Autonomous work equipment

Abstract

The invention discloses autonomous operation equipment. The autonomous operation equipment comprises a vehicle body and two wheel components. The wheel part comprises a connecting piece, at least one wheel part and a driving piece, the inner end, in the first direction, of the connecting piece is rotationally connected with the vehicle body, and the connecting piece is arranged to be capable of rotating between a first position and a second position around the axis parallel to the second direction relative to the vehicle body; the height of the outer end, in the first direction, of the connecting piece at the second position is lower than the height of the outer end, in the first direction, of the connecting piece at the first position, and the second direction is perpendicular to the first direction. The wheels are located at the outer ends of the connecting pieces. And the driving piece is connected with the connecting piece and the wheel and is arranged to drive the wheel to rotate.

Description

Technical Field

[0001] The present invention relates to the field of outdoor working equipment, and particularly to an autonomous working equipment. Background Art

[0002] Taking a lawn mower whose main function is to mow the lawn as an example of the autonomous working equipment, it can save users from complex and miscellaneous labor and is becoming more and more popular among users. The autonomous working equipment can automatically move within a preset working area and automatically execute work tasks. In order to enable the autonomous working equipment to complete automatic work more reliably and safely and provide better services for users, manufacturers continuously upgrade the performance of the autonomous working equipment, including configuring various functional modules for the autonomous working equipment.

[0003] The autonomous working equipment includes a top cover, a chassis and a wheel assembly. Among them, the wheel assembly is used to drive the chassis to move along the walking path direction and generally includes wheels and a driving member for driving the wheels to walk, etc. The chassis is connected to the wheel assembly and is used to carry equipment for operating the work, such as a cutter head or a motor for cutting the lawn, etc. The top cover covers the top of the chassis. On the one hand, it can protect the chassis from damage, and on the other hand, it can also play a role in aesthetics.

[0004] When the autonomous working equipment encounters an obstacle during walking, the vehicle body needs to be lifted. However, in the patent CN220123451U, when the forward acceleration of the robot is too large, typically such as sudden stop during backward movement or sudden acceleration, it is easy to trigger the lift and cause the machine to stop. Based on the above situation, it is necessary to develop a new type of autonomous working equipment. Summary of the Invention

[0005] The purpose of the present invention is to provide an autonomous working equipment to solve the above problems.

[0006] To solve the above technical problems, an embodiment of the present invention provides an autonomous working equipment, including:

[0007] A vehicle body; and

[0008] A wheel assembly, the wheel assembly includes:

[0009] A connecting member, the inner end of the connecting member in the first direction is rotatably connected to the vehicle body, and the connecting member is arranged to be rotatable relative to the vehicle body about an axis parallel to the second direction between a first position and a second position. The height of the outer end of the connecting member in the first direction in the second position is lower than that in the first position, and the second direction is perpendicular to the first direction;

[0010] Wheels, the wheels are located at the outer end of the connecting member; and

[0011] A driving member, which is connected to the connecting member and the wheel and is configured to drive the wheel to rotate.

[0012] In one embodiment, the vehicle body includes:

[0013] A chassis; and

[0014] A mounting seat, which is connected to the chassis;

[0015] The inner end of the connecting member is connected to the mounting seat. In the first position, the top of the connecting member abuts against the chassis. In the second position, the bottom of the connecting member abuts against the mounting seat.

[0016] In one embodiment, the inner end of the connecting member is rotatably connected to the mounting seat through a rotating shaft, and the axis of the rotating shaft is parallel to the second direction.

[0017] In one embodiment, the mounting seat includes:

[0018] A connecting plate, which extends along the first direction and is disposed opposite to each other along the second direction, and the connecting plate is connected to both ends of the rotating shaft; and

[0019] A limiting plate, which is connected to the bottom end of the connecting plate;

[0020] The inner end of the connecting member is rotatably connected to the rotating shaft;

[0021] In the first position, the top of the connecting member abuts against the chassis, and the bottom is spaced from the limiting plate. In the second position, the bottom of the connecting member abuts against the outer end of the limiting plate along the first direction.

[0022] In one embodiment, the mounting seat further includes a buffer member, and the buffer member is connected to the top surface of the limiting plate; in the second position of the connecting member, the bottom of the connecting member abuts against the buffer member.

[0023] In one embodiment, the connecting member includes:

[0024] A connecting portion, which extends along the second direction and is rotatably connected to the mounting seat through the rotating shaft;

[0025] A cover body, which is connected to the connecting portion, and the driving member is located inside the cover body;

[0026] A baffle plate, which is connected to the cover body and is located at the bottom of the cover body, and the baffle plate is spaced from the outer end of the mounting seat along the first direction;

[0027] At the first position, the bottom end of the baffle extends at least to the bottom surface of the limiting plate.

[0028] In one embodiment, the distance between the outer ends of the baffle and the mounting base along the first direction ranges from 0.5 mm to 1.5 mm.

[0029] In one embodiment, at the first position, the height range by which the bottom surface of the baffle exceeds the bottom surface of the limiting plate is less than 2 mm.

[0030] In one embodiment, the autonomous operation device further includes a sensor and a sensing element for sensing the position of the wheel component. One of the sensor or the sensing element is connected to the connecting member, and the other is connected to the vehicle body. The distance between the sensor and the sensing element is different at the first position and the second position.

[0031] In one embodiment, arc-shaped protrusions are further provided on the opposite sides of the two connecting plates. The arc-shaped protrusions are arcs extending around the rotating shaft and are located below the rotating shaft;

[0032] Both ends of the connecting member along the second direction protrude from the housing and are respectively located within the two arc-shaped protrusions.

[0033] The rotation axis of the connecting member and the vehicle body of the present invention is parallel to the forward direction. When the vehicle body is lifted, obstacles will not get stuck in the rotation shaft of the vehicle body and the connecting member, avoiding the phenomenon of the autonomous operation device shutting down. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 is a perspective view of an autonomous operation device according to an embodiment of the present invention.

[0035] Figure 2 is Figure 1 the exploded view of the autonomous operation device in the illustrated embodiment.

[0036] Figure 3 is Figure 1 the exploded view of the wheel component and the mounting base in the illustrated embodiment.

[0037] Figure 4 and Figure 5 is Figure 1 the perspective view of the mounting base in the illustrated embodiment.

[0038] Figure 6 and Figure 7 is Figure 1 the perspective view of the connecting member in the illustrated embodiment.

[0039] Figure 8 is Figure 1 the top view of the autonomous operation device in the illustrated embodiment.

[0040] Figure 9 is Figure 8 A sectional view of the autonomous operation device of the illustrated embodiment along A-A.

[0041] Figure 10 is Figure 8 A sectional view of the autonomous operation device of the illustrated embodiment along the second direction.

[0042] Figure 11 is Figure 10 An enlarged view of area B in the illustrated embodiment. Detailed implementation manners

[0043] To make the objectives, technical solutions and advantages of the present invention clearer, the following will elaborate on various embodiments of the present invention with reference to the accompanying drawings. However, those of ordinary skill in the art can understand that in various embodiments of the present invention, many technical details are presented to help readers better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical solutions claimed in each claim of the present application can still be implemented.

[0044] Unless the context requires otherwise, throughout the specification and claims, the word "comprising" and its variants, such as "including" and "having", should be understood in an open, inclusive sense, i.e., interpreted as "including, but not limited to".

[0045] The following will elaborate on various embodiments of the present invention with reference to the accompanying drawings to more clearly understand the objectives, features and advantages of the present invention. It should be understood that the embodiments shown in the drawings are not limitations on the scope of the present invention, but only illustrate the essential spirit of the technical solutions of the present invention.

[0046] References to "one embodiment" or "an embodiment" throughout the specification mean that the particular features, structures, or characteristics described in connection with the embodiment are included in at least one embodiment. Thus, appearances of "in one embodiment" or "in an embodiment" throughout the specification do not necessarily all refer to the same embodiment. Additionally, the particular features, structures, or characteristics may be combined in any manner in one or more embodiments.

[0047] As used in this specification and the appended claims, the singular forms "a" and "the" include plural referents unless the context clearly dictates otherwise. It should be noted that the term "or" is generally used in its inclusive sense of "and / or" unless the context clearly dictates otherwise.

[0048] In the following description, in order to clearly show the structure and working mode of the present invention, many directional terms will be used for description. However, words such as "front", "rear", "left", "right", "outer", "inner", "outward", "inward", "up", and "down" should be understood as convenient terms and should not be understood as limiting terms.

[0049] The present invention relates to an autonomous operation device 100, such as Figure 1 shown. The autonomous operation device 100 is especially a robot that can move autonomously in a preset area and perform specific operations, typically such as an intelligent floor sweeper or a vacuum cleaner for performing cleaning operations, or an intelligent lawn mower for performing mowing operations, etc. Among them, the specific operation especially refers to an operation of processing a working surface and changing the state of the working surface. The present invention will be described in detail taking an intelligent lawn mower as an example. The autonomous operation device 100 can walk autonomously on the surface of the working area. Especially as an intelligent lawn mower, it can perform mowing operations autonomously on the ground.

[0050] The autonomous operation device 100 includes a vehicle body 1, a front obstacle sensor, a cutter head assembly, a front wheel assembly, and a rear wheel assembly. The vehicle body 1 has a front end and a rear end along its traveling direction. The front end is the end in front when the vehicle body 1 is walking normally. The front obstacle sensor includes a vision sensor, a collision sensor arranged on the front side of the fuselage, etc. The front obstacle sensor is used to detect obstacles in front of the vehicle body 1, and the vision sensor is used to collect image information in front of the fuselage.

[0051] In Figure 2 the shown embodiment, the cutter head assembly opens towards the front end of the vehicle body 1, that is, towards the front end of the vehicle body 1, and the cutter head has a downward flanging.

[0052] In addition, in Figure 2 the shown embodiment, the front wheel assembly is located at the front end of the vehicle body and includes a pair of wheel components 2. Each wheel component 2 includes a wheel 22, as well as a driving member 23 and a reduction gearbox that respectively drive the wheel 22. The driving member 23 is generally a motor or an internal combustion engine. In this embodiment, the driving member 23 is a motor. One motor drives one wheel 22 to rotate. Straight-line walking is achieved by rotating in the same direction and at the same speed, and steering is achieved by rotating in the same direction with differential speed or in the reverse direction. The rear wheel assembly is located near the rear end of the vehicle body 1 and includes a hub motor and a steering motor. The hub motor controls the rear wheel to rotate around the horizontal axis, and the steering motor controls the rear wheel to rotate around the vertical axis. In other embodiments, the rear wheel assembly may include one or two universal wheels. In other embodiments, the front wheel assembly and the rear wheel assembly can be swapped positions.

[0053] The vehicle body 1 includes a main body mechanism, a working mechanism, an energy module, a detection module, an interaction module, a control module, etc. The main body mechanism usually includes a chassis 11, such as Figure 2As shown, the chassis 11 is used to mount and accommodate at least one of the functional mechanisms and functional modules such as the front wheel assembly, the rear wheel assembly, the working mechanism, the energy module, the detection module, the interaction module, and the control module.

[0054] The working mechanism is configured to perform specific operation tasks, including a working piece and a working prime mover for driving the working piece to operate. The energy module is configured to provide energy for the various operations of the autonomous operation device 100. The detection module is configured as at least one sensor 3 for sensing at least one of the environmental parameters of the autonomous operation device 100 or its own working parameters. The interaction module is configured to at least receive control instruction information input by the user, send out information that needs to be perceived by the user, communicate with other systems or devices to send and receive information, etc. The control module generally includes at least one processor and at least one non-volatile memory, and a computer program or instruction set is pre-written in the memory. The processor controls the execution of actions such as the movement and operation of the autonomous operation device 100 according to the computer program or instruction set.

[0055] The straight-line travel of the autonomous operation device 100 is achieved by the same-direction and equal-speed rotation of two wheels 22, and the steering travel is achieved by the same-direction differential speed or opposite rotation of the left and right two wheels 22.

[0056] Specifically, each wheel component 2 further includes a connecting member 21 for mounting a driving member 23. The connecting member 21 extends along a first direction 6, and the inner end of the connecting member 21 along the first direction 6 is rotatably connected to the chassis 11. The outer end of the connecting member 21 is close to both side edges of the vehicle body 1 along the first direction 6, and the wheel 22 is connected to the driving member 23 and is located at the outer end of the connecting member 21.

[0057] The axis of rotation of the connection position between the connecting member 21 and the chassis 11 is parallel or overlaps with a second direction 7, that is, the connecting member 21 can also rotate relative to the vehicle body 1 about an axis extending along the second direction 7. The first direction 6 is parallel or overlaps with the axis of rotation of the wheel 22, and the second direction 7 is the forward direction of the vehicle body 1 and is perpendicular to the first direction 6.

[0058] Specifically, the connecting member 21 can rotate relative to the vehicle body 1 about an axis parallel to the second direction 7 between a first position and a second position. In the first position, the vehicle body 1 operates normally, and the top of the entire connecting member 21 of the wheel component 2 abuts against the chassis 11, that is, the outer end of the connecting member 21 along the first direction 6 also abuts against the chassis 11. In the second position, the outer end of the connecting member 21 along the first direction 6 moves downward away from the chassis 11, that is, the height of the outer end of the connecting member 21 in the second position is lower than that in the first position.

[0059] As a preferred solution, the connecting member 21 is connected to the chassis 11 through the mounting seat 12. After the mounting seat 12 is connected to the chassis 11 and the connecting member 21 is mounted on the mounting seat 12, the mounting seat 12 can be connected to the chassis 11 by screws. In Figure 2 and Figure 3 In the illustrated embodiment, the mounting seat 12 includes a seat body 121 extending along the first direction 6 and a connecting member 124. The seat body 121 is a U-shaped housing with an accommodation space and is open towards the top. The seat body 121 is connected to the chassis 11 by screws. The connecting member 124 is connected to the middle position of the seat body 121 along the first direction 6 and is located on the side of the seat body 121 along the second direction 7. The connecting member 124 is also connected to the chassis 11 by screws to strengthen the connection strength between the mounting seat 12 and the chassis 11. It should be understood that in other embodiments, the connecting member 124 may not be provided, and the seat body 121 can be directly connected to the chassis 11 by more screws.

[0060] The seat body 121 includes two connecting plates 122 and a limiting plate 123 extending along the first direction 6. As shown in Figure 4 and Figure 5 wherein the two connecting plates 122 are arranged opposite to each other along the second direction 7, and the limiting plate 123 is connected to the bottom ends of the two connecting plates 122. The limiting plate 123 and the two connecting plates 122 cooperate to form an accommodation space that is open towards the top.

[0061] The two wheel components 2 are symmetrically arranged with respect to the central axis of the vehicle body 1 along the second direction 7, and the two connecting members 21 of the two wheel components 2 are symmetrically arranged between the two limiting plates 123 of the seat body 121, that is, within the accommodation space of the seat body 121. The inner end of each connecting member 21 is rotatably connected to the two limiting plates 123 through a rotating shaft 4, and the axis of the rotating shaft 4 is parallel or overlapped with the second direction 7. The outer end of each connecting member 21 extends towards the outside of the vehicle body 1 to the outside of the seat body 121 and is close to the edge of the vehicle body 1 along the first direction 6.

[0062] The wheel component 2 can rotate relative to the vehicle body 1 between a first position and a second position through the rotating shaft 4. In the first position, at least part of the top of the connecting member 21 abuts against the bottom surface of the chassis 11, and both the outer end and the inner end of the connecting member 21 are spaced from the limiting plate 123. In the second position, the outer end of the connecting member 21 is away from the chassis 11 and a certain position between the inner end and the outer end of the connecting member 21 abuts against the outer end of the limiting plate 123 along the first direction 6. That is to say, the limiting plate 123 can limit the downward movement range of the connecting member 21 relative to the vehicle body 1, and the chassis 11 can limit the upward movement range of the connecting member 21 relative to the vehicle body 1.

[0063] In Figure 2In the illustrated embodiment, both wheel components 2 are rotatable relative to the vehicle body 1. It should be understood that in some other embodiments, one of the two wheel components 2 may be rotatable relative to the vehicle body 1, and the other may be fixedly connected to the vehicle body 1. That is, only one wheel component 2 rotates relative to the vehicle body 1, and the technical effects of the present invention can also be achieved.

[0064] It should be understood that the connecting member 21 can also be rotatably connected to the seat body 121 by a ball joint or other means, as long as it can meet the requirement that the connecting member 21 rotates around the axis along the first direction 6. The present invention does not limit the specific rotational connection manner between the connecting member 21 and the seat body 121.

[0065] As a preferred solution, the connecting member 21 specifically includes a connecting portion 211, a cover body 212, and a baffle 213, as Figure 6 and Figure 7 shown. Among them, the connecting portion 211 extends along the second direction 7 and is rotatably connected to the rotating shaft 4. Specifically, the connecting portion 211 is provided with a shaft hole 127 extending along the second direction 7. A bearing is installed in the shaft hole 127, and the rotating shaft 4 is located in the shaft hole 127 and connected to the bearing to prevent the inner wall of the connecting portion 211 from being worn during the rotation of the rotating shaft 4.

[0066] The cover body 212 is connected to the connecting portion 211 and extends along the first direction 6. The driving member 23 for driving the wheel 22 to rotate is installed in the cover body 212. The inner end of the cover body 212 along the first direction 6 is connected to the connecting portion 211, and the outer end extends to the edge of the vehicle body 1 along the first direction 6, while the wheel 22 is located at the outer end of the cover body 212. In addition, a wire passing hole 216 is also provided on the inner end surface of the cover body 212 along the first direction 6, and this wire passing hole 216 is used for installing the circuit of the driving member 23.

[0067] The baffle 213 is connected to the bottom of the cover body 212 and extends along the circumferential direction of the cover body 212, that is, along the circumferential direction of the wheel 22. In Figure 7 the illustrated embodiment, the cover body 212 is cylindrical, and the baffle 213 is an arc-shaped plate extending along the circumferential direction of the cover body 212 and is located outside the seat body 121. That is, the baffle 213 is closer to the outside of the vehicle body 1 along the first direction 6 relative to the seat body 121, and is spaced from the outer end of the seat body 121 along the first direction 6, which can prevent grass clippings from entering the seat body 121. The shape of the baffle 213 only needs to match the shape of the bottom of the outer end wall of the seat body 121 along the first direction 6, that is, it can prevent grass clippings from entering the internal interface from the outer end of the seat body 121 along the first direction 6, and the specific shape of the baffle 213 is not limited.

[0068] The distance range between the baffle 213 and the outer end of the seat body 121 is preferably 0.5 mm - 1.5 mm, and the optional range includes but is not limited to 0.5 mm, 0.6 mm, 0.7 mm, 0.8 mm, 0.9 mm, 1.0 mm, 1.1 mm, 1.2 mm, 1.3 mm, 1.4 mm, and 1.5 mm. This can prevent grass clippings from entering the seat body 121 and avoid the connector 21 touching the seat body 121 during rotation, thus preventing the rotation of the connector 21 from being obstructed.

[0069] When the connector 21 is in the first position, the height range of the bottom end of the baffle 213 exceeding the bottom surface of the limit plate 123 is 0 mm - 2 mm, that is, the bottom surface of the baffle 213 can be flush with the bottom surface of the limit plate 123 or slightly exceed the bottom surface of the limit plate 123. When the connector 21 is in the second position, the baffle 213 moves downward with the connector 21 but does not touch the seat body 121.

[0070] The top surface of the limit plate 123 is also provided with a receiving groove 126. The receiving groove 126 is located near the outer end of the limit plate 123 and a buffer member 125 is installed inside. The buffer member 125 has elasticity and can be made of rubber or silica gel. Figure 4 In the illustrated embodiment, the receiving groove 126 is formed by an annular frame protruding from the top surface of the limit plate 123. The annular frame is connected to the top surface of the limit plate 123, and the buffer member 125 is installed inside the annular frame, so that the buffer member 125 is closer to the cover body 212, which is beneficial to providing sufficient buffering force for the cover body 212. When the connector 21 is in the first position, the connector 21 and the buffer member 125 are arranged at intervals. When in the second position, the bottom of the connector 21 abuts against the buffer member 125. During the process of the connector 21 rotating from the first position to the second position, its bottom gradually contacts the buffer member 125, and the buffer member 125 can buffer the movement of the connector 21 and reduce the vibration of the vehicle body 1.

[0071] The autonomous operation device 100 further includes a sensor 3 and an induction element 31 for sensing the position of the wheel component 2. One of the sensor 3 and the induction element 31 is connected to the connector 21, and the other is connected to the vehicle body 1. The distance between the sensor 3 and the induction element 31 is different in the first position and the second position. The sensor 3 can judge the position of the wheel component 2 relative to the vehicle body 1 according to the distance from the induction element 31.

[0072] After the vehicle body 1 is lifted, the wheel component 2 can rotate relative to the vehicle body 1 from the first position to the second position under the influence of its own gravity through the rotating shaft 4. The sensor 3 can sense the change in the distance of the induction element 31, and then judge the lifted state of the vehicle body 1, and then control the cutter head assembly to stop cutting through the control module to prevent cutting the operator or surrounding objects.

[0073] In Figure 8 - 9In the illustrated embodiment, the sensing element 31 is a magnet, and the sensor 3 is a Hall sensor 3. An avoidance groove 111 is provided on the bottom surface of the chassis 11, and the Hall sensor 3 is installed on the inner wall of the avoidance groove 111. The top surface of the cover body 212 is provided with a mounting protrusion 214 for mounting the magnet. The mounting groove 215 is provided on the side surface of the mounting protrusion 214 along the second direction 7 or the first direction 6, and the magnet is located in the mounting groove 215. When the connecting member 21 is in the first position, the mounting protrusion 214 is located in the avoidance groove 111, and the opening of the mounting groove 215 is disposed opposite to the Hall sensor 3, that is, the magnet and the Hall sensor 3 are disposed opposite to each other in the horizontal direction. When the connecting member 21 is in the second position, the magnet moves downward with the connecting member 21 and away from the Hall sensor 3. The Hall sensor 3 can sense the change of the magnetic field of the magnet and thus sense the position of the wheel component 2 relative to the vehicle body 1.

[0074] Preferably, the opposite side surfaces of the two connecting plates 122 are respectively provided with a shaft hole 127 for mounting the rotating shaft 4 and an arc-shaped protrusion 1221 located below the shaft hole 127. The arc-shaped protrusion 1221 is arc-shaped extending around the rotating shaft 4 and is located below the rotating shaft 4. The two ends of the connecting portion 211 along the second direction 7 respectively protrude from both sides of the cover body 212 along the second direction 7 and are located within the two arc-shaped protrusions 1221.

[0075] When the wheel component 2 is installed on the mounting seat 12, the shaft holes 127 of the opposite connecting plates 122 can be aligned with the shaft holes 127 of the connecting portion 211 first. The two ends of the connecting portion 211 along the second direction 7 are installed in the two opposite arc-shaped protrusions 1221 of the connecting member 21, and the arc-shaped protrusions 1221 can play a role of pre-positioning. Then, the rotating shaft 4 is sequentially passed through the shaft hole 127 of one of the connecting plates 122, the shaft hole 127 of the connecting portion 211, and the shaft hole 127 of the other connecting plate 122, and the connection between the wheel component 2 and the mounting seat 12 is completed. After that, the mounting seat 12 is fixedly connected to the chassis 11 by screws to complete the installation.

[0076] The top surface of the chassis 11 has a receiving cavity. At least a part of the vision module is disposed in the receiving cavity, and the other part can protrude from the top surface of the vehicle body 1 for collecting image information.

[0077] The autonomous operation device 100 further includes a heat dissipation member 5 and a circuit board assembly. The circuit board assembly is located in the receiving cavity and is connected to the vision module. In addition, the circuit board assembly has a chip electrically connected to the vision module, and the chip is used for image processing. The heat dissipation member 5 is connected to the chassis 11, and at least a part of the heat dissipation member 5 is disposed around the outer periphery of the seat body 121 of the mounting seat 12, and at least another part is disposed opposite to the circuit board assembly.

[0078] The chip has a high computing speed and a large amount of computation, so it will generate more heat during operation. Since the chip is disposed in the sealed accommodation cavity on the top surface of the chassis 11, at least a part of the heat dissipation member 5 is disposed opposite to the chip in the vertical direction, thereby dissipating heat from the chip. For details, refer to Chinese Patent Application CN2023210423238, and the full text of CN2023210423238 is hereby incorporated herein by reference. In addition, at least a part of the heat dissipation member 5 is also disposed around the outer periphery of the seat body 121, which can dissipate heat from the driving member 23 in the seat body 121.

[0079] The heat dissipation member 5 can adopt methods such as cold plate heat dissipation or ventilation heat dissipation, and the specific implementation manner of the heat dissipation member 5 is not limited.

[0080] In Figure 10 In the illustrated embodiment, the heat dissipation member includes a main body section, a fixing section, and a plurality of heat dissipation fins 53. At least a part of the main body section protrudes toward the side where the circuit board assembly is located and is disposed opposite to the chip of the circuit board assembly. The fixing section is located on the outer periphery of the main body section and is embedded in the main body portion or part of the main body portion is embedded in the fixing section for fixedly connecting with the chassis 11. For details, refer to Chinese Patent Application CN2023210423238.

[0081] The plurality of heat dissipation fins 53 are arranged at intervals along the first direction 6 and are disposed around the outer periphery of the seat body 121. Specifically, the side surface of the plurality of heat dissipation fins 53 opposite to the seat body 121 is a recessed portion 51 that is recessed inward, and the recessed portion 51 opens toward the top surface of the heat dissipation member 5. A part of the seat body 121 is located in the recessed portion 51, and the inner wall of the recessed portion 51 is disposed around a part of the outer periphery of the seat body 121. In Figure 2 and Figure 10 In the illustrated embodiment, a part of the top of the seat body 121 is located in the recessed portion 51, and the bottom protrudes from the bottom surface of the heat dissipation member 5. As can be seen from Figure 11 the illustrated embodiment, the inner wall of the recessed portion 51 extends along the side surface of the seat body 121 in the second direction 7 to the top surface of the seat body 121 and is spaced from the seat body 121. It should be understood that in other embodiments, the plurality of heat dissipation fins 53 can also be disposed around the outer periphery of the bottom or side of the seat body 121, as long as heat dissipation from the driving member 23 can be taken into account.

[0082] The inner wall of the recessed portion 51 is an arc surface 52 that surrounds and matches the outer periphery of the seat body 121. The radian of the arc surface 52 basically matches the outer periphery of the seat body 121, that is, the arc surface 52 of the recessed portion 51 is formed by the side surfaces of the plurality of heat dissipation fins 53 opposite to the seat body 121. Preferably, the angle formed by the two ends of the arc surface 52 in the circumferential direction and the axis of the wheel 22 is α, and the range of α is greater than or equal to 60°. More preferably, the range of α is greater than or equal to 75°.

[0083] The mounting seat 12 is symmetrically arranged relative to the vehicle body 1 along the central axis in the second direction 7. The connecting member 124 is located in the middle of the seat body 121 and is connected to the side surface of the seat body 121 at one end, and the other end crosses the top of the middle part of the heat dissipation member 5 and is connected to the chassis 11 by screws. Both the cover body 212 and the connecting member 124 are axially symmetric in shape. The two wheel components 2 are also symmetrically arranged relative to the vehicle body 1 along the central axis in the second direction 7 and are respectively rotatably connected to the mounting seat 12.

[0084] The heat dissipation member 5 is also symmetrically arranged relative to the vehicle body 1 along the central axis in the second direction 7. The length of the heat dissipation member 5 in the first direction 6 is less than the length of the mounting seat 12 in the first direction 6. Preferably, the ratio range of the length of the heat dissipation member 5 in the first direction 6 to the length of the mounting seat 12 in the first direction 6 is greater than or equal to 60%. The ratio of the length of the heat dissipation member 5 in the first direction 6 to the length of the mounting seat 12 in the first direction 6 may optionally include but is not limited to 60%, 70%, 80%, 90% or 100%. The ratio of the length of the heat dissipation member 5 in the first direction 6 to the length range of the mounting seat 12 in the first direction 6 is greater than or equal to 80%.

[0085] The present invention can utilize the heat dissipation member 5 of the chip to dissipate heat from the driving member 23 of the driving motor at the same time, without the need to install an additional heat dissipation system, which can not only save space but also reduce the manufacturing cost.

[0086] The preferred embodiments of the present invention have been described in detail above. However, it should be understood that if necessary, aspects of the embodiments can be modified to adopt aspects, features and concepts of various patents, applications and publications to provide additional embodiments.

[0087] In view of the above detailed description, these and other changes can be made to the embodiments. Generally speaking, in the claims, the terms used should not be considered as limited to the specific embodiments disclosed in the specification and claims, but should be understood to include all possible embodiments and the entire equivalent scope enjoyed by these claims.

[0088] Those of ordinary skill in the art can understand that the above embodiments are specific embodiments for implementing the present invention, and in actual applications, various changes can be made in form and details without departing from the spirit and scope of the present invention.

Claims

1. An autonomous operation device, characterized in that, Comprising: Vehicle body; And Wheel assembly, the wheel assembly comprising: Connecting member, the inner end of the connecting member in the first direction is rotatably connected to the vehicle body, and the connecting member is arranged to be rotatable relative to the vehicle body about an axis parallel to the second direction between a first position and a second position, the outer end of the connecting member in the first direction is lower in height at the second position than at the first position, and the second direction is perpendicular to the first direction; Wheel, the wheel is located at the outer end of the connecting member; and Driving member, the driving member is connected to the connecting member and the wheel, and is arranged to drive the wheel to rotate.

2. The autonomous operation device according to claim 1, wherein The vehicle body comprises: Chassis; and Mounting seat, the mounting seat is connected to the chassis; The inner end of the connecting member is connected to the mounting seat, in the first position of the connecting member, the top of the connecting member abuts against the chassis, and in the second position, the bottom of the connecting member abuts against the mounting seat.

3. The autonomous operation device according to claim 2, wherein, The inner end of the connecting member is rotatably connected to the mounting seat through a rotating shaft, and the axis of the rotating shaft is parallel to the second direction.

4. The autonomous operation device according to claim 3, characterized in that, The mounting seat comprises: Connecting plates, the connecting plates extend in the first direction and are oppositely arranged in the second direction, and the connecting plates are connected to both ends of the rotating shaft; and Limiting plate, the limiting plate is connected to the bottom end of the connecting plate; The inner end of the connecting member is rotatably connected to the rotating shaft; In the first position, the top of the connecting member abuts against the chassis, and the bottom is spaced from the limiting plate; in the second position, the bottom of the connecting member abuts against the outer end of the limiting plate in the first direction.

5. The autonomous operation device according to claim 4, characterized in that, The mounting seat further comprises a buffer member, and the buffer member is connected to the top surface of the limiting plate; In the second position of the connecting member, the bottom of the connecting member abuts against the buffer member.

6. The autonomous operation device according to claim 4, wherein The connecting member comprises: a connecting portion, the connecting portion extends in the second direction and is rotatably connected to the mounting seat through the rotating shaft; Cover body, the cover body is connected to the connecting portion, and the driving member is located inside the cover body; Baffle plate, the baffle plate is connected to the cover body and is located at the bottom of the cover body, and the baffle plate is spaced from the outer end of the mounting seat in the first direction; In the first position, the bottom end of the baffle plate at least extends to the bottom surface of the limiting plate.

7. The autonomous operation device according to claim 6, characterized in that, The distance between the baffle plate and the outer end of the mounting seat in the first direction ranges from 0.5 mm to 1.5 mm.

8. The autonomous operation device according to claim 6, characterized in that, In the first position, the height range by which the bottom surface of the baffle plate exceeds the bottom surface of the limiting plate is less than 2 mm.

9. The autonomous operation device according to claim 1, wherein The autonomous operation device further comprises a sensor and a sensing element for sensing the position of the wheel assembly, one of the sensor or the sensing element is connected to the connecting member, and the other is connected to the vehicle body, and the distance between the sensor and the sensing element is different in the first position and the second position.

10. The autonomous operation device according to claim 6, characterized in that, Arc-shaped protrusions are further provided on the opposite side surfaces of the two connecting plates, the arc-shaped protrusions are arcs extending around the rotating shaft and are located below the rotating shaft; Both ends of the connecting member in the second direction protrude from the cover body and are respectively located inside the two arc-shaped protrusions.

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