A mowing mechanism and a mowing robot

Abstract

This utility model relates to the field of robotics, and more particularly to a mowing mechanism and a mowing robot. In the mowing mechanism, guide posts are spaced apart between a first support plate and a second support plate, and a limiting sleeve is fitted onto the guide posts. A motor and a motor controller are both mounted on the first support plate. One end of a lead screw is mounted on the output end of the motor, and the other end is mounted on the second support plate. A nut is threaded onto the lead screw. The second support plate is mounted on a frame. The nut and a carrier plate are both mounted on the carrier plate, and the output end of a rotary drive component is connected to a cutter assembly. A guide hole is provided on the carrier plate, through which the guide posts slide. The sensing assembly includes an upper sensor mounted on the carrier plate and an upper sensor mounted on the first support plate. In this utility model, the mowing mechanism employs a dual-layer protection logic of soft and hard limiting during the upward movement process, ensuring the stability of the mowing mechanism.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a lawn mowing mechanism and a lawn mowing robot. Background Technology

[0002] With the continuous advancement of technology, more and more lawnmower robots are being used in yards, playgrounds, and other places. A lawnmower robot consists of a lifting drive, a rotating drive, and a blade assembly. The rotating drive is installed at the output end of the lifting drive, and the blade is also installed at the output end of the rotating drive. The rotating drive can drive the blade to rotate, and the blade assembly can perform the grass-cutting function. The lifting drive can move the rotating drive and the blade up and down, allowing the blade assembly to cut lawns at different heights.

[0003] In existing technologies, lifting drive components typically include a motor, a lead screw, and a nut. The lead screw is mounted on the motor's output end, and the nut is mounted on the cutter assembly and threadedly connected to the lead screw. The motor drives the lead screw to rotate, and the lead screw, through the nut, drives the cutter assembly to move up and down. Because the motor control system lacks effective identification or limitation of the cutter assembly's movement limits, the cutter assembly is prone to exceeding its structural tolerance during ascent, causing overload and triggering the motor overcurrent protection mechanism in the motor control system. Once the overcurrent protection of the motor control system is activated, the motor control system often defaults to a "locked-up state," cutting off or freezing all current motor action commands (including descent), thus fixing the cutter assembly in a high position, preventing it from returning to its normal operating position, resulting in interrupted mowing function, complex maintenance, and safety hazards. Summary of the Invention

[0004] This utility model provides a lawn mowing mechanism and a lawn mowing robot to solve the technical problem that the motor control system of the existing lawn mowing robot lacks effective identification or limitation of the movement limit of the cutter.

[0005] An embodiment of the present invention provides a lawn mowing mechanism, including a lifting drive assembly, a rotating drive component, a carrier plate, a cutter assembly, a sensor assembly, and a frame;

[0006] The lifting drive assembly includes a first support plate, a second support plate, a motor, a motor controller, a lead screw, a nut, multiple guide posts, and multiple limiting cylinders. The motor and the motor controller are both mounted on the first support plate. One end of the lead screw passes through the first support plate and connects to the output end of the motor. The other end of the lead screw is mounted on the second support plate. The nut is threaded onto the lead screw. The second support plate is mounted on the frame. Multiple guide posts are spaced apart between the first and second support plates and are evenly distributed around the circumference of the lead screw. Each limiting cylinder is correspondingly fitted onto a guide post.

[0007] Both the nut and the rotary drive are mounted on the carrier plate, and the output end of the rotary drive is connected to the cutter assembly; the carrier plate is provided with a guide hole, and the guide post slides through the guide hole;

[0008] The up-sensing component includes an upper sensor mounted on the carrier plate and an upper sensor mounted on the first support plate; the distance between the upper sensor and the first support plate is greater than the distance between the limiting cylinder and the first support plate;

[0009] The motor controller is electrically connected to both the motor and the upper sensor.

[0010] Optionally, the mowing mechanism further includes a lower sensing assembly, which includes a lower sensor mounted on the carrier plate and a lower sensor mounted on the second support plate, the lower sensor being electrically connected to the motor controller.

[0011] Optionally, the vertical distance between the upper sensor and the lower sensor is greater than or equal to 30% of the carrier's travel distance; or

[0012] The vertical distance between the upper sensor and the lower sensor is greater than or equal to a preset safety distance.

[0013] Optionally, the lifting drive assembly further includes a plurality of elastic sleeves spaced apart on the carrier plate. Each elastic sleeve has an inner hole, which is connected to the guide hole in a one-to-one manner. Each guide post slides through the guide hole and the inner hole in a one-to-one manner.

[0014] Optionally, the sensing distance of the upper sensor is H1, the distance between the end of the elastic sleeve away from the carrier plate and the upper sensor is H2, and the distance between the end of the limiting sleeve away from the first support plate and the upper sensor is H3; H1+H2 <H3。

[0015] Optionally, the elastic sleeve has a rigid outer shell with a mounting hole and a plastic guide tube with the inner hole, the plastic guide tube being installed in the mounting hole; the rigid outer shell being installed on the carrier plate.

[0016] Optionally, at least three guide posts and at least three limiting cylinders are provided.

[0017] Optionally, the cutter assembly includes a cutter head, an anti-collision block, and a plurality of cutting blades circumferentially spaced on the cutter head, the cutter head being mounted at the output end of the rotary drive;

[0018] The anti-contact block is installed at the bottom of the cutter head; the distance between the bottom of the anti-contact block and the cutter head is greater than the distance between the cutting blade and the cutter head;

[0019] The top surface of the cutter head is also provided with a mounting groove, and the cutter assembly also includes a mounting block installed in the mounting groove, and the output end of the rotary drive is connected to the mounting block;

[0020] The anti-collision block has A first connection holes, where A > 1; the bottom wall of the mounting groove has A second connection holes, and the mounting block has a third connection hole; the cutter assembly also includes A connectors, each of which is sequentially inserted into the corresponding first connection hole, second connection hole, and third connection hole.

[0021] Optionally, the cutter assembly further includes an anti-clogging disc with a first through hole, the anti-clogging disc being mounted on the rotary drive, and the output end of the rotary drive passing through the first through hole and connected to the cutter disc;

[0022] The anti-blocking disc has an annular flange at one end away from the rotary drive component; the top surface of the cutter disc has an annular protrusion protruding towards one end of the rotary drive component, and the annular protrusion surrounds an accommodating space.

[0023] The annular flange is rotatably installed in the receiving space.

[0024] Another embodiment of this utility model provides a lawn mowing robot, including a moving mechanism and the above-described lawn mowing mechanism; the lawn mowing mechanism is detachably mounted on the moving mechanism.

[0025] In this invention, the motor drives the lead screw to rotate, and the lead screw drives the carrier plate to move upward through the nut. During the upward movement of the upper sensor on the carrier plate, when the upper sensor detects the sensor, the motor stops the lead screw rotation, and the carrier plate stops moving upward, achieving a soft limit during the upward movement of the carrier plate. If the motor does not stop driving the lead screw to rotate in time, the carrier plate will continue to move upward until it abuts against the limiting cylinder, thus the limiting cylinder can achieve a hard limit during the upward movement of the carrier plate. This mowing mechanism adopts a dual-layer protection logic of soft and hard limits during the upward movement. Even if the sensor component fails, the limiting cylinder can still limit the upward movement of the carrier plate, and the limiting cylinder can limit the carrier plate below its extreme position, preventing the motor from overloading and ensuring the stability of the mowing mechanism. 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 lawn mowing mechanism provided in one embodiment of the present invention;

[0028] Figure 2 This is an exploded structural diagram of a lawn mowing mechanism provided in one embodiment of the present invention;

[0029] Figure 3 This is a schematic diagram of the lifting drive assembly of a lawn mowing mechanism provided in one embodiment of the present invention;

[0030] Figure 4 This is a partial structural schematic diagram of a lawn mowing mechanism provided in one embodiment of the present invention;

[0031] Figure 5 This is an exploded structural diagram of the rotary drive component and the cutter assembly of the mowing mechanism provided in an embodiment of the present invention;

[0032] Figure 6 This is a bottom view of the blade assembly of a mowing mechanism provided in an embodiment of the present invention.

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

[0034] 1. Lifting drive assembly; 11. First support plate; 12. Second support plate; 13. Motor; 14. Motor controller; 15. Lead screw; 16. Nut; 17. Guide column; 18. Limiting sleeve; 19. Elastic sleeve; 2. Rotary drive component; 3. Carrier plate; 4. Cutting blade assembly; 41. Cutter disc; 411. Mounting groove; 412. Second connecting hole; 413. Annular protrusion; 42. Anti-contact block; 421. First connecting hole; 43. Cutting blade; 44. Mounting block; 441. Third connecting hole; 45. Anti-clogging disc; 451. First through hole; 452. Annular flange; 46. Connector; 5. Upper sensing assembly; 51. Upper sensor; 52. Upper sensor; 6. Frame; 7. Lower sensing assembly; 71. Lower sensor; 72. Lower sensor. 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 mowing mechanism, "rear" refers to the direction of the side of the mowing mechanism, "up" refers to the direction of the roof of the mowing mechanism, and "down" refers to the direction of the bottom of the mowing mechanism.

[0037] like Figures 1 to 4 As shown, an embodiment of the present invention provides a lawn mowing mechanism, including a lifting drive assembly 1, a rotating drive component 2, a carrier plate 3, a cutter assembly 4, a sensor assembly 5, and a frame 6;

[0038] The lifting drive assembly 1 includes a first support plate 11, a second support plate 12, a motor 13, a motor controller 14, a lead screw 15, a nut 16, multiple guide posts 17, and multiple limiting cylinders 18. The motor 13 and the motor controller 14 are both mounted on the first support plate 11. One end of the lead screw 15 passes through the first support plate 11 and connects to the output end of the motor 13. The other end of the lead screw 15 is mounted on the second support plate 12. The nut 16 is threaded onto the lead screw 15. The second support plate 12 is mounted on the frame 6. Multiple guide posts 17 are spaced apart between the first support plate 11 and the second support plate 12 and are evenly distributed around the circumference of the lead screw 15. Each limiting cylinder 18 is correspondingly sleeved onto one of the guide posts 17.

[0039] The nut 16 and the rotary drive 2 are both mounted on the carrier plate 3, and the output end of the rotary drive 2 is connected to the cutter assembly 4; the carrier plate 3 is provided with a guide hole, and the guide post 17 slides through the guide hole;

[0040] The upper sensing component 5 includes an upper sensor 51 mounted on the carrier plate 3 and an upper sensor 52 mounted on the first support plate 11; the distance between the upper sensor 51 and the first support plate 11 is greater than the distance between the end of the limiting cylinder 18 away from the first support plate 11 and the first support plate 11.

[0041] The motor controller 14 is electrically connected to both the motor 13 and the upper sensor 51.

[0042] The rotary drive component 2 includes, but is not limited to, a rotary motor and a rotary cylinder. The cutter assembly 4 is located below the frame 6. The rotary drive component 2 can drive the cutter assembly 4 to rotate, and the cutter assembly 4 can perform the function of mowing grass. The top of the lead screw 15 can be mounted on the output end of the motor 13 via a coupling, and the bottom of the lead screw 15 can be rotatably mounted on the second support plate 12 via a bearing. The first support plate 11 is located above the second support plate 12. The number of guide posts 17 and limit cylinders 18 can be set according to actual needs. All guide posts 17 are arranged in parallel, and the lead screw 15 is parallel to the guide posts 17. The nut component 16 has an internal threaded through hole, and the lead screw 15 has an external thread that is threadedly connected to the internal threaded through hole. The upper sensor 51 includes, but is not limited to, a Hall sensor, and the upper sensor 52 includes, but is not limited to, a magnet. The upper sensor 51 and the upper sensor 52 are arranged opposite to each other.

[0043] Specifically, the lifting drive assembly 1 can drive the lead screw 15 to rotate, thereby causing the rotary drive component 2 and the cutter assembly 4 to move up and down. The rotary drive component 22 can drive the cutter assembly 4 to rotate.

[0044] In this invention, the motor 13 drives the lead screw 15 to rotate. The lead screw 15, through the nut 16, drives the carrier plate 3 to move upward. During the upward movement of the upper sensor 51 on the carrier plate 3, when the upper sensor 51 detects the upper sensor 52, the motor 13 stops the rotation of the lead screw 15, and the carrier plate 3 needs to stop moving upward, thus achieving soft limiting during the upward movement of the carrier plate 3. If the motor 13 does not stop driving the lead screw 15 to rotate in time, the carrier plate 3 will continue to move upward until it abuts against the limiting cylinder 18, thereby achieving hard limiting during the upward movement of the carrier plate 3. This mowing mechanism adopts a dual-layer protection logic of soft and hard limiting during the upward movement. Even if the upper sensor component 5 fails, the limiting cylinder 18 can still limit the upward movement of the carrier plate 3, and the limiting cylinder 18 can limit the carrier plate 3 below the extreme position, preventing the motor 13 from overloading and ensuring the stability of the mowing mechanism.

[0045] In one embodiment, such as Figures 1 to 4 As shown, the mowing mechanism also includes a lower sensing component 7, which includes a lower sensor 71 mounted on the carrier plate 3 and a lower sensor 72 mounted on the second support plate 12. The lower sensor 71 is electrically connected to the motor controller 14.

[0046] The lower sensor 71 includes, but is not limited to, a Hall sensor, and the lower sensor 72 includes, but is not limited to, a magnet, etc. The lower sensor 71 and the lower sensor 72 are arranged opposite to each other.

[0047] Specifically, the motor 13 drives the lead screw 15 to rotate, and the lead screw 15 drives the carrier plate 3 to move downward through the nut 16. During the downward movement of the lower sensor 71 on the carrier plate 3, when the lower sensor 71 detects the lower sensor 72, the motor 13 will stop the rotation of the lead screw 15, and the carrier plate 3 needs to stop moving downward.

[0048] In one embodiment, the vertical distance between the upper sensor 52 and the lower sensor 72 is greater than or equal to 30% of the travel distance of the carrier plate 3, or greater than or equal to a preset safety distance. This allows the upper sensor 52 and the lower sensor 72 to effectively separate their sensing ranges, improving the accuracy of the upper sensing component 5 and the lower sensing component 7 and the system reliability. The preset safety distance can be set according to the actual structure, such as 60 mm, 80 mm, etc.

[0049] In one embodiment, such as Figures 2 to 4 As shown, the lifting drive assembly 1 also includes a plurality of elastic sleeves 19 spaced apart on the carrier plate 3. Each elastic sleeve 19 has an inner hole, which is connected to the guide hole. Each guide post 17 slides through the guide hole and the inner hole respectively.

[0050] The number of elastic sleeves 19 is equal to the number of guide posts and limiting sleeves 18; the elastic sleeves 19 are installed directly above the guide hole; the elastic sleeves 19 can be made of plastic, silicone, or other materials.

[0051] In this embodiment, the carrier plate 3 contacts the limiting cylinder 18 through the elastic sleeve 19, and the elastic sleeve 19 and the limiting cylinder 18 are in flexible contact, which avoids rigid impact between the carrier plate 3 and the limiting cylinder 18 and extends the service life of the mowing mechanism.

[0052] In one embodiment, the sensing distance of the upper sensor 51 is H1, the distance between the end of the elastic sleeve 19 away from the carrier plate 3 and the upper sensor 51 is H2, and the distance between the end of the limiting sleeve 18 away from the first support plate 11 and the upper sensor 52 is H3; H1+H2 <H3。

[0053] H1 is an inherent characteristic of the upper sensor 51, typically ±2mm.

[0054] Specifically, during the process that the carrier plate 3 drives the upper sensor 51 to move upward, when the upper sensor 51 detects the upper inductor 52, since H1 + H2 < H3, the elastic sleeve 19 has not contacted the limiting cylinder 18 yet. The carrier plate 3 drives the upper sensor 51 to move upward further until the elastic sleeve 19 contacts the limiting cylinder 18.

[0055] In this embodiment, H1 + H2 < H3 can ensure that the upper sensor 51 first detects the upper inductor 52, and then the elastic sleeve 19 makes hard contact with the limiting cylinder 18.

[0056] In one embodiment, the elastic sleeve 19 includes a rigid outer shell provided with a mounting hole and a plastic guide cylinder provided with the inner hole. The plastic guide cylinder is installed in the mounting hole; the rigid outer shell is installed on the carrier plate 3.

[0057] Among them, the outer shell layer of the elastic sleeve 19 is made of aluminum alloy (that is, the rigid outer shell) to provide rigid support, with high structural strength, light weight and corrosion resistance. The inner lining layer (that is, the plastic sleeve) is made of engineering plastics (such as PTFE, POM, PA66, UHMWPE), which has good self-lubricity, low friction, wear resistance and anti-adhesion.

[0058] In this embodiment, the design that the elastic sleeve 19 includes a rigid outer shell and a plastic guide cylinder can reduce the noise generated by impact during the lifting and lowering of the carrier plate 3, and can also cause a slight deviation in the axis of the guide post 17 to ensure smooth lifting and lowering.

[0059] In one embodiment, as Figures 1 to 3 shown, at least three guide posts 17 are provided, and at least three limiting cylinders 18 are provided; for example, both the guide posts 17 and the limiting cylinders 18 are provided with 4, 6, etc.,

[0060] In one embodiment, as Figure 5 and Figure 6 shown, the cutter assembly 4 includes a cutter head 41, an anti-touch block 42, and a plurality of cutter blades 43 circumferentially and spacedly installed on the cutter head 41. The cutter head 41 is installed at the output end of the rotary driving member 2;

[0061] The anti-touch block 42 is installed at the bottom of the cutter head 41; the distance between the bottom of the anti-touch block 42 and the cutter head 41 is greater than the distance between the cutter blade 43 and the cutter head 41; <s

[0062] The top surface of the cutter head 41 is further provided with a mounting groove 411. The cutter assembly 4 further includes a mounting block 44 installed in the mounting groove 411. The output end of the rotary driving member 2 is connected to the mounting block 44;

[0063] The anti-touch block 42 is provided with A first connection holes 421, where A > 1; the bottom wall of the mounting groove 411 is provided with A second connection holes 412; and the mounting block 44 is provided with A third connection holes 441. The cutter assembly 4 also includes A connectors 46, each of which is sequentially inserted into the corresponding first connection hole 421, second connection hole 412, and third connection hole 441.

[0064] The connector 46 includes, but is not limited to, screws and bolts; the output end of the rotary drive 2 can be connected to the mounting block 44 via a plug-in structure; the number of the cutting blades 43 can be set according to actual needs; the number of the connectors 46 can be set according to actual needs.

[0065] In this embodiment, the anti-contact block 42 is directly installed on the bottom surface of the cutter head 41 and faces downwards. During the movement of the mowing mechanism, the anti-contact block 42 preferentially contacts the ground, preventing the cutter blade 43 from breaking due to contact with the ground and extending the service life of the cutter blade 43. The anti-contact block 42 can be made of wear-resistant material, preventing the connector 46 in the first connecting hole 421 from wearing out due to contact with the ground (after wear, the connector 46 is not easy to remove with tools such as screwdrivers). The connector 46 can remain intact, making it easy to remove from the first connecting hole 421, the second connecting hole 412, and the third connecting hole 441. In addition, the connector 46 can fix the anti-contact block 42 and the mounting block 44 to the cutter head 41 from below, making the disassembly and assembly of the anti-contact block 42, the cutter head 41, and the mounting block 44 convenient.

[0066] In one embodiment, such as Figure 5 As shown, the cutter assembly 4 also includes an anti-clogging disc 45 with a first through hole 451. The anti-clogging disc 45 is mounted on the rotary drive 2. The output end of the rotary drive 2 passes through the first through hole 451 and is connected to the cutter disc 41.

[0067] The anti-blocking disc 45 has an annular flange 452 at one end away from the rotary drive member 2; the top surface of the cutter disc 41 has an annular protrusion 413 protruding towards one end of the rotary drive member 2, and the annular protrusion 413 surrounds an accommodating space.

[0068] The annular flange 452 is rotatably installed in the receiving space.

[0069] There is an axial and radial gap between the annular flange 452 and the annular protrusion 413, and the gap is small, so that the anti-blocking disk 45 is in a fixed state when the rotary drive 2 drives the cutter head 41 to rotate.

[0070] In this embodiment, during the process of the output end of the rotary drive 2 driving the cutter head 41 to rotate, the annular flange 452 of the anti-blocking disc 45 rotates in the middle of the annular protrusion 413. The annular protrusion 413 and the anti-blocking disc 45 can prevent broken grass from entering the output end of the rotary drive 2, thereby avoiding accidents such as grass entanglement and blockage at the output end of the rotary drive 2, and ensuring the stability of the rotary drive 2 driving the cutter head 41 to rotate.

[0071] Another embodiment of this utility model provides a lawn mowing robot, including a moving mechanism and the above-described lawn mowing mechanism; the lawn mowing mechanism is detachably mounted on the moving mechanism.

[0072] The moving mechanism can drive the mowing mechanism to move on the ground, and the bottom of the mowing structure is also equipped with casters.

[0073] 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. A grass cutting mechanism, characterised in that, Includes lifting drive assembly, rotary drive component, carrier plate, cutter assembly, sensor assembly and rack; The lifting drive assembly includes a first support plate, a second support plate, a motor, a motor controller, a lead screw, a nut, multiple guide posts, and multiple limiting cylinders. The motor and the motor controller are both mounted on the first support plate. One end of the lead screw passes through the first support plate and connects to the output end of the motor. The other end of the lead screw is mounted on the second support plate. The nut is threaded onto the lead screw. The second support plate is mounted on the frame. Multiple guide posts are spaced apart between the first and second support plates and are evenly distributed around the circumference of the lead screw. Each limiting cylinder is correspondingly fitted onto a guide post. Both the nut and the rotary drive are mounted on the carrier plate, and the output end of the rotary drive is connected to the cutter assembly; the carrier plate is provided with a guide hole, and the guide post slides through the guide hole; The up-sensing component includes an upper sensor mounted on the carrier plate and an upper sensor mounted on the first support plate; the distance between the upper sensor and the first support plate is greater than the distance between the end of the limiting cylinder away from the first support plate and the first support plate. The motor controller is electrically connected to both the motor and the upper sensor.

2. The mowing mechanism of claim 1, wherein, The mowing mechanism also includes a lower sensing assembly, which includes a lower sensor mounted on the carrier plate and a lower sensor mounted on the second support plate. The lower sensor is electrically connected to the motor controller.

3. The mowing mechanism of claim 2, wherein, The vertical distance between the upper sensor and the lower sensor is greater than or equal to 30% of the carrier plate's travel distance; or The vertical distance between the upper sensor and the lower sensor is greater than or equal to a preset safety distance.

4. The mowing mechanism of claim 1, wherein, The lifting drive assembly also includes a plurality of elastic sleeves spaced apart on the carrier plate. Each elastic sleeve has an inner hole, which is connected to the guide hole. Each guide post slides through the guide hole and the inner hole.

5. The mowing mechanism of claim 4, wherein, The sensing distance of the upper sensor is H1, the distance between the end of the elastic sleeve away from the carrier plate and the upper sensor is H2, and the distance between the end of the limiting sleeve away from the first support plate and the upper sensor is H3; H1+H2 <H3。 6. The mowing mechanism of claim 4 or 5, wherein, The elastic sleeve includes a rigid outer shell with a mounting hole and a plastic guide tube with the inner hole, the plastic guide tube being installed in the mounting hole; the rigid outer shell being installed on the carrier plate.

7. The mowing mechanism of claim 1, wherein, At least three guide posts and at least three limiting cylinders are provided.

8. The mowing mechanism of claim 1, wherein, The cutting tool assembly includes a cutting disc, an anti-collision block, and a plurality of cutting blades circumferentially spaced on the cutting disc, wherein the cutting disc is mounted on the output end of the rotary drive component; The anti-contact block is installed at the bottom of the cutter head; the distance between the bottom of the anti-contact block and the cutter head is greater than the distance between the cutting blade and the cutter head; The top surface of the cutter head is also provided with a mounting groove, and the cutter assembly also includes a mounting block installed in the mounting groove, and the output end of the rotary drive is connected to the mounting block; The anti-collision block has A first connection holes, where A > 1; the bottom wall of the mounting groove has A second connection holes, and the mounting block has A third connection holes; the cutter assembly also includes A connectors, each of which is sequentially inserted into the corresponding first connection hole, second connection hole, and third connection hole.

9. The mowing mechanism of claim 8, wherein, The cutting blade assembly also includes an anti-clogging disc with a first through hole, the anti-clogging disc being mounted on the rotary drive, and the output end of the rotary drive passing through the first through hole and connected to the blade disc; The anti-blocking disc has an annular flange at one end away from the rotary drive component; the top surface of the cutter disc has an annular protrusion protruding towards one end of the rotary drive component, and the annular protrusion surrounds an accommodating space. The annular flange is rotatably installed in the receiving space.

10. A mowing robot, characterized in that It includes a moving mechanism and a mowing mechanism as described in any one of claims 1 to 9; the mowing mechanism is detachably mounted on the moving mechanism.

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