Mowing robot and steering mechanism thereof

Abstract

The steering mechanism of the mowing robot comprises a steering arm assembly and a blocking piece, the steering arm assembly is used for being connected with a walking wheel and controlling the walking wheel to steer, the blocking piece is provided with a blocking strip structure, and the blocking piece is arranged on the side, close to the walking wheel, of the steering arm assembly when the steering arm assembly is connected with the walking wheel. The blocking piece is driven by the steering arm assembly to move, so that when the steering arm assembly drives the walking wheel to steer, the blocking piece and the walking wheel can be relatively static. According to the arrangement, when the mowing robot is in a steering state, the steering arm assembly drives the walking wheel to deviate leftwards or rightwards, and a gap which does not conform to the safety specification standard is formed between the rear side of the left wheel or the right wheel of the walking wheel and the mowing robot body, the barrier strip structure located between the walking wheel and the mowing robot body can be blocked in the gap, so that the mowing robot is in a steering state; and foreign matters or other objects such as hands are prevented from passing through, so that the mowing robot reaches a safety specification standard.

Description

Technical Field

[0001] The present application relates to the technical field of lawn mowing robot equipment, and in particular to a lawn mowing robot and a steering mechanism thereof. Background Art

[0002] A lawn mower robot is a widely used gardening weeding equipment, also known as a weeding robot, a lawn mowing robot, etc. The lawn mower robot is used to mow lawns and vegetation. The main components include a blade mowing mechanism, a drive device, a running wheel, a steering mechanism, and a control system. The running wheel rotates and deviates under the control of the steering mechanism to realize the steering operation of the lawn mower robot, realizing automatic walking and mowing, saving labor costs and manual operation time, and improving weeding efficiency. It is widely used in lawn mowing and maintenance in green spaces, golf courses, etc. When the lawn mower robot is in a straight-moving state, the running wheel is located on the inner side of the body of the lawn mower robot. However, when the lawn mower robot is in a turning state, the running wheel deviates to the left or right, causing the rear side of the running wheel to rotate synchronously, forming a wide gap between the rear side of the running wheel and the body. The gap has a certain risk of causing the safety specification test finger or the safety specification test foot to pass through, causing the risk of foreign objects or human hands entering the blade installation position, resulting in the lawn mower robot failing to meet the safety specification standards. Summary of the invention

[0003] Based on this, it is necessary to provide a lawn mower robot and a steering mechanism thereof to address the problem that the running wheels of the lawn mower robot are prone to form gaps with safety risks during the steering process.

[0004] The present application proposes a steering mechanism for a lawn mower robot, which is used to drive the walking wheels of the lawn mower robot to turn. The steering mechanism for the lawn mower robot includes:

[0005] A steering arm assembly, the steering arm assembly is used to connect the running wheel and control the steering of the running wheel; and

[0006] A baffle having a baffle structure, wherein the baffle is arranged on the side close to the traveling wheel when the steering arm assembly is connected to the traveling wheel, so that the baffle structure is located between the traveling wheel and the fuselage, and the baffle is driven to move by the steering arm assembly so that when the steering arm assembly drives the traveling wheel to turn, the baffle and the traveling wheel can be relatively still.

[0007] In one of the embodiments, the blocking member further includes a blocking column, the blocking column is disposed on the blocking bar structure, and the axial direction of the blocking column intersects with the rotation plane of the blocking bar structure.

[0008] In one embodiment, the steering arm assembly includes a main driving arm and a driven arm, the two ends of the driven arm are respectively connected to the main driving arm and the walking wheel, the stopper is arranged on the side of the driven arm close to the walking wheel, the main driving arm is arranged to synchronously drive the driven arm to swing, the driven arm swings to drive the walking wheel to turn, and the driven arm and the walking wheel remain relatively stationary.

[0009] In one embodiment, the traveling wheel includes a left wheel and a right wheel; the steering arm assembly also includes a suspension beam, the suspension beam is used to be arranged between the left wheel and the right wheel, the two ends of the main driving arm respectively have a driving end and a connecting end, the driving end is arranged in the middle of the suspension beam, and the connecting end is connected to the driven arm, the driven arm also includes two sub-slave arms respectively arranged on the left and right sides of the main driving arm, and the two sub-slave arms are respectively connected to the left wheel and the right wheel; the main driving arm makes a left-right swing motion with the driving end as the pivot point to drive the two sub-slave arms to make a left-right swing motion synchronously, so that the sub-slave arm drives the traveling wheel to turn left or right, and the sub-slave arm and the traveling wheel remain relatively stationary.

[0010] In one embodiment, the sub-follower arm includes a first connecting rod and a second connecting rod, the two ends of the first connecting rod are respectively connected to the connecting end of the main driving arm and one end of the second connecting rod, the other end of the second connecting rod is arranged at the end of the suspension beam and is used to be connected to the walking wheel, and the stopper is arranged on the end of the second connecting rod connected to the first connecting rod; the main driving arm drives the first connecting rod to swing to drive the second connecting rod to swing, and the swing of the second connecting rod synchronously drives the steering movement of the walking wheel.

[0011] In one embodiment, the driven arm also includes a swing arm, which is arranged at the end of the suspension beam and connected to the walking wheel. The end of the second connecting rod away from the first connecting rod is connected to the swing arm, and the swing arm and the second connecting rod remain relatively stationary.

[0012] In one embodiment, the steering arm assembly further includes a driving device, the driving end of the main driving arm is connected to an output shaft of the driving device, and the driving device drives the main driving arm to swing leftward or rightward.

[0013] In one embodiment, the steering arm assembly also includes a magnetic encoder and a magnet, wherein the magnet is disposed at the driving end and is interference fit with the driving end, the magnet is used to output the steering angle and position signal of the main driving arm, and the magnetic encoder is used to receive the steering angle and position signal.

[0014] In one embodiment, the driving device is a reduction motor.

[0015] The present application also proposes a lawn mowing robot, comprising:

[0016] A lawn mowing robot body, the lawn mowing robot body comprising the walking wheels and the body;

[0017] In the steering mechanism of the lawn mowing robot as described above, the steering arm assembly is connected to the running wheel, and the stopper is located between the running wheel and the body.

[0018] In the technical solution of the present application, a baffle is provided for the steering mechanism of the lawn mower robot, and the baffle structure of the baffle is located between the walking wheel and the body, and the baffle and the walking wheel remain relatively stationary. When the lawn mower robot is in a steering state, the steering arm assembly drives the walking wheel to deviate to the left or right, and a gap that does not meet safety specifications is formed between the left or right wheel of the walking wheel and the body of the lawn mower robot at the side and rear. The baffle structure between the walking wheel and the body will be blocked in the gap to prevent foreign matter or other objects such as human hands from passing through, thereby ensuring that the lawn mower robot meets safety specifications. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a structural schematic diagram of the lawn mower robot and its steering mechanism from the first perspective of the present application.

[0020] Figure 2 This is a structural schematic diagram of the lawn mower robot and its steering mechanism from a second perspective of the present application.

[0021] Figure 3 This is a structural schematic diagram of the lawn mower robot and its steering mechanism from a third perspective of the present application.

[0022] Figure 4 This is a structural schematic diagram of the lawn mower robot and its steering mechanism of the present application, in which the lawn mower robot steering mechanism switches from a straight-ahead state to a steering state.

[0023] Figure 5 for Figure 4 Schematic diagram of the structure of the AA section.

[0024] Figure 6 This is a structural schematic diagram of the lawn mower robot and its steering mechanism of the present application, wherein the lawn mower robot steering mechanism is in a steering state.

[0025] Figure 7 This is a structural schematic diagram of the lawn mower robot and its steering mechanism of the present application, in which the lawn mower robot steering mechanism is in a straight-ahead state.

[0026] Description of component numbers in the attached figure:

[0027] 1000, steering mechanism of the lawn mower robot; 100, steering arm assembly; 110, main driving arm; 111, driving end; 112, connecting end; 120, slave arm; 130, sub-slave arm; 131, first connecting rod; 132, second connecting rod; 140, swing arm; 150, suspension beam; 160, driving device; 171, magnetic encoder; 172, magnet; 200, stopper; 210, stop bar structure; 220, blocking column; 2000, lawn mower robot; 300, walking wheel; 310, left wheel; 320, right wheel; 400, fuselage; 410, guard plate. DETAILED DESCRIPTION

[0028] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0029] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0030] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0031] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0032] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0033] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0034] See also Figures 1 to 3 , Figures 1 to 3 The schematic diagrams of the structure of the lawn mower robot 2000 with the lawn mower robot steering mechanism 1000 at the first perspective, the second perspective and the third perspective are respectively shown. The present application proposes a lawn mower robot steering mechanism 1000, which is used to drive the walking wheels 300 of the lawn mower robot 2000 to steer. The lawn mower robot steering mechanism 1000 includes a steering arm assembly 100 and a stopper 200.

[0035] The steering arm assembly 100 is used to connect the traveling wheel 300 and control the steering of the traveling wheel 300. The block 200 has a block bar structure 210. The block 200 is arranged on the side close to the traveling wheel 300 when the steering arm assembly 100 is connected to the traveling wheel 300, so that the block bar structure 210 is located between the traveling wheel 300 and the fuselage 400. The block 200 is driven to move by the steering arm assembly 100 so that when the steering arm assembly 100 drives the traveling wheel 300 to turn, the block 200 and the traveling wheel 300 can be relatively still. With such arrangement, when the lawn mower robot 2000 is in a turning state, the steering arm assembly 100 drives the traveling wheel 300 to deviate to the left or right, and a gap that does not meet safety specifications is formed between the left wheel 310 or the right wheel 320 of the traveling wheel 300 and the body 400 of the lawn mower robot 2000 at the side and rear, the retaining bar structure 210 between the traveling wheel 300 and the body 400 will be blocked in the gap to prevent foreign matter or other objects such as human hands from passing through, thereby ensuring that the lawn mower robot meets safety specifications.

[0036] Specifically, with the direction from the rear of the lawn mower robot 2000 to the front of the lawn mower robot 2000 as the forward direction (the direction indicated by the arrow B in the figure), the blocking member 200 is located on the side of the walking wheel 300 opposite to the body 400 of the lawn mower robot 2000, and is located at the side and rear of the walking wheel 300. The blocking member 200 has a blocking bar structure 210 that encloses the walking wheel 300 at the side and rear of the walking wheel 300 in the horizontal direction. The steering arm assembly 100 drives the walking wheel 300 to turn and keeps the relative position between the blocking member 200 and the walking wheel 300 unchanged. The blocking bar structure 210 can be set in other shapes such as arc, straight line, etc., which are not specifically limited here. For example, the blocking bar structure 210 is set in a straight line. A certain safety distance is left between the blocking bar structure 210 and the walking wheel 300 to ensure that the blocking bar structure 210 will not affect the turning and straight movement of the walking wheel 300.

[0037] In this way, the steering mechanism 1000 of the lawn mower robot is provided with a stopper 200 at the side and rear of the walking wheel 300. The stopper 200 has a stopper structure 210 that surrounds the side and rear of the walking wheel 300 in the horizontal direction, and the stopper 200 and the walking wheel 300 remain relatively stationary. When the walking wheel 300 turns left or right, the stopper 200 is always located at the side and rear of the walking wheel 300. When the lawn mower robot 2000 is in the steering state, the steering arm assembly 100 drives the walking wheel 300 to rotate. When the wheel 300 deviates to the left or right and a gap that does not meet safety standards is formed between the left wheel 310 or the right wheel 320 of the traveling wheel 300 and the body 400 of the lawn mower robot 2000 at the side and rear (usually a gap is formed between the guard plate 410 arranged on the side of the lawn mower robot 2000), the blocking member 200 located at the side and rear of the traveling wheel 300 will be blocked in the gap to prevent foreign matter or other objects such as human hands from passing through, thereby ensuring that the lawn mower robot 2000 meets safety standards.

[0038] When the obstacle crossing requirement of the lawn mower robot 2000 is low, the height of the running wheels is small, and the height of the gap formed between the lawn mower robot 2000 and the fuselage 400 is also small when turning. The blocking of foreign objects can be achieved through the blocking bar structure 210. When the obstacle crossing requirement of the lawn mower robot 2000 is high, the height of the running wheels is also high, and the height of the gap formed between the lawn mower robot 2000 and the fuselage 400 is also high when turning. Optionally, the blocking member 200 also includes a blocking column 220, which is arranged on the blocking bar structure 210, and the axial direction of the blocking column 220 intersects with the rotation plane of the blocking bar structure 210. Such a setting can prevent foreign objects from avoiding the blocking bar structure 210 and passing through the gap from above or below the blocking bar structure 210. The lawn mower robot 2000 can also meet safety standards when the obstacle crossing requirement is high. The connection between the blocking bar structure 210 and the blocking column 220 can be a non-detachable connection such as welding, and the connection between the blocking bar structure 210 and the blocking column 220 can also be a detachable connection such as threaded connection and clamping, which is not specifically limited here. Exemplarily, the blocking bar structure 210 is provided with a through hole along the height direction, and the blocking column 220 is passed through the through hole and is fixed on the blocking bar structure 210 by being clamped.

[0039] Further, see Figure 4 , Figure 6 and Figure 7 , Figure 4 The schematic diagram of the structure of the steering mechanism 1000 of the mowing robot switching from the straight-ahead state to the steering state is shown. Figure 6 FIG. 1 shows a schematic structural diagram of the steering mechanism 1000 of the lawn mowing robot in a steering state. Figure 7 The schematic diagram of the structure of the steering mechanism 1000 of the mowing robot in the straight-ahead state is shown. The steering arm assembly 100 includes a main driving arm 110 and a driven arm 120. The two ends of the driven arm 120 are respectively connected to the main driving arm 110 and the walking wheel 300. The blocking member 200 is arranged on the side of the driven arm 120 close to the walking wheel 300. The main driving arm 110 is arranged to swing to synchronously drive the driven arm 120 to swing. The driven arm 120 swings to drive the walking wheel 300 to turn, and the driven arm 120 and the walking wheel 300 remain relatively stationary. The blocking member 200 is arranged on the driven arm 120. When the walking wheel 300 rotates, the blocking member 200 and the walking wheel 300 remain relatively stationary to achieve a blocking effect on the gap.

[0040] Further, the travel wheel 300 includes a left wheel 310 and a right wheel 320, the steering arm assembly 100 also includes a suspension beam 150, the suspension beam 150 is used to be arranged between the left wheel 310 and the right wheel 320, the two ends of the main driving arm 110 respectively have a driving end 111 and a connecting end 112, the driving end 111 is arranged in the middle of the suspension beam 150, the connecting end 112 is connected to the slave arm 120, and the slave arm 120 also includes two sub-slave arms 130 respectively arranged on the left and right sides of the main driving arm 110, and the two sub-slave arms 130 are respectively connected to the left wheel 310 and the right wheel 320. The main driving arm 110 performs left-right swinging motion with the driving end 111 as the rotation axis point to drive the two sub-slave arms 130 to perform left-right swinging motion synchronously, so that the sub-slave arms 130 drive the travel wheel 300 to turn left or right, and the sub-slave arms 130 and the travel wheel 300 remain relatively stationary. The blocking member 200 is disposed on the sub-driven arm 130 , and when the traveling wheel 300 rotates, the blocking member 200 and the traveling wheel 300 remain relatively still to achieve a blocking effect on the gap.

[0041] Specifically, the slave arm 130 includes a first link 131 and a second link 132, the two ends of the first link 131 are respectively connected to the connection end 112 of the main driving arm 110 and one end of the second link 132, the other end of the second link 132 is arranged at the end of the suspension beam 150 and is used to be connected to the running wheel 300, and the blocking member 200 is arranged on the end of the second link 132 connected to the first link 131. The main driving arm 110 drives the first link 131 to swing to drive the second link 132 to swing, and the swing of the second link 132 synchronously drives the steering movement of the running wheel 300, and the second link 132 and the running wheel 300 remain relatively stationary. The blocking member 200 is arranged on the second link 132, and when the running wheel 300 rotates, the blocking member 200 and the running wheel 300 remain relatively stationary to achieve a blocking effect on the gap.

[0042] Furthermore, the driven arm 120 also includes a swing arm 140, which is arranged at the end of the suspension beam 150 and is used to connect to the walking wheel 300. The end of the second connecting rod 132 away from the first connecting rod 131 is connected to the swing arm 140, and the swing arm 140 and the second connecting rod 132 remain relatively stationary.

[0043] See also Figure 4 and Figure 5 , Figure 5 Shows Figure 4The structural diagram of the AA section in the middle. The steering arm assembly 100 also includes a driving device 160, and the driving end 111 of the main driving arm 110 is connected to the output shaft of the driving device 160. The driving device 160 drives the main driving arm 110 to swing left or right. The driving mode of the driving device 160 can be hydraulic, pneumatic, electric and other driving modes, which are not specifically limited here. Exemplarily, the driving device 160 is a reduction motor. The driving device 160 is arranged above the driving end 111 of the main driving arm 110, and the steering arm assembly 100 also includes a magnetic encoder 171 and a magnet 172. The magnet 172 is arranged on the driving end 111 and has an interference fit with the driving end 111. The magnetic encoder 171 is arranged below the magnet 172. The magnet 172 is used to output the steering angle and position signal of the main driving arm 110, and the magnetic encoder 171 is used to receive the steering angle and position signal to control the steering angle and steering position of the walking wheel 300.

[0044] The present application also proposes a lawn mower robot 2000, including a lawn mower robot body and the above-mentioned lawn mower robot steering mechanism 1000, the lawn mower robot body includes walking wheels 300 and a body 400, the steering arm assembly 100 is connected to the walking wheels 300, and the stopper 200 is located between the walking wheels 300 and the body 400.

[0045] In the technical solution of the present application, a baffle 200 is provided for the steering mechanism 1000 of the lawn mower robot, and a baffle structure 210 of the baffle 200 is located between the walking wheel 300 and the fuselage 400, and the baffle 200 and the walking wheel 300 remain relatively stationary. When the lawn mower robot 2000 is in a steering state, the steering arm assembly 100 drives the walking wheel 300 to deviate to the left or right, and a gap that does not meet safety specifications is formed between the left wheel 310 or the right wheel 320 of the walking wheel 300 and the fuselage 400 of the lawn mower robot 2000 at the rear side, the baffle structure 210 between the walking wheel 300 and the fuselage 400 will be blocked in the gap to prevent foreign matter or other objects such as human hands from passing through, thereby ensuring that the lawn mower robot meets safety specifications.

[0046] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0047] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A steering mechanism for a lawn mower robot, used to drive the walking wheels of the lawn mower robot to turn, characterized in that: The lawn mowing robot steering mechanism comprises: A steering arm assembly, the steering arm assembly is used to connect the running wheel and control the steering of the running wheel; and A baffle having a baffle structure, wherein the baffle is arranged on the side close to the traveling wheel when the steering arm assembly is connected to the traveling wheel, so that the baffle structure is located between the traveling wheel and the fuselage, and the baffle is driven to move by the steering arm assembly so that when the steering arm assembly drives the traveling wheel to turn, the baffle and the traveling wheel can be relatively still.

2. The steering mechanism of the lawn mowing robot according to claim 1, characterized in that: The blocking member further comprises a blocking column, which is arranged on the blocking bar structure, and the axial direction of the blocking column intersects with the rotation plane of the blocking bar structure.

3. The steering mechanism of the lawn mowing robot according to claim 1, characterized in that: The steering arm assembly includes a main driving arm and a driven arm, the two ends of the driven arm are respectively connected to the main driving arm and the walking wheel, the stopper is arranged on the side of the driven arm close to the walking wheel, the main driving arm is arranged to synchronously drive the driven arm to swing, the driven arm swings to drive the walking wheel to turn, and the driven arm and the walking wheel remain relatively stationary.

4. The steering mechanism of the lawn mowing robot according to claim 3, characterized in that: The traveling wheel comprises a left wheel and a right wheel; the steering arm assembly also comprises a suspension beam, the suspension beam is used to be arranged between the left wheel and the right wheel, the two ends of the main driving arm respectively have a driving end and a connecting end, the driving end is arranged in the middle of the suspension beam, and the connecting end is connected to the driven arm, the driven arm also comprises two sub-slave arms respectively arranged on the left and right sides of the main driving arm, and the two sub-slave arms are respectively connected to the left wheel and the right wheel; the main driving arm makes a left-right swinging motion with the driving end as the pivot point to drive the two sub-slave arms to make a left-right swinging motion synchronously, so that the sub-slave arm drives the traveling wheel to turn left or right, and the sub-slave arm and the traveling wheel remain relatively stationary.

5. The steering mechanism of the lawn mowing robot according to claim 4, characterized in that: The sub-driven arm includes a first connecting rod and a second connecting rod, the two ends of the first connecting rod are respectively connected to the connecting end of the main driving arm and one end of the second connecting rod, the other end of the second connecting rod is arranged at the end of the suspension beam and is used to be connected to the walking wheel, and the stopper is arranged on the end of the second connecting rod connected to the first connecting rod; the main driving arm drives the first connecting rod to swing to drive the second connecting rod to swing, and the swing of the second connecting rod synchronously drives the steering movement of the walking wheel.

6. The steering mechanism of the lawn mowing robot according to claim 5, characterized in that: The driven arm also includes a swing arm, which is arranged at the end of the suspension beam and connected to the walking wheel. The end of the second connecting rod away from the first connecting rod is connected to the swing arm, and the swing arm and the second connecting rod remain relatively stationary.

7. The steering mechanism of the lawn mowing robot according to claim 4, characterized in that: The steering arm assembly also includes a driving device, the driving end of the main driving arm is connected to the output shaft of the driving device, and the driving device drives the main driving arm to swing leftward or rightward.

8. The steering mechanism of the lawn mowing robot according to claim 7, characterized in that: The steering arm assembly also includes a magnetic encoder and a magnet. The magnet is arranged at the driving end and has an interference fit with the driving end. The magnet is used to output the steering angle and position signal of the main driving arm, and the magnetic encoder is used to receive the steering angle and position signal.

9. The steering mechanism of the lawn mowing robot according to claim 7, characterized in that: The driving device is a reduction motor.

10. A lawn mowing robot, characterized in that: include: A lawn mowing robot body, the lawn mowing robot body comprising the walking wheels and the body; According to the steering mechanism of the lawn mowing robot as described in any one of claims 1 to 9, the steering arm assembly is connected to the running wheel, and the stopper is located between the running wheel and the body.

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