Cutter head lifting mechanism and self-moving equipment

Abstract

The utility model relates to the technical field of self-moving equipment, and particularly discloses a cutterhead lifting mechanism and self-moving equipment, the cutterhead lifting mechanism comprises a base, a support, a sliding seat, a driving assembly and a cutterhead assembly, the support is arranged on the base in a penetrating mode and slides in the first direction, the sliding seat is arranged on the base and slides in the second direction, and the driving assembly drives the cutterhead assembly to rotate; the second direction is perpendicular to the first direction, one of the support and the sliding seat is provided with an inclined sliding groove, the other one of the support and the sliding seat is provided with a lug, the lug is arranged in the inclined sliding groove in a matched mode, the driving assembly is arranged on the base and connected with the sliding seat, and the driving assembly is configured to drive the sliding seat to reciprocate in the second direction. The cutterhead assembly is connected with the support and moves synchronously with the support. According to the cutterhead lifting mechanism, the height of the cutterhead assembly can be adjusted, so that the limitation of self-moving equipment in the aspect of weeding height adjustment is made up, and the application scene of the self-moving equipment is expanded.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of self-moving devices, in particular to a cutter head lifting mechanism and a self-moving device. BACKGROUND

[0002] With the rapid development of intelligent technology and the significant improvement of people's living standards, traditional lawn mowers have gradually evolved into intelligent lawn mowing robots with automatic mowing, automatic charging and automatic cleaning functions. Such intelligent lawn mowing robots can autonomously complete the mowing task within the specified area according to the user's preset working range, significantly improving the mowing efficiency and greatly saving the labor cost. However, the existing lawn mowing robots have obvious deficiencies in mowing height adjustment, which are difficult to meet the diversified grassland mowing needs, which to some extent limits the expansion of their application scenarios. CONTENT OF THE UTILITY MODEL

[0003] In view of the above, it is necessary to provide a cutter head lifting mechanism and a self-moving device to adjust the height of the cutter head assembly, make up for the limitations of the self-moving device in mowing height adjustment, and expand the application scenarios of the self-moving device.

[0004] The embodiment of the present application provides a cutter head lifting mechanism, which comprises a base, a support, a sliding seat, a driving assembly and a cutter head assembly.

[0005] The support is arranged in the base and slides along a first direction, the sliding seat is arranged in the base and slides along a second direction, one of the support and the sliding seat is provided with an inclined sliding groove, the other of the support and the sliding seat is provided with a lug, the lug is arranged in the inclined sliding groove, and the sliding seat slides along the second direction to drive the support to slide along the first direction through the coordinated cooperation of the inclined sliding groove and the lug.

[0006] The driving assembly is arranged in the base and connected with the sliding seat, and the driving assembly is configured to drive the sliding seat to reciprocate along the second direction.

[0007] The cutter head assembly is connected with the support and moves synchronously with the support.

[0008] In the aforementioned blade lifting mechanism, when it is necessary to adjust the height of the blade assembly along the first direction, the drive component drives the sliding seat to slide along the second direction. The sliding seat slides along the second direction to drive the bracket to slide along the first direction through the coordinated cooperation of the inclined slide groove and the lug. The bracket drives the blade assembly to move along the first direction, thereby adjusting the height of the blade assembly along the first direction. The blade assembly of this embodiment achieves the effect of adjusting the height of the blade assembly through the coordinated cooperation of the base, bracket, sliding seat, and drive component, making up for the limitations of self-moving equipment in weeding height adjustment and expanding the application scenarios of self-moving equipment.

[0009] In some embodiments, the base includes a base plate, a first guide member, and a second guide member. The bracket passes through the base plate and slides along the first direction. The sliding seat is disposed on the base plate and slides along the second direction. The driving assembly is disposed on the base plate. The first guide member and the second guide member are spaced apart on the base plate along the second direction. The first guide member and the second guide member are respectively located on both sides of the bracket. At least one of the first guide member and the second guide member has a guide portion or a guide groove on the side facing the bracket. The guide portion and the guide groove are adapted to each other. The bracket is provided with a corresponding guide groove or guide portion. Both the guide portion and the guide groove extend along the first direction.

[0010] The aforementioned cutter head lifting mechanism, by setting the first guide member, the second guide member, the guide part and the guide groove, limits the movement direction of the bracket, ensuring that the bracket and the cutter head assembly can only move up and down along the first direction.

[0011] In some embodiments, the slide seat is configured to have a threaded hole, the drive assembly includes a drive member and a lead screw, the drive member is disposed on the base, the lead screw rotatably passes through the threaded hole of the slide seat, and the lead screw is connected to the drive member.

[0012] The aforementioned cutter head lifting mechanism achieves the effect of driving the sliding seat to reciprocate in the second direction by defining the specific structure of the drive component and setting threaded holes on the sliding seat. The drive component has a simple structure. When the lead screw rotates, the sliding seat moves, and the height of the bracket and the cutter head assembly is adjustable. When the lead screw does not rotate, the sliding seat cannot move, thereby fixing the height of the bracket and the cutter head assembly and ensuring the stability of the cutter head lifting mechanism.

[0013] In some embodiments, the cutter head lifting mechanism further includes a rotating ring, which is rotatably disposed within the inclined slide groove and sleeved on the outside of the lug.

[0014] The cutter head lifting mechanism, by setting the rotating ring, the rotating ring is rotatably arranged in the inclined sliding groove, the rotating ring is subjected to small resistance in the inclined sliding groove, so that the lug moves more smoothly in the inclined sliding groove.

[0015] In some embodiments, the cutter head lifting mechanism further comprises a blocking assembly, the blocking assembly comprises a first blocking piece, a second blocking piece and a third blocking piece, the first blocking piece and the second blocking piece are arranged in the second direction and are spaced apart from each other on the sliding seat, and the third blocking piece is arranged on the base and between the first blocking piece and the second blocking piece, and the projection of the third blocking piece in the second direction overlaps with the projections of the first blocking piece and the second blocking piece.

[0016] The cutter head lifting mechanism, by setting the blocking assembly and the specific structure of the blocking assembly, the first blocking piece and the second blocking piece block the third blocking piece respectively, prevent the sliding seat from continuing to slide, thereby limiting the sliding distance of the sliding seat, and ensuring the safety of the cutter head lifting mechanism.

[0017] In some embodiments, the cutter head lifting mechanism further comprises a sensing assembly, the sensing assembly comprises a first sensing piece, a second sensing piece and a sensor, the first sensing piece and the second sensing piece are arranged in the second direction and are spaced apart from each other on the sliding seat, and the sensor is arranged on the third blocking piece, and the projection of the sensor in the second direction does not overlap with the projections of the first sensing piece and the second sensing piece.

[0018] The cutter head lifting mechanism, by limiting the sensing assembly and the specific structure of the sensing assembly, when the sensor senses the first sensing piece or the second sensing piece, the sensor is linked with the driving assembly to stop driving the sliding seat to move, ensuring that the support and the cutter head assembly are lifted to the highest position or lowered to the lowest position, and improving the height adjustment accuracy of the cutter head lifting mechanism. In addition, when the sensor fails, and the cutter head assembly is lifted to the highest position or lowered to the lowest position, the first blocking piece and the second blocking piece can further block the third blocking piece to limit the sliding distance of the sliding seat, avoid the driving assembly from being blocked to cause failure, and ensure the stability of the cutter head lifting mechanism.

[0019] In some embodiments, the cutter head lifting mechanism further comprises a sliding rail and a rolling piece, the sliding rail is arranged on the base, the rolling piece is arranged on the sliding rail in a rolling manner, and the rolling piece is arranged on the sliding seat.

[0020] The cutter head lifting mechanism, by setting the sliding rail and the rolling piece, the sliding seat is arranged on the base in a sliding manner through the sliding rail and the rolling piece, the sliding seat is subjected to small friction, and the sliding seat can slide smoothly; in addition, the sliding rail also has a guiding effect, ensuring that the sliding seat can only move back and forth along the sliding rail.

[0021] In some embodiments, the sliding seat has a clearance groove on the side opposite to the drive assembly, the bracket is disposed in the clearance groove, the two opposite groove walls of the clearance groove have the oblique sliding groove or the lug, and the bracket has the lug or the oblique sliding groove on the opposite sides.

[0022] The aforementioned cutter head lifting mechanism, by opening the aforementioned clearance groove, allows the support and the sliding seat to be connected through two sets of inclined sliding grooves and lugs, ensuring the stability of the connection between the support and the sliding seat.

[0023] In some embodiments, the bracket is provided with a receiving groove, the cutter head assembly includes a power component, a cutter head holder and blades, the power component has a power shaft, the power component is disposed in the receiving groove, and the power shaft rotatably passes through the bottom of the receiving groove, the cutter head holder is connected to the power shaft, and the number of blades is multiple, with the multiple blades spaced apart on the cutter head holder.

[0024] The aforementioned cutter head lifting mechanism reduces the thickness of the cutter head lifting mechanism along the first direction by setting the power component in the receiving groove of the bracket, which in turn helps to reduce the thickness of the self-moving device along the first direction and facilitates the thinner and lighter design of the self-moving device.

[0025] This application also provides a self-moving device, including the cutter head lifting mechanism as described in any of the above technical solutions.

[0026] In this embodiment of the self-moving device, when the height of the cutter head assembly along the first direction needs to be adjusted, the drive component can drive the sliding seat to move along the second direction. The sliding seat, through the coordinated action of the inclined groove and the lug, drives the bracket to move along the first direction, thereby causing the bracket to drive the cutter head assembly to move along the first direction, achieving precise adjustment of the cutter head assembly height. Through the coordinated action of the base, bracket, sliding seat, and drive component of the cutter head lifting mechanism, the self-moving device of this embodiment can effectively adjust the height of the cutter head assembly, overcoming the shortcomings of existing self-moving devices in weeding height adjustment and significantly expanding its application scenarios. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the cutter head lifting mechanism provided in the embodiments of this application.

[0028] Figure 2 yes Figure 1 The diagram shows the state of the cutter head assembly in the highest position of the cutter head lifting mechanism.

[0029] Figure 3 yes Figure 2 The diagram shows the state of the cutter head assembly in the middle position of the cutter head lifting mechanism.

[0030] Figure 4 is Figure 3 is a schematic view of a cutter head assembly in the lowest position of the cutter head lifting mechanism shown in FIG. 1.

[0031] Figure 5 is Figure 1 is a sectional view along V-V of the cutter head lifting mechanism shown in FIG. 1.

[0032] Figure 6 is Figure 1 is a schematic view of the base, sliding seat, driving assembly and other structures in the cutter head lifting mechanism shown in FIG. 1.

[0033] Figure 7 is Figure 1 is a schematic view of the bracket, cutter head assembly and rotating ring in the cutter head lifting mechanism shown in FIG. 1.

[0034] Main element symbol explanation: cutter head lifting mechanism 100, base 10, bottom plate 12, sliding hole 122, first guide 14, second guide 16, guide groove 18, bracket 20, lug 22, guide part 24, accommodating groove 26, sliding seat 30, inclined sliding groove 32, avoiding groove 34, threaded hole 36, driving assembly 40, driving part 42, lead screw 44, coupling 46, cutter head assembly 50, power part 52, power shaft 53, cutter head rack 54, cutter blade 56, rotating ring 60, blocking assembly 70, first blocking part 72, second blocking part 74, third blocking part 76, sensing assembly 80, first sensing part 82, second sensing part 84, inductor 86, sliding rail 90, rolling part 92. DETAILED DESCRIPTION

[0035] The embodiments of the present application are described below in detail, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to the drawings are exemplary only, and are for the purpose of explanation of the present application, and are not to be understood as a limitation of the present application.

[0036] In the description of the present application, it is to be understood that the terms indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and are not to be understood as indicating or implying that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, it is to be noted that the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0037] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the term "connection" should be understood broadly, for example, it can be a fixed connection, or a detachable connection, or an integral connection; it can be a mechanical connection, or an electrical connection or can communicate with each other, it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above-mentioned term in the present application can be understood according to the specific circumstances.

[0038] Some embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0039] Please refer to Figure 1 The embodiment of the present application provides a cutter head lifting mechanism 100. The cutter head lifting mechanism 100 is applied to a self-moving device such as a mowing robot. The self-moving device can make up for the limitations of the self-moving device in the height adjustment of weeding by assembling the cutter head lifting mechanism 100 of the embodiment of the present application, and expand the application scenarios of the self-moving device. In order to facilitate understanding and description, the XYZ coordinate system as shown in Figure 1 The X-axis direction, the Y-axis direction and the Z-axis direction are perpendicular to each other, the Z-axis direction is the first direction, and the X-axis direction is the second direction. It can be understood that this is not a limitation of the embodiment of the present application.

[0040] The cutter head lifting mechanism 100 includes a base 10, a support 20, a sliding seat 30, a driving assembly 40 and a cutter head assembly 50. The support 20, the sliding seat 30, the driving assembly 40 and the cutter head assembly 50 are all arranged on the base 10, so that the cutter head lifting mechanism 100 can realize modularization, thereby facilitating the modularization of the cutter head lifting mechanism 100 on the self-moving device.

[0041] The support 20 is arranged in the base 10, and the support 20 slides along a first direction. The sliding seat 30 is arranged in the base 10, and the sliding seat 30 slides along a second direction which is perpendicular to the first direction. It can be understood that in other embodiments, the second direction can also be not perpendicular to the first direction, for example, the included angle between the first direction and the second direction is 85°, 75°, 60°, etc. One of the support 20 and the sliding seat 30 is provided with an inclined sliding groove 32, and the other of the support 20 and the sliding seat 30 is provided with a lug 22 which is adapted to be arranged in the inclined sliding groove 32. The sliding seat 30 slides along the second direction to drive the support 20 to slide along the first direction through the cooperation of the inclined sliding groove 32 and the lug 22, and the lug 22 is substantially in a cylindrical structure. The extension direction of the inclined sliding groove 32 is inclined relative to the first direction and the second direction. For example, the extension direction of the inclined sliding groove 32 forms an included angle of 45° with the first direction and the second direction; or the extension direction of the inclined sliding groove 32 forms an included angle of 40° with the first direction, and the extension direction of the inclined sliding groove 32 forms an included angle of 50° with the second direction; or the extension direction of the inclined sliding groove 32 forms an included angle of 60° with the first direction, and the extension direction of the inclined sliding groove 32 forms an included angle of 30° with the second direction. The present application does not make specific limitations on this, and the specific setting can be made according to the actual situation.

[0042] The driving assembly 40 is arranged in the base 10 and connected with the sliding seat 30. The driving assembly 40 is configured to drive the sliding seat 30 to reciprocate along the second direction, so that the sliding seat 30 reciprocates along the second direction to drive the support 20 to reciprocate along the first direction through the cooperation of the inclined sliding groove 32 and the lug 22, so as to adjust the height of the support 20 along the first direction. The cutter disc assembly 50 is connected with the support 20 and moves synchronously with the support 20, that is, the cutter disc assembly 50 and the support 20 synchronously reciprocate along the first direction, and it can also be understood that the cutter disc assembly 50 and the support 20 synchronously rise or synchronously descend along the first direction, so as to adjust the height of the cutter disc assembly 50.

[0043] The cutter disc lifting mechanism 100 of the present application can be used as follows. When it is necessary to adjust the height of the cutter disc assembly 50 along the first direction, the driving assembly 40 drives the sliding seat 30 to slide along the second direction, the sliding seat 30 slides along the second direction to drive the support 20 to slide along the first direction through the cooperation of the inclined sliding groove 32 and the lug 22, and the support 20 drives the cutter disc assembly 50 to move along the first direction, so as to adjust the height of the cutter disc assembly 50 along the first direction.

[0044] Please refer to Figure 2 , Figure 3 and Figure 4With the cutter head assembly 50 moving from the highest position to the intermediate position, and then to the lowest position as an example for description, the sliding seat 30 is provided with the inclined sliding groove 32, the inclined sliding groove 32 is higher on the right side and lower on the left side, and the support 20 is provided with the lug 22. When it is needed to lower the height of the cutter head assembly 50, the driving assembly 40 drives the sliding seat 30 to move in the second direction to the right, the inclined sliding groove 32 abuts against the lug 22 to drive the lug 22 to move in the first direction to the down, when the left side of the inclined sliding groove 32 contacts with the lug 22, the sliding seat 30 moves to the rightmost position and cannot continue to move, and the support 20 is driven by the lug 22 to move to the lowest position, so that the height of the cutter head assembly 50 is lowered. It can be understood that the process of the cutter head assembly 50 moving from the lowest position to the intermediate position, and then to the highest position is opposite to the above-described process, and the embodiments of the present application will not be described here. It can be understood that this is not a limitation of the embodiments of the present application.

[0045] It can be understood that in other embodiments, the lug 22 can also be arranged on the sliding seat 30, and the inclined sliding groove 32 can be arranged on the support 20, which can be set according to actual conditions, and the embodiments of the present application will not be specifically limited.

[0046] Please refer to Figure 5 , Figure 6 and Figure 7 In the embodiments, the side of the sliding seat 30 away from the driving assembly 40 is provided with the avoiding groove 34, the support 20 is adaptively arranged in the avoiding groove 34, the opposite two groove walls of the avoiding groove 34 are provided with the inclined sliding groove 32, and the opposite two sides of the support 20 are provided with the lug 22. In this way, the avoiding groove 34 is arranged on the sliding seat 30, so that the support 20 and the sliding seat 30 are connected by the two groups of inclined sliding grooves 32 and lugs 22, and the connection stability between the support 20 and the sliding seat 30 is ensured.

[0047] In the embodiment, the base 10 comprises a bottom plate 12, a first guide 14 and a second guide 16. The support 20 is arranged through the bottom plate 12, and the support 20 slides along a first direction. Specifically, the bottom plate 12 is provided with a sliding hole 122, and the support 20 is arranged through the sliding hole 122 of the bottom plate 12. The sliding seat 30 is arranged on the bottom plate 12, and the sliding seat 30 slides along a second direction. The driving assembly 40 is arranged on the bottom plate 12. The first guide 14 and the second guide 16 are arranged on the bottom plate 12 along the second direction. The first guide 14 and the second guide 16 are respectively located on two sides of the support 20 and in the avoiding groove 34 of the sliding seat 30. At least one of the first guide 14 and the second guide 16 is provided with a guide portion 24 or a guide groove 18 facing one side of the support 20. The guide portion 24 and the guide groove 18 are matched with each other. The support 20 is provided with a corresponding guide groove 18 or guide portion 24. The guide portion 24 and the guide groove 18 extend along the first direction. In the embodiment, the first guide 14 and the second guide 16 are provided with the guide groove 18 facing one side of the support 20. The opposite sides of the support 20 are provided with the guide portion 24. The guide portion 24 of the support 20 is arranged in the corresponding guide groove 18. The length of the guide portion 24 along the first direction is greater than the length of the guide groove 18 along the first direction. In this way, by arranging the first guide 14, the second guide 16, the guide portion 24 and the guide groove 18, the moving direction of the support 20 is effectively limited, and it is ensured that the support 20 and the cutter head assembly 50 can only move up and down along the first direction, so as to ensure the moving precision of the cutter head assembly 50.

[0048] It can be understood that in other embodiments, one of the first guide 14 and the second guide 16 is provided with the guide groove 18, and the corresponding side of the support 20 is provided with the guide portion 24; or one of the first guide 14 and the second guide 16 is provided with the guide portion 24, and the corresponding side of the support 20 is provided with the guide groove 18; or one of the first guide 14 and the second guide 16 is provided with the guide groove 18, and the other is provided with the guide portion 24. The corresponding two sides of the support 20 are respectively provided with the guide portion 24 and the guide groove 18. Specifically, it can be set according to the actual situation, and the embodiment of the application does not make specific limitation.

[0049] In the embodiment, the driving assembly 40, the first guide 14 and the second guide 16 are sequentially and spacedly arranged along the second direction, that is, the first guide 14 is close to the driving assembly 40, and the second guide 16 is away from the driving assembly 40. The sliding seat 30 is configured to have a threaded hole 36, the driving assembly 40 includes a driving member 42 and a screw rod 44, the driving member 42 is arranged on the bottom plate 12, the driving member 42 can be a motor, the screw rod 44 is rotatably arranged in the threaded hole 36 of the sliding seat 30, and the screw rod 44 is connected with the driving member 42. Understandably, a ball structure matched with the screw rod 44 can be arranged in the sliding seat 30, and the screw rod 44 is rotatably connected with the ball structure, and the embodiment of the application will not be repeated. In the embodiment, one end of the screw rod 44 is connected with the driving member 42, and the other end of the screw rod 44 is rotatably connected with the side of the first guide 14 away from the second guide 16. Specifically, the driving assembly 40 further includes a coupling 46 connected between the driving member 42 and the screw rod 44, and one end of the screw rod 44 is connected with the driving member 42 through the coupling 46. In this way, by limiting the specific structure of the driving assembly 40 and arranging the threaded hole 36 on the sliding seat 30, the driving assembly 40 achieves the effect of driving the sliding seat 30 to reciprocate along the second direction, the structure of the driving assembly 40 is simple, when the screw rod 44 rotates, the sliding seat 30 moves on the bottom plate 12, the height of the support 20 and the cutter head assembly 50 is adjustable, when the screw rod 44 does not rotate, the sliding seat 30 cannot move on the bottom plate 12, thereby fixing the height of the support 20 and the cutter head assembly 50, and ensuring the stability of the cutter head lifting mechanism 100.

[0050] In order to make the movement of the lug 22 in the inclined sliding groove 32 more smooth, the cutter head lifting mechanism 100 further includes a rotating ring 60 in the embodiment. The rotating ring 60 is rotatably arranged in the inclined sliding groove 32, and the rotating ring 60 is sleeved on the outside of the lug 22. The rotating ring 60 can be a bearing. The lug 22 cooperates with the inner ring of the rotating ring 60, the outer ring of the rotating ring 60 contacts with the inclined sliding groove 32, and the number of the rotating ring 60 is two, and the two rotating rings 60 are correspondingly arranged with the two lugs 22 on the support 20. In this way, by arranging the above-mentioned rotating ring 60, the rotating ring 60 is rotatably arranged in the inclined sliding groove 32, the rotating ring 60 receives small resistance in the inclined sliding groove 32, so that the movement of the lug 22 in the inclined sliding groove 32 is more smooth.

[0051] In order to limit the sliding distance of the sliding seat 30, in the embodiment, the cutter head lifting mechanism 100 further comprises a blocking assembly 70. The blocking assembly 70 is used to limit the sliding distance of the sliding seat 30, and the blocking assembly 70 comprises a first blocking piece 72, a second blocking piece 74 and a third blocking piece 76. The first blocking piece 72 and the second blocking piece 74 are arranged along the second direction and are spaced apart from the sliding seat 30, the first blocking piece 72 is close to the driving assembly 40, and the second blocking piece 74 is away from the driving assembly 40. The third blocking piece 76 is arranged on the base 10 and is arranged between the first blocking piece 72 and the second blocking piece 74, and the projection of the third blocking piece 76 along the second direction partially overlaps with the projection of the first blocking piece 72 and the projection of the second blocking piece 74. Among them, the number of groups of the blocking assembly 70 is two, and the two groups of blocking assemblies 70 are arranged on the two sides of the sliding seat 30. In this way, by arranging the above-mentioned blocking assembly 70 and the specific structure of the blocking assembly 70, when the sliding seat 30 moves to the leftmost side or the rightmost side along the second direction, the first blocking piece 72 and the second blocking piece 74 block the third blocking piece 76 respectively, and prevent the sliding seat 30 from continuing to slide, thereby limiting the sliding distance of the sliding seat 30 and ensuring the safety of the cutter head lifting mechanism 100.

[0052] In order to improve the height adjustment accuracy of the cutter disc assembly 50, in the embodiment, the cutter disc lifting mechanism 100 further comprises a sensing assembly 80. The sensing assembly 80 is used to limit the sliding distance of the sliding seat 30. The sensing assembly 80 comprises a first sensing piece 82, a second sensing piece 84 and a sensor 86. The first sensing piece 82 and the second sensing piece 84 are arranged on the sliding seat 30 along the second direction and are spaced apart from each other. The first sensing piece 82 is close to the first stop piece 72, and the second sensing piece 84 is close to the second stop piece 74. The sensor 86 is arranged on the third stop piece 76 and between the first sensing piece 82 and the second sensing piece 84. The projection of the sensor 86 along the second direction does not overlap with the first sensing piece 82 and the second sensing piece 84. The sensor 86 can be a Hall sensor, and the first sensing piece 82 and the second sensing piece 84 can both be magnets. The sensing assembly 80 comprises two groups of sensing assemblies 80, and the two groups of sensing assemblies 80 are arranged on the two sides of the sliding seat 30, respectively. In this way, by limiting the sensing assembly 80 and the specific structure of the sensing assembly 80, when the sliding seat 30 slides along the second direction, the sensor 86 senses the first sensing piece 82 or the second sensing piece 84, and the sensor 86 is linked with the driving assembly 40 to stop driving the sliding seat 30 to move, so as to ensure that the support 20 and the cutter disc assembly 50 are lifted to the highest position or lowered to the lowest position, and improve the height adjustment accuracy of the cutter disc lifting mechanism 100. When the sensor 86 fails, and the cutter disc assembly 50 is lifted to the highest position or lowered to the lowest position, the first stop piece 72 and the second stop piece 74 can further stop the third stop piece 76, so as to limit the sliding distance of the sliding seat 30, avoid the driving member 42 of the driving assembly 40 from being blocked to cause a fault, and ensure the stability of the cutter disc lifting mechanism 100. In addition, by limiting the two groups of sensing assemblies 80, the two groups of sensing assemblies 80 are used as backup to each other, so as to avoid that when one group of sensing assemblies 80 fails, the driving assembly 40 still operates when the cutter disc assembly 50 is lifted to the highest position or lowered to the lowest position, and improve the stability of the driving assembly 40 and the cutter disc lifting mechanism 100.

[0053] It can be understood that in other embodiments, the sensor 86 can also be arranged on the base 10.

[0054] To ensure that the sliding seat 30 can slide smoothly on the bottom plate 12 of the base 10, in the embodiment, the cutter head lifting mechanism 100 further comprises slide rails 90 and rolling members 92. The slide rails 90 are arranged on the base 10 and extend along the second direction, and the rolling members 92 are arranged on the slide rails 90 and the sliding seat 30. The number of the slide rails 90 is two, and the two slide rails 90 are arranged on the two sides of the sliding seat 30, respectively. The number of the rolling members 92 is four, and two rolling members 92 are arranged on each side of the sliding seat 30. The two rolling members 92 are arranged on the corresponding slide rails 90. The rolling members 92 can be rollers. In this way, by arranging the slide rails 90 and the rolling members 92, the sliding seat 30 is arranged on the base 10 by the slide rails 90 and the rolling members 92. The sliding seat 30 is subjected to small friction, and it is ensured that the sliding seat 30 can slide smoothly. In addition, the slide rails 90 also have a guiding effect, and it is ensured that the sliding seat 30 can only move back and forth along the slide rails 90.

[0055] To make the cutter head lifting mechanism 100 thin and light, in the embodiment, the support 20 is provided with a containing groove 26. The cutter head assembly 50 comprises a power member 52, a cutter head frame 54, and blades 56. The power member 52 has a power shaft 53. The power member 52 is arranged in the containing groove 26, and the power shaft 53 of the power member 52 penetrates the groove bottom of the containing groove 26. The cutter head frame 54 is connected with the power shaft 53. The number of the blades 56 is multiple. The multiple blades 56 are arranged on the cutter head frame 54 at intervals. The power member 52 drives the cutter head frame 54 and the multiple blades 56 to rotate through the power shaft 53, so that the blades 56 perform mowing work. In this way, by arranging the power member 52 in the containing groove 26 of the support 20, the thickness of the cutter head lifting mechanism 100 along the first direction is reduced, which is conducive to reducing the thickness of the self-moving device along the first direction and facilitating the thin and light setting of the self-moving device.

[0056] The cutter head lifting mechanism 100 of the embodiment can adjust the height of the cutter head assembly 50 through the cooperation of the base 10, the support 20, the sliding seat 30, and the driving assembly 40. When the cutter head lifting mechanism 100 is applied to the self-moving device, the cutter head lifting mechanism 100 can compensate for the limitations of the self-moving device in the height adjustment of mowing, and expand the application scenarios of the self-moving device.

[0057] The embodiment of the application also provides a self-moving device (not shown in the figure). The self-moving device comprises the cutter head lifting mechanism 100 described above. The self-moving device can be a mowing robot.

[0058] Therefore, when the height of the cutter disc assembly 50 in the first direction needs to be adjusted, the driving assembly 40 drives the sliding seat 30 to slide in the second direction, the sliding seat 30 slides in the second direction to drive the bracket 20 to slide in the first direction through the cooperative matching of the inclined sliding groove 32 and the lug 22, the bracket 20 drives the cutter disc assembly 50 to move in the first direction, so as to adjust the height of the cutter disc assembly 50 in the first direction.

[0059] The self-moving device of the embodiments of the present application can realize the effect of adjusting the height of the cutter disc assembly 50 through the cooperative matching of the base 10, the bracket 20, the sliding seat 30 and the driving assembly 40 of the cutter disc lifting mechanism 100, and can compensate for the limitations of the self-moving device in the height adjustment of weeding, and expand the application scenarios of the self-moving device.

[0060] It is apparent for those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and the present application can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be regarded as exemplary and non-limiting, and the scope of the present application is defined by the appended claims rather than the above description, and all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application.

[0061] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application rather than limit the present application, and although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced equivalently without departing from the spirit and scope of the technical solutions of the present application.

Claims

1. A cutterhead lifting mechanism characterized by, The cutting disc lifting mechanism comprises a base, a support, a sliding seat, a driving assembly and a cutting disc assembly. The support is arranged through the base and slides along a first direction, the sliding seat is arranged on the base and slides along a second direction, one of the support and the sliding seat is provided with an inclined sliding groove, the other of the support and the sliding seat is provided with a lug, the lug is arranged in the inclined sliding groove, and the sliding seat slides along the second direction to drive the support to slide along the first direction through the cooperation of the inclined sliding groove and the lug. The driving assembly is arranged on the base and connected with the sliding seat, and is configured to drive the sliding seat to reciprocate along the second direction. The cutting disc assembly is connected with the support and moves synchronously with the support.

2. The cutterhead lift mechanism of claim 1, wherein, The base comprises a base plate, a first guide and a second guide, the support is arranged through the base plate and slides along the first direction, the sliding seat is arranged on the base plate and slides along the second direction, the driving assembly is arranged on the base plate, the first guide and the second guide are arranged on the base plate along the second direction, the first guide and the second guide are respectively located on two sides of the support, at least one of the first guide and the second guide is provided with a guide portion or an inclined sliding groove on one side facing the support, the guide portion is matched with the inclined sliding groove, the support is provided with the corresponding inclined sliding groove or guide portion, and the guide portion and the inclined sliding groove both extend along the first direction.

3. The cutterhead lift mechanism of claim 1 wherein, The sliding seat is provided with a threaded hole, the driving assembly comprises a driving member and a lead screw, the driving member is arranged on the base, the lead screw is arranged through the threaded hole of the sliding seat and connected with the driving member.

4. The cutterhead lift mechanism of claim 1 wherein, The cutting disc lifting mechanism further comprises a rotating ring, the rotating ring is arranged in the inclined sliding groove and sleeved on the outer side of the lug.

5. The cutterhead lift mechanism of claim 1 wherein, The cutting disc lifting mechanism further comprises a resisting assembly, the resisting assembly comprises a first resisting member, a second resisting member and a third resisting member, the first resisting member and the second resisting member are arranged on the sliding seat along the second direction, the third resisting member is arranged on the base and between the first resisting member and the second resisting member, and the projection of the third resisting member along the second direction partially overlaps with the projections of the first resisting member and the second resisting member.

6. The cutterhead lift mechanism of claim 5, wherein, The cutting disc lifting mechanism further comprises a sensing assembly, the sensing assembly comprises a first sensing member, a second sensing member and a sensor, the first sensing member and the second sensing member are arranged on the sliding seat along the second direction, the sensor is arranged on the third resisting member, and the projection of the sensor along the second direction does not overlap with the projections of the first sensing member and the second sensing member.

7. The cutterhead lift mechanism of claim 1 wherein, The cutting disc lifting mechanism further comprises a slide rail and a rolling member, the slide rail is arranged on the base, the rolling member is arranged on the slide rail, and the rolling member is arranged on the sliding seat.

8. The cutterhead lift mechanism of claim 1 wherein, The side of the sliding seat away from the driving assembly is provided with a avoiding slot, the bracket is arranged in the avoiding slot, opposite two slot walls of the avoiding slot are provided with the inclined sliding slot or are provided with the lug, opposite two sides of the bracket are provided with the lug or are provided with the inclined sliding slot.

9. The cutterhead lift mechanism of claim 1 wherein, The bracket is provided with a containing slot, the cutter disc assembly comprises a power element, a cutter disc holder and blades, the power element has a power shaft, the power element is arranged in the containing slot, and the power shaft is arranged to rotate through the slot bottom of the containing slot, the cutter disc holder is connected with the power shaft, and the number of the blades is multiple, and multiple blades are arranged at intervals in the cutter disc holder.

10. A self-moving device, characterized in that, A cutter disc lifting mechanism comprising any one of claims 1 to 9.

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