Automatic mower top cover assembly structure and automatic mower

Abstract

The application discloses an automatic mower top cover assembly structure and an automatic mower, which comprises a seat part fixedly arranged on a chassis, a top rod comprising a rod part and a guide pressing plate arranged at the lower end of the rod part, the upper end of the rod part being fixedly connected with the top cover of the automatic mower, the guide pressing plate being oppositely and spacedly arranged with a supporting plate of the seat part, supporting balls being arranged between the guide pressing plate and the supporting plate, the upper surface of the supporting plate at least partially forming a supporting guide surface, the lower surface of the guide pressing plate at least partially forming a top holding surface, the supporting guide surface and the top holding surface being oppositely arranged and forming a rolling space for accommodating the supporting balls therebetween, the guide pressing plate being supported on the supporting plate through the rolling of the supporting balls and being capable of moving in the extension plane of the guide pressing plate relative to the seat part, and an elastic member being arranged between the top rod and the seat part to exert a pre-pressure for the abutting contact of the guide pressing plate with the supporting balls. Based on the top cover assembly structure provided in the application, the reliability and accuracy of the collision detection result can be ensured.

Description

Technical Field

[0001] This invention belongs to the field of automatic lawnmower technology, specifically relating to an automatic lawnmower top cover assembly structure and an automatic lawnmower. Background Technology

[0002] In existing automatic lawnmowers, the top cover is installed on the outer periphery of the chassis and is floating relative to the chassis. During the operation of the automatic lawnmower, the top cover moves relative to the chassis in response to encountering an obstacle. Collision events are detected by placing sensors between the top cover and the chassis to detect this movement.

[0003] In existing technologies, the top cover is connected to the chassis via a swing arm structure or a rubber rod. For the swing arm structure, the upper end is fixedly connected to the top cover, and the middle serves as a fixed fulcrum. When the top cover is impacted, the swing arm rotates around the fixed fulcrum, causing the top cover to sway relative to the chassis along the swing arm's trajectory. The top cover exhibits a vertical motion component, meaning its trajectory relative to the chassis is not parallel to the current working surface. Since displacement sensors detect horizontal displacement, these vertical offsets reduce the reliability of collision detection. In the rubber rod connection scheme, the lower end of the rubber rod is fixed to the chassis, and the upper end is fixedly connected to the top cover. The elastic deformation of the rubber rod allows the top cover to move relative to the chassis. Therefore, the trajectory of the top cover relative to the chassis is not parallel to the current working surface, inevitably leading to tilting of the top cover. Furthermore, the rubber rod is prone to aging and may fail over time.

[0004] Therefore, it is necessary to improve the existing technology to overcome the aforementioned defects. Summary of the Invention

[0005] Therefore, the present invention aims to solve the technical problem of low reliability of collision detection based on existing top cover assembly structures.

[0006] To solve the above-mentioned technical problems, the present invention provides an automatic lawnmower top cover assembly structure for connecting the chassis and top cover of the automatic lawnmower, so that the top cover can move relative to the chassis, comprising:

[0007] The seat is fixedly mounted on the chassis;

[0008] The top rod includes a rod portion and a guide plate disposed at the lower end of the rod portion. The upper end of the rod portion is fixedly connected to the top cover of the automatic lawnmower. The guide plate is disposed at a distance from the support plate of the seat portion.

[0009] A support ball is disposed between the guide plate and the support plate. The upper surface of the support plate forms at least a support guide surface, and the lower surface of the guide plate forms at least a top holding surface. The support guide surface and the top holding surface are disposed opposite to each other, forming a rolling space between them to accommodate the support ball. The guide plate is supported on the support plate by the support ball rolling. The guide plate and the rod have a circumferential space to move relative to the seat in a plane parallel to the support surface of the chassis. An elastic element is disposed between the top rod and the seat to apply a pre-pressure to the guide plate and the support ball abutting against each other.

[0010] Preferably, the seat includes a top plate opposite to the support plate, the guide plate is located between the support plate and the top plate, the top plate is provided with a through hole communicating with the outside, the rod passes through the through hole and is fixedly connected to the top cover, one end of the elastic member abuts against the top plate, and the other end abuts against the guide plate.

[0011] Preferably, it further includes a connecting plate that is fixedly connected to the top rod. The connecting plate is located above the guide pressure plate and is spaced apart from the support plate. One end of the elastic element is connected to the connecting plate, and the other end is connected to the support plate.

[0012] The number of elastic elements is multiple, and they are evenly spaced around the guide plate.

[0013] Preferably, the device further includes a bracket supported between the connecting plate and the supporting plate, the bracket being fixedly connected to one of the supporting plate and the connecting plate, and the other end of the bracket being a free end that abuts against the other of the supporting plate and the bracket.

[0014] Preferably, the depth of the central region of the support guide surface is greater than the depth of the circumferential peripheral region of the support guide surface, and the depth of the support guide surface gradually decreases from the central region to the circumferential peripheral region.

[0015] Preferably, the top holding surface is in the shape of an upwardly concave groove, the depth of the central region is greater than the depth of the circumferential outer region of the top holding surface, and the depth of the top holding surface gradually decreases from the central region to the circumferential outer region.

[0016] Preferably, the top holding surface has the same shape as the support guide surface, and when the top rod is in the initial position, the top holding surface and the support guide surface are symmetrical to each other.

[0017] Preferably, it further includes a plurality of displacement sensors disposed on the support plate and a trigger disposed on the lower surface of the guide plate, wherein the plurality of displacement sensors are disposed around the support guide surface and the trigger is disposed in the circumferential direction of the top holding surface;

[0018] When the top rod is in the initial position, the sensing element is located circumferentially outside the projection of the trigger element on the surface of the support plate.

[0019] Preferably, the trigger element and the displacement sensing element are arranged in a one-to-one correspondence, and the distance between each sensing element and its corresponding trigger element is the same, and the displacement sensing elements are evenly spaced along the circumferential direction; or,

[0020] The trigger is a ring-shaped component. When the top rod is in the initial position, the distance between each displacement sensing element and the trigger is the same.

[0021] In addition, the present invention also provides an automatic lawnmower, including the automatic lawnmower top cover assembly structure described in any of the above embodiments.

[0022] The technical solution provided by this invention has the following advantages:

[0023] The automatic lawnmower top cover assembly structure and automatic lawnmower provided by this invention have a top rod fixedly mounted relative to the top cover. The top rod is supported on the base by rolling support balls. Due to the low rolling friction resistance of the support balls, the top cover moves more flexibly relative to the chassis. The guide plate and the rod have circumferential space for movement, allowing them to move relative to the base in a plane parallel to the support surface of the chassis. This enables the top cover to move parallel to the support surface relative to the chassis, improving the reliability and sensitivity of the collision detection structure. Since the elastic element can apply a pre-pressure to the guide plate and support balls, it can suppress the up-and-down floating of the top cover, reducing the adverse effects of vertical motion components on the collision detection results. After the collision disappears, the top cover can reliably reset under the action of the elastic element. Therefore, based on the top cover assembly structure provided by this application, the top cover reset is more reliable, ensuring the reliability and accuracy of collision detection. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a three-dimensional structural diagram of the automatic lawnmower top cover assembly structure provided in the first embodiment of the present invention;

[0026] Figure 2 for Figure 1 The diagram shows an exploded view of the top cover assembly structure.

[0027] Figure 3 for Figure 1 The diagram shows a cross-sectional view of the top cover assembly structure in its initial state.

[0028] Figure 4 for Figure 1 The diagram shows a cross-sectional view of the top cover assembly structure in a collision response state.

[0029] Figure 5 This is a schematic diagram of the arrangement of the displacement sensing element and the triggering element in a top cover assembly structure provided in a specific embodiment of the present invention;

[0030] Figure 6 This is a schematic diagram of the arrangement of the displacement sensing element and the triggering element in a top cover assembly structure provided in a specific embodiment of the present invention;

[0031] Figure 7 This is a schematic diagram of the arrangement of the displacement sensing element and the triggering element in a top cover assembly structure provided in a specific embodiment of the present invention;

[0032] Figure 8 for Figure 7 A top view of the arrangement of the displacement sensing element and the triggering element shown;

[0033] Figure 9 This is a three-dimensional structural diagram of the automatic lawnmower top cover assembly structure provided in the second embodiment of the present invention;

[0034] Figure 10 for Figure 9 The diagram shows a cross-sectional view of the automatic lawnmower top cover assembly structure.

[0035] Figure 11 This is a cross-sectional structural diagram of the automatic lawnmower top cover assembly structure provided in the third embodiment of the present invention;

[0036] Figure 12 This is a cross-sectional structural diagram of the automatic lawnmower top cover assembly structure provided in the fourth embodiment of the present invention. Detailed Implementation

[0037] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. The present invention will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0038] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0039] In this invention, unless otherwise stated, directional terms such as "upper," "lower," "top," and "bottom" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction of the component itself; similarly, for ease of understanding and description, "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not intended to limit this invention.

[0040] Example 1

[0041] This embodiment provides an automatic lawnmower top cover assembly structure (hereinafter referred to as the top cover assembly structure) for connecting the chassis and top cover of the automatic lawnmower so that the top cover can move relative to the chassis.

[0042] In a specific implementation scenario, an automatic lawnmower includes a chassis and a top cover. The chassis supports and mounts wheels at its bottom, and a mowing motor is installed inside the chassis. Below the chassis is a mowing assembly connected to the mowing motor, which is driven by the motor to trim the lawn. The top cover is positioned above the chassis and is movably connected to it. A relative displacement sensor is also installed between the top cover and the chassis to detect relative movement and thus identify collision events. Specifically, the relative displacement sensor includes a displacement sensor fixed relative to the chassis and a trigger fixed relative to the top cover. If the automatic lawnmower encounters an obstacle while moving within the working area, the obstacle contacts the top cover, triggering movement of the top cover relative to the chassis. The displacement sensor detects this relative movement of the trigger, thus identifying a collision event. Typically, the displacement sensor is a Hall effect sensor, and the corresponding trigger is a magnet.

[0043] Figure 1 This is a three-dimensional structural diagram of the automatic lawnmower top cover assembly structure 100 provided in this embodiment. Figure 2 for Figure 1 The exploded view of the top cover assembly structure 100 shown is shown below. Figure 3 for Figure 1 The diagram shows a cross-sectional view of the top cover assembly structure 100 in its initial state. Please refer to [link / reference]. Figures 1 to 3 The top cover assembly structure 100 includes a seat 10, a top rod 30, a support ball 20, and an elastic element 40.

[0044] The seat 10 is fixedly mounted on the chassis of the automatic lawnmower. Specifically, the seat 10 includes a support plate 12, on which support balls 20 are supported, and the support balls 20 can roll in any direction within the surface of the support plate 12. Specifically, the upper surface of the support plate 12 is partially recessed to form a support guide surface 121, within which the support balls 20 roll in any direction. Because the support guide surface 121 is a recessed structure, the support balls 20 are confined to rolling within the support guide surface 121 and are less likely to detach from it.

[0045] The top rod 30 is fixedly connected to the top cover at its upper end, and its lower end is supported by support balls 20 rolling on the seat 10. The top rod 30 is a non-deformable structure, and it is fixedly set with the top cover, so that the top rod 30 moves synchronously with the top cover. That is, when the top cover collides, the top rod 30 moves synchronously in response to the movement of the top cover. Specifically, the top rod 30 includes a rod portion 32 and a guide plate 34. The upper end of the rod portion 32 is fixedly connected to the lower surface of the top cover of the automatic lawnmower, and the guide plate 34 is located at the lower end of the rod portion 32. The guide plate 34 is in the shape of a thin plate, and the rod portion 32 is connected to the central area of ​​the guide plate 34. The guide plate 34 is spaced apart from the support plate 12 of the seat 10, and the support balls 20 are located between the support plate 12 and the guide plate 34 to support the guide plate 34 on the support plate 12.

[0046] The lower surface of the guide plate 34 forms a top holding surface 342, which is opposite to the support guide surface 121 formed on the upper surface of the support plate 12. A rolling space 14 for receiving the support ball 20 is formed between the top holding surface 342 and the support guide surface 121. The support ball 20 is disposed in the rolling space 14 and can roll freely within the rolling space 14. The top rod 30 (guide plate 34) is rolled and supported on the support guide surface 121 by the support ball 20. The top rod 30 (guide plate 34 and rod portion 32) has a circumferential space 18 for movement, so that it can move relative to the seat portion 10 in a plane parallel to the support surface of the chassis. This allows the top cover to move in a plane parallel to the support surface, ensuring the reliability of the collision detection results.

[0047] The aforementioned "support surface" refers to the supporting plane of the automatic lawnmower's chassis. When the automatic lawnmower is in operation, the support surface is the working surface of the automatic lawnmower, which is usually a horizontal surface. Therefore, the support surface is typically a plane parallel to the horizontal plane.

[0048] It should be noted that the aforementioned guide plate 34 is a thin plate structure, which extends approximately in a plane perpendicular to the rod 32. That is, the extension plane of the guide plate 34 is basically perpendicular to the extension direction of the rod 32. In the initial state, the extension plane of the guide plate 34 is parallel to the support surface of the automatic lawnmower. The guide plate 34 can move in any direction relative to the seat 10 within the support surface. The top cover assembly structure 100 provides circumferential space 18 for the guide plate 34 and the top rod 32. That is, there is circumferential space between the top rod 32 and the guide plate 34 and the seat 10, allowing the top rod 30 to move with the top cover.

[0049] An elastic element 40 is disposed between the push rod 30 and the seat 10 to apply a preload to the push rod 30 and the support ball 20. Specifically, one end of the elastic element 40 is connected to the seat 10, and the other end is connected to the push rod 30. Under the action of the elastic element 40, the push rod 30 tends to move relative to the seat 10, so that the support ball 20 is clamped between the top holding surface 342 and the support guide surface 121 of the guide pressure plate 34, and the support ball 20 can more reliably abut against the guide pressure plate 34.

[0050] In specific implementation scenarios, at least three top cover assembly structures 100 need to be installed between the top cover and the chassis of the automatic lawnmower to provide at least three support points, so as to stably support the top cover on the chassis. Preferably, four top cover assembly structures 100 can be installed, distributed at intervals in four directions on the top cover, with two spaced apart near the front of the automatic lawnmower and two spaced apart near the rear of the automatic lawnmower. The four top cover assembly structures together support the top cover on the chassis.

[0051] In the absence of a collision, the top cover assembly structure 100 is in a state of... Figure 3 The initial state is shown. After the top cover hits an obstacle, the top cover assembly structure 100 is in a collision response state. Figure 4 A cross-sectional structural diagram of the top cover assembly structure in a collision response state is shown. Please refer to... Figure 3 In the initial state, both the push rod 30 and the support ball 20 are in their initial positions, with the top holding surface 342 and the support guide surface 121 facing each other. The top holding surface 342 is directly above the support guide surface 121, and the support ball 20 is supported directly below the rod 32. In this state, the force on the support ball 20 is along the vertical direction. When the top cover encounters an obstacle, the top cover shifts relative to the chassis, causing the push rod 30 to shift as well. Because the top holding surface 342 of the guide plate 34 is pre-pressed against the support ball 20, the guide plate 34 will drive the support ball 20 to shift as well, and the support ball 20 rolls in the direction of the push rod 30's movement. Please refer to [link to relevant documentation]. Figure 4 , Figure 4 The middle top rod 30 and the top cover are aligned together. Figure 4The drawing is offset to the left, and the support ball 20 is supported on the left side of the support guide surface 121. In this state, the elastic element 40 not only applies downward pressure to the guide plate 34, but also applies torque to reset to the initial position. Thus, when the collision force disappears, under the reset action of the elastic element 40, the top rod 30 can reliably reset to the initial position, and the support ball 20 rolls to the initial position, realizing the automatic reset of the top cover assembly structure.

[0052] Figure 4 The diagram highlights the state of the top cover assembly structure when a collision event occurs from one direction. It can be understood that when collisions occur from other opposite directions, the top rod can move from its initial position towards the corresponding collision direction. The collision response states of the top cover assembly structure can be found in [reference needed]. Figure 4 These will not be elaborated on here.

[0053] The automatic lawnmower top cover assembly structure provided in this application features a top rod fixed relative to the top cover. The top rod is supported on the base by rolling support balls. Due to the low rolling friction resistance of the support balls, the top cover's movement relative to the chassis is more flexible. The guide plate and the rod have circumferential space for movement, allowing them to move relative to the base in a plane parallel to the support surface of the chassis. This enables the top cover to move parallel to the support surface relative to the chassis, improving the reliability and sensitivity of the collision detection structure. Because the elastic element can apply pre-pressure to the guide plate and support balls, it can suppress the top cover's vertical floating, reducing the adverse effects of vertical motion components on the collision detection results. After the collision disappears, the top cover can reliably reset under the action of the elastic element. Based on the top cover assembly structure provided in this application, the top cover's movement response to collision events is more sensitive, its reset is more reliable, and its movement relative to the chassis is more stable, ensuring the reliability and accuracy of the collision detection results.

[0054] In a specific embodiment, the seat 10 includes a top plate 11 opposite to the support plate 12. A guide plate 34 is located between the support plate 12 and the top plate 11. One end of an elastic member 40 abuts against the top plate 11, and the other end abuts against the guide plate 34, giving the guide plate 34 a tendency to move closer to the support plate 12. The top plate 11 is provided with a through hole 110 communicating with the outside, and the rod 32 passes through the through hole 110 and is fixedly connected to the top cover. In this embodiment, the top plate 11 is fixedly connected to the support plate 12, and the top plate 11 and the support plate 12, together with the through hole 110 of the top plate 11, form an active space 18 for the guide plate 34 to move. The top plate 11 is constructed in the shape of an inverted bowl and is fastened to the support plate 12. The circumferential edges of the top plate 11 and the support plate 12 are fixedly connected by fasteners. The top wall and side walls of the active space 18 are both formed by the top plate 11, and the bottom wall of the active space 18 is formed by the support plate 12. The elastic element 40 is sleeved on the rod 32. The upper end of the elastic element 40 abuts against the top plate 11 to form the top wall of the movable space 18, and the lower end abuts against the upper surface of the guide plate 34. The upper end of the elastic element 40 is fixed relative to the top wall of the movable space 18, thereby ensuring that the position of the elastic element 40 relative to the top plate 11 is fixed. When the push rod 30 is offset, the elastic element 40 can easily reset the push rod 30. Of course, the side wall of the movable space 18 does not necessarily have to be continuously closed. The side wall of the movable space 18 can be hollowed out. The side wall of the movable space 18 can also be formed by spaced-apart support plates, or by a structure independent of the support plates and the top plate. There are no restrictions here.

[0055] The opening size of the through hole 110 is larger than that of the rod portion 32. In the initial position, the rod portion 32 has a circumferential gap relative to the side wall of the through hole 110, and the guide plate 34 also has a circumferential gap relative to the side wall of the movable space 18, so that the top rod 30 can move relative to the seat portion 10 within the collision plane. It should be noted that the above-mentioned "collision plane" is a plane parallel to the current support surface of the automatic lawnmower. In a specific implementation, the seat portion 10 is set parallel to the support surface of the automatic lawnmower chassis, and the collision plane is the mounting surface of the seat portion 10.

[0056] In actual lawn mowing, the working surface of an automatic lawnmower is usually a horizontal surface. To facilitate the reset of the support ball bearing 20, in a specific embodiment, the depth of the central region of the support guide surface 121 is greater than the depth of the circumferential outer region of the support guide surface 121, and the depth of the support guide surface 121 gradually decreases from the central region to the circumferential outer region. That is to say, the depth of the support guide surface 121 increases from the outer periphery to the center, reaching its maximum depth in the central region. With this setting, under the action of gravity, the support ball bearing 20 can only stably remain in the central region, that is, the initial position of the support ball bearing 20, ensuring the reliable reset of the support ball bearing 20.

[0057] Specifically, the support guide surface 121 is constructed with a partial inner surface shape of a sphere, and the entire support guide surface 121 has a smooth transition, facilitating the unimpeded rolling of the support ball 20 and thus providing more flexible support for the top rod. The support guide surface can also be constructed with the side surface of a cone, with an arc transition corresponding to the central area of ​​the cone surface, reducing the rolling friction resistance of the support ball 20. The shape of the arc surface can correspond to and match the outer surface of the support ball 20, making it easier for the support ball 20 to remain in the central area.

[0058] To facilitate the reset of the support ball and reduce the risk of the support ball dislodging from the rolling space, in some embodiments, the top holding surface 342 is a concave groove shape, with the depth of the central region being greater than the depth of the circumferential outer region of the top holding surface 342, and the depth of the top holding surface 342 gradually decreasing from the central region to the circumferential outer region. That is, the depth of the top holding surface 342 increases from the outer periphery to the center, reaching its maximum depth in the central region. When the top holding surface 342 is directly opposite the support guide surface 121, that is, when the push rod 30 is in its initial position, the middle of the formed rolling space 14 has the maximum height, and its height decreases as it approaches the outer periphery. The above-described shape of the top holding surface results in a rolling space with a large height in the middle and a small height in the circumferential outer region, making it less likely for the support ball to dislodge from the rolling space. Moreover, the shape of the rolling space facilitates the reset of the support ball towards the central region.

[0059] In this embodiment, the top holding surface 342 and the support guide surface 121 have the same shape. When the push rod is in the initial position, the top holding surface 342 and the support guide surface 121 are symmetrical to each other. Specifically, both the support guide surface 121 and the top holding surface 342 are constructed as partial inner surface shapes of a sphere, only their opening directions are opposite. Please refer to [link / reference]. Figure 3 In the initial position, the cross-sections of the top holding surface 342 and the support guide surface 121 passing through the central region are shuttle-shaped, and the support ball 20 abuts against the central regions of the top holding surface 342 and the support guide surface 121, respectively. With this configuration, only when the support ball 20 is in the initial position will the force on the support ball 20 have no horizontal component, and the forces exerted on the support ball 20 by the support guide surface 121 and the top holding surface 342 will be balanced and stable. Once the support ball 20 deviates from the initial position, see... Figure 4 The top holding surface 30 applies a component force to the support ball 20, which rolls toward the center area. At the same time, under the action of gravity, the support ball 20 rolls toward the center area of ​​the support guide surface 121. In this way, the support ball 20 can be reset to the initial position as soon as possible, and the linkage guide pressure plate 34 is reset to the initial position. The top rod is not easy to get stuck relative to the seat, which can ensure the accuracy and reliability of the collision detection results.

[0060] In a specific embodiment, the top cover assembly structure also includes a relative displacement sensor for sensing the relative movement of the top cover relative to the chassis, thereby identifying collision events. Please refer to [link to relevant documentation]. Figure 5 As shown, the relative displacement sensor includes a displacement sensing element 60 fixed relative to the chassis and a trigger element 50 fixed relative to the top cover. Multiple displacement sensing elements 60 are arranged circumferentially around the support guide surface 121. The trigger element 50 is disposed on the lower surface of the guide pressure plate 34, located circumferentially around the top support surface 342. When the top rod 30 is in its initial position, the displacement sensing element 60 is located circumferentially around the projection of the trigger element 50 onto the upper surface of the support plate 12. If a collision occurs, the trigger element 50 moves together with the top rod 30, triggering the displacement sensing element 60 corresponding to the direction of movement, thereby allowing the direction of the collision to be identified based on the triggered displacement sensing element 60. Preferably, the trigger element 50 is a magnet, and the corresponding displacement sensing element 60 is a Hall effect sensor.

[0061] Specifically, each trigger 50 is configured in a one-to-one correspondence with a displacement sensor 60, and the distance between each displacement sensor 60 and its corresponding trigger 50 is the same. Taking the circumferential direction of the displacement sensor 60 as a reference, the trigger 50 is positioned radially inside the corresponding displacement sensor 60. Preferably, there are eight displacement sensors 60, evenly spaced along the circumferential direction. Correspondingly, there are also eight triggers 50, also arranged along the circumferential direction in the same manner as the displacement sensors 60. Each trigger 50 corresponds to one displacement sensor 60, thereby enabling the detection of collision events in eight directions.

[0062] In other embodiments, please refer to Figure 6 The trigger element 50 is a ring-shaped element, which is arranged around the top holding surface 342 in the circumferential direction. Figure 6 The push rod 30 is in its initial position, the trigger 50 is parallel to the support plate 12, and the distance between the projection of the displacement sensor 60 and the trigger 50 on the support plate 12 is the same. The annular trigger can reduce the possibility of missed triggering of the corresponding displacement sensor due to the gap between the triggers, and improve the reliability of the displacement sensor in sensing displacement.

[0063] Furthermore, in a specific implementation, the automatic lawnmower also includes a controller connected to the displacement sensor 60, used to receive the sensing signals from the displacement sensor 60. The controller is also used to drive the direction of the collision event based on the number and distribution of the triggered displacement sensors 60. Specifically, within the current detection cycle, if multiple displacement sensors 60 are triggered, the distribution of the triggered displacement sensors 60 is further determined. If the triggered displacement sensors 60 are continuously distributed, the direction of the collision is determined by the direction of the bisector of the central angle corresponding to the multiple continuously distributed displacement sensors 60. Specifically, the direction of the collision is the direction of the bisector towards the center of the circle. If the multiple displacement sensors 60 are not continuously distributed, the direction of the collision is determined by the direction of the bisector of the central angle corresponding to the most numerous continuous displacement sensors 60. In this embodiment, determining the direction of the collision event based on the distribution of the triggered displacement sensors can improve the sensitivity of collision detection and the reliability of collision direction detection.

[0064] In other embodiments, the displacement sensor 60 and the trigger 50 may also be provided independently of the top cover assembly structure 100. Please refer to [link to relevant documentation]. Figure 7 and Figure 8 The arrangement structure of the displacement sensing element 60 and the trigger element 50 provided in one embodiment is shown.

[0065] Please see Figure 7 and Figure 8 In this embodiment, the top cover assembly structure further includes a trigger rod 94 and a sensor base 92. The upper end of the trigger rod 94 is fixedly connected to the top cover, and the trigger rod 94 extends downwards approximately perpendicular to the working surface. A trigger element 50 is fixed to the lower end face of the trigger rod 94. The sensor base 92 is fixedly mounted on the chassis, located directly below the trigger rod 94. Multiple displacement sensors 60 are disposed on the sensor base 62 and arranged at intervals along the circumferential direction. Figure 8 As shown in the top view, the trigger 50 is directly opposite the center of the area enclosed by the displacement sensor 60. When the top cover moves relative to the chassis, the displacement sensor 60 in the corresponding direction is triggered, thereby identifying the direction of the collision based on the triggered displacement sensor 60.

[0066] Specifically, eight position sensors 52 are evenly spaced along the circumference, each corresponding to a relative displacement in one of eight different directions, thus accurately identifying collisions in eight different directions. In this embodiment, the displacement sensors and triggers are set independently of the top cover assembly structure, which reduces the number of triggers required, thereby reducing structural and assembly costs.

[0067] Example 2

[0068] Figures 9 to 10The automatic lawnmower top cover assembly structure 100a (hereinafter referred to as the top cover assembly structure) provided in the second embodiment of the present invention is shown. This top cover assembly structure 100a is basically the same as the top cover assembly structure 100 described in Embodiment 1. For the purpose of simplicity, the same parts are referred to by the same reference numerals and will not be described again here. The differences are described in detail below.

[0069] Please see Figures 9 to 10 In this embodiment, the top cover assembly structure 100a includes a seat 10a, a push rod 30, a connecting plate 70, and an elastic element 40a. The connecting plate 70 is fixedly connected to the push rod 30 and is located above the guide pressure plate 34, spaced apart from the support plate 12a of the seat 10a. One end of the elastic element 40a is connected to the connecting plate 70, and the other end is connected to the support plate 12a. Specifically, the connecting plate 70 is fixedly mounted on the rod 32 and is approximately parallel to the support plate 12a, meaning the support plate 12a and the connecting plate 70 are spaced approximately evenly apart. One end of the elastic element 40a is fixedly connected to the connecting plate 70, and the other end is fixedly connected to the support plate 12a. The elastic element 40a applies a preload to the connecting plate 70a relative to the support plate 12a, causing the push rod 30 and the support plate 12a to clamp the support ball 20, thereby supporting the top cover on the chassis through the support ball 20. Specifically, the elastic element 40a is a helical spring.

[0070] To ensure more reliable application of preload relative to the support plate, multiple elastic elements 40a are evenly spaced around the guide plate 34. Specifically, there are four elastic elements 40a, each equidistant from the guide plate 34, surrounding it circumferentially. This arrangement allows for the application of tension from the guide plate relative to the support seat in the circumferential direction, resulting in a more balanced and stable pressure between the push rod and the support balls, reducing the risk of the support balls dislodging. It also improves the stability of the guide plate's parallel position relative to the support plate and the support surface, reducing the risk of tilting and jamming.

[0071] The top cover assembly structure 100a also includes a bracket 80 supported between the connecting plate 70 and the seat 10a. One end of the bracket 80a is fixed, and the other end is free, allowing relative movement between the connecting plate 70 and the support seat 12a. Specifically, the upper end of the bracket 80 is fixedly connected to the connecting plate 70, and the lower end of the bracket 80 is free, supporting only the support plate 12a and movably positioned relative to it. Alternatively, the upper end of the bracket 80 can be an automatic end, and the lower end of the bracket 80 can be fixedly connected to the support plate 12a. The bracket 80 can be a single bracket or comprise multiple components supporting the connecting plate 70 and the seat 10a; this is not limited here. The bracket 80 defines the distance between the connecting plate 70 and the seat 10a. Under the reset action of the elastic element 40a, the free end of the bracket 80 can maintain pressure against the support seat 12a or the connecting plate 70. At this time, the top cover assembly structure 100a is in its initial state, and the support ball bearing 20 is in its initial position. The activity space 18a is formed between the connecting plate 70, the bracket 80 and the support plate 12, and is enclosed by the connecting plate 70, the bracket 80 and the support plate 12.

[0072] When the top cover is impacted, the guide plate 34 moves outward in conjunction with the support ball 20, and the support ball 20 pushes against the guide plate 34 upward, causing the connecting plate 70 to move upward as well. This creates a gap between the free end of the bracket 80a and the support plate 12a or connecting plate 70 it is pushing against. Due to the tension of the elastic element 40a, the connecting plate 70 and the top rod 30 can reliably return to their initial positions after the impact force disappears.

[0073] The top cover assembly structure provided in this embodiment adds a connecting plate opposite to the support plate, and sets multiple elastic elements between the support plate and the connecting plate, so as to facilitate the application of the tension force between the two relative to each other in the circumferential direction, making the pressure of the top rod against the support ball more balanced and stable, the movement of the top cover relative to the chassis can be more reliably supported, and it can be reliably reset, which can improve the reliability of the collision detection results.

[0074] Example 3

[0075] Figure 11 The automatic lawnmower top cover assembly structure 100b (hereinafter referred to as the top cover assembly structure) provided in the third embodiment of the present invention is shown. The top cover assembly structure 100b is basically the same as the top cover assembly structure 100 described in Embodiment 1. The main difference lies in the construction of the support guide surface and the top holding surface. For the purpose of simplicity, the same parts are referred to by the same reference numerals and will not be described again here. The following focuses on the differences.

[0076] Please see Figure 11In this embodiment, the top cover assembly structure 100b has a partially recessed upper surface of the support plate 12b to form a support guide surface. This support guide surface has the same spherical shape as the support ball 20 and is used to accommodate a portion of the support ball 20. The support ball 20 protrudes from the support plate 12b, and its upper end abuts against the guide pressure plate 34b. Specifically, the lower surface of the guide pressure plate 34b, i.e., the top holding surface 342b, is a plane. A rolling space 14b is formed between the top holding surface 342b and the support guide surface, and the support ball 20 rolls within the rolling space 14b. Since the shape of the support guide surface is the same as the outer surface of the support ball 20, it serves to limit the movement of the support ball 20, so that the support ball can only roll "in place" around its own center without changing its position.

[0077] The top cover assembly structure provided in this embodiment has a support ball that is not easy to fall out, a stable support position, and a higher reliability of top rod reset. The collision detection results based on this top cover assembly structure are more reliable.

[0078] Example 4

[0079] Figure 12 The automatic lawnmower top cover assembly structure 100c (hereinafter referred to as the top cover assembly structure) provided in the fourth embodiment of the present invention is shown. The top cover assembly structure 100c is basically the same as the top cover assembly structure 100b described in embodiment 3. The main difference lies in the construction of the supporting guide surface. For the purpose of simplicity, the same parts are referred to by the same reference numerals and will not be described again here. The following focuses on the differences.

[0080] Please see Figure 12 In this embodiment, the top cover assembly structure 100c has a partially recessed upper surface of the support plate 12c to form a support guide surface 121c. The bottom surface of the support guide surface 121c is basically flat, and the side surface of the support guide surface 121c is a vertical surface perpendicular to the bottom surface. The support ball 20 can roll on the support guide surface 121c and can change position relative to the support plate 12c. Due to the obstruction of the side surface, it will not fall off the support guide surface 121c. Specifically, the lower surface of the guide pressure plate 34c, i.e., the top holding surface 342c, is flat. The support ball 20 rolls in the rolling space 14c between the two planes, and supports the guide pressure plate 34c during the rolling process.

[0081] Example 5

[0082] The present invention also provides an automatic lawnmower, including the top cover assembly structure described in any of the above embodiments. The automatic lawnmower includes a chassis, a top cover movably mounted on the chassis, and a top cover assembly structure disposed between the chassis and the top cover. The above structures and components are described in detail in Embodiments 1-4; identical components are designated by the same reference numerals and will not be described again here.

[0083] Obviously, the embodiments described above are merely some, not all, embodiments of the present invention. Based on the embodiments of the present invention, those skilled in the art can make other variations or modifications without creative effort, and all such variations or modifications should fall within the scope of protection of the present invention.

Claims

1. An automatic lawnmower top cover assembly structure for connecting the chassis and top cover of an automatic lawnmower, allowing the top cover to move relative to the chassis, characterized in that, include: The seat is fixedly mounted on the chassis; The top rod includes a rod portion and a guide plate disposed at the lower end of the rod portion. The upper end of the rod portion is fixedly connected to the top cover of the automatic lawnmower. The guide plate is disposed at a distance from the support plate of the seat portion. A support ball is disposed between the guide plate and the support plate. The upper surface of the support plate forms at least a support guide surface, and the lower surface of the guide plate forms at least a top holding surface. The support guide surface and the top holding surface are disposed opposite to each other, forming a rolling space between them to accommodate the support ball. The guide plate is supported on the support plate by the support ball rolling. The guide plate and the rod have a circumferential space to move relative to the seat in a plane parallel to the support surface of the chassis. An elastic element is disposed between the top rod and the seat to apply a pre-pressure to the guide plate and the support ball abutting against each other.

2. The automatic lawnmower top cover assembly structure according to claim 1, characterized in that, The seat includes a top plate opposite to the support plate, the guide plate is located between the support plate and the top plate, the top plate is provided with a through hole communicating with the outside, the rod passes through the through hole and is fixedly connected to the top cover, one end of the elastic member abuts against the top plate and the other end abuts against the guide plate.

3. The automatic lawnmower top cover assembly structure according to claim 1, characterized in that, It also includes a connecting plate that is fixedly connected to the top rod. The connecting plate is located above the guide pressure plate and is spaced apart from the support plate. One end of the elastic element is connected to the connecting plate and the other end is connected to the support plate. The number of elastic elements is multiple, and they are evenly spaced around the guide plate.

4. The automatic lawnmower top cover assembly structure according to claim 3, characterized in that, It also includes a bracket supported between the connecting plate and the supporting plate, the bracket being fixedly connected to one of the supporting plate and the connecting plate, the other end of the bracket being a free end, the free end being in abutting contact with the other of the supporting plate and the connecting plate.

5. The automatic lawnmower top cover assembly structure according to any one of claims 1-4, characterized in that, The depth of the central region of the support guide surface is greater than the depth of the circumferential peripheral region of the support guide surface, and the depth of the support guide surface gradually decreases from the central region to the circumferential peripheral region.

6. The automatic lawnmower top cover assembly structure according to claim 5, characterized in that, The top holding surface is in the shape of an upwardly concave groove, the depth of the central region is greater than the depth of the circumferential outer region of the top holding surface, and the depth of the top holding surface gradually decreases from the central region to the circumferential outer region.

7. The automatic lawnmower top cover assembly structure according to claim 6, characterized in that, The top holding surface and the support guide surface have the same shape. When the top rod is in the initial position, the top holding surface and the support guide surface are symmetrical to each other.

8. The automatic lawnmower top cover assembly structure according to any one of claims 1-4, characterized in that, It also includes a plurality of displacement sensors disposed on the support plate and a trigger disposed on the lower surface of the guide plate. The plurality of displacement sensors are disposed around the support guide surface, and the trigger is disposed in the circumferential direction of the top holding surface. When the top rod is in the initial position, the displacement sensor is located circumferentially outside the projection of the trigger on the surface of the support plate.

9. The automatic lawnmower top cover assembly structure according to claim 8, characterized in that, The trigger element and the displacement sensor are arranged in a one-to-one correspondence, and the distance between each displacement sensor and its corresponding trigger element is the same. The displacement sensors are evenly spaced along the circumferential direction; or... The trigger is a ring-shaped component. When the top rod is in the initial position, the distance between each displacement sensing element and the trigger is the same.

10. An automatic lawnmower, characterized in that, The automatic lawnmower top cover assembly structure includes any one of claims 1-9.

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