Lawn trimming robot

Abstract

The invention discloses a lawn trimming robot, and relates to the technical field of lawn trimming, the robot comprises a shell, a controller is arranged in the shell, a camera is arranged at the front end of the shell, and moving wheels are arranged on both sides of the bottom of the shell; a trimming structure used for trimming a lawn and a punching structure used for punching the trimmed lawn are sequentially arranged at the bottom of the shell from front to back. When the blade of the trimming structure rotates to trim a lawn, the bristles of the cleaning structure can synchronously rotate, enter the interior through the top opening in the protective shell, brush and sweep grass clippings on the blade, and discharge the grass clippings out of the protective shell through the bottom opening. The real-time cleaning mechanism effectively prevents grass clippings from being accumulated on the blade, the problems that the trimming effect is reduced and the abrasion of the blade is accelerated due to winding of the grass clippings are solved, the continuity and consistency of the trimming effect are ensured, the service life of the blade is prolonged, and the maintenance cost is reduced.

Description

Technical Field

[0001] This invention relates to the field of lawn mowing technology, specifically a lawn mowing robot. Background Technology

[0002] In the field of lawn maintenance, lawn mowing robots, as an important component of modern gardening tools, are gradually replacing traditional manual mowing methods and are widely used due to their high efficiency and convenience.

[0003] Besides mowing, aeration is a crucial part of lawn maintenance, promoting healthy lawn growth. Aeration improves aeration and water permeability, providing a better environment for root growth, facilitating root respiration and nutrient absorption, and thus promoting healthy growth and rapid recovery. However, most existing lawn mowing robots cannot automatically perform aeration after mowing. This usually requires manual switching of equipment modes or the use of a separate aeration device, which not only increases the complexity and labor intensity of manual operation but also consumes a significant amount of time to complete the entire mowing and aeration process. Especially in the maintenance of large lawns, this manual switching and step-by-step operation method is extremely inefficient and cannot meet the demands of efficient modern landscaping maintenance.

[0004] Based on this, a lawn mowing robot is now available that eliminates the drawbacks of existing robots. Summary of the Invention

[0005] The purpose of this invention is to provide a lawn mowing robot to solve the problems in the prior art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: A lawn mowing robot includes a housing, a controller is installed inside the housing, a camera is installed at the front end of the housing, and wheels are installed on both sides of the bottom of the housing; The bottom of the housing is provided with a trimming structure for trimming the lawn and a perforation structure for perforating the trimmed lawn, arranged sequentially from front to back. The trimming structure is connected to the cleaning structure inside the housing. The cleaning structure is used to clean the trimming structure. The trimming structure is connected to the perforation structure inside the housing through a linkage structure. The camera, the moving wheel, and the trimming structure are electrically connected to the controller.

[0007] Preferably, the trimming structure includes a motor installed inside the housing. The output end of the motor is fixedly connected to a drive gear. The drive gear meshes with a driven gear. The driven gear is connected to a cleaning structure. A driven ring is provided at the lower end of the driven gear. The driven ring is rotatably mounted on the housing. A keyway is provided through the middle of both the driven gear and the driven ring. The inner wall of the keyway is slidably connected to the outer wall of the key shaft. A blade is fixedly connected to the lower end of the key shaft. A limiting rotating plate is fixedly connected to the upper end of the key shaft above the driven gear. The limiting rotating plate is fixedly connected to the telescopic end of an electric push rod installed on the upper end of the housing.

[0008] Preferably, the blade is rotatably mounted inside the protective shell, a wedge is fixed at the lower end of the protective shell, several protective grooves are provided at the front ends of the protective shell and the wedge, several rollers are rotatably mounted at the lower end of the wedge, a top opening is provided at the upper end of the protective shell for the passage of the cleaning structure, a bottom opening is provided at the lower end of the protective shell for the discharge of impurities, a scraper is fixed in the middle of the bottom opening, and the scraper is in contact with the lower end face of the blade.

[0009] Preferably, the upper end of the protective shell is symmetrically fixed with fixing rods on both sides, the outer wall of the fixing rod is slidably connected to the inner wall of the fixing cylinder, the fixing cylinder is fixedly installed inside the shell, the upper end of the fixing rod is fixedly connected to the lower end of the reset spring, and the upper end of the reset spring is fixedly connected to the top of the shell.

[0010] Preferably, the cleaning structure includes a driven gear two meshing with a driven gear one, the driven gear two being connected to a linkage structure, a driven ring two being provided at the lower end of the driven gear two, the driven ring two being rotatably mounted on the housing, a keyway two being provided through the middle of both the driven gear two and the driven ring two, the inner wall of the keyway two being slidably connected to the outer wall of the key shaft two, the upper end of the key shaft two extending above the driven gear two and being fixedly connected to a limiting rotating plate two, the limiting rotating plate two being fixedly connected to the telescopic end of an electric push rod two mounted on the upper end of the housing, the lower end of the key shaft two extending to the lower end of the housing and being fixedly connected to a fixing block, a plurality of bristles being fixed on the outer wall of the fixing block, the outer diameter of the plurality of bristles being smaller than the inner diameter of the top opening.

[0011] Preferably, the linkage structure includes a driven gear ring meshing with the driven gear two. The inner wall of the driven gear ring has several ratchet grooves distributed around its center circumference. A rotating disk is disposed inside the driven gear ring and rotatably mounted inside the housing. A transmission unit that mates with the ratchet grooves is disposed on the outer wall of the rotating disk. A bevel gear one is fixed at the upper center of the rotating disk, and the bevel gear one meshes with the bevel gear two. One end of a connecting rod is fixedly connected to the middle of the end of the bevel gear two away from the bevel gear one. Fixed plates are symmetrically fixed on both sides of the housing. A transmission wheel one is rotatably mounted on each fixed plate. The transmission wheel one is connected to a perforated structure via a transmission belt. The other end of the connecting rod passes through one of the fixed plates and is fixedly connected to the transmission wheel one on the fixed plate. Two through-holes are symmetrically opened on both sides of the housing, and each through-hole is used for a transmission belt to pass through.

[0012] Preferably, the transmission unit includes a rotating shaft rotatably mounted on the outer wall of the rotating disk, a pawl fixedly connected to the outer wall of the rotating shaft, the pawl matching a ratchet groove, one end of the pawl near the rotating disk being fixedly connected to one end of a second return spring, and the other end of the second return spring being fixedly connected to the rotating disk.

[0013] Preferably, the punching structure includes two drive wheels II, each of which is connected to a drive wheel I rotatably mounted on a fixed plate via a drive belt. A drive roller is fixed between the two drive wheels II, and a plurality of punching nails are fixed on the outer wall of the drive roller.

[0014] Preferably, a semicircular block 1 and a semicircular block 2 are rotatably mounted on the fixed plate and the transmission wheel 2 below the fixed plate, respectively. An electric push rod 3 is fixed to one end of the semicircular block 1 near the semicircular block 2. The telescopic end of the electric push rod 3 passes through the opening and is fixedly connected to the semicircular block 2.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. When the blades of the trimming structure of this invention rotate to trim the lawn, the bristles of the cleaning structure rotate synchronously, entering the interior through the top opening on the protective shell to brush away grass clippings on the blades and expelling them from the protective shell through the bottom opening. This real-time cleaning mechanism effectively prevents grass clippings from accumulating on the blades, avoiding the problems of reduced trimming effect and accelerated blade wear caused by grass clippings entanglement, ensuring the continuity and consistency of trimming effect, extending the service life of the blades, and reducing maintenance costs.

[0016] 2. The linkage structure of this invention achieves unidirectional power transmission control through the meshing of a driven gear ring and a driven gear two, and the cooperation of a transmission unit and a ratchet. When simultaneous mowing and aeration are required, the driven gear two drives the driven gear ring to rotate in the opposite direction. The ratchet and ratchet cooperate to drive the rotating disk, which, through bevel gear transmission, causes the aeration structure to operate, creating uniform holes in the lawn. Furthermore, the aeration mode can be automatically switched by changing the direction of the driven gear ring, saving labor and time. Aeration also improves the lawn's aeration and water permeability, which is beneficial to root growth. In short, the combination of these two aspects improves the efficiency and quality of lawn maintenance. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the present invention.

[0018] Figure 2 This is a schematic diagram of the structure at the lower end of the present invention.

[0019] Figure 3 This is a schematic diagram of the internal structure of the housing of the present invention.

[0020] Figure 4 This is a schematic diagram of the trimming structure and protective shell of the present invention.

[0021] Figure 5 This is a schematic diagram of the transmission unit of the present invention.

[0022] Figure 6 For the present invention Figure 5 A schematic diagram of the structure at point A in the middle.

[0023] Figure reference numerals: 1. Housing; 11. Moving wheel; 12. Camera; 100. Fixing plate; 101. Through port; 2. Protective shell; 21. Protective groove; 22. Top opening; 23. Bottom opening; 24. Inclined block; 25. Roller; 26. Fixing rod; 27. Fixing cylinder; 28. Return spring one; 29. ​​Scraper; 3. Trimming structure; 31. Motor; 32. Driven gear one; 33. Driven gear one; 34. Driven ring one; 35. Keyway one; 36. Limiting rotating plate one; 37. Key shaft one; 38. Blade; 4. Electric push rod one; 5. Cleaning structure; 51. Driven gear two; 52. 53. Driven ring 2; 54. Keyway 2; 55. Limiting rotating plate 2; 56. Key shaft 2; 57. Fixing block; 58. Brush bristles; 99. Electric push rod 2; 100. Linkage structure; 71. Driven gear ring; 711. Ratchet; 72. Rotating disk; 73. Transmission unit; 731. Pawl; 732. Rotating shaft; 733. Return spring 2; 74. Bevel gear 1; 75. Bevel gear 2; 76. Connecting rod; 78. Transmission wheel 1; 79. Transmission belt; 80. Drilling structure; 81. Transmission wheel 2; 82. Transmission roller; 83. Drilling pin; 91. Semicircular block 1; 92. Electric push rod 3; 93. Semicircular block 2. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0025] In one embodiment, such as Figures 1-6 As shown, the lawn mowing robot includes a housing 1, a controller is installed inside the housing 1, a camera 12 is installed at the front end of the housing 1, and wheels 11 are installed on both sides of the bottom of the housing 1. The bottom of the housing 1 is provided with a trimming structure 3 for trimming the lawn and a perforating structure 8 for perforating the trimmed lawn from front to back. The trimming structure 3 is connected to the cleaning structure 5 inside the housing 1. The cleaning structure 5 is used to clean the trimming structure 3. The trimming structure 3 is connected to the perforating structure 8 inside the housing 1 through a linkage structure 7. The camera 12, the moving wheel 11, and the trimming structure 3 are electrically connected to the controller.

[0026] In this embodiment, the robot first moves using the wheels 11 located on both sides of the bottom of the housing 1. Under the precise control of the controller (located inside the housing 1), the wheels 11 can adjust their movement trajectory according to a preset path or real-time environmental feedback, ensuring that the robot moves stably and flexibly on the lawn, thereby covering the entire lawn area that needs to be mowed.

[0027] During movement, the camera 12 mounted on the front end of the housing 1 plays a crucial role. It can capture image information of the lawn in real time and transmit this data to the controller. The controller analyzes and processes the received images, identifies key information such as the lawn's boundaries, obstacle locations, and areas that need to be mowed, and then plans the optimal mowing path to guide the robot to carry out mowing work efficiently and accurately.

[0028] Once the robot moves to the appropriate position, the trimming structure 3 and the perforating structure 8, arranged sequentially from front to back on the bottom of the housing 1, begin to function. The trimming structure 3, activated under the controller's command, trims the lawn, reducing excessively tall grass to a suitable height and maintaining a neat and aesthetically pleasing appearance. Simultaneously, the cleaning structure 5, connected to it inside the housing 1, also activates. The cleaning structure 5 promptly removes residual grass clippings and other debris from the trimming structure 3, preventing them from affecting its normal operation and trimming effect, ensuring continuous and efficient trimming.

[0029] Furthermore, the mowing structure 3 is connected to the aeration structure 8 via the linkage structure 7. After the mowing structure 3 completes mowing work in a certain area, the linkage structure 7 will trigger the aeration structure 8 to start working under the control of the controller. The aeration structure 8 aerates the mowed lawn, and these holes help improve the lawn's aeration and water permeability, promote the growth and development of the lawn's roots, and further improve the quality and health of the lawn.

[0030] In an optional embodiment, the trimming structure 3 includes a motor 31 installed inside the housing 1. The output end of the motor 31 is fixedly connected to a drive gear 32. The drive gear 32 is meshed with a driven gear 33. The driven gear 33 is connected to the cleaning structure 5. A driven ring 34 is provided at the lower end of the driven gear 33. The driven ring 34 is rotatably mounted on the housing 1. A keyway 35 is provided through the middle of both the driven gear 33 and the driven ring 34. The inner wall of the keyway 35 of the driven gear 33 and the driven ring 34 is slidably connected to the outer wall of the key shaft 37. A blade 38 is fixedly connected to the lower end of the key shaft 37. The upper end of the key shaft 37 extends above the driven gear 33 and is fixedly connected to a limiting rotating plate 36. The limiting rotating plate 36 is fixedly connected to the telescopic end of an electric push rod 4 installed on the upper end of the housing 1.

[0031] It should be noted that when the robot needs to perform the lawn mowing task, the controller issues a command, and motor 31 starts and begins to rotate. The output end of motor 31 is fixedly connected to the drive gear 32, so the rotational motion of motor 31 is directly transmitted to the drive gear 32, causing the drive gear 32 to rotate synchronously.

[0032] The driving gear 32 meshes with the driven gear 33. According to the principle of gear transmission, the rotation of the driving gear 32 will drive the driven gear 33 to rotate in the opposite direction. The driven gear 33 is not only connected to the cleaning structure 5, transmitting some power to the cleaning structure 5 to realize its cleaning function (the working principle of the cleaning structure 5 will not be elaborated here), but it also undertakes the key task of driving the blade 38 to rotate for lawn mowing.

[0033] A driven ring 34 is mounted on the lower end of the driven gear 33, and is rotatably mounted on the housing 1, providing stable support and a rotational foundation for the entire transmission system. Both the driven gear 33 and the driven ring 34 have a keyway 35 extending through their middle sections, with the inner wall of the keyway 35 slidably connected to the outer wall of the key shaft 37. This design allows the key shaft 37 to slide up and down within the keyway 35 and also to rotate under the drive of the driven gear 33 and the driven ring 34.

[0034] The lower end of the key shaft 37 is fixedly connected to the blade 38. When the driven gear 33 rotates, the key shaft 37 drives the blade 38 to rotate synchronously, thereby realizing the lawn mowing operation. The upper end of the key shaft 37 extends above the driven gear 33 and is fixedly connected to the limiting rotating plate 36. The limiting rotating plate 36 is fixedly connected to the telescopic end of the electric push rod 4 installed on the upper end of the housing 1.

[0035] The electric push rod 4 can extend and retract under the control of the controller. When the extension end of the electric push rod 4 extends, it pushes the limit plate 36 to move downward, which in turn drives the key shaft 37 and the blade 38 to move downward, so that the blade 38 extends a certain distance from the bottom of the housing 1 to reach a suitable working height for lawn mowing. When the mowing work is completed or the position of the blade 38 needs to be adjusted, the extension end of the electric push rod 4 retracts, pulling the limit plate 36 to move upward, which drives the key shaft 37 and the blade 38 to move upward, thus preventing the blade 38 from being damaged or causing accidental damage to the surrounding environment when not in use.

[0036] In an optional embodiment, the blade 38 is rotatably mounted inside the protective shell 2. A wedge 24 is fixed at the lower end of the protective shell 2. Several protective grooves 21 are provided at the front ends of the protective shell 2 and the wedge 24. Several rollers 25 are rotatably mounted at the lower end of the wedge 24. A top opening 22 for the passage of the cleaning structure 5 is provided at the upper end of the protective shell 2. A bottom opening 23 for discharging impurities is provided at the lower end of the protective shell 2. A scraper 29 is fixed in the middle of the bottom opening 23. The scraper 29 is in contact with the lower end face of the blade 38.

[0037] It should be noted that the blade 38 is rotatably installed inside the protective shell 2. The protective shell 2 provides the blade 38 with a relatively enclosed and safe working space, which can effectively prevent the blade 38 from accidentally coming into contact with external objects (such as human limbs, hard objects, etc.) during lawn mowing and causing damage or safety accidents, thus greatly improving the safety of robot use.

[0038] The inclined block 24 fixed at the lower end of the protective shell 2 serves multiple functions. Firstly, the design of the inclined block 24 creates a certain tilt angle at the front end of the bottom of the protective shell 2, allowing the robot to cut into the grass more smoothly during movement, reducing resistance and making the robot's movement more stable. Secondly, the several protective grooves 21 at the front end of the inclined block 24 can, to a certain extent, prevent larger debris (such as stones, branches, etc.) from directly impacting the blade 38, avoiding damage to the blade 38 due to excessive external force and extending its service life.

[0039] Several rollers 25 rotatably mounted on the lower end of the inclined block 24 further optimize the robot's movement performance on the lawn. The rollers 25 reduce the friction between the protective shell 2 and the lawn, making the robot move more easily and flexibly. Especially when turning or adjusting direction, the presence of the rollers 25 allows the robot to respond more quickly and improves overall work efficiency.

[0040] The top opening 22 at the upper end of the protective shell 2 is a channel specifically designed for the cleaning structure 5. During the operation of the trimming structure 3, some grass clippings and other debris will inevitably adhere to the blade 38. The cleaning structure 5 extends into the protective shell 2 through the top opening 22, contacts the blade 38, and removes the debris, ensuring that the blade 38 is always in good working condition and ensuring the trimming effect.

[0041] The bottom opening 23 at the lower end of the protective shell 2 is a channel for discharging impurities. After the cleaning structure 5 removes the debris from the blade 38, the debris will be discharged outside the protective shell 2 through the bottom opening 23, preventing the debris from accumulating inside the protective shell 2 and affecting the normal rotation of the blade 38 and the overall performance of the robot.

[0042] The scraper 29, fixed in the middle of the bottom opening 23, is in contact with the lower end face of the blade 38. The scraper 29 further cleans and removes debris from the lower end face of the blade 38. During the rotation of the blade 38, the scraper 29 can continuously scrape away stubborn debris adhering to the lower end face of the blade 38, ensuring that the lower end face of the blade 38 remains clean at all times, thereby further improving trimming quality and efficiency.

[0043] In an optional embodiment, the upper end of the protective shell 2 is symmetrically fixed with fixing rods 26 on both sides. The outer wall of the fixing rods 26 is slidably connected to the inner wall of the fixing cylinder 27. The fixing cylinder 27 is fixedly installed inside the shell 1. The upper end of the fixing rods 26 is fixedly connected to the lower end of the return spring 28. The upper end of the return spring 28 is fixedly connected to the top of the shell 1.

[0044] It should be noted that the outer wall of the fixing rod 26 is slidably connected to the inner wall of the fixing cylinder 27 fixedly installed inside the housing 1. This design allows the protective housing 2 to move up and down to a certain extent along the direction of the fixing rod 26 when subjected to external force.

[0045] Furthermore, the upper end of the fixing rod 26 is fixedly connected to the lower end of the return spring 28, while the upper end of the return spring 28 is fixedly connected to the inner top of the housing 1.

[0046] This structural design allows the return spring 28 to deform when the protective shell 2 is subjected to downward or upward impact forces, absorbing and dispersing some of the impact energy, thus providing cushioning and protection. For example, when the robot encounters uneven ground or obstacles during movement, the protective shell 2 may be impacted. In this case, the elasticity of the return spring 28 can effectively reduce the damage to the protective shell 2 and its internal components such as the blade 38.

[0047] Meanwhile, when the impact force disappears, the reset spring 28 will push the protective shell 2 back to its initial position by its own elastic restoring force, ensuring that the blade 38 and other components can maintain a stable working state.

[0048] This design not only improves the robot's adaptability to complex environments but also extends its service life.

[0049] In an optional embodiment, the cleaning structure 5 includes a driven gear 51 meshing with a driven gear 33. The driven gear 51 is connected to the linkage structure 7. A driven ring 52 is provided at the lower end of the driven gear 51. The driven ring 52 is rotatably mounted on the housing 1. A keyway 53 is provided through the middle of both the driven gear 51 and the driven ring 52. The inner wall of the keyway 53 is slidably connected to the outer wall of the key shaft 55. The upper end of the key shaft 55 extends above the driven gear 51 and is fixedly connected to a limiting rotating plate 54. The limiting rotating plate 54 is fixedly connected to the telescopic end of an electric push rod 6 installed at the upper end of the housing 1. The lower end of the key shaft 55 extends to the lower end of the housing 1 and is fixedly connected to a fixing block 56. A plurality of bristles 57 are fixed on the outer wall of the fixing block 56. The outer diameter of the plurality of bristles 57 is smaller than the inner diameter of the top opening 22.

[0050] It should be noted that a driven ring 52 is provided at the lower end of the driven gear 51. The driven ring 52 is rotatably mounted on the housing 1, providing stable rotational support for the driven gear 51.

[0051] Both driven gear 2 51 and driven ring 2 52 have keyways 2 53 extending through their middle portions. The inner walls of these keyways 2 53 are slidably connected to the outer wall of key shaft 2 55, allowing key shaft 2 55 to slide up and down within the keyways 2 53, while also rotating in sync with the rotation of driven gear 2 51.

[0052] The upper end of the key shaft 2 55 extends above the driven gear 2 51 and is fixedly connected to the limit plate 2 54.

[0053] The limiting rotating plate 54 is fixedly connected to the telescopic end of the electric push rod 6 installed on the upper end of the housing 1. The up and down movement of the key shaft 55 can be precisely controlled by the telescopic movement of the electric push rod 6.

[0054] The lower end of the key shaft 55 extends to the lower end of the housing 1 and is fixedly connected to a fixing block 56.

[0055] Several bristles 57 are fixed to the outer wall of the fixing block 56. The outer diameter of these bristles 57 is designed to be smaller than the inner diameter of the top opening 22, so that the bristles 57 can pass smoothly through the top opening 22 and enter the interior of the protective shell 2 to effectively clean the grass clippings and other debris on the blade 38.

[0056] During operation, after the trimming structure 3 has finished trimming a section of the lawn, the controller will issue a command to activate the electric push rod 6, which will push the key shaft 55 and the bristles 57 downward to the appropriate position.

[0057] Meanwhile, due to the meshing connection between driven gear 2 51 and driven gear 1 33, driven gear 2 51 will rotate along with driven gear 1 33, thereby driving key shaft 2 55 and brush bristles 57 to rotate. During rotation, brush bristles 57 will continuously brush away grass clippings and other debris on the blade 38, cleaning them and expelling them outside the protective housing 2, ensuring that the blade 38 is always clean, thus ensuring the quality and efficiency of subsequent trimming work.

[0058] In an optional embodiment, the linkage structure 7 includes a driven gear ring 71 meshing with a driven gear 51. The inner wall of the driven gear ring 71 has a plurality of ratchet grooves 711 distributed around its center circumference. A rotating disk 72 is disposed inside the driven gear ring 71 and is rotatably mounted inside the housing 1. A transmission unit 73 that cooperates with the ratchet grooves 711 is disposed on the outer wall of the rotating disk 72. A bevel gear 74 is fixed at the middle of the upper end of the rotating disk 72, and the bevel gear 74 meshes with a bevel gear 75. One end of the connecting rod 76 is fixedly connected to the middle of the end away from the bevel gear 74. Fixing plates 100 are symmetrically fixed on both sides inside the housing 1. A transmission wheel 78 is rotatably mounted on each fixing plate 100. The transmission wheel 78 is connected to the perforated structure 8 through the transmission belt 79. The other end of the connecting rod 76 passes through one of the fixing plates 100 and is fixedly connected to the transmission wheel 78 on the fixing plate 100. Two through holes 101 are symmetrically opened on both sides inside the housing 1. Each through hole 101 is used to pass through a transmission belt 79.

[0059] It should be noted that the linkage structure 7 includes a driven gear ring 71 that meshes with the driven gear 2 51. This meshing method ensures that the rotational power of the driven gear 2 51 can be accurately transmitted to the driven gear ring 71.

[0060] The inner wall of the driven gear ring 71 has a number of ratchet grooves 711 distributed around its center circumference. These ratchet grooves 711 cooperate with the transmission unit 73 located on the outer wall of the rotating disk 72 inside the driven gear ring 71.

[0061] When the rotating disk 72 rotates under the drive of the transmission unit 73, it will drive the connecting rod 76 and the transmission wheel 78 to rotate through the meshing transmission of bevel gear 1 74 and bevel gear 2 75, and then transmit the power to the drilling structure 8 through the transmission belt 79, driving the drilling structure 8 to work.

[0062] In an optional embodiment, the transmission unit 73 includes a rotating shaft 732 rotatably mounted on the outer wall of the rotating disk 72. A pawl 731 is fixedly connected to the outer wall of the rotating shaft 732. The pawl 731 matches a ratchet groove 711. One end of the pawl 731 near the rotating disk 72 is fixedly connected to one end of a second return spring 733. The other end of the second return spring 733 is fixedly connected to the rotating disk 72.

[0063] It should be noted that the interaction between the pawl 731 and the ratchet groove 711 drives the rotating disk 72 to rotate in one direction. At the same time, one end of the return spring 733 is fixedly connected to the end of the pawl 731 near the rotating disk 72, and the other end of the return spring 733 is fixedly connected to the rotating disk 72, ensuring that the pawl 731 can quickly return to its original position after disengaging from the ratchet groove 711, in preparation for the next transmission.

[0064] When the driven gear ring 71 rotates in the opposite direction, the pawl 731 engages with the ratchet groove 711, thereby driving the bevel gear 74 to rotate. Then, through the meshing transmission of the bevel gear 74 and the second bevel gear 75, the connecting rod 76 and the transmission wheel 78 rotate. The power is then transmitted to the drilling structure 8 through the transmission belt 79, driving the drilling structure 8 to work.

[0065] When the driven gear ring 71 rotates in the forward direction, the pawl 731 cannot enter the ratchet groove 711, the bevel gear 74 cannot rotate, and thus cannot drive the drilling structure 8 to work.

[0066] By rotating the driven gear ring 71 in both the forward and reverse directions, the transmission unit 73 controls the working state of the perforation structure 8. This design allows the lawn mowing robot to automatically and orderly switch to perforation mode while performing mowing work, improving work efficiency and the quality of lawn maintenance.

[0067] In an optional embodiment, the perforation structure 8 includes two drive wheels 81, each of which is connected to a drive wheel 78 rotatably mounted on a fixed plate 100 via a drive belt 79. A drive roller 82 is fixed between the two drive wheels 81, and a plurality of perforation nails 83 are fixed on the outer side wall of the drive roller 82.

[0068] It should be noted that the perforated structure 8 includes two transmission wheels 81, which are symmetrically or arranged in specific positions inside the robot to ensure stable transmission. Each transmission wheel 81 is connected to a transmission wheel 78 rotatably mounted on a fixed plate 100 via a transmission belt 79. This transmission method utilizes the smoothness and reliability of belt drives, effectively transmitting the rotational power of the transmission wheel 78 to the transmission wheel 81.

[0069] A transmission roller 82 is fixed between the two transmission wheels 81. The transmission roller 82 serves as the support and transmission component of the perforation structure 8. Its material and strength have been carefully selected to ensure that it is not easily deformed or damaged during long-term operation. Several perforation nails 83 are fixed to the outer wall of the transmission roller 82. These perforation nails 83 are fixed to the transmission roller 82 in a specific arrangement (such as even distribution or arrangement in a specific pattern) to ensure that holes can be made evenly and effectively on the lawn during the perforation process.

[0070] When drive wheel 78 rotates under the drive of linkage 7, it drives drive wheel 81 to rotate via drive belt 79. Since drive wheel 81 is fixedly connected to drive roller 82, drive roller 82 also rotates accordingly. During the rotation of drive roller 82, the perforated nails 83 on its outer wall will sequentially contact the lawn surface and penetrate the lawn under the action of rotational force, forming holes. These holes help improve the ventilation and drainage performance of the lawn, promoting healthy lawn growth.

[0071] In an optional embodiment, a semicircular block 91 and a semicircular block 93 are rotatably mounted on the fixed plate 100 and the transmission wheel 81 below the fixed plate 100, respectively. An electric push rod 92 is fixed to one end of the semicircular block 91 near the semicircular block 93. The telescopic end of the electric push rod 92 passes through the opening 101 and is fixedly connected to the semicircular block 93.

[0072] It should be noted that during actual operation, when the position or working state of the perforation structure 8 needs to be adjusted, the control system will issue a command to drive the electric actuator 92 to extend or retract. For example, when the perforation nail 83 needs to penetrate deeper into the lawn, the electric actuator 92 will extend, pushing the semicircular block 93 to rotate around its center of rotation, thereby causing the transmission wheel 81 and transmission roller 82 to move downwards as a whole, allowing the perforation nail 83 to penetrate the lawn with greater force. Conversely, when the perforation depth needs to be reduced or other adjustments are made, the electric actuator 92 will shorten, pulling the semicircular block 93 to rotate, causing the perforation structure 8 to rise or be adjusted to a suitable position.

[0073] Any aspects of this invention not described in detail are well-known to those skilled in the art.

[0074] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A lawn mowing robot, characterized in that, Includes a housing (1), inside which a controller is provided, at the front end of the housing (1) a camera (12) is provided, and on both sides of the bottom of the housing (1) are casters (11). The bottom of the housing (1) is provided with a trimming structure (3) for trimming the lawn and a perforation structure (8) for perforating the trimmed lawn from front to back. The trimming structure (3) is connected to the cleaning structure (5) inside the housing (1). The cleaning structure (5) is used to clean the trimming structure (3). The trimming structure (3) is connected to the perforation structure (8) inside the housing (1) through a linkage structure (7). The camera (12), the moving wheel (11), and the trimming structure (3) are electrically connected to the controller.

2. The lawn mowing robot according to claim 1, characterized in that, The trimming structure (3) includes a motor (31) installed inside the housing (1). The output end of the motor (31) is fixedly connected to the drive gear (32). The drive gear (32) meshes with a driven gear (33). The driven gear (33) is connected to the cleaning structure (5). A driven ring (34) is provided at the lower end of the driven gear (33). The driven ring (34) is rotatably mounted on the housing (1). The driven gear (33) and the driven ring (34) (34) A keyway (35) is provided through the middle of each of the following gears (33) and the following ring (34). The inner wall of the keyway (35) is slidably connected to the outer wall of the key shaft (37). The lower end of the key shaft (37) is fixedly connected to the blade (38). The upper end of the key shaft (37) extends to the upper part of the following gear (33) and is fixedly connected to the limiting rotating plate (36). The limiting rotating plate (36) is fixedly connected to the telescopic end of the electric push rod (4) installed on the upper part of the housing (1).

3. The lawn mowing robot according to claim 2, characterized in that, The blade (38) is rotatably installed inside the protective shell (2). A wedge (24) is fixed at the lower end of the protective shell (2). Several protective grooves (21) are opened at the front end of the protective shell (2) and the wedge (24). Several rollers (25) are rotatably installed at the lower end of the wedge (24). A top opening (22) for the cleaning structure (5) to pass through is opened at the upper end of the protective shell (2). A bottom opening (23) for discharging impurities is opened at the lower end of the protective shell (2). A scraper (29) is fixed in the middle of the bottom opening (23). The scraper (29) is in contact with the lower end face of the blade (38).

4. The lawn mowing robot according to claim 3, characterized in that, The protective shell (2) has symmetrical fixing rods (26) on both sides of the upper end. The outer wall of the fixing rod (26) is slidably connected to the inner wall of the fixing cylinder (27). The fixing cylinder (27) is fixedly installed inside the shell (1). The upper end of the fixing rod (26) is fixedly connected to the lower end of the reset spring (28). The upper end of the reset spring (28) is fixedly connected to the top of the shell (1).

5. The lawn mowing robot according to any one of claims 1 to 3, characterized in that, The cleaning structure (5) includes a driven gear two (51) meshing with a driven gear one (33). The driven gear two (51) is connected to the linkage structure (7). A driven ring two (52) is provided at the lower end of the driven gear two (51). The driven ring two (52) is rotatably mounted on the housing (1). A keyway two (53) is provided through the middle of both the driven gear two (51) and the driven ring two (52). The inner wall of the keyway two (53) is connected to the outer wall of the key shaft two (55). The key shaft (55) extends to the upper end of the driven gear (51) and is fixedly connected to the limiting rotating plate (54). The limiting rotating plate (54) is fixedly connected to the telescopic end of the electric push rod (6) installed on the upper end of the housing (1). The key shaft (55) extends to the lower end of the housing (1) and is fixedly connected to the fixing block (56). The outer wall of the fixing block (56) is fixed with several bristles (57). The outer diameter of several bristles (57) is smaller than the inner diameter of the top opening (22).

6. The lawn mowing robot according to claim 5, characterized in that, The linkage structure (7) includes a driven gear ring (71) meshing with the driven gear two (51). The inner wall of the driven gear ring (71) has a plurality of ratchet grooves (711) distributed around its center circumference. A rotating disk (72) is provided inside the driven gear ring (71). The rotating disk (72) is rotatably installed inside the housing (1). A transmission unit (73) that cooperates with the ratchet grooves (711) is provided on the outer wall of the rotating disk (72). A bevel gear one (74) is fixed at the middle of the upper end of the rotating disk (72). The bevel gear one (74) meshes with the bevel gear two (75). The bevel gear two (75) is away from the bevel gear. One end of the connecting rod (76) is fixedly connected to the middle of one end of the connecting rod (74). The two sides of the housing (1) are symmetrically fixed with fixing plates (100). A transmission wheel (78) is rotatably installed on each fixing plate (100). The transmission wheel (78) is connected to the perforated structure (8) through the transmission belt (79). The other end of the connecting rod (76) passes through one of the fixing plates (100) and is fixedly connected to the transmission wheel (78) on the fixing plate (100). Two through holes (101) are symmetrically opened on both sides of the housing (1). Each through hole (101) is used to pass through a transmission belt (79).

7. The lawn mowing robot according to claim 6, characterized in that, The transmission unit (73) includes a rotating shaft (732) rotatably mounted on the outer wall of the rotating disk (72). A pawl (731) is fixedly connected to the outer wall of the rotating shaft (732). The pawl (731) matches the ratchet groove (711). One end of the pawl (731) near the rotating disk (72) is fixedly connected to one end of a second return spring (733). The other end of the second return spring (733) is fixedly connected to the rotating disk (72).

8. The lawn mowing robot according to claim 6, characterized in that, The perforation structure (8) includes two transmission wheels (81), each of which is connected to a transmission wheel (78) rotatably mounted on a fixed plate (100) via a transmission belt (79). A transmission roller (82) is fixed between the two transmission wheels (81), and a number of perforation nails (83) are fixed on the outer wall of the transmission roller (82).

9. The lawn mowing robot according to claim 8, characterized in that, The fixed plate (100) and the transmission wheel (81) below the fixed plate (100) are respectively rotatably mounted with a semicircular block (91) and a semicircular block (93). An electric push rod (92) is fixed to one end of the semicircular block (91) near the semicircular block (93). The telescopic end of the electric push rod (92) passes through the opening (101) and is fixedly connected to the semicircular block (93).

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