Floating blade device and lawn mowing robot

Abstract

This utility model discloses a blade floating device and a lawnmower robot, relating to the technical field of lawnmower components. The blade floating device is applied to a lawnmower robot and includes a swing arm, a blade assembly, and a lifting assembly. The swing arm is mounted on the lawnmower robot and can swing relative to it. The blade assembly is rotatably connected to the swing arm. The lifting assembly includes a drive component and a lifting rope. The drive component is mounted on the lawnmower robot and driven by the lifting rope, which is connected to the blade assembly to drive the blade assembly to swing with the swing arm. The technical solution provided by this utility model aims to reduce the risk of blade assembly jamming.

Description

Technical Field

[0001] This utility model relates to the field of grass-cutting component technology, and in particular to a blade floating device and a grass-cutting robot. Background Technology

[0002] Existing lawnmowers are generally equipped with a blade floating device to allow the blade assembly to float up and down with the terrain, maintaining a constant ground clearance. In related technologies, blade floating devices often use structures such as guide columns or sleeves to adjust the vertical position of the blade assembly. However, when the lawnmower encounters foreign objects such as rocks, tree roots, or steps during its movement, the blade assembly is prone to mechanical jamming due to excessive instantaneous impact force. In severe cases, this can even cause damage to transmission components or stop the blade assembly from rotating, affecting the continuity of lawnmower operations and the reliability of the equipment. Utility Model Content

[0003] The main purpose of this invention is to propose a blade floating device and a lawn mowing robot, which aims to reduce the risk of blade assembly jamming.

[0004] To achieve the above objectives, the blade floating device proposed in this utility model is applied to a lawnmower robot, the blade floating device comprising: A swing arm is mounted on the lawnmower robot and is configured to swing relative to the lawnmower robot. A cutter head assembly, rotatably connected to the rocker arm; and The lifting assembly includes a drive component and a lifting rope. The drive component is installed on the lawnmower robot and is driven by the lifting rope. The lifting rope is connected to the blade assembly so as to drive the blade assembly to swing with the swing arm.

[0005] In one embodiment, the cutter head assembly includes a cutter head body and a cutter head holder, the cutter head body being mounted on the cutter head holder, and the lifting rope being connected to the cutter head holder.

[0006] In one embodiment, the cutter head assembly includes two cutter head bodies, the lifting assembly is located between the two cutter head bodies, and the lifting rope is connected to the cutter head frame between the two cutter head bodies.

[0007] In one embodiment, the cutter head holder is provided with a locking hole, and a limiting groove is provided on the lower side of the cutter head holder. The locking hole passes through the bottom of the limiting groove. A limiting ball is provided at the end of the lifting rope. The lifting rope passes through the locking hole, and the limiting ball is installed in the limiting groove.

[0008] In one embodiment, the blade floating device further includes a mounting base, which is mounted on the lawnmower robot. One end of the swing arm is rotatably connected to the mounting base, and the other end is rotatably connected to the side of the blade assembly away from the mounting base.

[0009] In one embodiment, the mounting base has a movable groove on the side facing the cutter head assembly, the end of the rocker arm is rotatably connected to the movable groove, an upper limit part is provided on the upper side of the groove opening of the movable groove, the upper limit part can limit and abut against the upper side of the rocker arm, and the end of the rocker arm is provided with a lower limit part, the lower limit part can limit and abut against the bottom wall of the movable groove.

[0010] In one embodiment, the lifting rope is connected to the side of the cutter head assembly away from the mounting base.

[0011] In one embodiment, the lifting assembly further includes a take-up and release wheel and at least one drive wheel. One end of the lifting rope is connected to the take-up and release wheel, and the other end is wound around the drive wheel and connected to the cutter head assembly. The take-up and release wheel is disposed near the mounting base, and the drive wheel is disposed near the side of the cutter head assembly away from the mounting base.

[0012] In one embodiment, the rotation axis of the take-up and release wheel extends in the same direction as the vertical direction, the rotation axis of the drive wheel extends in the same direction as the horizontal direction, and the tangential edge of the take-up and release wheel is flush with the upper tangential edge of the drive wheel.

[0013] In one embodiment, the take-up and release wheel includes an upper wheel housing and a lower wheel housing, which together form a winding groove. A fixing post is also provided between the upper wheel housing and the lower wheel housing. The end of the lifting rope is sleeved on the fixing post, and the lifting rope is wound around the winding groove.

[0014] In one embodiment, the blade floating device includes two rocker arms distributed in a vertical direction, and tension springs are connected to the opposite sides of the two rocker arms.

[0015] In one embodiment, the rocker arm includes two arms and a connecting rod connecting the middle portions of the two arms, and the cutter head assembly is located between the two arms and rotatably connected to the ends of the arms.

[0016] This utility model also proposes a lawn mowing robot, which includes a chassis and a blade floating device as described above. The chassis is recessed from bottom to top with a clearance groove, and the blade floating device is installed on the chassis and movably disposed in the clearance groove.

[0017] In one embodiment, the upper side of the chassis is recessed with a mounting groove, the lifting rope is located between the bottom wall of the clearance groove and the cutter head assembly, the drive unit is installed in the mounting groove, and the output shaft of the drive unit passes through the clearance groove and drives the lifting rope, and / or, the opening of the mounting groove is also sealed with a cover.

[0018] The technical solution of this utility model involves oscillatingly mounting a swing arm onto the chassis of a lawnmower robot, allowing it to swing up and down in a vertical plane. The blade assembly is mounted on the lower end of the swing arm via a rotating connection structure, enabling it to float up and down as a whole under the drive of the swing arm while maintaining its own rotating lawnmower function. The lifting assembly includes a drive unit mounted on the chassis and a lifting rope connected to its output end. The other end of the lifting rope is connected to the blade assembly. When the drive unit is working, it applies tension or releases constraints on the blade assembly by retracting or extending the lifting rope, thereby adjusting the height of the blade assembly relative to the ground. Thus, during the lawnmower robot's movement, if the blade assembly encounters rocks, tree roots, or other protruding foreign objects, the blade assembly can swing upward around the swing axis of the swing arm under the guidance of the swing arm, achieving a non-rigid lifting action that conforms to the contour of the obstacle. Compared to the forced linear motion of the vertical guide rail in the prior art, the oscillating floating of this solution reduces the risk of mechanical jamming caused by the impact of foreign objects, improves the blade's adaptability to complex terrain, and reduces the risk of blade assembly jamming. In addition, thanks to the coordinated action of the swing arm and the lifting rope, the cutter head assembly can smoothly return to its original position under the reverse control of gravity or the drive components after overcoming obstacles, ensuring the consistency of the mowing height and the continuity of the operation. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0020] Figure 1 A schematic diagram of the retracted state of an embodiment of the blade floating device provided by this utility model; Figure 2 A schematic diagram of the structure of an embodiment of the blade floating device provided by this utility model in the following state; Figure 3 for Figure 1 Another structural schematic diagram of the floating device for the middle cutter head; Figure 4 for Figure 1 A cross-sectional view of the cooperation between the floating device of the middle cutter head and the chassis; Figure 5 for Figure 4 A magnified view of a section at point A in the middle; Figure 6 for Figure 2 A cross-sectional view of the cooperation between the floating device of the middle cutter head and the chassis; Figure 7 for Figure 6 A magnified view of a section at point B in the middle; Figure 8 for Figure 1 A cross-sectional view of the cooperation between the floating cutter head device and the chassis from another perspective; Figure 9 for Figure 8 A magnified view of a section at point C; Figure 10 for Figure 1 A cross-sectional view of the cooperation between the floating cutter head device and the chassis from another perspective; Figure 11 for Figure 10 A magnified view of a section at point D; Figure 12 for Figure 1 Schematic diagram of the lifting assembly; Figure 13 for Figure 12 An exploded view of the central lifting assembly.

[0021] Explanation of icon numbers: 100. Swing rod; 110. Support arm; 120. Connecting rod; 130. Tension spring; 140. Lower limit part; 200. Cutter head assembly; 210. Cutter head body; 220. Cutter head holder; 221. Clamping hole; 222. Insertion hole; 223. Limiting groove; 300. Lifting assembly; 310. Drive unit; 320. Lifting rope; 321. Limit ball; 322. Fixing ring; 330. Transmission wheel; 340. Retracting wheel; 341. Upper wheel housing; 342. Lower wheel housing; 343. Fixing column; 344. Winding ring groove; 400, Mounting base; 410, Movable groove; 411, Upper limit position; 500, Chassis; 510, Clearance groove; 511, Wheel fixing seat; 520, Mounting groove.

[0022] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0024] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0025] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0026] This utility model proposes a blade floating device.

[0027] Please refer to Figure 1 , Figure 2 and Figure 7 In one embodiment of this utility model, the blade floating device is applied to a lawnmower robot, and the blade floating device includes: The swing arm 100 is mounted on the lawnmower robot and can swing relative to the lawnmower robot. Cutter head assembly 200, cutter head assembly 200 is rotatably connected to rocker arm 100; and The lifting assembly 300 includes a drive component 310 and a lifting rope 320. The drive component 310 is installed on the lawnmower robot and is connected to the lifting rope 320. The lifting rope 320 is connected to the blade assembly 200 so as to drive the blade assembly 200 to swing with the swing arm 100.

[0028] The technical solution of this utility model involves oscillatingly mounting a swing arm 100 onto the chassis 500 of a lawnmower robot, allowing it to swing up and down in a vertical plane. The blade assembly 200 is mounted to the lower end of the swing arm 100 via a rotating connection structure, enabling it to float up and down as a whole under the drive of the swing arm 100 while maintaining its own rotating lawnmower function. The lifting assembly 300 includes a drive unit 310 mounted on the chassis 500 and a lifting rope 320 connected to its output end. The other end of the lifting rope 320 is connected to the blade assembly 200. When the drive unit 310 is working, it applies tension or releases constraints on the blade assembly 200 by retracting or extending the lifting rope 320, thereby adjusting the height of the blade assembly 200 relative to the ground. Thus, during the movement of the lawnmower robot, if the cutter head assembly 200 encounters rocks, tree roots, or other protruding foreign objects, it can swing upwards around the swing axis of the swing arm 100 under the guidance of the swing arm 100, achieving a non-rigid lifting action that conforms to the contour of the obstacle. Compared with the forced linear motion of the vertical guide rail in the prior art, the swing-type floating of this solution reduces the risk of mechanical jamming caused by the impact of foreign objects, improves the adaptability of the cutter head to complex terrain, and reduces the risk of jamming of the cutter head assembly 200. In addition, due to the coordinated action of the swing arm 100 and the lifting rope 320, the cutter head assembly 200 can smoothly return to its original position under the reverse control of gravity or the drive component 310 after passing over the obstacle, ensuring the consistency of the mowing height and the continuity of the operation.

[0029] It should be noted that the lifting rope 320 is configured as a steel wire rope, high-strength fiber rope, or flexible cable, etc. Under the driving action of the drive component 310, the lifting rope 320 maintains tension and can be wound into other components of the lifting assembly 300 when the drive component 310 outputs, to ensure the cleanliness of the lifting rope 320 during use. Simultaneously, the lifting rope 320 is connected to a non-blade structure of the cutter head assembly 200, such as the cutter head frame 220, which can both pull the cutter head assembly 200 up and down and reduce interference during grass cutting operations. Correspondingly, the swing arm 100 is also rotatably connected to the cutter head frame 220. Furthermore, the cutter head assembly 200 is equipped with a drive mechanism that drives the disc body with blades to rotate, so that the cutter head frame 220, the cutter head, and the drive mechanism swing synchronously with the swing arm 100 to achieve up and down movement. The lawnmower robot is equipped with a chassis 500, a blade assembly 200, and a swing arm 100 located at the lower part of the chassis 500. The end of the swing arm 100 rotatably connected to the chassis 500 rotates horizontally, and its rotation axis is consistent with the left and right distribution direction of the chassis 500, so that the swing arm 100 swings in the front-to-back direction of the lawnmower robot. Correspondingly, when the blade assembly 200 moves from bottom to top, it has a front-to-back swing tendency, and when it moves from top to bottom, it has a back-to-front swing tendency. This allows the blade to swing upwards in response to the lawnmower robot encountering obstacles at the bottom in the forward direction, achieving flexible floating and avoiding jamming. Without loss of generality, the directions such as up, down, left, right, front, and back referred to in this solution are based on the state of the lawnmower robot under normal operating conditions and will not be elaborated further.

[0030] In one embodiment, please refer to Figures 1 to 3The cutter head assembly 200 includes a cutter head body 210 and a cutter head holder 220. The cutter head body 210 is mounted on the cutter head holder 220, and a lifting rope 320 is connected to the cutter head holder 220. Without loss of generality, the cutter head holder 220 includes a mounting structure and a cover plate. The cover plate is connected to the lower part of the mounting structure. The cutter head body 210 includes a cutter head with blades and a rotation drive mechanism. The rotation drive mechanism is mounted on the mounting structure of the cutter head holder 220 and drives the cutter head. The cutter head is exposed below the cover plate. The rotation drive mechanism of the cutter head body 210 is fixedly mounted on the mounting structure of the cutter head holder 220 by bolts, clips, or bearings. The cover plate provides protection for the cutter head. Thus, the tension or release action applied by the lifting rope 320 can be transmitted to the entire cutter head assembly 200 through the cutter head holder 220, thereby precisely adjusting the floating height of the cutter head assembly 200 under the control of the drive unit 310. Furthermore, when the cutter head assembly 200 encounters foreign objects during its movement, the cutter head frame 220, acting as an intermediate structure for force distribution and connection, effectively disperses the impact load. The lifting rope 320 can also promptly act on the cutter head frame 220, reducing interference with the cutter head body 210's weed cutting. Similarly, the swing arm 100 is rotatably connected to the cutter head frame 220 and rotatably connected to the mounting structure for the rotation drive mechanism of the cutter head body 210. The lifting rope 320's connection position with the cutter head frame 220 is selected based on the location and number of cutter head bodies 210, ensuring that the lifting rope 320 drives the cutter head assembly 200 to swing stably up and down. Of course, in other embodiments, the lifting rope 320 can also be connected to the rotation drive mechanism within the cutter head assembly 200 that drives the cutter head to rotate.

[0031] Furthermore, in this embodiment, please refer to Figures 1 to 3The cutter head assembly 200 includes two cutter head bodies 210, a lifting assembly 300 located between the two cutter head bodies 210, and a lifting rope 320 connecting the two cutter head bodies 210 to the cutter head frame 220. It can be understood that the two parallel cutter head bodies 210 are mounted on the same cutter head frame 220 to achieve coordinated cutting by both cutter head bodies, improving work efficiency and coverage uniformity. The lifting assembly 300 is located in the area between the two cutter head bodies 210, and the lifting rope 320, after being led out from the drive unit 310, connects to the center or near the center of gravity of the cutter head frame 220 within the space between the two cutter head bodies 210. In this way, the structural space of the cutter head assembly 200 is utilized, avoiding interference between the lifting rope 320 and the cutter head body 210. It also reduces the vertical space occupied by the lifting assembly 300 and the cutter head assembly 200. Simultaneously, it ensures that the traction force applied by the lifting rope 320 is located near the center of the cutter head assembly 200. Therefore, when the drive component 310 adjusts the height, the load can be evenly transmitted, reducing the eccentric torque and ensuring that the lifting rope 320 can smoothly adjust the height of the cutter head assembly 200. Correspondingly, the cutter head holder 220 has two mounting structures for mounting two cutter head bodies 210, and a connecting bridge is provided between the two mounting structures. The connecting bridge is spaced opposite to the cover plate, and the lifting rope 320 is connected to the connecting bridge. In this embodiment, the swing arm 100 is connected to the tool head holder 220 via a mounting structure that connects the two opposite sides of the tool head bodies 210. The connection point between the lifting rope 320 and the tool head holder 220 is located at the center of the tool head assembly 200, positioned at the center between the left and right sides. This allows the swing arm 100 to pull the tool head assembly 200 to swing from the left and right sides, while the lifting rope 320 drives the tool head assembly 200 to swing from the center in the left-right direction, thus ensuring the stability of the tool head assembly 200's lifting and lowering. Of course, in other embodiments, the tool head assembly 200 may also consist of only one tool head body 210, with the lifting rope 320 connected to the tool head holder 220 and positioned close to the center of gravity of the tool head assembly 200.

[0032] In one embodiment, please refer to Figure 9 and Figure 10The cutter head holder 220 is provided with a locking hole 221, and a limiting groove 223 is provided on the lower side of the cutter head holder 220. The locking hole 221 passes through the bottom of the limiting groove 223. A limiting ball 321 is provided at the end of the lifting rope 320. The lifting rope 320 passes through the locking hole 221, and the limiting ball 321 is installed in the limiting groove 223. It can be understood that the locking hole 221 is provided on the connecting bridge. During assembly, the lifting rope 320 passes through the locking hole 221 from top to bottom, so that the limiting ball 321 is embedded and limited in the limiting groove 223. Through the cooperation between the limiting ball 321 and the limiting groove 223, the lifting rope 320 is effectively prevented from coming off the cutter head holder 220 under tension or vibration conditions. At the same time, the locking hole 221 plays a guiding and restraining role for the lifting rope 320, ensuring that the traction force is stably transmitted in the predetermined direction. Furthermore, the groove wall of the limiting groove 223 provides dual circumferential and axial limiting for the limiting ball 321. This allows the lifting rope 320 to swing slightly to adapt to the movement of the swing arm 100, while also preventing the lifting rope 320 from changing its pulling direction due to excessive swaying or twisting of the cutter head assembly 200. This ensures the stability and consistent response of the cutter head assembly 200 during its up-and-down movement with the swing arm 100. Of course, in other embodiments, the end of the lifting rope 320 can also be fixedly connected to the cutter head holder 220.

[0033] Without loss of generality, in this embodiment, please refer to Figure 10 and Figure 11 The connecting bridge of the cutter head holder 220 is also provided with a snap-in hole 222. The locking hole 221 extends from the bottom of the limiting groove 223 through the opening of the limiting groove 223. The snap-in hole 222 is connected to the part of the locking hole 221 at the opening of the limiting groove 223. The snap-in hole 222 and the opening of the limiting groove 223 are flush. The diameter of the snap-in hole 222 is slightly larger than the diameter of the limiting ball 321. The section connecting the snap-in hole 222 and the locking hole 221 is smaller than the snap-in hole 222. During assembly, the limiting ball 321 is first inserted into the locking hole 222, and then the lifting rope 320 is moved so that it slides from the locking hole 222 into the clamping hole 221. The limiting ball 321 is then fitted into the limiting groove 223, allowing the cutter head frame 220 to be suspended by the limiting ball 321 of the lifting rope 320. This ensures the stability of the lifting rope 320 in driving the cutter head frame 220 to float, while also facilitating the connection between the lifting rope 320 and the cutter head frame 220. Alternatively, in other embodiments, the lifting rope 320 and the limiting ball 321 can be separate components. After the lifting rope 320 is inserted into the clamping hole 221, the limiting ball 321 is connected to the end of the lifting rope 320 by snap-fit, screw-fit, or welding, and installed in the limiting groove 223.

[0034] In one embodiment, please refer to Figure 4 , Figure 6 and Figure 8The blade floating device also includes a mounting base 400, which is mounted on the lawnmower robot. One end of the swing arm 100 is rotatably connected to the mounting base 400, and the other end is rotatably connected to the side of the blade assembly 200 away from the mounting base 400. It can be understood that the mounting base 400 is fixedly mounted on the chassis 500 of the lawnmower robot. As the mounting structure for the swing arm 100, the mounting base 400 can be separately set from the chassis 500 and then connected by screws, or the mounting base 400 can be integrally formed with the chassis 500. One end of the swing arm 100 is rotatably connected to the mounting base 400 via a pin, bearing, or hinge structure, while the other end is rotatably connected to the side of the blade assembly 200 away from the mounting base 400. This positions the blade assembly 200 between the two ends of the swing arm 100, shortening the swing distance of the blade assembly 200, thereby reducing the height and length of the lawnmower robot and ensuring its stability. Furthermore, after the mounting base 400, the swing arm 100, and the blade assembly 200 are assembled—that is, after the structures requiring rotatable connection on the swing arm 100 are assembled—the blade floating device is then connected to the chassis 500 via the mounting base 400, thus completing the assembly. This facilitates the assembly operation of the blade floating device and improves the assembly convenience of the lawnmower robot. Of course, in other embodiments, the swing arm 100 can also be directly rotatably connected to the chassis 500, with the end of the swing arm 100 away from the chassis 500 connected to the middle of the blade holder 220 in the front-rear direction.

[0035] Furthermore, in this embodiment, please refer to Figures 4 to 7The mounting base 400 has a movable groove 410 on the side facing the cutter head assembly 200. The end of the swing arm 100 is rotatably connected to the movable groove 410. An upper limit part 411 is provided on the upper side of the groove opening of the movable groove 410, which can limit the upper side of the swing arm 100. The end of the swing arm 100 has a lower limit part 140, which can limit the lower side of the groove bottom wall of the movable groove 410. It can be understood that the swing arm 100, in cooperation with the movable groove 410, realizes the swing control of the upper and lower limit positions, avoiding interference with the cutter head assembly 200 during grass cutting operations. The end of the swing arm 100 near the mounting base 400 is rotatably connected to the movable groove 410 via a pin or bearing, allowing the swing arm 100 to swing around its rotation axis within the groove. When the swing arm 100 swings upward to a set angle due to the lifting of the cutter head assembly 200, its upper surface abuts against the upper limit portion 411 of the movable groove 410, thereby limiting its further upward swing. When the cutter head assembly 200 is in its lowest working position or swings downward under gravity, the lower limit portion 140 at the end of the swing arm 100 abuts against the bottom wall of the movable groove 410, preventing the swing arm 100 from moving further downward. In this way, the floating range of the cutter head assembly 200 is effectively limited, the swing stroke of the swing arm 100 is controlled, and its excessive lifting or falling is prevented, ensuring that it adapts to terrain changes within a reasonable height range and avoiding mowing failure due to excessive lifting or damage to the cutter head and ground due to excessive downward pressure. Of course, in other embodiments, a limiting structure can also be provided on the lifting rope 320 to limit the lifting and sliding range of the lifting rope 320, thereby achieving the ultimate limit of lifting or falling of the cutter head assembly 200.

[0036] In one embodiment, please refer to Figure 1 , Figure 2 and Figure 10The lifting rope 320 is connected to the side of the cutter head assembly 200 away from the mounting base 400. It is understandable that the connection position between the lifting rope 320 and the cutter head assembly 200 creates an effective lever arm between the point of application of the tension applied by the lifting rope 320 and the fulcrum of the swing arm 100. This allows the drive unit 310 to efficiently drive the cutter head assembly 200 to lift upwards or return downwards around the rotation axis of the swing arm 100 through the lever principle when the lifting rope 320 is extended or retracted. When the cutter head encounters an obstacle while the lawnmower robot is moving, this connection position helps the cutter head assembly 200 to swing upwards to avoid the obstacle in a more sensitive and smooth manner, avoiding response lag or excessive driving force due to the traction point being close to the mounting base 400. At the same time, since the lifting rope 320 acts on the side away from the mounting base 400, its tension position and the position of the mounting base 400 for the connection of the swing arm 100 are located behind and in front of the center of gravity of the cutter head assembly 200, respectively. This makes the center of gravity distribution of the entire cutter head floating device more matched, reducing the twisting or swaying of the cutter head assembly 200 during the swinging process and improving the stability and consistency of the floating action. The lifting rope 320 is connected to the cutter head assembly 200 and is also adjacent to the connection point between the swing arm 100 and the cutter head assembly 200. When the lifting rope 320 drives the cutter head assembly 200 to rise and fall, it helps to ensure the posture stability of the cutter head assembly 200. Of course, in other embodiments, the lifting rope 320 can also be connected to the middle of the cutter head assembly 200 in the front-rear direction.

[0037] Regarding the structure of the lifting assembly 300, in one embodiment, please refer to... Figure 12 and Figure 13The lifting assembly 300 also includes a take-up and release wheel 340 and at least one drive wheel 330. One end of the lifting rope 320 is connected to the take-up and release wheel 340, and the other end is wound around the drive wheel 330 and connected to the cutter head assembly 200. The take-up and release wheel 340 is located close to the mounting base 400, and the drive wheel 330 is located close to the side of the cutter head assembly 200 away from the mounting base 400. It is understood that the take-up and release wheel 340 and the drive wheel 330 are distributed along the front-to-back direction, with the take-up and release wheel 340 located on the front side and the drive wheel 330 located on the rear side. One end of the lifting rope 320 is fixedly connected to the take-up and release wheel 340, and the other end is successively wound around the drive wheel 330 and connected to the side of the cutter head assembly 200 away from the mounting base 400. The take-up and release wheel 340 is driven by the drive unit 310 and is used to take up or release the lifting rope 320. The drive wheel 330 is arranged near the rear side of the cutter head assembly 200 to change the traction direction of the lifting rope 320, so that the lifting rope 320 can act on the connection point of the cutter head assembly 200 in a near-vertical direction. In this way, not only is the limited space inside the lawnmower robot effectively utilized, but also the direction of the pulling force is made closer to the movement trajectory required for the swing of the cutter head assembly 200 by guiding the direction of the lifting rope 320 through the drive wheel 330, thereby enabling more stable and efficient control of the lifting of the cutter head assembly 200. The drive component 310 can be configured as a motor, cylinder, etc. Without loss of generality, please refer to... Figure 8 and Figure 9 The chassis 500 has a wheel fixing seat 511 on one side vertically opposite the cutter head assembly 200. The transmission wheel 330 is rotatably mounted on the wheel fixing seat 511. Referring to the following description of the installation posture of the transmission wheel 330, it can be seen that the wheel fixing seat 511 has two left and right distributed fixing ears, and the shaft of the transmission wheel 330 is rotatably connected to the two fixing ears. Of course, in other embodiments, the drive unit 310 can also control the take-up and release wheel 340, directly controlling the lifting rope 320 to drive the cutter head assembly 200 to rise and fall.

[0038] Furthermore, in this embodiment, please refer to Figure 1 , Figure 12 and Figure 13The rotation axis of the take-up and release wheel 340 extends vertically, while the rotation axis of the drive wheel 330 extends horizontally. The tangential edge of the take-up and release wheel 340 is flush with the upper tangential edge of the drive wheel 330. The vertically extending rotation axis of the take-up and release wheel 340 allows for stable driving by the drive unit 310 mounted on the chassis 500, ensuring reliable take-up and release of the lifting rope 320. The drive wheel 330 smoothly redirects the lifting rope 320 from the vertical take-up and release direction to the horizontal or inclined traction direction, adapting to the connection position and swing trajectory of the cutter head assembly 200. It also preemptively counteracts the force exerted by the cutter head assembly 200 on the lifting rope 320 that deviates from the swing direction, ensuring the stability of the lifting rope 320 during take-up and release on the take-up and release wheel 340. In this design, the tangent edge of the take-up and release wheel 340 (i.e., the point where the lifting rope 320 leaves the take-up and release wheel 340) and the upper tangent edge of the transmission wheel 330 (i.e., the upper tangent point where the lifting rope 320 contacts the transmission wheel 330) are kept at the same height. This ensures that the lifting rope 320 is in the same horizontal plane during the transition section between the two wheels, avoiding unnecessary bending, friction, or lateral deviation of the lifting rope 320 during operation. This not only optimizes the routing path of the lifting rope 320, reducing running resistance and wear, and improving transmission efficiency and response accuracy, but also ensures the stability and durability of the lifting assembly 300 under long-term high-frequency operation. Of course, in other embodiments, the rotation axes of the take-up and release wheel 340 and the transmission wheel 330 can be arranged parallel, or the transmission wheel 330, the take-up and release wheel 340, and the clamping hole 221 can be arranged in a three-point configuration to ensure the pre-tensioning effect of the lifting rope 320.

[0039] Regarding the structural form of the retractable wheel 340, in one embodiment, please refer to... Figure 12 and Figure 13The take-up and release reel 340 includes an upper reel housing 341 and a lower reel housing 342, which together form a winding groove 344. A fixing post 343 is also provided between the upper reel housing 341 and the lower reel housing 342. The end of the lifting rope 320 is sleeved on the fixing post 343, and the lifting rope 320 is wound around the winding groove 344. The take-up and release reel 340 adopts a split structure, including an upper reel housing 341 and a lower reel housing 342. After the two are installed together, they together form a winding groove 344 around its outer circumference, which is used to guide and constrain the orderly take-up and release of the lifting rope 320. A fixing post 343 is also provided between the upper reel housing 341 and the lower reel housing 342. The fixing post 343 extends along the axial direction of the take-up and release reel 340 and is located close to the bottom wall of the winding groove 344. The fixing post 343 can be integrally formed with the upper reel body or the lower reel body. The lifting rope 320 has a fixing ring 322 at its end, which is fitted and fastened to the fixing post 343, thereby achieving reliable anchoring of the lifting rope 320 and the take-up and release wheel 340 and preventing loosening due to tension during take-up and release. This facilitates the assembly of the take-up and release wheel 340 and the initial installation of the lifting rope 320. Furthermore, the winding groove 344 limits the movement of the lifting rope 320, effectively preventing it from tangling, jumping, or lateral slippage during high-speed take-up and release or frequent reversals, ensuring the smoothness and repeatability of the lifting and lowering motion of the traction cutter head assembly 200. Generally, the fixing ring 322 and the rope body of the lifting rope 320 are integrally formed. Of course, in other embodiments, the end of the lifting rope 320 can also be engaged with the shaft of the take-up and release wheel 340, presenting a pin-like connection.

[0040] In one embodiment, please refer to Figures 1 to 3The cutter head floating device includes two rocker arms 100, which are distributed vertically. A tension spring 130 is connected to the opposite side of each rocker arm 100. The two rocker arms 100 are connected to the mounting base 400 and the cutter head assembly 200 via their respective rotatable connection structures, together forming a double-linkage 120 type floating support mechanism. A tension spring 130 is connected between the inner sides of the two rocker arms 100, which is in a pre-stretched state under normal conditions, applying an elastic tension that brings the two rocker arms 100 closer together. In this way, when the cutter head assembly 200 swings with the terrain, the tension spring 130 can provide a stable restoring torque, causing the two swing arms 100 to swing synchronously. During the upward floating of the cutter head assembly 200 over obstacles or the swinging motion driven by the lifting rope 320, the tension spring 130 promotes smooth swinging of the cutter head assembly 200, such as returning to the preset working height, avoiding slow descent or height drift due to insufficient gravity or inertial lag. Simultaneously, the double swing arms 100, together with the tension spring 130, form a rigid, elastic parallelogram mechanism, suppressing the forward and backward pitching or left and right swaying of the cutter head assembly 200 during movement, improving the stability and consistency of the mowing posture. Furthermore, the buffering effect of the tension spring 130 can absorb some impact energy, reducing the load on the swing arms 100 and the lifting assembly 300, further alleviating the jamming and wear during the up-and-down floating of the cutter head assembly 200. Of course, in other embodiments, only one swing arm 100 may be provided, or a tension spring 130 may be provided between the swing arm 100 and the chassis 500.

[0041] Regarding the structural form of the rocker arm 100, please refer to the following in this embodiment: Figures 1 to 3 The rocker arm 100 includes two support arms 110 and a connecting rod 120 connecting the middle of the two support arms 110. The cutter head assembly 200 is located between the two support arms 110 and is rotatably connected to the ends of the support arms 110. It can be understood that the rocker arm 100 adopts a frame structure, including two parallel support arms 110 and a connecting rod 120 connecting the middle of the two support arms 110, forming an H-shaped support configuration with high structural rigidity. The cutter head assembly 200 is arranged between the two support arms 110 and is rotatably connected to the ends of the two support arms 110 away from the mounting base 400 via pins or bearings, thereby obtaining symmetrical and stable support on both sides. The swing arm 100 has improved its bending and torsional resistance when bearing the weight of the cutter head assembly 200 and ground impact loads, avoiding the lateral swaying or torsional deformation that is prone to occur in single-arm structures. Furthermore, the clamping connection between the two arms 110 and the cutter head assembly 200 ensures that it maintains good posture stability and rotational concentricity during the up-and-down swinging process with the swing arm 100. At the same time, the setting of the connecting rod 120 enhances the consistency of coordinated movement between the two arms 110, preventing problems such as unilateral jamming or asynchronous movement caused by uneven force.

[0042] This utility model also proposes a lawn mowing robot, which includes a blade floating device. The specific structure of the blade floating device is as described in the above embodiments. Since this lawn mowing robot adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0043] Please refer to Figure 4 , Figure 6 and Figure 8 The lawnmower robot also includes a chassis 500, which has a recessed clearance groove 510 from bottom to top. The blade floating device is installed on the chassis 500 and movably positioned in the clearance groove 510. It can be understood that when the blade assembly 200 floats up and down with the swing arm 100, its movement space is reasonably accommodated in the clearance groove 510 of the chassis 500. The depth and contour of the clearance groove 510 are designed according to the maximum swing stroke of the blade assembly 200, providing sufficient vertical and tilting space for blade floating while avoiding interference from external protruding structures on the robot's obstacle crossing or passage. By integrating the blade floating device into the clearance groove 510, the swing arm 100, lifting rope 320, and transmission wheel 330 are effectively protected from damage caused by external grass clippings, mud, or collisions. This also optimizes the overall compactness and flatness of the machine, improving its ability to navigate in narrow or complex environments. In this way, it can be ensured that the blade assembly 200 can complete the swinging motion without interference when encountering obstacles and being lifted, avoiding movement jamming or reset failure caused by structural limitations or shell obstruction. This avoids problems such as obstructed floating, damage, or poor floating of the blade assembly 200, and enhances the overall environmental adaptability, operational stability, and long-term operational reliability of the lawnmower robot.

[0044] Furthermore, in this embodiment, please refer to Figure 4 , Figure 6 and Figure 10The chassis 500 has a recessed mounting groove 520 on its upper side. The lifting rope 320 is located between the bottom wall of the clearance groove 510 and the cutter head assembly 200. The drive unit 310 is installed in the mounting groove 520, and the output shaft of the drive unit 310 passes through the clearance groove 510 and drives the lifting rope 320. Alternatively, the opening of the mounting groove 520 is also sealed with a cover. It should be noted that the output shaft of the drive unit 310 passes downward through the chassis 500 structure and through the bottom wall of the clearance groove 510, directly or indirectly driving the lifting rope 320 located within the clearance groove 510. On the one hand, placing the drive unit 310 in the mounting groove 520 at a high position inside the chassis 500 isolates it from the mud, grass clippings, and impact loads of the bottom working area. On the other hand, the lifting rope 320 runs between the bottom of the clearance groove 510 and the cutter head assembly 200, avoiding the risk of exposure, entanglement, or wear. In addition, the cover is sealed to the opening of the mounting groove 520 by means of buckles, screws or sealant. For example, a sealing ring is set around the opening of the mounting groove 520 to prevent external pollutants from entering the interior of the drive component 310 and ensure its stable operation in a long-term outdoor humid and dusty environment.

[0045] The mounting slot 520 is elongated and extends along the front-to-back direction. The drive unit 310 is configured as a motor, placed horizontally along the front-to-back direction. A gearbox is provided at the output end of the motor to change the direction of the motor's power output and also to change the output torque of the motor. The output end of the motor is horizontally positioned, and the output end of the gearbox is vertically positioned, so that the drive unit 310 can drive the take-up and release wheel 340, which rotates around the vertical direction. In this way, the space occupied by the mounting slot 520 in the vertical and lateral directions is reduced, and the mounting position of the drive unit 310 is adapted to the distance between the two cutter disc bodies 210. This allows the drive unit 310, the take-up and release wheel 340, and the transmission wheel 330 to be located in the space between the two cutter disc bodies 210, improving the compactness of the lawnmower robot and reducing its height. In addition, the bottom wall of the clearance groove 510 is provided with a clearance hole, through which the output shaft of the motor or gearbox passes. The take-up and release wheel 340 is fixedly connected to the output shaft. A bearing and oil seal structure are provided at the clearance hole to ensure the rotational stability of the take-up and release wheel 340 on the output shaft.

[0046] The above description is merely an exemplary embodiment of the present utility model and does not limit the scope of protection of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the scope of protection of the present utility model.

Claims

1. A cutterhead floatation device, characterized by, The blade floating device, applied to lawn mowing robots, includes: A swing arm is mounted on the lawnmower robot and is configured to swing relative to the lawnmower robot. A cutter head assembly, rotatably connected to the rocker arm; and The lifting assembly includes a drive component and a lifting rope. The drive component is mounted on the lawnmower robot and is connected to the lifting rope. The lifting rope is connected to the blade assembly so as to drive the blade assembly to swing with the swing arm.

2. The cutterhead floatation apparatus of claim 1, wherein, The cutter head assembly includes a cutter head body and a cutter head holder, with the cutter head body mounted on the cutter head holder and the lifting rope connected to the cutter head holder.

3. The cutterhead floatation apparatus of claim 2, wherein, The cutter head assembly includes two cutter head bodies, the lifting assembly is located between the two cutter head bodies, and the lifting rope is connected to the cutter head frame between the two cutter head bodies; And / or, the cutter head holder is provided with a locking hole, the lower side of the cutter head holder is provided with a limiting groove, the locking hole passes through the bottom of the limiting groove, the end of the lifting rope is provided with a limiting ball, the lifting rope passes through the locking hole, and the limiting ball is installed in the limiting groove.

4. The cutterhead floatation apparatus of claim 1, wherein, The blade floating device also includes a mounting base, which is mounted on the lawnmower robot. One end of the swing arm is rotatably connected to the mounting base, and the other end is rotatably connected to the side of the blade assembly away from the mounting base.

5. The cutterhead floatation apparatus of claim 4, wherein, The mounting base has a movable groove on the side facing the cutter head assembly. The end of the swing arm is rotatably connected to the movable groove. An upper limit part is provided on the upper side of the groove opening of the movable groove. The upper limit part can limit and abut against the upper side of the swing arm. The end of the swing arm has a lower limit part. The lower limit part can limit and abut against the bottom wall of the movable groove. And / or, the lifting rope is connected to the side of the cutter head assembly away from the mounting base.

6. The cutterhead floatation apparatus of claim 4, wherein, The lifting assembly further includes a take-up and release wheel and at least one drive wheel. One end of the lifting rope is connected to the take-up and release wheel, and the other end is wound around the drive wheel and connected to the cutter head assembly. The take-up and release wheel is located close to the mounting base, and the drive wheel is located close to the side of the cutter head assembly away from the mounting base.

7. The cutterhead floatation apparatus of claim 6, wherein, The rotation axis of the take-up and release wheel extends in the same direction as the vertical direction, the rotation axis of the transmission wheel extends in the same direction as the horizontal direction, and the tangential edge of the take-up and release wheel is flush with the upper tangential edge of the transmission wheel. And / or, the take-up and release wheel includes an upper wheel shell and a lower wheel shell, the upper wheel shell and the lower wheel shell together form a winding groove, a fixing post is also provided between the upper wheel shell and the lower wheel shell, the end of the lifting rope is sleeved on the fixing post, and the lifting rope is wound around the winding groove.

8. The cutterhead floatation apparatus of any one of claims 1 to 7, wherein, The blade floating device includes two rocker arms, which are distributed in the vertical direction, and tension springs are connected to the opposite sides of the two rocker arms. And / or, the rocker arm includes two arms and a connecting rod connecting the middle of the two arms, the cutter head assembly is located between the two arms and is rotatably connected to the ends of the arms.

9. A mowing robot, characterized in that The device includes a chassis and a blade floating device as described in any one of claims 1 to 8, wherein the chassis is recessed from bottom to top with a clearance groove, and the blade floating device is mounted on the chassis and movably disposed in the clearance groove.

10. The mowing robot of claim 9, wherein, The upper side of the chassis is recessed with a mounting groove, the lifting rope is located between the bottom wall of the clearance groove and the cutter head assembly, the drive unit is installed in the mounting groove, and the output shaft of the drive unit passes through the clearance groove and drives the lifting rope, and / or, the opening of the mounting groove is also sealed with a cover.

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