Autonomous operation equipment

Abstract

The present invention relates to an autonomous operation device, which has the advantages of relatively simple structure, convenient assembly, high reliability, etc. It includes a main body mechanism, and the main body mechanism includes a first main body part and a second main body part. The first main body part is configured to be connectable to the second main body part through a connecting device. It is characterized in that the connecting device is configured to include a first fitting, an elastic member and a second fitting. The first fitting is configured to be integrally formed with the first main body part or connectable to the first main body part through a first connection structure. The elastic member is configured such that its first end can be connected to the first fitting through a second connection structure, and its second end can be connected to the second fitting through a third connection structure. The second fitting is configured to be integrally formed with the second main body part or connectable to the second main body part through a fourth connection structure. The third connection structure is configured such that when it is in a connected state, the second end of the elastic member is fixed between the second main body part and the second fitting.

Description

Technical Field

[0001] The present invention relates to an autonomous operation device, and particularly to an autonomous operation device for lawn maintenance. Background Art

[0002] Existing lawn mowers are becoming more and more intelligent. When most intelligent lawn mowers touch an obstacle or are lifted manually, relevant signals are transmitted to the controller, and the controller makes corresponding feedback, so that the lawn mower makes corresponding actions, such as stopping working.

[0003] A lawn mower usually has a chassis and a housing, and the housing is movably connected to the chassis. When an intelligent lawn mower touches an obstacle or is lifted manually, the housing part will move relative to the chassis part, thereby triggering the corresponding sensor or microswitch to act, so that the lawn mower makes relevant actions, such as backing up or stopping working.

[0004] Currently, the housing is generally movably connected to the chassis through connecting components. These connecting components, especially the fixing structure of the elastic member, are usually relatively complex to assemble, time-consuming, and require tools for installation. In addition, the structure of the existing connecting components is usually relatively complex, resulting in higher costs or unreliable operation.

[0005] Therefore, it is necessary to make further improvements to the existing lawn mower to solve the above problems. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide an autonomous operation device different from the prior art, which has the advantages of relatively simple structure, easy assembly, high reliability, etc.

[0007] To solve the above technical problem, the present invention provides an autonomous operation device, including a main body mechanism. The main body mechanism includes a first main body part and a second main body part. The first main body part is configured to be connectable to the second main body part through a connecting device. The connecting device is configured to include a first fitting, an elastic member, and a second fitting. The first fitting is configured to be integrally formed with the first main body part or connectable to the first main body part through a first connecting structure. The elastic member is configured such that its first end is connectable to the first fitting through a second connecting structure, and its second end is connectable to the second fitting through a third connecting structure. The second fitting is configured to be integrally formed with the second main body part or connectable to the second main body part through a fourth connecting structure. The third connecting structure is configured such that when it is in a connected state, the second end of the elastic member is fixed between the second main body part and the second fitting.

[0008] As a specific embodiment of the present invention, preferably, the first main body portion is configured as a housing, and the second main body portion is configured as a chassis; or the first main body portion is configured as a chassis, and the second main body portion is configured as a housing; wherein, the housing is configured to be movably reset relative to the chassis when an external force is applied thereto.

[0009] As a specific embodiment of the present invention, preferably, the elastic member is configured as a helical spring; the helical spring has a constant outer diameter and / or inner diameter; or the helical spring has a variable outer diameter and / or inner diameter.

[0010] As a specific embodiment of the present invention, preferably, the elastic member includes a first part of the elastic member and a second part of the elastic member, and the outer diameter of the first part of the elastic member is smaller than the outer diameter of the second part of the elastic member; when the third connection structure is in a connected state, the second part of the elastic member is fixed between the second main body portion and the second mating member.

[0011] As a specific embodiment of the present invention, preferably, the first part of the elastic member is configured as a helical cylindrical spring; the second part of the elastic member is configured as a conical spring, a flat spiral spring, a helical cylindrical spring or includes a lug structure.

[0012] As a specific embodiment of the present invention, preferably, when the second mating member is connected to the second main body portion, at least a part of the second part of the elastic member is fixed between the second main body portion and the second mating member.

[0013] As a specific embodiment of the present invention, preferably, when the second mating member is separated from the second main body portion, the restriction on the axial movement of the elastic member is released; and / or when the second mating member is separated from the second main body portion, the restriction on the radial movement of the elastic member is released.

[0014] As a specific embodiment of the present invention, preferably, the second connection structure is configured such that when the first mating member is connected to the first main body portion, the first end of the elastic member is fixed between the first main body portion and the first mating member.

[0015] As a specific embodiment of the present invention, preferably, the elastic member includes a first part of the elastic member and a second part of the elastic member, and the outer diameter of the first part of the elastic member is smaller than the outer diameter of the second part of the elastic member; the second part of the elastic member is configured to be provided at both ends of the first part of the elastic member; when the second connection structure is in a connected state, the two second parts of the elastic member are respectively fixed between the first main body portion and the first mating member, and between the second main body portion and the second mating member.

[0016] As a specific embodiment of the present invention, preferably, when the first fitting is separated from the first main body, the restriction on the axial movement of the elastic member is released; and / or when the first fitting is separated from the first main body, the restriction on the radial movement of the elastic member is released.

[0017] As a specific embodiment of the present invention, preferably, the second connection structure includes a first helical groove formed on the first fitting and a second helical groove formed on the first end of the elastic member, and the first helical groove is adapted to the second helical groove.

[0018] As a specific embodiment of the present invention, preferably, the first fitting sequentially includes a head, a rod portion, and a helical portion from top to bottom, wherein the head is movably connected to the first main body portion, the rod portion is rod-shaped, the helical portion is provided with a helical groove, and the first end of the elastic member is engaged with the helical groove so that the elastic member is connected to the first fitting.

[0019] As a specific embodiment of the present invention, preferably, the first connection structure and / or the fourth connection structure is configured as a non-detachable connection; or the first connection structure and / or the fourth connection structure is configured as a detachable connection.

[0020] As a specific embodiment of the present invention, preferably, the first connection structure includes a connecting sleeve connected to the first main body portion and a head formed on the first fitting; the connecting sleeve is detachably connected to the first main body portion; the head is configured as a sphere, and the first fitting is movably connected to the connecting sleeve through the head.

[0021] As a specific embodiment of the present invention, preferably, the first connection structure and / or the fourth connection structure is configured as a snap-fit structure, a screw fixing structure, or a rivet fixing structure.

[0022] As a specific embodiment of the present invention, preferably, the first connection structure includes an elastic arm formed on one of the first fitting and the first main body portion and a card slot formed on the other of the first fitting and the first main body portion, the elastic arm includes a catch, and the catch is adapted to the card slot; and / or the fourth connection structure includes an elastic arm formed on one of the second fitting and the second main body portion and a card slot formed on the other of the second fitting and the second main body portion, the elastic arm includes a catch, and the catch is adapted to the card slot.

[0023] As a specific embodiment of the present invention, preferably, the second fitting has a main body, the main body is in a plate-like structure, the main body extends at least a pair of elastic arms, the ends of the elastic arms are provided with hooks, and the second main body part is provided with a slot, wherein the hooks are snap-fitted with the slot, and a through hole is provided in the middle of the main body, the first end of the elastic member passes through the through hole and is connected to the first fitting, and the second end of the elastic member is connected to the second fitting.

[0024] To solve the above technical problems, the present invention proposes another autonomous operation device, including a main body mechanism, the main body mechanism includes a first main body part and a second main body part, the first main body part is configured to be connected to the second main body part through a connecting device; the connecting device is configured to include a first fitting, an elastic member and a second fitting; the first fitting is configured to be connected to the first main body part through a first connection structure; the elastic member is configured that its first end can be connected to the first fitting through a second connection structure, and its second end can be connected to the second fitting through a third connection structure; the second fitting is configured to be connected to the second main body part through a fourth connection structure; the second connection structure and / or the third connection structure is configured to be a non-detachable connection.

[0025] As a specific embodiment of the present invention, preferably, the first main body part is configured as a housing, and the second main body part is configured as a chassis; or the first main body part is configured as a chassis, and the second main body part is configured as a housing; the housing is configured to be movably reset relative to the chassis when subjected to an external force.

[0026] As a specific embodiment of the present invention, preferably, the elastic member is configured to be integrally formed with the first fitting and / or the second fitting.

[0027] As a specific embodiment of the present invention, preferably, the second end of the elastic member is injection-molded in the second fitting; and / or the first end of the elastic member is injection-molded in the first fitting.

[0028] As a specific embodiment of the present invention, preferably, the second end of the elastic member is in interference connection with at least a part of the second fitting; and / or the first end of the elastic member is in interference connection with at least a part of the first fitting.

[0029] As a specific embodiment of the present invention, preferably, the second end of the elastic member is connected to the second fitting through an adhesive; and / or the first end of the elastic member is connected to the first fitting through an adhesive.

[0030] As a specific embodiment of the present invention, preferably, the second connection structure includes a first helical groove formed on the first fitting and a second helical groove formed at the first end of the elastic member, and the first helical groove is adapted to the second helical groove.

[0031] As a specific embodiment of the present invention, preferably, the first fitting sequentially includes a head, a rod portion, and a helical portion from top to bottom, wherein the head is movably connected to the first main body portion, the rod portion is rod-shaped, the helical portion is provided with a helical groove, and the first end of the elastic member cooperates with the helical groove so that the elastic member is connected to the first fitting.

[0032] As a specific embodiment of the present invention, preferably, the first connection structure and / or the fourth connection structure is configured as a detachable connection.

[0033] As a specific embodiment of the present invention, preferably, the first connection structure includes a connecting sleeve connected to the first main body portion and a head formed on the first fitting; the connecting sleeve is detachably connected to the first main body portion; the head is configured as a sphere, and the first fitting is movably connected to the connecting sleeve through the head.

[0034] As a specific embodiment of the present invention, preferably, the first connection structure and / or the fourth connection structure is configured as a hook-slot structure, a screw fixing structure, or a rivet fixing structure.

[0035] As a specific embodiment of the present invention, preferably, the first connection structure includes an elastic arm formed on one of the first fitting and the first main body portion and a slot formed on the other of the first fitting and the first main body portion, the elastic arm includes a hook, and the hook is adapted to the slot; and / or the fourth connection structure includes an elastic arm formed on one of the second fitting and the second main body portion and a slot formed on the other of the second fitting and the second main body portion, the elastic arm includes a hook, and the hook is adapted to the slot.

[0036] As a specific embodiment of the present invention, preferably, the second fitting has a main body, the main body is in a plate-like structure, the main body extends at least a pair of elastic arms, the ends of the elastic arms are provided with hooks, and the second main body portion is provided with a slot, wherein the hooks are snap-fitted with the slot, and a through hole is provided in the middle of the main body, the first end of the elastic member passes through the through hole and is connected to the first fitting, and the second end of the elastic member is connected to the second fitting.

[0037] To solve the above technical problems, the present invention proposes another autonomous operation device, including a main body mechanism, where the main body mechanism includes a first main body part and a second main body part, and the first main body part is configured to be connectable to the second main body part through a connecting device; the connecting device is configured to include a first fitting part, an elastic part, and a second fitting part; the first fitting part is configured to be integrally formed with the first main body part or movably connected to the first main body part, the elastic part is configured such that its first end is connected to the first fitting part, and the second fitting part is configured to be integrally formed with the second main body part or connectable to the second main body part; the second fitting part is configured to at least include a first fitting component and a second fitting component, and when the first fitting component is connected to the second fitting component, the second end of the elastic part is fixed between the first fitting component and the second fitting component.

[0038] As a specific embodiment of the present invention, preferably, the first main body part is configured as a housing, and the second main body part is configured as a chassis; or the first main body part is configured as a chassis, and the second main body part is configured as a housing; wherein, the housing is configured to be movably resettable relative to the chassis when it is subjected to an external force.

[0039] As a specific embodiment of the present invention, preferably, the second fitting part is configured to be detachably connected to the second main body part.

[0040] As a specific embodiment of the present invention, preferably, the elastic part is configured as a variable-diameter spring.

[0041] As a specific embodiment of the present invention, preferably, the elastic part includes a first part of the elastic part and a second part of the elastic part, and the outer diameter of the first part of the elastic part is smaller than the outer diameter of the second part of the elastic part.

[0042] As a specific embodiment of the present invention, preferably, when the first fitting component is connected to the second fitting component, at least a part of the second part of the elastic part is fixed between the first fitting component and the second fitting component.

[0043] As a specific embodiment of the present invention, preferably, when the first fitting component is separated from the second fitting component, the restriction on the axial movement of the elastic part is released.

[0044] As a specific embodiment of the present invention, preferably, when the first fitting component is separated from the second fitting component, the restriction on the radial movement of the elastic part is released.

[0045] As a specific embodiment of the present invention, preferably, the first fitting member sequentially includes a head portion, a rod portion, and a spiral portion from top to bottom, wherein the head portion is movably connected to the first main body portion, the rod portion is rod-shaped, the spiral portion is provided with a spiral groove, and the first end of the elastic member is engaged with the spiral groove so that the elastic member is connected to the first fitting member.

[0046] As a specific embodiment of the present invention, preferably, the second fitting member is integrally configured to have a main body, the main body is in a plate-like structure, the main body extends at least a pair of elastic arms, wherein the first fitting assembly includes at least one elastic arm and the second fitting assembly includes at least one elastic arm; a hook is provided at the end of the elastic arm, and a slot is provided in the second main body portion, wherein the hook is snap-fitted with the slot, and a through hole is provided in the middle of the main body, the first end of the elastic member passes through the through hole and is connected to the first fitting member, and the second end of the elastic member is connected to the second fitting member.

[0047] To solve the above technical problems, the present invention further provides an autonomous operation device, which includes a housing and a chassis located below the housing. Among them, the housing is movably connected to the chassis through a connecting device. The connecting device includes: a base, the base is fixedly connected to the chassis, and the base is provided with a through hole; a connecting rod, the first end of the connecting rod is movably coupled to the housing; and an elastic member, the first end of the elastic member passes through the through hole and is fixedly connected to the second end of the connecting rod, and the second end of the elastic member is located below the through hole and is connected to the lower end of the base.

[0048] As a specific embodiment of the present invention, preferably, the connecting rod sequentially has a head portion, a rod portion, and a spiral portion from top to bottom, wherein the head portion is movably connected to the housing, the rod portion is rod-shaped, the spiral portion is provided with a spiral groove, and the first end of the elastic member is engaged with the spiral groove so that the elastic member is connected to the connecting rod.

[0049] As a specific embodiment of the present invention, preferably, the top end of the spiral portion is provided with a protrusion radially protruding from the outer wall of the spiral portion, and the inside of the spiral portion is hollow and provided with a recess penetrating the outer wall of the spiral portion.

[0050] As a specific embodiment of the present invention, preferably, the base has a plate-like main body, the lower surface of the plate-like main body extends downwardly with an elastic arm on each of the opposite sides, a hook is provided at the end of the elastic arm, and a slot is provided in the chassis, wherein the hook is snap-fitted with the slot, and a through hole is provided in the middle of the plate-like main body, the first end of the elastic member passes through the through hole and is connected to the second end of the connecting rod, and the second end of the elastic member is connected to the lower end of the base.

[0051] As a specific embodiment of the present invention, preferably, a convex column also integrally extends from the lower surface of the plate-shaped main body, and the bottom surface of the convex column presses against the bottom of the elastic member.

[0052] As a specific embodiment of the present invention, preferably, the elastic member is a spring, the spring has a main body portion and a bottom portion located below the main body portion, the main body portion passes through the through hole and is fixedly connected to the second end of the connecting rod, and the bottom portion is located below the through hole and abuts against the base.

[0053] As a specific embodiment of the present invention, preferably, the outer diameter of the main body portion of the spring is smaller than the inner diameter of the through hole of the base, and the inner diameter of the through hole of the base is smaller than the outer diameter of the bottom portion of the spring. Preferably, the spring is integrally formed by the main body portion and the bottom portion.

[0054] As a specific embodiment of the present invention, preferably, the main body portion is configured as a tightly wound helical cylindrical spring, and the bottom portion is configured as a conical spring, a flat spiral spring, or a helical cylindrical spring.

[0055] As a specific embodiment of the present invention, preferably, the connecting device further includes a rubber sleeve. The connecting rod further has a groove portion between the rod portion and the spiral portion. The groove portion is provided with an annular groove, and the base has a plate-shaped main body and a convex platform integrally protruding upward from the plate-shaped main body. The outer side wall of the convex platform is provided with a groove. Wherein, the bottom end of the rubber sleeve is connected to the groove of the convex platform, and the top end of the rubber sleeve is connected to the annular groove of the connecting rod.

[0056] As a specific embodiment of the present invention, preferably, the connecting device further includes a rubber sleeve. The top end of the rubber sleeve is fixedly connected to the connecting rod, the bottom end of the rubber sleeve is fixedly connected to the first end of the base, and the rubber sleeve at least surrounds the part of the elastic member extending above the base.

[0057] As a specific embodiment of the present invention, preferably, the connecting device is further provided with a connecting sleeve, the connecting sleeve is connected to the housing, and the first end of the connecting rod is movably connected to the connecting sleeve.

[0058] As a specific embodiment of the present invention, preferably, one of the outer wall of the connecting sleeve and the housing is provided with a groove, and the other is provided with a protruding portion that cooperates with the groove. The connecting sleeve and the housing are connected to each other through the cooperation of the groove and the protruding portion.

[0059] As a specific embodiment of the present invention, preferably, the outer shell is provided with a mounting hole, and the mounting hole is composed of two circular holes with different diameters that communicate with each other and intersect, wherein the connecting sleeve is installed in the circular hole with a smaller diameter.

[0060] As a specific embodiment of the present invention, preferably, the base is provided with a hook, the chassis is provided with a slot, and the base is fixed to the chassis by the cooperation of the hook and the slot.

[0061] As a specific embodiment of the present invention, preferably, the base has a plate-shaped main body, elastic arms extend from opposite sides of the plate-shaped main body respectively, and the hooks are provided at the ends of the elastic arms.

[0062] As a specific embodiment of the present invention, preferably, the base has a plate-shaped main body, the chassis is provided with a receiving cavity, the receiving cavity has an open end, and the plate-shaped main body covers the open end. Description of the Drawings

[0063] Figure 1 is a schematic diagram of an autonomous operation device according to an embodiment of the present invention.

[0064] Figure 2 is an exploded schematic diagram of an autonomous operation device according to an embodiment of the present invention.

[0065] Figure 3 is an exploded schematic diagram of a connecting device between the outer shell and the chassis of an autonomous operation device according to an embodiment of the present invention.

[0066] Figure 4 is a bottom view of an autonomous operation device according to an embodiment of the present invention.

[0067] Figure 5 is along Figure 4 a partial cross-sectional view taken along the section line A-A in

[0068] Figure 6 is Figure 1 an exploded schematic diagram of a part of the outer shell of the autonomous operation device, showing the connection structure between the connecting sleeve and the outer shell.

[0069] Figure 7 is a top view of a connecting sleeve according to an embodiment of the present invention.

[0070] Figure 8 is along Figure 7 a cross-sectional view taken along the section line C-C in

[0071] Figure 9 is a schematic diagram of a part of a chassis according to an embodiment of the present invention, showing the structure of the chassis connecting part.

[0072] Figure 10 Exploded view of the connection device between the cover and the chassis of the autonomous operation device according to another embodiment of the present invention.

[0073] Figure 11 is Figure 10 Schematic diagram of the spring in

[0074] Figure 12 Partial cross-sectional view of the autonomous operation device according to another embodiment of the present invention, with the section line position the same as the Figure 4 section line A-A in

[0075] Figure 13 Partial cross-sectional view of the autonomous operation device according to still another embodiment of the present invention.

[0076] Figure 14 Partial cross-sectional view of the autonomous operation device according to yet another embodiment of the present invention.

[0077] Figure 15 Partial cross-sectional view of the autonomous operation device according to another embodiment of the present invention.

[0078] Figure 16 Schematic diagram of the autonomous operation system according to an embodiment of the present invention.

[0079] Figure 17 Partial cross-sectional view of the autonomous operation device according to an embodiment of the present invention.

[0080] Figure 18 Partial schematic diagram of the connection device of the autonomous operation device according to an embodiment of the present invention. Detailed implementation manners

[0081] The present invention will be described in detail below in conjunction with the specific implementation manners shown in the drawings. However, these implementation manners do not limit the present invention, and any structural, method, or functional transformation made by those of ordinary skill in the art based on these implementation manners is included within the protection scope of the present invention.

[0082] It should be understood that in the description of the specific implementation manners of the present invention, terms such as "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the number of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0083] In the specific embodiments of the present invention, unless otherwise clearly specified or limited, terms such as "connected" and "coupled" shall be understood in a broad sense. For example, it may be a fixed connection, a movable connection, a detachable connection, or integrated; it may be directly connected, or indirectly connected through an intermediate medium; it may be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0084] In the specific embodiments of the present invention, unless otherwise clearly specified or limited, the first feature being "on" or "under" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features therebetween.

[0085] In the specific embodiments of the present invention, unless otherwise clearly specified or limited, the term "plurality" means two or more.

[0086] Reference Figure 16 , this embodiment provides an autonomous operation system 1, including an autonomous operation device 100, a docking station 900, and a boundary 800.

[0087] The autonomous operation device 100 is especially a robot that can autonomously move within a preset area and perform specific operations, such as a smart sweeper / vacuum cleaner for cleaning operations, or a smart lawn mower for mowing operations. Among them, the specific operation especially refers to an operation of processing a working surface and changing the state of the working surface. The present invention will be described in detail taking a smart lawn mower as an example. The autonomous operation device 100 can autonomously walk on the surface of the working area. Especially as a smart lawn mower, it can autonomously perform mowing operations on the ground. The autonomous operation device 100 at least includes a main body mechanism, a moving mechanism, a working mechanism, an energy module, a detection module, an interaction module, a control module, etc.

[0088] The main body mechanism generally includes a chassis 20 and a housing 10. The chassis 20 is used to install and accommodate functional mechanisms and functional modules such as a moving mechanism, a working mechanism, an energy module, a detection module, an interaction module, and a control module. The housing 10 is generally configured to at least partially cover the chassis 20, mainly playing a role in enhancing the aesthetics and recognition of the autonomous operation device 100. In this embodiment, the housing 10 is configured to be translatable and / or rotatable relative to the chassis 20 in a resetable manner under an external force. Cooperating with an appropriate detection module, such as a Hall sensor by way of example, it can further play a role in sensing events such as collision and lifting.

[0089] The moving mechanism is configured to support the main body mechanism on the ground and drive the main body mechanism to move on the ground, and generally includes a wheeled moving mechanism, a crawler or semi-crawler moving mechanism, a walking moving mechanism, etc. In this embodiment, the moving mechanism is a wheeled moving mechanism, including at least one driving wheel 2001 and at least one walking prime mover. The walking prime mover is preferably an electric motor, and in other embodiments, it can also be an internal combustion engine or a machine that generates power using other types of energy. In this embodiment, preferably, a left driving wheel, a left walking prime mover for driving the left driving wheel, a right driving wheel, and a right walking prime mover for driving the right driving wheel are provided. In this embodiment, the straight-line travel of the autonomous operation device is achieved by the same-speed rotation of the left and right driving wheels in the same direction, and the steering travel is achieved by the differential speed or opposite rotation of the left and right driving wheels in the same direction. In other embodiments, the moving mechanism may further include a steering mechanism independent of the driving wheel and a steering prime mover independent of the walking prime mover. In this embodiment, the moving mechanism further includes at least one driven wheel 2002, and the driven wheel 2002 is typically configured as a universal wheel. The driving wheel 2001 and the driven wheel 2002 are respectively located at the front and rear ends of the autonomous operation device.

[0090] The working mechanism is configured to perform specific operation tasks, including a working member and a working prime mover for driving the working member to operate. Exemplarily, for an intelligent sweeper / vacuum cleaner, the working member includes a rolling brush, a suction pipe, a dust collection chamber, etc.; for an intelligent lawn mower, the working member includes a cutting blade or a cutting cutter head, and further includes other components such as a height adjustment mechanism for adjusting the mowing height to optimize or adjust the mowing effect. The working prime mover is preferably an electric motor, and in other embodiments, it can also be an internal combustion engine or a machine that generates power using other types of energy. In some other embodiments, the working prime mover and the walking prime mover 110 are configured as the same prime mover.

[0091] The energy module is configured to provide energy for various operations of the autonomous operation device 100. In this embodiment, the energy module includes a battery and a charging connection structure, wherein the battery is preferably a rechargeable battery, and the charging connection structure is preferably a charging electrode that can be exposed outside the autonomous operation device.

[0092] The detection module is configured as at least one sensor for sensing environmental parameters of the autonomous operation device 100 or its own working parameters. Typically, the detection module may include sensors related to the definition of the working area, such as various types including magnetic induction type, collision type, ultrasonic type, infrared type, radio type, etc., and the type of the sensor is adapted to the position and quantity of the corresponding signal generating device. The detection module may also include sensors related to positioning and navigation, such as a GPS positioning device, a laser positioning device, an electronic compass, an acceleration sensor, an odometer, an angle sensor, a geomagnetic sensor, etc. The detection module may also include sensors related to its own working safety, such as an obstacle sensor, a lifting sensor, a battery pack temperature sensor, etc. The detection module may also include sensors related to the external environment, such as an environmental temperature sensor, an environmental humidity sensor, a light sensor, a rain sensor, etc.

[0093] The interaction module is configured to at least receive control instruction information input by the user, send out information that needs to be sensed by the user, communicate with other systems or devices to send and receive information, etc. In this embodiment, the interaction module includes an input device provided on the autonomous operation device 100 for receiving control instruction information input by the user, typically such as a control panel, an emergency stop button, etc.; the interaction module also includes a display screen, an indicator light and / or a buzzer provided on the autonomous operation device 100, and the user senses the information by emitting light or sound. In other implementation manners, the interaction module includes a communication module provided on the autonomous operation device 100 and a terminal device independent of the autonomous operation device 100, such as a mobile phone, a computer, a network server, etc., and the user's control instruction information or other information can be input on the terminal device and reach the autonomous operation device 100 via a wired or wireless communication module.

[0094] The control module generally includes at least one processor and at least one non-volatile memory, and a computer program or instruction set is pre-written in the memory, and the processor controls the execution of actions such as the movement and work of the autonomous operation device 100 according to the computer program or instruction set. Further, the control module can also control and adjust the corresponding behaviors of the autonomous operation device 100 and modify the parameters in the memory according to the signals of the detection module and / or the user control instructions.

[0095] The boundary 800 is used to limit the working area of the robot system, and generally includes an outer boundary 8001 and an inner boundary 8002. The autonomous operation device 100 is limited to move and work within the outer boundary 8001, outside the inner boundary 8002, or between the outer boundary 8001 and the inner boundary 8002. The boundary can be physical, typically such as a wall, a fence, a railing, etc.; the boundary can also be virtual, typically such as a virtual boundary signal emitted by a boundary signal generating device, the virtual boundary signal is generally an electromagnetic signal or an optical signal, or for the autonomous operation device 100 provided with a positioning device (such as GPS, etc.), a virtual boundary set in an electronic map exemplarily formed by two-dimensional or three-dimensional coordinates. In this embodiment, the boundary 800 is constructed as a closed energized wire electrically connected to the boundary signal generating device, and the boundary signal generating device is generally arranged in the docking station 900.

[0096] The docking station 900 is usually constructed on or within the boundary 800 for the autonomous working device 100 to dock, and in particular can supply energy to the autonomous working device 100 docked at the docking station.

[0097] In a specific embodiment of the present invention, Figures 1 - 2 As shown, the autonomous operation equipment 100 includes a main body mechanism, the main body mechanism includes a first main body part and a second main body part, and the first main body part is movably connected to the second main body part. In this embodiment, the first main body part is configured as a shell 10, and the second main body part is configured as a chassis 20. In other embodiments, the first main body part is configured as a chassis 20, and the second main body part is configured as a shell 10. In this embodiment, the chassis 20 and the shell 10 movably connected to the chassis 20. The shell 10 is movably connected to the chassis 20 through a connecting device 30, so that the cover body can move relative to the chassis, such as displacement. The chassis 20 is provided with a motion detection device, which is particularly suitable for detecting the displacement of the cover body, so that when the shell 10 moves relative to the chassis 20, such as displacement, the movement is detected, and the relevant signal is transmitted to the control module, so that when the lawn mower is, for example, hit or manually lifted, the control module can make a corresponding response to control the action of the autonomous operation equipment, such as stopping work or retreating. In one embodiment, the motion detection device includes a permanent magnet (not shown) and a magnetic sensing element (usually a Hall element, not shown) respectively arranged at corresponding positions of the housing 10 and the chassis 20. When a collision occurs, the housing 10 leaves the initial position, and the magnetic sensing element arranged on the chassis 20 senses the change in the position of the permanent magnet arranged on the housing 10, that is, outputs a signal representing the collision event to the control module, thereby controlling the action of the autonomous operating equipment. The above-mentioned motion detection device and control module are common technical means in this field, which can adopt known existing technologies or technologies to be developed, and will not be described in detail here.

[0098] As Figure 3 ~ shown in FIG. 5, in this embodiment, the connecting device 30 includes a connecting sleeve 301, a first fitting 302, a spring 303 and a second fitting 304. The connecting sleeve 301 is detachably connected to the housing 10. The first fitting 302 is generally configured as a rod, and its first end is movably connected to the connecting sleeve 301. In the embodiment shown in the figure, the first end of the first fitting 302 is the upper end of the first fitting 302. The first fitting 302 is also movably mounted on the chassis 20. The second fitting 304 is fixedly connected to the chassis 20 and is located below the first fitting 302. The spring 303 is installed between the first fitting 302 and the second fitting 304, that is, the spring 303 is clamped and fixed by the first fitting 302 and the second fitting 304. The spring 303 is used to drive the housing 10 to reset relative to the chassis 20 after a collision. Through this connecting device 30, when the housing 10 is impacted or lifted manually, the housing 10 can displace and / or rotate relative to the chassis 20 in the horizontal direction and / or the vertical direction. Specifically, the first fitting 302 can rotate relative to the connecting sleeve 301, and thus rotate relative to the housing 10. The first fitting 302 can also rotate relative to the chassis 20. Thus, the housing 10 can rotate relative to the chassis 20. Further, the first fitting 302 can also move up and down in the vertical direction relative to the chassis 20, so that the housing 10 can move up and down in the vertical direction relative to the chassis 20.

[0099] Specifically, referring to FIGS. 5~ Figure 8 , the connecting sleeve 301 is generally cylindrical. The outer peripheral wall of the connecting sleeve 301 is provided with an annular groove 3011. The inside of the connecting sleeve 301 has a hollow space. The hollow space includes a receiving portion 3012 and an opening portion 3013 that opens downward from top to bottom. The receiving portion 3012 and the opening portion 3013 communicate with each other and there is a necking portion 3014 therebetween. The receiving portion 3012 is a generally spherical hollow space. The opening portion 3013 is a conical hollow space. The size (diameter) of the necking portion 3014 is narrowed relative to the receiving portion 3012 and narrowed relative to the opening portion 3013. Thus, the head of the first fitting 302 can sequentially pass through the opening portion 3013 and the necking portion 3014 and be rotatably received in the receiving portion 3012, so that the first fitting 302 is rotatably connected to the connecting sleeve 301. The conical space of the opening portion 3013 allows the first fitting to swing within this space. The top of the connecting sleeve may also be provided with a vent hole 3015.

[0100] As shown in FIGS. 5 to 6, mounting holes 101 are provided on the outer shell 10. The mounting holes 101 are composed of two circular holes with different diameters that communicate with each other and intersect. The large circular hole 1011 with a larger diameter is slightly larger than the outer diameter of the non-grooved portion of the connecting sleeve 301, and the small circular hole 1012 with a smaller diameter is smaller than the outer diameter of the non-grooved portion of the connecting sleeve and slightly larger than the outer diameter of the grooved portion. Thus, during assembly, the connecting sleeve 301 first enters the large circular hole 1011 along the axial direction, and then the connecting sleeve 301 moves radially towards the small circular hole 1012, so that the annular groove 3011 thereon is snapped onto the protrusion 102 on the outer shell 10, thereby completing the installation of the connecting sleeve 301. Preferably, the connecting sleeve 301 is made of an elastic material such as a rubber material. It should be understood that the connecting sleeve 301 can also be made of other materials with a certain elasticity, such as plastic materials.

[0101] In other embodiments, a groove may also be provided on the outer shell, and a ring-shaped protrusion may be provided on the outer wall of the connecting sleeve, and the connecting sleeve is installed on the cover body through the cooperation of the ring-shaped protrusion and the groove. The connecting sleeve 301 can also be installed on the cover body by other means. For example, the connecting sleeve is provided with a snap structure and is installed on the outer shell 10 by means of snapping. In another embodiment, the connecting sleeve may not be provided separately, but a structure similar to the receiving portion, the opening portion, and the necking portion on the connecting sleeve 301 is integrally formed on the cover body.

[0102] As Figure 3As shown in FIGS. 4 and 5, the first fitting 302 successively has a head 3021, a rod portion 3022, and a shoulder 3023 from top to bottom. The head 3021 is provided at the top end of the first fitting 302 and is spherical. The rod portion 3022 is rod-shaped, and its cross-section is preferably circular. The diameter of the head 3021 is greater than the diameter of the rod portion 3022. There is a neck 3024 between the head 3021 and the rod portion 3022. The neck 3024 is narrowed relative to the rod portion, that is, the diameter of the neck 3024 is smaller than the diameter of the rod portion. The shoulder 3023 extends radially outward along the outer wall of the rod portion 3022 and is formed into a substantially circular ring shape. Preferably, the upper surface of the shoulder 3023 is configured as at least a part of a spherical surface. The lower surface of the shoulder 3023 is recessed to facilitate receiving the spring 303. A spring connection portion 3025 extends from the lower surface of the shoulder 3023, and it is used to mount the first end of the spring 303. In the illustrated embodiment, the first end of the spring 303 is the upper end of the spring 303, and the second end of the spring 303 is the lower end of the spring 303. In this embodiment, the spring connection portion 3025 is located at the lower end of the first fitting below the shoulder, that is, at the second end of the first fitting, specifically, an installation post integrally extending from the lower surface of the shoulder 3023. It should be understood that the spring connection portion 3025 can also adopt other structures as long as it can be connected to one end of the spring 303. The spring 303 can also be replaced by other elastic members as long as it can drive the housing 10 to reset relative to the chassis 20 after a collision.

[0103] As Figure 2 shown in FIGS. 4 and Figure 9 5, a plurality of chassis connection portions 204 are provided on the chassis 20. The chassis connection portions 204 are located at the outer edge of the chassis. Each chassis connection portion 204 has a mounting wall 2041 integrally formed on the chassis 20. A through hole 2042 for the first fitting 302 to pass through is provided in the middle of the mounting wall 2041. The lower surface of the mounting wall 2041 is configured as at least a part of a spherical surface, and it is adapted to the upper surface of the shoulder 3023 of the first fitting 302, so that when the cover body is displaced, the upper surface of the shoulder can move relative to the lower surface of the mounting wall 2041 in contact. A receiving cavity 2043 is provided below the mounting wall 2041 for receiving the spring 303. Card slots 2044 are provided on both sides of the receiving cavity 2043, and their structures are adapted to the hooks on the second fitting 304, so as to fix the second fitting 304 to the chassis 20 and position the spring 303 in the receiving cavity 2043.

[0104] See Figure 3With reference to FIGS. 5 and 6, the second mating member 304 has a plate-shaped main body 3041. The shape of the plate-shaped main body 3041 is set to match the shape of the open end of the receiving cavity 2043 so as to cover the open end of the receiving cavity after assembly. In this embodiment, the open end is the lower end of the receiving cavity. A protruding stud 3042 is provided in the middle of the upper surface of the plate-shaped main body 3041. Elastic arms 3043 extend upward from opposite sides of the upper surface of the plate-shaped main body 3041 respectively, and hooks 3044 are provided at the ends of the elastic arms 3043. The hooks 3044 and the card slots 2044 of the chassis together form a snap structure to snap the second mating member 304 onto the chassis 20. A reinforcing rib 3045 is connected between the elastic arm 3043 and the plate-shaped main body 3041. In other embodiments, the second mating member 304 can also be connected to the chassis 20 in other forms. For example, the second mating member 304 can be connected to the chassis 20 by screws, rivets, adhesives, hot melt welding, etc.

[0105] As shown in FIG. 6, the upper end of the spring 303 is connected to the spring connection portion 3025 of the first fitting 302, and the lower end is integrally formed with the second fitting 304. In this way, during the assembly of the whole machine, the spring and the second fitting can be used as a single integral part, reducing the assembly process of the whole machine and lowering the cost. Moreover, this non-detachable connection method has better stability. Specifically, in this embodiment, the spring connection portion 3025 has a spiral groove adapted to the spring 303, and the spring 303 is fixedly connected to the spring connection portion 3025 through the spiral groove. In this embodiment, the lower end of the spring 303 is configured to be non-detachably connected to the second fitting 304. Here, the non-detachable connection typically means non-detachable without damaging the structure of the second fitting 304 and / or the spring 303 itself. In this embodiment, the spring 303 is made of metal, and the second fitting 304 is made of plastic. The lower end of the spring 303 is injection-molded into the boss 3042, so that the spring 303 and the second fitting 304 present an integrally formed structure. In other embodiments, the lower end of the spring 303 is in interference connection with at least a part of the second fitting 304. Specifically, the inner diameter of the spring 303 is slightly smaller than that of the boss 3042, and the spring 303 can be interference-fitted around the outer circumference of the boss 3042; alternatively, the boss 3042 is configured as a ring, the outer diameter of the spring 303 is slightly smaller than the inner diameter of the boss 3042, and the boss 3042 can be interference-fitted around the outer circumference of the spring 303. The interference is at least sufficient to ensure that the spring 303 and the second fitting 304 will not separate when subjected to a separation force not less than the weight of the autonomous operation device; preferably, the interference is sufficient to ensure that the spring 303 and the second fitting 304 will not separate when the applied separation force is not sufficient to damage the second fitting 304 and / or the spring 303. In other embodiments, the lower end of the spring 303 is connected to the second fitting 304 by an adhesive, and at least can ensure that the adhesive structure will not be damaged when subjected to a separation force not less than the weight of the autonomous operation device. In this embodiment, the housing 10 and the chassis 20 are interconnected by 4 connecting devices 30. It should be understood that other numbers of connecting devices 30 can be used to interconnect the housing 10 and the chassis 20 as needed, such as 3, 5 or more.

[0106] The steps of assembling the housing 10 and the chassis 20 using the above-mentioned connecting device 30 are as follows: S1. Install the connecting sleeve 301 on the housing 10, and connect the spring 303 with the first fitting 302; S2. Insert the head 3021 of each first fitting upward from below into the chassis connecting portion 204 and pass through the through hole 2042 of the mounting wall until the shoulder 3023 of the first fitting 302 abuts against the lower surface of the mounting wall of the chassis connecting portion 204, and the hook 3044 of the second fitting is snapped into the slot 2044 of the chassis; S3. Place the housing 10 above the chassis 20, align the connecting sleeve 301 with the head 3021 of the first fitting and press downward to make the head 3021 enter the receiving portion 3012, thus completing the assembly.

[0107] In the above structure and installation process, the second fitting 304 and the spring 303 are integrally formed, and the spring 303 and the first fitting 302 are fixedly connected through a spiral groove, so that the second fitting 304, the spring 303 and the first fitting 302 can be quickly assembled, and both ends of the spring 303 are firmly connected to the second fitting 304 and the first fitting 302 respectively, which can significantly improve the assembly efficiency of the connecting device, and the structure is relatively simple, so it runs more reliably and has lower cost.

[0108] After the assembly is completed, the head 4021 of the first fitting can rotate relative to the connecting sleeve 301, and the first fitting 402 can move up and down or rotate against the elastic force of the spring. Thus, the first fitting 402 can rotate and / or move up and down, left and right relative to the chassis. Thus, when the autonomous operation device is working, when an abnormal situation occurs to the housing 10, such as hitting a foreign object or being lifted manually, the housing 10 can move relative to the chassis 20, such as translating and / or rotating, so as to trigger the control module to perform corresponding actions to control the autonomous operation device to stop working and / or retreat. Further, after the abnormal situation is eliminated, through the reset action of the spring 403, the autonomous operation device can return to the normal working state.

[0109] As a variation and improvement of the foregoing embodiment, Figure 17 An autonomous operation device 100 showing another specific embodiment of the present invention is shown. The technical solution of this embodiment is similar to the technical solution shown in FIG. 5, the difference being that the first end of the spring 303 and the lower end of the first fitting 302 are non-detachably connected, preferably integrally injection molded. The same parts of the technical solution of this embodiment and the technical solution shown in FIG. 5 will not be described in detail. Adopting the technical solution in this embodiment can further simplify the structure, improve the assembly efficiency, increase the reliability and reduce the cost.

[0110] Figures 10 - 12 An autonomous operation device 100 showing another specific embodiment of the present invention is shown. This embodiment is the same as Figures 1 - 9The main differences of the illustrated embodiment lie in the structure of the connecting device and the corresponding structures of the housing and the chassis. Therefore, for the sake of simplicity, the connecting device 30 and related structures of this embodiment will be mainly described herein, and other structures will not be described in detail.

[0111] As Figure 10 and Figure 12 shown, the connecting device 30 includes a connecting sleeve 301, a first fitting 402, a spring 403, a second fitting 404, and a rubber sleeve 405. The connecting sleeve 301 is detachably connected to the housing 10. The first end of the first fitting 402 is movably connected to the connecting sleeve 301. The first fitting 402 is also movably mounted on the chassis 20 through the spring 403. The second fitting 404 is fixedly connected to the chassis 20 and is provided with a through hole 4044. The first end of the spring 403 passes through the through hole 4044 from bottom to top and is connected to the second end of the first fitting 402. In the illustrated embodiment, the first end of the first fitting 402 is the upper end of the first fitting 402, and the second end of the first fitting 402 is the lower end of the first fitting 402. The second end of the spring abuts against the lower end of the second fitting 404. In the illustrated embodiment, the first end of the spring 403 is the upper end of the spring 403, and the second end of the spring 403 is the lower end of the spring 403. The spring 403 is used to drive the housing 10 to reset relative to the chassis 20 after a collision. The lower end of the rubber sleeve 405 is connected to the upper end of the second fitting 404, and the upper end is connected to the first fitting 402. The rubber sleeve at least surrounds the portion of the spring 403 extending above the second fitting 404. The rubber sleeve 405 mainly functions to prevent dust and foreign objects. It should be understood that the rubber sleeve can also be omitted.

[0112] Through this connecting device 30, when the housing 10 is impacted or lifted manually, the housing 10 can translate and / or rotate relative to the chassis 20 in the horizontal direction and / or the vertical direction. Specifically, the first fitting 402 can rotate relative to the connecting sleeve 301, and thus rotate relative to the housing 10. The first fitting 402 can also rotate relative to the chassis 20. Thereby, the housing 10 can translate and / or rotate relative to the chassis 20. Further, the first fitting 402 can also translate in the vertical direction relative to the chassis 20, so that the housing 10 can translate in the vertical direction relative to the chassis 20.

[0113] Specifically, the structures of the corresponding mounting holes 101 on the connecting sleeve 301 and the housing 10 are respectively Figures 1 - 9The structures and installation methods of the connecting sleeve 301 and the mounting hole 101 in the illustrated embodiment are the same, and will not be elaborated here. Similarly, in this embodiment, the connecting sleeve 301 is preferably made of rubber. The connecting sleeve 301 can also adopt different structures. For example, the connecting sleeve is provided with a snap structure and is installed on the housing 10 by a snap-fitting method. In another embodiment, the connecting sleeve may not be provided separately, but the structures similar to the receiving portion, the opening portion, and the necking portion on the above-mentioned connecting sleeve 301 are integrally formed on the cover body.

[0114] As Figure 10 and Figure 12 shown, the first fitting 402 successively has a head 4021, a rod portion 4022, a groove portion 4023, and a helical portion 4024 from top to bottom. The head 4021 is provided at the top end of the first fitting 402 and is spherical. The rod portion 4022 is rod-shaped, and its outer wall is provided with reinforcing ribs 4025. The groove portion 4023 is located at the lower end of the rod portion 4022 and has an annular groove 4026. The helical portion 4024 is located below the groove portion 4023 and is cylindrical. The helical portion 4024 is used for installing the spring 403. The outer wall of the helical portion 4024 is provided with a helical groove 4027. The top end of the helical portion 4024 is provided with a protrusion 4028 that radially protrudes from the outer wall of the helical portion. The protrusion 4028 is used to abut against the end face of the spring when the spring is tightened, ensuring that the tightening degree of each spring (different springs on the same machine, springs on different machines) is consistent. The inside of the helical portion 4024 is hollow and is provided with a recess 4029 that penetrates the outer wall of the helical portion. The recess 4029 is used for the outer diameter of the first fitting 402 to decrease when a force is applied. Specifically, when not under force, the outer diameter of the first fitting 402 is slightly larger than the inner diameter of the spring. When connecting, the outer diameter of the first fitting decreases under force, and the spring can be sleeved outside the first fitting and tightened. Due to the elasticity of the first fitting itself, the spring can be clamped to prevent loosening.

[0115] As Figure 4 and Figure 12 shown, a plurality of chassis connection portions 204 are provided on the chassis 20. The chassis connection portions 204 are located at the outer edge of the chassis. Each chassis connection portion 204 has a receiving cavity 2021 with an opening integrally formed in the chassis 20, which is a concave cavity. The middle of the receiving cavity 2021 has a convex column 2022. The lower end of the spring 403 is sleeved on the convex column 2022. Preferably, the spring 403 is in interference fit with the convex column 2022. The two sides of the receiving cavity 2021 are provided with clamping grooves 2023, which are configured to cooperate with the hooks on the second fitting 404, so as to fix the second fitting 404 to the chassis 20 and position the lower end of the spring 403 in the receiving cavity 2021, which will be further described below.

[0116] Continue to refer to Figure 10 and Figure 12, the second mating part 404 has a main body 4041 which is preferably configured in a plate shape. The shape of the main body 4041 is set to match the shape of the open end of the receiving cavity 2021 so as to cover the open end of the receiving cavity after assembly. In this embodiment, the open end is the upper end of the receiving cavity. A groove portion 4042 is provided in the middle of the upper surface of the main body 4041, which is a boss protruding integrally upward from the plate-shaped main body 4041. A groove 4043 is provided on the outer side wall of the boss for installing a rubber sleeve 405. A convex column 4045 also extends integrally from the middle of the lower surface of the main body 4041. During assembly, the bottom surface of the convex column 4045 presses against the bottom of the spring 403. A through hole 4044 is provided in the middle of the main body 4041 for the spring 403 to pass through. The through hole 4044 penetrates through the above-mentioned boss and the convex column 4045. On opposite sides of the lower surface of the main body 4041, a pair of elastic arms 4046 extend downward respectively, and hooks 4047 are provided at the ends of the elastic arms 4046. The hooks 4047 and the card slots 2023 on the chassis together form a snap structure to snap the second mating part onto the chassis.

[0117] The spring 403 is configured as a variable-diameter spring. In this embodiment, it includes a first spring part and a second spring part, wherein the outer diameter of the first spring part is smaller than the outer diameter of the second spring part. Usually, there is a threshold value. The maximum outer diameter of the first spring part is smaller than (or less than or equal to) this threshold value, and the minimum outer diameter of the second spring part is greater than or equal to (or greater than) this threshold value. As Figure 10As shown, the spring 403 is of an integral structure. The first part of the spring is configured as a main body portion 4031, and the second part of the spring is configured as a bottom portion 4032 located below the main body portion. The main body portion 4031 is configured as a helical cylindrical spring, preferably a closely wound helical cylindrical spring, and its inner diameter is adapted to the helical groove of the helical portion 4024 of the first fitting 402. The bottom portion 4032 is configured as a conical or planar scroll spring, or a helical cylindrical spring. In some embodiments, the bottom portion 4032 is configured as a lug protruding outward from the main body portion 4031, and preferably the lug is configured as at least two. In some embodiments, the lug can also be configured in the middle of the main body portion 4031. In the embodiments where lugs are provided, the spring 403 can be configured as a whole to have a constant inner diameter and outer diameter. The outer diameter of the main body portion 4031 of the spring 403 is not greater than the minimum inner diameter of the through hole 4044 of the second fitting 404, and preferably the outer diameter of the main body portion 4031 is less than the minimum inner diameter of the through hole 4044; while the minimum inner diameter of the through hole of the second fitting 404 is less than the outer diameter of the bottom portion of the spring 403. Thus, the upper end of the spring 403 can pass through the through hole 4044 of the second fitting 404 to be connected to the helical portion 4024 of the first fitting 402, and the lower end of the spring 403 is located below the through hole 4044 and abuts against the stud 4045 of the second fitting 404. In other embodiments, the spring can be made of other elastic materials (such as rubber), the upper end of the main body portion 4031 of the spring includes an internal thread, and the helical portion 4024 of the first fitting is provided with a mating external thread. In other embodiments, the main body portion and the bottom portion of the spring 403 can also be formed separately and then connected together by means such as welding. At this time, the bottom portion of the spring 403 can be, for example, a disc or a ring. In other embodiments, the main body portion and the bottom portion of the spring 403 can be configured as helical cylindrical springs with different outer diameters, wherein the outer diameter of the main body portion is less than the outer diameter of the bottom portion. The spring 403 can also be replaced by other elastic members as long as it can drive the cover body to reset relative to the chassis after a collision.

[0118] Continue to refer to Figure 10 , the rubber sleeve 405 is in a corrugated shape, and the diameter of its bottom end is larger than that of the rest of the part. The rubber sleeve 405 is sleeved outside the spring 403. The bottom end of the rubber sleeve 405 is connected to the groove 4043 of the boss of the second fitting 404, and its top end is connected to the groove 4026 of the groove portion 4023 of the first fitting 402. Thus, the rubber sleeve 405 can play a role in sealing and protecting the spring. In other embodiments, the rubber sleeve can also be cancelled.

[0119] In this embodiment, the housing 10 and the chassis 20 are interconnected by 4 connecting devices 30. It should be understood that other numbers of connecting devices 30 can be used to interconnect the housing 10 and the chassis 20 as needed, such as 3, 5 or more.

[0120] The steps of assembling the housing 10 and the chassis 20 using the above-mentioned connecting device 30 are as follows: S1. Install the connecting sleeve 301 on the housing 10, and pass the main body portion 4031 of the spring through the through hole 4044 of the second fitting 404 from below the second fitting, so that the upper surface of the bottom 4032 of the spring abuts against the bottom surface of the convex column 4045 of the second fitting; at this time, since the second fitting 404 is not yet assembled with the chassis connecting portion 204, although the through hole 4044 restricts the spring from moving radially, it can move downward along the axial direction to disengage from the second fitting 404; S2. Snap the second fitting 404 downward into the card slot 2023 of the chassis, and put the rubber sleeve 405 on the main body portion 4031 of the spring, so that the lower end of the rubber sleeve 405 is connected to the groove 4043 at the upper end of the second fitting; S3. Mate and tighten the spiral portion 4024 of the first fitting with the upper end of the main body portion 4031 of the spring, and make the upper end of the rubber sleeve 405 connected to the groove 4026 of the first fitting; S4. Place the housing 10 above the chassis 20, align the connecting sleeve 301 with the head 4021 of the first fitting and press downward, so that the head 4021 enters the receiving portion 3012, thus completing the assembly.

[0121] After the chassis and the connecting member are assembled, the bottom 4032 of the spring is at least partially clamped between the second fitting 404 and the chassis connecting portion 201, and at this time, both the upper and lower ends of the spring 403 are fastened. During the above installation process, there are no fasteners such as screws in the connection between the second fitting 404, the first fitting 402 and the spring 403, the assembly is convenient, and no tools are required during assembly. In addition, due to the relatively simple structure of the connecting device, the operation is more reliable and the cost is lower.

[0122] After the assembly is completed, the head 4021 of the first fitting can rotate relative to the connecting sleeve 301 and the first fitting 402 can move up and down or rotate against the elastic force of the spring. Thus, the first fitting 402 can rotate and / or move up, down, left and right relative to the chassis. Thus, it is allowed that during the working process of the autonomous operation device, when an abnormal situation occurs to the housing 10, such as when hitting a foreign object or being lifted manually, the housing 10 moves relative to the chassis 20, such as translating and / or rotating, thereby triggering the control module to perform corresponding actions to control the autonomous operation device to stop working and / or retreat. Further, after the abnormal situation is eliminated, through the reset action of the spring 403, the autonomous operation device can return to the state where it can work normally.

[0123] Figure 13 The partial structure of the connecting device of the autonomous operation device 100 showing another specific embodiment of the present invention specifically shows the third connection structure. For the sake of simplicity, only the differences from Figures 10 - 12 the above-mentioned embodiment are schematically shown here, and other identical or similar structures will not be described in detail.

[0124] Reference Figure 13 , in this embodiment, the chassis connecting portion 204 is configured to be located at the outer edge of the chassis 20 and has a receiving cavity 2021 integrally formed in the chassis 20, which is a concave cavity. The receiving cavity 2021 has an open end located at the lower end of the receiving cavity 2021. The receiving cavity 2021 also has a through hole 2051 located at the upper end of the receiving cavity 2021. The connecting device 30 includes a connecting sleeve (not shown), a first fitting (not shown), a spring 403, and a second fitting 404. The structures of the connecting sleeve and the first fitting are the same as those in the embodiments described above and will not be elaborated here. The second fitting 404 has a main body 4041. The main body 4041 is generally configured as a plate shape. The shape of the main body 4041 is configured to match the shape of the open section of the receiving cavity 2021 to cover the open end of the receiving cavity 2021 after assembly. A convex column 4045 extends from the middle of the upper surface of the main body 4041. The convex column 4045 is configured such that when the second fitting 404 is assembled on the chassis connecting portion 204, the convex column 4045 is coaxial with the through hole 2051, and the outer diameter of the convex column 4045 is greater than the inner diameter of the through hole 2051. On the lower surface of the main body 4041, a pair of elastic arms 4046 extend upward on opposite sides respectively, and hooks 4047 are provided at the ends of the elastic arms 4046. The hooks 4047 and the card slots 2023 of the chassis together form a snap structure to snap the second fitting 404 onto the chassis 20. In other embodiments, the second fitting 404 and the chassis can also be connected by other means, such as by screws, rivets, adhesives, welding, etc.

[0125] The spring 403 is configured to include a first spring portion and a second spring portion, wherein the first spring portion is configured as a helical cylindrical spring with a smaller outer diameter, and the second spring portion is configured as a helical cylindrical spring with a larger outer diameter. The first spring portion and the second spring portion are configured to be integrally formed coaxially. The outer diameter of the first spring portion is not greater than the inner diameter of the through hole 2051, and preferably the outer diameter of the first spring portion is slightly smaller than the inner diameter of the through hole 2051. The inner diameter of the second spring portion is adapted to the outer diameter of the convex column 4045, and preferably the inner diameter of the second spring portion is slightly larger than or equal to or slightly smaller than the outer diameter of the convex column 4045. Thus, the upper end of the spring 403 can pass through the through hole 2051 of the chassis connecting portion 204 to be connected to the helical portion of the first fitting, while the lower end of the spring 403 is located below the through hole 2051 and abuts against the convex column 4045 of the second fitting 404. Typically, when the second fitting 404 is assembled on the chassis connecting portion 204, the clearance distance between the lower end surface of the through hole 2051 and the upper surface of the convex column 4045 is adapted to the wire diameter of the spring 403, so that at least a part of the second spring portion can be clamped and fixed between the chassis connecting portion 204 and the second fitting 404.

[0126] The steps of assembling the housing 10 and the chassis 20 using the above-mentioned connecting device 30 are as follows: S1. Install the connecting sleeve 301 on the housing 10, and pass the first part of the spring through the through hole 2051 from below the chassis connecting part 204, so that the upper surface of the second part of the spring abuts against the outer periphery of the lower end surface of the through hole 2051. At this time, since the second fitting 404 has not been assembled with the chassis connecting part 204, although the through hole 2051 restricts the spring 403 from moving radially, it can still move axially downward to disengage from the chassis connecting part 204; S2. Snap the second fitting 404 upward into the card slot 2023 of the chassis; S3. Mate and tighten the spiral part 4024 of the first fitting with the upper end of the first part of the spring; S4. Place the housing 10 above the chassis 20, align the connecting sleeve 301 with the head 4021 of the first fitting and press downward, so that the head 4021 enters the receiving part 3012, thus completing the assembly.

[0127] In other embodiments, step S1 above is to install the connecting sleeve 301 on the housing 10, and fit the second part of the spring with the convex column 4045 of the second fitting 404. At this time, since the second fitting 404 has not been assembled with the chassis connecting part 204, although the convex column 4045 restricts the spring 403 from moving radially, it can still move axially upward to disengage from the second fitting 404. In some embodiments, even if there is a slight interference between the spring 403 and the convex column 4045, non-destructive disassembly can obviously be achieved.

[0128] As a variation and improvement of the above embodiments, Figure 18 The partial structure of the connecting device 30 of the autonomous operation device in another specific embodiment is shown, specifically showing the third connection structure. The technical solution of this embodiment is the same as Figure 13The technical solutions shown are similar, except that the spring 403 includes a first elastic part and a second elastic part. The first part of the spring member is configured as a helical spring with a smaller outer diameter, and further has a constant outer diameter. Here, the term "constant" means constant within the engineering allowable error range, and is not limited to the absolute sense of constancy. The second elastic part is configured as a helical spring with a taper, and its outer diameter and / or inner diameter continuously increase in a direction away from the first part of the spring member, preferably continuously linearly increase. Further, the minimum outer diameter and / or minimum inner diameter of the second elastic part are greater than the outer diameter of the first part of the spring member. In other embodiments, the outer diameter and / or inner diameter of the second elastic part increase discontinuously in a direction away from the first part of the spring member. Correspondingly, the outer surface of the stud 4045 is configured to have a taper corresponding to the inner diameter of the second elastic part, so that the two can be adaptively sleeved, preferably the sleeve is an interference fit. Here, the interference especially refers to an interference connection with a small interference amount, which can achieve a certain degree of fixation and non-destructive disassembly. Further correspondingly, the chassis connection part 204 further includes a convex ring 2025, and the inner cavity of the convex ring 2025 is configured to have a taper corresponding to the outer diameter of the second elastic part, so that the two can be adaptively sleeved, preferably the sleeve is an interference fit. In this way, when the stud 4045 of the second fitting 404 is assembled with the chassis connection part 204, the second elastic part is clamped and fixed between the mating surfaces of the stud 4045 and the convex ring 2025. Since the mating surfaces have a taper, the clearance can be fully taken up to ensure the stability of the installation and fixation. In other embodiments, the stud 4045 can be configured on the chassis connection part 204, and the convex ring 2025 is correspondingly configured on the second fitting 404.

[0129] Figure 14 The partial structure of the connection device 30 of the autonomous operation device showing another specific embodiment of the present invention is specifically shown for the third connection structure. For the sake of simplicity, only the parts different from Figures 10 - 12 the said embodiment, or Figure 13 the said embodiment are schematically shown here, and other identical or similar structures will not be described in detail.

[0130] Refer to Figure 14 , in this embodiment, the spring 403 is configured to include a first spring part and a second spring part, wherein the outer diameter of the first spring part is smaller than the outer diameter of the second spring part. Specifically, the spring 403 is integrally constructed, the first spring part is configured as the main body part 4031, and the second spring part is configured as the bottom part 4032 located below the main body part. The main body part 4031 is configured as a helical cylindrical spring, preferably a closely wound helical cylindrical spring, and the bottom part 4032 is configured as a conical or planar scroll spring, or a helical cylindrical spring.

[0131] In this embodiment, the chassis connecting portion 204 is configured to be located at the outer edge of the chassis 20 and has a first receiving cavity 2061 integrally formed with the chassis 20. The first receiving cavity includes a first longitudinal portion 2061a and a first transverse portion 2061b of the receiving cavity. The second fitting 404 is configured to have a second receiving cavity 4061, and the second receiving cavity includes a second longitudinal portion 4061a and a second transverse portion 4061b of the receiving cavity. When the second fitting 404 is assembled with the chassis connecting portion 204, the first receiving cavity 2061 and the second receiving cavity 4061 together form a complete receiving cavity. Among them, the first longitudinal portion 2061a and the second longitudinal portion 4061a of the receiving cavity together form the longitudinal portion of the receiving cavity, and the first transverse portion 2061b and the second transverse portion 4061b of the receiving cavity together form the transverse portion of the receiving cavity. The longitudinal portion of the receiving cavity is configured to receive the main body portion 4031 of the spring. The minimum inner diameter of the longitudinal portion of the receiving cavity is not less than the maximum outer diameter of the main body portion 4031 and less than the maximum outer diameter of the bottom portion 4032. Preferably, the inner diameter of the longitudinal portion of the receiving cavity is equal to or slightly larger than the outer diameter of the main body portion 4031. The transverse portion of the receiving cavity is configured to receive the bottom portion 4032 of the spring. The minimum inner diameter of the transverse portion of the receiving cavity is not less than the maximum outer diameter of the bottom portion 4032 and larger than the inner diameter of the longitudinal portion of the receiving cavity. Preferably, the inner diameter of the transverse portion of the receiving cavity is equal to or slightly larger than the outer diameter of the bottom portion 4032. Preferably, the height of the transverse portion of the receiving cavity (i.e., the cavity dimension along the axis of the spring 403) is equal to or slightly larger than the maximum height of the bottom portion 4032 to stably fix the bottom portion 4032 of the spring in the transverse portion of the receiving cavity. In some embodiments, an interference fit exists between the first transverse portion 2061b and / or the second transverse portion 4061b of the receiving cavity and the bottom portion 4032 of the spring. Preferably, this interference fit is an interference fit with a small interference amount, which does not affect assembly and non-destructive disassembly. In this embodiment, the chassis connecting portion 204 and the second fitting 404 are connected by a hook and groove structure (similar to the embodiment described above). In other embodiments, the chassis connecting portion 204 and the second fitting 404 can also be connected by means such as screws, rivets, hot melt welding, adhesives, etc.

[0132] The steps of assembling the housing 10 and the chassis 20 using the above-mentioned connecting device 30 are as follows: S1. Install the connecting sleeve 301 on the housing 10, and insert the spring 403 into the first receiving cavity 2061 along its radial direction, so that at least a part of the first part of the spring is received in the longitudinal part of the first receiving cavity, and at least a part of the second part of the spring is received in the transverse part of the first receiving cavity. At this time, since the second fitting 404 is not yet assembled with the chassis connecting part 204, although the transverse part of the first receiving cavity restricts the spring 403 to a certain extent so that it cannot move axially, it can still move radially away from the chassis connecting part 204; S2. Snap the second fitting 404 into the card slot of the chassis along the radial direction of the spring 403; S3. Cooperate and tighten the spiral part 4024 of the first fitting with the upper end of the first part of the spring; S4. Place the housing 10 above the chassis 20, align the connecting sleeve 301 with the head 4021 and press down, so that the head 4021 enters the receiving part 3012, thus completing the assembly.

[0133] In other embodiments, step S1 above is to install the connecting sleeve 301 on the housing 10, and insert the spring 403 into the second receiving cavity 4061 along its radial direction, so that at least a part of the first part of the spring is received in the longitudinal part of the second receiving cavity, and at least a part of the second part of the spring is received in the transverse part of the second receiving cavity. At this time, since the second fitting 404 is not yet assembled with the chassis connecting part 204, although the transverse part of the second receiving cavity restricts the spring 403 to a certain extent so that it cannot move axially, it can still move radially away from the second fitting 404.

[0134] Figure 15 The partial structure of the connecting device of the autonomous operation device 100 showing another specific embodiment of the present invention is specifically shown the third connection structure. For the sake of simplicity, only the differences from Figures 10 - 12 the above-mentioned embodiment, or Figure 13 the above-mentioned embodiment, or Figure 14 the above-mentioned embodiment are shown, and other identical or similar structures will not be described in detail.

[0135] Refer to Figure 15 , in this embodiment, the spring 403 is configured to include a first part of the spring and a second part of the spring, wherein the outer diameter of the first part of the spring is smaller than the outer diameter of the second part of the spring. Specifically, the spring 403 is integrally constructed, the first part of the spring is configured as the main body part 4031, and the second part of the spring is configured as the bottom part 4032 located below the main body part. The main body part 4031 is configured as a helical cylindrical spring, preferably a close-wound helical cylindrical spring, and the bottom part 4032 is configured as a conical or planar scroll spring, or a helical cylindrical spring.

[0136] In this embodiment, the chassis connection portion 204 is configured to be located at the outer edge of the chassis 20 and has a receiving cavity 2021 integrally formed in the chassis 20, which is a concave cavity. The receiving cavity 2021 has an open end located at the lower end of the receiving cavity 2021. The receiving cavity 2021 also has a through hole 2051 located at the upper end of the receiving cavity 2021. The connecting device 30 includes a connecting sleeve (not shown), a first fitting (not shown), a spring 403, and a second fitting 404. The structures of the connecting sleeve and the first fitting are the same as those in the embodiments described above and will not be elaborated. The second fitting 404 is configured to at least include a first fitting component 4071 and a second fitting component 4072. When the first fitting component 4071 is fixedly connected to the second fitting component 4072, the bottom 4032 of the spring is fixed between the first fitting component 4071 and the second fitting component 4072, that is, the bottom 4032 is clamped by the first fitting component 4071 and the second fitting component 4072. Among them, the fixed connection between the first fitting component 4071 and the second fitting component 4072 can be achieved through the connection structure between the first fitting component 4071 and the second fitting component 4072. For example, the first fitting component 4071 and the first fitting component 4071 are connected by a hook and groove structure, screws, rivets, adhesives, fusion welding, etc. The fixed connection between the first fitting component 4071 and the second fitting component 4072 can also be achieved through the connection between the second fitting 404 as a whole and the chassis connection portion 204. In this case, if the second fitting 404 is not assembled with the chassis connection portion 204, then a stable connection is not formed between the first fitting component 4071 and the second fitting component 4072.

[0137] The first mating component 4071 is configured to have a first mating component body 4071a, and the first mating component body 4071a is configured with a first receiving cavity. The first receiving cavity includes a first receiving cavity longitudinal portion 4071b and a first receiving cavity transverse portion 4071c. The second mating component 4072 is configured to have a second mating component body 4072a, and the second mating component body 4072a is configured with a second receiving cavity. The second receiving cavity includes a second receiving cavity longitudinal portion 4072b and a second receiving cavity transverse portion 4072c. When the first mating component 4071 and the second mating component 4072 are combined (to form a stable connection or an unstable connection) together, the first receiving cavity and the second receiving cavity jointly form a complete receiving cavity, wherein the first receiving cavity longitudinal portion 4071b and the second receiving cavity longitudinal portion 4072b jointly form the receiving cavity longitudinal portion, and the first receiving cavity transverse portion 4071c and the second receiving cavity transverse portion 4072c jointly form the receiving cavity transverse portion. The receiving cavity longitudinal portion is configured to receive the main body portion 4031 of the spring. The minimum inner diameter of the receiving cavity longitudinal portion is not less than the maximum outer diameter of the main body portion 4031 and less than the maximum outer diameter of the bottom portion 4032. Preferably, the inner diameter of the receiving cavity longitudinal portion is equal to or slightly larger than the outer diameter of the main body portion 4031. The receiving cavity transverse portion is configured to receive the bottom portion 4032 of the spring. The minimum inner diameter of the receiving cavity transverse portion is not less than the maximum outer diameter of the bottom portion 4032 and larger than the inner diameter of the receiving cavity longitudinal portion. Preferably, the inner diameter of the receiving cavity transverse portion is equal to or slightly larger than the outer diameter of the bottom portion 4032. Preferably, the height of the receiving cavity transverse portion (i.e., the cavity dimension along the axial direction of the spring 403) is equal to or slightly larger than the maximum height of the bottom portion 4032 to stably fix the bottom portion 4032 of the spring within the receiving cavity transverse portion. In some embodiments, an interference fit exists between the first receiving cavity transverse portion 4071c and / or the second receiving cavity transverse portion 4072c and the bottom portion 4032 of the spring. Preferably, this interference fit is an interference fit with a small interference amount, which does not affect assembly and non-destructive disassembly. In the present embodiment, the assembly direction of the first mating component 4071 and the second mating component 4072 is along the radial direction of the spring 403. For those skilled in the art, under the teaching of the above-described embodiment, a technical solution in which the assembly direction of the first mating component 4071 and the second mating component 4072 is along the axial direction of the spring 403 can be easily obtained, achieving the same technical effect as the above-described embodiment.

[0138] When the first mating component 4071 and the second mating component 4072 are combined to form the complete second mating part 404, the main body of the second mating part 404 is plate-shaped, and the shape of the main body is configured to match the shape of the open section of the receiving cavity 2021, so as to cover the open end of the receiving cavity 2021 after the second mating part 404 is assembled with the chassis connection part 204. At least a pair of elastic arms 4046 extend upward from the lower surface of the main body on opposite sides respectively, and hooks 4047 are provided at the ends of the elastic arms 4046. The hooks 4047 and the card slots 2023 of the chassis together form a snap structure to snap the second mating part 404 onto the chassis 20. Preferably, at least one elastic arm 4046 is configured on the first mating component 4071, and at least one elastic arm 4046 is configured on the second mating component 4072. In other embodiments, the second mating part 404 and the chassis 20 can also be connected by other means, such as by screws, rivets, adhesives, welding, etc.

[0139] The steps of assembling the housing 10 and the chassis 20 using the above-mentioned connecting device 30 are as follows: S1. Install the connecting sleeve 301 on the housing 10, and insert the spring 403 in its radial direction into the first receiving cavity, so that at least a part of the first part of the spring is received in the longitudinal part of the first receiving cavity and at least a part of the second part of the spring is received in the transverse part of the first receiving cavity; S2. Combine the second mating component 4072 with the first mating component 4071 to form the complete second mating part 404; S3. Snap the second mating part 404 upward into the card slot 2023 of the chassis; S4. Cooperate and tighten the spiral part 4024 of the first mating part with the upper end of the first part of the spring; S4. Place the housing 10 above the chassis 20, align the connecting sleeve 301 with the head 4021 of the first mating part and press downward to make the head 4021 enter the receiving part 3012, thus completing the assembly. Adopting the technical solution described in this embodiment is beneficial to simplifying the installation process and reducing the production cost.

[0140] In the above embodiments and examples, the second connection structure can also be configured to be the same as the third connection structure in any one of the embodiments. Based on the detailed description of various third connection structures in the present invention, it is easy for those skilled in the art to make such changes, and for the sake of simplicity, no further detailed description will be given.

[0141] In the above-described embodiments and examples, the first connection structure may also be configured as a non-detachable connection, and the fourth connection structure may also be configured as a non-detachable connection. The non-detachable connection described herein particularly refers to a connection that cannot be disassembled without damaging the original structure. Typically, for example, hot melt welding connection, adhesive connection, etc. Even in some embodiments, the first connection structure and / or the fourth connection structure are configured as an integrally formed connection structure. By adopting this technical solution, the number of parts can be further reduced, which is beneficial to simplifying the installation process, reducing production costs, and improving the reliability of the product.

[0142] It should be understood that although this specification is described according to embodiments, not every embodiment only includes an independent technical solution. This narrative manner of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0143] The series of detailed descriptions listed above are only specific descriptions of the feasible embodiments of the present invention, and they are not intended to limit the protection scope of the present invention. Any equivalent embodiments or changes made without departing from the technical spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. An autonomous operation device, comprising a main body mechanism, the main body mechanism including a first main body part and a second main body part, the first main body part being configured to be connectable to the second main body part through a connecting device; characterized in that, The connecting device is configured to include a first fitting, an elastic member, and a second fitting; the first fitting is configured to be integrally formed with the first main body portion or connectable to the first main body portion through a first connection structure; the elastic member is configured such that its first end can be connected to the first fitting through a second connection structure, and its second end can be connected to the second fitting through a third connection structure; the second fitting is configured to be integrally formed with the second main body portion or connectable to the second main body portion through a fourth connection structure; the third connection structure is configured such that when it is in a connected state, the second end of the elastic member is fixed between the second main body portion and the second fitting; the elastic member is clamped and fixed by the first fitting and the second fitting; the elastic member includes a first elastic member portion and a second elastic member portion, and the outer diameter of the first elastic member portion is smaller than the outer diameter of the second elastic member portion; when the third connection structure is in a connected state, the second elastic member portion is fixed between the second main body portion and the second fitting; when the second fitting is connected to the second main body portion, at least a portion of the second elastic member portion is fixed between the second main body portion and the second fitting.

2. The autonomous operation device according to claim 1, characterized in that, The first main body portion is configured as a housing, and the second main body portion is configured as a chassis; or the first main body portion is configured as a chassis, and the second main body portion is configured as a housing; wherein, the housing is configured to be movably resettable relative to the chassis when an external force is applied thereto.

3. The autonomous operation device according to claim 1, characterized in that, The first elastic member portion is configured as a helical cylindrical spring; the second elastic member portion is configured as a conical spring, a flat spiral spring, a helical cylindrical spring, or includes a lug structure.

4. The autonomous operation device according to claim 1, characterized in that When the second fitting is separated from the second main body portion, the restriction on the axial movement of the elastic member is released; and / or when the second fitting is separated from the second main body portion, the restriction on the radial movement of the elastic member is released.

5. The autonomous operation device according to any one of claims 1 to 4, characterized in that, The second connection structure is configured such that when the first fitting is connected to the first main body portion, the first end of the elastic member is fixed between the first main body portion and the first fitting.

6. The autonomous operation device according to claim 5, characterized in that, The elastic member includes a first elastic member portion and a second elastic member portion, and the outer diameter of the first elastic member portion is smaller than the outer diameter of the second elastic member portion; the second elastic member portion is configured to be provided at both ends of the first elastic member portion; when the second connection structure is in a connected state, the two second elastic member portions are respectively fixed between the first main body portion and the first fitting, and between the second main body portion and the second fitting.

7. The autonomous operation device according to claim 5, wherein When the first fitting is separated from the first main body portion, the restriction on the axial movement of the elastic member is released; and / or when the first fitting is separated from the first main body portion, the restriction on the radial movement of the elastic member is released.

8. The autonomous operation device according to claim 1, characterized in that, The second connection structure includes a first helical groove formed on the first fitting and a second helical groove formed at the first end of the elastic member, and the first helical groove is adapted to the second helical groove.

9. The autonomous operation device according to claim 8, wherein, The first mating part sequentially includes a head, a rod part, and a spiral part from top to bottom, wherein the head is movably connected to the first main part, the rod part is rod-shaped, the spiral part is provided with a spiral groove, and the first end of the elastic part is engaged with the spiral groove so that the elastic part is connected to the first mating part.

10. The autonomous operation device according to claim 1, characterized in that, The first connection structure and / or the fourth connection structure is configured as a non-detachable connection; or the first connection structure and / or the fourth connection structure is configured as a detachable connection.

11. The autonomous operation device according to claim 1, characterized in that, The first connection structure includes a connection sleeve connected to the first main part and a head formed on the first mating part; the connection sleeve is detachably connected to the first main part; The head is configured as spherical, and the first mating part is movably connected to the connection sleeve through the head.

12. The autonomous operation device according to claim 1, characterized in that, The first connection structure and / or the fourth connection structure is configured as a hook-slot structure, a screw fixing structure, or a rivet fixing structure.

13. The autonomous operation device according to claim 1, characterized in that, The first connection structure includes an elastic arm formed on one of the first mating part and the first main part and a slot formed on the other of the first mating part and the first main part, the elastic arm includes a hook, and the hook is adapted to the slot; and / or the fourth connection structure includes an elastic arm formed on one of the second mating part and the second main part and a slot formed on the other of the second mating part and the second main part, the elastic arm includes a hook, and the hook is adapted to the slot.

14. The autonomous operation device according to claim 13, characterized in that, The second mating part has a main body, the main body is in a plate-like structure, the main body extends at least a pair of elastic arms, the ends of the elastic arms are provided with hooks, and the second main part is provided with a slot, wherein the hooks are snap-fitted with the slot, and a through hole is provided in the middle of the main body, the first end of the elastic part passes through the through hole and is connected to the first mating part, and the second end of the elastic part is connected to the second mating part.

Images