Mowing robot

Abstract

The invention discloses a mowing robot, and relates to the technical field of robots, and the mowing robot comprises an equipment main body, an axle and a steering assembly; the axle comprises a main axle body and an auxiliary axle body, the main axle body is connected to the equipment main body, the auxiliary axle body is rotatably connected to the main axle body in the vertical direction, and the lower end of the auxiliary axle body is connected with a wheel body; the steering assembly comprises a steering driving part, a first transmission part and a second transmission part, the first transmission part is arranged at the output end of the steering driving part, the second transmission part is arranged on the auxiliary axle body and rotates in the vertical direction, and the first transmission part and the second transmission part are in transmission connection in the horizontal direction. According to the technical scheme, the steering flexibility of the mowing robot is improved, the height of the whole mowing robot is reduced, and the applicability of the mowing robot is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a lawn mowing robot. Background Art

[0002] Due to the complex terrain of grasslands, robotic lawn mowers must not only possess efficient mowing capabilities but also excellent obstacle-crossing capabilities and flexible steering control to adapt to complex and changing surface environments and boundary conditions. In related technologies, robotic lawn mowers typically use differential control to achieve turning maneuvers. However, this steering method requires a large turning radius and slow response, making it difficult for robotic lawn mowers to achieve flexible steering in confined spaces and complex boundary conditions. Summary of the Invention

[0003] The main purpose of the present invention is to provide a lawn mowing robot, aiming to improve the steering flexibility of the lawn mowing robot, reduce the height of the entire machine, and improve the applicability of the lawn mowing robot.

[0004] To achieve the above objectives, the lawn mowing robot proposed by the present invention includes:

[0005] Equipment body;

[0006] A vehicle axle, the vehicle axle comprising a main axle body and an auxiliary axle body, the main axle body being connected to the equipment body, the auxiliary axle body being connected to the main axle body in a vertically rotatable manner, the lower end of the auxiliary axle body being connected to a wheel body; and

[0007] The steering assembly includes a steering drive, a first transmission member and a second transmission member. The first transmission member is arranged at the output end of the steering drive, the second transmission member is arranged on the auxiliary bridge body and rotates vertically, and the first transmission member and the second transmission member are connected in a horizontal direction.

[0008] In one embodiment, the main bridge body is provided with a first limiting protrusion, and the outer periphery of the second transmission member is provided with a second limiting protrusion, the first limiting protrusion can abut against the second limiting protrusion in the circumferential direction, and the sum of the central angles of the first limiting protrusion and the second limiting protrusion corresponding to the second transmission member is not greater than 30°.

[0009] In one embodiment, the main bridge body is provided with an avoidance opening, the auxiliary bridge body is provided with a steering shaft, the second transmission member is sleeved on the steering shaft and is located on the upper side of the avoidance opening, the first limiting protrusion is arranged adjacent to the avoidance opening, the lower part of the second transmission member is recessed with an avoidance ring groove, and the second limiting protrusion is arranged in the avoidance ring groove.

[0010] In one embodiment, the axle further includes a bearing bracket and two steering bearings, the bearing bracket is connected to the main bridge body, the steering shaft is rotatably passed through the bearing bracket, one steering bearing is fixedly arranged on the side of the bearing bracket away from the wheel body, and is fixedly sleeved on the upper end of the steering shaft, and the other steering bearing is fixedly sleeved on the lower end of the steering shaft, and is fixedly arranged on the lower side of the main bridge body.

[0011] In one embodiment, the vehicle axle further includes a coding angle sensor and a measured bracket, the measured bracket is provided with a measured body, the measured bracket is connected to the end of the steering shaft away from the wheel body, and abuts against the corresponding steering bearing, the coding angle sensor is arranged on the main bridge body, and the coding angle sensor and the measured body are relatively arranged along the axial direction of the steering shaft.

[0012] In one embodiment, the first transmission member and the second transmission member are configured as bevel gears, the bearing bracket is provided with a mounting opening, the first transmission member is located at the upper part of the bearing bracket, the second transmission member is located at the lower part of the bearing bracket, and the first transmission member is engaged with the second transmission member through the mounting opening.

[0013] In one embodiment, the main bridge body is connected to the equipment body in a rotatable manner around a horizontal direction.

[0014] In one embodiment, the lawn mowing robot also includes a mounting seat connected to the device body, the main bridge body also includes a swing shaft and two swing bearings, the mounting seat is protruding with two opposite connecting ears, the swing shaft is passed through the main bridge body, and the two ends are respectively connected to the two connecting ears, the main bridge body is rotatably clamped between the two connecting ears, and the swing bearings are respectively provided on opposite sides of the main bridge body, and the swing bearings are fixedly sleeved on the swing shaft and abut against the corresponding connecting ears.

[0015] In one embodiment, a torsion spring is further provided in the main bridge body, the torsion spring comprising a main body and two torsion arms connected to the main body, the main body being fixedly sleeved on the swing shaft;

[0016] The torsion arm is bent and extends along the axial direction of the swing shaft, and the two torsion arms are elastically abutted against the main bridge body in the vertical direction on opposite sides of the main body;

[0017] And / or, the torsion spring further includes a limiting portion connected to the main body, the mounting seat is recessed to have a limiting groove, and the limiting portion is clamped in the limiting groove.

[0018] In one embodiment, the device body includes a connecting base, the connecting base is provided with a ground-lift detection component, the connecting base slides vertically relative to the main bridge body through a guide column, a reset elastic component is clamped between the main bridge body and the connecting base, and the main bridge body is provided with a detection part, which is used for identification by the ground-lift detection component.

[0019] In one embodiment, the first transmission member and the second transmission member are configured as bevel gears, belts and pulleys, worm wheels and worms, crankshafts and push rods.

[0020] In one embodiment, the lawn mowing robot also includes a mobile driving component, which is arranged on the auxiliary bridge body and is driven and connected to the wheel body. The main bridge body is provided with a controller, and the main bridge body and the auxiliary bridge body have a wire cavity. The wire of the controller is connected to the mobile driving component through the wire cavity.

[0021] In one embodiment, the vehicle axle includes an inner support beam and an axle housing, the inner support beam is disposed in the axle housing and connected to the equipment body, and the steering assembly and the wheel body are connected to the inner support beam.

[0022] The technical solution of the present invention is to provide a steering drive member on the main bridge body, and the output end of the steering drive member is provided with a first transmission member that is transmission-connected to a second transmission member. The steering drive member can then drive the auxiliary bridge body to rotate vertically relative to the main bridge body, allowing the auxiliary bridge body to rotate vertically independently, thereby flexibly controlling the steering angle of the wheels on the auxiliary bridge body, ensuring that the robot can complete flexible steering in a narrow space and reducing the turning radius of the lawn mower robot. At the same time, the second transmission member rotates vertically, and the first transmission member and the second transmission member are transmitted horizontally, realizing the first transmission member and the second transmission member to perform reversing transmission. Compared with the method of arranging the steering drive member vertically and driving the second transmission member vertically, the steering drive member and the first transmission member of the technical solution are arranged to output power in a horizontal or approximately horizontal state, thereby avoiding the steering assembly from occupying excessive height space, thereby reducing the height of the lawn mower robot, reducing the probability of the lawn mower robot tipping over, and improving the lawn mower robot's ability to pass through various vegetation terrains, that is, improving the applicability of the lawn mower robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0024] Figure 1 A schematic structural diagram of an embodiment of the lawn mowing robot provided by the present invention when the wheels are turned to a certain angle;

[0025] Figure 2 for Figure 1 Schematic diagram of the structure of the middle axle and wheel body;

[0026] Figure 3 for Figure 1 A structural diagram of the middle axle and wheel body from another perspective;

[0027] Figure 4 for Figure 1 A structural diagram of the middle axle and wheel body from another perspective;

[0028] Figure 5 for Figure 4 Cross-sectional view at AA in the middle;

[0029] Figure 6 for Figure 5 A partial enlarged view of point A in the middle;

[0030] Figure 7 for Figure 5 A partial enlarged view of point B in the middle;

[0031] Figure 8 for Figure 4 Cross-sectional view at the middle BB;

[0032] Figure 9 for Figure 1 Schematic diagram of the structure of the middle wheel body, auxiliary bridge body and steering assembly;

[0033] Figure 10 for Figure 1 Schematic diagram of the structure of the middle wheel body and the auxiliary bridge body;

[0034] Figure 11 for Figure 1 A schematic diagram of the structure of the middle axle and wheel body in one state;

[0035] Figure 12 for Figure 1 A schematic diagram of the structure of the middle axle and wheel body in another state;

[0036] Figure 13 for Figure 1 Exploded diagram of the middle axle and wheel body;

[0037] Figure 14 for Figure 13 A partial enlarged view of point C in the middle;

[0038] Figure 15 for Figure 13 Schematic diagram of the structure of the torsion spring;

[0039] Figure 16 for Figure 1 Schematic diagram of the structure of the second transmission member.

[0040] Description of Figure Numbers:

[0041] 100. Device body; 110. Connecting base; 120. Mounting seat; 121. Connecting ear; 122. Limiting groove; 130. Guide column; 140. Resetting elastic member; 150. Lift-off detection member; 160. Detection unit; 170. Swing bearing; 180. Swing shaft; 190. Torsion spring; 191. Torsion arm; 192. Main body; 193. Limiting unit;

[0042] 200, axle; 210, main axle body; 211, avoidance opening; 212, first limiting protrusion; 220, auxiliary axle body; 221, steering shaft; 222, wire cavity; 230, inner support beam; 240, axle housing; 250, steering bearing; 260, bearing bracket; 261, mounting opening; 270, test bracket; 271, test object; 280, encoding angle sensor; 290, controller;

[0043] 300, steering assembly; 310, steering drive member; 320, first transmission member; 330, second transmission member; 331, second position-limiting protrusion; 332, avoidance ring groove; 340, motor mounting housing;

[0044] 400, wheel body; 410, mobile driving member.

[0045] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0046] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0047] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0048] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of such features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0049] The present invention provides a lawn mowing robot.

[0050] Please refer to Figures 1 to 3 、 Figure 13 In one embodiment of the present invention, the lawn mowing robot includes:

[0051] Device body 100;

[0052] The axle 200 includes a main axle body 210 and an auxiliary axle body 220. The main axle body 210 is connected to the equipment body 100. The auxiliary axle body 220 is connected to the main axle body 210 in a vertical rotational manner. The lower end of the auxiliary axle body 220 is connected to the wheel body 400; and

[0053] The steering assembly 300 includes a steering drive 310, a first transmission member 320 and a second transmission member 330. The first transmission member 320 is arranged at the output end of the steering drive 310, and the second transmission member 330 is arranged on the auxiliary bridge body 220 and rotates vertically. The first transmission member 320 and the second transmission member 330 are connected in a horizontal direction.

[0054] The technical solution of the present invention is to set a steering drive member 310 on the main bridge body 210, and the output end of the steering drive member 310 is provided with a first transmission member 320 that is transmission-connected to the second transmission member 330. The steering drive member 310 can drive the auxiliary bridge body 220 to rotate vertically relative to the main bridge body 210, so that the auxiliary bridge body 220 can rotate vertically independently, thereby flexibly controlling the steering angle of the wheel body 400 on the auxiliary bridge body 220, ensuring that the robot can complete flexible steering in a narrow space, and reducing the turning radius of the lawn mowing robot. At the same time, the second transmission member 330 rotates vertically, and the first transmission member 320 and the second transmission member 330 are transmitted horizontally, so that the first transmission member 320 and the second transmission member 330 are reversed. Compared with the steering drive member 310 being arranged vertically and driving the second transmission member 330 vertically, the steering drive member 310 and the first transmission member 320 of the present technical solution are set to output power in a horizontal or approximately horizontal state, thereby avoiding the steering assembly 300 occupying too much height space, which is beneficial to reducing the height of the entire lawn mower robot, reducing the probability of the lawn mower robot tipping over, and also improving the ability of the lawn mower robot to pass through various vegetation terrains, that is, improving the applicability of the lawn mower robot.

[0055] It should be noted that the first transmission member 320 and the second transmission member 330 can be directly connected or connected via a transmission structure. Specifically, the first transmission member 320 and the second transmission member 330 can be configured as bevel gears, worm gears, belts and pulleys, crankshafts and push rods, etc., and the corresponding steering drive member 310 can be a motor or a cylinder. The first transmission member 320 and the second transmission member 330 are connected in a horizontal transmission direction, which means that the first transmission member 320 is movable in a horizontal plane, transmitting the power output by the steering drive member 310 to the second transmission member 330 in the horizontal direction. The first transmission member 320 can rotate in the horizontal direction, such as when the first transmission member 320 and the second transmission member 330 are configured as bevel gears or worm gears, or the first transmission member can move in the horizontal plane, such as when the first transmission member 320 and the second transmission member 330 are configured as push rods and crankshafts or belts and pulleys. As for the connection between the main bridge body 210 and the auxiliary bridge body 220, the main bridge body 210 can be partially extended into the auxiliary bridge body 220, or the auxiliary bridge body 220 can be partially extended into the main bridge body 210, so that the steering drive member 310 can be supported by the main bridge body 210 and drive the auxiliary bridge body 220 to rotate through the first transmission member 320 and the second transmission member 330. As for the connection between the auxiliary bridge body 220 and the wheel body 400, the lower end of the auxiliary bridge body 220 is connected to the rotation axis of the wheel body 400. The wheel body 400 can be an unpowered wheel, and the rotation axis of the wheel body 400 is connected to the lower end of the auxiliary bridge body 220. The wheel body 400 can also be a powered wheel, including a movable drive member 410, which is connected to the lower end of the auxiliary bridge body 220 and then drives the wheel body 400 to rotate. The vertical extension length of the auxiliary bridge body 220 is greater than the radius of the wheel body 400, thereby preventing the main bridge body 210 from interfering with the rotation of the wheel body 400. At the same time, it can also shorten the distance between the two wheel bodies 400 on the same axle 200, meeting the miniaturization design requirements of the lawn mowing robot, and also making the connection between the main bridge body 210 and the auxiliary bridge body 220 located above the wheel body 400, reducing the supporting effect of the wheel body 400 on the axle 200 and interfering with the connection stability of the main bridge body 210 and the auxiliary bridge body 220.

[0056] In addition, the descriptions of the above and below directions in this technical solution are based on the normal state of the lawn mower robot walking on flat ground. It is understood that the device body 100 is provided with a cutting disc, and the wheel body 400 can be an unpowered wheel, such as when the axle 200 is configured as a front axle, or the wheel body 400 can be a powered wheel, such as when the axle 200 is configured as a rear axle; of course, when the axle 200 is configured as a front axle, the wheel body 400 can also be a powered wheel, and when the axle 200 is configured as a rear axle, the wheel body 400 can also be an unpowered wheel. In the case where the wheel body 400 is a powered wheel, a movable drive member 410 is provided on the wheel body 400. The movable drive member 410 is connected to the auxiliary bridge body 220. The movable drive member 410 drives the wheel body 400 to rotate freely. The movable drive member 410 on the wheel body 400 is electrically connected to the device body 100 or the controller 290 in the main bridge body 210 via a wire, so that the lawn mower robot can control the rotation of the wheel body 400 as a powered wheel. Without loss of generality, the steering drive member 310 is configured as a steering drive motor. The steering drive motor is provided with a motor mounting housing 340 on its outer shell. The motor mounting housing 340 is installed in the main bridge body 210 to provide waterproof protection for the steering drive motor.

[0057] In one embodiment, please refer to Figure 6 、 Figure 13 、 Figure 14 and Figure 16 The main bridge body 210 is provided with a first limiting protrusion 212, and the second limiting protrusion 331 is provided on the outer periphery of the second transmission member 330. The first limiting protrusion 212 is capable of circumferentially abutting the second limiting protrusion 331. The sum of the central angles of the first limiting protrusion 212 and the second limiting protrusion 331 relative to the second transmission member 330 is no greater than 30°. It will be understood that when the auxiliary bridge body 220 rotates relative to the main bridge body 210, the first limiting protrusion 212 is capable of circumferentially abutting the second limiting protrusion 331, thereby limiting the maximum steering angle of the auxiliary bridge body 220. If the sum of the angles between the first limiting protrusion 212 and the second limiting protrusion 331 in the direction corresponding to the central angle of the second transmission member 330 is no greater than 30°, it can be seen that the steering angle of the auxiliary bridge body 220 is no less than 330°. On the one hand, this angle is sufficient to meet the steering requirements in most operating scenarios, allowing the lawn mower robot to flexibly bypass obstacles and adapt to boundary paths. On the other hand, by limiting the steering angle of the auxiliary bridge body 220, it is possible to prevent the auxiliary bridge body 220 from exceeding its structural load limit due to excessive steering angles, or to prevent the wheel body 400 from getting stuck due to excessive steering, thereby ensuring the steering controllability and stability of the lawn mower robot. Of course, in other embodiments, a limiting structure can also be provided on the auxiliary bridge body 220, so that the limiting structure and the first limiting protrusion 212 are in a limiting cooperation to reasonably limit the steering angle of the wheel body 400.

[0058] Further, in this embodiment, please refer to Figure 10 、 Figure 13 、 Figure 14 and Figure 16 The main bridge body 210 is provided with an avoidance opening 211, the auxiliary bridge body 220 is provided with a steering shaft 221, the second transmission member 330 is sleeved on the steering shaft 221 and is located on the upper side of the avoidance opening 211, the first limiting protrusion 212 is arranged adjacent to the avoidance opening 211, and the lower part of the second transmission member 330 is recessed with an avoidance ring groove 332, and the second limiting protrusion 331 is arranged in the avoidance ring groove 332. It can be understood that the avoidance opening 211 is set at the position of the main bridge body 210 corresponding to the rotation area of ​​the auxiliary bridge body 220, in order to provide sufficient accommodating space for the rotation of the auxiliary bridge body 220 and the second transmission member 330, so as to avoid limiting the steering angle or causing damage to components due to structural interference. The auxiliary bridge body 220 is rotatably connected to the main bridge body 210 through the steering shaft 221, and the second transmission member 330 is directly mounted on the steering shaft 221, so that it can rotate synchronously with the auxiliary bridge body 220, thereby realizing drive control of the direction of the auxiliary bridge body 220. On this basis, the second limiting protrusion 331 is arranged in the avoidance ring groove 332 to prevent it from accidentally contacting other structures in the non-limiting state, thereby improving the accuracy and response reliability of the limiting action, and the first limiting protrusion 212 on the main bridge body 210 is set at the edge position adjacent to the avoidance opening 211. On the one hand, the gap between the avoidance opening 211 and the first limiting protrusion 212 provides a clearance space for the avoidance ring groove 332 to avoid structural interference; on the other hand, the avoidance ring groove 332 can lower the height position of the second transmission member 330, which helps to improve the utilization rate of the vertical space of the steering assembly 300, further reduce the vertical height of the axle 200, and thus reduce the overall height of the lawn mowing robot; it also reduces the space occupied by the second transmission member 330 and the first limiting protrusion 212 in the horizontal direction, thereby reducing the length of the main bridge body 210. Of course, in other embodiments, the second limiting protrusion 331 may be disposed at the lowermost end of the second transmission member 330 , or the first limiting protrusion 212 may be disposed on the periphery of the avoidance opening 211 .

[0059] In order to achieve a stable rotation connection between the auxiliary bridge body 220 and the main bridge body 210 and to improve the structural strength and steering stability of the lawn mower robot when traveling on complex terrain, in one embodiment, please refer to Figure 5 、 Figure 6 、 Figure 13 and Figure 14The axle 200 also includes a bearing bracket 260 and two steering bearings 250. The bearing bracket 260 is connected to the main bridge body 210. The steering shaft 221 is rotatably inserted into the bearing bracket 260. One steering bearing 250 is fixedly arranged on the side of the bearing bracket 260 away from the wheel body 400 and is fixedly sleeved on the upper end of the steering shaft 221. The other steering bearing 250 is fixedly sleeved on the lower end of the steering shaft 221 and is fixedly arranged on the lower side of the main bridge body 210. It can be understood that when the axle 200 is lifted, the steering bearing 250 located above the bearing bracket 260 bears the axial and radial loads from the falling auxiliary bridge body 220 and the wheel body 400, ensuring the stable connection between the auxiliary bridge body 220 and the main bridge body 210 and the rotational stability of the wheel body 400 during steering. During the movement of the lawn mower robot, the steering bearing 250 located on the lower side of the main bridge body 210 can bear the load transmitted from the wheel body 400 and the ground reaction force, playing an auxiliary support and guiding role. The arrangement of the two steering bearings 250 mentioned above enables the auxiliary bridge body 220 to obtain good vertical two-way support during rotation, improves the anti-overturning ability and rotational coaxiality of the auxiliary bridge body 220 during rotation, and thus enhances the driving stability and control responsiveness of the lawn mower robot on uneven ground. Furthermore, since the upper steering bearing 250 is disposed on the bearing bracket 260 and corresponding to the case where the second transmission member 330 is configured as a bevel gear, the steering bearing 250 can also be located near the avoidance opening 211, which helps to improve the space utilization of the steering assembly 300 in this area. Of course, in other embodiments, the steering shaft 221 can also be disposed through the main bridge body 210, and the two steering bearings 250 can be sandwiched between the vertical sides of the main bridge body 210.

[0060] In order to achieve accurate perception and feedback control of the steering angle of the mowing robot and improve its path planning accuracy and autonomous navigation capability in complex working environments, in one embodiment, please refer to Figure 6 、 Figure 9 and Figure 14The axle 200 also includes an encoding angle sensor 280 and a tested bracket 270. The tested bracket 270 is provided with a tested body 271. The tested bracket 270 is connected to the end of the steering shaft 221 away from the wheel body 400 and abuts against the corresponding steering bearing 250. The encoding angle sensor 280 is arranged on the main bridge body 210. The encoding angle sensor 280 and the tested body 271 are relatively arranged along the axial direction of the steering shaft 221. It can be understood that the tested bracket 270 is fixedly connected to the top end of the steering shaft 221 (i.e., the end away from the wheel body 400) and rotates synchronously with the steering shaft 221. The tested body 271 can preferably be a magnetic element or a metal / non-metallic sensing component with a specific shape, which can form a matching signal sensing relationship with the encoding angle sensor 280. The encoding angle sensor 280 is installed on the main bridge body 210, and its position is relative to the tested body 271 in the axial direction of the steering shaft 221, so that when the auxiliary bridge body 220 is deflected, the tested body 271 rotates accordingly, and a corresponding angle change signal is generated between it and the encoding angle sensor 280.

[0061] In addition, the tested bracket 270 is arranged adjacent to the upper steering bearing 250 and maintains a vertical abutment state with the inner circumference of the steering bearing 250. The tested bracket 270 is fixedly connected to the end of the steering shaft 221. This helps to ensure the stability of the steering shaft 221 in restraining the steering bearing 250 on the bearing bracket 260, thereby ensuring the stability of the steering shaft 221 in the vertical and horizontal directions in the main bridge body 210, and further ensuring the reliability of the connection between the auxiliary bridge body 220 and the main bridge body 210. Among them, the encoding angle sensor 280 is configured as a magnetic encoding angle sensor, and the tested body 271 is configured as a magnet. It should be noted that after the wire is passed through the wire cavity 222 in the steering shaft 221, it extends from the tested bracket 270 to the controller 290. Since the tested bracket 270 and the steering shaft 221 rotate synchronously, the wire does not pull against the tested bracket 270 during the rotation of the wheel body 400. Of course, in other embodiments, an encoder may also be provided in the steering drive 310 to identify the steering state of the wheel 400 .

[0062] In order to realize efficient and stable transmission of the power of the steering drive member 310 of the mowing robot to the auxiliary bridge body 220 and further improve the structural compactness and transmission efficiency of the steering assembly 300, in one embodiment, please refer to Figure 6 、 Figure 9 、 Figure 13 and Figure 14The first transmission member 320 and the second transmission member 330 are configured as bevel gears. The bearing bracket 260 is provided with a mounting opening 261. The first transmission member 320 is located above the bearing bracket 260, and the second transmission member 330 is located below the bearing bracket 260. The first transmission member 320 engages with the second transmission member 330 through the mounting opening 261. It can be understood that the use of bevel gears for the first and second transmission members 320 and 330 provides excellent axial angle transmission performance, effectively achieving 90° power conversion, and reducing the vertical space occupied by the steering assembly 300. Furthermore, the bearing bracket 260 is provided with a mounting opening 261 that extends vertically, allowing the first transmission member 320 to partially pass through the mounting opening 261 and form a stable meshing connection with the second transmission member 330 located directly below it. This fully utilizes the internal space of the bearing bracket 260, achieving a highly integrated steering assembly 300, and also expanding the connection area between the bearing bracket 260 and the main bridge body 210, improving the stability of the connection between the main bridge body 210 and the bearing bracket 260. The second transmission member 330 and the steering shaft 221 are axially fixed, and the first transmission member 320 is located above the second transmission member 330 and engages with the first transmission member 320 to provide vertical support. This reduces the support required by the main bridge body 210 for the first transmission member 320, simplifies the structure within the main bridge body 210, further improves the structural compactness of the axle 200 and the steering assembly 300, reduces the vertical space occupied, and thus reduces the height of the lawn mower robot. Of course, in other embodiments, the steering shaft 221 can be disposed through the main bridge body 210, with a steering bearing 250 disposed on the upper side of the main bridge body 210 and another steering bearing 250 disposed on the lower side of the main bridge body 210. The second transmission member 330 is disposed in a region of the steering shaft 221 that is separate from the two steering bearings 250. The steering drive member 310 is configured as a steering drive motor, and the first transmission member 320 is disposed at the output end to engage with the second transmission member 330, thereby eliminating the need for a bearing bracket 260.

[0063] In order to improve the obstacle-crossing ability and driving stability of the lawn mower robot in complex terrain, so that it can better adapt to the working environment such as inclined ground, undulating terrain and boundary obstacles, in one embodiment, please refer to Figure 2 、 Figure 11 and Figure 12The main bridge body 210 is connected to the device body 100 by rotating in a horizontal direction. It can be understood that the axle 200 can swing relative to the device body 100 in a vertical plane, thereby achieving active conformity to the contours of the grass and improving the contact stability between the wheel body 400 and the ground. When the lawn mower robot travels on a slope, steps or uneven ground, the main bridge body 210 can automatically or controlledly swing up and down around the horizontal axis according to the changes in the terrain, driving the auxiliary bridge body 220 and the wheel body 400 connected to it to adjust their posture synchronously, so that the wheel body 400 always maintains good contact with the ground and avoids unilateral suspension or slipping. Combined with the independent rotation of the auxiliary bridge body 220, it can ensure that the wheel body 400 is adjusted to a better force-bearing posture, thereby pulling the device body 100 out of trouble. Of course, in other embodiments, the main bridge body 210 and the device body 100 can also be fixedly connected, and the main bridge body 210 and the auxiliary bridge body 220 have a vertical floating connection relationship.

[0064] In order to further improve the stability and adaptability of the lawn mower robot in complex terrain, the main bridge body 210 can be flexibly adjusted in pitch relative to the device body 100, and the structural strength and rotation accuracy during the adjustment process can be ensured. In one embodiment, please refer to Figures 11 to 13The lawn mowing robot also includes a mounting base 120 connected to the device body 100, and the main bridge body 210 also includes a swing shaft 180 and two swing bearings 170. The mounting base 120 is provided with two opposing connecting ears 121. The swing shaft 180 is passed through the main bridge body 210, and its two ends are respectively connected to the two connecting ears 121. The main bridge body 210 is rotatably clamped between the two connecting ears 121. The opposite sides of the main bridge body 210 are respectively provided with swing bearings 170. The swing bearings 170 are fixedly sleeved on the swing shaft 180 and abut against the corresponding connecting ears 121. It can be understood that the middle part of the main bridge body 210 is provided with a swing shaft 180 that runs through the thickness direction thereof. The two ends of the swing shaft 180 are respectively passed through and fixed in the two connecting ears 121, and are rotated relative to the main bridge body 210 through the swing bearings 170, so that the main bridge body 210 can swing up and down around the swing shaft 180 in a vertical plane. The swing bearings 170 located on opposite sides of the main bridge body 210 abut between the main bridge body 210 and the corresponding connecting ears 121, showing that the swing bearings 170 are sandwiched horizontally between the main bridge body 210 and the connecting ears 121. At the same time, they can also ensure that the two connecting ears 121 of the main bridge body 210 can maintain rotation, thereby suppressing the front-to-back shaking of the wheels 400 at both ends of the main bridge body 210, enhancing the lawn mower robot's ability to resist lateral forces, and improving the rigidity and safety of the axle 200 and the device body 100, thereby ensuring the steering stability of the wheels 400. Of course, in other embodiments, the swing shaft 180 can also be fixedly connected to the main bridge body 210, the swing bearing 170 can be fixedly installed on the connecting ears 121, and the swing shaft 180 can pass through the swing bearing 170 on the connecting ears 121 and rotate synchronously around the main bridge body 210.

[0065] In order to improve the adaptive ability of the mowing robot when running in complex terrain, it can automatically return the axle 200 to the correct position when crossing obstacles or driving on uneven ground, and keep the wheel body 400 in good contact with the ground. In one embodiment, please refer to Figure 7 、 Figures 11 to 13 、 Figure 15A torsion spring is also provided in the main bridge body 210. The torsion spring 190 includes a main body 192 and two torsion arms 191 connected to the main body 192. The main body 192 is fixedly mounted on the swing shaft 180. The torsion arms 191 are bent and extend along the axial direction of the swing shaft 180. The two torsion arms 191 elastically abut against the main bridge body 210 in the vertical direction on opposite sides of the main body 192. It can be understood that the torsion spring 190 can provide a restoring torque to realize the automatic reset function and suppress the swing amplitude of the main bridge body 210 after the main bridge body 210 pitches and swings relative to the device body 100. As mentioned above, the main bridge body 210 is rotatably connected between the two connecting ears 121 on the mounting seat 120 through the swing shaft 180, and can swing up and down in the vertical plane to adapt to the undulations of the terrain. When the main bridge body 210 deflects upward or downward around the swing shaft 180 due to changes in the terrain, the main body 192 and the swing shaft 180 are fixed, and the torsion arm 191 will be compressed to undergo corresponding torsional deformation and store elastic potential energy; when the external force disappears, the torsion arm 191 releases energy and pushes the main bridge body 210 to rotate to its initial position, thereby achieving the posture reset of the axle 200 and ensuring the operation continuity of the lawn mowing robot. At the same time, it also suppresses the swing amplitude of the main bridge body 210 to a certain extent. For example, the torsion spring 190 limits the unidirectional swing amplitude of the main bridge body 210 to about 6°, avoiding the axle 200 from swinging too much and causing the lawn mowing robot to tip over. The torsion arm 191 is bent and extends along the axial direction of the swing shaft 180, thereby evenly applying force along the axial direction of the swing shaft 180 and between the main bridge body 210. This ensures that the torsion arm 191 pushes the main bridge body 210 to rotate and reset evenly, thereby improving the balance of the main bridge body 210 when it swings around the swing shaft 180. Of course, in other embodiments, elastic pull rods can also be provided at both ends of the main bridge body 210 to help the main bridge body 210 maintain a horizontal or nearly horizontal posture.

[0066] Regarding the relative fixity of the torsion spring 190 and the swing shaft 180, in one embodiment, please refer to Figure 7 and Figure 15The torsion spring 190 further includes a limiting portion 193 connected to the main body 192. The mounting seat 120 is recessed into a limiting groove 122, and the limiting portion 193 is locked in the limiting groove 122. It can be understood that during the swinging process of the main bridge body 210, a circumferential force around the swing shaft 180 will be applied to the torsion arm 191. The main body 192 of the torsion spring 190 is fixedly sleeved on the swing shaft 180, and the limiting portion 193 is locked in the limiting groove 122 of the lower mounting seat 120 to inhibit the circumferential rotation of the torsion spring 190 around the swing shaft 180, thereby providing support for the torsion arm 191 to elastically support the inner side of the main bridge body 210, helping the torsion spring 190 to limit the swing amplitude of the main bridge body 210 and promote the reset of the main bridge body 210, thereby avoiding the situation where the lawn mower robot may tip over due to excessive swinging of the axle 200. Of course, in other embodiments, the main body 192 of the torsion spring 190 may be clamped in the swing shaft 180 to form a limiting effect on the swing shaft 180 in the circumferential direction.

[0067] In one embodiment, please refer to Figure 5 、 Figures 11 to 13The device body 100 includes a connecting base 110, which is provided with a ground-lift detection member 150. The connecting base 110 slides vertically relative to the main bridge body 210 through a guide column 130. A reset elastic member 140 is sandwiched between the main bridge body 210 and the connecting base 110. The main bridge body 210 is provided with a detection part 160, which is used for identification by the ground-lift detection member 150. With reference to the above description of the mounting seat 120, the connecting base 110 of this embodiment can be connected to the mounting seat 120 and be located below the mounting seat 120, that is, the reset elastic member 140 is clamped between the connecting base 110 and the mounting seat 120, and the guide column 130 guides the mounting seat 120 and the connecting base 110 to move relative to each other in the vertical direction. At the same time, the end of the guide column 130 is larger than the through hole of the mounting seat 120 for the guide column 130 to slide, so that the connecting base 110 can be hung on the mounting seat 120 through the guide column 130, so that the equipment body 100 can be stably hung below the axle 200. The return spring 140 (preferably a compression spring or rubber pad) is sandwiched between the connecting base 110 and the mounting base 120 to provide a restoring force. When the device body 100 is lifted or the wheel body 400 is lowered, the return spring 140 remains compressed. At this time, the detection unit 160 enters the detection range of the lift-off detection unit 150, triggering a signal output. The control system then determines that there is a risk of lift-off and controls the cutterhead to stop. At this time, the return spring 140 is compressed, which can promote the downward movement of the device body 100. When the device body 100 or the wheel body 400 is generally vibrating, the return spring 140 can prevent the lift-off detection unit 150 from approaching the detection unit 160, thereby reducing the risk of the lift-off detection unit 150 falsely detecting the detection unit 160. Two guide posts 130 are provided, distributed along the extension direction of the axle 200, to balance the relative swing between the axle 200 and the device body 100. The detection unit 160 is configured as a magnet, and the lift-off detection unit 150 is configured as a Hall effect sensor.

[0068] Without loss of generality, in one embodiment, please refer to Figure 2 、 Figure 3 and Figure 5The middle part of the main bridge body 210 is concave downward and is arranged in a bow shape. The auxiliary bridge body 220 is rotatably connected to the end of the main bridge body 210. Combined with the above-mentioned arrangement of the mounting seat 120, the guide column 130 and the connecting base 110, the device body 100 is hung on the axle 200. It can be seen that the center of gravity height of the device body 100 can correspond to the rotation axis of the wheel body 400. On the one hand, the height of the device body 100 is reduced, that is, the height of the lawn mower robot is reduced, which is conducive to the lawn mower robot passing through various vegetation spaces and completing mowing operations. On the other hand, the center of gravity of the device body 100 and the rotation axis of the wheel body 400 are in the same horizontal plane, which can suppress the influence of the movement and turning of the wheel body 400 on the overturning of the device body 100, thereby ensuring the movement and turning stability of the lawn mower robot.

[0069] In one embodiment, please refer to Figure 5 and Figure 6 、 Figure 13 and Figure 14 The lawn mower robot also includes a mobile drive member 410, which is disposed on the auxiliary bridge body 220 and is driven and connected to the wheel body 400. The main bridge body 210 is provided with a controller 290. The main bridge body 210 and the auxiliary bridge body 220 have a wire cavity 222. The wires of the controller 290 are connected to the mobile drive member 410 through the wire cavity 222. The lawn mower robot adopts a split-type vehicle axle 200 structure in which the main bridge body 210 and the auxiliary bridge body 220 are rotatably connected to achieve flexible steering and terrain adaptation functions. The mobile drive member 410 is disposed on the wheel body 400, and the wire cavity 222 on the steering shaft 221 is used for wire passage. This ensures that the controller 290 in the main bridge body 210 controls the steering of the wheel body 400 on the auxiliary bridge body 220. At the same time, due to the relative rotational relationship between the main bridge body 210 and the auxiliary bridge body 220, the wires are passed through the wire cavity 222 on the synchronously rotating steering shaft 221, which also reduces the risk of the wires being pulled and broken. Furthermore, the conductors are located within the main bridge body 210, the conductor cavity 222, and the auxiliary bridge body 220, thereby protecting the conductors from the external environment and ensuring the stability of the controller 290's control over the movable drive member 410. Of course, in this embodiment, electrical connection terminals may be provided between the main bridge body 210 and the auxiliary bridge body 220, and conductors may be connected between the corresponding electrical connection terminals of the main bridge body 210 and the auxiliary bridge body 220, respectively, so that the controller 290 on the main bridge body 210 can control the operation of the movable drive member 410 on the auxiliary bridge body 220.

[0070] In order to improve the structural strength, assembly accuracy and overall protection performance of the lawn mower robot axle 200 assembly, and at the same time achieve a stable connection and efficient transmission between the steering assembly 300 and the wheel body 400, in one embodiment, please refer to Figure 5 and Figure 13The axle 200 includes an inner support beam 230 and an axle housing 240. The inner support beam 230 is disposed within the axle housing 240 and connected to the device body 100. The steering assembly 300 and the wheel body 400 are connected to the inner support beam 230. It is understood that the axle housing 240 is an external shell structure, preferably made of metal casting or high-strength engineering plastic injection molding, with good impact resistance and sealing properties, and is used to protect the inner support beam 230 and electrical components inside from external environmental influences, such as rain, dust, grass clippings, etc. The inner support beam 230 is disposed within the axle housing 240 and connected to the device body 100, serving as the core load-bearing structure of the entire axle 200. The inner support beam 230 can be connected to the axle housing 240 by screwing or clamping. On the one hand, it protects the steering assembly 300 and electrical components on the inner support beam 230, and on the other hand, it also provides installation support for the axle housing 240. Compared to the prior art method of configuring the axle 200 as a single metal beam and then exposing or independently installing the steering assembly 300 and electrical components on the axle 200, this solution not only ensures the protection of the steering assembly 300 and electrical components, as well as the strength of the axle 200, but also reduces the weight and cost of the axle 200, thereby reducing the cost of the lawn mowing robot. Here, the main bridge body 210 and the auxiliary bridge body 220 are respectively provided with an inner support beam 230 and a bridge shell 240. The inner support beam 230 of the main bridge body 210 and the inner support beam 230 of the auxiliary bridge body 220 are connected through the steering shaft 221, the steering bearing 250 and the bearing bracket 260. For example, the bearing bracket 260 is connected to the inner support beam 230 of the main bridge body 210, the avoidance opening 211 is opened on the inner support beam 230 of the main bridge body 210, and the steering bearing 250 on the lower side is abutted against the lower side of the bridge shell 240 on the main bridge body 210, and the bridge shell 240 of the main bridge body 210 is covered by the corresponding inner support beam 230, and the bridge shell 240 of the auxiliary bridge body 220 is covered by the corresponding inner support beam 230. The steering assembly 300 is connected to the inner support beam 230 of the main bridge body 210 and is transmission-connected to the inner support beam 230 of the auxiliary bridge body 220. The wheel body 400 is connected to the inner support beam 230 of the auxiliary bridge body 220. In addition, in this embodiment, the inner support beam 230 is configured as a sheet metal part formed by stamping.

[0071] The above description is merely an exemplary embodiment of the present invention and does not limit the scope of protection of the present invention. Any equivalent structural transformation made by using the contents of the present invention description and drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields, is included in the scope of protection of the present invention.

Claims

1. A lawn mowing robot, characterized in that: include: Equipment body; The vehicle axle comprises a main axle body and an auxiliary axle body, wherein the main axle body is connected to the equipment body, the auxiliary axle body is connected to the main axle body in a vertical rotation manner, and the lower end of the auxiliary axle body is connected to a wheel body; as well as The steering assembly includes a steering drive, a first transmission member and a second transmission member. The first transmission member is arranged at the output end of the steering drive, the second transmission member is arranged on the auxiliary bridge body and rotates vertically, and the first transmission member and the second transmission member are connected in a horizontal direction.

2. The lawn mowing robot according to claim 1, wherein: The main bridge body is provided with a first limiting protrusion, and the outer periphery of the second transmission member is provided with a second limiting protrusion. The first limiting protrusion can abut against the second limiting protrusion in the circumferential direction, and the sum of the central angles of the first limiting protrusion and the second limiting protrusion corresponding to the second transmission member is not greater than 30°.

3. The lawn mowing robot according to claim 2, wherein: The main bridge body is provided with an avoidance opening, the auxiliary bridge body is provided with a steering shaft, the second transmission member is sleeved on the steering shaft and is located on the upper side of the avoidance opening, the first limiting protrusion is arranged adjacent to the avoidance opening, the lower part of the second transmission member is recessed with an avoidance ring groove, and the second limiting protrusion is arranged in the avoidance ring groove.

4. The lawn mowing robot according to claim 3, wherein: The axle also includes a bearing bracket and two steering bearings. The bearing bracket is connected to the main bridge body. The steering shaft is rotatably inserted into the bearing bracket. One steering bearing is fixedly arranged on the side of the bearing bracket away from the wheel body and fixedly sleeved on the upper end of the steering shaft. The other steering bearing is fixedly sleeved on the lower end of the steering shaft and fixedly arranged on the lower side of the main bridge body.

5. The lawn mowing robot according to claim 4, wherein: The axle further includes an encoding angle sensor and a tested bracket, the tested bracket is provided with a tested body, the tested bracket is connected to the end of the steering shaft away from the wheel body, and abuts against the corresponding steering bearing, the encoding angle sensor is provided on the main axle body, and the encoding angle sensor and the tested body are relatively arranged along the axial direction of the steering shaft; And / or, the first transmission member and the second transmission member are configured as bevel gears, the bearing bracket is provided with a mounting opening, the first transmission member is located at the upper part of the bearing bracket, the second transmission member is located at the lower part of the bearing bracket, and the first transmission member is engaged with the second transmission member through the mounting opening.

6. The lawn mowing robot according to claim 1, wherein: The main bridge body is connected to the equipment body by rotating around the horizontal direction.

7. The lawn mowing robot according to claim 6, wherein: The lawn mowing robot also includes a mounting base connected to the main body of the equipment, and the main bridge body also includes a swing shaft and two swing bearings. The mounting base is protruding with two opposite connecting ears. The swing shaft passes through the main bridge body, and the two ends are respectively connected to the two connecting ears. The main bridge body is rotatably clamped between the two connecting ears. The swing bearings are respectively provided on opposite sides of the main bridge body. The swing bearings are fixedly sleeved on the swing shaft and abut against the corresponding connecting ears.

8. The lawn mowing robot according to claim 7, wherein: A torsion spring is further provided in the main bridge body, the torsion spring comprising a main body and two torsion arms connected to the main body, the main body being fixedly sleeved on the swing shaft; The torsion arm is bent and extends along the axial direction of the swing shaft, and the two torsion arms are elastically abutted against the main bridge body in the vertical direction on opposite sides of the main body; And / or, the torsion spring further includes a limiting portion connected to the main body, the mounting seat is recessed to have a limiting groove, and the limiting portion is clamped in the limiting groove.

9. The lawn mowing robot according to claim 1, wherein: The device body includes a connecting base, the connecting base is provided with a ground-lift detection member, the connecting base slides vertically relative to the main bridge body through a guide column, a reset elastic member is sandwiched between the main bridge body and the connecting base, and the main bridge body is provided with a detection part, the detection part is used for the ground-lift detection member to identify; And / or, the first transmission member and the second transmission member are configured as bevel gears, belts and pulleys, worm wheels and worms, crankshafts and push rods.

10. The lawn mowing robot according to any one of claims 1 to 9, characterized in that: The lawn mowing robot further includes a mobile driving member, which is provided in the auxiliary bridge body and is driven and connected to the wheel body. The main bridge body is provided with a controller. The main bridge body and the auxiliary bridge body have a wire cavity, and the wire of the controller is connected to the mobile driving member through the wire cavity. And / or, the vehicle axle includes an inner support beam and an axle housing, the inner support beam is arranged in the axle housing and connected to the equipment body, and the steering assembly and the wheel body are connected to the inner support beam.

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