Automatic lawn mowing device lifting system, automatic lawn mowing device and lawn mowing robot

Abstract

This utility model relates to the field of robotics technology, and more particularly to an automatic lawn mowing device lifting system, an automatic lawn mowing device, and a lawn mowing robot. In the automatic lawn mowing device lifting system, the drive end of the lifting drive device is connected to the upper end of a lead screw via a coupling, and the lower end of the lead screw is connected to a support frame via a bearing assembly. The upper end of the lead screw is connected to the coupling via a key. From top to bottom, the lower end of the lead screw is fitted with a bearing assembly, a thrust washer, and a retaining ring, and an end screw is provided at the lower end of the lead screw. A nut is used to connect to the cutter head assembly in the automatic lawn mowing device. The support frame is used to mount on the main frame of the automatic lawn mowing device. In this utility model, the upper end of the lead screw is connected to the coupling via a key, and the lower end of the lead screw is connected to the bearing assembly via a thrust washer, a retaining ring, and an end screw for multi-stage limiting, which improves the torsional resistance of the lead screw, thereby enhancing the reliability and service life of the automatic lawn mowing device lifting system.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to an automatic lawn mowing device lifting system, an automatic lawn mowing device, and a lawn mowing robot. Background Technology

[0002] With the development of automated gardening tools, automatic lawn mowing devices have been widely used in home gardens, parks, golf courses, and other settings. To adapt to different terrains and lawn heights and achieve high-quality mowing results, automatic lawn mowing devices are typically equipped with a lifting mechanism to adjust the working height of the blade assembly.

[0003] In existing technologies, lifting mechanisms typically employ a motor-driven screw transmission structure to adjust the height of the cutter head assembly. This screw transmission structure connects to the motor drive via a coupling and to the main frame of the automatic lawnmower via bearings. However, when the automatic lawnmower encounters bumps, obstacles, or wet grass during its movement, the torque on the screw transmission structure surges, easily leading to problems such as coupling slippage and deformation of the bearing's axial limiting structure. This can result in mechanical damage and lawnmower failure. Summary of the Invention

[0004] This utility model provides an automatic lawn mowing device lifting system, an automatic lawn mowing device, and a lawn mowing robot to solve the technical problem of slippage between the lead screw and the coupling in the prior art.

[0005] One embodiment of this utility model provides an automatic lawn mowing device lifting system, including a lifting drive device, a lead screw, a nut, a coupling, a bearing assembly, and a support frame; the drive end of the lifting drive device is connected to the upper end of the lead screw through the coupling, and the lower end of the lead screw is connected to the support frame through the bearing assembly;

[0006] The upper end of the lead screw is connected to the coupling by a key;

[0007] The lower end of the lead screw is sequentially fitted with a bearing assembly, a thrust washer, and a retaining ring from top to bottom, and an end screw is provided at the lower end of the lead screw; the outer ring of the bearing assembly is rotatably mounted on the support frame, and the lower end of the lead screw passes through the inner hole of the bearing assembly; the retaining ring engages with the lower end of the lead screw and presses the thrust washer against the lower end face of the bearing assembly; the tail of the end screw is coaxially threaded to the lower end of the lead screw, and the outer diameter of the head of the end screw is larger than the outer diameter of the thrust washer and the retaining ring;

[0008] The nut is used to connect the blade assembly in the automatic lawn mower; the support frame is used to be mounted on the main frame of the automatic lawn mower.

[0009] Optionally, the coupling includes a first cylindrical block, a fitting block, and a second cylindrical block arranged coaxially from top to bottom;

[0010] The first cylindrical block is provided with a first mounting hole, the second cylindrical block is provided with a second mounting hole, and the two opposite ends of the fitting block are respectively provided with a first groove and a second groove. The first mounting hole is connected to the first groove, and the second mounting hole is connected to the second groove.

[0011] The drive end of the lifting drive device passes through the first mounting hole and is inserted into the first groove; the upper end of the lead screw passes through the second mounting hole and is inserted into the second groove; a connecting key is provided between the upper side wall of the lead screw and the inner wall of the second mounting hole.

[0012] Optionally, the side wall of the first cylindrical block is provided with a first notch groove communicating with the first mounting hole, and a first connecting hole perpendicular to the first notch groove; a first connector is provided in the first connecting hole, and the first connector is used to clamp the driving end of the lifting drive device in the first mounting hole;

[0013] The second cylindrical block has a second notch groove on its side wall that communicates with the second mounting hole, and a second connecting hole that is perpendicular to the second notch groove; a second connector is provided in the second connecting hole, and the second connector is used to clamp the upper end of the lead screw in the second mounting hole.

[0014] Optionally, the bottom surface of the first cylindrical block is provided with a plurality of downwardly protruding and circumferentially distributed first protrusions, and the top surface of the second cylindrical block is provided with a plurality of upwardly protruding and circumferentially distributed second protrusions; the side surface of the fitting block is provided with a plurality of circumferentially distributed side grooves, the first protrusions and the second protrusions are inserted into the side grooves, and the first protrusions and the second protrusions are staggered.

[0015] Optionally, the inner diameter of the second mounting hole gradually increases from top to bottom.

[0016] Optionally, along the radial direction of the second mounting hole, the angle between the edge of the second mounting hole and the axis is a semi-cone angle, wherein the semi-cone angle is 2° to 4°.

[0017] Optionally, the end screw includes a screw and a washer fitted on the screw, the washer being pressed against the lower end of the lead screw, and the outer diameter of the washer being larger than the outer diameter of the thrust washer and the snap ring.

[0018] The automatic lawn mower lifting system also includes a pressure plate with a through hole and mounted on the support frame. The lower end of the lead screw passes through the through hole and the inner ring of the bearing assembly in sequence, and the pressure plate presses the bearing assembly onto the support frame from the top.

[0019] Optionally, the support frame includes a first support plate, a second support plate, multiple guide sleeves, and multiple guide rods; the multiple guide rods are spaced apart between the first support plate and the second support plate; the second support plate is used to be mounted on the main frame of the automatic lawn mower.

[0020] The lifting drive device is mounted on the first support plate, and all the guide sleeves are mounted on the blade assembly in the automatic mowing device, with each guide sleeve slidingly connected to the guide rod.

[0021] An embodiment of this utility model also provides an automatic lawn mowing device, including a blade assembly, a main frame, and the aforementioned automatic lawn mowing device lifting system;

[0022] The cutter head assembly includes a carrier plate and at least one cutter assembly disposed on the bottom surface of the carrier plate;

[0023] The nut is mounted on the carrier plate; the support frame is mounted on the main frame.

[0024] An embodiment of this utility model also provides a lawn mowing robot, including a moving mechanism and the above-mentioned automatic lawn mowing device; the automatic lawn mowing device is detachably mounted on the moving mechanism.

[0025] In this invention, the upper end of the lead screw is connected to the coupling by a key. Torque is transmitted between the coupling and the lead screw through the connecting key. The torque transmission between the coupling and the lead screw is strong, and slippage is not likely to occur between them. The lower end of the lead screw is fitted with a bearing assembly, a thrust washer, and a retaining ring from top to bottom. The bearing is mounted on a support frame. An end screw is connected to the lower end of the lead screw. The end screw can press the retaining ring and the thrust washer onto the bearing. The thrust washer, the retaining ring, and the end screw can provide multi-level limiting for the lower end of the lead screw, preventing axial displacement and slippage of the lead screw and improving the load-bearing capacity. The upper end of the lead screw is connected to the coupling by a key, and the lower end of the lead screw is connected to the bearing assembly by a thrust washer, a snap ring, and an end screw for multi-stage limiting, which improves the torsional resistance of the lead screw and thus enhances the reliability and service life of the automatic lawn mower lifting system. This makes the automatic lawn mower lifting system suitable for high-frequency start-up and large resistance changes (such as the instantaneous reaction of the lawn when it encounters an obstacle). Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments of this utility model 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 these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the structure of a lifting system for an automatic lawn mower provided in this utility model, showing the lead screw mounted on a coupling and bearing.

[0028] Figure 2 This utility model provides an embodiment of a lead screw mounted on a coupling and bearing. Figure 1 ;

[0029] Figure 3 This utility model provides an embodiment of a lead screw mounted on a coupling and bearing. Figure 2 ;

[0030] Figure 4 This is a partial cross-sectional view of an embodiment of the present utility model;

[0031] Figure 5 This is a schematic diagram of the structure of an embodiment of the present utility model;

[0032] Figure 6 This is a structural schematic diagram of the main frame, carrier plate, and lifting system of the automatic lawn mowing device provided in an embodiment of the present invention.

[0033] The reference numerals in the accompanying drawings are as follows:

[0034] 1. Lifting drive device; 2. Coupling; 21. First cylindrical block; 211. First mounting hole; 212. First notch; 213. First connecting hole; 214. First protrusion; 22. Second cylindrical block; 221. Second mounting hole; 222. Second notch; 223. Second connecting hole; 224. Second protrusion; 23. First connector; 24. Second connector; 25. Fitting block; 26. Connecting key; 3. Nut; 4. Lead screw; 5. Support frame; 51. First support plate; 52. Second support plate; 53. Guide rod; 54. Guide sleeve; 61. Bearing assembly; 62. End screw; 621. End screw; 622. Washer; 63. Thrust washer; 64. Snap ring; 65. Pressure plate; 7. Main frame; 8. Carrier plate. Detailed Implementation

[0035] To make the technical problems solved, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0036] In this application, "front" refers to the direction of the front of the automatic lawn mower, "rear" refers to the direction of the side of the automatic lawn mower, "up" refers to the direction of the roof of the automatic lawn mower, and "down" refers to the direction of the bottom of the automatic lawn mower.

[0037] like Figures 1 to 6 As shown, an embodiment of the present invention provides an automatic lawn mowing device lifting system, including a lifting drive device 1, a lead screw 4, a nut 3, a bearing assembly 61, a coupling 2, and a support frame 5; the driving end of the lifting drive device 1 is connected to the upper end of the lead screw 4 through the coupling 2, and the lower end of the lead screw 4 is connected to the support frame 5 through the bearing assembly 61.

[0038] The upper end of the lead screw 4 is connected to the coupling 2 by a key;

[0039] The lower end of the lead screw 4 is sequentially fitted with a bearing assembly 61, a thrust washer 63, and a retaining ring 64 from top to bottom, and an end screw 62 is provided at the lower end of the lead screw 4; the outer ring of the bearing assembly 61 is rotatably mounted on the support frame 5, and the lower end of the lead screw 4 passes through the inner hole of the bearing assembly 61; the retaining ring 64 engages with the lower end of the lead screw 4 and presses the thrust washer 63 against the lower end face of the bearing assembly 61; the tail of the end screw 62 is coaxially threaded to the lower end of the lead screw 4, and the outer diameter of the head of the end screw 62 is larger than the outer diameter of the thrust washer 63 and the retaining ring 64;

[0040] The nut 3 is used to connect the blade assembly in the automatic lawn mower; the support frame 5 is used to be mounted on the main frame 7 of the automatic lawn mower.

[0041] The lifting drive device 1 includes, but is not limited to, a motor. A keyway is provided on the upper side wall of the lead screw 4, and a keyhole is provided on the coupling 2. A portion of the connecting key 26 is installed in the keyway, and the other portion of the connecting key 26 is installed in the keyhole. The upper end of the end screw 62 is threaded into the threaded hole of the lead screw 4, and the head of the end screw 62 is located below the lead screw 4.

[0042] Specifically, the lifting drive device 1 drives the lead screw 4 to rotate, and the lead screw 4 drives the cutter head assembly to move up and down through the nut 3.

[0043] In this invention, the upper end of the lead screw 4 is connected to the coupling 2 by a key. The coupling 2 and the lead screw 4 transmit torque through the connecting key 26. The torque transmission force between the coupling 2 and the lead screw 4 is strong, and slippage is not likely to occur between them. The lower end of the lead screw 4 is fitted with a bearing assembly 61, a thrust washer 63, and a retaining ring 64 from top to bottom. The bearing is mounted on the support frame 5. The lower end of the lead screw 4 is connected to an end screw 62. The end screw 62 can press the retaining ring 64 and the thrust washer 63 onto the bearing. The thrust washer 63, the retaining ring 64, and the end screw 62 can provide multi-level limiting for the lower end of the lead screw 4, preventing axial displacement and slippage of the lead screw 4 and improving the load-bearing capacity. The upper end of the lead screw 4 is connected to the coupling 2 by a key, and the lower end of the lead screw 4 is connected to the bearing assembly 61 by a thrust washer 63, a retaining ring 64, and an end screw 62 for multi-stage limiting, which improves the torsional resistance of the lead screw 4, thereby enhancing the reliability and service life of the automatic lawn mower lifting system. This makes the automatic lawn mower lifting system suitable for high-frequency start-up and large resistance changes (such as the instantaneous reaction of the lawn when it encounters an obstacle).

[0044] In one embodiment, such as Figures 1 to 3 As shown, the coupling 2 includes a first cylindrical block 21, a fitting block 25, and a second cylindrical block 22 arranged coaxially from top to bottom;

[0045] The first cylindrical block 21 is provided with a first mounting hole 211, the second cylindrical block 22 is provided with a second mounting hole 221, and the two opposite ends of the fitting block 25 are respectively provided with a first groove and a second groove. The first mounting hole 211 is connected to the first groove, and the second mounting hole 221 is connected to the second groove.

[0046] The driving end of the lifting drive device 1 passes through the first mounting hole 211 and is inserted into the first groove; the upper end of the lead screw 4 passes through the second mounting hole 221 and is inserted into the second groove; a connecting key 26 is provided between the upper side wall of the lead screw 4 and the inner wall of the second mounting hole 221.

[0047] The first groove and the second groove may or may not be connected to each other; the first groove is disposed on the top surface of the fitting block 25, and the second groove is disposed on the bottom surface of the fitting block 25.

[0048] In this embodiment, the fitting block 25 can circumferentially limit the first cylindrical block 21 and the second cylindrical block 22 together, so that there is no circumferential deflection between the first cylindrical block 21 and the second cylindrical block 22. The first cylindrical block 21 can limit the driving end of the lifting drive device 1 in the first groove, and the second cylindrical block 22 can limit the upper end of the lead screw 4 in the second groove. The disassembly and assembly operations of the coupling 2, the lifting drive device 1 and the lead screw 4 are convenient.

[0049] In one embodiment, such as Figures 1 to 3 As shown, the side wall of the first cylindrical block 21 is provided with a first notch 212 communicating with the first mounting hole 211, and a first connecting hole 213 perpendicular to the first notch 212; a first connector 23 is provided in the first connecting hole 213, and the first connector 23 is used to clamp the driving end of the lifting drive device 1 in the first mounting hole 211.

[0050] Wherein, the first mounting hole 211 and the first notch 212 both extend along the axial direction of the first cylindrical block 21; the first connector 23 includes, but is not limited to, screws, bolts, etc., and the first connecting hole 213 is a threaded hole; the first connecting hole 213 penetrates the first notch 212.

[0051] Specifically, after the driving end of the lifting drive device 1 is inserted into the first mounting hole 211, the first connector 23 is then inserted into the first connecting hole 213. The first connector 23 can shorten the width of the first notch 212, so that the first cylindrical block 21 can clamp the driving end of the lifting drive device 1 in the first mounting hole 211. In this embodiment, the disassembly and assembly operation between the lifting drive device 1 and the first cylindrical block 21 is convenient.

[0052] In one embodiment, such as Figure 1 As shown, the second cylindrical block 22 has a second notch 222 communicating with the second mounting hole 221 on its side wall, and a second connecting hole 223 perpendicular to the second notch 222; a second connector 24 is provided in the second connecting hole 223, and the second connector 24 is used to clamp the upper end of the lead screw 4 in the second mounting hole 221.

[0053] The second mounting hole 221 and the second notch 222 both extend along the axial direction of the second cylindrical block 22; the second connector 24 includes, but is not limited to, screws, bolts, etc.; the second connecting hole 223 is a threaded hole; the second connecting hole 223 penetrates the second notch 222.

[0054] Specifically, after the upper end of the lead screw 4 is inserted into the second mounting hole 221, the second connector 24 is then inserted into the second connecting hole 223. The second connector 24 can shorten the width of the second notch 222, so that the second cylindrical block 22 can clamp the upper end of the lead screw 4 in the second mounting hole 221. In this embodiment, the disassembly and assembly operation between the lead screw 4 and the second cylindrical block 22 is convenient.

[0055] In one embodiment, such as Figures 1 to 3 As shown, the bottom surface of the first cylindrical block 21 is provided with a plurality of downwardly protruding and circumferentially distributed first protrusions 214, and the top surface of the second cylindrical block 22 is provided with a plurality of upwardly protruding and circumferentially distributed second protrusions 224; the side surface of the fitting block 25 is provided with a plurality of circumferentially distributed side grooves, the first protrusions 214 and the second protrusions 224 are inserted into the side grooves, and the first protrusions 214 and the second protrusions 224 are staggered.

[0056] The number of the first protrusion 214 and the second protrusion 224 can be set according to actual needs. The sum of the number of the first protrusion 214 and the second protrusion 224 is equal to the number of the side grooves. Each side groove is fitted with one of the first protrusion 214 or the second protrusion 224.

[0057] In this embodiment, the fitting block 25 circumferentially limits the first cylindrical block 21 by inserting the first protrusion 214 into the side groove, and the fitting block 25 circumferentially limits the second cylindrical block 22 by inserting the second protrusion 224 into the side groove. In this embodiment, the fitting block 25 has a simple structure and low manufacturing cost.

[0058] In one embodiment, such as Figure 1 As shown, the inner diameter of the second mounting hole 221 gradually increases from top to bottom.

[0059] The upper inner diameter of the second mounting hole 221 is larger than the lower inner diameter.

[0060] In this embodiment, due to the tapered shape of the second mounting hole 221, during the installation of the lead screw 4 in the second mounting hole 221, the tapered second mounting hole 221 has an automatic centering function for the lead screw 4, so that the top of the lead screw 4 is accurately inserted into the second groove, reducing the circumferential gap between the lead screw 4 and the coupling 2, making it less likely for the lead screw 4 and the coupling 2 to loosen under impact or other conditions.

[0061] In one embodiment, along the radial direction of the second mounting hole 221, the angle between the edge of the second mounting hole 221 and the axis is a semi-cone angle, wherein the semi-cone angle is 2° to 4° (e.g., 2.5°, 3°, 3.5°, etc.).

[0062] The edge line is the radial projection of the side surface of the second mounting hole 221.

[0063] In one embodiment, such as Figure 1 As shown, the end screw 62 includes a screw 621 and a washer 622 sleeved on the screw 621. The washer 622 is pressed against the lower end of the lead screw 4, and the outer diameter of the washer 622 is larger than the outer diameter of the thrust washer 63 and the snap ring 64.

[0064] The automatic lawn mower lifting system also includes a pressure plate 65 with a through hole and mounted on the support frame 5. The lower end of the lead screw 4 passes through the through hole and the inner ring of the bearing assembly 61 in sequence. The pressure plate 65 presses the bearing assembly 61 onto the support frame 5 from the top.

[0065] The head of the screw 621 can press the washer onto the retaining ring 64, and the washer 622 can reduce the amount of wear between the screw 621 and the lead screw 4. The pressure plate 65 can press the bearing assembly 61 onto the support frame 5, ensuring the stability of the bearing assembly 61 mounted on the support frame 5.

[0066] In one embodiment, such as Figure 5 As shown, the support frame 5 includes a first support plate 51, a second support plate 52, multiple guide sleeves 54, and multiple guide rods 53; the multiple guide rods 53 are spaced apart between the first support plate 51 and the second support plate 52; the second support plate 52 is used to be mounted on the main frame 7 of the automatic lawn mower.

[0067] The lifting drive device 1 is mounted on the first support plate 51, and all the guide sleeves 54 are mounted on the blade assembly in the automatic mowing device, and the guide sleeves 54 are slidably sleeved on the guide rods 53 one by one.

[0068] The first support plate 51 is located above the second support plate 52; the number of guide rods 53 can be set according to actual needs; all the guide rods 53 are arranged in parallel, and the lead screw 4 is parallel to the guide rods 53.

[0069] In this embodiment, during the process of the lifting drive device 1 driving the cutter head assembly to move up and down, the cutter head assembly slides along the guide rod 53, thereby ensuring the stability of the up and down movement of the cutter head assembly.

[0070] like Figure 1 As shown, an embodiment of the present invention also provides an automatic lawn mowing device, including a blade assembly, a main frame 7, and the aforementioned automatic lawn mowing device lifting system;

[0071] The cutter head assembly includes a carrier plate 8 and at least one cutter assembly disposed on the bottom surface of the carrier plate 8;

[0072] The nut 3 is mounted on the carrier plate 8; the support frame 5 is mounted on the main frame 7.

[0073] The cutter assembly includes a rotary drive and a cutter body. The rotary drive is mounted on the carrier plate 8, and the cutter body is mounted on the output end of the rotary drive. The rotary drive can drive the cutter body, so that the cutter body can perform the function of cutting grass.

[0074] Specifically, the lifting drive device 1 drives the lead screw 4 to rotate, and the lead screw 4 drives the carrier plate 8 and the cutter head assembly to move up and down through the nut 3.

[0075] like Figure 1 As shown, one embodiment of this utility model also provides a lawn mowing robot, including a moving mechanism and the above-mentioned automatic lawn mowing device; the automatic lawn mowing device is detachably mounted on the moving mechanism.

[0076] The mobile mechanism can drive the automatic lawn mowing device to move on the ground.

[0077] The above-described embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model, and should all be included within the protection scope of this utility model.

Claims

1. An automatic mowing device lift system, characterized in that, It includes a lifting drive device, a lead screw, a nut, a coupling, a bearing assembly, and a support frame; the drive end of the lifting drive device is connected to the upper end of the lead screw through the coupling, and the lower end of the lead screw is connected to the support frame through the bearing assembly; The upper end of the lead screw is connected to the coupling by a key; The lower end of the lead screw is sequentially fitted with a bearing assembly, a thrust washer, and a retaining ring from top to bottom, and an end screw is provided at the lower end of the lead screw; the outer ring of the bearing assembly is rotatably mounted on the support frame, and the lower end of the lead screw passes through the inner hole of the bearing assembly; the retaining ring engages with the lower end of the lead screw and presses the thrust washer against the lower end face of the bearing assembly; the tail of the end screw is coaxially threaded to the lower end of the lead screw, and the outer diameter of the head of the end screw is larger than the outer diameter of the thrust washer and the retaining ring; The nut is used to connect the blade assembly in the automatic lawn mower; the support frame is used to be mounted on the main frame of the automatic lawn mower.

2. The automatic lawn mowing device lifting system according to claim 1, characterized in that, The coupling includes a first cylindrical block, a fitting block, and a second cylindrical block arranged coaxially from top to bottom; The first cylindrical block is provided with a first mounting hole, the second cylindrical block is provided with a second mounting hole, and the two opposite ends of the fitting block are respectively provided with a first groove and a second groove. The first mounting hole is connected to the first groove, and the second mounting hole is connected to the second groove. The drive end of the lifting drive device passes through the first mounting hole and is inserted into the first groove; the upper end of the lead screw passes through the second mounting hole and is inserted into the second groove; a connecting key is provided between the upper side wall of the lead screw and the inner wall of the second mounting hole.

3. The automatic lawn mowing device lifting system according to claim 2, characterized in that, The side wall of the first cylindrical block is provided with a first notch groove communicating with the first mounting hole, and a first connecting hole perpendicular to the first notch groove; a first connector is provided in the first connecting hole, and the first connector is used to clamp the driving end of the lifting drive device in the first mounting hole; The second cylindrical block has a second notch groove on its side wall that communicates with the second mounting hole, and a second connecting hole that is perpendicular to the second notch groove; a second connector is provided in the second connecting hole, and the second connector is used to clamp the upper end of the lead screw in the second mounting hole.

4. The automatic lawn mowing device lifting system according to claim 3, characterized in that, The bottom surface of the first cylindrical block is provided with a plurality of downwardly protruding and circumferentially distributed first protrusions, and the top surface of the second cylindrical block is provided with a plurality of upwardly protruding and circumferentially distributed second protrusions; the side surface of the fitting block is provided with a plurality of circumferentially distributed side grooves, the first protrusions and the second protrusions are inserted into the side grooves, and the first protrusions and the second protrusions are staggered.

5. The automatic lawn mowing device lifting system according to claim 4, characterized in that, The inner diameter of the second mounting hole gradually increases from top to bottom.

6. The automatic lawn mowing device lifting system according to claim 5, characterized in that, Along the radial direction of the second mounting hole, the angle between the edge of the second mounting hole and the axis is a semi-cone angle, which is 2° to 4°.

7. An automatic lawn mowing device lifting system according to any one of claims 1 to 6, characterized in that, The end screw includes a screw and a washer fitted on the screw. The washer is pressed against the lower end of the lead screw, and the outer diameter of the washer is larger than the outer diameter of the thrust washer and the snap ring. The automatic lawn mower lifting system also includes a pressure plate with a through hole and mounted on the support frame. The lower end of the lead screw passes through the through hole and the inner ring of the bearing assembly in sequence, and the pressure plate presses the bearing assembly onto the support frame from the top.

8. The lifting system of the automatic lawn mowing device according to claim 1, characterized in that, The support frame includes a first support plate, a second support plate, multiple guide sleeves, and multiple guide rods; the multiple guide rods are spaced apart between the first support plate and the second support plate; the second support plate is used to be mounted on the main frame of the automatic lawn mower. The lifting drive device is mounted on the first support plate, and all the guide sleeves are mounted on the blade assembly in the automatic mowing device, with each guide sleeve slidingly connected to the guide rod.

9. An automatic lawn mowing device, characterized in that: Includes a blade assembly, a main frame, and a lifting system for an automatic lawn mower as described in any one of claims 1 to 8; The cutter head assembly includes a carrier plate and at least one cutter assembly disposed on the bottom surface of the carrier plate; The nut is mounted on the carrier plate; the support frame is mounted on the main frame.

10. A lawnmower robot, characterized in that, It includes a moving mechanism and an automatic lawn mowing device as described in claim 9; the automatic lawn mowing device is detachably mounted on the moving mechanism.

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