Shock absorbing device for navigation module of automatic walking device, navigation module and automatic walking device

Abstract

The present invention relates to a shock absorbing device for a navigation module of an automatic walking device, a navigation module and an automatic walking device, wherein the navigation module comprises a module housing and a navigation mainboard, wherein the upper part of the shock absorbing device is mounted on the navigation mainboard, and the lower part of the shock absorbing device is mounted on the inner wall surface of the module housing. The present invention adopts a shock absorbing device to perform physical filtering, so that the vibration caused by the high-speed rotation of the motor cannot be directly transmitted into the IMU. The navigation accuracy is optimized, and the workload of filtering high-frequency vibration interference in software and hardware is reduced. The shock absorbing device structure adopted by the present invention has a bayonet with a guide column at one end, and the other end is designed as a mounting port, and the interior is a spherical cavity. In this way, in application, it is only necessary to open a hole in the inner part, and make a corresponding ball head housing mounting column on the outer part. The structure of the shock absorbing device avoids opening a hole in the housing, which is convenient for waterproof and dustproof treatment of the overall module.

Description

Technical Field

[0001] The present invention relates to the field of shock absorption of self-propelled equipment, and in particular to a shock absorption device for a navigation module of an automatic propelled equipment, a navigation module and the automatic propelled equipment. Background Art

[0002] Navigation systems have begun to be used in the intelligent self-propelled equipment industry to realize the boundary-free function of self-propelled equipment. Self-propelled equipment uses path planning, and the navigation system realizes automatic operation within the set range.

[0003] For the application of navigation system, RTK+IMU is usually used to achieve accurate positioning of self-propelled equipment.

[0004] However, when the self-propelled device is in working state, the high-speed rotation of the motor brings high-frequency vibration, which will affect the operation of the IMU and thus affect the accuracy of positioning. This problem is usually solved by using high-frequency signal sampling, digital filtering, and finally low-frequency output to reduce or eliminate the impact of vibration.

[0005] In a conventional shock-absorbing device structure, both ends have bayonet holes, and holes need to be drilled in the two corresponding parts that need to be connected. Once the application environment requires waterproofing and dustproofing, the ordinary shock-absorbing device cannot meet such requirements. Summary of the invention

[0006] In view of the deficiencies in the prior art, the present invention provides a method of using a shock absorbing device to perform physical filtering, so that the vibration caused by the high-speed rotation of the motor cannot be directly transmitted into the navigation module of the IMU and its shock absorbing device.

[0007] To achieve the above object, the present invention adopts the following scheme.

[0008] A shock absorbing device for a navigation module of an automatic walking device, wherein the navigation module comprises a module shell and a navigation mainboard 4, the upper part of the shock absorbing device is mounted on the navigation mainboard 4, and the lower part of the shock absorbing device is mounted on the inner wall surface of the module shell.

[0009] Optionally, the shock absorbing device includes a shock absorbing device body 5.1 arranged in the middle of the shock absorbing device, and the shock absorbing device body 5.1 is located between the module housing and the navigation main board 4.

[0010] Optionally, the upper end surface of the shock absorbing device body 5.1 abuts against the lower bottom surface of the navigation main board 4, and the bottom end of the shock absorbing device body 5.1 is installed on the inner wall surface of the module shell.

[0011] Optionally, a hollow cavity 5.8 with a hollow structure is arranged inside the shock absorbing device body 5.1 and is made of elastic material.

[0012] Optionally, the shock absorbing device body 5.1 is a spherical structure.

[0013] Optionally, the shock absorbing device further comprises a fixed position 5.3, a stop block 5.2 and an extension end 5.4, wherein the fixed position 5.3 is arranged on the upper end surface of the shock absorbing device body 5.1, the extension end 5.4 is arranged at the upper end portion of the shock absorbing device, and the stop block 5.2 is arranged between the fixed position 5.3 and the extension end 5.4.

[0014] Optionally, it further comprises a pre-cut groove 5.5, which is arranged between the extension end 5.4 and the stop block 5.2; the pre-cut groove 5.5 is a thin rubber structure.

[0015] Optionally, the navigation main board 4 is installed between the stop block 5.2 and the shock absorbing device body 5.1.

[0016] Optionally, the fixed clamping position 5.3 is a hollow cylinder; the extending end 5.4 is a hollow cylinder; and the diameter of the extending end 5.4 is smaller than the diameter of the fixed clamping position 5.3.

[0017] Optionally, the navigation module includes a module lower shell 2, the upper part of the shock absorbing device is installed on the navigation main board 4, and the lower part of the shock absorbing device is installed on the inner wall surface of the module lower shell 2; the navigation module also includes a module upper shell 1 and an antenna 3, the antenna 3 is installed on the inner top of the upper shell 1, and the module upper shell 1 is installed on the module lower shell 2.

[0018] Optionally, the navigation board 4 is provided with a navigation board mounting hole 4.1, the module lower shell 2 is provided with a lower shell mounting column 2.1, the upper end of the shock absorbing device is installed in the navigation board mounting hole 4.1, and the bottom end of the shock absorbing device body 5.1 is also provided with a mounting part, which is installed on the lower shell mounting column 2.1, and the top end of the lower shell mounting column 2.1 is located in the spherical cavity 5.6 in the middle of the mounting part.

[0019] The present invention also relates to a navigation module for an automatic walking device, wherein the navigation module comprises a shock absorbing device as described in any one of the above items.

[0020] The present invention also relates to an automatic walking device, comprising a shock absorbing device as described in any one of the above.

[0021] Beneficial effects:

[0022] The present invention uses a shock absorbing device to perform physical filtering, so that the vibration caused by the high-speed rotation of the motor cannot be directly transmitted into the IMU. The navigation accuracy is optimized and the workload of filtering high-frequency vibration interference in software and hardware is reduced. The structure of the shock absorbing device is easy to install and saves assembly time. The shock absorbing device structure adopted by the present invention has a bayonet with a guide column at one end and a mounting port at the other end. The interior is a spherical cavity. In this way, in the application, it is only necessary to open a hole in the inner part, and make a corresponding ball head shell mounting column on the outer part. The structure of the shock absorbing device avoids opening a hole in the shell, which is convenient for waterproof and dustproof treatment of the overall module. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic cross-sectional diagram of a case structure of a navigation module for a self-propelled device according to the present invention.

[0024] Figure 2 It is a schematic structural diagram of the shock absorbing device of the present invention.

[0025] Figure 3 It is a schematic diagram of an installation example between the shock absorbing device of the present invention, the navigation mainboard and the housing. DETAILED DESCRIPTION

[0026] In order to make the purpose and technical solution of the embodiment of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings of the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all of the embodiments. Based on the described embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as generally understood by those skilled in the art in the field to which the present invention belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless defined as herein.

[0028] The meaning of "inside" and "outside" in the present invention refers to the direction pointing to the inside of the box body as inside, and the opposite direction as outside, relative to the box body itself; it is not a specific limitation on the device mechanism of the present invention.

[0029] The term “connection” as used in the present invention may mean a direct connection between components or an indirect connection between components via other components.

[0030] The meanings of "up" and "down" in the present invention refer to that when a user is facing the lid of the box in an open state, the direction of the opening opened by the lid is up, and the direction of the opening opened by the lid pointing to the bottom of the box is down, rather than a specific limitation on the device mechanism of the present invention.

[0031] like Figure 1 As shown, a shock absorbing device for a navigation module of an automatic walking device, the navigation module includes a module shell and a navigation main board 4, the upper part of the shock absorbing device is installed on the navigation main board 4, the lower part of the shock absorbing device is installed on the inner wall surface of the module shell, the installation method of the lower part of the shock absorbing device and the inner wall surface of the module shell should be distinguished from the installation method of installing the lower part of the shock absorbing device on the installation hole set on the module shell, the lower part of the shock absorbing device is only installed and connected with the inner wall surface of the module shell, and the lower part of the shock absorbing device is not embedded in the interior of the module shell.

[0032] The shock absorbing device comprises a shock absorbing device body 5.1 arranged in the middle of the shock absorbing device, and the shock absorbing device body 5.1 is located between the module housing and the navigation main board 4.

[0033] like Figure 2 As shown, the upper end surface of the shock absorbing device body 5.1 abuts against the lower bottom surface of the navigation main board 4, and the bottom end of the shock absorbing device body 5.1 is installed on the inner wall surface of the module shell.

[0034] The shock absorbing device further comprises a fixed position 5.3, a stop block 5.2 and an extension end 5.4, wherein the fixed position 5.3 is arranged on the upper end surface of the shock absorbing device body 5.1, the extension end 5.4 is arranged on the upper end of the shock absorbing device, and the stop block 5.2 is arranged between the fixed position 5.3 and the extension end 5.4.

[0035] It also includes a pre-cut groove 5.5, which is arranged between the extension end 5.4 and the stop block 5.2; the pre-cut groove 5.5 is a thin rubber structure.

[0036] The navigation main board 4 is installed between the stop block 5.2 and the shock absorbing device body 5.1.

[0037] The fixed clamping position 5.3 is a hollow cylinder; the extending end 5.4 is a hollow cylinder; the diameter of the extending end 5.4 is smaller than the diameter of the fixed clamping position 5.3.

[0038] The navigation module includes a module lower shell 2, the upper part of the shock absorbing device is installed on the navigation main board 4, and the lower part of the shock absorbing device is installed on the inner wall surface of the module lower shell 2; the navigation module also includes a module upper shell 1 and an antenna 3, the antenna 3 is installed on the inner top of the upper shell 1, and the module upper shell 1 is installed on the module lower shell 2.

[0039] like Figure 3As shown, the navigation board 4 is provided with a navigation board mounting hole 4.1, the module lower shell 2 is provided with a lower shell mounting column 2.1, the upper end of the shock absorbing device is installed in the navigation board mounting hole 4.1, and the bottom end of the shock absorbing device body 5.1 is also provided with a mounting part, which is installed on the lower shell mounting column 2.1, and the top end of the lower shell mounting column 2.1 is located in the spherical cavity 5.6 in the middle of the mounting part.

[0040] like Figure 2 As shown, a hollow cavity 5.8 of a hollow structure is arranged inside the shock absorbing device body 5.1, and the hollow cavity 5.8 is made of elastic material. The shock absorbing device body 5.1 is a spherical structure.

[0041] The fixed position 5.3 is a hollow cylinder, and the extension end 5.4 is a hollow cylinder, and the outer diameter of the extension end is smaller than the outer diameter of the fixed position 5.3 between the sphere 5.1 and the stop position 5.2. The extension end 5.4 has a guiding function. The extension end 5.4 can be set to a truncated cone shape, and it is convenient to pull by hand, which greatly saves the man-hours required for assembling the shock absorbing device. The pre-cut groove 5.5 between the extension end 5.4 and the stop position 5.2 is a thin rubber structure, which is convenient for manually removing the extension end 5.4 without the aid of tools when there is insufficient space. The shock absorbing device body 1 includes a hollow cavity 5.8, and the other side of the body relative to the extension end is a spherical cavity 5.6 for installing the shock absorbing device and a mounting hole 5.7, such as Figure 3 As shown, the navigation board 4 has several mounting holes 4.1, and the size of the mounting holes 4.1 is not less than the outer diameter of the damping device clamping position 5.3 and not greater than the outer diameter of the stop position 5.2. The lower shell 2 has a corresponding number of lower shell mounting columns 2.1, and the top of the lower shell mounting column 2.1 is a mounting ball head, and the size of the ball head is not less than the outer diameter of the damping device mounting hole 5.7 and not greater than the diameter of the spherical cavity 5.6. The tightening is achieved by the interference between the damping device mounting hole and the ball head, which is simple to operate and only needs to be inserted vertically, without affecting the shockproof effect, and at the same time avoiding the risk of waterproof and dustproof caused by the opening on the shell.

[0042] The shock absorbing device structure adopted in the present invention has a bayonet with a guide column at one end and a mounting port designed as the other end, and a spherical cavity inside. In this way, in application, it is only necessary to open a hole in the inner part and make a corresponding ball head lower shell mounting column on the outer part to meet the requirements of waterproof and dustproof.

[0043] The present invention also relates to a navigation module for an automatic walking device, wherein the navigation module comprises a shock absorbing device as described in any one of the above items.

[0044] The present invention also relates to an automatic walking device, comprising a shock absorbing device as described in any one of the above.

[0045] The above is only an embodiment of the present invention, and its description is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A shock absorbing device for a navigation module of an automatic walking device, the navigation module comprising a module housing and a navigation mainboard (4), characterized in that: The upper part of the shock absorbing device is mounted on the navigation main board (4), and the lower part of the shock absorbing device is mounted on the inner wall surface of the module housing; The navigation main board (4) is provided with a navigation board mounting hole (4.1), the module housing comprises a module lower housing (2), the module lower housing (2) is provided with a lower housing mounting column (2.1), and the upper end of the shock absorbing device is mounted in the navigation board mounting hole (4.1). The shock absorbing device comprises a shock absorbing device body (5.1) arranged in the middle of the shock absorbing device, the shock absorbing device body (5.1) being made of elastic material and having a hollow cavity (5.8) with a hollow structure arranged therein; A spherical cavity (5.6) and a mounting hole (5.7) are arranged in sequence below the hollow cavity (5.8); The shock absorbing device body (5.1) is mounted on the lower shell mounting column (2.1); the top of the lower shell mounting column (2.1) is a mounting ball head; the top of the mounting ball head is mounted in the spherical cavity (5.6) of the shock absorbing device and is located below the hollow cavity (5.8); The size of the ball head is not less than the outer diameter of the shock absorbing device mounting hole (5.7) and not greater than the diameter of the spherical cavity (5.6), and fastening is achieved through interference between the shock absorbing device mounting hole (5.7) and the ball head.

2. The shock absorbing device for a navigation module of an automatic walking device according to claim 1, characterized in that: The shock absorbing device body (5.1) is located between the module housing and the navigation main board (4).

3. The shock absorbing device for a navigation module of an automatic walking device according to claim 2, characterized in that: The upper end surface of the shock absorbing device body (5.1) abuts against the lower bottom surface of the navigation main board (4), and the bottom end of the shock absorbing device body (5.1) is mounted on the inner wall surface of the module housing.

4. The shock absorbing device for a navigation module of an automatic walking device according to claim 1, characterized in that: The shock absorbing device body (5.1) is a spherical structure.

5. The shock absorbing device for a navigation module of an automatic walking device according to claim 2, characterized in that: The shock absorbing device further comprises a fixed clamping position (5.3), a stop block (5.2) and an extension end (5.4); the fixed clamping position (5.3) is arranged on the upper end surface of the shock absorbing device body (5.1); the extension end (5.4) is arranged at the upper end portion of the shock absorbing device; and the stop block (5.2) is arranged between the fixed clamping position (5.3) and the extension end (5.4).

6. The shock absorbing device for a navigation module of an automatic walking device according to claim 5, characterized in that: It also includes a pre-cut groove (5.5), which is arranged between the extension end (5.4) and the stop block (5.2); the pre-cut groove (5.5) is a thin rubber structure.

7. The shock absorbing device for a navigation module of an automatic walking device according to claim 5, characterized in that: The navigation main board (4) is installed between the stop block (5.2) and the shock absorbing device body (5.1).

8. The shock absorbing device for a navigation module of an automatic walking device according to claim 5, characterized in that: The fixed clamping position (5.3) is a hollow cylinder; the extended end (5.4) is a hollow cylinder; the diameter of the extended end (5.4) is smaller than the diameter of the fixed clamping position (5.3).

9. The shock absorbing device for a navigation module of an automatic walking device according to claim 1, characterized in that: The upper part of the shock absorbing device is mounted on the navigation main board (4), and the lower part of the shock absorbing device is mounted on the inner wall surface of the module lower shell (2); the navigation module also includes a module upper shell (1), and the module upper shell (1) is mounted on the module lower shell (2).

10. A navigation module for an automatic walking device, characterized in that: The navigation module comprises a shock absorbing device as described in any one of claims 1-9.

11. An automatic walking device, characterized in that: Comprising a shock absorbing device as claimed in any one of claims 1 to 9.

Images