lawn mowing robot

Abstract

An embodiment of the present invention discloses a lawn mowing robot. In the embodiment of the present invention, the lawn mowing robot includes: a main body, a universal wheel assembly, and a sensing assembly. The wheel hub is connected to the shaft hole through a rotating shaft. When the wheel hub moves, muddy water will enter the interior of the chassis through the gap between the rotating shaft and the shaft hole. The rotating shaft and the shaft hole are sealed and connected, which can reduce the amount of muddy water entering the accommodating space from the above-mentioned gap. Furthermore, the chassis is sealed and connected to the fixed cover, thereby reducing the muddy water in the accommodating space from entering the main body. It can be understood that since the sensing element is arranged on the outside of the fixed cover, muddy water will basically not be contaminated by the sensing element, so that the sensing element remains clean and dry, thereby avoiding the occurrence of sensing element failure due to contamination.

Description

Technical Field

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

[0002] As an intelligent garden care equipment, the lawn mower robot has not only the basic mowing function but also the safety performance is particularly important.

[0003] When the mowing robot is lifted up manually or becomes suspended in the air due to terrain or other reasons, a command needs to be generated to immediately stop the operation of the driving wheels and blades to prevent accidents such as injury to people or damage to the robot.

[0004] Currently, products on the market generally use sensors as a means of detection. Since lawn mowing robots are used outdoors in a relatively harsh working environment, grass clippings generated by mowing and muddy water generated by rainy days often splash onto the sensor surface, causing the detection function to fail, posing certain safety hazards. Summary of the Invention

[0005] An embodiment of the present invention provides a lawn mowing robot that can prevent muddy water from splashing onto a sensor surface.

[0006] In order to solve the above technical problems, the present invention adopts a technical solution of providing a lawn mowing robot, comprising:

[0007] The body includes a chassis and a fixed cover, the chassis and the fixed cover are sealed together, the chassis is provided with an axial hole, the axial hole passes through the chassis, the fixed cover is provided with an accommodating space, the axial hole is communicated with the accommodating space;

[0008] A universal wheel assembly, comprising a rotating shaft and a wheel hub, wherein a first end of the rotating shaft passes through the shaft hole and is inserted into the accommodating space, the first end abuts against a top side wall of the accommodating space, the rotating shaft is sealed with a circumferential side wall of the shaft hole and can slide within the shaft hole, and a second end of the rotating shaft is inserted into the wheel hub; and

[0009] The sensing component includes a sensing part and a triggering part. The sensing part is arranged on the outside of the fixed cover, and the triggering part is arranged on one end of the rotating shaft that abuts the top side wall. The sensing part is used to sense the triggering part to obtain the relative position relationship between the rotating shaft and the main body.

[0010] In one embodiment, the universal wheel assembly further includes a bushing, which is sleeved on the rotating shaft and disposed in the shaft hole, and the rotating shaft is sealed and connected to the shaft hole through the bushing.

[0011] In one embodiment, a first connecting plate is provided on the chassis, and the first connecting plate is arranged along the circumference of the shaft hole. The fixed cover includes a connecting groove, and the connecting groove is arranged along the circumference of the rotating shaft. A sealing member is provided in the connecting groove, and the first connecting plate abuts against the sealing member.

[0012] In one embodiment, a second connecting plate is further provided on the chassis, and the second connecting plate is arranged along the circumference of the shaft hole. A limiting notch is provided on the fixed cover, and the limiting notch is arranged along the circumference of the rotating shaft. The second connecting plate is matched and connected with the limiting notch.

[0013] In one embodiment, the lawn mowing robot also includes a limiting component, which is sleeved on the rotating shaft. The accommodating space includes a first accommodating chamber and a second accommodating chamber that are interconnected. A first axial shoulder is provided between the first accommodating chamber and the second accommodating chamber. The limiting component is provided in the first accommodating chamber and abuts against the first axial shoulder.

[0014] In one embodiment, the limiting assembly includes a first retaining ring, a second retaining ring and a thrust bearing that are abutted in sequence, the first retaining ring and the second retaining ring are arranged at intervals along the axial direction of the rotating shaft, the thrust bearing is arranged between the first retaining ring and the second retaining ring, and the first retaining ring abuts against the first axial retaining shoulder.

[0015] In one embodiment, the lawn mowing robot also includes an elastic member, a second axial shoulder is provided in the second accommodating chamber, the elastic member is provided in the second accommodating chamber and is sleeved on the rotating shaft, one end of the elastic member abuts against the second axial shoulder, the other end of the elastic member abuts against the first retaining ring, and the elastic member is in a compressed state.

[0016] In one embodiment, a mounting seat is further provided on the chassis, and the mounting seat includes a limiting plane. The axial hole is provided on the mounting seat, and the mounting seat is provided in the first accommodating chamber. The mounting seat and the limiting assembly are arranged relative to each other along the axial direction of the rotating shaft. When the rotating shaft moves a preset distance toward the mounting seat, the second retaining ring abuts against the limiting plane.

[0017] In one embodiment, a guide portion is provided at the first end, and the triggering member is matched and connected with the guide portion.

[0018] In one embodiment, the limiting assembly further includes a third retaining ring, which is sleeved on the rotating shaft and abuts against the trigger member, and the third retaining ring is used to limit the trigger member.

[0019] The beneficial effects of the embodiments of the present invention are as follows: Unlike the prior art, in the embodiments of the present invention, the lawn mower robot includes: a main body, a universal wheel assembly, and a sensing assembly. The wheel hub is connected to the shaft hole via a rotating shaft. When the wheel hub moves, muddy water will enter the interior of the chassis through the gap between the rotating shaft and the shaft hole. The rotating shaft and the shaft hole are sealed, which can reduce the amount of muddy water entering the storage space through the above-mentioned gap. Furthermore, the chassis and the fixed cover are sealed, thereby reducing the amount of muddy water in the storage space from entering the main body. It can be understood that because the sensing element is arranged on the outside of the fixed cover, muddy water will basically not be contaminated by the sensing element, keeping the sensing element clean and dry, thereby avoiding the occurrence of sensing element failure due to contamination. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the drawings without creative work.

[0021] Figure 1 is a perspective view of a lawn mowing robot according to an embodiment of the present invention;

[0022] Figure 2 A partial structural cross-sectional view of the lawn mowing robot according to an embodiment of the present invention in one state;

[0023] Figure 3 is a partial structural cross-sectional view of the lawn mowing robot in another state according to an embodiment of the present invention;

[0024] Figure 4 for Figure 2 A magnified view of the structure at A in FIG;

[0025] Figure 5 for Figure 3 A magnified view of the structure at position B in FIG;

[0026] Figure 6 Schematic diagram of the exploded structure of the universal wheel assembly according to an embodiment of the present invention;

[0027] Figure 7 A first perspective view of a fixed cover according to an embodiment of the present invention;

[0028] Figure 8 A second perspective view of a fixed cover according to an embodiment of the present invention;

[0029] Figure 9 A perspective view of a chassis according to an embodiment of the present invention;

[0030] Figure 10 for Figure 6 Magnified view of the structure at position C in .

[0031] Description of reference numerals:

[0032] 100, body; 110, chassis; 111, first connecting plate; 112, second connecting plate; 113, mounting seat; 1131, limiting plane; 120, fixing cover; 121, connecting groove; 1211, sealing element; 122, limiting notch; 123, accommodation space; 1231, first accommodation chamber; 1232, second accommodation chamber; 124, first axial shoulder; 125, second axial shoulder.

[0033] 200, universal wheel assembly; 210, rotating shaft; 211, guide portion; 220, wheel hub;

[0034] 300, sensing component; 310, sensing element; 320, trigger element;

[0035] 400, limit assembly; 410, first retaining ring; 420, second retaining ring; 430, third retaining ring; 440, thrust bearing;

[0036] 500. Elastic parts. DETAILED DESCRIPTION

[0037] For ease of understanding of the present invention, the present invention will be described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that when an element is described as "fixed to" another element, it can be directly on the other element, or there can be one or more centered elements therebetween. When an element is described as "connected to" another element, it can be directly connected to the other element, or there can be one or more centered elements therebetween. The terms "vertical", "horizontal", "left", "right" and similar expressions used in this specification are for illustrative purposes only.

[0038] Unless otherwise defined, all technical and scientific terms used in this specification have the same meanings as those commonly understood by those skilled in the art to which this invention belongs. The terms used in this specification and in the description of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" as used in this specification includes any and all combinations of one or more of the relevant listed items.

[0039] Example 1

[0040] See also Figure 1-5 , provides a lawn mowing robot, including: a main body 100, a universal wheel assembly 200 and a sensing assembly 300.

[0041] Regarding the above-mentioned main body 100, the main body 100 is the main part of the lawn mowing robot. The rear wheels, drive structure and mowing structure can be set on the main body 100. The rear wheels are driven by the drive structure to move relative to the ground, thereby driving the main body 100 to move, and the mowing action is performed through the mowing structure.

[0042] The main body 100 includes a chassis 110 and a fixed cover 120. The chassis 110 is provided with an axial hole that passes through the chassis 110. The chassis 110 and the fixed cover 120 are sealed together to prevent muddy water from entering the main body 100 through the axial hole. The fixed cover 120 is positioned above the chassis 110 in the plumb direction. A receiving space 123 is defined within the fixed cover 120. For example, the axial hole is arranged in the plumb direction and communicates with the receiving space 123.

[0043] Regarding the universal wheel assembly 200 , two universal wheel assemblies 200 may be symmetrically provided on the front side of the body 100 . The universal wheel assembly 200 includes a rotating shaft 210 and a hub 220 .

[0044] The rotating shaft 210 includes a first end and a second end. As an example, the first end and the second end of the rotating shaft 210 are staggered with each other. The first end of the rotating shaft 210 passes through the shaft hole and is inserted into the receiving space 123.

[0045] It is understood that the rotating shaft 210 can rotate with the shaft hole as its center of rotation. Due to the action of gravity, the main body 100 tends to move toward the ground, causing the first end of the rotating shaft 210 to extend into the top of the accommodating space 123 and abut against the top sidewall of the accommodating space 123. The end side surface is the topmost surface of the accommodating space 123, which is a flat surface, similar to a blind hole opened in a main body, and the end side surface is equivalent to the bottom surface of the blind hole. At the same time, the rotating shaft 210 is sealed with the circumferential sidewall of the shaft hole, thereby reducing the amount of moisture that enters the accommodating space 123 through the radial gap between the shaft hole and the rotating shaft 210. The rotating shaft 210 can also slide within the shaft hole. Therefore, when the main body 100 is partially suspended, the first end of the rotating shaft 210 disengages from the top sidewall of the accommodating space 123, and the second end of the rotating shaft 210 is inserted into the hub 220.

[0046] Regarding the above-mentioned sensing component 300, the sensing component 300 includes a sensing component 310 and a trigger component 320. The sensing component 310 is arranged on the outside of the fixed cover 120, and the trigger component 320 is arranged on one end of the rotating shaft 210 that abuts against the top side wall. The sensing component 310 is used to sense the trigger component 320 to obtain the relative position relationship between the rotating shaft 210 and the main body 100.

[0047] When the main body 100 universal wheel assembly 200 encounters a larger pit, the wheel hub 220 may be suspended in the air. The gravity of the wheel hub 220 itself will drive the wheel axle to move in the shaft hole, and then drive the trigger member 320 away from the sensing range of the sensing member 310. The sensing member 310 detects that the trigger member 320 has left its sensing range. When the movement distance of the wheel hub is greater than the above-mentioned sensing range, it can be determined that the robot is suspended in the air and corresponding feedback can be made (for example, stopping the lawn mower), thereby ensuring the safety of the user.

[0048] In an embodiment of the present invention, a lawn mower robot includes: a body 100, a universal wheel assembly 200, and a sensing assembly 300. The wheel hub 220 is connected to the shaft hole via a rotating shaft 210. When the wheel hub 220 moves, muddy water will enter the interior of the chassis 110 through the gap between the rotating shaft 210 and the shaft hole. The sealed connection between the rotating shaft 210 and the shaft hole can reduce the amount of muddy water entering the accommodating space 123 through the gap. Furthermore, the chassis 110 is sealed to the fixed cover 120, thereby reducing the amount of muddy water in the accommodating space 123 from entering the body 100. It can be understood that because the sensing element 310 is disposed outside the fixed cover 120 (inside the body 100), muddy water will basically not contaminate the sensing element 310, keeping the sensing element 310 clean and dry, thereby preventing the sensing element 310 from failing due to contamination.

[0049] The lawn mowing robot provided by the embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0050] Example 2

[0051] See also Figure 4-5 On the basis of the first embodiment, in order to achieve a certain sealing effect between the shaft hole and the rotating shaft 210 and reduce the muddy water entering from the gap between the shaft hole and the rotating shaft 210:

[0052] Universal wheel assembly 200 also includes a bushing, which is sleeved onto rotating shaft 210 and disposed within the shaft hole. Rotating shaft 210 is sealed to the shaft hole via the bushing. The bushing may have a certain degree of wear resistance and elasticity. When rotating shaft 210 rotates or slides relative to the shaft hole, the bushing directly contacts rotating shaft 210 instead of the shaft hole, reducing wear on the outer wall of rotating shaft 210 and the inner wall of the shaft hole caused by the relative motion between rotating shaft 210 and the shaft hole, thereby protecting rotating shaft 210 and the shaft hole.

[0053] It can be understood that the tightness of the connection between the bushing and the rotating shaft 210 can be adjusted to adjust the sealing performance between the shaft hole and the rotating shaft 210. As a possible example, the bushing has a connecting hole that is smaller than the radius of the shaft hole, and the radius of the connecting hole is smaller than the radius of the rotating shaft 210, so that the bushing can wrap around the rotating shaft 210 (apply radial force to the rotating shaft 210) to achieve a better sealing effect. Since the bushing has a certain elasticity, the rotating shaft 210 will be subjected to friction when rotating and sliding in the bushing. This friction force is opposite to the movement direction of the rotating shaft 210. This friction force can play a buffering role and reduce the vibration of the universal wheel assembly 200 when it moves on uneven roads.

[0054] Example 3

[0055] See also Figure 4-5 and Figure 9 On the basis of the first or second embodiment, in order to further enhance the sealing effect between the chassis 110 and the fixed cover 120, thereby preventing muddy water from penetrating from the inside of the fixed cover 120 to the outside of the fixed cover 120:

[0056] A first connecting plate 111 is provided on the chassis 110 and is arranged along the circumference of the shaft hole. The fixed cover 120 includes a connecting groove 121 and is arranged along the circumference of the rotating shaft 210. A sealing member 1211 is provided in the connecting groove 121, and the first connecting plate 111 abuts against the sealing member 1211.

[0057] As an example, the first connecting plate 111 can be a cylindrical shell, and the connecting groove 121 can be a circular groove, the sealing member 1211 is also circular, and the sealing member 1211 is fixed in the connecting groove 121. The first connecting plate 111 extends into the connecting groove 121 and abuts against the sealing member 1211, thereby achieving the purpose of closing the accommodating space 123 and preventing mud and water from entering the outside of the fixed cover 120 and affecting the sensing member 310.

[0058] As an example, the connecting groove 121 can be defined by two circular rings arranged at radial intervals along the fixed cover 120. The two circular rings are protruded from the bottom surface of the fixed cover 120 and face the chassis 110. It can be understood that when the first connecting plate 111 is arranged in the connecting groove 121, the two circular rings can play a positioning role and can limit the connecting plate in the radial direction.

[0059] Example 4

[0060] See also Figure 4-8 On the basis of any one of the embodiments 1 to 3, in order to further reduce the muddy water that penetrates from the accommodating space 123 (inside the fixed cover 120) to the outside of the fixed cover 120:

[0061] A second connecting plate 112 is also provided on the chassis 110. The second connecting plate 112 is similar in shape to the first connecting plate 111. The second connecting plate 112 is arranged along the circumference of the shaft hole. The second connecting plate 112 is arranged on the side of the first connecting plate 111 close to the shaft hole. A limiting notch 122 is provided on the fixed cover 120. The limiting notch 122 is arranged along the circumference of the rotating shaft 210. The limiting notch 122 can also be a circular ring. As an example, the limiting notch 122 is connected to the accommodating space 123, and the second connecting plate 112 abuts against the limiting notch 122.

[0062] Since in the radial direction of the rotating shaft 210, the limiting notch 122 and the second connecting plate 112 are closer to the rotating shaft 210 than the first connecting plate 111 and the connecting groove 121, the limiting notch 122 and the second connecting plate 112 can produce an additional sealing effect, further reducing the mud, water and impurities leaking from the accommodating space 123 to the outside of the fixed cover 120.

[0063] Example 5

[0064] See also Figure 4-5 On the basis of any one of the first to fourth embodiments, in order to restrict the movement of the rotating shaft 210 in its axial direction, thereby preventing the rotating shaft 210 from penetrating the fixed cover 120 or preventing the rotating shaft 210 from escaping from the accommodating space 123:

[0065] The mowing robot further includes a limiting assembly 400 . The limiting assembly 400 is sleeved on the rotating shaft 210 . The accommodating space 123 includes a first accommodating chamber 1231 and a second accommodating chamber 1232 that are interconnected. A first axial stop shoulder 124 is provided between the first accommodating chamber 1231 and the second accommodating chamber 1232 .

[0066] As an example of how to form the accommodating space 123, a stepped shaft can be hollowed out within the solid fixed cover 120, thereby forming a first accommodating chamber 1231 and a second accommodating chamber 1232, with an axial shoulder disposed between the first accommodating chamber 1231 and the second accommodating chamber 1232. Furthermore, the radius of the first accommodating chamber 1231 is greater than that of the second accommodating chamber 1232, thereby forming a first axial shoulder 124 at the junction of the first and second accommodating chambers 1231 and 1232. The stop assembly 400 is disposed within the first accommodating chamber 1231 and abuts against the first axial shoulder 124, allowing the rotating shaft 210 to partially extend into the second accommodating chamber 1232.

[0067] Example 6

[0068] See also Figure 4-5 On the basis of the fifth embodiment, as an example of a position limiting assembly 400 , the position limiting assembly 400 includes a first retaining ring 410 , a second retaining ring 420 and a thrust bearing 440 that abut against each other in sequence.

[0069] Exemplarily, the rotating shaft 210 is provided with an annular groove along its axial direction, and the first retaining ring 410, the second retaining ring 420 and the thrust bearing 440 are arranged in the annular groove in sequence, the first retaining ring 410 and the second retaining ring 420 are arranged at intervals along the axial direction of the rotating shaft 210, the thrust bearing 440 is arranged between the first retaining ring 410 and the second retaining ring 420, and the first retaining ring 410 abuts against the first axial retaining shoulder 124.

[0070] In this embodiment, a first retaining ring 410 is provided to abut against the first axial shoulder 124, so as to prevent the portion of the rotating shaft 210 extending into the second accommodating chamber 1232 from being too long and piercing the fixed cover 120. In addition, by providing the thrust bearing 440, the axial load generated by the sliding of the rotating shaft 210 in the shaft hole can be balanced, so that the movement of the rotating shaft 210 is smoother. At the same time, a second retaining ring 420 is provided. When the rotating shaft 210 slides toward the chassis 110, the second retaining ring 420 abuts against the chassis 110 to prevent the rotating shaft 210 from disengaging from the shaft hole.

[0071] Furthermore, the first retaining ring 410 and the second retaining ring 420 can have a certain degree of elasticity, and the thrust bearing 440 is arranged between the first retaining ring 410 and the second retaining ring 420. When the rotating shaft 210 slides in the accommodating space 123, the first retaining ring 410 abuts against the first axial shoulder 124 or the second retaining ring 420 abuts against the chassis 110. The first retaining ring 410 and the second retaining ring 420 have a buffering effect, which can reduce the direct impact between the thrust bearing 440 and the chassis 110 or the first axial shoulder 124, thereby extending the service life of the thrust bearing 440.

[0072] Example 7

[0073] See also Figure 4-5 Based on the sixth embodiment, when the lawn mower robot is traveling on a flat road, the first retaining ring 410 of the main body 100 abuts against the first axial shoulder 124 due to its own gravity. However, when the lawn mower robot is traveling on an uneven road, the wheel hub 220 is suspended in the air, and the rotating shaft 210 slides along the shaft hole under the action of gravity, thereby causing the first retaining ring 410 to disengage from the first axial shoulder 124. In order to accelerate the disengagement of the first retaining ring 410 from the first axial shoulder 124 and thus more quickly determine the working condition of the lawn mower robot:

[0074] The lawn mowing robot also includes an elastic member 500, a second axial shoulder 125 is provided in the second accommodating chamber 1232, the elastic member 500 is arranged in the second accommodating chamber 1232 and is sleeved on the rotating shaft 210, one end of the elastic member 500 abuts against the second axial shoulder 125, and the other end of the elastic member 500 abuts against the first retaining ring 410, and the elastic member 500 is in a compressed state.

[0075] The elastic member 500 can be a spring, and the second axial shoulder 125 can be formed in the same manner as the first axial shoulder 124. The elastic member 500 is positioned by the rotating shaft 210 and is initially in a compressed state, i.e., possessing a certain elastic force. When the wheel hub 220 is suspended in the air, the elastic member 500 applies a thrust to the first retaining ring 410, which causes the first retaining ring 410 to rapidly move toward the chassis 110 (the speed of movement can be adaptively adjusted by the initial compression of the spring and the spring constant), thereby driving the trigger member 320 on the rotating shaft 210 to quickly move away from the sensing member 310, thereby quickly determining the operating status of the lawn mower robot.

[0076] It is worth mentioning that the second axial shoulder 125 is at a certain distance from the end side wall of the accommodating space 123 in the above embodiment. In some embodiments, the sensing member 310 adopts a magnetic induction switch and the trigger member 320 adopts a magnet. In order to ensure the strength of the elastic member 500, the elastic member 500 generally adopts a steel spring. When the magnet moves, according to Lenz's law, a magnetic field will be generated in the elastic member 500. If the elastic member 500 is directly in contact with the end side wall, it will interfere with the detection result of the sensing member 310. Therefore, the second axial shoulder 125 is provided to keep the elastic member 500 at an appropriate distance from the sensing member 310, which can reduce the interference of the magnetic field generated by the elastic member 500 on the final result.

[0077] Example 8

[0078] See also Figure 4-5 Based on the seventh embodiment, in order to limit the movement distance of the rotating shaft 210 in the first receiving chamber 1231:

[0079] The chassis 110 is further provided with a mounting seat 113, which includes a limiting surface 1131. The shaft hole is provided on the mounting seat 113, which is disposed within the first receiving chamber 1231. The mounting seat 113 and the limiting assembly 400 are disposed opposite each other along the axis of the rotating shaft 210. When the rotating shaft 210 moves toward the mounting seat 113 by a predetermined distance, the second retaining ring 420 abuts against the limiting surface 1131. It will be appreciated that the aforementioned movement distance can be adjusted by changing the height of the mounting seat 113.

[0080] Embodiment 9

[0081] See also Figure 10Based on any one of the first to eighth embodiments, a guide portion 211 is provided at the first end, and the trigger member 320 is mated and connected to the guide portion 211. As an example of the guide portion 211, the guide portion 211 can be conical, and the trigger member 320 is provided with a conical hole. The trigger member 320 is provided on the guide portion 211 to automatically limit its position. When the trigger member 320 is a magnet, it can be directly adsorbed on the rotating shaft 210.

[0082] Example 10

[0083] See also Figure 4 On the basis of the eighth embodiment, the limiting assembly 400 further includes a third retaining ring 430, and the third retaining ring 430 is sleeved on the rotating shaft 210 and abuts against the trigger member 320. The third retaining ring 430 is used to limit the trigger member 320. It can be understood that one end of the third retaining ring 430 is limited by the guide portion 211 and the other end is limited by the third retaining ring 430. When the trigger member 320 partially adopts a magnet and cannot be adsorbed on the rotating shaft 210, this embodiment can prevent the trigger member 320 from falling off the rotating shaft 210.

[0084] It should be noted that the preferred embodiments of the present invention are given in the specification and drawings of the present invention. However, the present invention can be implemented in many different forms and is not limited to the embodiments described in this specification. These embodiments are not intended to be additional limitations on the content of the present invention. The purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive. In addition, the above-mentioned technical features can be combined with each other to form various embodiments not listed above, which are all considered to be within the scope of the description of the present invention. Furthermore, it is obvious to those skilled in the art that improvements or changes can be made based on the above description, and all such improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A lawn mowing robot, characterized in that: include: The body includes a chassis and a fixed cover, the chassis and the fixed cover are sealed together, the chassis is provided with an axial hole, the axial hole passes through the chassis, the fixed cover is provided with an accommodating space, the axial hole is communicated with the accommodating space; The universal wheel assembly includes a rotating shaft and a wheel hub, wherein the first end of the rotating shaft passes through the shaft hole and is inserted into the accommodating space, the first end abuts against the top side wall of the accommodating space, the rotating shaft is sealed with the circumferential side wall of the shaft hole and can slide in the shaft hole, and the second end of the rotating shaft is inserted into the wheel hub; as well as a sensing component, comprising a sensing member and a triggering member, wherein the sensing member is disposed on the outside of the fixed cover, and the triggering member is disposed on one end of the rotating shaft abutting against the top side wall, and the sensing member is used to sense the triggering member to obtain a relative position relationship between the rotating shaft and the body; The chassis is provided with a first connecting plate, which is arranged along the circumference of the shaft hole. The fixed cover includes a connecting groove, which is arranged along the circumference of the rotating shaft. A sealing member is provided in the connecting groove, and the first connecting plate abuts against the sealing member. A second connecting plate is also provided on the chassis, and the second connecting plate is arranged along the circumference of the shaft hole. A limiting notch is provided on the fixed cover, and the limiting notch is arranged along the circumference of the rotating shaft. The second connecting plate is matched and connected with the limiting notch.

2. The lawn mowing robot according to claim 1, characterized in that: The universal wheel assembly further comprises a bushing, which is sleeved on the rotating shaft and disposed in the shaft hole, and the rotating shaft is sealed and connected to the shaft hole through the bushing.

3. The lawn mowing robot according to claim 2, characterized in that: The lawn mowing robot also includes a limiting component, which is sleeved on the rotating shaft. The accommodating space includes a first accommodating chamber and a second accommodating chamber that are interconnected. A first axial shoulder is provided between the first accommodating chamber and the second accommodating chamber. The limiting component is provided in the first accommodating chamber and abuts against the first axial shoulder.

4. The lawn mowing robot according to claim 3, characterized in that: The limiting assembly includes a first retaining ring, a second retaining ring and a thrust bearing that are abutted in sequence. The first retaining ring and the second retaining ring are arranged at intervals along the axial direction of the rotating shaft. The thrust bearing is arranged between the first retaining ring and the second retaining ring. The first retaining ring abuts against the first axial retaining shoulder.

5. The lawn mowing robot according to claim 4, characterized in that: The lawn mowing robot also includes an elastic part, a second axial shoulder is provided in the second accommodating chamber, the elastic part is arranged in the second accommodating chamber and is sleeved on the rotating shaft, one end of the elastic part abuts against the second axial shoulder, the other end of the elastic part abuts against the first retaining ring, and the elastic part is in a compressed state.

6. The lawn mowing robot according to claim 4, characterized in that: The chassis is also provided with a mounting seat, which includes a limiting plane. The axial hole is provided on the mounting seat, and the mounting seat is provided in the first accommodating chamber. The mounting seat and the limiting assembly are arranged opposite to each other along the axial direction of the rotating shaft. When the rotating shaft moves toward the mounting seat by a preset distance, the second retaining ring abuts against the limiting plane.

7. The lawn mowing robot according to claim 3, characterized in that: The first end is provided with a guide portion, and the triggering member is matched and connected with the guide portion.

8. The lawn mowing robot according to claim 7, characterized in that: The limiting assembly further includes a third retaining ring, which is sleeved on the rotating shaft and abuts against the trigger member, and is used to limit the trigger member.

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