Lawn mowing robot

Abstract

The present invention relates to a lawn mowing robot comprising: a lift motor; a lift shaft that rotates by receiving the rotational force of the lift motor; a rotary cam that rotates together with the lift shaft when the lift shaft rotates in a first direction, and preferably includes a first inclined surface on the upper surface; a lift cam that includes a second inclined surface in contact with the first inclined surface and moves up and down according to the rotation of the rotary cam; a blade shaft that is coupled to the lift cam and moves in the vertical direction together with the lift cam when the height of the lift cam changes; and a blade unit coupled to the lower end of the blade shaft.

Description

lawn mowing robot

[0001] The present invention relates to a lawn mowing robot and a control method thereof, and more particularly, to a lawn mowing robot capable of performing continuous work by automatically adjusting the height of a blade.

[0002] A lawn mower robot is a device that moves autonomously and mows grass or lawns based on preset control information. Users can pre-enter control information related to the desired lawn mowing motion, time, and cycle. The lawn mower robot operates according to the input control information.

[0003] The environments where lawn mowing robots are used can be large areas, such as fields or gardens. Therefore, lawn mowing robots typically move along preset paths to mow grass and other grasses spread across large areas.

[0004] Additionally, the lawn mower robot divides the space into multiple smaller spaces and then moves along a preset path within each smaller space. This division allows the lawn mower robot to move densely within a large space. In other words, the lawn mower robot can pass through all spaces without missing any.

[0005] The above partition can be input through a control signal after the user sets up a virtual space. Alternatively, the partition can be performed by a physical method such as using a fence.

[0006] Lawn mowing robots can detect obstacles during their work and maneuver around them. However, for obstacles that protrude slightly above the ground, the blade height needs to be adjusted to protect it. Furthermore, if the desired grass length varies depending on the area, blade height adjustments are necessary.

[0007] In the past, blade height adjustments had to be made manually, but for fully automated lawn mowing robots, blade height adjustments also need to be performed automatically.

[0008] The purpose of the present invention is to provide a lawn mowing robot capable of performing continuous work by automatically adjusting the height of the blade.

[0009] A lawn mowing robot is provided, comprising: a main body housing including a driving part at the lower portion; and a driving assembly located inside the main body housing, wherein the driving assembly comprises: a lift motor; a lift shaft that rotates by receiving rotational force of the lift motor; a rotary cam that rotates together with the first direction rotation of the lift shaft and includes a first inclined surface on an upper side as much as possible; a lift cam that includes a second inclined surface that contacts the first inclined surface and moves up and down according to the rotation of the rotary cam; a blade shaft that is coupled to the lift cam and moves together in a vertical direction according to a change in the height of the lift cam; and a blade unit coupled to a lower end of the blade shaft.

[0010] The first slope and the second slope include a peak point and a lowest point, and the highest point and the lowest point may include two or more and may be point-symmetrical.

[0011] The above-mentioned rotary cam and the above-mentioned lift cam may include a cam housing in which the above-mentioned rotary cam and the above-mentioned lift cam are accommodated, and the above-mentioned lift cam may include a vertical guide for guiding vertical movement within the above-mentioned cam housing.

[0012] The cam housing may include a third inclined surface formed on the lower surface of the rotating cam and symmetrical with the first inclined surface, and the cam housing may include a fourth inclined surface that is in contact with the third inclined surface.

[0013] It may further include an anti-slip protrusion formed on one side of the first slope or the second slope.

[0014] The blade shaft may extend upward through the rotary cam and the lift shaft to the lift cam, and may include a first bearing positioned between the lift shaft and the blade shaft.

[0015] A blade motor providing rotational force; a drive shaft that rotates by receiving the rotational force of the blade motor and is pin-slot coupled with the blade shaft may be included.

[0016] It may include a cam housing in which the above rotation cam and the above lift cam are accommodated and the drive shaft passes through the upper surface; a power transmission gear located on the upper surface of the cam housing and transmitting the rotational force of the blade motor to the drive shaft; and a second bearing located between the cam housing and the drive shaft.

[0017] A one way bearing is included between the lift shaft and the rotation cam, and when the lift shaft rotates in the first direction, the rotation cam rotates in the first direction, and when the lift shaft rotates in the second direction, the rotation cam may not rotate.

[0018] The lift shaft includes a first shaft coupled with a power transmission gear that transmits power of the lift motor; and a second shaft that is pin-slot coupled to the first shaft and rotates together with the first shaft and has a variable height relative to the first shaft, and the one-way bearing can be located between the second shaft and the rotation cam.

[0019] The blade shaft extends upward through the rotation cam and the second shaft to the lift cam, and a pin-slot joint can be formed between the blade shaft and the second shaft.

[0020] The above lift motor may use a bidirectional motor that can rotate in both directions.

[0021] A lawn mowing robot according to at least one embodiment of the present invention can automatically adjust its height and perform lawn mowing work unmanned.

[0022] In addition, the lawn mowing robot according to at least one embodiment of the present invention has the advantage of having a simple configuration of a height-adjusting drive unit, thereby reducing the weight and volume of the drive unit.

[0023] The effects that can be obtained from the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by a person having ordinary skill in the art to which the present invention belongs from the description below.

[0024] FIG. 1 is a perspective view showing the exterior of a lawn mowing robot according to an embodiment of the present invention.

[0025] FIG. 2 is a side view showing the appearance of one side of the lawn mowing robot of FIG. 1.

[0026] FIG. 3 is a perspective view illustrating one embodiment of a drive assembly of a lawn mowing robot of the present invention.

[0027] FIG. 4 is a perspective view illustrating the operation of a lift motor according to one embodiment of a drive assembly of a lawn mowing robot of the present invention.

[0028] FIG. 5 is a cross-sectional view of a drive assembly of a lawn mowing robot according to one embodiment of the present invention.

[0029] FIG. 6 is a perspective view illustrating the operation of a blade motor according to another embodiment of the drive assembly of a lawn mowing robot of the present invention.

[0030] FIG. 7 is a perspective view illustrating the operation of a lift motor according to another embodiment of the drive assembly of a lawn mowing robot of the present invention.

[0031] FIG. 8 is a cross-sectional view of another embodiment of a drive assembly of a lawn mowing robot of the present invention.

[0032] Hereinafter, embodiments disclosed in this specification will be described in detail with reference to the attached drawings. Regardless of the drawing numbers, identical or similar components will be given the same reference numbers and redundant descriptions thereof will be omitted. The suffixes "module" and "part" used for components in the following description are assigned or used interchangeably only for the convenience of writing the specification, and do not in themselves have distinct meanings or roles. In addition, when describing the embodiments disclosed in this specification, if it is determined that a specific description of a related known technology may obscure the gist of the embodiments disclosed in this specification, a detailed description thereof will be omitted. In addition, the attached drawings are only intended to facilitate easy understanding of the embodiments disclosed in this specification, and the technical ideas disclosed in this specification are not limited by the attached drawings, and should be understood to include all modifications, equivalents, and substitutes included in the spirit and technical scope of the present invention.

[0033] Terms that include ordinal numbers, such as first, second, etc., may be used to describe various components, but the components are not limited by these terms. These terms are used solely to distinguish one component from another.

[0034] When a component is referred to as being "connected" or "connected" to another component, it should be understood that it may be directly connected or connected to that other component, but that there may be other components intervening. Conversely, when a component is referred to as being "directly connected" or "connected" to another component, it should be understood that there are no other components intervening.

[0035] Singular expressions include plural expressions unless the context clearly indicates otherwise.

[0036] In this application, terms such as “include” or “have” are intended to specify the presence of a feature, number, step, operation, component, part or combination thereof described in the specification, but should be understood not to exclude in advance the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

[0037] FIG. 1 is a perspective view showing the exterior of a lawn mowing robot (100) according to an embodiment of the present invention, and FIG. 2 is a side view showing the exterior of one side of the lawn mowing robot (100) of FIG. 1.

[0038] A lawn mowing robot (100) refers to a robot equipped with a lawn mowing device used for the purpose of tidying up a garden by cutting grass to a certain height. The lawn mowing robot (100) of the present invention refers to an autonomous robot that moves and mows grass automatically, rather than being held and moved by a worker.

[0039] A lawn mowing robot (100) according to an embodiment of the present invention may include a body (110), a driving unit (120), and a sensor unit (130). The body (110) may include a body (110) housing that forms an exterior for mounting components therein. The body (110) housing may include a lightweight and highly durable material, and for example, a synthetic resin such as reinforced plastic may be used.

[0040] A driving unit (120) may be positioned at the bottom of the body (110) housing, and may include various sensor units (130) for guiding the driving direction of the driving unit (120). The front may be aligned based on the driving direction.

[0041] The driving unit (120) may include a main wheel (121) that is connected to a driving motor to receive power and a sub wheel (122) for stable driving. As shown in FIGS. 1 and 2, a plurality of main wheels (121) may be provided, and in the present embodiment, they may be provided on the left and right sides, respectively.

[0042] A pair of main wheels (121) are independently driven and can change the driving direction by adjusting the rotation speed. The sub-wheel (122) can be rotated toward the direction steered by the main wheel (121).

[0043] The outer surface of the body (110) housing may include a sensor unit (130). It may include a camera (131) that collects image information to recognize the driving direction and detect obstacles in the driving direction, and a distance sensor (132) that detects the distance to the obstacle. The distance sensor is mainly positioned at the front based on the driving direction, and may be positioned at the left, right, or rear. The sensor unit (130) may include a location sensor that detects the location using GPS or the like in addition to optical information.

[0044] In addition to the sensor that assists driving, the robot may further include a height sensor to detect the distance from the ground and mow the lawn to a uniform height. The height sensor may measure the height from the ground or the top of the lawn. Multiple heights can be collected simultaneously, and the height of the mowing blade can be adjusted based on the height information with the lowest value.

[0045] A control unit (not shown) for controlling the driving unit (120) based on the input value of the sensor unit (130) may be mounted inside the body (110). The autonomous driving lawn mowing robot (100) may include a wireless communication unit for wireless communication with an external server or a user's terminal.

[0046] The lawn mowing robot (100) can store information such as distance information, image information, and location information acquired while driving, and can synthesize this information to form a map of the driving space and store it in a database.

[0047] A driving assembly (140) may be included within the body (110) housing. The driving assembly (140) includes a blade unit (144) that mows grass, and can mow grass by rotating the blade unit (144) using the rotational force of the blade motor. The height of the blade unit (144) can be adjusted based on the height from the ground acquired by the sensor unit (130) described above, so that the grass can be mowed to a desired length.

[0048] A battery may be included inside the body (110) housing for wireless operation. The battery may be connected to the control unit, sensor unit (130), driving unit (120), and driving assembly (140) to supply power.

[0049] Below, the configuration of the drive assembly (140) of the lawn mowing robot (100) will be described in detail with reference to the drawings.

[0050] Fig. 3 is a perspective view illustrating an embodiment of a drive assembly (140) of a lawn mower robot (100) of the present invention, and Fig. 4 is a perspective view illustrating the operation of a lift motor (145) according to an embodiment of the drive assembly (140) of a lawn mower robot (100) of the present invention. Fig. 5 is a cross-sectional view according to an embodiment of the drive assembly (140) of a lawn mower robot (100) of the present invention.

[0051] The drive assembly (140) of the present invention includes a disc-shaped blade unit (144) in which a plurality of blades for mowing grass are combined, and a blade shaft (1447) that serves as a rotation axis of the blade unit (144) protrudes upward from the blade unit (144).

[0052] It includes a blade motor (141) for rotating a blade unit (144), and the blade motor (141) may be directly connected to a blade shaft (1447), but the blade motor (141) of the present embodiment may transmit power to the blade shaft (1447) through a drive shaft (1417). The drive shaft (1417) and the blade motor (141) are arranged adjacently in the horizontal direction and may transmit power of the blade motor (141) through a power transmission gear (1415, 1416).

[0053] A blade shaft (1447) extending upward from the blade unit (144) is connected to a drive shaft (1417) that rotates under the power of the blade motor (141) and can rotate and mow grass as shown in FIG. 3.

[0054] In the past, it was common to manually adjust the height of the drive assembly (140) in the up-and-down direction, but the drive assembly (140) of the present invention may include a lift module for adjusting the height of the blade unit (144) from the floor surface that the drive unit (120) touches so that the height can be adjusted remotely or automatically in situations where it is difficult for an operator to directly access.

[0055] The lift module of the present invention may include a lift motor (145), a lift shaft (1457), a lift cam (1462), a rotation cam (1461), and a cam housing (149) in which the rotation cam (1461) and the lift cam (1462) are accommodated.

[0056] The lift motor (145) provides power, and the rotation cam (1461) rotates by receiving power from the lift motor (145). The lift cam (1462) is connected to the blade shaft (1447), and as illustrated in FIG. 4, the blade unit (144) can move vertically in response to changes in the vertical position of the lift cam (1462).

[0057] The blade shaft (1447) may extend upwardly through a shaft hole of the rotary cam (1461) to be engaged with a lift cam (1462) positioned above the rotary cam (1461). The blade shaft (1447) may protrude upwardly from the lift cam (1462) to be engaged with a drive shaft (1417) positioned above the lift cam (1462).

[0058] As shown in FIGS. 3 and 4, the drive shaft (1417) is fixed in position in the cam housing (149), so that when the blade shaft (1447) moves vertically, the drive shaft (1417) is fixed in position in the vertical direction. The blade shaft (1447) and the drive shaft (1417) can be pin-slot coupled to allow for changes in the height of the blade unit (144) while synchronizing their rotation.

[0059] A pin-slot joint is a method of joining two shaft members, and may be composed of a vertical slot formed on one shaft and a slot pin formed on the other shaft and inserted into the vertical slot to move in the extension direction of the vertical slot.

[0060] In this embodiment, a vertical slot is formed in the blade shaft (1447) and a slot pin protrudes in the drive shaft (1417), and conversely, a slot pin may be formed in the blade shaft (1447) and a vertical slot may be formed in the drive shaft (1417).

[0061] The blade shaft (1447) can rotate together with the rotation of the drive shaft (1417) and move vertically together with the lift cam (1462) when it moves vertically. At this time, the lift cam (1462) is connected to the blade shaft (1447), and a first bearing can be provided between the lift cam (1462) and the blade shaft (1447) so that the lift cam (1462) does not rotate when the blade shaft (1447) is rotated by the blade motor (141).

[0062] The lift motor (145) can adjust the height of the blade unit (144) by adjusting the height of the lift cam (1462) connected to the blade shaft (1447) of the blade unit (144).

[0063] The lift shaft (1457) of the present embodiment can transmit the rotational power of the lift motor (145) through the power transmission gears (1455, 1456) to rotate the rotation cam (1461). The rotation cam (1461) of the present invention can include a first inclined surface (1464a).

[0064] The lift cam (1462) located on the upper side of the rotation cam (1461) does not rotate and can only move vertically. The lift cam (1462) may include a vertical guide so that it can only move vertically to the cam housing (149). The vertical guide of the present embodiment may include a guide slot (1498) formed in the cam housing (149) and extending vertically and a guide protrusion (1468) protruding from the lift cam (1462).

[0065] The lift cam (1462) may include a second inclined surface (1464b) corresponding to the first inclined surface (1464a) of the rotation cam (1461), and the vertical position of the lift cam (1462) may vary depending on the position where the first inclined surface (1464a) and the second inclined surface (1464b) contact each other.

[0066] As illustrated in FIG. 3, the highest point of the first inclined surface (1464a) of the rotation cam (1461) and the highest point of the second inclined surface (1464b) of the lift cam (1462) are arranged vertically side by side, so that the position of the lift cam (1462) is lowered, and the blade unit (144) can also be arranged at the lowest position from the floor surface.

[0067] As illustrated in FIG. 4, the peak point of the first inclined surface (1464a) of the rotation cam (1461) and the lowest point of the second inclined surface (1464b) of the lift cam (1462) are arranged vertically side by side, so that the position of the lift cam (1462) is raised, and the blade unit (144) can also be arranged at the highest position from the floor surface.

[0068] The first inclined surface (1464a) of the rotary cam (1461) includes multiple highest and lowest points. In order for the rotary cam (1461) to stably support the lift cam (1462), the first inclined surface (1464a) and the second inclined surface (1464b) may be configured to have two or more contact points. In the present embodiment, a pair is provided spaced apart at 180° intervals, and the rotary cam (1461) can be switched from the lowest height to the highest height when it rotates 90° (Fig. 3->Fig. 4).

[0069] The lift cam (1462) may include anti-slip protrusions to prevent slipping between the first inclined surface (1464a) and the second inclined surface (1464b) so that it is stably fixed in an upwardly raised state. In this embodiment, an example in which anti-slip protrusions are formed on the first inclined surface (1464a) of the rotation cam (1461) is shown, but the anti-slip protrusions may also be formed on the second inclined surface (1464b).

[0070] If the slope of the first inclined surface (1464a) is too steep, it is difficult for the rotational force of the rotation cam (1461) to be converted to a direction that raises the lift cam (1462). In the present embodiment, the distance between the lowest point and the highest point of the first inclined surface (1464a) of the rotation cam (1461) is only 90°, so the height adjustment range of the lift cam (1462) is small, which limits the vertical height adjustment of the blade unit (144).

[0071] Accordingly, the present invention may include a third inclined surface (1464c) opposite to the first inclined surface (1464a) of the rotary cam (1461), i.e., on the lower side of the rotary cam (1461), as illustrated in FIGS. 3 to 5. The cam housing (149) includes a fourth inclined surface (1464d) opposite to the third inclined surface (1464c), and the rotary cam (1461) can move up and down depending on the contact position between the third inclined surface (1464c) and the fourth inclined surface (1464d).

[0072] Accordingly, the position of the lift cam (1462) is raised to a height corresponding to the change in position of the lift cam (1462) relative to the rotation cam (1461) in addition to the rising height of the rotation cam (1461), and the blade unit (144) can move vertically according to the change in height of the lift cam (1462). The first inclined surface (1464a) and the third inclined surface (1464c) can be configured to be symmetrical up and down to maximize the change in height of the lift cam (1462).

[0073] A lift shaft (1457) may be included to transmit the power of the lift motor (145) to the rotation cam (1461). The power may be transmitted through a power transmission gear (1455, 1456) positioned between the lift motor (145) and the lift shaft (1457), and the lift shaft (1457) and the lift motor (145) may be arranged in parallel in the horizontal direction.

[0074] When the rotary cam (1461) includes only the first inclined surface (1464a) formed on the upper surface, there is no change in the height of the rotary cam (1461) within the cam housing (149), but when it includes the third inclined surface (1464c), the rotary cam (1461) can also move up and down. Therefore, the lift shaft (1457) and the rotary cam (1461) can be pin-slot coupled so that the rotation is synchronized but the vertical movement is free.

[0075] In order to reduce friction with the cam housing (149) when the lift shaft (1457) rotates, a bearing (1421) positioned between the lift shaft (1457) and the cam housing (149) may be included. In the present embodiment, the lift shaft (1457) is configured to surround the shaft hole of the rotary cam (1461), so that the bearing (1421) is formed between the lift shaft (1457) and the cam housing (149). Conversely, when the lift shaft (1457) is positioned inside the shaft hole of the rotary cam (1461), a bearing may be positioned between the rotary cam (1461) and the cam housing (149).

[0076] Figures 6 and 7 are perspective views illustrating the operation of a bidirectional motor (143) according to another embodiment of a drive assembly (140) of a lawn mowing robot (100) of the present invention. Figure 6 illustrates the operation of the drive assembly (140) when the bidirectional motor rotates in the first direction, and Figure 7 illustrates the operation of the drive assembly (140) when the bidirectional motor (143) rotates in the second direction.

[0077] The drive assembly (140) of the above-described embodiment is provided with a blade motor (141) and a lift motor (145), but in the present embodiment, the lift motor (143) can be used in conjunction with the blade motor (141). The lift motor uses a bidirectional motor (143) that can provide rotational force in both directions.

[0078] As shown in FIG. 6, when the rotation cam (1461) rotates in the first direction, the height of the blade unit (144) can be changed, and as shown in FIG. 7, when the bidirectional motor (143) rotates in the second direction, only the blade shaft (1447) can be rotated to perform lawn mowing.

[0079] Fig. 8 is a cross-sectional view of a drive assembly of a lawn mower robot according to another embodiment of the present invention. A bidirectional motor (143) can transmit power to a lift shaft (1437, 1439) extending inside a cam housing (149) via a power transmission gear (1435, 1436). In this embodiment, the lift shaft can include a pair of shafts (1437, 1439) that are arranged in an overlapping manner to selectively drive a rotation cam (1461) depending on the rotation direction of the bidirectional motor (143).

[0080] The first shaft (1437) is connected to a power transmission gear (1435, 1436) that transmits the power of the bidirectional motor (143), and the second shaft (1439) is pin-slot coupled to the first shaft (1437) so that the rotation is synchronized and the height is variable. The present embodiment includes a slot pin (1438) of the first shaft (1437) that is inserted into a vertical slot formed in the second shaft (1439), but the opposite configuration is also possible.

[0081] The second shaft (1439) can be connected to the rotary cam (1461) through a one-way bearing (1425). The one-way bearing (1425) refers to a bearing that can be driven independently by synchronizing the first direction rotation and not synchronizing the second direction rotation in the two-way motor (143).

[0082] In this embodiment, when the lift shaft (1437, 1439) is driven in the first direction, the rotation cam (1461) rotates, and the height of the blade unit (144) can be adjusted. As described in the above embodiment, as the lift cam (1462) rotates, the contact points between the first inclined surface (1464a), the second inclined surface (1464b), the third inclined surface (1464c), and the fourth inclined surface (1464d) change. Depending on the change in the contact points of the inclined surfaces, the lift cam (1462) moves vertically, and the height of the blade unit (144) can be adjusted.

[0083] The blade shaft (1447) passes through the second shaft (1439) and is connected to the lift cam (1462) and the bearing (1422), so that when the lift shafts (1437, 1439) rotate, the lift cam (1453) does not rotate and only the blade shaft (1447) can rotate independently.

[0084] When the lift shaft (1457) rotates in the second direction, the rotation cam (1461) does not rotate, and only the lift shaft (1457) rotates, so that the blade unit (144) can perform the lawn mowing operation.

[0085] This embodiment has the advantage of reducing the number of parts and making the configuration simpler by enabling the driving and height adjustment of the blade unit (144) with one motor through a one-way bearing (1425).

[0086] As described above, the lawn mowing robot (100) according to at least one embodiment of the present invention can automatically adjust its height and perform lawn mowing work unmanned.

[0087] In addition, the lawn mowing robot (100) according to at least one embodiment of the present invention has the advantage of having a small weight and volume of the driving unit since the configuration of the driving unit for height adjustment is not complicated.

[0088] The above detailed description should not be construed as limiting in any respect and should be considered illustrative only. The scope of the present invention should be determined by a reasonable interpretation of the appended claims, and all modifications within the equivalent scope of the present invention are intended to be included within the scope of the present invention.

[0089] With respect to various embodiments for implementing the present invention, duplicate descriptions are omitted as they have been described above in the previous table of contents, Best Mode for Carrying Out the Invention.

[0090] The present invention is applicable to lawn mowing robots in various fields, and thus its industrial applicability is recognized.

Claims

1. A main body housing including a driving part at the bottom; and including a drive assembly located inside the main body housing, The above drive assembly lift motor; A lift shaft that rotates by receiving the rotational power of the above lift motor; A rotating cam that rotates together with the first direction rotation of the lift shaft and includes a first inclined surface on the upper side, if possible; A lift cam including a second inclined surface in contact with the first inclined surface and moving up and down according to the rotation of the rotating cam; A blade shaft coupled to the above lift cam and moving vertically together with the change in height of the lift cam; and A lawn mowing robot comprising a blade unit coupled to the lower end of the blade shaft.

2. In paragraph 1, The above first slope and the second slope Includes the highest point and the lowest point, A lawn mowing robot characterized in that the highest point and the lowest point include two or more and are point-symmetrical.

3. In paragraph 1, including a cam housing in which the above rotation cam and the above lift cam are accommodated; A lawn mowing robot characterized in that the lift cam includes a vertical guide that guides vertical movement within the cam housing.

4. In paragraph 3, A third inclined surface formed on the lower surface of the above rotating cam and symmetrical to the first inclined surface, A lawn mowing robot, characterized in that the cam housing includes a fourth inclined surface that is in contact with the third inclined surface.

5. In paragraph 1, A lawn mowing robot further characterized by including an anti-slip protrusion formed on one side of the first slope or the second slope.

6. In paragraph 1, The blade shaft extends upward through the rotary cam and the lift shaft to the lift cam, A lawn mowing robot characterized by comprising a first bearing positioned between the lift shaft and the blade shaft.

7. In paragraph 1, Blade motor that provides rotational power; A lawn mowing robot characterized by including a drive shaft that rotates by receiving the rotational power of the blade motor and is pin-slot coupled with the blade shaft.

8. In paragraph 7, A cam housing in which the above rotation cam and the above lift cam are accommodated and the above drive shaft passes through the upper surface; A power transmission gear located on the upper surface of the cam housing and transmitting the rotational power of the blade motor to the drive shaft; and A lawn mowing robot characterized by comprising a second bearing positioned between the cam housing and the drive shaft.

9. In paragraph 1, A one way bearing is included between the lift shaft and the rotating cam, When the above lift shaft rotates in the first direction, the above rotation cam rotates in the first direction, A lawn mowing robot characterized in that the rotation cam does not rotate when the lift shaft rotates in the second direction.

10. In paragraph 9, The above lift shaft A first shaft coupled with a power transmission gear that transmits the power of the above lift motor; and A second shaft is pin-slot coupled to the first shaft, rotates together with the first shaft, and has a variable height relative to the first shaft. A lawn mowing robot, characterized in that the one-way bearing is located between the second shaft and the rotating cam.

11. In paragraph 10, The blade shaft extends upward through the rotation cam and the second shaft to the lift cam, A lawn mowing robot characterized in that a pin-slot joint is formed between the blade shaft and the second shaft.

12. In paragraph 9, A lawn mowing robot characterized in that the above lift motor is a bidirectional motor that can rotate in both directions.

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