Lifting mechanism and autonomous moving equipment

Abstract

The utility model discloses a lifting mechanism and autonomous mobile equipment, the lifting mechanism comprises a fixing assembly, a first connecting rod, a second connecting rod and an adjusting piece, and the fixing assembly is used for being installed on a machine body of the autonomous mobile equipment; the first connecting rod is provided with a first end and a second end, the second connecting rod is provided with a third end and a fourth end, the first end and the third end are rotationally connected to the fixing assembly, and the second end and the fourth end are rotationally connected with a cutting mechanism of the autonomous mobile equipment; the adjusting part is connected to the first connecting rod, the adjusting part is provided with an abutting end facing the second connecting rod, and the abutting end abuts against the second connecting rod under the condition that the first connecting rod rotates to a first position in the first rotating direction and the second connecting rod rotates to a second position in the first rotating direction; the adjusting piece is configured to be capable of adjusting the distance between the abutting end and the first connecting rod. Therefore, the vertical floating minimum height of the cutting mechanism is adjusted, operation is easy, and working efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to a lifting mechanism and an autonomous mobile device. Background Art

[0002] With the development of mobile robot technology, more and more robots have entered people's daily lives in recent years. Smart lawn mowers that can automatically mow the user's lawn are also becoming popular as an autonomous mobile device.

[0003] A lawn mower, also known as a weeder, lawn mower, lawn trimmer, etc., is a mechanical tool used to trim lawns, vegetation, etc. During the cutting process, due to the undulating terrain or the different heights of different lawns and vegetation, the cutting mechanism of the lawn mower needs to adjust the height accordingly, but the lifting device used to adjust the height of the existing lawn mower is complex in structure and cumbersome to operate, which affects work efficiency. Utility Model Content

[0004] In view of this, the present application proposes a lifting mechanism and an autonomous mobile device.

[0005] The first aspect of the present application provides a lifting mechanism, comprising:

[0006] A fixing assembly for mounting to a body of an autonomous mobile device;

[0007] A first connecting rod having a first end and a second end opposite to each other, wherein the first end is rotatably connected to the fixing assembly, and the second end is used to be rotatably connected to the cutting mechanism of the autonomous mobile device, and the first connecting rod can rotate along a first rotation direction and a second rotation direction, and the first rotation direction is opposite to the second rotation direction;

[0008] a second connecting rod having a third end and a fourth end opposite to each other, wherein the third end is rotatably connected to the fixing assembly, and the fourth end is used for being rotatably connected to the cutting mechanism of the autonomous mobile device, and the second connecting rod can rotate along the first rotation direction and the second rotation direction;

[0009] an adjusting member connected to the first connecting rod, the adjusting member having an abutting end facing the second connecting rod, wherein when the first connecting rod rotates to a first position along the first rotating direction and the second connecting rod rotates to a second position along the first rotating direction, the abutting end abuts against the second connecting rod;

[0010] Wherein, the adjusting member is configured to be able to adjust the distance between the abutting end and the first connecting rod.

[0011] In some embodiments, the rotation axes of the first end, the second end, the third end and the fourth end are arranged in parallel, and the four projection points of the rotation axes of the first end, the second end, the third end and the fourth end on the first plane are connected to form a parallelogram, and the first plane is arranged perpendicular to the rotation axes of the first end, the second end, the third end and the fourth end.

[0012] In some embodiments, the adjusting member includes a rod body, the rod body is threadedly connected to the first connecting rod, and one end of the rod body faces the second connecting rod to form the abutment end; the abutment end is driven to approach or move away from the first connecting rod by rotating the rod body.

[0013] In some embodiments, the adjusting member further includes a knob connected to the other end of the rod body.

[0014] In some embodiments, a line connecting the first end and the second end is perpendicular to the rod body.

[0015] In some embodiments, the first connecting rod is arranged in parallel with the second connecting rod.

[0016] In some embodiments, the first connecting rod has a first inner wall facing the second connecting rod, and the second connecting rod has a second inner wall arranged opposite to the first inner wall. When the first connecting rod rotates to a first position along the first rotation direction and the second connecting rod rotates to a second position along the first rotation direction, the abutting end abuts against the second inner wall to limit the rotation of the first connecting rod and the second connecting rod in the first rotation direction.

[0017] In some embodiments, the lifting mechanism further includes an elastic member, which is sleeved on the adjusting member and abuts between the first inner wall and the second inner wall, and the elastic member is used to provide elastic force.

[0018] In some embodiments, a gasket is disposed between the elastic member and the second inner wall.

[0019] In some embodiments, the second inner wall is provided with a groove, and the gasket is disposed in the groove and can slide in the groove.

[0020] The second aspect of the present application proposes an autonomous mobile device, comprising a fuselage, a cutting mechanism and the lifting mechanism of the first aspect above, wherein the cutting mechanism is used to cut the target object, and the lifting mechanism is connected to the fuselage and the cutting mechanism so that the cutting mechanism can rise or fall.

[0021] It can be seen from the above technical solution that the lifting mechanism proposed in the present application can rotate up and down relative to the fixed component through the setting of the first connecting rod and the second connecting rod, so that the cutting mechanism can float up and down. Since the distance between the first connecting rod and the second connecting rod will gradually decrease during the downward rotation of the first connecting rod and the second connecting rod, when the abutting end abuts the second connecting rod, the downward rotation of the first connecting rod and the second connecting rod will be restricted to limit the lowest position of the cutting mechanism. The distance between the abutting end and the first connecting rod can be adjusted by the setting of the adjusting member, that is, the extension length of the abutting end toward the second connecting rod can be adjusted, thereby adjusting the limit position of the downward rotation of the first connecting rod and the second connecting rod, so that the lowest height of the floating up and down of the cutting mechanism can be adjusted according to the undulation of the terrain or the height of different lawns and other vegetation, which is simple to operate and improves work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained like these drawings without paying any creative work.

[0023] Figure 1 It is a schematic diagram of the connection between the lifting mechanism and the cutting mechanism proposed in the embodiment of the present application.

[0024] Figure 2 yes Figure 1 Schematic cross-sectional view of the structure shown.

[0025] Figure 3 It is a structural schematic diagram of the lifting mechanism proposed in the embodiment of the present application.

[0026] Figure 4 yes Figure 3 Schematic cross-sectional view of the structure shown.

[0027] Figure 5 It is a schematic diagram of the first connecting rod and the second connecting rod proposed in the embodiment of the present application being parallel to the horizontal plane.

[0028] Figure 6 yes Figure 5 Schematic diagram of the structure shown rotated 30° downward.

[0029] Figure 7 It is an exploded schematic diagram of the first connecting rod, the second connecting rod and the adjusting member proposed in the embodiment of the present application.

[0030] Figure 8 It is a structural schematic diagram of the gasket proposed in the embodiment of the present application being arranged in the groove of the first inner wall.

[0031] Description of reference numerals:

[0032] 100. lifting mechanism; 10. fixing assembly; 11. matching part; 20. first connecting rod; 21. first end; 211. first extension part; 212. second extension part; 22. second end; 23. first inner wall; 24. first rotating shaft; 25. second rotating shaft; 30. second connecting rod; 31. third end; 32. fourth end; 33. second inner wall; 331. groove; 34. third rotating shaft; 35. fourth rotating shaft; 40. adjusting member; 41. abutting end; 42. rod body; 421. first section; 422. second section; 43. knob; 431. convex ridge; 50. elastic member; 60. gasket; 200. cutting mechanism; 210. knife disc; 220. motor. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0034] It should be understood that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0035] It should also be understood that when an element is referred to as being "fixed" or "disposed on" another element, it can be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or it can be indirectly connected to the other element through an intermediate element.

[0036] The terms used in this specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. For example, the descriptions of "first", "second", etc. in the present application are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0037] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0038] See also Figure 1-Figure 5 As shown, the present application proposes a lifting mechanism 100, including a fixing assembly 10, a first connecting rod 20, a second connecting rod 30 and an adjusting member 40, wherein the fixing assembly 10 is used to be installed on the fuselage of the autonomous mobile device; the first connecting rod 20 has a first end 21 and a second end 22 opposite to each other, the first end 21 is rotatably connected to the fixing assembly 10, and the second end 22 is used to be rotatably connected to the cutting mechanism 200 of the autonomous mobile device, and the first connecting rod 20 can rotate along a first rotation direction and a second rotation direction, and the first rotation direction is opposite to the second rotation direction; the second connecting rod 30 has a third end 31 and a fourth end 32 opposite to each other, and ... The third end 31 is rotatably connected to the fixed component 10, and the fourth end 32 is used to be rotatably connected to the cutting mechanism 200 of the autonomous mobile device. The second connecting rod 30 can rotate along the first rotation direction and the second rotation direction; the adjusting member 40 is connected to the first connecting rod 20, and the adjusting member 40 has an abutting end 41 facing the second connecting rod 30. When the first connecting rod 20 rotates to the first position along the first rotation direction and the second connecting rod 30 rotates to the second position along the first rotation direction, the abutting end 41 abuts against the second connecting rod 30; wherein the adjusting member 40 is configured to be able to adjust the distance between the abutting end 41 and the first connecting rod 20.

[0039] In a specific application, when the lifting mechanism 100 is installed on an autonomous mobile device, the first rotation direction can be a downward direction, and the second rotation direction can be an upward direction, that is, the first connecting rod 20 and the second connecting rod 30 can rotate up and down, and the first position is also the extreme position of the downward rotation of the first connecting rod 20, and the second position is also the extreme position of the downward rotation of the second connecting rod 30.

[0040] The lifting mechanism 100 of the embodiment of the present application can rotate up and down relative to the fixed component 10 through the arrangement of the first connecting rod 20 and the second connecting rod 30, so that the cutting mechanism 200 can float up and down. Since the relative distance between the first connecting rod 20 and the second connecting rod 30 will gradually decrease during the downward rotation of the first connecting rod 20 and the second connecting rod 30, when the abutting end 41 abuts the second connecting rod 30, the first connecting rod 20 and the second connecting rod 30 will be restricted from rotating downward to limit the lowest position of the cutting mechanism 200. The distance between the abutting end 41 and the first connecting rod 20 can be adjusted through the arrangement of the adjusting member 40, that is, the extension length of the abutting end 41 toward the second connecting rod 30 can be adjusted, so as to adjust the limit position of the downward rotation of the first connecting rod 20 and the second connecting rod 30, so as to adjust the lowest height of the floating up and down of the cutting mechanism 200 according to the undulating terrain or the height of different lawns and other vegetation, which is simple to operate and improves work efficiency.

[0041] In a specific application, when the lifting mechanism 100 is installed on an autonomous mobile device, due to the gravity of the cutting mechanism 200, the starting position of the cutting mechanism 200 is at the limit position of downward rotation. At this time, the abutting end 41 of the adjusting member 40 abuts against the second connecting rod 30 to prevent the first connecting rod 20 and the second connecting rod 30 from rotating downward. When encountering a raised ground or hard objects such as stones on the ground, the cutting mechanism 200 will be lifted up to avoid interference with the cutting mechanism 200. When the height of the lawn on the ground is higher or lower, the distance between the abutting end 41 and the first connecting rod 20 can be adjusted by the adjusting member 40, that is, the limit position of the downward rotation of the first connecting rod 20 and the second connecting rod 30 is adjusted to raise or lower the starting position of the cutting mechanism 200, so that the lawn height can be adapted for cutting.

[0042] In some embodiments, Figure 3-Figure 6 As shown, the rotation axes of the first end 21, the second end 22, the third end 31 and the fourth end 32 are arranged in parallel, and the rotation axes of the first end 21, the second end 22, the third end 31 and the fourth end 32 are connected at four projection points on the first plane to form a parallelogram, and the first plane and the rotation axes of the first end 21, the second end 22, the third end 31 and the fourth end 32 are arranged perpendicularly. Thus, the double-link structure composed of the first connecting rod 20 and the second connecting rod 30 can drive the cutting mechanism 200 to move up and down stably.

[0043] In specific applications, such as Figure 3 and Figure 4 As shown, the first end 21 is rotatably connected to the fixed component 10 through the first rotating axis 24, the second end 22 is rotatably connected to the cutting mechanism 200 through the second rotating axis 25, the third end 31 is rotatably connected to the fixed component 10 through the third rotating axis 34, and the fourth end 32 is rotatably connected to the cutting mechanism 200 through the fourth rotating axis 35; wherein, the first rotating axis 24, the second rotating axis 25, the third rotating axis 34 and the fourth rotating axis 35 are connected at four projection points on the first plane to form a parallelogram, and the first plane is perpendicular to the first rotating axis 24, the second rotating axis 25, the third rotating axis 34 and the fourth rotating axis 35.

[0044] As an implementation method, Figure 4 and Figure 7 As shown, the fixing component 10 is provided with a matching portion 11, and the first end 21 is rotatably connected to the fixing component 10 through a first rotating shaft 24. The first end 21 is provided with a first extension portion 211 and a second extension portion 212 that are relatively arranged along the axial direction of the first rotating shaft 24. The first extension portion 211 and the second extension portion 212 are respectively arranged on both sides of the matching portion 11, and the first rotating shaft 24 passes through the first extension portion 211, the matching portion 11 and the second extension portion 212, so that the first end 21 is rotatably connected to the matching portion 11.

[0045] Optionally, the rotational connection between the second end 22 and the cutting mechanism 200, the third end 31 and the fixing assembly 10, and the fourth end 32 and the cutting mechanism 200 can refer to the rotational connection between the first end 21 and the matching portion 11, which will not be repeated here.

[0046] Of course, the rotational connection between the first end 21 and the fixed component 10, the second end 22 and the cutting mechanism 200, the third end 31 and the fixed component 10, and the fourth end 32 and the cutting mechanism 200 can also be achieved by other means, so that the first connecting rod 20 and the second connecting rod 30 can rotate synchronously to drive the cutting mechanism 200 to move up and down.

[0047] In some embodiments, Figure 4-Figure 7 As shown, the adjusting member 40 includes a rod body 42, the rod body 42 is threadedly connected to the first connecting rod 20, one end of the rod body 42 faces the second connecting rod 30 to form an abutting end 41, and the abutting end 41 is driven to approach or move away from the first connecting rod 20 by rotating the rod body 42. Thus, by the threaded connection between the rod body 42 and the first connecting rod 20, the abutting end 41 can be driven to adjust the distance between the abutting end 41 and the first connecting rod 20 by rotating the rod body 42. When the rod body 42 is screwed out, that is, the distance between the abutting end 41 and the first connecting rod 20 is shortened, the starting position of the cutting mechanism 200 will drop, and when the rod body 42 is screwed in, that is, the distance between the abutting end 41 and the first connecting rod 20 is increased, the starting position of the cutting mechanism 200 will be lifted up, thereby facilitating the adjustment of the starting height of the cutting mechanism 200.

[0048] In some embodiments, the rod body 42 may be entirely provided with external threads. Of course, in other examples, only a portion of the rod body 42 may be provided with external threads.

[0049] As an embodiment, the rod body 42 includes a first section 421 and a second section 422, the first section 421 is threadedly connected to the first connecting rod 20 and extends out of the first connecting rod 20, one end of the second section 422 is connected to the first section 421, and the other end of the second section 422 faces the second connecting rod 30 to form an abutting end 41; by rotating the first section 421, the second section 422 is driven to approach or move away from the first connecting rod 20, thereby adjusting the distance between the abutting end 41 and the first connecting rod 20. Through the threaded connection, the rod body 42 can be easily screwed out or screwed in, thereby facilitating the adjustment of the starting height of the cutting mechanism 200.

[0050] In some embodiments, the adjusting member 40 further includes a knob 43, which is connected to the end of the rod body 42 facing away from the abutting end 41, that is, connected to the end of the first section 421 extending out of the first connecting rod 20, and the knob 43 is used for the operator to hold to drive the rod body 42 to rotate. Through the setting of the knob 43, it is convenient for the operator to control the rotation of the rod body 42 by holding the knob 43, thereby adjusting the distance between the abutting end 41 and the first connecting rod 20.

[0051] In an optional embodiment, the outer peripheral wall of the knob 43 is provided with convex ridges 431 to increase friction when the operator holds the knob 43. The provision of the convex ridges 431 can increase friction, so that the operator can apply force to the knob 43 to facilitate the rotation of the rod body 42.

[0052] In some embodiments, Figure 5-Figure 6 As shown, the first connecting rod 20 and the second connecting rod 30 are arranged in parallel, so as to drive the cutting mechanism 200 to move up and down stably. The first connecting rod 20 and the second connecting rod 30 are limited to be able to rotate downward 30°-60° to the extreme position, so as to provide a sufficient range for the cutting mechanism 200 to adjust the height.

[0053] In some embodiments, the first link 20 has a first inner wall 23 facing the second link 30, and the second link 30 has a second inner wall 33 arranged opposite to the first inner wall 23. When the first link 20 rotates to the first position along the first rotation direction and the second link 30 rotates to the second position along the first rotation direction, the abutment end 41 abuts against the second inner wall 33 to limit the rotation of the first link 20 and the second link 30 in the first rotation direction. When the lifting mechanism 100 is installed on an autonomous mobile device, the first rotation direction can be a downward direction. When the abutting end 41 abuts against the second inner wall 33, the first link 20 and the second link 30 will be restricted from rotating downward to limit the lowest position of the cutting mechanism 200. The distance between the abutting end 41 and the first inner wall 23 can be adjusted by setting the adjusting member 40, that is, the extending length of the abutting end 41 toward the second inner wall 33 can be adjusted, thereby adjusting the extreme position to which the first link 20 and the second link 30 can rotate downward. This allows the minimum floating height of the cutting mechanism 200 to be adjusted according to the terrain or the height of different lawns and other vegetation. The operation is simple and work efficiency is improved.

[0054] In some embodiments, Figure 3-Figure 6 As shown, the connecting line Q between the first end 21 and the second end 22 is arranged perpendicular to the rod body 42. Thus, the distance between the rod body 42 and the first connecting rod 20 can be easily adjusted.

[0055] Exemplarily, the distance between the first rotation axis 24 and the third rotation axis 34 is defined as the first preset distance L1, and the adjustment member 40 can adjust the distance between the abutment end 41 and the first inner wall 23 to the second preset distance L2; when the first connecting rod 20 and the second connecting rod 30 are both arranged vertically with the fixing assembly 10, that is, the first connecting rod 20 and the second connecting rod 30 are parallel to the ground, as Figure 5 As shown, L1 is equal to L2. When the first connecting rod 20 and the second connecting rod 30 rotate downward by 30°, as shown in FIG. Figure 6 As shown, since the rod body 42 is always perpendicular to the first inner wall 23, L1 is equivalent to the hypotenuse of the right triangle, and L2 is equivalent to the adjacent side of the right triangle. At this time, L2 / L1=cos30°=√3 / 2, that is, when it is necessary to limit the first connecting rod 20 and the second connecting rod 30 to rotate downward by 30° to the limit position, the adjusting member 40 can be rotated so that the distance L2 between the abutting end 41 of the adjusting member 40 and the first inner wall 23 is √3 / 2L1. When the first connecting rod 20 and the second connecting rod 30 rotate downward by 60°, L2 / L1=cos60°=1 / 2, that is, when it is necessary to limit the first connecting rod 20 and the second connecting rod 30 to rotate downward by 60° to the limit position, the adjusting member 40 can be rotated so that the distance L2 between the abutting end 41 of the adjusting member 40 and the first inner wall 23 is 1 / 2L1.

[0056] In some embodiments, Figure 4-Figure 7 As shown, the lifting mechanism 100 further includes an elastic member 50, which is sleeved on the adjusting member 40 and abuts between the first inner wall 23 and the second inner wall 33. The elastic member 50 is used to provide elastic force to form a buffer when the cutting mechanism 200 moves up and down. Exemplarily, the elastic member 50 can be a compression spring sleeved on the rod body 42. Through the setting of the elastic member 50, it can play a buffering role when the cutting mechanism 200 moves up and down, thereby improving the stability of the cutting mechanism 200 when it moves.

[0057] In some embodiments, Figure 7 and Figure 8 As shown, a gasket 60 is provided between the elastic member 50 and the second inner wall 33. The provision of the gasket 60 can reduce the friction between the elastic member 50 and the second inner wall 33. When the abutting end 41 of the adjusting member 40 abuts against the second inner wall 33, the gasket 60 can also reduce the friction between the abutting end 41 and the second inner wall 33, thereby reducing the wear of the second inner wall 33.

[0058] In some embodiments, the second inner wall 33 is provided with a groove 331, and the gasket 60 is provided in the groove 331 and can slide in the groove 331. The setting of the groove 331 can limit the gasket 60 to prevent the gasket 60 from slipping off. Since the abutting end 41 of the adjusting member 40 abuts against different positions of the second inner wall 33 during the rotation of the second connecting rod 30, the gasket 60 is set to be able to slide in the groove 331, so that it can slide in the groove 331 following the movement of the abutting end 41, thereby avoiding friction damage to the second inner wall 33. Exemplarily, the gasket 60 can be made of a flexible material.

[0059] For example, when the elastic member 50 is a compression spring, the groove 331 and the gasket 60 can be set to a circular shape. Of course, the groove 331 and the gasket 60 can also be set to a square or other regular or irregular shapes.

[0060] Of course, in other embodiments, the gasket 60 may also be fixed in the groove 331 . In this case, the area of ​​the gasket 60 covers the sliding track of the elastic member 50 to reduce the wear of the second inner wall 33 .

[0061] The embodiment of the present application also provides an autonomous mobile device, comprising a body, a cutting mechanism 200 and the above-mentioned lifting mechanism 100, wherein the cutting mechanism 200 is used to cut the target object, and the lifting mechanism 100 is connected to the body and the cutting mechanism 200, so that the cutting mechanism 200 can be raised or lowered by the lifting mechanism 100. Figure 1 and Figure 2 As shown, the cutting mechanism 200 may include a blade disc 210 and a motor 220 for driving the blade disc 210 to rotate, so as to cut vegetation such as lawns. In a specific application, the autonomous mobile device may be a lawn mowing robot capable of autonomous movement.

[0062] The structure and function of the lifting mechanism 100 in the autonomous mobile device proposed in the embodiment of the present application are the same as those in the above embodiment. For details, please refer to the description of the above embodiment, and this embodiment will not be repeated.

[0063] Those skilled in the art may combine and associate different embodiments or examples and features of different embodiments or examples described in this specification without mutual contradiction.

[0064] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A lifting mechanism, characterized in that: include: A fixing assembly for mounting to a body of an autonomous mobile device; A first connecting rod having a first end and a second end opposite to each other, wherein the first end is rotatably connected to the fixing assembly, and the second end is used to be rotatably connected to the cutting mechanism of the autonomous mobile device, and the first connecting rod can rotate along a first rotation direction and a second rotation direction, and the first rotation direction is opposite to the second rotation direction; a second connecting rod having a third end and a fourth end opposite to each other, wherein the third end is rotatably connected to the fixing assembly, and the fourth end is used for being rotatably connected to the cutting mechanism of the autonomous mobile device, and the second connecting rod can rotate along the first rotation direction and the second rotation direction; an adjusting member connected to the first connecting rod, the adjusting member having an abutting end facing the second connecting rod, wherein when the first connecting rod rotates to a first position along the first rotating direction and the second connecting rod rotates to a second position along the first rotating direction, the abutting end abuts against the second connecting rod; Wherein, the adjusting member is configured to be able to adjust the distance between the abutting end and the first connecting rod.

2. The lifting mechanism according to claim 1, characterized in that: The rotation axes of the first end, the second end, the third end and the fourth end are arranged in parallel, and the four projection points of the rotation axes of the first end, the second end, the third end and the fourth end on the first plane are connected to form a parallelogram, and the first plane is arranged perpendicular to the rotation axes of the first end, the second end, the third end and the fourth end.

3. The lifting mechanism according to claim 1, characterized in that: The adjusting member comprises a rod body, the rod body is threadedly connected to the first connecting rod, and one end of the rod body faces the second connecting rod to form the abutting end; The rod body is rotated to drive the abutting end to approach or move away from the first connecting rod.

4. The lifting mechanism according to claim 3, characterized in that: The adjusting member further comprises a knob, and the knob is connected to the other end of the rod body.

5. The lifting mechanism according to claim 3, characterized in that: A line connecting the first end and the second end is perpendicular to the rod body.

6. The lifting mechanism according to any one of claims 1 to 5, characterized in that: The first connecting rod is arranged in parallel with the second connecting rod.

7. The lifting mechanism according to any one of claims 1 to 5, characterized in that: The first connecting rod has a first inner wall facing the second connecting rod, and the second connecting rod has a second inner wall arranged opposite to the first inner wall. When the first connecting rod rotates to a first position along the first rotation direction and the second connecting rod rotates to a second position along the first rotation direction, the abutting end abuts against the second inner wall to limit the rotation of the first connecting rod and the second connecting rod in the first rotation direction.

8. The lifting mechanism according to claim 7, characterized in that: The lifting mechanism also includes: An elastic member is sleeved on the adjusting member and abuts between the first inner wall and the second inner wall, and the elastic member is used for providing elastic force.

9. The lifting mechanism according to claim 8, characterized in that: A gasket is arranged between the elastic member and the second inner wall.

10. The lifting mechanism according to claim 9, characterized in that: The second inner wall is provided with a groove, and the gasket is arranged in the groove and can slide in the groove.

11. An autonomous mobile device, characterized in that: It comprises a fuselage, a cutting mechanism and a lifting mechanism as described in any one of claims 1 to 10, wherein the cutting mechanism is used to cut a target object, and the lifting mechanism is connected to the fuselage and the cutting mechanism so that the cutting mechanism can rise or fall.

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