Grass cutting robot wiring structure and intelligent grass cutting machine

Abstract

The application discloses a mowing robot wiring structure and an intelligent mowing machine. The wiring structure is arranged between a vehicle body and a shell. One end of a trolley and the shell are relatively rotated through a hinge structure. The other end of the trolley and the shell are floatingly connected. The floating connection end of the shell and the vehicle body can swing up and down in a small range with the hinge structure as a fulcrum. A wiring part is arranged on the shell near the hinge structure. A wire slot is arranged on the outside of the shell. Electronic devices in the shell are led from the inside of the shell to the outside of the shell through a wire hole, embedded in the wire slot, and then connected with a wire led from the inside of the trolley through a connecting terminal at the wiring part. The wire does not need to have too much excess between the shell and the vehicle body. When the shell and the vehicle body relatively move, the wire moves less and is not easily damaged. During the operation of the machine, the wire is basically in a limited and closed protection state and is not easily damaged.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of lawn mowers, in particular to a lawn mower robot wiring structure and an intelligent lawn mower. BACKGROUND

[0002] An intelligent lawn mower is an automatic working device that autonomously moves and performs a mowing task in a set area, usually including a vehicle body and a shell. The shell is supported above the vehicle body and can move relative to the vehicle body. By setting sensors for detecting relative motion between the vehicle body and the shell, collision events and lifting events can be detected. These sensors usually include collision sensors for detecting collision events and lifting sensors for detecting shell lifting.

[0003] The existing machine usually has a certain activity space between the shell and the vehicle body. Electronic components on the shell and the interior of the vehicle body need to be connected by a wire. Usually, in order to avoid damage to the wire when the shell and the vehicle body move relative to each other, a certain amount of excess wire needs to be left between the shell and the vehicle body. However, this method leaves a part of the excess wire between the shell and the vehicle body, resulting in untidy wiring. Moreover, the excess wire left is long and cannot be fixed. During the operation of the machine, the excess wire freely moves between the shell and the vehicle body, which may cause unpredictable damage.

[0004] Therefore, it is necessary to improve the wiring structure of the existing intelligent lawn mower. SUMMARY

[0005] In view of the above technical problems, the present application provides a lawn mower robot wiring structure. With the wiring structure, the wire does not need to have too much excess between the shell and the vehicle body. When the shell and the vehicle body move relative to each other, the wire moves less and is less likely to be damaged. Moreover, during the operation of the machine, the wire is basically in a state of being limited and closed protection, and has a small activity space and is less likely to be damaged.

[0006] In order to achieve the above technical purpose, the present application adopts the following technical means:

[0007] A lawn mower robot wiring structure is arranged between the vehicle body and the shell,

[0008] The small car one end and the shell are connected by a hinge structure and can rotate relative to each other;

[0009] A floating limiting piece is arranged between the other end of the small car and the shell,

[0010] The shell can swing up and down within a small range with the hinge structure as a fulcrum through the floating limiting piece;

[0011] A wiring part is arranged on the shell near the hinge structure;

[0012] A wire slot is arranged on the outside of the shell.

[0013] The electronic device arranged on the inside of the shell is led from the inside of the shell to the outside of the shell through the first wire hole, embedded in the wire slot, and then connected with the wire led from the inside of the trolley through the connecting terminal at the wire connection part.

[0014] An opening is arranged on the shell at the wire connection part for leading the wire into the inside of the shell and leading into the trolley through the opening, and a waterproof structure is arranged at the opening.

[0015] The wire connection part is arranged on the outside of the shell, and all the connecting terminals are arranged in the wire connection part.

[0016] The hinge structure comprises:

[0017] A connecting seat is arranged on the top rear end of the trolley body, and a rotating cavity is arranged on the connecting seat.

[0018] A connecting part is arranged on the shell, and a rotating shaft is arranged at the end of the connecting part, and positioning plates are arranged at both ends of the rotating shaft.

[0019] An opening is arranged on the upper part of the rotating cavity, and the rotating shaft can be embedded in the rotating cavity through the opening.

[0020] A connecting platform is arranged on the trolley body,

[0021] The cavity wall of the rotating cavity is arranged opposite to a first support and a second support arranged on the connecting platform, and the opening of the rotating cavity is smaller than the diameter of the cavity.

[0022] The second support can be elastically bent to enable the rotating shaft to enter the rotating cavity.

[0023] A positioning support is further arranged, and the positioning support is used for limiting the bending angle of the second support.

[0024] The shell comprises a first shell and a second shell, the first shell is connected with the trolley body, and the second shell is detachably arranged on the outside of the first shell, and the second shell can cover the wire slot and the wire connection part.

[0025] A through hole is arranged on the first shell, and a limiting column is arranged on the second shell corresponding to the through hole;

[0026] A slot is arranged on the middle part of the positioning support.

[0027] During installation, the second shell is attached to the first shell, the limiting column passes through the through hole and can be embedded in the slot on the positioning support, and abuts against the second support to further limit the opening size between the second support and the first support.

[0028] The first shell and the second shell are connected and fixed by screws and / or buckling.

[0029] The inside of the shell is provided with a first sensing component, and the vehicle body is provided with a second sensing component.

[0030] The intelligent mower comprises the wire arrangement structure of the mowing robot. Advantages

[0031] First, the hinge structure is arranged at one end of the vehicle body and the shell, and the one end of the shell can rotate relative to the vehicle body through the hinge structure.

[0032] Second, the connection terminals are arranged in the wire connection part, and the wire connection part is located outside the shell, which is convenient for later inspection and maintenance.

[0033] Third, the stretching connecting piece is arranged between the other end of the shell and the vehicle body, and the shell can swing up and down in a small range with the hinge structure as a fulcrum.

[0034] Fourth, the vehicle body is provided with a connecting platform, the cavity wall of the rotating cavity is arranged opposite to the first support and the second support on the connecting platform, the opening of the rotating cavity is smaller than the diameter of the cavity, and the second support can be elastically bent to enable the rotating shaft to enter the rotating cavity. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 It is the schematic view of the inside structure of the shell of the present application;

[0036] Wherein, 6 is a line; 7 is a first wire hole; 13 is a fixing part; 14 is a charging interface; 15 is a second wire hole; 215 is a first sensing part;

[0037] Figure 2 It is the schematic view of the outside structure of the shell of the present application;

[0038] Wherein, 8 is a wire slot; 9 is a wiring part; 10 is a connecting terminal;

[0039] Figure 3 It is the schematic view of the connection of the shell and the cover of the present application;

[0040] Wherein, 220 is a second shell;

[0041] Figure 4 It is the exploded view of the connection of the vehicle body and the shell of the lawn mowing robot of the present application;

[0042] Wherein, 100 is a vehicle body; 200 is a shell; 210 is a first shell; 220 is a second shell;

[0043] Figure 5 It is the schematic view of the structure of the tail seat of the vehicle body of the present application;

[0044] Wherein, 110 is a connecting seat;

[0045] Figure 6 It is the enlarged schematic view of the connecting seat in the present application; Figure 5

[0046] Wherein, 101 is a connecting platform; 111 is a first support; 112 is a second support; 113 is a positioning support; 114 is a rotating cavity;

[0047] Figure 7 It is the schematic view of the structure of the first shell of the present application;

[0048] Wherein, 211 is a connecting part;

[0049] Figure 8 It is the enlarged schematic view of the connecting part in the present application; Figure 7

[0050] Wherein, 212 is a rotating shaft; 213 is a positioning plate;

[0051] Figure 9 It is the schematic view of the structure of the first shell of the present application;

[0052] Wherein, 214 is a through hole;

[0053] ​​Figure 10 for Figure 9 The bottom view;

[0054] Among them, 221 is the limiting post;

[0055] Figure 11 This is a side sectional view of the lawnmower robot of the present invention;

[0056] Figure 12 for Figure 11 A magnified view of part A;

[0057] Figure 13 This is a perspective view of the vehicle body of the present invention;

[0058] Among them, 120 is the second sensing component;

[0059] Figure 14 This is a bottom view of the first shell.

[0060] Among them, 215 is the first sensing component;

[0061] Figure 15 A schematic diagram of the structure for installing tension connectors on the vehicle body;

[0062] Among them, 300 is a tension connector;

[0063] Figure 16 This is a schematic diagram showing the structure where the tension connector is separated from the vehicle body.

[0064] 130 is the first connecting seat;

[0065] Figure 17 For Figure 16 A magnified view of a portion of the image;

[0066] Figure 18 This is an exploded view of the tension connector;

[0067] Wherein, 301 is the base; 302 is the cavity; 303 is the second connecting seat; 304 is the tension rod; 305 is the pin hole; 306 is the third connecting seat; and 307 is the pin.

[0068] Figure 19 An exploded view of the stretch connector from another perspective;

[0069] Among them, 308 is the first opening; 309 is the second opening;

[0070] Figure 20 This is an assembly diagram of the tension connector;

[0071] Figure 21 This is a bottom view of the first shell.

[0072] Among them, 216 is the fourth connecting seat;

[0073] Figure 22 is a partial enlarged view of the fourth connecting seat;

[0074] 217 is a connecting groove;

[0075] Figure 23 is a structural schematic view of the first shell;

[0076] wherein 218 is a mounting platform;

[0077] Figure 24 is a structural overall view of the assembled car body and shell of the present application;

[0078] wherein 400 is the ground;

[0079] Figure 25 is a structural schematic view of the car body of the present application when encountering an obstacle;

[0080] wherein 500 is the obstacle. Embodiment

[0081] The technical solutions of the present application will be further described in detail below in combination with the drawings of the specification and specific embodiments. Embodiment

[0082] As shown in Figures 1-4 , and it includes a car body 100 and a shell 200;

[0083] The shell 200 includes a first shell 210 and a second shell 220;

[0084] The car body 100 and the shell 200 are relatively movably connected, and the shell 200 can swing up and down within a small range;

[0085] The car body 100 is provided with a connecting seat 110 at the top rear end, which is used for rotatingly connecting the shell 200.

[0086] The wiring portion 9 is arranged on the shell near the hinge structure;

[0087] The wire slot 8 is arranged on the outer side of the shell, and the electronic devices arranged on the inner side of the shell are led from the first wire hole 7 on the inner side of the shell to the outer side of the shell, embedded in the wire slot 8, and then connected with the wires led from the trolley through the connecting terminals 10 at the wiring portion 9.

[0088] As a preferred technical solution of the present embodiment, an opening is arranged on the shell at the wiring portion, which is used for leading the wires into the inner side of the shell and leading them into the trolley through the opening, and a waterproof structure is arranged at the opening.

[0089] As a preferred technical solution of the present embodiment, the wiring portion is arranged on the outer side of the shell, and all the connecting terminals are arranged in the wiring portion.

[0090] As Figures 5-8 shown, the connecting seat 110 includes a first support 111, a second support 112 and a positioning support 113 provided on the connecting platform 101 on the vehicle body 100;

[0091] The first support 111 and the second support 112 form a rotating cavity 114, and the opening of the rotating cavity 114 is smaller than the inner diameter of the cavity;

[0092] There is a certain distance between the second support 112 and the positioning support 113, and the second support 112 can be elastically bent to be close to the positioning support 113;

[0093] The first shell 210 is provided with a connecting part 211 corresponding to the connecting seat 110; the end of the connecting part 211 is provided with a rotating shaft 212, and the two ends of the rotating shaft 212 are provided with positioning plates 213;

[0094] During installation, the rotating shaft 212 is embedded in the rotating cavity 114.

[0095] In this embodiment, the wiring part is arranged close to the hinge between the shell and the trolley. During the operation of the trolley, when the shell and the trolley move relative to each other, the closer to the hinge, the smaller the linear displacement. By arranging the wiring part close to the hinge, and the line redundancy and activity occurring in the wiring part, the length of the line that needs to be redundantly lengthened can be reduced, and the activity of the redundant line during the movement of the machine can be reduced, thereby reducing the possibility of damage to the line activity. Embodiment

[0096] As Figure 3 , 4 shown, the difference between this embodiment and embodiment 1 is that the shell includes a first shell 210 and a second shell 220, the first shell 210 is connected with the vehicle body, and the second shell 220 is detachably arranged outside the first shell 210, and the second shell 220 can cover the wire slot and the wiring part.

[0097] As Figures 9-10 shown, as a further preferred embodiment of embodiment 2, the first shell 210 is provided with a through hole 214, and the second shell 220 is provided with a limiting column 221 corresponding to the through hole 214. During installation, the second shell 220 is attached to the first shell 210, the limiting column 221 passes through the through hole 214 and is embedded in the positioning support 213, and abuts against the second support 212 to limit the opening size between the second support 212 and the first support 211. The first shell 210 and the second shell 220 can be connected and fixed by screws and / or buckles

[0098] As Figure 11 shown, the connection state of the shell 200 and the tail of the vehicle body 100;

[0099] In actual installation, the first housing is first connected to the vehicle body, and then the second housing is installed.

[0100] A second sensing element 120 is provided at the front of the vehicle body 100. The sensing element can be set on the top surface of the vehicle body 110 or inside the vehicle body 110, close to the top of the vehicle body.

[0101] The measured element is disposed inside the first housing corresponding to the second sensing component 120;

[0102] In this embodiment, the second sensing component 120 is a Hall element, and the first sensing component 215 is a magnet.

[0103] In this embodiment, most of the wiring is located between the first and second housings, completely enclosed by both. During machine operation, the wiring harness is protected by the two housings, preventing contact with the outside world and reducing the risk of damage. Simultaneously, the wiring harness is secured by wire channels or fixing parts along its route from the sensor to the wiring terminal. This fixed wiring does not move arbitrarily during machine operation, clearly defining the wiring path and keeping the wiring inside the housings neat. Using this solution, all wiring allowance and movement occur within the wiring terminal. During machine operation, the wiring terminal is also a small, enclosed area composed of the first and second housings, making the wiring and connectors less susceptible to damage. The connectors are also less likely to be contaminated by rainwater, grass clippings, mud, etc. Example

[0104] Based on Embodiments 1 and 2, this embodiment further includes a tension connector between the vehicle body 100 and the housing 200. A connecting seat 130 is provided on the front side of the vehicle body 100 to connect with the tension connector 300. The tension connector is used to limit the relative floating height between the housing and the vehicle body.

[0105] The tension connector 300 includes a base and a tension rod 304. A connecting seat 303 is provided on the base 301 and connected to the connecting seat 130.

[0106] The tension rod 304 has pin holes 305 and connecting seats 306 at both ends. The pin holes 305 and pins 307 cooperate to realize the movable connection between the tension rod 304 and the seat 301. The tension rod 304 is connected to the first housing through the connecting seats 306.

[0107] A cavity 302 is provided in the middle of the seat body;

[0108] The bottom of the base 301 is provided with a first opening 307 and a second opening 309. The second opening is a strip-shaped opening offset from the axis of the pin hole mounting position. The diameter of the first opening is smaller than the length of the pin, and the length of the second opening is greater than the length of the pin.

[0109] In actual installation, the pin is inserted into the pin hole, the stretching rod 304 is stretched from the first opening, and is deflected by a certain angle so that the pin is stretched from the second opening, one end of the pin hole 305 on the whole stretching block enters the cavity 302, then the seat body 301 is connected with the vehicle body 100, the upper end connecting seat 306 of the stretching rod is connected with the connecting seat 216 on the first shell, at this time, the pin and the second opening exist an included angle, and in the moving process of the stretching rod, the lower end is always in the cavity under the limiting action of the pin.

[0110] The connecting seat 216 on the first shell has the structure as above, the upper end of the stretching rod 304 is inserted into the connecting groove and is limited by the shape, the stretching rod cannot be rotated after installation, but can move up and down relative to the seat body, and has a certain displacement space in the front-back and left-right directions.

[0111] In this embodiment, the stretching rod 304 is fixed with the first shell by a screw, and the screw is screwed through the installation platform 218 on the outer surface of the first shell.

[0112] The mowing robot shell lifting detection structure can swing up and down relative to the vehicle body by a certain amplitude, when the robot is walking on the ground 400, the shell below contacts the obstacle 500 or is lifted artificially, the shell swings upward, the distance between the magnet on the front section of the shell and the Hall element increases, and the parameter machine control system can know this situation through the Hall element. At this time, the machine can be stopped, the functional elements stop working and the like, and the safety is enhanced.

Claims

1. A mowing robot routing structure provided between a vehicle body and a housing, characterized by, The hinge structure is arranged between one end of the vehicle body and the shell; A floating limiting member is arranged between the other end of the vehicle body and the shell, The shell can swing up and down in a small range with the hinge structure as a fulcrum through the floating limiting member; A wiring part is arranged on the shell near the hinge structure; A wire slot is arranged on the outer side of the shell; An electronic device arranged on the inner side of the shell is led from the inner side of the shell to the outer side of the shell through the first wire hole, embedded in the wire slot, and then connected with a wire led from the inner side of the vehicle body through a connecting terminal at the wiring part; An opening is arranged on the shell at the wiring part for leading the wire into the inner side of the shell and into the vehicle body through the opening, and a waterproof structure is arranged at the opening; The wiring part is arranged on the outer side of the shell, and all the connecting terminals are arranged in the wiring part; The hinge structure comprises a connecting seat (110) arranged on the top rear end of the vehicle body (100), and a rotating cavity (114) arranged on the connecting seat (110); A connecting component (211) is arranged on the shell, and a rotating shaft (212) is arranged on the end of the connecting component (211), and a positioning plate (213) is arranged on both ends of the rotating shaft (212); An opening is arranged on the upper part of the rotating cavity (114), and the rotating shaft (212) can be embedded in the rotating cavity (114) through the opening; A connecting platform (101) is arranged on the vehicle body (100), and a first support (111) and a second support (112) are arranged on the connecting platform (101) in a relative manner, and the opening of the rotating cavity (114) is smaller than the inner diameter of the cavity; The second support (112) can be elastically bent to enable the rotating shaft to enter the rotating cavity; A positioning support is further arranged to limit the bending angle of the second support (112); The shell comprises a first shell and a second shell, the first shell is connected with the vehicle body, and the second shell is detachably arranged on the outer side of the first shell, and the second shell can cover the wire slot and the wiring part.

2. The mowing robot routing structure of claim 1, wherein, A through hole (214) is arranged on the first shell (210), and a limiting column (221) is arranged on the second shell (220) corresponding to the through hole (214); The middle part of the positioning support (113) is provided with an embedding groove; During installation, the second shell (220) is attached to the first shell (210), the limiting column (221) passes through the through hole (214) and can be embedded in the embedding groove on the positioning support (113) and abut against the second support (112) to further limit the opening size between the second support (112) and the first support (111); The first shell (210) and the second shell (220) are connected and fixed by screws and / or buckles.

3. The mowing robot routing structure of claim 1, wherein, A first sensing component is arranged on the inner side of the shell, a second sensing component is arranged on the vehicle body, and the displacement of the shell relative to the vehicle body exceeding a predetermined threshold is detected by detecting the distance change between the two sensing components during the lifting of the shell.

4. A smart lawnmower, characterized in that, The mowing robot wiring structure comprises the mowing robot wiring structure according to any one of claims 1-3.

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