Integrated automatic tooling for intelligent mower lifting module

Abstract

The utility model discloses an integrated automatic tool of intelligent mower lifting module, be used for positioning to the lifting module assembly of mower, include: the base plate, the upper surface of which is equipped with the positioning recess groove matched with the bottom plate appearance, the positioning recess groove is equipped with the through -hole that corresponds respectively with three guide pillar positions in, angle positioning mechanism is fixedly arranged on the positioning recess groove, and is located between the through -hole, the angle positioning mechanism has three positioning heads respectively towards corresponding through -hole, and each positioning head has the positioning surface for with corresponding guide column's plane abutment, to the constraint guide column circumferential angle, rudder is installed in the positioning recess groove, and the output end of rudder is connected with the positioning block that can be driven to rotate, wherein, the positioning block is configured as after rotating and with the lower surface of nut abutment, to the assembly height of nut is positioned to the minimum height of mower of limiting the lifting module. The utility model discloses through the positioning, angle and height limiting function of integration, realized the quick, accurate and integrated automatic assembly of intelligent mower lifting module.

Description

Technical Field

[0001] This application relates to the field of assembly technology, and more specifically, to an integrated automatic tooling for a smart lawnmower lifting module. Background Technology

[0002] Intelligent lawnmowers, as a modern form of garden maintenance equipment, are becoming increasingly popular. To achieve more precise and intelligent lawn mowing, many high-end lawnmowers are equipped with a lifting module. This module typically includes a screw and nut mechanism driven by a motor, as well as multiple guide posts to precisely control the cutting height of the blade.

[0003] During the assembly of the lifting module, the precise assembly of key components is crucial. First, the multiple guide posts must maintain a specific angular relationship in the circumferential direction to ensure a proper fit with the upper plate and prevent loosening. Second, the nut, which serves as the height limit reference, must be assembled in an extremely precise position when finally fixed to the screw and upper plate (e.g., by welding or screw fastening). This directly determines the minimum mowing height of the lawnmower. Inaccurate or inconsistent height measurements will prevent the product from achieving its designed performance and may even pose safety hazards.

[0004] Currently, this assembly process largely relies on manual operation combined with simple fixtures. This method has significant drawbacks: firstly, positioning the circumferential angle of the guide post depends on the worker's visual inspection and touch, which is inefficient and difficult to guarantee accuracy, easily leading to poor product consistency; secondly, the assembly height of the nut lacks a reliable and unified positioning benchmark, and is usually controlled by manual measurement and comparison, which is not only time-consuming but also prone to large dispersion of critical dimensions in batch products due to human error. Therefore, existing technology lacks a dedicated tooling that can simultaneously integrate and automate the positioning of the guide post angle and the nut height, which has become a bottleneck restricting the improvement of production efficiency and product quality.

[0005] Therefore, there is an urgent need to develop an integrated automated tooling that can integrate functions such as circumferential angle positioning of guide posts and one-time limit of assembly height of nuts, so as to realize the rapid, accurate and automated assembly of lifting modules and solve the problems of low assembly accuracy, poor efficiency and difficulty in ensuring consistency in existing technologies. Utility Model Content

[0006] In view of this, this application provides an integrated automatic tooling for the lifting module of an intelligent lawnmower, which realizes rapid, accurate and integrated automatic assembly of the lifting module of the intelligent lawnmower through integrated positioning, angle setting and height limiting functions.

[0007] An integrated automatic tooling for a smart lawnmower lifting module is provided for positioning the lifting module assembly. The lifting module includes an upper plate and a bottom plate. The bottom plate has a central hole. The upper plate and the bottom plate are connected by three pairs of guide posts and guide sleeves. A motor is mounted on the bottom plate, and the motor drives the upper plate to move via a screw. One end of each guide post on the upper plate has a flat D-shaped shaft section. The screw has a threaded nut near the motor, and the nut is fixedly connected to the upper plate. The tooling includes: The substrate has a positioning groove on its upper surface that matches the shape of the base plate, and through holes corresponding to the positions of the three guide posts are opened in the positioning groove. An angle positioning mechanism is fixedly installed on the positioning groove and located between the through holes. The angle positioning mechanism has three positioning heads facing the corresponding through holes. Each positioning head has a positioning surface for abutting against the plane of the corresponding guide post to constrain the circumferential angle of the guide post. A servo motor is installed in the positioning groove, and the output end of the servo motor is connected to a positioning block that can be driven to rotate. The positioning block is configured to abut against the lower surface of the nut after rotation, so as to position the assembly height of the nut, thereby limiting the minimum mowing height of the lifting module.

[0008] By adopting the above technical solution, the traditional multi-process, separate manual operation is integrated into a single workstation. The base plate and positioning groove enable rapid basic positioning of the base plate and guide posts; the integrated angle positioning mechanism can simultaneously and with high precision complete the circumferential alignment of the D-shaped plane of the three guide posts in one go, solving the problem of the difficulty in ensuring the consistency of the angles of multiple guide posts in traditional methods; the retractable servo positioning block innovatively incorporates the precise control function of the nut assembly height, directly limiting the key minimum mowing height parameter through mechanical hard limiting, ensuring the consistency and accuracy of the final product performance, and realizing an integrated and automated assembly process from coarse positioning and fine alignment to key parameter setting. It ensures the coordinated control of guide post angle consistency and minimum mowing height accuracy, solves the problem of cumulative errors caused by multiple processes and fixtures, and achieves truly integrated automatic assembly.

[0009] In some implementations, the angle positioning mechanism is a three-axis cylinder, and the positioning head is the output shaft of the cylinder.

[0010] By adopting the above technical solution and using a three-axis cylinder as the drive source, it is possible to ensure that the three positioning heads extend or retract synchronously, accurately and reliably, thereby applying a uniform and synchronous radial constraint force to the D-shaped plane of the three guide pillars. The driving force is stable and controllable, which can effectively ensure the force and consistency of contact with the guide pillar plane. Moreover, the structure is compact and easy to integrate into automated equipment.

[0011] In some embodiments, the triaxial cylinder drives the positioning head to move between a first position and a second position; in the first position, the outer diameter of the three positioning heads is smaller than the diameter of the circular hole; in the second position, the outer diameter of the three positioning heads is larger than the diameter of the circular hole, and the positioning head abuts against the plane of the guide post.

[0012] By adopting the above technical solution, this design creatively utilizes the existing circular hole structure in the center of the base plate. In the first position (retracted state), the entire positioning head can pass through the circular hole, providing an unobstructed passage for the insertion and removal of blood from the base plate, facilitating loading and unloading. In the second position (working state), the positioning head extends and opens, with its circumscribed circle diameter larger than the diameter of the circular hole, allowing the positioning head to be stably supported on the upper surface of the base plate and precisely abut against the guide post plane. This ingeniously realizes the functional conversion of "yielding-positioning," optimizes human-machine interaction and operation processes, and features a simple and efficient structure.

[0013] In some implementations, a rocker switch is also included, which controls the movement of the three-axis cylinder to switch the positioning head between a first position and a second position.

[0014] By adopting the above technical solution and setting a joystick switch, the operator can control the action state of the angle positioning mechanism with one hand in a convenient and intuitive way, seamlessly connecting the manual loading / unloading steps with the automatic positioning steps, simplifying the human-machine interaction process, and improving the humanization of operation and assembly cycle.

[0015] In some implementations, the positioning block is 4-8 mm thick, and during the assembly of the lifting module, the positioning block is located between the motor housing and the nut.

[0016] By adopting the above technical solution, the thickness of the positioning block is standardized to a critical dimension (4-8mm), allowing it to directly serve as a rigid pad between the motor housing and the lower end face of the nut. During the final tightening of the nut, this positioning block provides precise mechanical restraint, ensuring the nut is locked at a preset height. This ensures that all assembled lifting modules have a uniform and precise minimum mowing height, realizing a shift in critical dimension tolerance control from relying on manual measurement to relying on tooling manufacturing.

[0017] In some implementations, the servo motor is configured to be vertically movable in the axial direction of the screw to adjust the minimum height at which the lifting module mows the grass.

[0018] By adopting the above technical solution, the entire servo motor is made height-adjustable, allowing the height reference of the positioning block to be flexibly set according to the design requirements of different products. By adjusting the installation height of the servo motor, various lifting module models with different minimum mowing heights can be adapted to the same tooling, greatly improving the versatility and flexible production capabilities of the tooling.

[0019] In some implementations, a clamping mechanism is also included, which is located on the other side of the substrate relative to the positioning groove, and the clamping mechanism is correspondingly arranged with the through hole for clamping and fixing the guide post.

[0020] By adopting the above technical solution, a clamping mechanism is added below the substrate, which can apply a stable clamping force to the guide post from below after it passes through from above. This effectively prevents the guide post from axially shifting or rotating during subsequent pressing or locking nut operations, ensuring the stability of the relative positions of each component during the entire assembly process and further improving the assembly accuracy.

[0021] In some implementations, the clamping mechanism includes a cylinder and grippers, with the cylinder driving the grippers to perform the clamping action.

[0022] By adopting the above technical solution, which uses a cylinder-driven gripper, the clamping action is automated and can respond quickly. The cylinder-driven method provides stable force and rapid action, and can be time-linked with other steps in the main assembly process (such as angle positioning and servo motor actions) to achieve fully or partially automated operation.

[0023] In some implementations, there are two grippers, and the two grippers have clamping surfaces on opposite sides, the clamping surfaces being composed of multiple triangular planes joined together.

[0024] By adopting the above technical solution, a clamping surface composed of multiple triangular planes can be used to adapt to the special contour of the D-shaped plane on the cylindrical surface of the guide post. Compared with simple V-blocks or planes, this polyhedral structure can form a more stable and reliable line contact or small-area contact with the junction of the cylindrical and planar surfaces of the guide post, effectively preventing slippage or stress concentration during clamping, and is especially suitable for clamping incomplete cylinders.

[0025] In some implementations, the clamping surface is an elastic surface.

[0026] By adopting the above technical solution, an elastic layer (such as polyurethane, rubber, etc.) is set on the clamping surface, which can protect the coating or threads on the guide post surface from damage while providing sufficient clamping force, and compensate for minor dimensional differences caused by machining tolerances, thereby improving the adaptability and fault tolerance of clamping, ensuring clamping reliability while also protecting the product.

[0027] In summary, this application has at least one of the following beneficial technical effects: 1. Achieved high integration and automation: Innovatively integrates multiple core assembly functions such as base plate positioning, multi-guide post synchronous angle calibration, key assembly height setting, and component auxiliary clamping into a single tooling, realizing a transformation from "multi-station, multi-tool, multi-person operation" to "single-station, integrated, semi / fully automatic" assembly mode, greatly improving assembly efficiency, consistency, and quality stability.

[0028] 2. Solved the core precision control problem: Through the combined design of "retractable three-point angle positioning mechanism" and "servo motor driven adjustable height positioning block", the two core precision problems of consistency of circumferential angle of multiple guide pillars and precise control of key height parameters, which are difficult to guarantee in traditional assembly, are creatively solved, ensuring the reliability of product performance from the process equipment level.

[0029] 3. Excellent flexibility and adaptability: The adjustable height of the servo motor and the adaptive clamping mechanism in the tooling not only meet the high-efficiency production of a single model, but also can be easily adjusted to adapt to different specifications (such as different minimum mowing heights and different guide post specifications) of lifting modules, which enhances the flexibility of the production line and the utilization rate of equipment, and reduces the tooling cost of introducing new products. Attached Figure Description

[0030] Figure 1 This is a structural diagram of the lifting module of an intelligent lawnmower; Figure 2 This is a schematic diagram of the disassembled mechanism of the lifting module of the intelligent lawnmower; Figure 3 This is a structural schematic diagram of the first embodiment of the integrated automatic tooling for the lifting module of the intelligent lawnmower. Figure 4 This is a schematic diagram of the lifting module placed on the first embodiment of the integrated automated tooling; Figure 5 This is a schematic diagram of the lifting module before assembly being placed on the first embodiment of the integrated automatic tooling; Figure 6 This is a structural schematic diagram of the second embodiment of the integrated automated tooling. Figure 7 This is a schematic diagram of the clamping mechanism; Figure 8 This is a schematic diagram of the structure of the lifting module placed on the second embodiment of the integrated automatic tooling.

[0031] Explanation of reference numerals in the attached drawings: 100, Lifting module; 101, Upper plate; 1011, Large screw; 1012, Round hole; 1013, Small screw; 102, Base plate; 103, Guide sleeve; 104, Guide post; 1041, Flat surface; 105, Motor; 106, Nut; 107, Screw; 200, Automatic tooling; 2, Base plate; 21, Positioning groove; 22, Through hole; 3, Rocker switch; 4, Power switch; 5, Servo motor; 6, Three-axis cylinder; 61, Output shaft; 7, Clamping mechanism; 71, Cylinder; 72, Gripper; 721, Clamping surface. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the utility model will be further described in detail below with reference to the accompanying drawings. The components of the embodiments of this utility model described and shown in the accompanying drawings can be arranged and designed in various different configurations. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without inventive effort are within the scope of protection of this utility model.

[0033] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0034] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0035] In the description of this application, it should be understood that the terms "upper", "lower", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0036] The embodiments of this utility model will now be described in detail with reference to the accompanying drawings. Unless otherwise specified, the features in the following embodiments can be combined with each other.

[0037] Reference Figure 1 and Figure 2The lifting module 100 of the lawnmower robot is a core component for adjusting the height of the blade disc. It mainly includes an upper plate 101 and a bottom plate 102, with a circular hole 1012 at the center of the bottom plate 102 for the internal mechanism to pass through. The upper plate 101 and the bottom plate 102 are guided and connected by three pairs of guide posts 104 and guide sleeves 103. The guide posts 104 and the upper plate 101 are fixedly connected by large screws 1011. A motor 105 is mounted on the bottom plate 102, and the motor 105 drives the upper plate 101 to move up and down via a screw 107. At one end of the guide post 104 located on the upper plate 101, there is a D-shaped shaft segment with a flat surface 1041. This flat surface 1041 is used to mate with a corresponding hole structure on the upper plate 101 to prevent the guide post 104 from rotating relative to the upper plate 101. A nut 106 is threadedly connected to the side of the screw 107 near the motor 105. The nut 106 is fixedly connected to the upper plate 101 by a small screw 1013, thereby converting the rotational motion of the screw 107 into the linear motion of the upper plate 101.

[0038] Example 1

[0039] Please see Figures 3-5 This embodiment discloses an integrated automatic tooling 200 for a smart lawnmower lifting module, which is used for efficient and precise assembly and positioning of the lifting module 100.

[0040] The automatic tooling 200 mainly includes a base plate 2, an angle positioning mechanism and a servo motor 5. The base plate 2 is equipped with a power switch 4 and a rocker switch 3 for controlling the movement of the angle positioning mechanism.

[0041] Please see Figure 2 and Figure 3 The base plate 2 serves as the mounting foundation for the entire tooling. Its upper surface is machined with positioning grooves 21 that match the shape of the base plate 102 of the lifting module 100, which are used to quickly and accurately place and initially position the base plate 102. In the positioning grooves 21, corresponding to the positions of the three guide posts 104 of the lifting module 100, through holes 22 are respectively provided for the guide posts 104 to pass through.

[0042] The angle positioning mechanism is fixedly installed above the positioning groove 21 and located in the area between the three through holes 22. It has three circumferentially distributed output shafts 61, which are used to simultaneously constrain the circumferential angles of the three guide posts 104, ensuring that the D-shaped planes of each guide post 104 are oriented in the correct position. In this embodiment, the angle positioning mechanism specifically adopts a three-axis cylinder 6, and its three output shafts 61 serve as three positioning heads. Each positioning head has a positioning surface for abutting against the D-shaped plane of the corresponding guide post 104.

[0043] The three-axis cylinder 6 can drive the output shaft 61 to move axially, so as to switch between a first position (retracted state) and a second position (working state).

[0044] When the output shaft 61 is in the first position, the diameter of the circumscribed circle formed by the three output shafts 61 is smaller than the diameter of the circular hole 1012 in the center of the base plate 102. This allows the output shaft 61 assembly to pass through the circular hole 1012 as a whole, so that it can completely avoid the base plate 102 when it is placed, which facilitates the insertion and removal of the module.

[0045] When the output shaft 61 moves to the second position, the three output shafts 61 extend and open, and their outer circle diameter is larger than the diameter of the circular hole 1012 of the base plate 102. At this time, the output shaft 61 can no longer pass through the circular hole 1012, but is supported on the upper surface of the base plate 102. At the same time, the positioning surface of each output shaft 61 is precisely aligned with the D-shaped plane of the corresponding guide post 104, thus locking the angle of the guide post 104.

[0046] The servo motor 5 is fixed in the positioning groove 21 of the base plate 2. The axis of the output shaft 61 of the servo motor 5 is parallel to the axis of the drive screw 107 in the lifting module 100. A positioning block is connected to the output end of the servo motor 5. This positioning block is preferably a high-hardness metal block, with a connecting part on one side that matches the output end of the servo motor 5, and a flat limiting plane on the other side. The thickness of the positioning block is in the range of 4-8 mm, which is determined according to the minimum target mowing height. In this embodiment, it is 6 mm.

[0047] Please see Figures 2-5 During assembly, after the base plate 102 of the lifting module 100 is placed in the positioning groove 21 and the guide post 104 completes the angle positioning, the servo motor 5 is controlled to rotate a certain angle, driving the positioning block to rotate from its clearance position to the working position. In this working position, the limiting plane of the positioning block is located within the axial gap between the upper end face of the motor 105 housing and the lower end face of the nut 106 to be locked on the screw 107. When the upper plate 101 and the guide post 104 are pressed together and the nut 106 is finally tightened, the lower end face of the nut 106 abuts against the limiting plane of the positioning block, thereby limiting the locking height of the nut 106 to a set value, and thus controlling the minimum mowing height of the assembled lifting module 100.

[0048] To enable adjustable tooling parameters, the servo motor 5 is mounted on a vertically adjustable sliding base or lifting platform. This sliding base is connected to the base plate 2 via a guide rail and is equipped with a graduated fine-tuning screw 107 for driving and locking. By adjusting this fine-tuning mechanism, the vertical mounting height of the servo motor 5 and its mounting block can be changed, thereby adjusting the height reference of the positioning block's limiting plane. This design allows the same tooling to adapt to the minimum mowing height design requirements of different models of lifting modules 100.

[0049] During assembly, by controlling the rotation of the servo motor 5, the positioning block is rotated to the working position. Its upper surface contacts the lower end face of the nut 106, and its lower surface abuts against the housing of the lifting motor 105 of the lifting module 100, thus providing a precise mechanical hard limit for the final locking position of the nut 106. In this way, the minimum mowing height of the lifting module 100 can be directly and accurately set and limited. By adjusting the overall installation height of the servo motor 5, the reference position of the positioning block can be changed, thereby adapting to the minimum mowing height requirements of different designs and enhancing the versatility of the tooling.

[0050] The rocker switch 3 is used to conveniently control the action of the angle positioning mechanism. By moving the rocker, the operator can drive the output shaft 61 to switch between the first position and the second position, realizing the quick conversion between the two states of "making way for loading and unloading" and "positioning for assembly".

[0051] Example 2

[0052] Please see Figures 6-8 In Example 2, a clamping mechanism 7 is further added to Example 1 to improve the stability of the assembly process.

[0053] Please see Figure 2 , Figure 6 As shown in Figure 8, the clamping mechanism 7 is located below the substrate 2, on the opposite side of the positioning groove 21, and corresponds to the through hole 22 on the substrate 2. Its function is to clamp and fix the guide post 104 from below after it passes through the through hole 22 of the substrate 2 from top to bottom, preventing the guide post 104 from axially moving or rotating during subsequent pressing or fastening operations.

[0054] Please see Figure 7 Specifically, the clamping mechanism 7 includes a drive cylinder 71 and two grippers 72 driven by it. When the cylinder 71 is activated, it drives the two grippers 72 to move towards or away from each other, thereby clamping and releasing the guide post 104.

[0055] The two grippers 72 have dedicated clamping surfaces 721 on opposite sides. The clamping surfaces 721 are designed as a polyhedral structure composed of multiple triangular planes, which can better and more stably and reliably clamp the guide post 104.

[0056] Furthermore, the clamping surface 721 is also covered with a layer of elastic material (such as rubber or polyurethane) to form an elastic surface. This elastic material can increase friction to ensure a firm clamping, protect the surface of the guide post 104 from being damaged by clamping, and also compensate for minor dimensional tolerances of the parts, thereby improving the adaptability and reliability of the clamping.

[0057] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments; the embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes, modifications, substitutions, and variations can be made to this utility model without departing from its spirit and scope, and all such changes, modifications, substitutions, and variations fall within the scope of the claimed utility model.

Claims

1. An integrated automatic tooling for a smart mower lift module, characterized by, This fixture is used for positioning the lifting module assembly of a lawnmower. The lifting module includes an upper plate and a bottom plate. The bottom plate has a circular hole in its center. The upper plate and the bottom plate are connected by three pairs of guide posts and guide sleeves. A motor is installed on the bottom plate, and the motor drives the upper plate to move via a screw. One end of the guide post on the upper plate has a flat D-shaped shaft section. The screw has a threaded nut near the motor, and the nut is fixedly connected to the upper plate. The fixture includes: The substrate has a positioning groove on its upper surface that matches the shape of the base plate, and through holes corresponding to the positions of the three guide posts are opened in the positioning groove. An angle positioning mechanism is fixedly installed on the positioning groove and located between the through holes. The angle positioning mechanism has three positioning heads facing the corresponding through holes. Each positioning head has a positioning surface for abutting against the plane of the corresponding guide post to constrain the circumferential angle of the guide post. A servo motor is installed in the positioning groove, and the output end of the servo motor is connected to a positioning block that can be driven to rotate. The positioning block is configured to abut against the lower surface of the nut after rotation, so as to position the assembly height of the nut, thereby limiting the minimum mowing height of the lifting module.

2. The integrated automatic tooling for the smart lawnmower lifting module according to claim 1, characterized in that, The angle positioning mechanism is a three-axis cylinder, and the positioning head is the output shaft of the cylinder.

3. The integrated automatic tooling for the smart lawnmower lifting module according to claim 2, characterized in that, The three-axis cylinder drives the positioning head to move between the first position and the second position; In the first position, the outer diameter of the three positioning heads is smaller than the diameter of the circular hole; In the second position, the outer diameter of the three positioning heads is larger than the diameter of the circular hole, and the positioning heads abut against the plane of the guide post.

4. The integrated automatic tooling for the smart lawnmower lifting module according to claim 3, characterized in that, It also includes a rocker switch, which is used to control the movement of the three-axis cylinder to switch the positioning head between a first position and a second position.

5. The integrated automatic tooling for the smart lawnmower lift module of claim 1, wherein, The positioning block is 4-8 mm thick and is located between the motor housing and the nut during the assembly of the lifting module.

6. The integrated automatic tooling for the intelligent lawnmower lifting module according to claim 5, characterized in that, The servo motor is configured to be able to move up and down in the axial direction of the screw to adjust the minimum height at which the lifting module cuts grass.

7. The integrated automatic tooling for the smart lawnmower lifting module according to claim 1, characterized in that, It also includes a clamping mechanism, which is located on the other side of the positioning groove of the substrate and is correspondingly arranged with the through hole, for clamping and fixing the guide post.

8. The integrated automatic tooling for the smart lawnmower lifting module according to claim 7, characterized in that, The clamping mechanism includes a cylinder and a gripper, with the cylinder driving the gripper to perform the clamping action.

9. The integrated automatic tooling for the smart lawnmower lifting module according to claim 8, characterized in that, The gripper consists of two jaws, each with a clamping surface on its opposite side, which is formed by multiple triangular planes.

10. The integrated automatic tooling for the intelligent lawnmower lifting module according to claim 9, characterized in that, The clamping surface is an elastic surface.

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