Lifting / lowering mechanism and autonomous mobile apparatus

Abstract

A lifting / lowering mechanism and an autonomous mobile apparatus. The lifting / lowering mechanism comprises: a fixing assembly, which is connected to a unit body; a first connecting rod, of which one end is rotatably connected to the fixing assembly, and the other end is rotatably connected to a cutting mechanism; a second connecting rod, of which one end is rotatably connected to the fixing assembly, and the other end is rotatably connected to the cutting mechanism; and an adjusting member, which has an abutting end facing the second connecting rod, when the first connecting rod rotates to a first position and the second connecting rod rotates to a second position, the abutting end abutting against the second connecting rod.

Description

Lifting mechanisms and autonomous mobile equipment

[0001] This application claims priority to Chinese patent application No. 2024202740141 filed with the State Intellectual Property Office of China on February 4, 2024, and application number 2024202811679 filed with the State Intellectual Property Office of China on February 4, 2024. This application claims priority to Chinese patent application No. 2024202739816 filed with the State Intellectual Property Office of China on February 4, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present application relates to the field of robotics, and in particular to a lifting mechanism and an autonomous mobile device. Background Art

[0003] With the development of mobile robot technology, more and more robots have entered people's daily lives in recent years. Smart lawn mowers that can automatically mow the user's lawn as an autonomous mobile device are also becoming increasingly popular.

[0004] A lawn mower, also known as a weed cutter, lawn mower, or lawn trimmer, is a mechanical tool used to trim lawns and vegetation. During the cutting process, the cutting mechanism of the lawn mower must adjust its height accordingly due to uneven terrain or the varying heights of different lawns and vegetation. However, the lifting mechanism used to adjust the height of existing lawn mowers is complex and cumbersome to operate, affecting work efficiency. Summary of the Invention

[0005] In view of this, the present application proposes a lifting mechanism and an autonomous mobile device.

[0006] A first aspect of the present application provides a lifting mechanism, comprising:

[0007] A fixing assembly for mounting on a body of an autonomous mobile device;

[0008] a first connecting rod having a first end and a second end opposite to each other, the first end being rotatably connected to the fixing assembly, the second end being rotatably connected to the cutting mechanism of the autonomous mobile device, the first connecting rod being rotatable in a first rotational direction and a second rotational direction, the first rotational direction being opposite to the second rotational direction;

[0009] a second connecting rod having a third end and a fourth end opposite to each other, the third end being rotatably connected to the fixing assembly, the fourth end being configured to be rotatably connected to the cutting mechanism of the autonomous mobile device, the second connecting rod being rotatable in the first rotation direction and the second rotation direction;

[0010] an adjusting member connected to the first connecting rod, the adjusting member having an abutting end facing the second connecting rod, wherein when the first connecting rod rotates to a first position along the first rotation direction and the second connecting rod rotates to a second position along the first rotation direction, the abutting end abuts against the second connecting rod;

[0011] Wherein, the adjusting member is configured to be able to adjust the distance between the abutting end and the first connecting rod.

[0012] The second aspect of the present application proposes an autonomous mobile device, comprising a body, a cutting mechanism and the lifting mechanism of the first aspect above, wherein the cutting mechanism is used to cut the target cutting object, and the lifting mechanism is connected to the body and the cutting mechanism so that the cutting mechanism can rise or fall.

[0013] As can be seen from the above technical solution, the lifting mechanism proposed in this application can rotate up and down relative to the fixed component through the arrangement of the first connecting rod and the second connecting rod, thereby enabling the cutting mechanism to float up and down. As the distance between the first connecting rod and the second connecting rod gradually decreases during the downward rotation of the first connecting rod and the second connecting rod, when the abutting end abuts the second connecting rod, the downward rotation of the first connecting rod and the second connecting rod is restricted to limit the lowest position of the cutting mechanism. The distance between the abutting end and the first connecting rod can be adjusted by the arrangement of the adjusting member, that is, the extension length of the abutting end toward the second connecting rod can be adjusted, thereby adjusting the extreme position to which the first connecting rod and the second connecting rod can rotate downward, thereby adjusting the lowest height of the cutting mechanism to float up and down according to the undulations of the terrain or the height of different lawns and other vegetation, which is simple to operate and improves work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained from these drawings without any creative work.

[0015] FIG1 is a schematic diagram showing the connection between the lifting mechanism and the cutting mechanism proposed in an embodiment of the present application;

[0016] FIG2 is a schematic cross-sectional view of the structure shown in FIG1 ;

[0017] FIG3 is a schematic structural diagram of a lifting mechanism proposed in an embodiment of the present application;

[0018] FIG4 is a schematic cross-sectional view of the structure shown in FIG3 ;

[0019] FIG5 is a schematic diagram of a first connecting rod and a second connecting rod parallel to a horizontal plane according to an embodiment of the present application;

[0020] FIG6 is a schematic diagram of the structure shown in FIG5 rotated downward by 30°;

[0021] FIG7 is an exploded schematic diagram of the first connecting rod, the second connecting rod and the adjusting member according to an embodiment of the present application;

[0022] FIG8 is a schematic structural diagram of a gasket provided in a groove of a first inner wall according to an embodiment of the present application;

[0023] FIG9 is a schematic diagram of the framework of the autonomous mobile device proposed in an embodiment of the present application;

[0024] FIG10 is an exploded schematic diagram from a first perspective of a cutting mechanism proposed in an embodiment of the present application;

[0025] FIG11 is an exploded schematic diagram from a second perspective of the cutting mechanism proposed in an embodiment of the present application;

[0026] FIG12 is a schematic structural diagram of the fan structure and the connection structure proposed in an embodiment of the present application as the same component;

[0027] FIG13 is a schematic structural diagram of a cutting mechanism proposed in an embodiment of the present application;

[0028] FIG14 is a schematic cross-sectional view of the structure shown in FIG13;

[0029] FIG15 is a schematic structural diagram of a cutting blade proposed in an embodiment of the present application;

[0030] FIG16 is a schematic diagram of a planar structure of a cutting blade proposed in an embodiment of the present application;

[0031] FIG17 is a schematic diagram of another planar structure of a cutting blade proposed in an embodiment of the present application;

[0032] FIG18 is a schematic diagram of another planar structure of a cutting blade proposed in an embodiment of the present application;

[0033] FIG19 is a schematic diagram of another planar structure of the cutting blade proposed in an embodiment of the present application.

[0034] Explanation of the accompanying drawings: 100, lifting mechanism; 10, fixing assembly; 11, matching portion; 20, first connecting rod; 21, first end; 211, first extension portion; 212, second extension portion; 22, second end; 23, first inner wall; 24, first rotation axis; 25, second rotation axis; 30, second connecting rod; 31, third end; 32, fourth end; 33, second inner wall; 331, groove; 34, third rotation axis; 35, fourth rotation axis; 40, adjusting member; 41, abutting end; 42, rod body; 421, first section; 422, second section; 43, knob; 431, ridge; 50, elastic member; 60, gasket; 600, cutting mechanism; 610, mounting member; 611, mounting hole; 620, cutting member; 621, first cutting member; 622, 1. Autonomous mobile device; 700. Body; 800. Traveling mechanism; 910. Drive connection portion; 911. Adapter hole; 920. Base; 921. First base portion; 922. Second base portion; 920a. Third side; 920b. Fourth side; 930. Cutting member; 940. Protective member; 941. First surface; 942. Second surface; 943. Edge. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0036] It should be understood that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0037] It should also be understood that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element through an intervening element.

[0038] The terms used in this specification are for the purpose of describing specific embodiments only and are not intended to limit this application. For example, the terms "first," "second," and so on are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, the term "first" or "second" may explicitly or implicitly include at least one of the features.

[0039] It should be further understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0040] 1 to 5 , the present application proposes a lifting mechanism 100, comprising a fixing assembly 10, a first connecting rod 20, a second connecting rod 30, and an adjusting member 40. The fixing assembly 10 is used to be mounted on the body 700 of the autonomous mobile device 1; the first connecting rod 20 has a first end 21 and a second end 22 opposite to each other, the first end 21 being rotatably connected to the fixing assembly 10, and the second end 22 being rotatably connected to the cutting mechanism 200 of the autonomous mobile device 1, and the first connecting rod 20 can rotate in a first rotation direction and a second rotation direction, the first rotation direction being opposite to the second rotation direction; the second connecting rod 30 has a third end 31 and a fourth end 32 opposite to each other. 32, the third end 31 is rotatably connected to the fixing assembly 10, and the fourth end 32 is used to be rotatably connected to the cutting mechanism 200 of the autonomous mobile device 1, and the second link 30 can rotate along the first rotation direction and the second rotation direction; the adjusting member 40 is connected to the first link 20, and the adjusting member 40 has an abutting end 41 facing the second link 30. When the first link 20 rotates to the first position along the first rotation direction and the second link 30 rotates to the second position along the first rotation direction, the abutting end 41 abuts against the second link 30; wherein, the adjusting member 40 is configured to be able to adjust the distance between the abutting end 41 and the first link 20.

[0041] In a specific application, when the lifting mechanism 100 is installed on the autonomous mobile device 1, the first rotation direction can be a downward direction, and the second rotation direction can be an upward direction, that is, the first link 20 and the second link 30 can rotate up and down, and the first position is the extreme position of the downward rotation of the first link 20, and the second position is the extreme position of the downward rotation of the second link 30.

[0042] The lifting mechanism 100 of the embodiment of the present application, through the arrangement of the first connecting rod 20 and the second connecting rod 30, can rotate up and down relative to the fixed assembly 10, thereby allowing the cutting mechanism 200 to float up and down. As the first connecting rod 20 and the second connecting rod 30 rotate downward, the relative distance between the first connecting rod 20 and the second connecting rod 30 gradually decreases. When the abutting end 41 abuts the second connecting rod 30, the first connecting rod 20 and the second connecting rod 30 are restricted from rotating downward, thereby limiting the lowest position of the cutting mechanism 200. The arrangement of the adjusting member 40 can adjust the distance between the abutting end 41 and the first connecting rod 20, that is, the extension length of the abutting end 41 toward the second connecting rod 30 can be adjusted, thereby adjusting the extreme position at which the first connecting rod 20 and the second connecting rod 30 can rotate downward. Therefore, the lowest floating height of the cutting mechanism 200 can be adjusted according to the undulating terrain or the height of different lawns and other vegetation, which is simple to operate and improves work efficiency.

[0043] In a specific application, when the lifting mechanism 100 is installed on the autonomous mobile device 1, due to the gravity of the cutting mechanism 200, the starting position of the cutting mechanism 200 is at the extreme position of downward rotation. At this time, the abutting end 41 of the adjusting member 40 abuts against the second connecting rod 30 to prevent the first connecting rod 20 and the second connecting rod 30 from rotating downward. When encountering a raised ground surface or a hard object such as a stone on the ground, the cutting mechanism 200 will be lifted up to avoid interference with the cutting mechanism 200. When the height of the lawn on the ground is higher or lower, the distance between the abutting end 41 and the first connecting rod 20 can be adjusted by the adjusting member 40, that is, the extreme position of the downward rotation of the first connecting rod 20 and the second connecting rod 30 can be adjusted to raise or lower the starting position of the cutting mechanism 200, so that the lawn can be cut according to the height.

[0044] In some embodiments, as shown in Figures 3-6, the rotation axes of the first end 21, the second end 22, the third end 31, and the fourth end 32 are arranged in parallel, and the four projection points of the rotation axes of the first end 21, the second end 22, the third end 31, and the fourth end 32 on the first plane are connected to form a parallelogram, and the first plane is perpendicular to the rotation axes of the first end 21, the second end 22, the third end 31, and the fourth end 32. As a result, the double-link structure composed of the first connecting rod 20 and the second connecting rod 30 can drive the cutting mechanism 200 to move up and down stably.

[0045] In a specific application, as shown in Figures 3 and 4, the first end 21 is rotatably connected to the fixed component 10 through the first rotating shaft 24, the second end 22 is rotatably connected to the cutting mechanism 200 through the second rotating shaft 25, the third end 31 is rotatably connected to the fixed component 10 through the third rotating shaft 34, and the fourth end 32 is rotatably connected to the cutting mechanism 200 through the fourth rotating shaft 35; wherein, the four projection points of the first rotating shaft 24, the second rotating shaft 25, the third rotating shaft 34 and the fourth rotating shaft 35 on the first plane are connected to form a parallelogram, and the first plane is arranged perpendicular to the first rotating shaft 24, the second rotating shaft 25, the third rotating shaft 34 and the fourth rotating shaft 35.

[0046] As an embodiment, as shown in Figures 4 and 7, the fixing component 10 is provided with a matching portion 11, and the first end 21 is rotatably connected to the fixing component 10 through a first rotating shaft 24. The first end 21 is provided with a first extension portion 211 and a second extension portion 212 that are relatively arranged along the axial direction of the first rotating shaft 24. The first extension portion 211 and the second extension portion 212 are respectively arranged on both sides of the matching portion 11, and the first rotating shaft 24 is passed through the first extension portion 211, the matching portion 11 and the second extension portion 212, so that the first end 21 is rotatably connected to the matching portion 11.

[0047] Optionally, the rotational connection method between the second end 22 and the cutting mechanism 200, the third end 31 and the fixing assembly 10, and the fourth end 32 and the cutting mechanism 200 can refer to the rotational connection method between the first end 21 and the matching portion 11 mentioned above, and will not be repeated here.

[0048] Of course, the rotational connection between the first end 21 and the fixed component 10, the second end 22 and the cutting mechanism 200, the third end 31 and the fixed component 10, and the fourth end 32 and the cutting mechanism 200 can also be achieved in other ways, so that the first connecting rod 20 and the second connecting rod 30 can rotate synchronously to drive the cutting mechanism 200 to move up and down.

[0049] In some embodiments, as shown in Figures 4 to 7, the adjusting member 40 includes a rod body 42, which is threadedly connected to the first connecting rod 20. One end of the rod body 42 faces the second connecting rod 30 to form an abutting end 41. By rotating the rod body 42, the abutting end 41 is driven to move closer to or away from the first connecting rod 20. Thus, through the threaded connection between the rod body 42 and the first connecting rod 20, the rod body 42 can be rotated to drive the abutting end 41 to adjust the distance between the abutting end 41 and the first connecting rod 20. When the rod body 42 is screwed out, that is, the distance between the abutting end 41 and the first connecting rod 20 is shortened, the starting position of the cutting mechanism 200 is lowered. When the rod body 42 is screwed in, that is, the distance between the abutting end 41 and the first connecting rod 20 is increased, the starting position of the cutting mechanism 200 is raised, thereby facilitating adjustment of the starting height of the cutting mechanism 200.

[0050] In some embodiments, the rod body 42 may be entirely provided with external threads. Of course, in other examples, the rod body 42 may only be partially provided with external threads.

[0051] As an embodiment, the rod body 42 includes a first section 421 and a second section 422. The first section 421 is threadedly connected to the first connecting rod 20 and extends outside the first connecting rod 20. One end of the second section 422 is connected to the first section 421, and the other end of the second section 422 faces the second connecting rod 30 to form an abutment end 41. By rotating the first section 421, the second section 422 is moved closer to or away from the first connecting rod 20, thereby adjusting the distance between the abutment end 41 and the first connecting rod 20. The threaded connection makes it easy to screw the rod body 42 in or out, thereby facilitating adjustment of the starting height of the cutting mechanism 200.

[0052] In some embodiments, the adjustment member 40 further includes a knob 43, which is connected to the end of the rod body 42 facing away from the abutting end 41, that is, connected to the end of the first section 421 extending outside the first connecting rod 20. The knob 43 is configured for an operator to grasp to rotate the rod body 42. The provision of the knob 43 facilitates the operator to control the rotation of the rod body 42 by grasping the knob 43, thereby adjusting the distance between the abutting end 41 and the first connecting rod 20.

[0053] In an optional embodiment, the outer wall of the knob 43 is provided with ridges 431 to increase friction when the operator grips the knob 43. The provision of the ridges 431 can increase friction, making it easier for the operator to apply force to the knob 43 to facilitate rotation of the rod 42.

[0054] In some embodiments, as shown in Figures 5 and 6, the first connecting rod 20 and the second connecting rod 30 are arranged in parallel, thereby driving the cutting mechanism 200 to move up and down stably. The first connecting rod 20 and the second connecting rod 30 are limited to being able to rotate downward 30°-60° to the extreme position, thereby providing a sufficient range for the cutting mechanism 200 to adjust its height.

[0055] In some embodiments, the first link 20 has a first inner wall 23 facing the second link 30, and the second link 30 has a second inner wall 33 arranged opposite to the first inner wall 23. When the first link 20 rotates to the first position along the first rotation direction and the second link 30 rotates to the second position along the first rotation direction, the abutment end 41 abuts against the second inner wall 33 to limit the rotation of the first link 20 and the second link 30 in the first rotation direction. When the lifting mechanism 100 is installed on the autonomous mobile device 1, the first rotation direction can be a downward direction. When the abutting end 41 abuts the second inner wall 33, the first link 20 and the second link 30 will be restricted from rotating downward to limit the lowest position of the cutting mechanism 200. The distance between the abutting end 41 and the first inner wall 23 can be adjusted by setting the adjusting member 40, that is, the protruding length of the abutting end 41 toward the second inner wall 33 can be adjusted, thereby adjusting the extreme position to which the first link 20 and the second link 30 can rotate downward. In this way, the minimum floating height of the cutting mechanism 200 can be adjusted according to the undulating terrain or the height of different lawns and other vegetation. The operation is simple and the work efficiency is improved.

[0056] In some embodiments, as shown in FIG3-6 , a line Q connecting the first end 21 and the second end 22 is perpendicular to the rod body 42 , thereby making it easy to adjust the distance between the rod body 42 and the first connecting rod 20 .

[0057] Exemplarily, the distance between the first rotation axis 24 and the third rotation axis 34 is defined as the first preset distance L1, and the adjusting member 40 can adjust the distance between the abutting end 41 and the first inner wall 23 to the second preset distance L2; when the first link 20 and the second link 30 are both arranged perpendicular to the fixing assembly 10, that is, the first link 20 and the second link 30 are parallel to the ground, as shown in Figure 5, L1 is equal to L2, when the first link 20 and the second link 30 are rotated downward by 30°, as shown in Figure 6, since the rod body 42 is always perpendicular to the first inner wall 23, at this time L1 is equivalent to the hypotenuse of the right triangle, and L2 is equivalent to the adjacent side of the right triangle. At this time, L2 / L1=cos30°=√3 / 2, that is, when it is necessary to limit the first link 20 and the second link 30 to rotate downward by 30° to the extreme position, the adjusting member 40 can be rotated so that the distance L2 between the abutting end 41 of the adjusting member 40 and the first inner wall 23 is √3 / 2L1. When the first link 20 and the second link 30 rotate downward by 60°, L2 / L1=cos60°=1 / 2, that is, when it is necessary to limit the first link 20 and the second link 30 to rotate downward by 60° to the extreme position, the adjusting member 40 can be rotated so that the distance L2 between the abutting end 41 of the adjusting member 40 and the first inner wall 23 is 1 / 2L1.

[0058] In some embodiments, as shown in Figures 4 to 7, the lifting mechanism 100 further includes an elastic member 50, which is sleeved on the adjusting member 40 and abuts between the first inner wall 23 and the second inner wall 33. The elastic member 50 is used to provide elastic force to form a buffer when the cutting mechanism 200 moves up and down. For example, the elastic member 50 can be a compression spring sleeved on the rod body 42. The provision of the elastic member 50 can provide a buffering effect when the cutting mechanism 200 moves up and down, thereby improving the stability of the cutting mechanism 200 during movement.

[0059] In some embodiments, as shown in Figures 7 and 8, a gasket 60 is provided between the elastic member 50 and the second inner wall 33. The provision of the gasket 60 can reduce the friction between the elastic member 50 and the second inner wall 33. When the abutting end 41 of the adjusting member 40 abuts against the second inner wall 33, the gasket 60 can also reduce the friction between the abutting end 41 and the second inner wall 33, thereby reducing wear on the second inner wall 33.

[0060] In some embodiments, the second inner wall 33 is provided with a groove 331, and the gasket 60 is disposed within the groove 331 and is slidable within the groove 331. The provision of the groove 331 can restrict the gasket 60, preventing it from slipping. Because the abutting end 41 of the adjusting member 40 abuts against different positions of the second inner wall 33 during rotation of the second connecting rod 30, the gasket 60 is configured to slide within the groove 331. Therefore, it can follow the movement of the abutting end 41 and slide within the groove 331, thereby preventing friction damage to the second inner wall 33. For example, the gasket 60 can be made of a flexible material.

[0061] For example, when the elastic member 50 is a compression spring, the groove 331 and the gasket 60 can be set to a circular shape. Of course, the groove 331 and the gasket 60 can also be set to a square or other regular or irregular shapes.

[0062] Of course, in other embodiments, the gasket 60 may also be fixed in the groove 331 . In this case, the area of ​​the gasket 60 covers the sliding track of the elastic member 50 to reduce the wear of the second inner wall 33 .

[0063] The present application also provides an autonomous mobile device 1, comprising a body 700, a cutting mechanism 200, and the aforementioned lifting mechanism 100. The cutting mechanism 200 is used to cut a target object, and the lifting mechanism 100 is connected to the body 700 and the cutting mechanism 200, so that the cutting mechanism 200 can be raised or lowered by the lifting mechanism 100. As shown in Figures 1 and 2, the cutting mechanism 200 may include a cutter disc 624 and a drive member 630 for driving the cutter disc 624 to rotate, thereby cutting vegetation such as lawn. In a specific application, the autonomous mobile device 1 may be a lawn mowing robot capable of autonomous movement.

[0064] The structure and function of the lifting mechanism 100 in the autonomous mobile device 1 proposed in the embodiment of the present application are the same as those in the above embodiment. For details, please refer to the description of the above embodiment, and this embodiment will not be repeated.

[0065] Illustratively, the driving member 630 includes a motor 631 .

[0066] In some embodiments, the autonomous mobile device 1 further includes a driving mechanism 800 , which is used to drive the autonomous mobile device to move in a target location.

[0067] As shown in Figures 1 to 19, the cutting mechanism 200 is described in detail: the cutting mechanism 200 includes a mounting member 610, a cutting member 620, a driving member 630 and an abutment member 640. The cutting member 620 is mounted on the mounting member 610, and the cutting member 620 is used to cut the target object; the driving member 630 is used to drive the mounting member 610 to move, so that the mounting member 610 drives the cutting member 620 to move within a preset area; the abutment member 640 is located below the mounting member 610, and is used to abut against an object below the preset area.

[0068] In a specific application, the preset area can be the cutting area of ​​the cutting member 620 within a certain height range. The movement trajectory of the cutting member 620 covers the preset area to cut the target object within the preset area. The target object can be grass or other plants to be cut. The object below the preset area can be an obstacle or the ground. The obstacle can be an operator's foot that accidentally reaches under the cutting member 620 or other objects on the ground such as stones. When the operator's foot accidentally reaches under the cutting member 620, the abutment member 640 interferes with the operator's foot, preventing the operator's foot from directly contacting the cutting member 620 and causing injury.

[0069] In some embodiments, the abutment member 640 is connected to the cutting member 620, and the connection can be direct or indirect. The friction between the abutment member 640 and the operator's foot creates resistance. Since the abutment member 640 is connected to the cutting member 620, the cutting speed of the cutting member 620 can be reduced, thereby preventing the high-speed operation of the cutting member 620 from causing secondary damage to the operator's feet.

[0070] In addition, when the abutment member 640 contacts an object below the preset area, such as the ground or a stone, it can also generate a reaction force to drive the cutting member 620 to rise in height, thereby preventing the cutting member 620 from directly contacting the object below the preset area and causing injury.

[0071] Therefore, the cutting mechanism 600 proposed in the embodiment of the present application, through the setting of the abutment member 640, can interfere with the object when it appears below the preset area, and can drive the cutting member 620 away from the object below the preset area. At the same time, it can also reduce the cutting speed of the cutting member 620, avoid the high-speed cutting member 620 from contacting the object and causing secondary damage, thereby improving the safety of the use of the cutting mechanism 600.

[0072] In some embodiments, the cutting member 620 has a first side 620a and a second side 620b that are arranged opposite each other; wherein the driving member 630 is located on the first side 620a of the cutting member 620, and the abutting member 640 is located on the second side 620b of the cutting member 620, and the predetermined area is located between the driving member 630 and the abutting member 640. This prevents interference between the driving member 630 and the abutting member 640 when the cutting member 620 moves within the predetermined area. Furthermore, the driving member 630 and the abutting member 640 are respectively arranged on opposite sides of the cutting member 620, resulting in a compact structure and reduced volume. Furthermore, the abutting member 640 can be oriented downwards from the predetermined area, thereby preventing the cutting member 620 from directly contacting obstacles below.

[0073] When in use, the cutting mechanism 600 can be installed on an autonomous mobile device 1 such as a lawn mower. After the cutting mechanism 600 is installed on the lawn mower, the first side 620a and the second side 620b are the upper and lower sides of the cutting member 620, the driving member 630 is located above the mounting member 610, and the abutment member 640 is located below the mounting member 610. The lower part is the side of the cutting mechanism 600 close to the ground.

[0074] In some embodiments, as shown in Figures 11 and 13, the side of the abutting member 640 facing away from the cutting member 620 includes an abutting surface 641. The distance between the edge of the abutting surface 641 and the cutting member 620 is smaller than the distance between the center of the abutting surface 641 and the cutting member 620. In other words, the center of the abutting surface 641 is more protruding relative to the cutting member 620 than the edge thereof. This protruding center of the abutting surface 641 allows the abutting surface 641 to contact an object below a predetermined area, thereby facilitating the abutting surface 641 to elevate the cutting member 620, thereby preventing the cutting member 620 from directly contacting the object and causing damage.

[0075] Optionally, the abutment surface 641 is a convex curved surface structure. Thus, by providing the curved surface structure, friction can be reduced when contacting obstacles. For example, when an operator's foot accidentally extends under the cutting member 620, the curved surface structure of the abutment member 640 can contact the operator's foot, thereby reducing damage to the operator.

[0076] Of course, the abutting surface 641 is not limited to the above configuration. For example, in other embodiments, the distance between the edge of the abutting surface 641 and the cutting element 620 is equal to the distance between the center of the abutting surface 641 and the cutting element 620. In other words, the distances between the center position of the abutting surface 641 and its edge position relative to the cutting element 620 may also be equal.

[0077] Optionally, the abutting surface 641 is a planar structure. The shape of the abutting surface 641 can be circular or other regular or irregular shapes, so that the volume of the cutting mechanism 600 in the height direction is smaller and cutting can be performed close to the ground.

[0078] In some embodiments, as shown in Figures 10, 11, and 12, the mounting member 610 is connected to the output shaft of the driving member 630, and the abutting member 640 is connected to the mounting member 610. Thus, the mounting member 610 is used to mount the cutting member 620 and the abutting member 640, and is connected to the output shaft of the driving member 630 to transmit the driving force of the driving member 630 to the abutting member 640 and the cutting member 620, thereby driving the abutting member 640 and the cutting member 620 to rotate synchronously.

[0079] As an embodiment, the abutment member 640 and the cutting member 620 can be respectively installed on the mounting member 610, for example, the abutment member 640 is fixed to the mounting member 610 by a screw, and the cutting member 620 is fixed to the mounting member 610 by another screw, and the abutment member 640 is located below the cutting member 620.

[0080] As another embodiment, the abutment 640 and the cutting member 620 can be installed on the mounting member 610 by the same set of fasteners, for example, a set of screws are used to connect the abutment 640 and the cutting member 620 at the same time and fix them to the mounting member 610, so that the abutment 640 is located below the cutting member 620.

[0081] As another embodiment, the cutting member 620 can be installed above the abutment member 640, and the abutment member 640 can be installed on the mounting member 610, for example, the cutting member 620 can be fixed above the abutment member 640 by a screw, and then the abutment member 640 can be fixed to the mounting member 610 by another screw or other fastener.

[0082] In some embodiments, as shown in Figures 10 and 14, the mounting member 610 and the abutting member 640 are connected by a first connecting member 650, and the first connecting member 650 is disposed through the cutting member 620. Thus, the abutting member 640 is connected to the mounting member 610 by the first connecting member 650, and the cutting member 620 is fixed between the abutting member 640 and the mounting member 610, which facilitates assembly and disassembly, and the structure is compact after assembly, reducing the volume.

[0083] In some embodiments, the first connecting member 650 can be integrally connected to the abutting member 640 to improve structural stability. Of course, in other embodiments, the first connecting member 650 can also be separately connected to the abutting member 640.

[0084] In other embodiments, the mounting member 610 and the abutting member 640 may also be integrally formed to enhance structural stability.

[0085] In some embodiments, the first connecting member 650 includes a first boss 651 and a fastener. The first boss 651 is provided on one of the mounting member 610 and the abutting member 640 and is located between the mounting member 610 and the abutting member 640. The end of the cutting member 620 is provided with a protruding ring 623 corresponding to the first boss 651. The protruding ring 623 is sleeved on the first boss 651. The fastener is passed through the first boss 651 and the protruding ring 623 and is fixed to the other of the mounting member 610 and the abutting member 640. Therefore, the provision of the first boss 651 and the protruding ring 623 can facilitate the positioning of the fastener, thereby facilitating the connection and installation between the abutting member 640, the cutting member 620, and the mounting member 610.

[0086] For example, as shown in Figures 10 and 12, the first protrusion 651 is provided on the abutment member 640 and protrudes toward the mounting member 610. The mounting member 610 is provided with a mounting hole 611 corresponding to the first protrusion 651. The fastener is passed through the first protrusion 651 and the first protruding ring 623 and fixed to the mounting hole 611 of the mounting member 610, so as to facilitate the abutment member 640 and the cutting member 620 to be fixed to the mounting member 610 through the same set of mounting members 610. Of course, in other examples, the first protrusion 651 can also be provided on the mounting member 610, the first protrusion 651 of the mounting member 610 is provided corresponding to the protruding ring 623 of the cutting member 620, the fastener is passed through the first protrusion 651 and the first protruding ring 623 and fixed to the abutment member 640.

[0087] For example, the fasteners may be screws, which are not only convenient for assembly and disassembly but also simple to operate and have low installation costs.

[0088] In some embodiments, there are two cutting members 620; the mounting member 610 and the abutting member 640 are connected via two first connecting members 650, each of which cooperates with one cutting member 620, and the cutting member 620 can rotate around the first connecting member 650. Thus, the provision of two first connecting members 650 can improve the connection stability between the abutting member 640 and the mounting member 610.

[0089] In some embodiments, as shown in Figures 10, 13, and 14, the mounting member 610 and the abutting member 640 are further connected by two second connecting members 660. The two cutting members 620 are respectively a first cutting member 621 and a second cutting member 622. When the first cutting member 621 rotates clockwise to a first position, it abuts against one of the two second connecting members 660. When the second cutting member 622 rotates clockwise to a second position, it abuts against the other of the two second connecting members 660. When the first cutting member 621 rotates counterclockwise to a third position, it abuts against the other of the two second connecting members 660. When the second cutting member 622 rotates counterclockwise to a fourth position, it abuts against one of the two second connecting members 660. Thus, the provision of the two second connecting members 660 can limit the rotation range of the two cutting members 620, thereby preventing the two cutting members 620 from colliding with each other.

[0090] Exemplarily, the cutting member 620 is a blade, and the two blades are arranged axially symmetrically relative to the output shaft of the driving member 630. A first convex ring 623 is provided at the opposite ends of the two blades. The arrangement of the two blades can improve cutting efficiency.

[0091] For example, the two first connecting members 650 can be symmetrically arranged so that the two cutting members 620 are symmetrically arranged. The second connecting member 660 can include a second boss 661 provided on the abutting member 640 and protruding toward the mounting member 610, and is used to be mounted to the mounting member 610. The two first bosses 651 and the two second bosses 661 are staggered around the center position of the abutting member 640, and the arrangement direction of the two second bosses 661 is perpendicular to the arrangement direction of the two first bosses 651 to improve the connection stability between the abutting member 640 and the mounting member 610. At the same time, the two second bosses 661 can be used to limit the rotation range of the two cutting members 620, so that the rotation ranges of the two cutting members 620 are equal and do not interfere with each other.

[0092] In some embodiments, as shown in Figures 10-12, the cutting mechanism 600 further includes a fan structure 670. The fan structure 670 is connected to the output shaft of the driving member 630 and is located between the driving member 630 and the cutting member 620. The fan structure 670 is driven by the driving member 630 to rotate to drive airflow toward the cutting member 620. When the cutting member 620 cuts a target object such as a lawn, debris such as broken leaves may be thrown into the interior of the cutting mechanism 600, for example, toward the driving member 630, thereby affecting the operation of the driving member 630. The fan structure 670 can be provided to form an airflow toward the ground, thereby blowing out the broken leaves and other debris, and preventing the broken leaves and other debris from entering the interior of the cutting mechanism 600.

[0093] In some embodiments, the fan structure 670 includes a base plate 671 and a plurality of blades 672. The base plate 671 is connected to the output shaft of the driving member 630. The base plate 671 is provided with a connecting shaft 6711 protruding toward the output shaft of the driving member 630. The plurality of blades 672 are arranged around the outer periphery of the connecting shaft 6711. The fan structure 670 can be the same component as the mounting member 610, that is, the base plate 671 can be used to connect the cutting member 620 and the abutment member 640, so that the driving member 630 can simultaneously drive the fan structure 670, the cutting member 620 and the abutment member 640 to rotate.

[0094] In some embodiments, the center positions of the output shaft of the driving member 630, the fan structure 670 and the abutment member 640 are located on the same straight line. The output shaft of the driving member 630 can be connected to the fan structure 670 through a transmission structure such as a coupling or a reducer to facilitate the driving member 630 to drive the fan structure 670, the abutment member 640 and the cutting member 620 to rotate synchronously.

[0095] Of course, in another embodiment, the fan structure 670 may also be a different component from the mounting member 610. The fan structure 670 may be set on the mounting member 610 and connected to the output shaft of the driving member 630 through the mounting member 610. The driving member 630 drives the mounting member 610 to rotate to drive the fan structure 670 to rotate for blowing air.

[0096] In some embodiments, as shown in FIG1 , the cutting mechanism 600 further includes a mounting mechanism 680, which includes a fixing assembly 10 and a connecting rod assembly 680. The fixing assembly 10 is used to be mounted on the body 700 of the autonomous mobile device 1. One end of the connecting rod assembly 680 is rotatably connected to the fixing assembly 10, and the other end of the connecting rod assembly 680 is rotatably connected to the driving member 630, so that the driving member 630, the cutting member 620, and the abutting member 640 can move up and down relative to the fixing assembly 10 through the connecting rod assembly 680. Thus, by setting the connecting assembly, the abutting member 640 can drive the cutting member 620 to rise when it is lifted by an external force, such as the ground or a stone on the ground, so that the driving member 630, the cutting member 620, and the abutting member 640 can float up and down according to the height of the ground and adapt to the undulating terrain.

[0097] The cutting member 620 will be described in detail: the cutting blade 100 may be configured to be mounted on the autonomous mobile device 1 and perform a cutting action.

[0098] Autonomous mobile device 1 is, for example, a lawn mower. Specifically, cutting blade 100 is connected to the lawn mower and can move under the control of the lawn mower to perform a predetermined cutting action. For example, the cutting action includes but is not limited to reciprocating motion in a predetermined cutting direction, circular motion around a predetermined center, or other predetermined motions.

[0099] The cutting blade includes a base 920 , a plurality of cutting members 930 disposed on the base 920 , and a plurality of protective members 940 disposed on the base 920 . The various parts of the cutting blade 100 are described in detail below.

[0100] Specifically, the protective members 940 are located on both sides of each cutting member 930 along the extension direction of the base 920. In the protruding direction of the cutting member 930, the height of the protective member 940 is higher than the height of the cutting member 930, and the protruding direction of the cutting member 930 is perpendicular to the extension direction of the base 920.

[0101] When the cutting blade 100 moves to complete the preset cutting action, if the cutting blade 100 moves toward the protruding direction of the cutting member 930, the cutting member 930 can be used to cut the target object located in the protruding direction of the cutting member 930, such as grass leaves, branches and other objects.

[0102] Because the height of the protective member 940 is higher than the height of the cutting member 930 in the protruding direction of the cutting member 930, when the cutting blade 100 moves toward the protruding direction of the cutting member 930 to cut the target object, for smaller objects, they will first contact the protective member 940 and then the cutting member 930, and the target object will be cut by the cutting member 930. For some larger objects, the target object can avoid being cut by the cutting member 930 of the cutting blade 100 under the protection of the protective member 940, thereby greatly improving the safety of the cutting action.

[0103] Therefore, the embodiment of the present application improves the cutting safety of the cutting blade 100 by providing a protective member 940 to avoid harm to people or objects that accidentally touch the blade edge, thereby meeting actual usage requirements.

[0104] Preferably, in the cutting blade 100 provided in the embodiment of the present application, the cutting member 930 and the protective member 940 are integrally formed, so that the manufacturing cost of the cutting blade 100 is reduced and the manufacturing is easy.

[0105] As shown in FIG. 15-19 , in some embodiments, a plurality of cutting members 930 and a plurality of protective members 940 are arranged along the extension direction of the base 920 , and a cutting member 930 is provided between any two adjacent protective members 940 .

[0106] Specifically, for a single cutting element 930, protective elements 940 are disposed on opposite sides of the cutting element 930 in the extending direction of the base 920. Furthermore, for two adjacent cutting elements 930, one cutting element 930 is connected to the other cutting element 930 via the protective element 940. That is, on the surface of the base 920, multiple cutting elements 930 and multiple protective elements 940 are alternately arranged along the extending direction of the base 920.

[0107] It should be understood that the cutting piece 930 is used to cut the target object it contacts, while the protective piece 940 can effectively protect larger objects from being cut by the cutting piece 930. Therefore, multiple cutting pieces 930 and multiple protective pieces 940 are arranged at intervals along the extension direction of the base 920, which can take into account the cutting effect and protection effect at various locations in the extension direction of the base 920.

[0108] Specifically, when the width of the non-cutting object is greater than the distance between two adjacent protective members 940, the non-cutting object will not enter between the two adjacent protective members 940, and the cutting member 930 can provide better protection. Therefore, the cutting blade 100 provided in the embodiment of the present application can effectively prevent accidental injury to non-cutting objects such as humans or animals.

[0109] In some embodiments, the distance between two adjacent protective members 940 is smaller than the width of a human finger. It should be noted that the above-mentioned finger width is set based on the sampled finger width data of multiple people to prevent the user's fingers from entering between two adjacent protective members 940 during cutting and being accidentally injured by the cutting member 30, causing injury to the user.

[0110] As shown in Figures 15-19, in some embodiments, the protective member 940 is formed in a sawtooth shape.

[0111] In other embodiments, the cutting member 930 is formed with a blade.

[0112] It should be noted that the above two embodiments can be implemented separately or in combination, wherein the serrated protective member 940 and / or the blade formed on the cutting member are used to provide a cutting function to ensure that the target object entering between two adjacent protective members 940 is cut.

[0113] Taking the target object as a blade of grass and the protective member 940 being formed into a serrated shape as an example, when the cutting member 930 cuts the blade of grass, even if the cutting member 930 fails to completely cut the blade of grass in one go, the serrated protective member 940 can tear the blade of grass a second time in the direction of the sawtooth formation to ensure the cutting effect.

[0114] As shown in FIG. 15 , in some other embodiments, the protective member 940 has a first surface 941 and a second surface 942 , and an edge 943 is formed at the intersection of the first surface 941 and the second surface 942 .

[0115] Specifically, the first surface 941 is a surface of the tearing portion 141 close to the cutting piece 930 , and the second surface 942 is a surface of the tearing portion 141 extending along the extending direction of the base 920 .

[0116] It should be noted that the above three embodiments: the protective member 940 is formed into a serrated shape, the cutting member is formed with a blade 140, and the protective member 940 forms an edge 943 at the intersection of the first surface 941 and the second surface 942, can be implemented separately or in combination.

[0117] Through the above-mentioned embodiment or a similar tearing structure design, when the cutting member 930 cuts grass blades, if the cutting member 930 fails to completely cut off the target object (such as grass blades, branches, etc.) at one time, the serrated protective member 940 and / or the edge 943 formed by the protective member 940 can tear the target object a second time in the direction of its formation, so as to enhance the tearing effect of the cutting blade 100 on the target object.

[0118] Therefore, the cutting blade 100 provided in the embodiment of the present application can improve the cutting effect of the cutting blade 100 and the applicability and cutting effect of cutting different target objects while ensuring cutting safety through the corresponding tearing structure design, especially for target objects entering between two adjacent protective parts 940, further improving the cutting work efficiency to meet actual usage needs.

[0119] As shown in FIGS. 17-19 , in some embodiments, in the extension direction of the base 920 , the width of the protective member 940 on a side close to the base 920 is greater than the width of the side away from the base 920 .

[0120] For example, the protective member 940 is trapezoidal in shape. Specifically, in the extension direction of the base 920, the protective member 940 is wider on the side close to the base 920 and narrower on the side away from the base 920. It should be understood that the arrangement of the protective member 940 facilitates the entry of objects such as blades of grass and branches into the space between two adjacent protective members 940, so that more blades of grass and branches can be cut by the cutting member 930 of the cutting blade 100, thereby improving the cutting effect and cutting efficiency.

[0121] As shown in Figures 15 to 19, in some embodiments, the cutting member 930 and the protective member 940 are arranged on the same side of the base 920, or the cutting member 930 and the protective member 940 are distributed on opposite sides of the base 920.

[0122] For example, in the cutting blade 100 shown in any one of Figures 15-17 , the cutting element 930 and the protective element 940 are disposed on the same side of the base 920. For another example, in the cutting blade 100 shown in Figure 18 , the cutting element 930 and the protective element 940 are disposed on opposite sides perpendicular to the extending direction of the base 920, and in the protruding direction of the cutting element 930 on either side, the height of the protective element 940 on the same side is higher than the height of the cutting element 930.

[0123] It should be understood that by arranging the cutting piece 930 on opposite sides of the base 920, when the autonomous mobile device 1 drives the cutting blade 100 to move in any of the two protruding directions of the cutting piece 930, the cutting blade 100 can achieve effective cutting through the cutting piece 930 on the same side as the movement direction, thereby improving the adaptability of the cutting blade 100 to different cutting actions.

[0124] As shown in Figures 15-19, in some embodiments, the cutting blade 100 further includes a drive connection portion 910 connected to the base 920, and the drive connection portion 910 is formed with an adapting hole 911 adapted to be connected with the drive assembly;

[0125] When the driving assembly is matched with the driving connection portion 910 , the driving assembly and the matching hole 911 form a hole-shaft fit.

[0126] Exemplarily, the drive assembly 200 is arranged on the cutting mechanism 10, and the drive assembly 200 is adapted to the drive connection part 910 to drive the cutting blade 100 to perform motion cutting, wherein the adaptation hole 911 on the drive connection part 910 is configured to cooperate with the hole axis of the drive assembly 200, and the drive assembly 200 can drive the cutting blade 100 to rotate around the drive assembly 200 to perform corresponding cutting action.

[0127] As shown in Figure 19, in some embodiments, the base 920 includes a first base portion 921 and a second base portion 922 arranged on opposite sides of the drive connection portion 910, and a cutting member 930 and a protective member 940 are provided on the first base portion 921 and the second base portion 922.

[0128] Specifically, at least one cutting member 930 and at least one protective member 940 are provided on the first base portion 921 and the second base portion 922, and the first base portion 921 and the second base portion 922 are respectively connected to the opposite sides of the driving connection portion 910. Therefore, when the cutting blade 100 moves under the drive of the autonomous mobile device 1, the cutting area of ​​the cutting blade 100 is expanded and the cutting effect is also effectively improved.

[0129] In some embodiments, the cutting member 930 on the first base portion 921 is at least disposed on the third side of the base 920, and the cutting member 930 on the second base portion 922 is at least disposed on the fourth side of the base 920, and the third side and the fourth side are opposite sides perpendicular to the extension direction of the base 920.

[0130] For example, in Figure 19, based on the fact that the cutting piece 930 on the first base portion 921 is at least arranged on the third side of the base 920, and the cutting piece 930 on the second base portion 922 is at least arranged on the fourth side of the base 920, when the autonomous mobile device 1 drives the cutting blade 100 to rotate around the driving connection portion 910 to cut the target object (for example, driving the cutting blade 100 to rotate in the rotation direction shown in Figure 19), the cutting piece 930 on the first base portion 921 arranged on the first side of the base 920 and the cutting piece 930 on the second base portion 922 arranged on the second side of the base 920 can both cut the target object on the same side as themselves, thereby improving the cutting area and cutting efficiency.

[0131] It should be understood that in some embodiments, the cutting elements 930 on the first base portion 921 may be disposed on opposite sides of the base 920, and the cutting elements 930 on the second base portion 922 may be disposed on opposite sides of the base 920. That is, a portion of the cutting elements 930 is disposed on a first side of the first base portion 921 and the second base portion 922, while another portion of the cutting elements 930 is disposed on a second side of the first base portion 921 and the second base portion 922.

[0132] Therefore, when the autonomous mobile device 1 drives the cutting blade 100 to rotate in two opposite directions around the driving connection part 910, corresponding cutting actions can be performed, thereby improving the cutting efficiency of the cutting blade 100 and the adaptability of performing different cutting actions.

[0133] Those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples without mutual contradiction.

[0134] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present application, and such modifications or substitutions should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A lifting mechanism, comprising: A fixing assembly for mounting on a body of an autonomous mobile device; a first connecting rod having a first end and a second end opposite to each other, the first end being rotatably connected to the fixing assembly, the second end being rotatably connected to the cutting mechanism of the autonomous mobile device, the first connecting rod being rotatable in a first rotational direction and a second rotational direction, the first rotational direction being opposite to the second rotational direction; a second connecting rod having a third end and a fourth end opposite to each other, the third end being rotatably connected to the fixing assembly, the fourth end being configured to be rotatably connected to the cutting mechanism of the autonomous mobile device, the second connecting rod being rotatable in the first rotation direction and the second rotation direction; an adjusting member connected to the first connecting rod, the adjusting member having an abutting end facing the second connecting rod, wherein when the first connecting rod rotates to a first position along the first rotation direction and the second connecting rod rotates to a second position along the first rotation direction, the abutting end abuts against the second connecting rod; Wherein, the adjusting member is configured to be able to adjust the distance between the abutting end and the first connecting rod.

2. The lifting mechanism according to claim 1, wherein: The rotation axes of the first end, the second end, the third end and the fourth end are arranged in parallel, and the four projection points of the rotation axes of the first end, the second end, the third end and the fourth end on the first plane are connected to form a parallelogram, and the first plane is arranged perpendicular to the rotation axes of the first end, the second end, the third end and the fourth end.

3. The lifting mechanism according to claim 1, wherein: The adjusting member includes a rod body, the rod body is threadedly connected to the first connecting rod, and one end of the rod body faces the second connecting rod to form the abutting end; The rod body is rotated to drive the abutting end to move closer to or away from the first connecting rod.

4. The lifting mechanism according to claim 3, wherein: The adjusting member further includes a knob connected to the other end of the rod body.

5. The lifting mechanism according to claim 3, wherein: A line connecting the first end and the second end is perpendicular to the rod body.

6. The lifting mechanism according to any one of claims 1 to 5, wherein: The first connecting rod and the second connecting rod are arranged in parallel.

7. The lifting mechanism according to any one of claims 1 to 5, wherein: The first connecting rod has a first inner wall facing the second connecting rod, and the second connecting rod has a second inner wall arranged opposite to the first inner wall. When the first connecting rod rotates to the first position along the first rotation direction and the second connecting rod rotates to the second position along the first rotation direction, the abutting end abuts against the second inner wall to limit the rotation of the first connecting rod and the second connecting rod in the first rotation direction.

8. The lifting mechanism according to claim 7, wherein: The lifting mechanism further comprises: An elastic member is sleeved on the adjusting member and abuts between the first inner wall and the second inner wall, and the elastic member is used for providing elastic force.

9. The lifting mechanism according to claim 8, wherein: A gasket is provided between the elastic member and the second inner wall.

10. An autonomous mobile device, wherein: The machine comprises a body, a cutting mechanism and a lifting mechanism as described in any one of claims 1 to 9, wherein the cutting mechanism is used to cut the target object, and the lifting mechanism is connected to the body and the cutting mechanism so that the cutting mechanism can rise or fall.

11. The autonomous mobile device according to claim 10, wherein: The cutting mechanism comprises: Mounting parts; A cutting member, mounted on the mounting member, and used for cutting a target object; A driving member, configured to drive the mounting member to move, so that the mounting member drives the cutting member to move within a preset area; The abutment member is located below the mounting member and is used for abutting against an object below the preset area.

12. The autonomous mobile device according to claim 11, wherein: The cutting member has a first side and a second side disposed opposite to each other; Wherein, the driving member is located on a first side of the cutting member, the abutting member is located on a second side of the cutting member, and the preset area is located between the driving member and the abutting member.

13. The autonomous mobile device according to claim 12, wherein: The abutment member has an abutment surface on a side facing away from the cutting member; The distance between the edge of the abutting surface and the cutting member is smaller than the distance between the center of the abutting surface and the cutting member; or, the distance between the edge of the abutting surface and the cutting member is equal to the distance between the center of the abutting surface and the cutting member.

14. The autonomous mobile device according to any one of claims 1 to 13, wherein: The mounting member is connected to the output shaft of the driving member, and the abutting member is connected to the mounting member.

15. The autonomous mobile device according to claim 14, wherein: The mounting member and the abutting member are connected via a first connecting member, and the first connecting member is passed through the cutting member.

16. The autonomous mobile device according to claim 15, wherein: The first connecting member includes a first boss and a fastener, the first boss is arranged on one of the mounting member and the abutment member, and is located between the mounting member and the abutment member, the end of the cutting member is provided with a convex ring corresponding to the first boss, and the convex ring is sleeved on the first boss, and the fastener is passed through the first boss and the convex ring and fixed to the other of the mounting member and the abutment member.

17. The autonomous mobile device according to claim 15, wherein: The number of the cutting pieces is two; The mounting member and the abutting member are connected via two first connecting members. Each of the first connecting members cooperates with one of the cutting members, and the cutting member can rotate around the first connecting member.

18. The autonomous mobile device according to claim 17, wherein: The mounting member and the abutting member are further connected via two second connecting members; Wherein, when the first cutting piece of the two cutting pieces is rotated to the first position in the clockwise direction, it abuts against one of the two second connecting pieces; when the second cutting piece of the two cutting pieces is rotated to the second position in the clockwise direction, it abuts against the other of the two second connecting pieces; when the first cutting piece is rotated to the third position in the counterclockwise direction, it abuts against the other of the two second connecting pieces; when the second cutting piece is rotated to the fourth position in the counterclockwise direction, it abuts against one of the two second connecting pieces.

19. The autonomous mobile device of claim 11, wherein: The cutting element comprises: base; a plurality of cutting portions disposed on the base; a plurality of protective members disposed on the base; In which, the protective member is located on both sides of each cutting portion along the extension direction of the base. In the protruding direction of the cutting portion, the height of the protective member is higher than the height of the cutting portion, and the protruding direction of the cutting portion is perpendicular to the extension direction of the base.

20. The autonomous mobile device of claim 10, wherein: The plurality of cutting portions and the plurality of protecting members are arranged along the extension direction of the base, and a cutting portion is provided between any two adjacent protecting members.

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