autonomous walking robots

Abstract

The present invention provides an autonomous walking robot, comprising a body, a walking module connected to the body, and a control module connected to the walking module. The body comprises a middle cover and a chassis connected to the middle cover. The body further comprises a partition connecting the middle cover and the chassis, the partition dividing the body into an external space located on one side of the partition and an internal space located on the other side of the partition, with the control module at least partially located in the internal space. The partition is provided with a mating portion and a sealing member connected to the mating portion, the sealing member being provided with a threading hole connecting the internal space and the external space. The sealing member is also provided with a glue injection groove located on one side of the threading hole. The autonomous walking robot disclosed in the present invention can pass a cable through the threading hole through the partition, and glue is injected through the glue injection groove to seal the threading hole, thereby ensuring that the threading hole is sealed and meeting waterproof and dustproof requirements.

Description

Technical Field

[0001] The present invention relates to the field of automatic walking robots, in particular to an automatic walking robot. Background Art

[0002] With the advancement of science and technology, intelligent autonomous vehicles have become increasingly familiar. Because they can automatically perform pre-programmed tasks without human intervention, they are widely used in industrial and household applications. Industrial applications include robots that perform various functions, while household applications include lawn mowers and vacuum cleaners. These intelligent devices have brought significant convenience to both industrial production and daily life. Compared to traditional products, autonomous robots offer features such as autonomous driving, collision prevention, line protection within range, automatic return to recharge, safety and battery level monitoring, and gradeability. These robots are particularly well-suited for lawn mowing and maintenance in places like home gardens and public green spaces. They can autonomously mow lawns without the need for direct human control and operation. They are also low-power, low-noise, pollution-free, and compact, aesthetically pleasing, significantly reducing manual labor.

[0003] Currently, autonomous robots are required to be waterproof and dustproof. Generally speaking, these robots often use various cables to connect to external electronic devices or have various interfaces, such as power and network cables. In some special occasions or situations, these cables need to pass through a partition of the autonomous robot, which requires a through-hole in the partition. This can result in failure to meet waterproof requirements at the through-hole. Summary of the Invention

[0004] The purpose of the present invention is to provide an automatic walking robot.

[0005] To achieve the above-mentioned purpose of the invention, one embodiment of the present invention provides an automatic walking robot, including a body and a control module arranged in the body, the body including a middle cover and a chassis connected to the middle cover, and is characterized in that the body also includes a partition connecting the middle cover and the chassis, the partition divides the body into an external space located on one side of the partition and an internal space located on the other side of the partition, and the control module is at least partially located in the internal space; the partition is provided with a matching part and a sealing member connected to the matching part, the sealing member includes a wire threading hole connecting the internal space and the external space and a glue pouring groove located on one side of the wire threading hole.

[0006] As a further improvement of the present invention, the matching portion is a mounting groove, and the sealing member is embedded in the mounting groove.

[0007] As a further improvement of the present invention, the sealing member has an upper surface, and a glue pouring opening communicating with the glue pouring groove is formed on the upper surface.

[0008] As a further improvement of the present invention, the threading hole includes a first end and a second end arranged opposite to each other, and the sealing member is also provided with a cutout connected to the first end of the threading hole, and the cutout extends from the highest point of the sealing member to the first end of the threading hole.

[0009] As a further improvement of the present invention, an overflow port communicating with the glue pouring groove is provided on the sealing member, the glue pouring groove and the overflow port are both located in the external space, and the overflow port is communicated with the glue pouring opening.

[0010] As a further improvement of the present invention, the overflow outlet is configured as an overflow end at the bottom in the vertical direction, and the second end of the threading hole is higher in the vertical direction than the overflow end of the overflow outlet.

[0011] As a further improvement of the present invention, the side surfaces and bottom surfaces of the sealing member are both convex arc surfaces, and the surfaces on the mounting groove that contact the side surfaces and bottom surfaces of the sealing member are matched concave arc surfaces.

[0012] As a further improvement of the present invention, a receiving groove is provided on the sealing member, and an edge of the installation through groove is at least partially locked in the receiving groove.

[0013] As a further improvement of the present invention, the middle cover includes a first pressed edge connected to the chassis, a second pressed edge is provided on the chassis at a position corresponding to the first pressed edge, and a sealing strip is pressed between the first pressed edge and the second pressed edge.

[0014] As a further improvement of the present invention, the sealing member includes a threading portion and a glue pouring portion connected to each other, the threading hole is provided on the threading portion, the glue pouring groove is provided on the glue pouring portion, the threading portion is connected to the matching portion, and the glue pouring portion is located in the external space.

[0015] Compared with the prior art, the automatic walking robot disclosed in the present invention is provided with a matching part and a sealing member on the partition connecting the middle cover and the chassis, and a glue filling groove and a wire threading hole are provided on the sealing member. In this way, the cable can be passed through the partition through the wire threading hole, and the glue filling operation is performed through the glue filling groove to seal the wire threading hole, thereby ensuring that the wire threading hole can be sealed and meeting the waterproof and dustproof requirements of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 2 is a schematic structural diagram of an autonomous walking robot according to an embodiment of the present invention;

[0017] Figure 2 This invention Figure 1 A magnified schematic diagram of part A;

[0018] Figure 3 This invention Figure 1 An enlarged schematic diagram of part B;

[0019] Figure 4 1 is an exploded schematic diagram of the middle cover and the bottom plate in one embodiment of the present invention;

[0020] Figure 5 is a front view of a seal according to one embodiment of the present invention;

[0021] Figure 6 is a schematic structural diagram of a sealing member in one embodiment of the present invention;

[0022] Figure 7 1 is a schematic structural diagram of a sealing member installed on a partition in one embodiment of the present invention. DETAILED DESCRIPTION

[0023] The present invention will be described in detail below with reference to the specific embodiments shown in the accompanying drawings. However, these embodiments do not limit the present invention, and any structural, methodological, or functional changes made by those skilled in the art based on these embodiments are all within the scope of protection of the present invention.

[0024] It should be understood that the terms used herein, such as "upper," "above," "lower," and "below," etc., indicating spatial relative positions, are used for ease of explanation to describe the relationship of one element or feature relative to another element or feature as shown in the accompanying drawings. Spatially relative terms may be intended to encompass different orientations of the device in use or operation other than the orientation shown in the drawings.

[0025] like Figure 1-7 As shown, in an embodiment of the present invention, the autonomous walking robot is preferably an autonomous lawn mower, which is configured to autonomously walk and work on the ground, and is powered by a battery. The autonomous lawn mower comprises a body 10, a walking module mounted on the body 10, and a working module for mowing the lawn. The walking module is configured for walking and steering, and the working module comprises a cutting motor, a drive shaft connected to the cutting motor, and a cutting element coupled to the drive shaft. The cutting element may be a cutting blade, a cutting wire, or other element capable of mowing the lawn. The autonomous lawn mower also comprises a control module for coordinating the working module and the walking module. The control module enables the autonomous lawn mower to autonomously walk and mow the lawn without human supervision.

[0026] like Figure 1-4As shown, in this embodiment of the present invention, the housing 10 includes a middle cover 11 and a chassis 12 connected to the middle cover 11. The housing 10 also includes a housing 13, which covers the middle cover 11 from above. The housing 10 also includes a partition 101 connecting the middle cover 11 and the chassis 12. The partition 101 divides the housing 10 into an external space O located on one side of the partition 101 and an internal space I located on the other side of the partition 101. The control module is at least partially located in the internal space I. The partition 101 includes a mating portion and a sealing member 20 that is mated with the mating portion. The sealing member 20 is provided with a threading hole 21 that connects the internal space I and the external space O.

[0027] like Figure 4-6 As shown, the matching portion is a mounting groove 102, and the sealing member 20 is embedded in the mounting groove 102. The sealing member 20 is further provided with a glue pouring groove 22 located on one side of the threading hole 21.

[0028] The automatic walking robot disclosed in the present invention provides a matching portion and a sealing member 20 on the partition 101 connecting the middle cover 11 and the chassis 12, and provides a glue pouring groove 22 and a wire threading hole 21 on the sealing member 20. The cable 30 can pass through the partition 101 through the wire threading hole 21, and glue is poured through the glue pouring groove 22 to seal the wire threading hole 21, thereby ensuring that the wire threading hole can be sealed and meeting the waterproof and dustproof requirements of the product.

[0029] Specifically, in this embodiment of the present invention, the partition 101 is formed by connecting a portion of the middle cover 11 and a corresponding portion of the base 12. In other embodiments, the partition may be a separate component, connected to the middle cover and the base, respectively. Furthermore, in this embodiment of the present invention, the partition 101 extends vertically. In other words, the partition 101 is arranged perpendicular to the horizontal plane. In other embodiments, the partition may be arranged at an angle, forming an angle less than 90° with the horizontal plane.

[0030] The space enclosed by the middle cover 11 and the chassis 12 after being sealed and fixedly connected is the internal space I, and the space on the body outside the enclosed space is the external space O. Specifically, the internal space I can be a sealed space, and at least part of the control module can be arranged in the internal space I. For example, if some electrical components in the control module have high requirements for waterproofness, then the said electrical components are arranged in the internal space I. The external space does not have high requirements for waterproofness and is not closed. Specifically in this embodiment, a sensor is provided in the external space O, and the sensor needs to be connected to the circuit board 104 provided in the internal space I through a cable 30. At this time, it is necessary to set a structure between the internal space I and the external space O for the cable 30 to pass through, and this structure needs to meet the waterproof sealing requirements.

[0031] In fact, if Figure 3-4 As shown, a first enclosing plate 112 is provided inside the middle cover 11, and a second enclosing plate 123 is also provided inside the chassis 12. A portion of the first enclosing plate 112 and a portion of the second enclosing plate 123 constitute a partition 101', and the internal space is further divided into a working space I1 and a sealed space I2 surrounding the working space I1, wherein a cutting motor, a cutting element, and an adjustment structure for adjusting the height of the cutting element are provided in the working space I1. The working space I1 is a non-sealed space and does not require high waterproofing. For example, the cutting element passes through the lower part of the body and contacts the grass on the ground to achieve the mowing function. The sealed space I2 is sealed, and multiple electrical components and circuit boards are provided therein, which has high requirements for waterproofing. Another mounting groove 102' and a corresponding seal are also provided on the partition 101', which can be used for connecting the cables 30' of the electrical components provided in the working space I1 to the circuit boards provided in the sealed space I2. The structures of the partition 101 ′, the mounting groove 102 ′ and the sealing member are consistent with those of the partition 101 , the mounting groove 102 and the sealing member 20 , and will not be described in detail in the embodiment of the present invention.

[0032] Further, if Figure 5 As shown, the threading hole 21 includes a first end 211 and a second end 212 disposed opposite each other in the vertical direction. The sealing member 20 is further provided with a notch 23 communicating with the first end 211 of the threading hole 21. The notch 23 extends from the highest point of the sealing member 20 to the first end 211 of the threading hole 21. When installing the cable 30 into the threading hole 21, the cable 30 can be pressed toward the threading hole 21 through the notch 23 to be inserted into the threading hole 21, thereby allowing the cable 30 to pass through the threading hole 21, which facilitates operation by the operator.

[0033] Preferably, if Figure 6 As shown, the seal 20 has an upper surface 25 perpendicular to the vertical direction, and a glue pouring opening 251 is formed on the upper surface 25 of the seal 20, which communicates with the glue pouring groove 22. Since the glue pouring opening 251 is provided on the upper surface 25 of the seal 20, glue can be poured directly into the glue pouring groove 22 through the glue pouring opening 251 without turning the machine body over, which is convenient for production line workers to operate.

[0034] Preferably, the glue pouring groove 22 extends vertically on the sealing member 20. An overflow port 24 communicating with the glue pouring groove 22 is provided on the sealing member 20, and both the glue pouring groove 22 and the overflow port 24 are located in the external space. Placing the glue pouring groove 22 in the external space O (or the working space I1) facilitates the glue pouring operation, and if glue overflows, it will not overflow into the internal space (here, the sealed space I2); and an overflow port communicating with the glue pouring groove 22 is also provided in the external space O (or the working space I1). If glue pouring is not performed properly, water entering the glue pouring groove 22 will also flow out from the overflow port 24, and will not stay in the glue pouring groove 22 or enter the threading hole 21.

[0035] In another embodiment, the glue pouring groove 22 can also be set in the internal space (here referred to as the sealed space I2), and the glue pouring operation can also be performed in this case.

[0036] Further, if Figure 5 As shown, the overflow port 24 is configured as an overflow end 241 at the bottom in the vertical direction, and the second end 212 of the threading hole 21 is vertically higher than the overflow end 241 of the overflow port 24. This arrangement further ensures that water entering the glue filling tank 22 will not enter the threading hole 21.

[0037] In the embodiment of the present invention, the overflow port 24 is connected to the glue filling opening 251. Figure 6 As shown, the glue injection opening 251 is provided on the upper surface 25 of the sealing member, and the overflow port 24 is provided on the side of the sealing member 20. By setting the overflow port 24 to communicate with the glue injection opening 251, when installing the cable 30, simply press downward from the cutout 23 to allow the cable 30 to enter the threading hole 21 through the cutout 23 and simultaneously enter the glue injection groove 22 through the glue injection opening 251. One end of the cable 30 extends from the threading hole 21, and the other end extends from the overflow port 24, making the installation of the cable 30 more convenient.

[0038] Preferably, the side and bottom surfaces of the seal 20 are convex arc surfaces, while the surfaces of the mounting groove 102 that contact the side and bottom surfaces of the seal 20 are matching concave arc surfaces. Specifically, the convex arc surface of the seal 20 and the concave annular surface of the mounting groove 102 are matingly connected, resulting in a smooth connection without sharp or right angles, ensuring good sealing. Furthermore, the glue pouring groove 22 has a semicircular cross-section in the vertical direction, eliminating sharp corners within the groove 22, ensuring even glue pouring and a more effective seal.

[0039] Further, if Figure 6-7As shown, the seal 20 is provided with a receiving groove 27, and the edge of the mounting groove 102 is retained within the receiving groove 27. The side and bottom surfaces of the seal 20 are both provided with interconnected receiving grooves 27. When the seal 20 is installed from top to bottom on the mounting groove 102, the edge of the mounting groove 102 is retained within the receiving groove 27. Specifically, the receiving groove 27 is formed on the side and bottom surfaces of the seal 20. The portion of the mounting groove 102 that contacts the side and bottom surfaces of the seal 20 can be retained within the receiving groove 27, thereby allowing the seal 20 to be installed on the mounting groove 102.

[0040] like Figure 4 As shown, the middle cover 11 includes a first pressing edge 111 connected to the bottom plate 12. A second pressing edge 121 is provided on the bottom plate 12 at a position corresponding to the first pressing edge 111. A sealing strip 103 is pressed between the first pressing edge 111 and the second pressing edge 121. Both the first pressing edge 111 and the second pressing edge 121 are provided with structures that adapt to the sealing strip, such as a groove that matches the size of the sealing strip 103. The sealing strip further ensures a good sealing effect.

[0041] Specifically, when assembling the middle cover 11 and the chassis 12 together, first clamp the seal 20 in the installation groove 102, so that the seal 20 is installed on the chassis 12, and then the cable 30 is passed through the threading hole 11 from the incision, and the glue filling operation can be started. When filling the glue, the glue is injected into the glue filling groove 22 from the glue filling opening 251. The glue will seal the connection between the threading hole 21 and the cable 30, and the excess glue can also flow out from the overflow port 24. Then, the sealing strip 103 is pressed on the second pressing edge 121 (or the first pressing edge 111), and then the first pressing edge 111 of the middle cover 11 and the second pressing edge 121 of the chassis 12 are aligned and pressed together. Finally, the middle cover 11 and the chassis 12 can be firmly connected together by fixing parts such as screws. At this time, the sealing strip 103 is tightly pressed between the first pressing edge 111 and the second pressing edge 122, and the threading hole 21 is also sealed by the glue, so that the sealing effect of the connection between the middle cover 11 and the bottom plate 12 is better.

[0042] Further, if Figure 6-7 As shown, the seal 20 can be divided into a threading part 201 and a glue filling part 202 that are connected to each other. The threading hole 21 is provided in the threading part 201, and the glue filling groove 22 is provided in the glue filling part 202. The threading part 201 is connected to the matching part, and the glue filling part 202 is located in the external space.

[0043] The autonomous robot disclosed in the present invention features a mounting slot on a partition formed by a middle cover and a chassis, a sealing member disposed on the mounting slot, and a glue pouring slot and a wire threading hole disposed on the sealing member. Cables can be passed through the partition through the wire threading hole, and glue can be poured through the glue pouring slot to seal the wire threading hole, thereby ensuring a sealed wire threading hole and meeting the product's waterproof and dustproof requirements. A notch is provided on the sealing member, and when the cable is installed in the wire threading hole, the cable can be pressed toward the wire threading hole through the notch to be inserted, thereby facilitating operation. The glue pouring slot and overflow port are both located externally, facilitating glue pouring. Even if glue pouring is poor, water entering the glue pouring slot will flow out through the overflow port without lingering in the glue pouring slot or entering the wire threading hole, further ensuring a good seal. The sealing member is semicircular, and its contact surface with the mounting slot is curved, eliminating sharp or right angles at the junction between the two, resulting in a good seal. Furthermore, the cross section of the glue pouring groove in the vertical direction is semicircular, so there are no sharp corners in the glue pouring groove, which can ensure uniform glue pouring and better glue pouring and sealing effect.

[0044] It should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each implementation method can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0045] The series of detailed descriptions listed above are only specific descriptions of feasible implementation methods of the present invention. They are not intended to limit the scope of protection of the present invention. Any equivalent implementation methods or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. An autonomous walking robot comprising a body and a control module disposed within the body, wherein the body comprises a middle cover and a chassis connected to the middle cover, characterized in that: The body further includes a partition connecting the middle cover and the chassis, the partition dividing the body into an external space located on one side of the partition and an internal space located on the other side of the partition, and the control module is at least partially located in the internal space; the partition is provided with a matching portion and a sealing member that cooperates with the matching portion, the sealing member including a threading hole connecting the internal space and the external space and a glue injection groove located on one side of the threading hole; The sealing member has an upper surface, and the upper surface is provided with a glue pouring opening connected to the glue pouring groove; The sealing member is provided with an overflow port communicating with the glue pouring groove, the glue pouring groove and the overflow port are both located in the external space, and the overflow port is communicated with the glue pouring opening. When installing a cable, the cable can move from the glue pouring opening to the overflow port. The threading hole includes a first end and a second end that are arranged opposite to each other. The sealing member is also provided with a cutout that is connected to the first end of the threading hole, and the cutout extends from the highest point of the sealing member to the first end of the threading hole; the overflow outlet is constructed as an overflow end at the bottom in the vertical direction, and the height of the second end of the threading hole in the vertical direction is higher than the height of the overflow end of the overflow outlet in the vertical direction.

2. The autonomous walking robot according to claim 1, characterized in that: The matching portion is a mounting groove, and the sealing component is embedded in the mounting groove.

3. The autonomous walking robot according to claim 2, characterized in that: The side surface and bottom surface of the sealing member are both convex arc surfaces, and the surface of the installation groove that contacts the side surface and bottom surface of the sealing member is a matching concave arc surface.

4. The autonomous walking robot according to claim 2, characterized in that: The sealing member is provided with a receiving groove, and the edge of the installation through groove is clamped in the receiving groove.

5. The autonomous walking robot according to claim 1, characterized in that: The middle cover includes a first pressing edge connected to the bottom plate, a second pressing edge is provided on the bottom plate at a position corresponding to the first pressing edge, and a sealing strip is pressed between the first pressing edge and the second pressing edge.

6. The autonomous walking robot according to claim 1, characterized in that: The sealing component includes a threading part and a glue filling part connected to each other, the threading hole is provided on the threading part, the glue filling groove is provided on the glue filling part, the threading part is connected to the matching part, and the glue filling part is located in the external space.

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