Cutter head lifting mechanism and autonomous moving equipment

Abstract

The utility model discloses a cutterhead lifting mechanism and autonomous mobile equipment, which are applied to the cutterhead adjustment field, the cutterhead lifting mechanism comprises: a mounting seat, which comprises a seat body and a lifting part, and the seat body is used for mounting a cutterhead assembly; the driving assembly comprises a power part and a driving rod body; a first limiting part is arranged on the lifting part, a second limiting part is arranged on the driving rod body, and when the lifting part moves to the limiting position of the driving rod body, the first limiting part and the second limiting part abut against each other in the circumferential direction of the driving rod body; and the power component is connected with the driving rod body, can drive the driving rod body to rotate, and stops running when the first limiting part is in contact with the second limiting part. According to the cutter head lifting mechanism, whether the lifting component moves to the limit position of the driving rod body or not can be judged more accurately, rigid collision between the lifting component and the driving rod body can be effectively avoided, damage to a power component and other structural parts is reduced, and reliability is improved.

Description

Technical Field

[0001] The utility model relates to the field of cutter disc adjustment, in particular to a cutter disc lifting mechanism and an autonomous mobile device. Background Art

[0002] During the use of autonomous mobile equipment, in order to adapt to different application scenarios, it is often necessary to adjust the height of the cutter head assembly.

[0003] In the related art, the mowing disc components of autonomous mobile equipment robots are mostly adjusted manually, and each height adjustment requires manual operation, which results in a poor user experience. The automatic lifting device for the mowing disc in the related art has a high failure rate, often requires shutdown for maintenance, and has poor reliability.

[0004] Therefore, how to improve the reliability of the cutter disc lifting mechanism is a technical problem that technical personnel in this field currently need to solve. Utility Model Content

[0005] The utility model aims to provide a cutter disc lifting mechanism and an autonomous mobile device, which can realize accurate lifting of the cutter disc, meet diverse mowing needs, and reduce the failure rate.

[0006] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0007] A cutter disc lifting mechanism, comprising:

[0008] A mounting seat, comprising a seat body and a lifting component connected to the seat body, wherein the seat body is used to mount a cutter head assembly;

[0009] The driving assembly comprises a power component and a driving rod body, the lifting component is threadedly connected to the driving rod body, and the driving rod body can drive the lifting component to move along the extension direction of the driving rod body during the rotation process;

[0010] In addition, the lifting component is provided with a first limiting portion, and the driving rod body is provided with a second limiting portion; when the lifting component moves to the extreme position of the driving rod body, the first limiting portion and the second limiting portion abut against each other along the circumference of the driving rod body; the power component is connected to the driving rod body, can drive the driving rod body to rotate, and stops running when the first limiting portion and the second limiting portion contact each other.

[0011] On the other hand, the lifting component includes a lifting support body and a lifting limit cover shell, the lifting support body is arranged on the seat body, the lifting limit cover shell is detachably connected to the lifting support body, and a threaded hole is formed between the lifting limit cover shell and the lifting support body.

[0012] On the other hand, the periphery of the driving rod body is provided with an external thread, the end of the driving rod body is provided with a driving gear, and the power component is connected to the driving gear; the threaded hole is provided with an internal thread, and the internal thread is adapted to the external thread.

[0013] On the other hand, the seat body is cylindrical, and the cutter head assembly is at least partially disposed within the seat body;

[0014] It also includes a plurality of slide blocks and slide rails matched with the slide blocks. The slide blocks are arranged on the periphery of the seat body, and the slide rails are installed on the frame.

[0015] On the other hand, it also includes a controller, and the power component is connected to the controller; the power component is a motor, and the controller is used to control the motor to stop running when it is detected that the current of the motor is greater than a threshold.

[0016] On the other hand, a pressure sensor is provided on the first limit portion and / or the second limit portion, and the power component can stop running when the pressure value detected by the pressure sensor is greater than a preset pressure value.

[0017] On the other hand, it also includes a permanent magnet, an upper Hall sensor and a lower Hall sensor. The permanent magnet is arranged on the lifting component, and the upper Hall sensor and the lower Hall sensor are both installed on the frame.

[0018] On the other hand, the first limiting portion includes a first upper limiting portion and a first lower limiting portion respectively arranged on the upper and lower sides of the lifting component, and the second limiting portion includes a second upper limiting portion and a second lower limiting portion respectively arranged on the upper and lower sides of the driving rod body, the first upper limiting portion cooperates with the second upper limiting portion, and the first lower limiting portion cooperates with the second lower limiting portion.

[0019] On the other hand, the first upper limit portion, the first lower limit portion, the second upper limit portion and the second lower limit portion are all bosses, and a fitting surface is provided on the bosses;

[0020] Furthermore, when the lifting component moves to the upper limit position of the driving rod body, the fitting surfaces of the first upper limit portion and the second upper limit portion abut against each other, and when the lifting component moves to the lower limit position of the driving rod body, the fitting surfaces of the first lower limit portion and the second lower limit portion abut against each other.

[0021] An autonomous mobile device comprises a frame and the above-mentioned cutter disc lifting mechanism installed on the frame.

[0022] The blade disc lifting mechanism provided by the utility model realizes the installation of the blade disc assembly through the arrangement of the seat body in the mounting seat, and the lifting of the seat body can drive the blade disc assembly to lift and lower; the seat body is connected with a lifting component, and the lifting component is threadedly connected to the driving rod body, and the driving rod body is driven by the power component. During the rotation of the driving rod body, the lifting component can be driven to move, so that the lifting component moves along the extension direction of the driving rod body, thereby driving the seat body to lift and lower, and then driving the blade disc assembly to lift and lower; the blade disc lifting mechanism can drive the lifting component to move through the power component, so as to meet the height of the blade in the blade disc assembly when cutting grass, meet the mowing requirements of different types of lawns, and realize precise control of the blade disc assembly.

[0023] Furthermore, the cutter disc lifting mechanism is provided with a first limiting portion on the lifting component, and a second limiting portion on the driving rod body, and the first limiting portion and the second limiting portion are both provided with a fitting surface, and the fitting surface extends along the axial direction and radial direction of the driving rod body; when the lifting component moves to the extreme position of the driving rod body, the first limiting portion and the second limiting portion abut against each other along the circumferential direction of the driving rod body; the power component is connected to the driving rod body and can drive the driving rod body to rotate, and when the first limiting portion and the second limiting portion are in contact, the power component stops running and no longer drives the driving rod body to rotate. At this time, The lifting component and the seat body no longer move; the first limiting portion and the second limiting portion abut against each other along the circumferential direction of the driving rod body, which serves as a basis for judging whether the power component has stopped running, can more accurately judge whether the lifting component has moved to the extreme position of the driving rod body; because in the present application, the translation of the lifting component is achieved by the rotation of the driving rod body, therefore, by obtaining the circumferential relative position of the lifting component and the driving rod body, a more direct judgment can be made, which can effectively avoid a hard collision between the lifting component and the driving rod body, thereby reducing damage to the power component and its other structural parts and improving reliability.

[0024] The autonomous mobile device provided by the utility model is provided with the above-mentioned cutter disc lifting mechanism. Since the cutter disc lifting mechanism has the above-mentioned technical effects, the autonomous mobile device provided with the cutter disc lifting mechanism should also have corresponding technical effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 A structural schematic diagram of a specific implementation of a fixed seat in the cutter disc lifting mechanism provided by the utility model;

[0027] Figure 2 It is a structural schematic diagram of a specific implementation method of the driving rod body in the cutter disc lifting mechanism provided by the utility model;

[0028] Figure 3 It is an assembly diagram of the fixed seat and the driving rod body in the cutter disc lifting mechanism provided by the utility model;

[0029] Figure 4 A schematic diagram of the installation position of the lower Hall sensor in the cutter head lifting mechanism provided by the utility model;

[0030] Figure 5 A schematic diagram of the installation position of the upper Hall sensor in the cutter head lifting mechanism provided by the utility model;

[0031] Figure 6 It is a schematic diagram of the left and right sections of the autonomous mobile device provided by the utility model;

[0032] Figure 7 for Figure 6 a partial enlarged view of the cross-sectional view shown;

[0033] Figure 8 It is a front and rear cross-sectional schematic diagram of the autonomous mobile device provided by the utility model.

[0034] Reference numerals:

[0035] Cutter disc assembly 01; mounting seat 10; lifting component 11; lifting support body 111; lifting limit cover 112; first limit part 12; first upper limit part 121; first lower limit part 122; slider 13; slide rail 131; seat body 14; permanent magnet 15; upper Hall sensor 16; lower Hall sensor 17; drive assembly 20; power component 21; drive rod body 22; drive gear 221; second limit part 23; second upper limit part 231; second lower limit part 232; frame 30; fitting surface-A. DETAILED DESCRIPTION

[0036] The core of the utility model is to provide a knife disc lifting mechanism and an autonomous mobile device, which can meet the needs of different types of lawns, are easy to operate, have high control accuracy, are not prone to failure, and are reliable to use.

[0037] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0038] In this implementation, please refer to Figures 1 to 3 , the cutter head lifting mechanism includes:

[0039] The mounting seat 10 includes a seat body 14 and a lifting component 11. The lifting component 11 is connected to the seat body 14. Specifically, the lifting component 11 is installed on the periphery of the seat body 14. The seat body 14 is used to install the cutter head assembly 01;

[0040] The driving assembly 20 includes a power component 21 and a driving rod body 22. The lifting component 11 is threadedly connected to the driving rod body 22. When the driving rod body 22 rotates, it can drive the lifting component 11 to move along the extension direction of the driving rod body 22.

[0041] In addition, the lifting component 11 is provided with a first limiting portion 12, and the driving rod body 22 is provided with a second limiting portion 23; when the lifting component 11 moves to the limit position of the driving rod body 22, the first limiting portion 12 and the second limiting portion 23 abut against each other along the circumference of the driving rod body 22; the power component 21 is connected to the driving rod body 22, and can drive the driving rod body 22 to rotate, and stop running when the first limiting portion 12 and the second limiting portion 23 are in contact. Of course, other forms of abutting portions can also be provided on the first limiting portion 12 and the second limiting portion 23, and any structure that can achieve the abutment of the first limiting portion 12 and the second limiting portion 23 in the circumference of the driving rod body 22 is acceptable.

[0042] Specifically, the blade lifting mechanism is suitable for an autonomous mobile device, and the blade assembly 01 includes a mowing motor and a blade. The mowing motor drives the blade to move to complete the mowing action. By adjusting the height of the blade assembly 01 on the autonomous mobile device, it can adapt to mowing needs at different heights; the lifting component 11 can be fixed on the base 14, such as by welding, or it can be detachably installed on the base 14 by bolts, which is convenient for disassembly and maintenance; the power component 21 can be a motor, and the motor is provided with an output shaft, and the output shaft and the driving rod body 22 can be connected by gears to realize power transmission; the driving rod body 22 can be a screw, which converts circular motion into linear motion of the lifting component 11.

[0043] In one embodiment, a fitting surface A is provided on both the first limiting portion 12 and the second limiting portion 23, and the fitting surface A extends along the axial and radial directions of the driving rod body 22, that is, the fitting surface A is perpendicular to the tangent direction of the driving rod body 22. Through the setting of the fitting surface A, the contact position of the first limiting portion 12 and the second limiting portion 23 is more precise, so that the judgment of the extreme position of the lifting component 11 is more accurate, and collision damage is reduced.

[0044] The blade disc lifting mechanism realizes the installation of the blade disc assembly 01 through the setting of the base body 14. The lifting and lowering of the base body 14 can drive the blade disc assembly 01 to lift and lower. The base body 14 is connected with a lifting component 11, and the lifting component 11 is threadedly connected to the driving rod body 22. With the help of the power component 21 driving the driving rod body 22, the driving rod body 22 can drive the lifting component 11 to move during the rotation process, so that the lifting component 11 moves along the extension direction of the driving rod body 22, thereby driving the base body 14 to lift and lower, and then driving the blade disc assembly 01 to lift and lower. The blade disc lifting mechanism can drive the lifting component 11 to move through the power component 21, so as to meet the height of the blade in the blade disc assembly 01 when cutting grass, meet the mowing requirements of different types of lawns, and realize precise control of the blade disc assembly 01.

[0045] Furthermore, the cutter disc lifting mechanism is provided with a first limiting portion 12 on the lifting component 11 and a second limiting portion 23 on the driving rod body 22. When the lifting component 11 moves to the extreme position of the driving rod body 22, the first limiting portion 12 and the second limiting portion 23 abut against each other along the circumferential direction of the driving rod body 22. The power component 21 is connected to the driving rod body 22 and can drive the driving rod body 22 to rotate. Moreover, when the first limiting portion 12 and the second limiting portion 23 are in contact, the power component 21 stops running and no longer drives the driving rod body 22 to rotate. At this time, the lifting component 11 no longer moves, that is, the mounting seat 10 no longer moves. The fitting surface A of the part 12 and the second limiting part 23 abuts along the circumference of the driving rod body 22, which serves as a basis for judging whether the power component 21 stops running, and can more accurately judge whether the lifting component 11 moves to the limit position of the driving rod body 22; because in the present application, the translation of the lifting component 11 is achieved by the rotation of the driving rod body 22, therefore, by obtaining the circumferential relative position of the lifting component 11 and the driving rod body 22, a more direct judgment can be made, and a hard collision between the lifting component 11 and the driving rod body 22 can be effectively avoided, thereby reducing damage to the power component 21 and its other structural parts and improving reliability.

[0046] In some embodiments, the lifting component 11 includes a lifting support body 111 and a lifting limit cover 112. The lifting support body 111 is arranged on the seat body 14. The lifting limit cover 112 is detachably connected to the lifting support body 111, and a threaded hole is formed between the lifting limit cover 112 and the lifting support body 111. Specifically, the lifting support body 111 and the lifting limit cover 112 can be metal parts, which have high strength, long service life, and are conducive to the processing of threads; the lifting limit cover 112 is installed on the side of the lifting support body 111 away from the seat body 14, which is convenient for the disassembly and assembly of the lifting limit cover 112. The lifting limit cover 112 and the lifting support body 111 can be detachably connected by bolts, or can be quickly disassembled and assembled by snap-fitting.

[0047] In some embodiments, the circumference of the driving rod body 22 is provided with an external thread, the end of the driving rod body 22 is provided with a driving gear 221, and the power component 21 is connected to the driving gear 221; the threaded hole is provided with an internal thread, and the internal thread is adapted to the external thread. Specifically, the driving rod body 22 can be a metal part, which has a high matching accuracy with the lifting component 11, which is conducive to the processing of the external thread. The driving gear 221 can be a part of the driving rod body 22, that is, the driving rod body 22 and the driving gear 221 are integrally processed and formed, or the driving gear 221 can be processed separately and then connected to the driving rod body 22; the axis of the driving gear 221 and the driving rod body 22 should coincide to ensure the rotation stability of the driving rod body 22.

[0048] In some embodiments, please refer to Figure 8 , and also includes a plurality of sliders 13 and slide rails 131 adapted to the sliders 13. The sliders 13 are arranged on the periphery of the base body 14, and the slide rails 131 are installed on the frame 30, for example, on the frame 30 of the autonomous mobile equipment. The sliders 13 can be square, and the frame 30 is provided with slide rails 131. The sliders 13 cooperate with the slide rails 131 to limit the moving direction of the base body 14, thereby ensuring the position accuracy of the cutter disc assembly 01 and smooth lifting and lowering.

[0049] In some embodiments, the seat body 14 is cylindrical, and the cutter disc assembly 01 is at least partially disposed in the seat body 14; specifically, a mounting plate is also provided at the bottom of the seat body 14, and the main body of the cutter disc assembly 01 is connected to the mounting plate, and the mounting plate can stably support the cutter disc assembly 01; further, there are two sliders 13, which are symmetrically arranged along the diameter direction of the seat body 14. The symmetrical arrangement of the sliders 13 can improve the stability of the seat body 14 during the lifting process and reduce shaking. Of course, only one slider 13 is required, and the position of the slider 13 should be as far away from the lifting component 11 as possible, so that the slider 13 and the lifting component 11 can jointly provide stable support for the seat body 14; of course, the number of sliders 13 can also be more, which can be set as needed.

[0050] In some embodiments, Figure 1 As shown, a limiting groove for limiting the cable is also provided at the end of the seat body 14. The limiting groove is a symmetrical part of the lifting component 11, and the connecting line between the limiting groove and the lifting component 11 is perpendicular to the connecting line of the two sliders 13, that is, the limiting groove, the lifting component 11, and the two sliders 13 are evenly distributed along the axial direction of the seat body 14. This arrangement is for the convenience of arrangement and the reduction of interference, and the movement stability of the seat body 14 is good.

[0051] In some embodiments, a pressure sensor is provided on the first limit portion 12 and / or the second limit portion 23, and the power component 21 can stop running when the pressure value detected by the pressure sensor is greater than a preset pressure value; specifically, the pressure sensor can be a patch pressure sensor, which obtains the size of the pressure value between the first limit portion 12 and the second limit portion 23 as a basis for judging whether the lifting component 11 has moved to the extreme position; both the first limit portion 12 and the second limit portion 23 are provided with a fitting surface A, and the pressure sensor is arranged on the fitting surface A.

[0052] In some embodiments, please refer to Figure 4 and Figure 5 , further comprising a permanent magnet 15, an upper Hall sensor 16 and a lower Hall sensor 17, wherein the permanent magnet 15 is arranged on the lifting component 11, and the upper Hall sensor 16 and the lower Hall sensor 17 are both mounted on the frame 30; specifically, a bracket is also provided on the lifting component 11, and the permanent magnet 15 is mounted on the bracket, and the bracket can be arranged on the side wall of the lifting support body 111, and by arranging the upper Hall sensor 16 and the lower Hall sensor 17, it is possible to obtain whether the lifting component 11 moves to the limit position, and when the lifting component 11 moves to the limit position, the power component 21 is controlled to stop moving; the detection of the permanent magnet 15, the upper Hall sensor 16 and the lower Hall sensor 17, as the main detection method, has high detection accuracy; when any one of the upper Hall sensor 16 and the lower Hall sensor 17 fails, the first limit portion and the second limit portion will contact, causing the power component 21 to be affected, and the power component 21 is controlled to stop running through the power change of the power component 21, for example, the current change of the motor, thereby improving reliability and reducing failure rate.

[0053] In some embodiments, the first limit portion 12 includes a first upper limit portion 121 and a first lower limit portion 122 respectively arranged on the upper and lower sides of the lifting component 11, and the second limit portion 23 includes a second upper limit portion 231 and a second lower limit portion 232 respectively arranged on the upper and lower sides of the driving rod body 22, the first upper limit portion 121 cooperates with the second upper limit portion 231, and the first lower limit portion 122 cooperates with the second lower limit portion 232. Specifically, the first upper limit portion 121 can be arranged at the upper part of the lifting support body 111, the first lower limit portion 122 can be arranged at the lower part of the lifting limit cover 112, the second upper limit portion 231 is arranged at one end of the driving rod body 22 away from the driving gear 221, and the second lower limit portion 232 is arranged at the connection between the driving gear 221 and the driving rod body 22.

[0054] In some embodiments, the first upper limit portion 121, the first lower limit portion 122, the second upper limit portion 231 and the second lower limit portion 232 are all bosses, and a fitting surface A is provided on the boss; and when the lifting component 11 moves to the upper limit position of the driving rod body 22, the fitting surfaces A of the first upper limit portion 121 and the second upper limit portion 231 abut against each other, and when the lifting component 11 moves to the lower limit position of the driving rod body 22, the fitting surfaces A of the first lower limit portion 122 and the second lower limit portion 232 abut against each other; specifically, the fitting surface A can be a plane, which can fit better. Of course, in order to prevent the collision between the first upper limit portion 121 and the second upper limit portion 231, and between the first lower limit portion 122 and the second lower limit portion 232, rubber pads can be provided on the fitting surfaces A of the first upper limit portion 121 and the second upper limit portion 231, and on the fitting surfaces A of the first lower limit portion 122 and the second lower limit portion 232, so as to play a good buffering role.

[0055] In some embodiments, a controller is further included, and the power component 21 is connected to the controller; the power component 21 is a motor, and the controller is used to control the motor to stop running when it is detected that the current of the motor is greater than a threshold.

[0056] Specifically, the controller includes:

[0057] A parameter acquisition module, used to acquire the operating parameters of the power component 21 in real time;

[0058] Parameter calculation module, used to calculate the change value of the operating parameters within the target time;

[0059] The parameter judgment module is used to issue a stop operation instruction when the change value is greater than a preset value;

[0060] The execution module is connected to the power component 21 and the parameter judgment module, and is used to control the power component 21 to stop running when receiving a stop running instruction.

[0061] Specifically, the operating parameters of the power component 21 can be current parameters, that is, by using the current change of the power component 21 as a judgment basis, it is possible to quickly obtain whether the position of the lifting component 11 has moved to the extreme position, and the operation of the power component 21 can be stopped in time to avoid damage to the power component 21.

[0062] Specifically, in a specific embodiment, Figure 6 and Figure 7 The driving rod body 22 is a screw rod, and an upper protrusion and a lower protrusion are respectively arranged on the upper and lower parts of the screw rod. A lifting component 11 is arranged on the seat body 14, and a through hole is arranged in the lifting component 11. The inner thread of the through hole cooperates with the driving rod body 22; upper and lower limit parts are arranged on the upper and lower parts of the lifting component 11. The power component 21, such as a lifting motor, drives the screw rod to rotate, so that the lifting component 11 moves up and down along the screw rod. When it moves to the highest position, the upper protrusion abuts against the upper limit part, and when it moves to the lowest position, the lower protrusion abuts against the lower limit part, so as to limit the lifting height of the mowing motor, that is, the blade assembly 01. Lifting height; further, it also includes a Hall sensor, a permanent magnet 15 is installed on the base 14, and an upper Hall sensor 16 and a lower Hall sensor 17, that is, an upper Hall chip and a lower Hall chip are installed on the frame 30, so as to accurately control the power component 21 and make the cutter disc assembly 01 reach the target height; when the Hall sensor fails, the lifting motor is blocked by the limit part to generate a large current, and the controller triggers the overcurrent protection after detecting the large current, and controls the lifting motor to stop working; it also includes a guide rail parallel to the screw rod, and the base 14 can move along the guide rail to make the lifting and lowering of the cutter disc assembly 01 more stable.

[0063] The cutter disc lifting mechanism can accurately control the lifting height of the cutter disc assembly 01, so that the cutter disc assembly 01 reaches the target height; ensure the lifting stability of the cutter disc, reduce hard collisions, and improve reliability.

[0064] In addition to the above-mentioned blade disc lifting mechanism, the utility model also provides an autonomous mobile device including a frame 30 and the above-mentioned blade disc lifting mechanism installed on the frame 30, and a guide rail is provided on the frame 30 of the autonomous mobile device, and the guide rail cooperates with the slider 13; specifically, the autonomous mobile device can be a mobile device such as a lawn mower, or other mobile device that needs to install a blade disc assembly 01; please refer to the prior art for the structure of other parts of the autonomous mobile device, which will not be repeated in this article.

[0065] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0066] The above is a detailed introduction to the knife disc lifting mechanism provided by the utility model. This article uses specific examples to illustrate the principle and implementation method of the utility model. The description of the above embodiment is only used to help understand the method and core idea of ​​the utility model. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the utility model, the utility model can also be improved and modified, and these improvements and modifications also fall within the scope of protection of the utility model.

Claims

1. A cutter head lifting mechanism, characterized in that: include: A mounting seat (10) comprising a seat body (14) and a lifting component (11) connected to the seat body (14), wherein the seat body (14) is used to mount a cutter head assembly (01); The driving assembly (20) comprises a power component (21) and a driving rod body (22), the lifting component (11) being threadedly connected to the driving rod body (22), and the driving rod body (22) can drive the lifting component (11) to move along the extension direction of the driving rod body (22) during the rotation process; Furthermore, the lifting component (11) is provided with a first limiting portion (12), and the driving rod body (22) is provided with a second limiting portion (23); when the lifting component (11) moves to the limit position of the driving rod body (22), the first limiting portion (12) and the second limiting portion (23) abut against each other along the circumferential direction of the driving rod body (22); the power component (21) is connected to the driving rod body (22) and can drive the driving rod body (22) to rotate, and stops running when the first limiting portion (12) and the second limiting portion (23) are in contact.

2. The cutter head lifting mechanism according to claim 1, characterized in that: The lifting component (11) comprises a lifting support body (111) and a lifting limit cover (112); the lifting support body (111) is arranged on the seat body (14); the lifting limit cover (112) is detachably connected to the lifting support body (111); and a threaded hole is formed between the lifting limit cover (112) and the lifting support body (111).

3. The cutter head lifting mechanism according to claim 2, characterized in that: The circumference of the driving rod body (22) is provided with an external thread, the end of the driving rod body (22) is provided with a driving gear (221), and the power component (21) is connected to the driving gear (221); the threaded hole is provided with an internal thread, and the internal thread is adapted to the external thread.

4. The cutter head lifting mechanism according to claim 1, characterized in that: The seat body (14) is cylindrical, and the cutter disc assembly (01) is at least partially arranged inside the seat body (14); It also includes a plurality of slide blocks (13) and slide rails (131) adapted to the slide blocks (13); the slide blocks (13) are arranged on the periphery of the seat body (14); and the slide rails (131) are mounted on the frame (30).

5. The cutter head lifting mechanism according to claim 1, characterized in that: It also includes a controller, the power component (21) being connected to the controller; the power component (21) is a motor, and the controller is used to control the motor to stop running when detecting that the current of the motor is greater than a threshold value.

6. The cutter head lifting mechanism according to claim 1, characterized in that: A pressure sensor is provided on the first limit portion (12) and / or the second limit portion (23), and the power component (21) can stop running when the pressure value detected by the pressure sensor is greater than a preset pressure value.

7. The cutter head lifting mechanism according to claim 1, characterized in that: It also includes a permanent magnet (15), an upper Hall sensor (16) and a lower Hall sensor (17), wherein the permanent magnet (15) is arranged on the lifting component (11), and the upper Hall sensor (16) and the lower Hall sensor (17) are both mounted on the frame (30).

8. The cutter head lifting mechanism according to any one of claims 1 to 7, characterized in that: The first limiting portion (12) comprises a first upper limiting portion (121) and a first lower limiting portion (122) respectively arranged on the upper and lower sides of the lifting component (11); the second limiting portion (23) comprises a second upper limiting portion (231) and a second lower limiting portion (232) respectively arranged on the upper and lower sides of the driving rod body (22); the first upper limiting portion (121) cooperates with the second upper limiting portion (231), and the first lower limiting portion (122) cooperates with the second lower limiting portion (232).

9. The cutter head lifting mechanism according to claim 8, characterized in that: The first upper limit portion (121), the first lower limit portion (122), the second upper limit portion (231) and the second lower limit portion (232) are all bosses, and a fitting surface (A) is provided on the bosses; Furthermore, when the lifting component (11) moves to the upper limit position of the driving rod body (22), the fitting surfaces (A) of the first upper limit portion (121) and the second upper limit portion (231) abut against each other, and when the lifting component (11) moves to the lower limit position of the driving rod body (22), the fitting surfaces (A) of the first lower limit portion (122) and the second lower limit portion (232) abut against each other.

10. An autonomous mobile device, comprising a frame (30) and a cutter head lifting mechanism mounted on the frame (30), characterized in that: The cutter disc lifting mechanism is the cutter disc lifting mechanism described in any one of claims 1 to 9.

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