Mowing robot

Abstract

The utility model relates to a mowing robot, and belongs to the technical field of mowers. The mowing robot comprises a main body, a walking mechanism and a mowing assembly, the walking mechanism comprises two first walking assemblies and two second walking assemblies which are distributed in a trapezoid shape, the first walking assemblies are located at the front end of the main body, the second walking assemblies are located at the rear end of the main body, and the maximum distance between the two first walking assemblies is larger than the width of the mowing assembly; the maximum distance between the two second walking assemblies is smaller than or equal to the width of the mowing assembly, and the mowing assembly is arranged at the bottom of the main body in a liftable mode. According to the mowing robot provided by the utility model, the first walking assembly cannot bend weeds in front of the mowing assembly, and the second walking assembly cannot bend weeds outside a mowing area, so that the situation that the weeds are difficult to recover to a vertical state due to multiple times of rolling in a short time is avoided; the mowing assembly can be ensured to be capable of removing weeds in a to-be-mowed area covered by the mowing assembly when the mowing assembly moves forwards, and the mowing effect is better.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the lawn mower technical field, concretely relates to a lawn mower robot. BACKGROUND

[0002] The lawn mower robot can perform the mowing work manually or automatically according to the built-in program, achieves the purpose of trimming the lawn, and can reduce the labor intensity of people.

[0003] Please refer to the utility model patent with the application number CN200720076205.3 and the invention name "intelligent lawn mower robot structure", the lawn mower robot is usually composed of a main body and a mowing assembly, the main body is provided with a walking assembly, and the mowing assembly is arranged on the main body in a lifting manner.

[0004] Generally, the mowing assembly is located between the walking assemblies at the front and rear ends, and there is a certain distance between the mowing assembly and the ground in the mowing state; during the movement of the lawn mower robot, the walking assembly at the front end of the main body will bend the weeds, so that the weeds are close to the ground; although the weeds have a certain toughness, the weeds are bent and the mowing assembly has passed when the weeds have not recovered to the original state, so that the mowing assembly is difficult to remove the weeds bent by the main body at the front end. UTILITY MODEL CONTENTS

[0005] In view of this, the utility model aims to provide a lawn mower robot, the first walking assembly will not bend the weeds in front of the mowing assembly, and the second walking assembly will not bend the weeds outside the mowed area, so as to avoid the weeds being difficult to recover to the vertical state due to being pressed multiple times in a short time, ensure that the mowing assembly can remove the weeds in the mowed area covered when advancing, and improve the mowing effect.

[0006] The technical scheme of the utility model is as follows:

[0007] The utility model provides a lawn mower robot, including a main body, a walking mechanism and a mowing assembly, the walking mechanism includes two first walking assemblies and two second walking assemblies which are distributed in a trapezoidal shape, the first walking assembly is located at the front end of the main body, and the second walking assembly is located at the rear end of the main body, the maximum distance between the two first walking assemblies is greater than the width of the mowing assembly, the maximum distance between the two second walking assemblies is less than or equal to the width of the mowing assembly, and the mowing assembly is arranged on the bottom of the main body in a lifting manner.

[0008] As an optional scheme, the two first walking assemblies and the two second walking assemblies are distributed in an isosceles trapezoidal shape.

[0009] As an option, the first walking assembly comprises first walking wheels, and the maximum distance between the inner sides of the two first walking wheels is greater than the width of the mowing assembly.

[0010] As an option, the second walking assembly comprises second walking wheels, and the maximum distance between the outer sides of the two second walking wheels is less than the width of the mowing assembly.

[0011] As an option, the two first walking wheels and the two second walking wheels are distributed in a trapezoidal shape.

[0012] As an option, the first walking assembly comprises a rotating frame, first walking wheels, and a damping assembly, the rotating frame is rotatably arranged on the main body and is driven by a steering engine, the first walking wheels and the rotating frame are connected by a first parallel four-bar linkage mechanism, the damping assembly is connected with the rotating frame and the first parallel four-bar linkage mechanism respectively, and the first walking wheels are driven by a first walking motor.

[0013] As an option, the second walking assembly comprises second walking wheels and a damping assembly, the second walking wheels and the main body are connected by a second parallel four-bar linkage mechanism, the damping assembly is connected with the main body and the second parallel four-bar linkage mechanism respectively, and the second walking wheels are driven by a second walking motor.

[0014] As an option, the damping assembly comprises a damping telescopic arm and a damping spring, the damping spring is sleeved on the damping telescopic arm and connected with both ends of the damping telescopic arm respectively.

[0015] As an option, the mowing assembly comprises a mowing frame, a lifting arm, and a mowing disc, the mowing frame is arranged on the main body in a lifting manner through a third parallel four-bar linkage mechanism, the lifting arm is telescopic and hinged at both ends with the main body and the mowing frame respectively, and the mowing disc is rotatably arranged on the mowing frame and is driven by a mowing motor.

[0016] As an option, the bottom of the mowing frame is provided with a shielding plate on both sides, and the mowing disc is higher than the bottom end of the shielding plate.

[0017] As an option, the number of mowing motors is two, the two mowing motors are arranged on the mowing frame and located on both sides of the main body, and the mowing motor and the mowing disc are detachably connected.

[0018] As an option, the main body is provided with a battery compartment, the top of the battery compartment is provided with a compartment cover, and the battery compartment contains a power battery.

[0019] As an option, the main body is provided with a display screen.

[0020] The mower robot has the advantages that the first walking assembly and the second walking assembly can drive the main body to walk, the mowing assembly can be lifted, so that the mower robot is in different states, and the weeds in the specified area can be mowed, the first walking assembly cannot bend the weeds in front of the mowing assembly, the second walking assembly cannot bend the weeds outside the mowed area, the weeds are difficult to restore to the vertical state due to being pressed multiple times in a short time, the mowing assembly can remove the weeds in the mowed area covered when advancing, and the mowing effect is better.

[0021] The mower robot has the advantages that the first walking assembly and the second walking assembly can drive the main body to walk, the mowing assembly can be lifted, so that the mower robot is in different states, and the weeds in the specified area can be mowed, the first walking assembly cannot bend the weeds in front of the mowing assembly, the second walking assembly cannot bend the weeds outside the mowed area, the weeds are difficult to restore to the vertical state due to being pressed multiple times in a short time, the mowing assembly can remove the weeds in the mowed area covered when advancing, and the mowing effect is better. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor. Through the drawings shown, the above and other purposes, features and advantages of the present application will be more clear. In all the drawings, the same reference signs indicate the same parts. The drawings are not necessarily drawn in proportion to the actual size, and the emphasis is on showing the main idea of the present application.

[0023] Figure 1 The structure of the mower robot provided by the embodiment of the present application Figure One ; The structure of the mower robot provided by the embodiment of the present application

[0024] Figure 2 The structure of the mower robot provided by the embodiment of the present application Figure Two ; The structure of the mower robot provided by the embodiment of the present application

[0025] Figure 3 The structure of the mower robot provided by the embodiment of the present application Figure Three ; The structure of the mower robot provided by the embodiment of the present application

[0026] Figure 4 The structure of the mower robot provided by the embodiment of the present application Figure Four ; The structure of the mower robot provided by the embodiment of the present application

[0027] Figure 5 The structure of the mower robot provided by the embodiment of the present application Figure Five ; The structure of the mower robot provided by the embodiment of the present application

[0028] Figure 6 The structure of the first walking assembly of the mower robot provided by the embodiment of the present application Figure One ; The structure of the first walking assembly of the mower robot provided by the embodiment of the present application

[0029] Figure 7Schematic diagram of the structure of the first walking component of the lawnmower robot provided in this embodiment of the utility model Figure Two ;

[0030] Figure 8 Schematic diagram of the structure of the second walking component of the lawnmower robot provided in this embodiment of the utility model Figure One ;

[0031] Figure 9 Schematic diagram of the structure of the second walking component of the lawnmower robot provided in this embodiment of the utility model Figure Two ;

[0032] Figure 10 Schematic diagram of the structure of the lawnmowing robot's mowing component provided in this embodiment of the utility model Figure One ;

[0033] Figure 11 Schematic diagram of the structure of the lawnmowing robot's mowing component provided in this embodiment of the utility model Figure Two ;

[0034] Figure 12 Schematic diagram of the structure of the lawnmowing robot's mowing component provided in this embodiment of the utility model Figure Three .

[0035] Icons: 10-Lawn mowing robot; 11-Main body; 12-First walking assembly; 13-Second walking assembly; 14-Mowing assembly; 110-Display screen; 120-Rotating frame; 121-First walking wheel; 122-First shock absorption assembly; 123-Servo motor; 124-First parallel four-bar linkage; 130-Second walking wheel; 131-Second shock absorption assembly; 132-Second parallel four-bar linkage; 140-Mowing frame; 141-Lifting arm; 142-Mowing disc; 143-Third parallel four-bar linkage; 144-Mowing motor; 145-Blinding plate. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0037] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the application. Based upon these embodiments of the application, all other embodiments obtained by persons of ordinary skill in the art without creative work are within the scope of the application.

[0038] It should be noted that similar reference numbers and letters refer to similar items in the following drawings, and therefore, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings.

[0039] In addition, the terms "first", "second" and the like are used only to distinguish descriptions, and cannot be understood as indicating or implying relative importance.

[0040] Please refer to Figures 1-5 The embodiment of the present application provides a mowing robot 10, which can be used for mowing grass on a lawn.

[0041] The mowing robot 10 mainly comprises a main body 11, a walking mechanism and a mowing assembly 14, the walking mechanism and the mowing assembly 14 are arranged on the main body 11, and the structures of the mowing robot 10 will be discussed in detail.

[0042] The shape and structure of the main body 11 are not limited, and can refer to the prior art, for example, a frame structure, which mainly plays the functions of mounting parts, support, connection and the like, and the main body 11 can accommodate a battery, a control system, a camera and various conventional structures of robots.

[0043] For example, the mowing robot 10 comprises a power battery, and the mounting mode of the power battery is not limited, for example, a battery compartment is arranged on the main body 11, a compartment cover is arranged above the battery compartment, the power battery is placed in the battery compartment, a power switch and an indicator light or an indicator panel for displaying the power are arranged on the main body 11.

[0044] In addition, in the embodiment, a display screen 110 is arranged above the main body 11, the display screen 110 can adopt a touch mode, and a user can check the work of the mowing robot 10 or control the work of the mowing robot 10 through the display screen 110. Of course, in other embodiments, the display screen 110 adopts a non-touch mode, or the display screen 110 is not arranged.

[0045] The walking mechanism is mainly used to drive the main body 11 and the mowing assembly 14 to move forward, and includes four walking assemblies, i.e., two first walking assemblies 12 and two second walking assemblies 13. The first walking assemblies 12 are located at the front end of the main body 11, and the second walking assemblies 13 are located at the rear end of the main body 11. The first walking assemblies 12 include first walking wheels 121 (see Figure 6 、 Figure 7 for details), and the second walking assemblies 13 include second walking wheels 130 (see Figure 8 、 Figure 9 for details).

[0046] As shown in Figure 5 , the two first walking assemblies 12 and the two second walking assemblies 13 are arranged in a trapezoidal shape, i.e., the two first walking wheels 121 and the two second walking wheels 130 are arranged in a trapezoidal shape. In other words, the distance between the two first walking wheels 121 is greater than the distance between the two second walking wheels 130. It should be noted that the "trapezoidal shape" mentioned in the present embodiment refers to the state when the mowing robot 10 moves forward, i.e., the state when the rotation shafts of the first walking wheels 121 and the second walking wheels 130 extend in the left-right direction and are parallel to each other.

[0047] In order to make the structure of the walking mechanism more stable and convenient to control, in the present embodiment, the two first walking assemblies 12 and the two second walking assemblies 13 are arranged in an isosceles trapezoidal shape. Of course, in other embodiments, the two first walking assemblies 12 and the two second walking assemblies 13 can be arranged in a right trapezoidal shape or other non-isosceles trapezoidal shape.

[0048] In addition, the maximum distance between the two first walking assemblies 12 is greater than the width of the mowing assembly 14, and the maximum distance between the two second walking assemblies 13 is less than or equal to the width of the mowing assembly 14, i.e., the maximum distance between the two first walking wheels 121 is greater than the width of the mowing assembly 14, and the maximum distance between the two second walking wheels 130 is less than the width of the mowing assembly 14. The "maximum distance between the two first walking assemblies 12" mentioned in the present embodiment refers to the distance between the two first walking wheels 121 when the mowing robot 10 moves forward, and the "maximum distance between the two second walking assemblies 13" mentioned in the present embodiment refers to the distance between the two second walking wheels 130 when the mowing robot 10 moves forward.

[0049] Preferably, in the embodiment, the maximum distance between the inner sides of the two first walking wheels 121 is greater than the width of the mowing assembly 14, and the maximum distance between the outer sides of the two second walking wheels 130 is greater than the width of the mowing assembly 14. In this way, when the mowing robot 10 moves forward in the straight ahead direction, the mowing assembly 14 can only mow the lawn between the two first walking wheels 121, and the first walking wheels 121 will not crush the weeds in the area to be mowed; the two second walking wheels 130 can only walk in the area where the weeds have been mowed, and will not crush the weeds in the area that has not been mowed.

[0050] Since the weeds will have a certain toughness, after being bent by the crushing, the weeds will gradually recover to the vertical state over time, even if the first walking wheels 121 bend the weeds outside the area to be mowed, when the mowing robot 10 returns, the part of the weeds will basically recover, and will not affect the subsequent mowing operation. Of course, the speed of the mowing robot 10 is usually fast, if the time of bending by the first walking wheels 121 is too short, it will cause the weeds not to recover to the vertical state, which will make it difficult for the mowing assembly 14 to mow the bent weeds.

[0051] The connection between the first walking wheels 121 and the second walking wheels 130 and the main body 11 is not limited, and can be directly connected or indirectly connected.

[0052] In the embodiment, please refer to Figure 6 , Figure 7 , the first walking assembly 12 further comprises a rotating frame 120, a first parallel four-bar linkage mechanism 124 and a first damping assembly 122, and the first walking wheels 121 are rotatably arranged on the main body 11 through the rotating frame 120 and the first parallel four-bar linkage mechanism 124.

[0053] The structure of the rotating frame 120 is not limited, and can be a plate structure, a block structure, etc. The rotating frame 120 is rotatably arranged on the main body 11, and the rotating frame 120 is driven to rotate by the steering engine 123. The rotation center line of the rotating frame 120 relative to the main body 11 extends vertically, and when the steering engine 123 rotates, the rotating frame 120 can be driven to rotate around its rotation axis in the horizontal plane to change the advancing direction of the first walking wheels 121.

[0054] The first walking wheel 121 is connected with the rotating frame 120 through a first parallel four-bar linkage mechanism 124. The first parallel four-bar linkage mechanism mainly comprises a mounting frame and two connecting members. The connecting members can be in the shape of a rod, a plate or a frame structure, etc. The two connecting members are parallel to each other. The two ends of each connecting member are hingedly connected with the rotating frame 120 and the mounting frame respectively. The first walking wheel 121 is rotatably supported on the mounting frame. The rotation center line of the first walking wheel 121 extends along the left-right direction of the mowing robot 10. Of course, the "rotation center line of the first walking wheel 121 extending along the left-right direction of the mowing robot 10" refers to the orientation when the mowing robot 10 moves towards the front direction. When the rotating frame 120 rotates by a certain angle, the rotation center line of the first walking wheel 121 extends along the left-right direction of the mowing robot 10, or the rotation center line of the first walking wheel 121 is arranged at an angle with the left-right direction of the mowing robot 10.

[0055] The first walking wheel 121 is driven by a first walking motor (not shown in the figure). The first walking motor can be a direct current motor, an asynchronous motor, a synchronous motor, etc. The first walking motor can be driven by the power battery on the main body 11.

[0056] The transmission connection mode of the first walking wheel 121 and the first walking motor is not limited. The first walking wheel 121 and the first walking motor can be directly transmission connected, i.e. the first walking motor is fixedly connected with the mounting frame, and the output shaft of the first walking motor is coaxially fixed with the rotating shaft of the first walking wheel 121. Alternatively, the first walking wheel 121 and the first walking motor can also be indirectly transmission connected through other transmission structures, for example, the first walking motor is fixed on the rotating frame 120 or the main body 11, and the first walking motor and the first walking wheel 121 are transmission connected through a universal joint coupling.

[0057] The first damping assembly 122 is used for buffering the first walking assembly 12. The structure of the first damping assembly 122 is not limited and can refer to the prior art. The first damping assembly 122 is connected with the rotating frame 120 and the first parallel four-bar linkage respectively. In this embodiment, the first damping assembly 122 can adopt but is not limited to the following schemes: the first damping assembly 122 comprises a first damping telescopic arm and a first damping spring. The two ends of the first damping telescopic arm are hingedly connected with the rotating frame 120 and the first parallel four-bar linkage mechanism 124 respectively. The first damping spring is sleeved on the first damping telescopic arm and connected with the two ends of the first damping telescopic arm respectively.

[0058] In this embodiment, please refer to the figures shown in Figure 8 , Figure 9 The second walking assembly 13 further comprises a second parallel four-bar linkage mechanism 132 and a second damping assembly 131. The second walking wheel 130 is rotatably arranged on the main body 11 through the second parallel four-bar linkage mechanism 132.

[0059] The second parallel four-bar linkage mainly comprises a mounting frame and two connecting members, which can be rod-shaped, plate-shaped or frame structure, etc. The two connecting members are parallel to each other, and the two ends of each connecting member are hingedly connected to the rotating frame 120 and the mounting frame respectively. The second walking wheel 130 is rotatably supported on the mounting frame, and the rotation center line of the second walking wheel 130 always extends along the left-right direction of the lawn mowing robot 10. Of course, in other embodiments, the second walking assembly 13 can also be rotatably connected between the main body 11, and the connection structure between the rotating structure can refer to the connection relationship between the first walking assembly 12 and the main body 11.

[0060] The second walking wheel 130 is driven by a second walking motor (not shown in the figure). The second walking motor can be a direct current motor, an asynchronous motor, a synchronous motor, etc. The second walking motor can be driven by a power battery on the main body 11.

[0061] It should be noted that the lawn mowing robot 10 can also contain only one of the first walking motor and the second walking motor, i.e., the lawn mowing robot 10 contains only two first walking motors or only two second walking motors. If the lawn mowing robot 10 contains only two first walking motors, the lawn mowing robot 10 is a front drive structure; if the lawn mowing robot 10 contains only two second walking motors, the lawn mowing robot 10 is a rear drive structure; if the lawn mowing robot 10 contains two first walking motors and two second walking motors, the lawn mowing robot 10 is a four-wheel drive structure.

[0062] The transmission connection mode of the second walking wheel 130 and the second walking motor is not limited. The second walking wheel 130 and the second walking motor can be directly transmission connected, i.e., the second walking motor is fixedly connected with the mounting frame, and the output shaft of the second walking motor is coaxially fixed with the rotating shaft of the second walking wheel 130. Alternatively, the second walking wheel 130 and the second walking motor can also be indirectly transmission connected through other transmission structures, for example, the second walking motor is fixed on the main body 11, and the second walking motor and the second walking wheel 130 are transmission connected through a universal joint coupling.

[0063] The second damping assembly 131 is used for buffering the second walking assembly 13, and the structure of the second damping assembly 131 is not limited and can refer to the prior art. The second damping assembly 131 is connected with the main body 11 and the second parallel four-bar linkage respectively. In this embodiment, the second damping assembly 131 can adopt but is not limited to the following schemes: the second damping assembly 131 comprises a second damping telescopic arm and a second damping spring. The two ends of the second damping telescopic arm are hingedly connected to the main body 11 and the second parallel four-bar linkage 132 respectively, and the second damping spring is sleeved on the second damping telescopic arm and connected to the two ends of the second damping telescopic arm.

[0064] When the walking mechanism drives the main body 11 to walk on the lawn, the mowing assembly 14 can mow weeds. Specifically, the mowing assembly 14 is arranged on the bottom of the main body 11 in a liftable manner. The mowing assembly 14 can be lifted or lowered. With the lifting or lowering of the mowing assembly 14, the lawn mower robot 10 can meet the mowing requirements of different heights. Of course, the mowing assembly 14 can also be lifted to a specified height without working.

[0065] The structure of the mowing assembly 14 and the connection mode between the mowing assembly 14 and the main body 11 are not limited and can refer to the prior art. In the embodiment, the mowing assembly 14 can adopt, but is not limited to, the following schemes: Figures 10-12 As shown in FIG. 1, the mowing assembly 14 includes a mowing frame 140, a lifting arm 141, and a mowing disc 142.

[0066] The shape and structure of the mowing frame 140 are not limited and can be a plate structure, a block structure, a frame structure, etc. In the embodiment, the mowing frame 140 adopts a plate structure. The bottom of the mowing frame 140 is provided with two shielding plates 145. The mowing disc 142 is located between the two shielding plates 145. The mowing disc 142 is higher than the bottom end of the shielding plate 145. The shielding plate 145 can prevent the cut weeds from splashing outward. Of course, in other embodiments, the shielding plate 145 can also not be provided.

[0067] The mowing frame 140 is arranged on the main body 11 through a third parallel four-bar linkage mechanism 143. The mowing frame 140 can be lifted or lowered, that is, the distance between the mowing frame 140 and the ground can be changed. The number of the third parallel four-bar linkage mechanism 143 is not limited and can be one or two. In the embodiment, the number of the third parallel four-bar linkage mechanism 143 is two. The two third parallel four-bar linkage mechanisms 143 are arranged side by side. The third parallel four-bar linkage mechanism 143 includes two lifting rods. The two lifting rods are arranged side by side. The upper and lower ends of each lifting rod are hingedly connected with the main body 11 and the mowing frame 140, respectively. The main body 11, the mowing frame 140, and the two lifting rods jointly constitute the third parallel four-bar linkage mechanism 143.

[0068] The lifting mode of the mowing frame 140 is not limited. For example, a motor is arranged on the main body 11. The motor is used to drive the lifting rod to rotate relative to the main body 11. When any one of the lifting rods rotates relative to the main body 11, the mowing frame 140 can be lifted or lowered through the third parallel four-bar linkage mechanism 143. In the embodiment, the following scheme can also be adopted: The lifting arm 141 is telescopic and can be selected from a telescopic pneumatic cylinder, a telescopic hydraulic cylinder, etc. The two ends of the lifting arm 141 are hingedly connected with the main body 11 and the mowing frame 140, respectively. When the lifting arm 141 is extended, the mowing frame 140 can be pushed to descend. When the lifting arm 141 is shortened, the mowing frame 140 can be pulled to ascend.

[0069] The mowing disc 142 is rotatably arranged on the mowing frame 140, and the mowing disc 142 is driven by the mowing motor 144. Specifically, the mowing motor 144 is fixed on the mowing frame 140, and the output shaft of the mowing motor 144 is in transmission connection with the mowing disc 142, which can be directly or indirectly connected. In this embodiment, the output shaft of the mowing motor 144 is detachably connected with the mowing disc 142.

[0070] The mowing motor 144 is not limited in type, which can be a direct current motor, an asynchronous motor, a synchronous motor, etc. The mowing motor 144 can be driven by the power battery on the main body 11.

[0071] In addition, the number of the mowing motor 144 and the mowing disc 142 is not limited, which can be one, two, three, etc. In this embodiment, the number of the mowing motor 144 and the mowing disc 142 is two, and the two mowing motors 144 are arranged on the mowing frame 140 and located on both sides of the main body 11.

[0072] The mowing disc 142 is not limited in type, which can refer to the prior art. For example, the mowing disc 142 is provided with a blade, a saw blade, a mowing rope, etc. Different types of mowing discs 142 can be replaced according to actual needs, so as to remove different weeds.

[0073] The working method of the mowing robot 10 provided in this embodiment is as follows:

[0074] The user starts the mowing robot 10, which can be a key start, a start through a remote controller, a start through an APP, etc.

[0075] The first walking motor and / or the second walking motor works to drive the first walking assembly 12 and the second walking assembly 13 to work, so that the mowing robot 10 moves forward.

[0076] After the mowing robot 10 reaches the specified position, the lifting arm 141 is elongated, so that the mowing assembly 14 falls to the specified height.

[0077] The mowing motor 144 works to drive the mowing disc 142 to rotate at high speed, and the blade on the mowing disc 142 can cut off the weeds.

[0078] The mowing robot 10 walks and mows at the same time. In this process, the first walking wheel 121 is close to the outside, and the area between the two first walking wheels 121 is a to-be-mowed area. The first walking wheel 121 will not bend the weeds in the to-be-mowed area, and the mowing assembly 14 can remove the weeds in the to-be-mowed area to form a mowed area. The second walking wheel 130 is close to the inside, and the second walking wheel 130 will only walk in the mowed area and will not bend the weeds in the mowed area.

[0079] When the mowing robot 10 returns to work, the weeds bent by the first walking wheel 121 are mowed, and the weeds bent before are basically in a vertical state after a short or long time of recovery, which does not affect the normal mowing of the mowing disc 142;

[0080] When the mowing robot 10 needs to turn, the steering wheel 123 works to make the first walking assembly 12 turn, and then drive the whole mowing robot 10 to turn.

[0081] The above steps are not absolute sequences, and the sequences can be increased, modified, adjusted, etc. according to needs, for example, if the lifting mode of the mowing assembly 14 adopts other structures, the corresponding steps can be adjusted.

[0082] The above only describes preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can be variously changed and modified. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A mowing robot, characterized in that, The lawn mower comprises a main body, a walking mechanism and a mowing assembly; the walking mechanism comprises two first walking assemblies and two second walking assemblies arranged in a trapezoidal shape, the first walking assemblies are arranged at the front end of the main body, the second walking assemblies are arranged at the rear end of the main body, the maximum distance between the two first walking assemblies is greater than the width of the mowing assembly, the maximum distance between the two second walking assemblies is less than or equal to the width of the mowing assembly, and the mowing assembly is arranged on the bottom of the main body in a lifting manner.

2. The mowing robot of claim 1, wherein, The two first walking assemblies and the two second walking assemblies are arranged in an isosceles trapezoidal shape.

3. The mowing robot of claim 1, wherein, The first walking assembly comprises a rotating frame, a first walking wheel and a damping assembly, the rotating frame is arranged on the main body in a rotating manner and is driven by a rudder machine, the first walking wheel and the rotating frame are connected through a first parallel four-bar linkage mechanism, the damping assembly is connected with the rotating frame and the first parallel four-bar linkage mechanism respectively, and the first walking wheel is driven by a first walking motor.

4. The mowing robot of claim 1, wherein, The second walking assembly comprises a second walking wheel and a damping assembly, the second walking wheel and the main body are connected through a second parallel four-bar linkage mechanism, the damping assembly is connected with the main body and the second parallel four-bar linkage mechanism respectively, and the second walking wheel is driven by a second walking motor.

5. The mowing robot according to claim 3 or 4, characterized in that, The damping assembly comprises a damping telescopic arm and a damping spring, the damping spring is sleeved on the damping telescopic arm and connected with both ends of the damping telescopic arm respectively.

6. The mowing robot of claim 1, wherein, The mowing assembly comprises a mowing frame, a lifting arm and a mowing disc, the mowing frame is arranged on the main body in a lifting manner through a third parallel four-bar linkage mechanism, the lifting arm is telescopic and hinged with both ends of the main body and the mowing frame respectively, and the mowing disc is arranged on the mowing frame in a rotating manner and driven by a mowing motor.

7. The mowing robot of claim 6, wherein, The bottom of the mowing frame is provided with a shielding plate on both sides, and the mowing disc is higher than the bottom end of the shielding plate.

8. The mowing robot of claim 6, wherein, The number of the mowing motors is two, the two mowing motors are arranged on the mowing frame and located on both sides of the main body, and the mowing motor and the mowing disc are detachably connected.

9. The mowing robot of claim 1, wherein, The main body is provided with a battery compartment, the top of the battery compartment is provided with a compartment cover, and the battery compartment contains a power battery.

10. The mowing robot of claim 1, wherein, The main body is provided with a display screen.

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