Mowing robot and mowing robot system
By setting up a small action wheel in the mowing robot's movement mechanism, it is combined with the optimized driving method to solve the problem of poor grass discharge and grass blocking caused by the excessive length of the mowing robot, and improve the operating performance and structural compactness of the mowing robot.
Patent Information
- Application Number
- CN202422472315.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-12
- Publication Date
- 2025-07-25
- Estimated Expiration
- 2034-10-12
AI Technical Summary
The grass collection channel of existing mowing robots is too long, resulting in poor grass drainage and easy to block grass.
In the mowing robot's movement mechanism, the smaller size is set to be located next to the grass collecting channel, shortening the length of the grass collecting channel, and combining the driving methods such as universal wheels, hub direct drive motors, hub reducer motors and parallel gear reducer motors to optimize the design of the grass collecting channel.
The grass drainage efficiency in the grass collection channel is improved, the risk of grass blocking is reduced, and the operation performance and overall structural compactness of the grass mowing robot are improved.
Smart Images
Figure CN223142505U_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the technical field of robots. More specifically, it relates to a lawn mowing robot and a lawn mowing robot system. Background Art
[0002] A lawn mowing robot is a robot that can automatically perform lawn mowing operations. It mainly includes a lawn mowing mechanism, a grass collection channel, a grass collection box, and driving wheels. During the lawn mowing operation, the front driving wheels and the rear driving wheels drive the lawn mowing robot to move forward. The lawn mowing mechanism cuts the grass in the area passed by the movement, and the cut grass is introduced into the grass collection box through the grass collection channel.
[0003] However, in the related art, the distance between the grass collection box and the lawn mowing mechanism of the lawn mowing robot is usually set to be relatively far, resulting in a relatively long length of the grass collection channel. The relatively long grass collection channel has a poor effect on discharging the grass, and it is easy to have the problem of grass blockage. Utility Model Content
[0004] The purpose of the embodiments of this application is to provide a lawn mowing robot and a lawn mowing robot system to solve the technical problem in the prior art that the length of the grass collection channel is too long, which reduces the grass discharging effect.
[0005] To achieve the above purpose, the technical solution adopted in this application is:
[0006] In a first aspect, a lawn mowing robot is provided, including:
[0007] A main body;
[0008] A lawn mowing mechanism, which is installed on the main body;
[0009] A grass collection mechanism, including a grass collection channel and a grass collection box. One end of the grass collection channel is connected to the lawn mowing mechanism, and the other end of the grass collection channel is connected to the grass collection box;
[0010] A driving mechanism, which is installed on the main body and includes a first driving wheel and a second driving wheel arranged front and back. The driving wheel with a smaller size among the first driving wheel and the second driving wheel is a small driving wheel, and the small driving wheel is located beside the grass collection channel.
[0011] In one of the embodiments of the first aspect, if a part of the small driving wheel is located beside the grass collection channel, the other part of the small driving wheel is located beside the grass collection box or the lawn mowing mechanism.
[0012] In one of the embodiments of the first aspect, the size of the small driving wheel located beside the grass collection channel is larger than the size of the small driving wheel located beside the grass collection box or the lawn mowing mechanism.
[0013] In one embodiment of the first aspect, the mowing mechanism includes a cutter head cover. If all the small moving wheels are located beside the grass collection channel, the small moving wheels are located between the cutter head cover and the grass collection frame.
[0014] In one embodiment of the first aspect, the outer edge of the first moving wheel and / or the second moving wheel in the first direction does not extend beyond the outer edge of the cutter head cover in the first direction.
[0015] In one embodiment of the first aspect, if the small moving wheels are universal wheels, the length of the grass collection channel is greater than the moving range of the small moving wheels in the second direction.
[0016] In one embodiment of the first aspect, if the small moving wheels are drive wheels, the space occupied by the motor driving the drive wheels in the second direction is smaller than the length of the grass collection channel.
[0017] In one embodiment of the first aspect, the motor is one of a hub direct drive motor, a hub reduction motor, and a parallel gear reduction motor.
[0018] The second aspect provides a mowing robot system, including:
[0019] The mowing robot as described in the first aspect;
[0020] A charging station for charging the mowing robot.
[0021] In one embodiment of the second aspect, the mowing robot system further includes:
[0022] A boundary line, which is arranged near the boundary of the mowing area to provide a mowing boundary and / or positioning information for the mowing robot;
[0023] Or, an RTK positioning base station, which provides positioning information for the mowing robot.
[0024] In one embodiment of the second aspect, the mowing robot system further includes: a recycling station for recycling the grass in the grass collection frame.
[0025] Compared with the prior art, the beneficial effects of the mowing robot and the mowing robot system provided by the present application are as follows:
[0026] The mowing robot provided in the first aspect of the present application has a grass collection channel connected between the mowing mechanism and the grass collection frame. By arranging the smaller-sized small moving wheels in the action mechanism beside the grass collection channel, the length of the grass collection channel can be shortened as much as possible, thereby improving the grass discharging efficiency of the grass collection channel.
[0027] The lawn mowing robot system provided in the second aspect of the present application adopts the lawn mowing robot provided in the embodiments of the present application, shortens the length of the grass collection channel, improves the problem of easy grass blockage in the grass collection channel, and further improves the lawn mowing operation performance of the lawn mowing robot system. BRIEF DESCRIPTION OF THE DRAWINGS
[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.
[0029] Figure 1 Schematic perspective view of the lawn mowing robot provided in the embodiments of the present application Figure 1 ;
[0030] Figure 2 Schematic perspective view of the lawn mowing robot provided in the embodiments of the present application Figure 2 ;
[0031] Figure 3 is Figure 2 the top view of the lawn mowing robot described above;
[0032] Figure 4 Schematic structural diagram of the grass collection box, grass collection channel and lawn mowing mechanism provided in the embodiments of the present application;
[0033] Figure 5 Position relationship diagram of the small driving wheels in the second embodiment of the present application;
[0034] Figure 6 Position relationship diagram of the small driving wheels in the third embodiment of the present application.
[0035] Among them, the reference numerals in the drawings are as follows:
[0036] 1 - Main body;
[0037] 2 - Lawn mowing mechanism; 21 - Cutter head cover; 22 - Cutter.
[0038] 3 - Grass collection mechanism; 31 - Grass collection channel; 32 - Grass collection box;
[0039] 4 - Driving mechanism; 40 - Small driving wheel; 41 - First driving wheel; 42 - Second driving wheel; 43 - Motor. DETAILED DESCRIPTION OF THE EMBODIMENTS
[0040] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, the following further details this application in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not used to limit this application.
[0041] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.
[0042] It should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to this application.
[0043] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of this application, "a plurality of" means two or more unless otherwise specifically defined.
[0044] Please refer to Figure 1 and Figure 2 simultaneously. Now, the lawn mowing robot provided by the embodiment of this application will be described. The lawn mowing robot includes a main body 1, a lawn mowing mechanism 2, a grass collection mechanism 3 and a traveling mechanism 4. The lawn mowing mechanism 2 is installed on the main body 1 and is used for cutting grass. The grass collection mechanism 3 includes a grass collection channel 31 and a grass collection box 32. One end of the grass collection channel 31 is connected to the lawn mowing mechanism 2, and the other end of the grass collection channel 31 is connected to the grass collection box 32. The grass collection channel 31 guides the grass cut by the lawn mowing mechanism 2 into the grass collection box 32, and the grass collection box 32 collects the grass. The traveling mechanism 4 is installed on the main body 1, and the traveling mechanism 4 is used to drive the lawn mowing robot to be able to walk on the ground. The traveling mechanism 4 includes a first traveling wheel 41 and a second traveling wheel 42 arranged front and rear. Among them, the smaller-sized traveling wheel among the first traveling wheel 41 and the second traveling wheel 42 is the small traveling wheel 40, and the small traveling wheel 40 is located beside the grass collection channel 31.
[0045] It should be added that the small driving wheel 40 being located beside the grass collection channel 31 here means that the small driving wheel 40 can be located on the left or right side of the grass collection channel 31, or the small driving wheel 40 can also be located below the grass collection channel 31.
[0046] The mowing process of the mowing robot according to the embodiment of the present application: The driving mechanism 4 drives the mowing robot to walk on the ground. At the same time, the mowing mechanism 2 cuts the grass, and the grass cut by the mowing mechanism 2 is discharged into the grass collection box 32 through the grass collection channel 31, completing the mowing process.
[0047] It should be noted that the length of the grass collection channel 31 has a significant impact on the grass discharging efficiency: The shorter the length of the grass collection channel 31, the more conducive it is to guiding the grass into the grass collection box 32, while a longer grass collection channel 31 may increase the risk of blockage of the grass discharging channel.
[0048] Therefore, for the mowing robot provided by the embodiment of the present application, since the grass collection channel 31 is connected between the mowing mechanism 2 and the grass collection box 32, by arranging the smaller-sized small driving wheel 40 in the action mechanism 4 beside the grass collection channel 31, the length of the grass collection channel 31 can be shortened as much as possible, thereby achieving the effect of improving the grass discharging efficiency.
[0049] In another embodiment of the present application, if a part of the small driving wheel 40 is located beside the grass collection channel 31, another part of the small driving wheel 40 is located beside the grass collection box 32 or the mowing mechanism 2. Under this structural arrangement, since a part of the small driving wheel 40 can be located beside the grass collection box 32 or the mowing mechanism 2, the set length of the grass collection channel 31 can be further shortened, thereby further improving the grass discharging efficiency and solving the problem of easy grass blockage.
[0050] Specifically, when another part of the small driving wheel 40 is located beside the grass collection box 32, the overall width of the grass collection box 32 is smaller than the distance between the two small driving wheels 40. Since the width of the grass collection box 32 is reasonably controlled, the center of gravity of the mowing robot is more stable during driving, reducing the risk of the mowing robot being prone to shaking or tipping due to center of gravity shift, and improving the safety of operation. When another part of the small driving wheel 40 is located beside the mowing mechanism 2, the width of a part of the mowing mechanism 2 is greater than the distance between the two small driving wheels 40, and the width of another part of the mowing mechanism 2 is smaller than the distance between the two small driving wheels 40. By reasonably arranging the width of the mowing mechanism 2, under the condition that the overall structure of the mowing robot remains unchanged, the space resources are maximally utilized, improving the compactness and practicality of the device.
[0051] In another embodiment of the present application, the size of the small driving wheel 40 beside the grass collecting channel 31 is larger than the size of the small driving wheel 40 beside the grass collecting frame 32 or the mowing mechanism 2. With this structural arrangement, the movement stability of the mowing robot can be improved, and the jolts during mowing can be reduced.
[0052] In another embodiment of the present application, the size of the small driving wheel 40 beside the grass collecting channel 31 is smaller than the size of the small driving wheel 40 beside the grass collecting frame 32 or the mowing mechanism 2. Although the size of the small driving wheel 40 beside the grass collecting channel 31 is reduced, maintaining a larger size beside the grass collecting frame 32 or the mowing mechanism 2 can ensure that the mowing robot has a sufficiently large support area and stability during operation, preventing tipping or shaking caused by center of gravity shift or uneven ground.
[0053] Please refer to Figure 3 , in another embodiment of the present application, the mowing mechanism 2 includes a cutter head cover 21. If the small driving wheel 40 is entirely beside the grass collecting channel 31, the small driving wheel 40 is located between the cutter head cover 21 and the grass collecting frame 32. When the small driving wheel 40 is entirely beside the grass collecting channel 31, setting the small driving wheel 40 between the cutter head cover 21 and the grass collecting frame 32 can shorten the length of the grass collecting channel 31, reduce the blockage of grass during mowing, and improve the mowing efficiency.
[0054] Specifically, the distance between the small driving wheel 40 and one side of the grass collecting channel 31 is greater than half of the distance that the small driving wheel 40 moves in the first direction, which can ensure that the small driving wheel 40 does not interfere with the grass collecting channel 31 during movement.
[0055] Please continue to refer to Figure 3 , in another embodiment of the present application, the outer edge of the first driving wheel 41 or / and the second driving wheel 42 in the first direction does not extend beyond the outer edge of the cutter head cover 21 in the first direction.
[0056] With this setting method, it can be ensured that the area passed by the first driving wheel 41 or / and the second driving wheel 42 is always within the coverage area of the cutter head cover 21, avoiding the first driving wheel 41 or / and the second driving wheel 42 trampling on the uncut area.
[0057] Please continue to refer to Figure 3 , in another embodiment of the present application, the mowing mechanism 2 further includes a cutter 22, the cutter 22 is installed inside the cutter head cover 21, and the outer edge of the first driving wheel 41 or / and the second driving wheel 42 in the first direction does not extend beyond the outer edge of the cutter 22 in the first direction.
[0058] With this setting method, it can be ensured that the area passed by the first driving wheel 41 or / and the second driving wheel 42 is always within the coverage area of the cutter 22, avoiding the first driving wheel 41 or / and the second driving wheel 42 trampling on the uncut area.
[0059] In another embodiment of the present application, if the small moving wheel 40 is a universal wheel, the length of the grass collecting channel 31 is greater than the movement range of the small moving wheel 40 in the second direction.
[0060] It can be understood that in addition to being able to move in the forward or backward direction, the universal wheel also allows 360-degree horizontal rotation. Therefore, the "movement range of the small moving wheel 40 in the second direction" here refers to the distance that the small moving wheel 40 moves in the second direction during the 360-degree horizontal rotation. By controlling the length of the grass collecting channel 31 to be greater than the movement range of the small moving wheel 40 in the second direction, it can be ensured that the universal wheel will not interfere with the structural members of the mowing mechanism 2 or the grass collecting frame 32, ensuring unobstructed movement of the lawn mowing robot. In addition, by using the universal wheel, the lawn mowing robot can adapt to complex terrains and improve the mowing efficiency.
[0061] In another embodiment of the present application, if the small moving wheel 40 is a driving wheel, the space size occupied by the motor 43 driving the driving wheel is smaller than the length of the grass collecting channel 31.
[0062] By controlling the size of the motor 43, not only can the size of the small movement be reduced, but also the space occupied by the motor 43 inside the lawn mowing robot can be reduced, improving the overall structural compactness of the lawn mowing robot.
[0063] Specifically, the motor 43 is arranged directly below the grass collecting channel 31, and this arrangement makes the overall layout of the lawn mowing robot more compact and reasonable.
[0064] In another embodiment of the present application, the motor 43 is one of a hub direct drive motor, a hub reduction motor, and a parallel gear reduction motor.
[0065] A hub direct drive motor is a drive motor that can be directly installed inside the wheel. Using a hub direct drive motor to drive the small moving wheel 40 can improve the space utilization rate of the lawn mowing robot, reduce the overall mass, and improve the mowing efficiency of the lawn mowing robot.
[0066] A hub reduction motor generally refers to an in-rotor hub motor, which reduces the high-speed rotation of the motor through a built-in reduction mechanism to adapt to the rotation speed of the wheel. Using a hub reduction motor to drive the small moving wheel 40 can provide a greater starting torque and a wider speed range.
[0067] The design of a parallel gear reduction motor allows the input shaft and the output shaft to be parallel. This structure is compact. When applied to a lawn mowing robot, it can reduce the occupied space, and the parallel gear reduction motor has the advantages of stable operation and long service life.
[0068] Please refer to Figure 4, in another embodiment of the present application, the grass collection channel 31 is integrally formed with or connected to the cutter head cover 21. In another embodiment of the present application, the grass collection channel 31 is integrally formed with or connected to the grass collection frame 32. In another embodiment of the present application, a part of the grass collection channel 31 is integrally formed with or connected to the cutter head cover 21, and another part of the grass collection channel 31 is integrally formed with or connected to the grass collection frame 32.
[0069] By integrally forming or connecting the grass collection channel 31 with the cutter head cover 21 and / or the grass collection frame 32, not only the structure is simplified, the number of components is reduced, but also the overall operation efficiency and reliability of the mowing robot are improved.
[0070] In another embodiment of the present application, the inner wall of the grass collection channel 31 is provided with a smooth surface.
[0071] By providing a smooth surface on the inner wall of the grass collection channel 31, the frictional resistance when the grass flows in the grass collection channel 31 can be reduced, ensuring the smooth progress of the grass discharging process.
[0072] The smooth layer can specifically form a smooth surface by coating a special coating or by polishing, grinding, and rolling processes. The special coating can be a ceramic coating, a diamond coating, a nano-composite coating, a solid lubricant coating, etc.
[0073] In another embodiment of the present application, a vibration device is provided in the grass collection channel 31.
[0074] By providing a vibration device in the grass collection channel 31, the vibration device can generate slight vibrations in the grass discharging channel, thereby helping to loosen and move the blocked grass and improving the grass discharging efficiency.
[0075] In another embodiment of the present application, a blowing device is provided in the grass collection channel 31.
[0076] By providing a blowing device in the grass discharging channel, the blowing device can generate an air flow in the grass discharging channel, and use the force of the air flow to quickly blow the grass out of the grass discharging channel, thereby improving the grass discharging efficiency.
[0077] In another embodiment of the present application, a vibration device and a blowing device are provided in the grass collection channel 31.
[0078] By simultaneously providing a vibration device and a blowing device in the grass discharging channel, the vibration generated by the vibration device can be superimposed on the air flow generated by the blowing device, achieving the effect of effectively discharging the grass quickly from the grass discharging channel and greatly improving the grass discharging efficiency.
[0079] Embodiment 1:
[0080] Please refer to Figures 1 to 3, an embodiment of the present application provides a lawn mowing robot, which includes a main body 1, a lawn mowing mechanism 2, a grass collection mechanism 3, and a moving mechanism 4. The lawn mowing mechanism 2 is installed on the main body 1 and is used for cutting grass. The lawn mowing mechanism 2 includes a cutter head cover 21 and a cutter 22 accommodated in the cutter head cover 21. The grass collection mechanism 3 includes a grass collection channel 31 and a grass collection box 32. One end of the grass collection channel 31 is connected to the lawn mowing mechanism 2, and the other end of the grass collection channel 31 is connected to the grass collection box 32. The grass collection channel 31 guides the grass cut by the lawn mowing mechanism 2 into the grass collection box 32, and the grass collection box 32 collects the grass. The moving mechanism 4 is installed on the main body 1, and the moving mechanism 4 is used to drive the lawn mowing robot to walk on the ground. The moving mechanism 4 includes a first moving wheel 41 and a second moving wheel 42 arranged front and back. Among them, the second moving wheel 42 with a smaller size among the first moving wheel 41 and the second moving wheel 42 is a small moving wheel 40. The small moving wheel 40 (the second moving wheel 42) is a universal wheel, and the first moving wheel 41 is a driving wheel. All of the small moving wheels 40 are located beside the grass collection channel 31. The small moving wheels 40 are located between the cutter head cover 21 and the grass collection box 32. The outer edges of the first moving wheel 41 and the second moving wheel 42 in the first direction do not exceed the outer edge of the cutter head cover 21 in the first direction.
[0081] Embodiment Two:
[0082] Please refer to Figure 5 , an embodiment of the present application provides a lawn mowing robot, which is different from Embodiment One in that: a part of the small moving wheel 40 is located beside the grass collection channel 31, and another part of the small moving wheel 40 is located beside the grass collection box 32.
[0083] The size of the small moving wheel 40 located beside the grass collection channel 31 is larger than the size of the small moving wheel 40 located beside the grass collection box 32. Specifically, let the size of the small moving wheel 40 located beside the grass collection channel 31 be A1, and let the size of the small moving wheel 40 located beside the grass collection box 32 be B1. A1 is greater than B1.
[0084] The setting method of this embodiment can shorten the setting length of the grass collection channel 31, improve the movement stability of the lawn mowing robot, and improve the lawn mowing performance of the lawn mowing robot.
[0085] Embodiment Three:
[0086] Please refer to Figure 6 , an embodiment of the present application provides a lawn mowing robot, which is different from Embodiment One in that: a part of the small moving wheel 40 is located beside the grass collection channel 31, and another part of the small moving wheel 40 is located beside the lawn mowing mechanism 2.
[0087] The size of the small driving wheel 40 beside the grass collection channel 31 is larger than the size of the small driving wheel 40 beside the mowing mechanism 2. Specifically, let the size of the small driving wheel 40 beside the grass collection channel 31 be A2, and let the size of the small driving wheel 40 beside the mowing mechanism 2 be B2, then A2 is greater than B2.
[0088] The setting method of this embodiment can shorten the setting length of the grass collection channel 31, improve the motion stability of the mowing robot, and enhance the mowing performance of the mowing robot.
[0089] This application also provides a mowing robot system, which includes the mowing robot provided by the embodiment of this application and a charging station for charging the mowing robot.
[0090] The mowing robot system provided by this application adopts the mowing robot provided by the embodiment of this application, shortens the length of the grass collection channel 31, improves the problem of easy grass clogging in the grass collection channel 31, and further enhances the mowing operation performance of the mowing robot system.
[0091] In another embodiment of this application, the mowing robot system further includes a boundary line, which is arranged near the boundary of the mowing area to provide a mowing boundary or / and positioning information for the mowing robot.
[0092] Defining the mowing area of the mowing robot through the boundary line can prevent the mowing robot from crossing the predetermined area during mowing, causing unnecessary damage or danger, and at the same time enable the mowing robot to more efficiently plan the mowing path, avoiding repetition or omission.
[0093] In another embodiment of this application, the mowing robot system further includes an RTK positioning base station, which provides positioning information for the mowing robot.
[0094] By providing positioning information for the mowing robot through the RTK positioning base station, the mowing robot can obtain its own position in real time, ensure the accuracy of the mowing coverage area, and improve the mowing operation efficiency.
[0095] In another embodiment of this application, the mowing robot system further includes a recycling station for recycling the forage in the grass collection box 32.
[0096] By setting up a recycling station to recycle the forage in the grass collection box 32, the workload of manual forage processing is reduced, and the mowing operation efficiency of the mowing robot system is improved.
[0097] The above are only the preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent replacements, and improvements made within the spirit and principle of this application shall be included in the protection scope of this application.
Claims
1. A lawn mowing robot, characterized in that, Comprising: A main body (1); A mowing mechanism (2), which is installed on the main body (1); A grass collection mechanism (3), including a grass collection channel (31) and a grass collection box (32), one end of the grass collection channel (31) is connected to the mowing mechanism (2), and the other end of the grass collection channel (31) is connected to the grass collection box (32); A moving mechanism (4), which is installed on the main body (1), including a first moving wheel (41) and a second moving wheel (42) arranged front and back. Among the first moving wheel (41) and the second moving wheel (42), the moving wheel with a smaller size is a small moving wheel (40), and the small moving wheel (40) is located beside the grass collection channel (31).
2. The lawn mowing robot according to claim 1, wherein, If a part of the small moving wheel (40) is located beside the grass collection channel (31), the other part of the small moving wheel (40) is located beside the grass collection box (32) or the mowing mechanism (2).
3. The lawn mowing robot according to claim 2, characterized in that, The size of the small moving wheel (40) located beside the grass collection channel (31) is larger than the size of the small moving wheel (40) located beside the grass collection box (32) or the mowing mechanism (2).
4. The lawn mowing robot according to claim 1, characterized in that, The mowing mechanism (2) includes a cutter head cover (21). If the small moving wheel (40) is entirely located beside the grass collection channel (31), the small moving wheel (40) is located between the cutter head cover (21) and the grass collection box (32).
5. The lawn mowing robot according to claim 4, characterized in that, The outer edge of the first moving wheel (41) or / and the second moving wheel (42) in the first direction does not exceed the outer edge of the cutter head cover (21) in the first direction.
6. The lawn mowing robot according to claim 1, characterized in that, If the small moving wheel (40) is a universal wheel, the length of the grass collection channel (31) is greater than the activity range of the small moving wheel (40) in the second direction.
7. The lawn mowing robot according to claim 1, wherein If the small moving wheel (40) is a driving wheel, the space size occupied by the motor (43) driving the driving wheel is smaller than the length of the grass collection channel (31).
8. The lawn mowing robot according to claim 7, wherein, The motor (43) is one of a hub direct drive motor, a hub reduction motor, and a parallel gear reduction motor.
9. A lawn mowing robot system, characterized in that, Comprising: The lawn mowing robot according to any one of claims 1 to 8; A charging station, which is used to charge the lawn mowing robot.
10. The lawn mowing robot system according to claim 9, characterized in that, Further comprising: A boundary line, which is arranged near the boundary of the mowing area, and is used to provide a mowing boundary or / and positioning information for the lawn mowing robot; Or, an RTK positioning base station, which provides positioning information for the lawn mowing robot.
11. The lawn mowing robot system according to claim 9 or 10, characterized in that, Further comprising: A recycling station, which is used to recycle the grass in the grass collection box (32).