; 504. Expansion interface; 505. Power socket; 506. Front lifting handle; 507. Rear lifting handle; 508. Side lifting handle; 509. Guardrail; 600. Housing; 700. Exterior casing; 710. Flip cover; 801. Display and control components; 802. Emergency stop button; 803. Rain detection components; 804. Front camera; 805. Side camera; 900. Power adapter.

[0024] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0026] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0027] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0028] This invention proposes a lawnmower robot.

[0029] Please refer toFigures 1 to 3 In one embodiment of the present invention, the lawnmower includes: The chassis 100 has an energy storage mounting position 110 and a cutter head mounting position 120 arranged from front to back. Axle assembly, at least located at the front of chassis 100, is swayably connected to chassis 100 in a horizontal direction; Energy storage module 501 is installed in energy storage mounting position 110; Cutter head assembly 400, the cutter head assembly 400 is mounted on cutter head mounting position 120 via a rocker arm 440, the rocker arm 440 being able to swing relative to chassis 100; and The lifting assembly 300 is mounted on the chassis 100 and is driven to the cutter head assembly 400 so as to drive the cutter head assembly 400 to swing with the swing arm 440.

[0030] The technical solution of this invention involves providing an energy storage mounting position 110 and a cutter head mounting position 120 sequentially along the front-rear direction on the chassis 100, for supporting the energy storage module 501 and the cutter head assembly 400 respectively. At least the front axle assembly 200, that is, the axle assembly located at the front of the chassis 100, can swing relative to the chassis 100 around a horizontal axis, allowing the front wheels to float up and down when encountering uneven terrain such as bumps, potholes, or slopes, improving the obstacle-crossing ability and driving stability of the lawnmower robot, and avoiding the risk of body bumps or overturning caused by rigid connections. The cutter head assembly 400 is not directly rigidly fixed to the chassis 100, but is swayably mounted on the cutter head mounting position 120 via a swing arm 440. The upper end of the swing arm 440 is rotatably connected to the chassis 100, and the lower end is connected to the cutter head assembly 400, allowing the cutter head assembly 400 to swing up and down in the vertical plane with the undulations of the ground. Meanwhile, the lifting component 300 is fixedly mounted on the chassis 100, and its output end is driven to the middle of the blade assembly 400 or the swing arm 440, thereby adjusting the ground clearance of the blade assembly 400. When the robot encounters terrain with local height differences during its movement, the swing arm 440 allows the blade to passively conform to the ground contour, reducing impact; while when it is necessary to adjust the mowing height or cross larger obstacles, the lifting component 300 actively drives the blade assembly 400 to rise or fall along the trajectory of the swing arm 440, achieving good height control to avoid obstacles and ensure mowing height. Combined with the energy storage module 501, which supplies power to the axle assembly, blade assembly 400, and lifting component 300, and is located in front of the blade mounting position 120, it ensures that the center of gravity of the mowing robot is set forward, which is beneficial to the stability of the mowing robot during movement. Thus, this solution reduces the instantaneous impact load on the cutter head assembly 400 caused by sudden obstacles, thereby reducing the risk of the mowing robot getting stuck, the cutter head assembly 400 being damaged, or the blades breaking. On the other hand, by coordinating the swing of the axle assembly with the adaptive swing of the cutter head assembly 400, and by placing the energy storage module 501 at the front, the center of gravity of the mowing robot becomes more stable, the walking trajectory becomes smoother, and the operational stability and mowing uniformity are improved in complex terrain.

[0031] It should be noted that the directions referred to in this solution, such as front, back, left, right, up, down, top, bottom, and side, are all based on the lawnmower robot in its normal forward movement state. For example, the front of the lawnmower robot is the front side, and the side of the lawnmower robot is the left or right side. The description of directions in the following text refers to this explanation and will not be repeated. Among them, the end of the swing arm 440 and the chassis 100 rotates around the horizontal direction, and its rotation axis is consistent with the left and right side distribution direction of the chassis 100, so that the swing arm 440 swings in the front-back direction of the lawnmower robot. Correspondingly, when the blade assembly 400 moves from bottom to top, it has a front-back swing tendency, and when it moves from top to bottom, it has a back-forward swing tendency. This allows the blade to swing upward in response when the lawnmower robot encounters an obstacle at the bottom in the forward direction, achieving a flexible floating effect and avoiding jamming. It is understandable that the energy storage module can be configured as a battery or a hydraulic cylinder. If the energy storage module is configured as a battery, the movement, steering, and operation of the cutter head assembly 400 of the lawnmower robot all utilize electrical energy. If the energy storage module is configured as a hydraulic cylinder, the movement, steering, and operation of the cutter head assembly 400 of the lawnmower robot can utilize fuel. This solution is introduced with the energy storage module being a battery.

[0032] In one embodiment, please refer to Figure 2 , Figure 3 , Figure 7 and Figure 8 The axle assembly includes a main axle body 210 and a secondary axle body 220. The main axle body 210 is pivotally connected to the chassis 100, and the secondary axle body 220 is rotatably connected to the main axle body 210. Wheels are connected to the lower end of the secondary axle body 220. Without loss of generality, a steering drive component, i.e., a motor, is provided on either the main axle body 210 or the secondary axle body 220. The output end of the steering drive component is provided with a first transmission component and a second transmission component that are mutually connected. The first transmission component is located on the main axle body 210, and the second transmission component is located on the secondary axle body 220. Thus, the steering drive component can drive the secondary axle body 220 to rotate vertically relative to the main axle body 210, allowing the secondary axle body 220 to rotate independently vertically. This enables flexible control of the steering angle of the wheels on the secondary axle body 220, ensuring that the robot can make flexible turns in narrow spaces and reducing the turning radius of the lawnmower robot. In this embodiment, the second transmission component rotates vertically, while the first and second transmission components drive horizontally, enabling the first and second transmission components to switch directions. Compared to the steering drive component being arranged vertically and driving the second transmission component vertically, the steering drive component and the first transmission component in this embodiment are configured to output power in a horizontal or near-horizontal state. This avoids the steering component occupying too much height space, which helps to reduce the overall height of the lawnmower robot, reduces the probability of the lawnmower robot tipping over, and also improves the lawnmower robot's ability to traverse various vegetation terrains, thus improving the applicability of the lawnmower robot.

[0033] It should be noted that the first and second transmission components can be directly connected or connected through a transmission structure. These components can be configured as bevel gears, worm gears, belts and pulleys, crankshafts and push rods, etc., and the corresponding steering drive components can be motors or cylinders. The horizontal connection between the first and second transmission components means that the first transmission component is in a horizontal moving state, transmitting the power output from the steering drive component horizontally to the second transmission component. This can be because the first transmission component rotates around a horizontal axis, as when the first and second transmission components are configured as bevel gears or worm gears; or it can be because the first transmission component moves horizontally, as when the first and second transmission components are configured as push rods and crankshafts or belts and pulleys. Regarding the connection method between the main axle body 210 and the auxiliary axle body 220, either a portion of the main axle body 210 extends into the auxiliary axle body 220, or a portion of the auxiliary axle body 220 extends into the main axle body 210. This allows the steering drive component to be supported by the main axle body 210 and drive the auxiliary axle body 220 to rotate via the first and second transmission components. Regarding the connection between the auxiliary axle body 220 and the wheel, the lower end of the auxiliary axle body 220 is connected to the rotation axis of the wheel. The wheel can be a non-powered wheel, with its rotation axis connected to the lower end of the auxiliary axle body 220. Alternatively, the wheel can be a powered wheel, including a moving drive component connected to the lower end of the auxiliary axle body 220, which then drives the wheel to rotate. The vertical extension length of the sub-bridge 220 is greater than the radius of the wheel, thus avoiding interference of the main bridge 210 with the rotation of the wheel. It can also shorten the distance between the two wheels on the same axle, meeting the miniaturization design requirements of the lawnmower robot. It also makes the connection between the main bridge 210 and the sub-bridge 220 located above the wheel, reducing the wheel's support on the axle from interfering with the connection stability of the main bridge 210 and the sub-bridge 220.

[0034] Furthermore, in this embodiment, please refer to Figure 7 and Figure 8The chassis 100 is provided with a mounting base 130, on which two opposing connecting ears 131 protrude upwards. A swing shaft 132 is disposed between the two connecting ears 131, passing through the middle of the main bridge body 210 and capable of rotating relative to the main bridge body 210. A torsion spring 133 is fixed on the swing shaft 132, and the torsion spring 133 is limitedly connected to the mounting base 130. The torsion arm of the torsion spring 133 elastically abuts against the main bridge body 210. Without loss of generality, a swing bearing is provided on the main bridge body 210, and the swing bearing is sleeved on the swing shaft 132 and located between the two connecting ears 131 of the mounting base 130. Thus, a swing shaft 132 penetrating the thickness direction is provided in the middle of the main bridge body 210. The two ends of the swing shaft 132 are respectively fixed in two connecting lugs 131, and rotate relative to the main bridge body 210 through swing bearings, so that the main bridge body 210 can swing up and down around the swing shaft 132 in the vertical plane. The swing bearings located on opposite sides of the main bridge body 210 abut against the main bridge body 210 and the corresponding connecting lugs 131, so that the swing bearings are clamped between the main bridge body 210 and the connecting lugs 131 in the horizontal direction. At the same time, it can also ensure that the two connecting lugs 131 of the main bridge body 210 maintain rotation, thereby suppressing the swaying of the wheels at both ends of the main bridge body 210 in the front-to-back direction, enhancing the lateral force resistance of the lawnmower robot, improving the rigidity and safety of the axle and the main body of the equipment, and thus ensuring the stability of the wheel steering. In addition, the torsion spring 133 provided on the swing shaft 132 can provide an elastic force for the axle assembly to reset when the main axle body 210 swings, so as to ensure the operational stability of the front axle assembly 200. Of course, in other embodiments, the swing shaft 132 can be fixedly connected to the main axle body 210, the swing bearing can be fixedly provided on the connecting lug 131, the swing shaft 132 passes through the swing bearing on the connecting lug 131, and rotates synchronously around the main axle body 210.

[0035] Regarding the structure of the torsion spring 133, in this embodiment, the torsion spring 133 includes a main body and two torsion arms connected to the main body. The main body is fixedly sleeved on the swing shaft 132. The torsion arms bend and extend axially along the swing shaft 132, and the two torsion arms elastically abut against the main bridge body 210 vertically on opposite sides of the main body. It can be understood that the torsion spring 133 can provide a restoring torque to achieve automatic reset after the main bridge body 210 pitches relative to the equipment body, and suppress the swing amplitude of the main bridge body 210. The torsion arms bend and extend axially along the swing shaft 132, thereby ensuring uniform force distribution between the swing shaft 132 and the main bridge body 210, guaranteeing the uniformity of the torsion arms pushing the main bridge body 210 to rotate and reset, thus improving the balance of the main bridge body 210 swinging around the swing shaft 132. In addition, the torsion spring 133 also includes a limiting part connected to the main body, and the mounting base 130 has a recessed limiting groove, with the limiting part engaged in the limiting groove. It is understandable that during the swing of the main bridge body 210, a circumferential force will be applied to the torsion arm around the swing axis 132. The main body of the torsion spring 133 is fixedly sleeved on the swing axis 132, and the limiting part is locked in the limiting groove of the lower mounting seat 130 to suppress the circumferential rotation of the torsion spring 133 around the swing axis 132, thereby providing support for the torsion arm to elastically resist the inner side of the main bridge body 210.

[0036] In one embodiment, please refer to Figures 2 to 4 , Figure 9 The lifting assembly 300 includes a lifting drive 310 and a lifting rope 320. The lifting drive 310 is mounted on the cutter head mounting position 120 and is driven and connected to the lifting rope 320. The lifting rope 320 is connected to the cutter head assembly 400, and the cutter head assembly 400 swings with the swing arm 440 at least in the front-to-back direction. It can be understood that one end of the lifting rope 320 is connected to the output end of the lifting drive 310, and the other end is connected to the cutter head assembly 400. When the lifting drive 310 is working, it applies tension or releases constraint on the cutter head assembly 400 by retracting or extending the lifting rope 320, thereby adjusting the height of the cutter head assembly 400 relative to the ground. Thus, during the movement of the lawnmower robot, if the blade assembly 400 encounters rocks, tree roots, or other protruding foreign objects, the blade assembly 400 can swing upwards around the swing axis of the swing arm 440 under the guidance of the swing arm 440, achieving a non-rigid lifting action that conforms to the contour of the obstacle. Compared with the forced linear motion of the vertical guide rail in the prior art, the swing-type floating of this embodiment reduces the risk of mechanical jamming caused by the impact of foreign objects, improves the adaptability of the blade to complex terrain, and reduces the risk of jamming of the blade assembly 400. In addition, due to the coordinated action of the swing arm 440 and the lifting rope 320, the blade assembly 400 can smoothly return to its original position under the reverse control of gravity or the lifting drive component 310 after passing over the obstacle, ensuring the consistency of the mowing height and the continuity of the operation.

[0037] It should be noted that the lifting rope 320 is configured as a steel wire rope, high-strength fiber rope, or flexible cable, etc. Under the driving action of the lifting drive component 310, the lifting rope 320 maintains tension and can be wound into other components of the lifting assembly 300 when the lifting drive component 310 outputs power, ensuring the neatness of the lifting rope 320 during use. Simultaneously, the lifting rope 320 connects to non-blade structures of the cutter head assembly 400, such as the cutter head frame 420, which can both pull the cutter head assembly 400 up and down and reduce interference during grass cutting operations. Correspondingly, the swing arm 440 is also rotatably connected to the cutter head frame 420. Furthermore, the cutter head assembly 400 is equipped with a drive mechanism that drives the disc body containing the blades to rotate, resulting in the cutter head frame 420, the cutter head, and the drive mechanism swinging synchronously with the swing arm 440 to achieve up and down movement.

[0038] Furthermore, in this embodiment, please refer to Figure 3 , Figure 4 and Figure 9 The cutter head assembly 400 includes a cutter head body 410 and a cutter head holder 420. The cutter head body 410 is mounted on the cutter head holder 420, and a lifting rope 320 is connected to the cutter head holder 420. Without loss of generality, the cutter head holder 420 includes a mounting structure and a cover plate. The cover plate is connected to the lower part of the mounting structure. The cutter head body 410 includes a cutter head with blades and a rotation drive mechanism. The rotation drive mechanism is mounted on the mounting structure of the cutter head holder 420 and drives the cutter head. The cutter head is exposed below the cover plate. The rotation drive mechanism of the cutter head body 410 is fixedly mounted on the mounting structure of the cutter head holder 420 by bolts, clips, or bearings. The cover plate provides protection for the cutter head. Thus, the tension or release action applied by the lifting rope 320 can be transmitted to the entire cutter head assembly 400 through the cutter head holder 420, thereby precisely adjusting the floating height of the cutter head assembly 400 under the control of the drive mechanism. Furthermore, when the cutter head assembly 400 encounters foreign objects during its movement, the cutter head frame 420, acting as an intermediate structure for force distribution and connection, effectively disperses the impact load. The lifting rope 320 can also promptly act on the cutter head frame 420, reducing interference with the cutter head body 410's weed cutting. Similarly, the swing arm 440 is rotatably connected to the cutter head frame 420 and rotatably connected to the mounting structure for the rotation drive mechanism of the cutter head body 410. The lifting rope 320's connection position with the cutter head frame 420 is selected based on the location and number of cutter head bodies 410, ensuring that the lifting rope 320 drives the cutter head assembly 400 to swing stably up and down. Of course, in other embodiments, the lifting rope 320 can also be connected to the rotation drive mechanism within the cutter head assembly 400 that drives the cutter head to rotate.

[0039] In one embodiment, please refer to Figure 4 and Figure 9The lifting assembly 300 also includes a take-up and release wheel 330 and at least one drive wheel 340. One end of the lifting rope 320 is connected to the take-up and release wheel 330, and the other end is wound around the drive wheel 340 and connected to the cutter head assembly 400. The take-up and release wheel 330 is located near the front side of the cutter head mounting position 120, and the drive wheel 340 is located near the rear side of the cutter head mounting position 120 and above the connection between the lifting rope 320 and the cutter head assembly 400. It is understood that the take-up and release wheel 330 and the drive wheel 340 are distributed along the front-to-back direction, with the take-up and release wheel 330 located on the front and the drive wheel 340 located on the rear. One end of the lifting rope 320 is fixedly connected to the take-up and release wheel 330, and the other end is wound around the drive wheel 340 and connected to the side of the cutter head assembly 400 away from the mounting base. The take-up and release wheel 330 is driven by the lifting drive component 310 and is used to take up or release the lifting rope 320. The drive wheel 340 is arranged near the rear of the cutter head assembly 400 to change the traction direction of the lifting rope 320, so that the lifting rope 320 can act on the connection point of the cutter head assembly 400 in a near-vertical direction. In this way, not only is the limited space inside the lawnmower robot effectively utilized, but also the direction of the pulling force is made closer to the motion trajectory required for the swing of the cutter head assembly 400 by guiding the direction of the lifting rope 320 through the drive wheel 340, thereby enabling more stable and efficient control of the lifting of the cutter head assembly 400. The lifting drive component 310 can be configured as a motor, cylinder, etc. Without loss of generality, a wheel fixing seat is provided on one side of the cutter head mounting position 120 relative to the cutter head assembly 400 in the vertical direction. The transmission wheel 340 is rotatably mounted on the wheel fixing seat. The wheel fixing seat has two left and right-distributed fixing ears, and the shaft of the transmission wheel 340 is rotatably connected to the two fixing ears. Of course, in other embodiments, the lifting drive component 310 can also control the take-up and release wheel 330, directly controlling the lifting rope 320 to drive the cutter head assembly 400 to rise and fall.

[0040] The cutter head assembly 400 is connected to two vertically distributed rocker arms 440, forming a double-link structure. Each rocker arm 440 includes two supporting arms and a connecting rod connecting the middle of the two supporting arms. The cutter head assembly 400 is located between the two supporting arms and is rotatably connected to the ends of the supporting arms. It can be understood that the rocker arms 440 adopt a frame structure, including two parallel supporting arms and a connecting rod connecting the middle of the two supporting arms, forming an H-shaped support configuration with high structural rigidity. The cutter head assembly 400 is arranged between the two supporting arms and is rotatably connected to the ends of the two supporting arms away from the mounting base via pins or bearings, thereby obtaining symmetrical and stable support on both sides.

[0041] In one embodiment, please refer to Figure 2 and Figure 3The axle assembly is configured as a front axle assembly 200, with an energy storage mounting position 110 located between the front axle assembly 200 and the cutter head mounting position 120. The energy storage module 501 is installed in the energy storage mounting position 110 from bottom to top. It can be understood that the chassis 100 is arranged sequentially from front to back, with the front axle assembly 200, energy storage mounting position 110 located between the front axle assembly 200 and the cutter head mounting position 120, and the energy storage module 501 is installed in this energy storage mounting position 110 by insertion from bottom to top. On the one hand, this effectively utilizes the space in the middle of the chassis 100, making the weight distribution of the lawnmower robot more balanced and reducing the risk of tipping over due to center of gravity shift. On the other hand, placing the heavier energy storage module 501 behind the front axle and in front of the cutter head creates a good front-rear weight distribution, which helps improve the driving stability of the lawnmower robot when climbing slopes or crossing obstacles. Furthermore, the energy storage module 501 is installed from bottom to top, allowing for easy maintenance and replacement of the module by flipping the lawnmower robot over. This also prevents the module from being exposed and damaged, and keeps it away from ground moisture and grass clippings, improving safety and ease of maintenance. Alternatively, in other embodiments, the energy storage mounting position 110 can be positioned between the cutter head mounting position 120 and the rear axle assembly.

[0042] In one embodiment, please refer to Figure 2 and Figure 3 The lawnmower robot also includes a front axle control module 502, which is positioned between the energy storage mounting position 110 and the blade mounting position 120 on the chassis 100. The front axle control module 502 is electrically connected to the front axle assembly 200, which is pivotally connected to the front of the chassis 100, and is used to sense the attitude of the front axle assembly 200 in real time and actively adjust its swing damping or steering angle. This fully utilizes the structural gap in the middle of the chassis 100 between the energy storage module 501 and the blade assembly 400, avoiding additional external space occupation and bringing the control module closer to the front axle assembly 200, shortening the signal transmission path and response delay, and improving control accuracy. During the lawnmower robot's movement, when the front axle assembly 200 encounters terrain undulations, the front axle control module 502 can dynamically adjust the swing freedom of the front axle and the steering angle of the wheels based on sensor feedback to improve the lawnmower robot's obstacle-crossing and traction capabilities. In addition, the front axle control module 502 is also located adjacent to the energy storage module 501, which allows it to easily obtain power from the energy storage module 501 and simplifies the wiring inside the lawnmower robot. Of course, in other embodiments, the front axle control module 502 can also be located on the upper side of the front axle assembly 200 or on the upper side of the energy storage mounting position 110.

[0043] Regarding the outer shell of the lawnmower, in one embodiment, please refer to... Figures 1 to 3The lawnmower robot also includes a housing 600 and a decorative shell 700. The housing 600 is mounted on the chassis 100 and houses the control module. The decorative shell 700 is connected to the outside of the housing 600 and at least partially covers the control module. The housing 600, entirely covering the chassis 100, encloses and protects the integrated energy storage module 501, front axle control module 502, lifting assembly 300, and other functional components on the chassis 100. The housing 600 also features a control module, such as a display screen, buttons, charging port, or wireless communication module, on its top or side for human-machine interaction and status monitoring. The decorative shell 700 is connected to the outside of the housing 600 and at least partially covers the control module, serving both an aesthetic purpose and providing physical protection to prevent rainwater, grass clippings, dust, or external impacts from directly intruding into the sensitive operating area. The dual-layer shell structure of the housing 600 and the decorative shell 700 effectively isolates and organically integrates the internal electromechanical system with the external operating interface through a functional partition design. This ensures the overall airtightness and environmental adaptability of the machine while improving the convenience and safety of user operation. Among them, the decorative shell 700 can be flexibly shaped according to the product's appearance requirements, taking into account both aesthetic design and functionality, while the housing 600 focuses on structural support and equipment protection.

[0044] Furthermore, in this embodiment, please continue to refer to... Figures 1 to 3 The control module includes a display and control component 801 and an emergency stop button 802. A decorative shell 700 covers a portion of the display and control component 801 and is flip-up, with the emergency stop button 802 exposed outside the shell 700. It can be understood that the display and control component 801, such as a status display, operation buttons, or charging port, is designed with a flip-up structure in the area of ​​the shell 700 corresponding to it, such as a flip cover 710. The flip cover 710 is partially opened and closed via hinges or snap-fit ​​mechanisms, allowing users to easily open it to operate or view the display and control component 801 when needed, and to close it when not in use to provide dustproof, waterproof, and accidental touch protection. Meanwhile, the emergency stop button 802 is positioned and exposed outside the shell 700, ensuring that users can quickly and intuitively trigger the emergency stop function in an emergency without opening the shell 700. Thus, this embodiment balances functionality and safety: on the one hand, the flip-up cover 710 effectively shields conventional control components, improving the overall appearance and environmental adaptability of the machine and preventing poor contact or functional failure caused by grass clippings and mud intrusion during daily operations; on the other hand, the safety-critical components of the emergency stop button 802 are exposed, shortening the emergency response time.

[0045] In one embodiment, please refer to Figures 1 to 3The housing 600 also includes a rain detection component 803. The control module is positioned higher than the rain detection component 803, which is exposed outside the outer shell 700. From the control module to the rain detection component 803, the outer shell 700 is angled downwards. It should be noted that the rain detection component 803 is used to sense real-time rainfall conditions to trigger the lawnmower robot's rain avoidance or shutdown strategy. The control module is positioned higher than the rain detection component 803, and the rain detection component 803 is directly exposed outside the outer shell 700 to ensure sensitive contact and rapid response to rain. The outer surface of the outer shell 700 between the control module and the rain detection component 803 features a downward-sloping design, forming a water-guiding slope. Thus, on the one hand, the inclined surface of the shell 700 can guide rainwater to flow naturally downwards and away from the control module, reducing the risk of rainwater accumulating along the surface of the shell 700 or flowing back into the control module; on the other hand, by arranging the rainwater detection component 803 in a lower and exposed position, it can be made to contact rainwater preferentially, improving detection accuracy and response speed, while the control module, being in a high position and partially shielded, further enhances waterproof reliability.

[0046] In one embodiment, please refer to Figures 1 to 3 A camera module is also provided on the front side of the housing 600, exposed outside the decorative shell 700, and includes at least a front-facing camera 804 and a side-facing camera 805. The front-facing camera 804 is positioned facing the front of the lawnmower, and the side-facing cameras 805 are positioned facing the left and right sides of the lawnmower. The front-facing camera 804 is used to acquire real-time images of the environment in front of the robot's direction of travel, supporting path planning, obstacle recognition, and obstacle avoidance decisions. The side-facing cameras 805 are used to monitor the lateral area of ​​the robot, assisting in boundary recognition, edge mowing, and posture judgment in complex terrain. By placing the camera module on the front side of the housing 600 and exposing it outside the decorative shell 700, not only are blind spots caused by the housing structure obstructing the view, but the comprehensiveness and real-time performance of environmental perception are also improved. Of course, in other embodiments, the camera module can also be placed directly above the top of the lawnmower robot, with multiple cameras arranged in a circumferential pattern.

[0047] In one embodiment, please refer to Figures 1 to 3The chassis 100 is equipped with a front handle 506, a rear handle 507, and a side handle 508 on its front, rear, and side sides, respectively. These handles are ergonomically integrated into the chassis 100 structure, facilitating user handling, lifting, or posture adjustment of the lawnmower robot from different angles. The front handle 506 allows users to pull or lift the robot head from the front to overcome steps or obstacles, the rear handle 507 provides a stable grip when moving the robot backward or loading it into a transport vehicle, and the side handle 508 allows a single person to lift the robot from the side for turning, storage, or navigating narrow areas. This multi-directional handle layout fully considers the operational needs of the lawnmower robot in scenarios involving frequent handling, obstacle crossing, maintenance, and storage, reducing problems such as laborious handling, difficulty in controlling the center of gravity, slippage, and even damage to the robot body. Among them, protective railings 509 are also provided on the front and left and right sides of the lawn mowing robot. For example, the front protective railing 509 is configured as a front collision module to reduce the probability of the lawn mowing robot being damaged by collision, and the left and right protective railings 509 prevent foreign objects from damaging the blade assembly 400.

[0048] In one embodiment, please refer to Figure 2 and Figure 5 The lawnmower robot also includes a rear axle control module 503, which is located adjacent to the rear axle assembly of the lawnmower robot and installed on the rear side of the cutter head mounting position 120. The chassis 100 is provided with a heat dissipation structure 140 corresponding to the rear axle control module 503. The rear axle control module 503 is used to monitor and actively adjust the operating status of the rear axle assembly in real time, such as the rotation speed of the rear wheels, to coordinate with the front axle assembly 200 to achieve four-wheel adaptive terrain following. Considering that the rear axle control module 503 will generate a lot of heat during continuous operation, the chassis 100 is specially equipped with a heat dissipation structure 140 at its corresponding position, such as heat sinks, ventilation channels or heat conduction brackets, to effectively guide and dissipate the heat generated by the control module during operation, and prevent the performance degradation of electronic components or equipment failure due to excessive temperature rise. The rear axle control module 503 is located behind the cutter head mounting position 120 and adjacent to the cutter head assembly 400. The chassis 100 has a recessed groove from bottom to top corresponding to the cutter head mounting position 120. The cutter head assembly 400 is installed in the groove. The rear side wall of the groove has a clearance hole through which a wire passes. The wire is connected to the rotation drive mechanism on the rear axle control module 503 and the cutter head assembly 400 to supply power for the operation of the blades on the cutter head. The rear axle control module 503 is electrically connected to the energy storage module 501, thereby ensuring the operation of the cutter head assembly 400 and reducing the impact of the swing of the cutter head assembly 400 on power transmission.

[0049] In one embodiment, please refer to Figure 2 , Figure 3 and Figure 6The lawnmower robot has an expansion interface 504 on its rear side, which can be connected to the energy storage module 501. The expansion interface 504 includes an electrical connection interface and a mounting interface. The electrical connection interface of the expansion interface 504 is electrically connected to the energy storage module 501, allowing the energy storage module 501 to supply power to external devices, achieving energy sharing. The mounting interface of the expansion interface 504 can connect working components, such as a grass-pressing structure, to level the grass and enrich the lawnmower robot's functionality. The expansion interface 504 is located on the rear side of the robot, away from the front working area and the blade assembly 400, to prevent working components carried by the expansion interface 504 from interfering with the normal operation of the lawnmower robot. It should be noted that the expansion interface 504 can be expanded to support data communication, firmware upgrades, or external working components, providing the lawnmower robot with flexible functional extension capabilities. In addition, a front lighting module and a rear lighting module are also provided on the front and rear sides of the lawnmower robot, respectively.

[0050] The present invention also proposes a lawn mowing system, which includes a lawn mowing robot. The specific structure of the lawn mowing robot is as described in the above embodiments. Since the lawn mowing system adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0051] Please refer to Figure 2 , Figure 3 and Figure 10 The lawnmower system also includes a base station. A charging dock 505 is located at the front of the lawnmower robot, and a charging head 900 is located at the base station. At least one of the charging head 900 and the charging dock 505 is swayable, at least in the horizontal direction. This allows for a smooth electrical connection even when there is an angular or positional deviation between the charging head 900 and the charging dock 505 during docking. This swayable design is typically achieved through universal joints, hinged brackets, or elastic floating mechanisms. During the robot's automatic recharging process, even if its docking position is not perfectly aligned with the base station due to path deviations or uneven ground, the charging head 900 can still flexibly dock with the charging dock 505 through adaptive horizontal swaying, avoiding interface wear, poor contact, or even structural damage caused by rigid collisions. This improves the success rate and reliability of automatic charging docking, making it particularly suitable for long-term unattended operation in complex outdoor environments. Furthermore, placing the charging dock 505 at the front of the robot facilitates its forward movement into the base station for docking, conforming to conventional navigation logic and further optimizing human-machine interaction and system collaboration efficiency. In this design, the charging head 900 is configured as a male connector with a flat section on its horizontal side, and the charging socket 505 is configured as a female connector to increase the conductive contact area between the charging head 900 and the charging socket 505, ensuring the reliability and stability of charging. Alternatively, in other embodiments, a female connector can be provided on the base station, and a male connector on the lawnmower robot, achieving a plug-in electrical connection.

[0052] The above description is merely an exemplary embodiment of the present invention and does not limit the scope of protection of the present invention. Any equivalent structural transformations made based on the technical concept of the present invention and the contents of the specification and drawings of the present invention, or direct / indirect applications in other related technical fields, are included within the scope of protection of the present invention.

Claims

1. A lawnmower robot, characterized in that, include: The chassis is provided with an energy storage mounting position and a cutter head mounting position from front to back; The axle assembly, at least located on the front side of the chassis, is swayably connected to the chassis in a horizontal direction; An energy storage module, wherein the energy storage module is installed in the energy storage mounting position; A cutter head assembly, wherein the cutter head assembly is mounted on the cutter head mounting position via a swing arm, and the swing arm is oscillating relative to the chassis; as well as A lifting assembly is disposed on the chassis and is driven to the cutter head assembly to drive the cutter head assembly to swing with the swing arm.

2. The lawnmower robot as described in claim 1, characterized in that, The axle assembly includes a main axle body and a sub-axle body. The main axle body is swayably connected to the chassis, and the sub-axle body is rotatably connected to the main axle body about a vertical direction. A wheel is connected to the lower end of the sub-axle body.

3. The lawnmower robot as described in claim 2, characterized in that, The chassis is provided with a mounting base, and the mounting base has two opposing connecting ears protruding upwards. A swing shaft is provided between the two connecting ears. The swing shaft passes through the middle of the main bridge body and can rotate relative to the main bridge body. A torsion spring is fixed on the swing shaft. The torsion spring is limited and connected to the mounting base. The torsion arm of the torsion spring elastically abuts against the main bridge body.

4. The lawnmower robot as described in claim 1, characterized in that, The lifting assembly includes a lifting drive and a lifting rope. The lifting drive is installed at the cutter head mounting position and is driven to be connected to the lifting rope. The lifting rope is connected to the cutter head assembly. The cutter head assembly swings with the swing arm at least in the front-back direction.

5. The lawnmower robot as described in claim 4, characterized in that, The cutter head assembly includes a cutter head body and a cutter head frame, the cutter head body is mounted on the cutter head frame, and the lifting rope is connected to the cutter head frame; And / or, the lifting assembly further includes a take-up and release wheel and at least one drive wheel, one end of the lifting rope is connected to the take-up and release wheel, and the other end is wound around the drive wheel and connected to the cutter head assembly. The take-up and release wheel is located near the front side of the cutter head mounting position, and the drive wheel is located near the rear side of the cutter head mounting position and above the connection between the lifting rope and the cutter head assembly.

6. The lawnmower robot as described in claim 1, characterized in that, The axle assembly is configured as a front axle assembly, the energy storage mounting position is located between the front axle assembly and the cutter head mounting position, and the energy storage module is installed in the energy storage mounting position from bottom to top; And / or, the lawnmower robot further includes a front axle control module, which is disposed between the energy storage mounting position and the cutter head mounting position on the chassis.

7. The lawnmower robot as described in claim 1, characterized in that, The lawnmower robot also includes a housing and a decorative shell. The housing is mounted on the chassis and has a control module. The decorative shell is connected to the outside of the housing and at least partially covers the control module.

8. The lawnmower robot as described in claim 7, characterized in that, The control module includes a display and control component and an emergency stop button. The portion of the decorative shell covering the display and control component is flip-up, and the emergency stop button is exposed outside the decorative shell. And / or, the housing is further provided with a rain detection component, the control module is set at a height higher than the rain detection component, the rain detection component is exposed outside the housing, and the housing is inclined from top to bottom from the control module to the rain detection component; And / or, a camera module is also provided on the front side of the housing, the camera module being exposed outside the housing, and having at least a front camera facing forward and a side camera facing to the side.

9. The lawnmower robot as described in any one of claims 1 to 8, characterized in that, The chassis is provided with a front lifting handle, a rear lifting handle, and a side lifting handle on its front, rear, and side sides, respectively. And / or, the lawnmower robot further includes a rear axle control module, which is disposed adjacent to the rear axle assembly of the lawnmower robot and mounted on the rear side of the blade mounting position, and the chassis is provided with a heat dissipation structure corresponding to the rear axle control module; And / or, the lawnmower robot is provided with an expansion interface on the rear side, which can be connected to the energy storage module.

10. A lawn mowing system, characterized in that, The system includes a base station and a lawnmower robot as described in any one of claims 1 to 9, wherein a power socket is provided on the front side of the lawnmower robot, the base station is provided with a power plug, and at least one of the power plug and the power socket is swayable at least in the horizontal direction.

Images