Cutter head lifting mechanism and mowing robot
By designing a blade lifting mechanism, the vertical floating adjustment of the blade is achieved using lifting components and a guide rod system, solving the problem of the lawnmower robot's adaptability to undulating terrain and improving the stability of cutting and the effect of vegetation protection.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHENZHEN WALKER INNOVATION TECHNOLOGY CO LTD
- Filing Date
- 2025-08-04
- Publication Date
- 2026-07-14
Smart Images
Figure CN224482196U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robotics technology, and in particular to a blade lifting mechanism and a lawn mowing robot. Background Technology
[0002] With the continuous development of intelligent garden equipment, lawnmower robots, as an important component of automated maintenance equipment, have been widely used in home courtyards, parks, and large lawn maintenance scenarios. In related technologies, the blade installation method of lawnmower robots often adopts a rigid connection structure, meaning the blade is directly connected to the machine body via a fixed bracket. This lacks effective adaptability to changes in ground undulations, easily leading to uneven cutting or damage to surface vegetation. Utility Model Content
[0003] The main purpose of this invention is to propose a blade lifting mechanism and a lawn mowing robot, which aims to use the lifting component to adjust the height of the blade while ensuring the vertical movement space of the blade.
[0004] To achieve the above objectives, the cutter head lifting mechanism proposed in this utility model includes:
[0005] The mounting base has a limit bracket on its upper side, and a lifting space is formed between the limit bracket and the mounting base.
[0006] A movable disc, slidably connected vertically to the mounting base, the movable disc including a connecting part and a mounting part, the mounting part slidably passing through the mounting base and having a cutter head connected to the lower side of the mounting base, the connecting part being located in the lifting space; and
[0007] A lifting assembly is disposed on the mounting base and movably abuts against the lower side of the connecting part. The lifting assembly can slide horizontally back and forth, and corresponding to the lower side of the connecting part, the lifting assembly can move vertically back and forth.
[0008] In one embodiment, the cutter head lifting mechanism further includes a guide rod extending vertically, the connecting part is provided with a guide hole, the two ends of the guide rod are respectively connected to the opposite sides of the limiting bracket and the mounting base, and the guide rod slides through the guide hole.
[0009] In one embodiment, the guide hole is provided with a sliding bushing, and the guide rod slides through the sliding bushing.
[0010] In one embodiment, the cutter head lifting mechanism includes a plurality of guide rods, which are arranged in a triangular pattern.
[0011] In one embodiment, the guide rod is fitted with an elastic reset member, which is sandwiched between the connecting portion and the limiting bracket.
[0012] In one embodiment, the limiting bracket is connected to the guide rod by means of screw fastening, and / or the mounting base is connected to the guide rod by means of plug-in connection.
[0013] In one embodiment, a sliding piece is provided on the lower side of the connecting portion, and the lifting assembly slides against the sliding piece.
[0014] In one embodiment, a limiting groove is recessed on the lower side of the connecting portion, and the sliding piece is fixedly installed in the limiting groove.
[0015] In one embodiment, the sliding piece is made of a smooth and wear-resistant material.
[0016] In one embodiment, the movable disc includes two mounting portions, the connecting portion is located between the two mounting portions, the mounting portion is configured as a cylinder, and a cutting drive component is disposed within the mounting portion, the cutting drive component being drivenly connected to the cutter disc.
[0017] In one embodiment, the cutter head lifting mechanism further includes a protective telescopic cylinder. The mounting base has a clearance opening. The mounting part is movably inserted through the clearance opening and located on the upper side of the protective telescopic cylinder. One end of the protective telescopic cylinder is sealed and connected to the periphery of the clearance opening, and the other end is sealed and connected to the lower periphery of the mounting part.
[0018] In one embodiment, the lifting assembly includes a first connecting rod, a second connecting rod, and a lead screw horizontally disposed on the mounting base. One end of the first connecting rod is provided with a rotatable nut seat, which is slidably connected to the lead screw. One end of the second connecting rod is rotatably connected to the mounting base. The other ends of the first connecting rod and the other ends of the second connecting rod are rotatably connected and abut against the lower side of the connecting portion.
[0019] In one embodiment, the lead screw is connected to the mounting base via a slide rail frame. The first connecting rod includes two first connecting arms on opposite sides of the lead screw. The nut seat abuts against the slide rail frame on the same vertical side and moves horizontally relative to each other. The two first connecting arms are rotatably connected to opposite ends of the nut seat.
[0020] In one embodiment, the second link includes two second connecting arms, which are rotatably connected to the mounting base. The two second connecting arms are triangularly distributed at the rotatable connection points with the mounting base and the rotatable connection points with the first link.
[0021] This utility model also proposes a lawn mowing robot, which includes the aforementioned blade lifting mechanism.
[0022] The technical solution of this utility model uses a mounting base as the fixed foundation for the blade lifting mechanism, which is used to connect with the chassis structure of the lawnmower robot. A limit bracket is provided on the upper side of the mounting base, forming a closed or semi-closed lifting space between the limit bracket and the mounting base, providing guidance and limiting for the movement of the movable disc and lifting assembly. The lifting assembly can slide back and forth horizontally. During the sliding of the lifting assembly along its sliding path, the portion of the lifting assembly below the connecting part also changes vertically, thus pushing against the connecting part vertically and driving the movable disc to move back and forth vertically, thereby adjusting the height of the blade disc vertically. Simultaneously, on the upper side of the connecting part, the movable disc can float vertically, thereby driving the blade disc to float vertically, reducing the risk of the lawnmower robot's operation being affected by the blade disc getting stuck, and better adapting to undulating grass. In this way, by converting the horizontal movement of the lifting component into the vertical movement of the movable plate, the vertical space occupied by the lifting component is reduced, and the movable plate can float within the lifting space to buffer the vertical force on the cutter head on the mounting part. This provides more space for the vertical movement of the cutter head, thereby better adapting to undulating ground and reducing the risk of damage to the cutter head or surface vegetation. Attached Figure Description
[0023] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.
[0024] Figure 1 A schematic diagram of an embodiment of the cutter head lifting mechanism provided by this utility model;
[0025] Figure 2 for Figure 1 Exploded view of the middle cutter head lifting mechanism;
[0026] Figure 3 for Figure 1 Another structural schematic diagram of the middle cutter head lifting mechanism;
[0027] Figure 4 for Figure 1 Another structural schematic diagram of the middle cutter head lifting mechanism;
[0028] Figure 5 for Figure 1 A structural schematic diagram of the middle cutter head lifting mechanism from another perspective;
[0029] Figure 6 for Figure 5 Sectional view at point AA;
[0030] Figure 7 for Figure 5 Sectional view at point BB;
[0031] Figure 8 for Figure 5 Sectional view at CC;
[0032] Figure 9 for Figure 5 Sectional view at point DD;
[0033] Figure 10 for Figure 9 A magnified view of a section at point A in the middle;
[0034] Figure 11 for Figure 1 A schematic diagram showing the connection between the moving disc and the cutter head;
[0035] Figure 12 for Figure 1 A schematic diagram of the lifting assembly.
[0036] Explanation of icon numbers:
[0037] 100. Mounting base; 110. Clearance opening; 200. Movable disc; 210. Connecting part; 211. Limiting groove; 212. Sliding piece; 213. Guide hole; 214. Sliding bushing; 220. Mounting part;
[0038] 300. Limiting bracket; 310. Guide rod; 320. Elastic reset component; 400. Cutter head; 500. Protective telescopic cylinder; 600. Cutting drive component;
[0039] 700, Lifting assembly; 710, First connecting rod; 711, First connecting arm; 720, Second connecting rod; 721, Second connecting arm; 730, Lead screw; 740, Lifting drive component; 750, Nut seat; 760, Slide rail frame; 761, Slide rail.
[0040] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation
[0041] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.
[0042] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.
[0043] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.
[0044] This utility model proposes a blade lifting mechanism for use in lawn mowing robots.
[0045] Please refer to Figure 1 , Figure 2 and Figure 6 In one embodiment of this utility model, the cutter head lifting mechanism includes:
[0046] Mounting base 100, with a limit bracket 300 on the upper side of the mounting base 100, and a lifting space is formed between the limit bracket 300 and the mounting base 100;
[0047] A movable plate 200 is vertically slidably connected to a mounting base 100. The movable plate 200 includes a connecting portion 210 and a mounting portion 220. The mounting portion 220 slidably passes through the mounting base 100 and is connected to a cutter head 400 on the lower side of the mounting base 100. The connecting portion 210 is located in the lifting space.
[0048] The lifting assembly 700 is disposed on the mounting base 100 and movably abuts against the lower side of the connecting part 210. The lifting assembly 700 can slide horizontally back and forth, and corresponding to the lower side of the connecting part 210, the lifting assembly 700 can move vertically back and forth.
[0049] The technical solution of this utility model uses a mounting base 100 as a fixed foundation for the blade lifting mechanism, which is used to connect with the chassis structure of the lawnmower robot. A limiting bracket 300 is provided on the upper side of the mounting base 100, forming a closed or semi-closed lifting space between the limiting bracket 300 and the mounting base 100, providing guidance and limiting for the movement of the movable disc 200 and the lifting assembly 700. The lifting assembly 700 can slide back and forth horizontally. During the sliding of the lifting assembly 700 along its sliding path, the portion of the lifting assembly 700 below the connecting part 210 also changes vertically, thereby pushing against the connecting part 210 vertically and driving the movable disc 200 to move back and forth vertically, thus adjusting the height of the blade disc 400 vertically. Simultaneously, the movable disc 200 can float vertically above the connecting part 210, thereby driving the blade disc 400 to float vertically, reducing the risk of the lawnmower robot's operation being affected by the blade disc 400 getting stuck, and better adapting to undulating grass. In this way, by converting the horizontal movement of the lifting assembly 700 into the vertical movement of the movable plate 200, the vertical space occupied by the lifting assembly 700 is reduced, and the movable plate 200 is ensured to float within the lifting space to buffer the vertical force on the cutter head 400 on the mounting part 220. This provides more space for the vertical movement of the cutter head 400, thereby better adapting to undulating ground and reducing the risk of damage to the cutter head 400 or surface vegetation.
[0050] It should be noted that the limiting bracket 300 may be connected to the mounting base 100 and have a portion spaced apart from the mounting base 100 to enclose the lifting space, such as the limiting bracket 300 covering the mounting base 100; or, the limiting bracket 300 may be connected to other structures of the lawnmower robot, rather than being directly connected to the mounting base 100. It can be understood that the movable disc 200 may be provided with one or more mounting parts 220, and the connecting part 210 connects multiple mounting parts 220. The lifting component 700 acts on the connecting part 210 to move vertically, which is equivalent to causing the cutter discs 400 on the multiple mounting parts 220 to move vertically. Regarding the mounting part 220 sliding through the mounting base 100, it can be that the mounting base 100 has a clearance opening 110 for the mounting part 220 to slide through, or the mounting part 220 can slide vertically at the edge of the mounting base 100. In this case, the vertical movement range of the connecting part 210 within the lifting space on the upper side of the mounting base 100 is equivalent to the vertical movement range of the cutter head 400 on the lower side of the mounting base 100. Furthermore, the descriptions of directions such as up and down in this technical solution are based on the normal state of the lawnmower robot walking on flat ground.
[0051] Regarding the structural form of the lifting assembly 700, a slider with an inclined surface can slide horizontally, with the connecting part 210 abutting against the inclined surface of the slider. As the position of the inclined surface below the connecting part 210 changes, the vertical height position of the connecting part 210 is simultaneously controlled. Alternatively, the lifting assembly 700 can be a rotatably connected linkage assembly, where changing the horizontal position of one of the linkages promotes vertical reciprocating lifting at the connection point of the two linkages. Without loss of generality, other structural forms that can convert the horizontal movement of the lifting assembly 700 into vertical movement can also be applied to this solution, and no limitation is made here.
[0052] In one embodiment, please refer to Figures 6 to 9To further improve the stability and guiding accuracy of the movable disc 200 in the vertical direction, the cutter head lifting mechanism of this embodiment also includes a guide rod 310 extending vertically. The connecting part 210 is provided with a guide hole 213. The two ends of the guide rod 310 are respectively connected to the opposite sides of the limiting bracket 300 and the mounting base 100, and the guide rod 310 slides through the guide hole 213. It can be understood that through the cooperation between the guide rod 310 and the guide hole 213, a precise guiding path is provided for the reciprocating motion of the movable disc 200 in the vertical direction, preventing swaying, tilting, or lateral shaking during the lifting process. Since the guide rod 310 is fixedly connected between the limiting bracket 300 and the mounting base 100, the guide rod 310 guiding the movable disc 200 has good rigidity and positioning accuracy, thereby effectively ensuring the stability and consistency of the movable disc 200 and its lower cutter head 400 during the floating process. Of course, in other embodiments, the limiting bracket 300 may have a connecting foot connected to the mounting base 100, the connecting foot being located at the periphery of the lifting space, and the movable plate 200 sliding vertically against the connecting foot.
[0053] Regarding the mating structure of the guide rod 310 and the guide hole 213, in this embodiment, please refer to... Figure 8 and Figure 11 To further improve the smoothness and guiding accuracy of the movable disc 200 during lifting and lowering, and to reduce the wear and frictional resistance of the guide rod 310 during long-term use, a sliding bushing 214 is provided in the guide hole 213 of this embodiment, through which the guide rod 310 slides. It can be understood that by providing the sliding bushing 214 within the guide hole 213, an indirect contact structure is formed between the guide rod 310 and the connecting part 210, effectively reducing the direct friction between the guide rod 310 and the movable disc 200, lowering the frictional resistance experienced by the movable disc 200 during vertical movement, and making the lifting and lowering action smoother and more sensitive. Simultaneously, the sliding bushing 214 has good wear resistance and self-lubricating properties, which helps extend the service life of the guide rod 310 and the guide hole 213, improving the reliability and durability of the cutter head lifting mechanism. Furthermore, the presence of the sliding bushing 214 makes it easier to control the clearance between the guide rod 310 and the guide hole 213, thereby further improving the vertical guiding accuracy of the movable disc 200. This avoids wobbling or offset problems caused by excessive clearance, ensuring that the cutter head 400 maintains a stable posture during floating adjustment and improving the flatness and consistency of the cutting operation. Of course, in other embodiments, grooves and ribs can be provided between the guide hole 213 and the guide rod 310, and lubricant can be applied.
[0054] In one embodiment, please refer to Figure 2 , Figure 6 and Figure 8To further enhance the stability and anti-eccentric load capacity of the movable disc 200 in the vertical direction, the cutter head lifting mechanism in this embodiment includes multiple guide rods 310 arranged in a triangular pattern. It can be understood that by employing multiple guide rods 310 arranged in a triangular pattern, a stable three-point support structure is formed, allowing for a more reasonable spatial distribution of the lifting force and external load acting on the movable disc 200. Compared to single or linearly arranged guide rods 310, the triangular multi-point guidance effectively enhances the spatial rigidity of the cutter head lifting mechanism, preventing the movable disc 200 from tilting, deflecting, or rotating due to uneven force during lifting, thereby significantly improving the attitude stability and response accuracy of the cutter head 400 during floating adjustment. Furthermore, the triangularly distributed guide rods 310 help improve the cutter head lifting mechanism's ability to resist external lateral forces, ensuring the stability of the cutter head 400 even when the mowing robot is traveling on uneven terrain or encountering cutting reaction forces, thus guaranteeing the continuity and smoothness of the cutting operation. Of course, in other embodiments, the multiple guide rods 310 may also be arranged in a straight line.
[0055] To further improve the response performance and automatic reset capability of the cutter head 400 during the vertical floating process, in one embodiment, please refer to... Figure 2 , Figures 6 to 9 The guide rod 310 is fitted with an elastic reset element 320, which is sandwiched between the connecting part 210 and the limiting bracket 300, and is used to provide a downward elastic force to the movable disc 200. It can be understood that by setting the elastic reset element 320 on the guide rod 310, the movable disc 200 can automatically return to its initial position under the action of the elastic reset element 320 after being subjected to an external upward force (such as being pushed by the lifting assembly 700, or the grass pushing against the cutter disc 400), thereby realizing the automatic reset function of the cutter disc 400. This not only improves the action response speed of the cutter disc lifting mechanism, but also enhances the adaptability of the cutter disc 400 to changes in ground undulations, enabling the cutter disc 400 to quickly return to the preset cutting height after encountering obstacles or sudden changes in terrain, ensuring the flatness and continuity of the cutting operation. Meanwhile, the elastic force provided by the elastic reset member 320 can be reasonably selected and pre-tightened according to actual application requirements to balance the relationship between the self-weight of the cutter head 400, cutting resistance, and floating sensitivity, ensuring that the cutter head 400 will not damage the ground vegetation due to excessive pressure, nor will it detach from the ground and affect the cutting effect due to insufficient pressure. The elastic reset member 320 is configured as a compression spring. Of course, in other embodiments, a tension spring can also be provided between the connecting part 210 and the mounting base 100.
[0056] Regarding the fixing method of the guide rod 310, in one embodiment, please refer to... Figure 2 and Figure 8The limiting bracket 300 is connected to the guide rod 310 by screw fastening, and / or the mounting base 100 is connected to the guide rod 310 by plug-in connection. It can be understood that by setting the limiting bracket 300 to be fastened to the guide rod 310 by screw fastening, the connection strength and positioning accuracy between the guide rod 310 and the limiting bracket 300 can be ensured. Furthermore, when the limiting bracket 300 is connected to the mounting base 100, after the guide rod 310 and the limiting bracket 300 are connected, the guide rod 310 is inserted into the mounting base 100, and then the limiting bracket 300 and the mounting base 100 are fixed. This facilitates disassembly and replacement, eliminating the need for welding or complete component replacement during product repair or structural adjustment, thus improving maintenance efficiency and structural reconfigurability. Furthermore, the plug-in connection between the mounting base 100 and the guide rod 310 further simplifies the assembly process, reduces the reliance on machining precision, and allows the guide rod 310 to be quickly inserted into the mounting base 100 and stably fixed without the use of complex tools, thereby improving the assembly efficiency and flexible production capabilities of the production line. Of course, in other embodiments, the guide rod 310 can also be connected to the limiting bracket 300 by snap-fit or to the mounting base 100 by screw fastening.
[0057] To further improve the wear resistance, smoothness of sliding, and long-term operational stability of the contact surface between the lifting assembly 700 and the movable plate 200, in one embodiment, please refer to... Figure 2 , Figure 7 and Figure 11 A sliding plate 212 is provided on the lower side of the connecting part 210, and the lifting assembly 700 slides against the sliding plate 212. It can be understood that by adding a sliding plate 212 on the lower side of the connecting part 210, the lifting assembly 700, during the pushing or releasing of the movable disk 200, always applies force to the surface of the sliding plate 212, rather than directly to the material of the movable disk 200 itself (such as metal or plastic injection molded parts). This effectively avoids wear, scratches, or deformation of the contact surface caused by repeated friction, extending the service life of the movable disk 200 and maintaining its responsiveness. The sliding plate 212 is made of a smooth and wear-resistant material, such as polyoxymethylene resin, which has self-lubricating and wear-resistant properties. This allows the lifting assembly 700 to achieve smoother and more stable sliding motion on its surface when pushing the movable disk 200 for vertical floating adjustment, thereby significantly reducing the coefficient of friction between the two and reducing energy loss and mechanical wear caused by friction. This also effectively prevents problems such as jamming, shaking, or abnormal noise caused by excessive friction, ensuring the stable operation of the cutter head 400 under complex terrain conditions. Of course, in other embodiments, the lifting assembly 700 can also be directly abutted against the movable plate 200, and the part of the lifting assembly 700 that abuts against the movable plate 200 can be made of a smooth and wear-resistant material.
[0058] To improve the structural stability, positioning accuracy, and assembly reliability of the connection between the sliding piece 212 and the movable disk 200, in this embodiment, please refer to... Figure 2 , Figure 7 and Figure 11 A limiting groove 211 is recessed on the lower side of the connecting part 210, and the sliding piece 212 is fixedly installed in the limiting groove 211. It can be understood that by providing a limiting groove 211 on the lower side of the connecting part 210 and fixing the sliding piece 212 therein, the risk of the sliding piece 212 shifting, loosening, or falling off due to external forces during use is effectively prevented, thereby improving the stability of the force transmission path and the accuracy of the action response between the lifting assembly 700 and the movable plate 200. The limiting groove 211, as a positioning structure for the sliding piece 212, not only improves its assembly accuracy but also enhances the sliding piece 212's resistance to lateral forces during operation, enabling it to better withstand the complex force conditions applied by the lifting assembly 700 during horizontal reciprocating motion. Meanwhile, the shape of the limiting groove 211 matches the shape of the sliding piece 212, and can adopt a rectangular, dovetail, or other adaptable structural form to achieve circumferential limiting and axial fixing of the sliding piece 212, ensuring that it maintains good fit and contact performance during long-term use. It can also be adapted to extend the sliding path of the lifting assembly 700 abutting the movable disk 200. In addition, the limiting groove 211 also facilitates the replacement and maintenance of the sliding piece 212. After the sliding piece 212 wears out, it is not necessary to replace the entire movable disk 200 assembly. Only the old part in the limiting groove 211 needs to be removed and the new part installed to restore the function, reducing maintenance costs. Of course, in other embodiments, the sliding piece 212 and the movable disk 200 can also be bonded or integrally molded.
[0059] To achieve power drive and structural layout optimization of the cutter head 400, in one embodiment, please refer to... Figure 2 , Figure 6 and Figure 11The movable disc 200 includes two mounting portions 220, with a connecting portion 210 located between them. Each mounting portion 220 is cylindrical, and a cutting drive component 600 is housed within it. The cutting drive component 600 is driven and connected to the cutter disc 400 to transmit the driving force for the rotary cutting action of the cutter disc 400. By designing the mounting portion 220 as a cylindrical structure and integrating the cutting drive component 600 within it, not only is good space protection and structural support provided for the drive components, but the cutter disc lifting mechanism also maintains a stable power transmission path during vertical floating. The cylindrical mounting portion 220 serves as a mounting cavity for the cutting drive component 600 (such as a motor or reduction gear), effectively preventing the intrusion of external dust, moisture, and debris, thus improving the protection level and operational reliability of the cutting drive component 600. Meanwhile, the connecting portion 210 between the two mounting portions 220, as the core component bearing the lifting force, is centrally located, which facilitates balanced force distribution and makes the movement of the movable plate 200 more stable under the push of the lifting assembly 700, avoiding uneven loading or tilting. Furthermore, it facilitates coordinated layout with the sliding plate 212, guide rod 310, and limiting groove 211 in the lifting assembly 700, improving the overall space utilization and assembly accuracy of the mechanism. Of course, in other embodiments, the connecting portion 210 can be located at the periphery of the mounting portion 220, with the lifting assembly 700 acting on the connecting portion 210 at the periphery of the mounting portion 220.
[0060] To improve the sealing and protection performance and structural reliability of the mechanism in complex operating environments, in one embodiment, please refer to... Figure 2 , Figures 5 to 7The cutter head lifting mechanism also includes a protective telescopic cylinder 500. The mounting base 100 has a clearance opening 110. The mounting part 220 is movably inserted through the clearance opening 110 and located on the upper side of the protective telescopic cylinder 500. One end of the protective telescopic cylinder 500 is sealed to the periphery of the clearance opening 110, and the other end is sealed to the lower periphery of the mounting part 220. It can be understood that by setting up the protective telescopic cylinder 500, contaminants such as dust, debris, moisture, and grass residue from the external environment are effectively isolated from the intrusion of pollutants into the internal moving parts of the lifting mechanism (such as the guide rod 310 and the cutting drive component 600), preventing jamming, wear, or electrical faults caused by foreign objects entering, thus improving the adaptability and operational stability of the cutter head lifting mechanism in complex outdoor environments. At the same time, the protective telescopic cylinder 500 has good elastic deformation capacity and telescopic performance, and can extend or compress accordingly with the up-and-down floating movement of the movable disc 200, without interfering with or resisting the lifting movement, ensuring the smoothness and responsiveness of the cutter head 400's lifting process. The protective telescopic cylinder 500 is sealed at both ends to the periphery of the clearance opening 110 and the lower periphery of the mounting part 220, respectively. This can be achieved by clamping the ends of the protective telescopic cylinder 500 to the periphery of the clearance opening 110 or the periphery of the mounting part 220 with waterproof rings. This not only provides physical isolation against dust and water but also, to a certain extent, acts as a support and guide, enhancing the lateral stability of the movable disc 200 during lifting and lowering, preventing it from swaying or shaking, thereby improving the flatness and consistency of the cutting operation. Without sacrificing generality, the protective telescopic cylinder 500 has a flexible structure and can be designed in various forms, such as corrugated tubular, folding, or multi-section telescopic, depending on the actual installation space and lifting stroke. It is made of materials with strong weather resistance and high flexibility (such as rubber, silicone, or engineering plastic composite materials) to meet the needs of different working conditions.
[0061] Regarding the structural form of the lifting assembly 700, in one embodiment, please refer to... Figure 2 , Figure 7 , Figure 8 and Figure 12The lifting assembly 700 includes a first connecting rod 710, a second connecting rod 720, and a lead screw 730 horizontally disposed on the mounting base 100. It employs a linkage structure where the connecting rod and lead screw 730 work in concert. The lifting drive component 740 in the lifting assembly 700 drives the lead screw 730 to rotate, converting the rotational motion of the lead screw 730 into the reciprocating up-and-down motion of the movable disc 200, thereby driving the cutter head 400 to achieve height adjustment. One end of the first connecting rod 710 is provided with a rotatable nut seat 750, which is slidably connected to the lead screw 730. When the lead screw 730 rotates, the nut seat 750 slides along the axial direction of the lead screw 730. Simultaneously, the first connecting rod 710 rotates relative to the nut seat 750 and slides with the nut seat 750, thereby causing the other end of the first connecting rod 710 to produce a vertical displacement. One end of the second connecting rod 720 is rotatably connected to the mounting base 100, and the other end of the first connecting rod 710 is rotatably connected to the other end of the second connecting rod 720. Under the action of the lifting drive component 740, when the lead screw 730 rotates forward and backward, the nut seat 750 moves along the lead screw 730, causing the first connecting rod 710 to rotate relative to the nut seat 750. This rotation drives the first connecting rod 710 to move synchronously with the nut seat 750, causing the first connecting rod 710 and the second connecting rod 720 to change angles, thereby pushing or releasing the vertical movement of the movable disc 200. The lifting assembly 700 not only has good load-bearing capacity but also achieves precise control over the lifting stroke of the movable disc 200. Because the first connecting rod 710 slides and rotates relative to the lead screw 730 through the nut seat 750, the entire lifting assembly 700 experiences uniform force and smooth operation during operation, avoiding shaking or instability caused by uneven load or jamming. At the same time, one end of the second connecting rod 720 is fixed to the mounting base 100, forming a stable fulcrum structure, which enhances the structural rigidity and anti-overturning ability of the lifting assembly 700, and helps improve the stability and reliability of the cutter head 400 during the floating adjustment process. In this way, the lifting component 700 does not occupy too much vertical space, which meets the design requirements of lightweight and miniaturization of the whole machine, and increases the vertical movement space of the cutter head 400.
[0062] Furthermore, in this embodiment, please refer to Figures 8 to 10The lead screw 730 is connected to the mounting base 100 via a slide rail bracket 760. The first connecting rod 710 includes two first connecting arms 711. On opposite sides of the lead screw 730, the nut seat 750 abuts against the slide rail bracket 760 on the same vertical side and moves horizontally relative to each other. The two first connecting arms 710 are rotatably connected to the opposite ends of the nut seat 750. It can be understood that during the rotation of the lead screw 730, the nut seat 750 tends to rotate with the lead screw 730. However, on opposite sides of the lead screw 730, since the nut seat 750 abuts against the same vertical side of the slide rail bracket 760, regardless of whether the lead screw 730 rotates clockwise or counterclockwise, the nut seat 750 is inhibited from rotating and thus slides along the axial direction of the lead screw 730. The contact portion between the nut seat 750 and the slide rail frame 760 can be a sliding contact. For example, the slide rail frame 760 has slide rails 761 on both sides corresponding to the lead screw 710. The opposite ends of the nut seat 750 slide or roll against the slide rails 761 to ensure the sliding stability of the nut seat 750 and reduce wear. At the same time, since the two first connecting arms 711 are respectively arranged on both sides of the lead screw 730, they can form a symmetrical or nearly symmetrical force structure, which helps to suppress the rotation of the nut seat 750, thereby ensuring that the nut seat 750 can move stably along the axial direction of the lead screw 730. It also effectively balances the load transmitted from the lead screw 730 to the first connecting rod 710, avoiding the deflection, jamming or wear problems caused by uneven force on one side of the first connecting rod 710. Thus, by using two first connecting arms 711 rotatably connected to the nut seat 750 on opposite sides of the lead screw 730, compared to the structure of a single connecting arm, the symmetrical arrangement of the two first connecting arms 711 enhances the overall structural rigidity and load-bearing capacity of the first connecting rod 710, improves the stability and torsional resistance of the first connecting rod 710 and the second connecting rod 720, and enables the lifting assembly 700 to maintain stable operation under complex working conditions.
[0063] To improve the stability and force balance of the lifting assembly 700 between the connecting part 210 and the mounting base 100, in one embodiment, please refer to... Figure 2 , Figure 7 , Figure 8 and Figure 12The second connecting rod 720 includes two second connecting arms 721, which are rotatably connected to the mounting base 100. The two second connecting arms 721 are triangularly distributed at their rotatable connections to the mounting base 100 and to the first connecting rod 710. It can be understood that by configuring the second connecting rod 720 as a structure composed of two second connecting arms 721, and making the rotatable connection points of the second connecting rod 720 triangularly arranged, the lifting assembly 700 forms a spatially stable triangular force-bearing structure during operation. This effectively disperses the thrust or pull from the first connecting rod 710, evenly transmitting it to the two second connecting arms 721 and ultimately acting on the mounting base 100. This improves the overall rigidity and anti-eccentric load capacity of the lifting assembly 700, preventing problems such as tilting, jamming, or unstable movement of the movable disc 200 due to uneven force distribution. Simultaneously, it enhances the stability of the connection between the second connecting rod 720 and the mounting base 100, ensuring that the lifting assembly 700 maintains good structural strength and consistent movement even when bearing the weight of the cutter head 400 and the cutting reaction force. Furthermore, the symmetrical arrangement of the two second connecting arms 721 helps reduce the lateral sway of the first connecting rod 710 and the second connecting rod 720 during movement, improving the guiding accuracy of the lifting action and ensuring that the movable disc 200 maintains a stable posture during lifting, thereby improving the flatness and continuity of the cutter head 400's cutting operation. Of course, in other embodiments, two or more second connecting rods 720 can be rotatably connected by the first connecting rod 710 to enhance the stability of the lifting assembly 700 during movement.
[0064] This utility model also proposes a lawn mowing robot, which includes a blade lifting mechanism. The specific structure of the blade lifting mechanism is as described in the above embodiments. Since this lawn mowing robot adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.
[0065] The above description is merely an exemplary embodiment of the present utility model and does not limit the scope of protection of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the scope of protection of the present utility model.
Claims
1. A cutter head lifting mechanism, characterized in that, include: The mounting base has a limit bracket on its upper side, and a lifting space is formed between the limit bracket and the mounting base. The movable plate is slidably connected to the mounting base in a vertical direction. The movable plate includes a connecting part and a mounting part connected to each other. The mounting part is slidably disposed in the mounting base and a cutter head is connected to the lower side of the mounting base. The connecting part is located in the lifting space. as well as A lifting assembly is disposed on the mounting base and movably abuts against the lower side of the connecting part. The lifting assembly can slide horizontally back and forth, and corresponding to the lower side of the connecting part, the lifting assembly can move vertically back and forth.
2. The cutter head lifting mechanism as described in claim 1, characterized in that, The cutter head lifting mechanism also includes a guide rod extending vertically. The connecting part is provided with a guide hole. The two ends of the guide rod are respectively connected to the opposite sides of the limiting bracket and the mounting base. The guide rod slides through the guide hole.
3. The cutter head lifting mechanism as described in claim 2, characterized in that, The guide hole is provided with a sliding bushing, and the guide rod slides through the sliding bushing. And / or, the cutter head lifting mechanism includes a plurality of guide rods, which are arranged in a triangular pattern.
4. The cutter head lifting mechanism as described in claim 2, characterized in that, The guide rod is fitted with an elastic reset member, which is sandwiched between the connecting part and the limiting bracket; And / or, the limiting bracket is connected to the guide rod by means of screw fastening, and / or, the mounting base is connected to the guide rod by means of plug-in connection.
5. The cutter head lifting mechanism as described in claim 1, characterized in that, A sliding piece is provided on the lower side of the connecting part, and the lifting component slides against the sliding piece.
6. The cutter head lifting mechanism as described in claim 5, characterized in that, The lower side of the connecting part is recessed with a limiting groove, and the sliding piece is fixedly installed in the limiting groove; And / or, the sliding piece is configured to be made of a smooth and wear-resistant material.
7. The cutter head lifting mechanism as described in claim 1, characterized in that, The movable disc includes two mounting portions, and the connecting portion is located between the two mounting portions. The mounting portion is configured as a cylinder, and a cutting drive component is provided inside the mounting portion. The cutting drive component is driven and connected to the cutter disc. And / or, the cutter head lifting mechanism further includes a protective telescopic cylinder, the mounting base has a clearance opening, the mounting part is movably inserted through the clearance opening and located on the upper side of the protective telescopic cylinder, one end of the protective telescopic cylinder is sealed and connected to the periphery of the clearance opening, and the other end is sealed and connected to the lower periphery of the mounting part.
8. The cutter head lifting mechanism as described in any one of claims 1 to 7, characterized in that, The lifting assembly includes a first connecting rod, a second connecting rod, and a lead screw horizontally disposed on the mounting base. One end of the first connecting rod is provided with a rotatable nut seat, which is slidably connected to the lead screw. One end of the second connecting rod is rotatably connected to the mounting base. The other ends of the first connecting rod and the other ends of the second connecting rod are rotatably connected and abut against the lower side of the connecting part.
9. The cutter head lifting mechanism as described in claim 8, characterized in that, The lead screw is connected to the mounting base via a slide rail frame. The first connecting rod includes two first connecting arms on opposite sides of the lead screw. The nut seat abuts against the slide rail frame on the same side in the vertical direction and moves relative to each other in the horizontal direction. The two first connecting arms are rotatably connected to the opposite ends of the nut seat. And / or, the second link includes two second connecting arms, which are rotatably connected to the mounting base. The two second connecting arms are triangularly distributed at the rotatable connection points with the mounting base and the rotatable connection points with the first link, respectively.
10. A lawnmower robot, characterized in that, Includes the cutter head lifting mechanism as described in any one of claims 1 to 9.