Connection structure and lawn mower

Abstract

The embodiment of the application provides a connecting structure and a mower, wherein the connecting structure comprises: a striker connecting piece; a pull rod component forming a spherical pair with the striker connecting piece; a fixed base connected with the pull rod component; and an outer cylinder, one end of the outer cylinder being slidably connected with the pull rod component, and the other end of the outer cylinder forming a spherical pair with the fixed base. In the technical scheme of the application, the pull rod component and the outer cylinder of the connecting structure form spherical pairs with the striker connecting piece and the fixed base respectively, and under the action of the two spherical pairs, all-around collision and the judgment of lifting collision can be realized by using one connecting structure, and the assembly is also facilitated.

Description

Technical Field

[0001] This invention relates to the field of lawnmower technology, and more specifically, to a connection structure and a lawnmower. Background Technology

[0002] When a lawnmower encounters obstacles such as stones, its ability to detect and avoid them is a crucial factor in improving its safety. Current lawnmowers typically use detectors on the main body to avoid obstacles and adjust the blades accordingly. However, these detectors require additional installation, and the electronic control system has inherent delays, resulting in less than ideal detection performance. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0004] In view of this, an embodiment of the first aspect of the present invention provides a connection structure.

[0005] A second aspect of the present invention provides a lawnmower.

[0006] To achieve the above objectives, an embodiment of the first aspect of the present invention provides a connection structure, comprising: a collision plate connector; a tie rod member forming a spherical pair with the collision plate connector; a fixed base connected to the tie rod member; and an outer cylinder having one end slidably connected to the tie rod member and the other end forming a spherical pair with the fixed base.

[0007] The connection structure provided by the first aspect of the present invention mainly includes a collision plate connector and a fixed base located at both ends, and an outer cylinder connecting the two. The collision plate connector is used to connect with the collision plate of the lawnmower, so that after a collision occurs, the collision can be converted into internal movement through the connector, facilitating subsequent collision sensing and execution of corresponding control logic. The fixed base is used to connect with the housing of the lawnmower, so that the connection between the fixed base and the collision plate is achieved through the connection structure. It should be emphasized that a spherical pair is formed between the tie rod member and the collision plate connector, possessing three degrees of freedom, which improves the collision plate's judgment range. That is, when an obstacle in any direction collides with the collision plate, the collision plate connector will generate a corresponding displacement. At this time, rotation will occur first. After rotating to the limit position, if there is still force, the tie rod member will move together under the action of the spherical pair. At this point, by setting an outer cylinder between the fixed base and the tie rod component, specifically, one end of the outer cylinder is slidably connected to the tie rod component, and the other end forms a spherical pair with the fixed base. Under the action of the outer cylinder, it will also rotate relative to the fixed base, so as to facilitate the subsequent identification of the collision position and achieve the effect of intelligent control.

[0008] It is understandable that by forming spherical pairs with the impact plate connector and the fixed base at the tie rod member and outer cylinder of the connecting structure, respectively, the judgment of all-round collision and lifting collision can be achieved using a single connecting structure under the action of the two spherical pairs, which also facilitates assembly. In addition, since the present application will have displacement in the collision direction under the combined action of the above structures when a collision occurs, it can provide a buffer time for the detection and control of the electronic control logic, reducing the possibility of danger.

[0009] Furthermore, the tie rod component and the outer cylinder are slidably connected. When the collision plate connector generates a lifting force during a collision, the position of the tie rod component relative to the outer cylinder can be judged to achieve the lifting judgment. Corresponding control logic can be executed, such as stopping the rotation of the cutter head motor until the tie rod component is no longer subject to the lifting force, and then returning to the initial position. The rotation of the cutter head motor can then be controlled again.

[0010] In addition, the connection structure in the above-mentioned solution provided by the present invention may also have the following additional technical features:

[0011] The above technical solution further includes: an inner cylinder disposed inside the outer cylinder, and the inner cylinder and the outer cylinder are slidably connected, with a first mating part formed at the end of the inner cylinder near the tie rod member; and a second mating part disposed at the end of the tie rod member near the inner cylinder; wherein the connection between the inner cylinder and the tie rod member is achieved through the cooperation of the first mating part and the second mating part.

[0012] In this technical solution, an inner cylinder with a sliding connection is set inside the outer cylinder, and one end of the inner cylinder is connected to the tie rod component. This allows the inner and outer cylinders to move relative to each other when the tie rod component is lifted by an external force. Therefore, by collecting this movement, it is possible to determine whether the tie rod component has been lifted.

[0013] Specifically, a first mating component is provided at one end of the inner cylinder, and a second mating component is provided at one end of the tie rod component. Both the first and second mating components are located at the ends of the inner cylinder and the tie rod component that are close to each other, so as to facilitate connection.

[0014] Furthermore, the first mating part can be a connecting shaft, and the second mating part can be a connecting hole, with the connection achieved through the interference fit between the connecting shaft and the connecting hole.

[0015] Of course, the first mating part can be a connecting hole, and the second mating part can be a connecting shaft.

[0016] Alternatively, the first mating part is a pin, and the second mating part is a pin hole.

[0017] The above technical solution also includes: a first elastic element, disposed within a fixed base, with both ends of the first elastic element connected to the fixed base and the outer cylinder respectively, so as to reset the outer cylinder after it rotates relative to the fixed base; and a second elastic element, disposed between the inner cylinder and the outer cylinder, with one end of the second elastic element connected to the outer cylinder and the other end connected to the inner cylinder, so as to reset the inner cylinder.

[0018] In this technical solution, two elastic elements are used to achieve a resetting function. Specifically, a first elastic element is provided inside the fixed base. Under the action of the first elastic element, the outer cylinder can be reset after rotation. In addition, a second elastic element is provided between the inner and outer cylinders, with its two ends connected to the outer and inner cylinders respectively. When the inner cylinder slides relative to the outer cylinder, the second elastic element deforms. After the external force disappears, the elastic force previously stored in the second elastic element will drive the inner cylinder to slide in the opposite direction relative to the outer cylinder, thereby resetting the inner cylinder for future use.

[0019] The above technical solution also includes: a telescopic sleeve, which is fitted over the outer cylinder, with both ends of the telescopic sleeve connected to the tie rod component and the fixed base, respectively.

[0020] In this technical solution, a telescopic sleeve is installed on the outer cylinder. By connecting the two ends of the telescopic sleeve to the tie rod component and the fixed base respectively, the inner outer cylinder can be protected to a certain extent. At the same time, because the telescopic sleeve has a certain degree of elasticity, it can contract on one side and extend on the other side when the outer cylinder rotates, thereby achieving protection during movement.

[0021] It is understandable that the telescopic sleeve itself has a variable length, which protects the internal parts.

[0022] Furthermore, the telescopic sleeve can be sealed and connected to the tie rod component and the fixed base at the connection point respectively.

[0023] In the above technical solution, the fixed base specifically includes: a fixed cover, one end of which is connected to the telescopic sleeve, and the fixed cover has an opening for the outer cylinder to pass through; a fixed seat, the other end of which is detachably connected to the fixed cover; wherein, the fixed cover and the outer cylinder form a spherical pair.

[0024] In this technical solution, the fixed base mainly includes a detachably connected fixed cover and a fixed seat. The fixed cover is connected to the telescopic sleeve, and one end of the telescopic sleeve can be connected to the fixed cover. On this basis, a spherical pair is made between the fixed cover and the outer cylinder so that when the impact plate hits the obstacle and causes forward and backward displacement, the outer cylinder will rotate relative to the fixed cover. Thus, when the movement is detected, collision judgment can be achieved.

[0025] It should be noted that the detachable connection between the mounting base and the mounting cover facilitates assembly. Specifically, the detachable connection can be a snap-fit, a threaded connection, or other detachable connection methods.

[0026] In the above technical solution, the outer cylinder has a first protrusion at the end facing the fixed seat, the fixed seat has a second protrusion at the end facing the fixed cover, and the two ends of the first elastic member are respectively connected to the first protrusion and the second protrusion.

[0027] In this technical solution, by setting a first protrusion on the outer cylinder and a second protrusion on the fixed seat, a connection object can be provided for the first elastic element. That is, the two ends of the first elastic element are connected to the first protrusion and the second protrusion respectively, so that when the outer cylinder rotates relative to the fixed seat, the first elastic element can be deformed, which is conducive to the reset after the external force disappears.

[0028] It is understandable that the first elastic element can be a spring, and the two ends of the spring can be respectively fitted onto the first protrusion and the second protrusion. On this basis, the two ends of the spring can be connected to the first protrusion and the second protrusion.

[0029] In the above technical solution, the end of the fixed cover connected to the telescopic sleeve is provided with a connecting protrusion, and one end of the telescopic sleeve is fitted over the connecting protrusion.

[0030] In this technical solution, a connecting protrusion is provided at one end of the fixed cover to facilitate the connection of the telescopic sleeve. Specifically, the connecting protrusion is provided at the end where the fixed cover and the telescopic sleeve are connected, which can provide a connection object for the telescopic sleeve and make the connection easier.

[0031] It is understandable that when the telescopic sleeve is made of a material with a certain degree of elasticity, the elasticity of the telescopic sleeve itself can be utilized, and it can be directly fitted onto the connecting protrusion without the need for other connecting structures, while also ensuring the sealing of the connection.

[0032] In the above technical solution, the fixed base further includes: a connecting cover, with a fixed cover at one end away from the fixed base, and the connecting cover and the fixed cover are detachably connected; wherein, the connecting cover and the fixed cover are connected, and one end of the telescopic sleeve is located between the connecting cover and the fixed cover.

[0033] In this technical solution, by providing a connecting cover at the other end of the fixed cover, the end position of the telescopic sleeve can be fixed under the action of the connecting cover and the fixed cover. It can be understood that the connecting cover and the fixed cover are detachably connected, which facilitates assembly operations.

[0034] In the above technical solution, the tie rod component is provided with a snap-fit ​​part, and one end of the telescopic sleeve is connected to the tie rod component through the snap-fit ​​part.

[0035] In this technical solution, by setting a snap-fit ​​part on the tie rod component, one end of the telescopic sleeve can be connected to the snap-fit ​​part, thereby realizing the connection between the telescopic sleeve and the tie rod component.

[0036] The shape of the snap-fit ​​part can be adapted to the end shape of the telescopic sleeve, as long as it can be connected to the telescopic sleeve under the action of the snap-fit ​​part.

[0037] It should be noted that the telescopic sleeve itself can be made of elastic material to ensure a seal after connection, or ordinary material can be used to achieve a seal through the snap-fit ​​part.

[0038] The above technical solution also includes: a first sensor, which is disposed inside the fixed base, and the first sensor is used to determine the rotational position of the outer cylinder relative to the fixed base.

[0039] In this technical solution, by setting a first sensor inside the fixed base, the specific rotation of the outer cylinder can be sensed. Thus, when the outer cylinder rotates between the fixed base and the spherical pair, the force on the outer cylinder can be determined. Since the outer cylinder and the collision plate connector rotate together, the collision detection can be achieved by sensing this rotation.

[0040] It is understandable that the first sensor can be any device that senses displacement, including but not limited to Hall sensors, infrared sensors, etc.

[0041] The above technical solution also includes: a second sensor, located inside the outer cylinder, which is used to determine the sliding position of the inner cylinder relative to the outer cylinder.

[0042] In this technical solution, by setting a second sensor inside the outer cylinder, the displacement of the inner cylinder relative to the outer cylinder can be sensed. Thus, when sliding occurs between the inner and outer cylinders, it can be determined whether the impact plate is raised. Therefore, by sensing this displacement, the detection of the obstacle raising the impact plate connector can be achieved, thereby realizing the lifting detection.

[0043] It is understood that the second sensor can be any device that senses displacement, including but not limited to Hall sensors, infrared sensors, etc.

[0044] A second aspect of the present invention provides a lawnmower, comprising: a housing; and a bumper connected to the housing via an embodiment of the connection structure as described in the first aspect above.

[0045] The lawnmower provided according to a second aspect of the present invention mainly includes a housing and a bumper plate. The bumper plate can be installed by connecting the two ends of the connecting structure to the housing and the bumper plate respectively.

[0046] It is understandable that the impact plate connector of the connecting structure is used to connect to the impact plate, while the fixed base of the connecting structure is used to connect to the housing.

[0047] Among them, lawnmowers include purely mechanical lawnmower equipment.

[0048] Additional aspects and advantages of the invention will become apparent in the following description or may be learned by practice of the invention. Attached Figure Description

[0049] Figure 1 A schematic diagram of a connection structure according to an embodiment of the present invention is shown;

[0050] Figure 2 A cross-sectional structural schematic diagram of a connection structure according to an embodiment of the present invention is shown;

[0051] Figure 3 An exploded structural diagram of a connection structure according to an embodiment of the present invention is shown;

[0052] Figure 4 A cross-sectional structural schematic diagram of a connection structure according to an embodiment of the present invention is shown;

[0053] Figure 5 A schematic diagram of a lawnmower according to an embodiment of the present invention is shown.

[0054] in, Figures 1 to 5 The correspondence between the reference numerals and component names in the attached drawings is as follows:

[0055] 100: Connecting structure; 102: Bumper plate connector; 103: Telescopic sleeve; 104: Pull rod component; 1042: Second mating part; 1044: Snap-fit ​​part; 106: Fixed base; 1062: Fixed cover; 1063: Connecting protrusion; 1064: Fixed seat; 1065: Second protrusion; 1066: Connecting cover; 108: Outer cylinder; 1082: First protrusion; 110: First elastic element; 112: Inner cylinder; 1122: First mating part; 114: Second elastic element; 116: First sensor; 118: Second sensor; 200: Lawn mower; 202: Housing; 204: Bumper plate. Detailed Implementation

[0056] To better understand the above-described objectives, features, and advantages of the embodiments of the present invention, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0057] Many specific details are set forth in the following description in order to provide a full understanding of this application. However, embodiments of the invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of this application is not limited to the specific embodiments disclosed below.

[0058] The following reference Figures 1 to 5 Some embodiments of the present invention are described.

[0059] Example 1

[0060] like Figure 1 As shown, the connection structure 100 proposed in this embodiment mainly includes a collision plate connector 102 and a fixed base 106 located at both ends, as well as an outer cylinder connecting the two. The collision plate connector 102 is used to connect with the collision plate 204 of the lawnmower 200 so that after the collision plate 204 collides, the collision can be converted into internal movement through the collision plate connector 102, so as to facilitate subsequent collision perception and execution of corresponding control logic. The fixed base 106 is used to connect with the housing 202 of the lawnmower 200 so that the connection between the fixed base 106 and the collision plate 204 can be realized under the action of the connection structure 100. It is important to emphasize that a spherical pair is formed between the tie rod component 104 and the impact plate connector 102, providing three degrees of freedom. This improves the judgment range of the impact plate 204. When an obstacle collides with the impact plate 204 from any direction, the impact plate connector 102 will generate a corresponding displacement, initially rotating. If force remains after reaching its limit position, the tie rod component 104 will move along with it under the action of the spherical pair. Furthermore, by setting an outer cylinder 108 between the fixed base and the tie rod component—specifically, one end of the outer cylinder 108 is slidably connected to the tie rod component 104, and the other end forms a spherical pair with the fixed base 106—the outer cylinder 108 will also rotate relative to the fixed base 106 under the action of the outer cylinder 108. This facilitates subsequent identification of the collision location, achieving an intelligent control effect.

[0061] It is understood that by forming spherical pairs with the impact plate connector 102 and the fixed base 106 at the tie rod member 104 and the outer cylinder 108 of the connecting structure 100 respectively, under the action of the two spherical pairs, the judgment of all-round collision and lifting collision can be achieved using a single connecting structure 100, which also facilitates assembly. In addition, since the present application will have displacement in the collision direction under the combined action of the above structures when a collision occurs, it can provide a buffer time for the detection and control of the electronic control logic, reducing the possibility of danger.

[0062] Furthermore, the tie rod member 104 and the outer cylinder 108 are slidably connected. When the impact plate connector 102 generates a lifting force during a collision, the position of the tie rod member 104 relative to the outer cylinder 108 can be judged to achieve the lifting judgment. Corresponding control logic can be executed, such as stopping the rotation of the cutter head motor until the tie rod member 104 is no longer subject to the lifting force and returns to the initial position, and the rotation of the cutter head motor can continue to be controlled.

[0063] Based on the above embodiments, a telescopic sleeve 103 can also be provided. Specifically, a telescopic sleeve 103 is provided on the outer cylinder 108. By connecting the two ends of the telescopic sleeve 103 to the tie rod member 104 and the fixed base respectively, it can provide a certain degree of protection for the inner outer cylinder 108. At the same time, since the telescopic sleeve 103 has a certain degree of elasticity, it can contract on one side and extend on the other side when the outer cylinder 108 rotates, thereby achieving protection during movement.

[0064] It is understandable that the telescopic sleeve 103 has a variable length, which protects the internal parts.

[0065] Furthermore, the telescopic sleeve 103 can be sealed and connected to the tie rod member 104 and the fixed base at the connection point respectively.

[0066] Example 2

[0067] like Figure 1 As shown, the connection structure 100 proposed in this embodiment mainly includes a collision plate connector 102 and a fixed base 106 located at both ends, and a telescopic sleeve 103 connecting the two. The collision plate connector 102 is used to connect with the collision plate 204 of the lawnmower 200 so that after the collision plate 204 collides, the collision can be converted into internal movement through the collision plate connector 102, so as to facilitate subsequent collision perception and execution of corresponding control logic. The fixed base 106 is used to connect with the housing 202 of the lawnmower 200 so that the connection between the fixed base 106 and the collision plate 204 can be realized under the action of the connection structure 100. It is important to emphasize that a spherical pair is formed between the tie rod component 104 and the impact plate connector 102, providing three degrees of freedom. This improves the judgment range of the impact plate 204. When an obstacle collides with the impact plate 204 from any direction, the impact plate connector 102 will generate a corresponding displacement, initially rotating. If force remains after reaching its limit position, the tie rod component 104 will move along with it under the action of the spherical pair. Furthermore, by providing an outer cylinder 108 within the telescopic sleeve 103, with one end slidably connected to the tie rod component 104 and the other end forming a spherical pair with the fixed base 106, the outer cylinder 108 will also rotate relative to the fixed base 106 under its influence. This facilitates subsequent identification of the collision location, achieving intelligent control.

[0068] It is understood that by forming spherical pairs with the impact plate connector 102 and the fixed base 106 at the tie rod member 104 and the outer cylinder 108 of the connecting structure 100 respectively, under the action of the two spherical pairs, the judgment of all-round collision and lifting collision can be achieved using a single connecting structure 100, which also facilitates assembly. In addition, since the present application will have displacement in the collision direction under the combined action of the above structures when a collision occurs, it can provide a buffer time for the detection and control of the electronic control logic, reducing the possibility of danger.

[0069] Furthermore, the tie rod member 104 and the outer cylinder 108 are slidably connected. When the impact plate connector 102 generates a lifting force during a collision, the position of the tie rod member 104 relative to the outer cylinder 108 can be judged to achieve the lifting judgment. Corresponding control logic can be executed, such as stopping the rotation of the cutter head motor until the tie rod member 104 is no longer subject to the lifting force and returns to the initial position, and the rotation of the cutter head motor can continue to be controlled.

[0070] It is understandable that the telescopic sleeve 103 has a variable length, which protects the internal parts. Furthermore, the telescopic sleeve 103 can be sealed and connected to the pull rod member 104 and the fixed base 106 at the connection point.

[0071] The inner cylinder 112 is slidably connected inside the outer cylinder 108, and one end of the inner cylinder 112 is connected to the tie rod member 104 so that when the tie rod member 104 is lifted by an external force, the inner cylinder 112 and the outer cylinder 108 will move relative to each other. Therefore, by collecting the movement, it is possible to determine whether the tie rod member 104 has been lifted.

[0072] Specifically, a first mating part 1122 is provided at one end of the inner cylinder 112, and a second mating part 1042 is provided at one end of the tie rod member 104. The first mating part 1122 and the second mating part 1042 are both provided at the ends of the inner cylinder 112 and the tie rod member 104 that are close to each other, so as to facilitate connection.

[0073] Furthermore, the first mating part 1122 can be a connecting shaft, and the second mating part 1042 can be a connecting hole, and the connection is achieved through the interference fit between the connecting shaft and the connecting hole.

[0074] Of course, the first mating part 1122 can be a connecting hole, and the second mating part 1042 can be a connecting shaft.

[0075] Alternatively, the first mating part 1122 is a pin, and the second mating part 1042 is a pin hole.

[0076] Furthermore, a first elastic element 110 is provided inside the fixed base 106, which can be reset after the outer cylinder 108 rotates under the action of the first elastic element 110.

[0077] Furthermore, such as Figure 2 As shown, a second elastic element 114 is provided between the inner cylinder 112 and the outer cylinder 108, and the two ends of the second elastic element 114 are respectively connected to the outer cylinder 108 and the inner cylinder 112. When the inner cylinder 112 slides relative to the outer cylinder 108, the second elastic element 114 will deform. After the external force disappears, the inner cylinder 112 will slide in the opposite direction relative to the outer cylinder 108 under the action of the elastic force previously stored in the second elastic element 114, thereby realizing the reset of the inner cylinder 112 for the next use.

[0078] Example 3

[0079] The connection structure 100 proposed in this embodiment mainly includes a collision plate connector 102 and a fixed base 106 located at both ends, and a telescopic sleeve 103 connecting the two. The collision plate connector 102 is used to connect with the collision plate 204 of the lawnmower 200 so that after the collision plate 204 collides, the collision can be converted into internal movement through the collision plate connector 102, so as to facilitate subsequent collision perception and execution of corresponding control logic. The fixed base 106 is used to connect with the housing 202 of the lawnmower 200 so that the connection between the fixed base 106 and the collision plate 204 can be realized under the action of the connection structure 100. It is important to emphasize that a spherical pair is formed between the tie rod component 104 and the impact plate connector 102, providing three degrees of freedom. This improves the judgment range of the impact plate 204. When an obstacle collides with the impact plate 204 from any direction, the impact plate connector 102 will generate a corresponding displacement, initially rotating. If force remains after reaching its limit position, the tie rod component 104 will move along with it under the action of the spherical pair. Furthermore, by providing an outer cylinder 108 within the telescopic sleeve 103, with one end slidably connected to the tie rod component 104 and the other end forming a spherical pair with the fixed base 106, the outer cylinder 108 will also rotate relative to the fixed base 106 under its influence. This facilitates subsequent identification of the collision location, achieving intelligent control.

[0080] It is understood that by forming spherical pairs with the impact plate connector 102 and the fixed base 106 at the tie rod member 104 and the outer cylinder 108 of the connecting structure 100 respectively, under the action of the two spherical pairs, the judgment of all-round collision and lifting collision can be achieved using a single connecting structure 100, which also facilitates assembly. In addition, since the present application will have displacement in the collision direction under the combined action of the above structures when a collision occurs, it can provide a buffer time for the detection and control of the electronic control logic, reducing the possibility of danger.

[0081] Furthermore, the tie rod member 104 and the outer cylinder 108 are slidably connected. When the impact plate connector 102 generates a lifting force during a collision, the position of the tie rod member 104 relative to the outer cylinder 108 can be judged to achieve the lifting judgment. Corresponding control logic can be executed, such as stopping the rotation of the cutter head motor until the tie rod member 104 is no longer subject to the lifting force and returns to the initial position, and the rotation of the cutter head motor can continue to be controlled.

[0082] It is understandable that the telescopic sleeve 103 has a variable length, which protects the internal parts. Furthermore, the telescopic sleeve 103 can be sealed and connected to the pull rod member 104 and the fixed base 106 at the connection point.

[0083] Among them, such as Figure 4 As shown, the fixed base 106 mainly includes a detachably connected fixed cover 1062 and a fixed seat 1064. The fixed cover 1062 is connected to the telescopic sleeve 103, and one end of the telescopic sleeve 103 can be connected to the fixed cover 1062. On this basis, the fixed cover 1062 and the outer cylinder 108 are made into a spherical pair so that when the impact plate 204 touches the obstacle and causes a forward and backward displacement, the outer cylinder 108 will rotate relative to the fixed cover 1062. Thus, when the movement is detected, collision judgment can be realized.

[0084] It should be noted that the detachable connection between the fixing base 1064 and the fixing cover 1062 is for the purpose of facilitating assembly. Specifically, the detachable connection can be a snap-fit, a threaded connection, or other detachable connection methods.

[0085] Furthermore, such as Figure 3 and Figure 4 As shown, a first protrusion 1082 is provided on the outer cylinder 108, and a second protrusion 1065 is provided on the fixed seat 1064. This provides a connection object for the first elastic member 110, that is, the two ends of the first elastic member 110 are connected to the first protrusion 1082 and the second protrusion 1065 respectively, so that when the outer cylinder 108 rotates relative to the fixed seat 1064, the first elastic member 110 can deform, which is beneficial to the subsequent reset after the external force disappears.

[0086] It is understood that the first elastic element 110 can be a spring, and the two ends of the spring can be respectively sleeved on the first protrusion 1082 and the second protrusion 1065. On this basis, the two ends of the spring can be connected to the first protrusion 1082 and the second protrusion 1065.

[0087] A connecting protrusion 1063 is provided at one end of the fixed cover 1062 to facilitate the connection of the telescopic sleeve 103. Specifically, the connecting protrusion 1063 is provided at the end where the fixed cover 1062 is connected to the telescopic sleeve 103, which can provide a connection object for the telescopic sleeve 103 and make the connection easier.

[0088] It is understandable that when the telescopic sleeve 103 is made of a material with a certain degree of elasticity, the elasticity of the telescopic sleeve 103 itself can be utilized, and it can be directly fitted onto the connecting protrusion 1063 without the need for other connecting structures 100, while also ensuring the sealing of the connection.

[0089] Furthermore, in addition to the fixing cover 1062 and the fixing base 1064, the fixing base 106 also has a connecting cover 1066 at the other end of the fixing cover 1062. The connecting cover 1066 and the fixing cover 1062 together can fix the end position of the telescopic sleeve 103. It can be understood that the connecting cover 1066 and the fixing cover 1062 are detachably connected, which facilitates assembly operations.

[0090] Example 4

[0091] The connection structure 100 proposed in this embodiment mainly includes a collision plate connector 102 and a fixed base 106 located at both ends, and a telescopic sleeve 103 connecting the two. The collision plate connector 102 is used to connect with the collision plate 204 of the lawnmower 200 so that after the collision plate 204 collides, the collision can be converted into internal movement through the collision plate connector 102, so as to facilitate subsequent collision perception and execution of corresponding control logic. The fixed base 106 is used to connect with the housing 202 of the lawnmower 200 so that the connection between the fixed base 106 and the collision plate 204 can be realized under the action of the connection structure 100. It is important to emphasize that a spherical pair is formed between the tie rod component 104 and the impact plate connector 102, providing three degrees of freedom. This improves the judgment range of the impact plate 204. When an obstacle collides with the impact plate 204 from any direction, the impact plate connector 102 will generate a corresponding displacement, initially rotating. If force remains after reaching its limit position, the tie rod component 104 will move along with it under the action of the spherical pair. Furthermore, by providing an outer cylinder 108 within the telescopic sleeve 103, with one end slidably connected to the tie rod component 104 and the other end forming a spherical pair with the fixed base 106, the outer cylinder 108 will also rotate relative to the fixed base 106 under its influence. This facilitates subsequent identification of the collision location, achieving intelligent control.

[0092] It is understood that by forming spherical pairs with the impact plate connector 102 and the fixed base 106 at the tie rod member 104 and the outer cylinder 108 of the connecting structure 100 respectively, under the action of the two spherical pairs, the judgment of all-round collision and lifting collision can be achieved using a single connecting structure 100, which also facilitates assembly. In addition, since the present application will have displacement in the collision direction under the combined action of the above structures when a collision occurs, it can provide a buffer time for the detection and control of the electronic control logic, reducing the possibility of danger.

[0093] Furthermore, the tie rod member 104 and the outer cylinder 108 are slidably connected. When the impact plate connector 102 generates a lifting force during a collision, the position of the tie rod member 104 relative to the outer cylinder 108 can be judged to achieve the lifting judgment. Corresponding control logic can be executed, such as stopping the rotation of the cutter head motor until the tie rod member 104 is no longer subject to the lifting force and returns to the initial position, and the rotation of the cutter head motor can continue to be controlled.

[0094] It is understandable that the telescopic sleeve 103 has a variable length, which protects the internal parts. Furthermore, the telescopic sleeve 103 can be sealed and connected to the pull rod member 104 and the fixed base 106 at the connection point.

[0095] The tie rod member 104 is provided with a snap-fit ​​part 1044, which can connect one end of the telescopic sleeve 103 to the snap-fit ​​part 1044, thereby realizing the connection between the telescopic sleeve 103 and the tie rod member 104.

[0096] The shape of the snap-fit ​​part 1044 can be adapted to the end shape of the telescopic sleeve 103, as long as it can be connected to the telescopic sleeve 103 under the action of the snap-fit ​​part 1044.

[0097] It should be noted that the telescopic sleeve 103 itself can be made of elastic material to ensure a seal after connection, or it can be made of ordinary material to achieve a seal under the action of the snap-fit ​​part 1044.

[0098] Based on any of the above embodiments, a first sensor 116 is provided in the fixed base 106 to sense the specific rotation of the outer cylinder 108. Thus, when the outer cylinder 108 rotates between the fixed base 106 and the fixed base 106 through the spherical joint, the force on the outer cylinder 108 can be determined. Since the outer cylinder 108 and the collision plate connector 102 rotate together, the detection of the collision between the obstacle and the collision plate connector 102 can be achieved by sensing this rotation, thereby realizing collision detection.

[0099] Based on any of the above embodiments, a second sensor 118 is provided inside the outer cylinder 108 to sense the displacement of the inner cylinder 112 relative to the outer cylinder 108. In the event of sliding between the inner cylinder 112 and the outer cylinder 108, it can be determined whether the impact plate 204 is raised. Therefore, by sensing this displacement, the detection of the obstacle raising the impact plate connector 102 can be achieved, thereby realizing the raising detection.

[0100] It is understood that the first sensor 116 and the second sensor 118 can be any device that senses displacement, including but not limited to Hall sensors, infrared sensors, etc.

[0101] Example 5

[0102] like Figure 5 As shown, the lawnmower 200 proposed in this embodiment mainly includes a housing 202 and a bumper 204. The bumper 204 can be installed by connecting the two ends of the connecting structure 100 to the housing 202 and the bumper 204 respectively.

[0103] It is understood that the impact plate connector 102 of the connecting structure 100 is used to connect to the impact plate 204, while the fixed base 106 of the connecting structure 100 is used to connect to the housing 202.

[0104] Among them, lawnmower 200 includes purely mechanical lawnmower equipment, as well as lawnmower equipment with electromechanical hybrid control, such as lawnmower robots.

[0105] In one specific embodiment, a collision plate connection structure for an intelligent lawnmower robot is provided, which includes two compression springs distributed vertically. The upper spring is a lift-and-reset spring (i.e., the second elastic element 114), and the lower spring is a collision-and-reset spring (i.e., the first elastic element 110). The mechanism also includes two spherical joints: the upper spherical joint connects the lift-and-reset spring pull rod (i.e., the pull rod component 104) to the collision plate sleeve (i.e., the collision plate connector 102), having three degrees of freedom; the lower spherical joint connects the collision-and-reset spring outer cylinder 108 (i.e., the outer cylinder 108) to the fixed base 106, also having three degrees of freedom.

[0106] The lifting reset spring lever is fixedly connected to the lifting reset spring sleeve and can move up and down relative to the collision reset spring outer cylinder 108. It returns to center through the lifting reset spring. The collision reset spring outer cylinder 108 and the fixed base 106 rotate around the spherical pair formed therewith and return to center through the collision reset spring.

[0107] In a specific implementation, the impact plate sleeve is fixed to the impact plate 204, and the fixed base 106 is mounted and fixed to the lower shell of the lawnmower robot. The impact plate 204 can move back and forth relative to the lower shell of the lawnmower robot. When an obstacle is in front of the lawnmower robot, it collides with the impact plate 204. Under the action of the collision force, the impact plate 204 moves backward, causing the collision reset spring outer cylinder 108 to rotate around the spherical pair formed by the collision reset spring outer cylinder 108 and the fixed base 106 through the impact plate sleeve. The lawnmower robot's sensor detects the collision signal and causes the lawnmower robot to move backward. As the lawnmower robot moves backward, the collision force decreases, and under the action of the collision reset spring, the collision reset spring outer cylinder 108 returns to its original position.

[0108] When the lawnmower robot's impact plate 204 is lifted, the impact plate's rubber sleeve drives the lifting and reset spring rod upwards, separating the impact plate 204 from the lower shell of the lawnmower robot. When the lawnmower robot's sensors detect the lifting signal, it will execute corresponding actions, such as stopping the blade motor, to ensure personnel safety. After the lawnmower robot is placed back on the ground, the impact plate 204 resets under the force of the lifting and reset spring and gravity.

[0109] According to the connection structure and lawnmower provided by the present invention, by forming spherical pairs with the impact plate connector and the fixed base at the tie rod member and the outer cylinder of the connection structure respectively, under the action of the two spherical pairs, the judgment of all-round collision and lifting collision can be realized by a single connection structure, which is also easier to assemble.

[0110] In this invention, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; the term "multiple" refers to two or more unless otherwise explicitly defined. The terms "install," "connect," "link," and "fix" should be interpreted broadly. For example, "connect" can be a fixed connection, a detachable connection, or an integral connection; "link" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0111] In the description of this invention, it should be understood that the terms "upper," "lower," "left," "right," "front," "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or unit referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0112] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0113] The above are merely preferred embodiments of the present invention and are not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A connection structure characterized by comprising: include: Impact plate connector; The tie rod component forms a spherical pair with the impact plate connector; A fixed base is provided, with the tie rod component spaced apart from the fixed base; The outer cylinder has one end slidably connected to the tie rod component and the other end forming a spherical pair with the fixed base; An inner cylinder is disposed inside the outer cylinder, and the inner cylinder is slidably connected to the outer cylinder. A first mating part is formed at one end of the inner cylinder near the tie rod member. The second mating component is located at one end of the tie rod member near the inner cylinder; The inner cylinder is connected to the tie rod component through the cooperation of the first and second mating parts. A first elastic element is disposed inside the fixed base, and both ends of the first elastic element are respectively connected to the fixed base and the outer cylinder, so as to reset after the outer cylinder rotates relative to the fixed base; A second elastic element is disposed between the inner cylinder and the outer cylinder, with one end of the second elastic element connected to the outer cylinder and the other end connected to the inner cylinder, so as to realize the reset of the inner cylinder.

2. The connection structure according to claim 1, characterized in that Also includes: A telescopic sleeve is fitted over the outer cylinder, and both ends of the telescopic sleeve are respectively connected to the pull rod component and the fixed base.

3. The connection structure according to claim 2, characterized in that The fixed base specifically includes: A fixed cover, one end of which is connected to the telescopic sleeve, and the fixed cover has an opening for the outer cylinder to pass through; A fixing base, wherein the fixing base is detachably connected to the other end of the fixing cover; The fixed cover and the outer cylinder form a spherical pair.

4. The connection structure according to claim 3, characterized in that The outer cylinder has a first protrusion at one end facing the fixed seat, and the fixed seat has a second protrusion at one end facing the fixed cover. The two ends of the first elastic member are respectively connected to the first protrusion and the second protrusion.

5. The connection structure according to claim 3, wherein The fixed cover has a connecting protrusion at one end connected to the telescopic sleeve, and one end of the telescopic sleeve is fitted over the connecting protrusion.

6. The connection structure according to claim 3, wherein The fixed base also includes: A connecting cover is provided at one end of the fixed cover that is away from the fixed base, and the connecting cover and the fixed cover are detachably connected; The connecting cover and the fixed cover are connected, and one end of the telescopic sleeve is located between the connecting cover and the fixed cover.

7. The connection structure according to claim 2, characterized in that, The pull rod component is provided with a snap-fit ​​part, and one end of the telescopic sleeve is connected to the pull rod component through the snap-fit ​​part.

8. The connection structure according to claim 1, characterized in that, include: A first sensor is disposed inside the fixed base, and the first sensor is used to determine the rotational position of the outer cylinder relative to the fixed base.

9. The connection structure according to claim 1, characterized in that, Also includes: A second sensor is located inside the outer cylinder, and the second sensor is used to determine the sliding position of the inner cylinder relative to the outer cylinder.

10. A lawnmower, characterized in that, include: case; The impact plate is connected to the housing by a connection structure as described in any one of claims 1 to 9.

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