A mowing robot housing lift detection structure and a mowing robot

Abstract

The application discloses a mowing robot shell lifting detection structure and a mowing robot. The detection structure is arranged between a vehicle body and a shell and comprises: a hinge structure, one end of the shell being capable of rotating relative to the vehicle body through the hinge structure; a floating limiting piece, being arranged between the other end of the shell and the vehicle body, the shell being capable of swinging up and down in a small range with the hinge structure as a fulcrum through the floating limiting piece; and a lifting sensor, the lifting sensor comprising two sensing components, the lifting sensor being configured to detect displacement of the shell relative to the vehicle body exceeding a predetermined threshold by detecting distance change between the two sensing components during lifting of the shell. The lifting detection structure can simplify the overall structure, facilitate mounting and dismounting of the shell and the vehicle body, and further improve assembly efficiency and maintenance cost.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of lawn mowers, in particular to a lawn mower robot shell lifting detection structure and a lawn mower robot. 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 floating structure between the shell and the vehicle body is relatively complex, either requiring separate bolt fixation or using a ball head. On the one hand, the ball head connection has the technical problem of being easy to fall off, and on the other hand, this structure has the technical problem of being inconvenient to install and disassemble.

[0004] Therefore, it is necessary to improve the existing floating structure. SUMMARY

[0005] In view of the above technical problems, the present application provides a lawn mower robot shell lifting detection structure and a lawn mower robot. The lifting detection structure can simplify the overall structure, facilitate the installation and disassembly of the shell and the vehicle body, and thus improve the assembly efficiency and maintenance cost.

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

[0007] A lawn mower robot shell lifting detection structure is arranged between the vehicle body and the shell, comprising:

[0008] A hinge structure, one end of the shell can rotate relative to the vehicle body through the hinge structure;

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

[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 lifting sensor, the lifting sensor includes two sensing components, the lifting sensor is configured to detect the displacement of the shell relative to the vehicle body exceeding a predetermined threshold by detecting the distance change between the two sensing components during the lifting of the shell, one of the sensing components is arranged on the vehicle body, and the other sensing component is fixedly arranged with the shell.

[0012] The hinge structure includes:

[0013] The connecting seat is arranged at the top rear end of the vehicle body, and a rotating cavity is arranged on the connecting seat.

[0014] The connecting member is arranged on the shell, and a rotating shaft is arranged at the end of the connecting member. Positioning plates are arranged at both ends of the rotating shaft.

[0015] The upper part of the rotating cavity is provided with an opening, and the rotating shaft can be inserted into the rotating cavity through the opening.

[0016] The connecting platform is arranged on the vehicle body,

[0017] The cavity wall of the rotating cavity is arranged opposite to the first support and the second support arranged on the connecting platform, and the opening of the rotating cavity is smaller than the inner diameter of the cavity.

[0018] The second support can be elastically bent to allow the rotating shaft to enter the rotating cavity.

[0019] The positioning support is further arranged for limiting the bending angle of the second support.

[0020] The shell comprises a first shell and a second shell.

[0021] The first shell is provided with a through hole, and the second shell is provided with a limiting column corresponding to the through hole.

[0022] The middle part of the positioning support is provided with a slot.

[0023] During installation, the second shell is attached to the first shell, the limiting column passes through the through hole and can be inserted into 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.

[0024] The first shell and the second shell are connected and fixed by screws and / or buckles.

[0025] The floating limiting member is a tensile connecting member, comprising:

[0026] The seat body is connected with the vehicle body, and the seat body is provided with a cavity. One end of the tensile rod is fixedly connected with the shell, and the other end can move up and down in the cavity relative to the seat body, and has a certain displacement space in the front-rear and left-right directions.

[0027] The first connecting seat is arranged on the vehicle body.

[0028] The second connecting seat is arranged on the seat body and connected with the first connecting seat.

[0029] One end of the tensile rod is provided with a pin hole, and a pin is arranged in the pin hole. The other end of the tensile rod is provided with a third connecting seat.

[0030] The bottom of the seat body is provided with a first opening and a second opening, the second opening is a strip-shaped opening which is arranged to be deflected relative to the axis of the pin hole mounting position, the caliber 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;

[0031] After the connecting pin is connected in the pin hole of the stretching rod, the stretching rod is inserted into the seat body from the first opening, and is deflected by a certain angle, so that the pin is inserted into the seat body from the second opening.

[0032] The shell is provided with a connecting groove which is arranged with an opening downward, and the upper end of the stretching rod is inserted into the connecting groove, and the rotation of the stretching rod in the horizontal direction is limited by the shape of the inner wall of the connecting groove, at this time, there is an included angle between the pin and the second opening.

[0033] The top of the connecting groove is provided with a fourth connecting seat, and the stretching rod is fixedly connected between the third connecting seat and the fourth connecting seat.

[0034] During the movement of the stretching rod, the lower end can be always in the cavity under the limiting action of the pin.

[0035] The outer surface of the first shell is provided with a mounting platform, and the fourth connecting seat and the third connecting seat on the stretching rod are connected and fixed by rotating the screw through the mounting platform.

[0036] The sensing component arranged on the shell is a magnetic element, and the other sensing component arranged on the vehicle body is a Hall element for detecting the magnetic field of the magnetic element.

[0037] An intelligent mower comprises the lifting detection structure of the mower robot shell. Advantages

[0038] First, 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, and the opening of the rotating cavity is smaller than the inner diameter of the cavity; the second support can be elastically bent to enable the rotating shaft to enter the rotating cavity, and such an elastic structure can make the installation between the shell and the vehicle body more convenient. At the same time, through the second shell cooperating with the first shell, the fixing of the hinge structure of the vehicle body and the shell is realized, the second shell cooperates with the positioning support and the second support on the vehicle body through the limiting column to limit the position of the positioning support, so as to ensure that the first shell is stably connected with the vehicle body and is not easy to fall off. When disassembly is needed, the second shell is separated from the first shell, and the limiting column is separated from the positioning support and the second support, so that the first shell can be conveniently separated from the vehicle body.

[0039] Second, the hinge structure is arranged at one end of the vehicle body and the shell, one end of the shell can rotate relative to the vehicle body through the hinge structure; a stretch connecting piece is arranged between the other end of the shell and the vehicle body, the shell can swing up and down in a small range with the hinge structure as a fulcrum through the stretch connecting piece; the upper part of the rotating cavity is provided with an opening, and the rotating shaft can be embedded into the rotating cavity through the opening. During the movement of the stretch rod, the lower end can be in the cavity all the time only through the limiting action of the pin; when disassembling, only the screw between the stretch rod and the shell needs to be removed, then the stretch rod is moved downward and rotated in the horizontal direction by a certain angle, so that the pin at the end of the stretch rod is separated from the seat body through the second opening, and the stretch rod and the vehicle body can be separated conveniently. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 It is an exploded view of the connection between the vehicle body and the shell of the lawn mowing robot of the application;

[0041] Among them, 100 is the vehicle body; 200 is the shell; 210 is the first shell; 220 is the second shell;

[0042] Figure 2 It is a structural schematic view of the tail seat body of the vehicle body of the application;

[0043] Among them, 110 is the connecting seat;

[0044] Figure 3 It is an enlarged schematic view of the connecting seat; Figure 2

[0045] Among them, 101 is the connecting platform; 111 is the first support; 112 is the second support; 113 is the positioning support; 114 is the rotating cavity;

[0046] Figure 4 It is a structural schematic view of the first shell of the application;

[0047] Among them, 211 is the connecting part;

[0048] Figure 5 It is an enlarged schematic view of the connecting part; Figure 4

[0049] Among them, 212 is the rotating shaft; 213 is the positioning plate;

[0050] Figure 6 It is a structural schematic view of the first shell of the application;

[0051] Among them, 214 is the through hole;

[0052] Figure 7 It is a bottom view of the first shell; Figure 6

[0053] Among them, 221 is the limiting column;​​​

[0054] Figure 8 The side view of the mowing robot of the present application;

[0055] Figure 9 The partial enlarged view of A of the Figure 8

[0056] Figure 10 The perspective view of the vehicle body of the present application;

[0057] Wherein, 120 is the detection element;

[0058] Figure 11 The bottom view of the first shell;

[0059] Wherein, 215 is the measured element;

[0060] Figure 12 The structural schematic diagram of installing the stretch connector on the vehicle body;

[0061] Wherein, 300 is the stretch connector;

[0062] Figure 13 The structural schematic diagram of separating the stretch connector from the vehicle body;

[0063] Wherein 130 is the first connecting seat;

[0064] Figure 14 The partial enlarged view of A of the Figure 13

[0065] Figure 15 The exploded view of the stretch connector;

[0066] Wherein, 301 is the seat body; 302 is the cavity; 303 is the second connecting seat; 304 is the stretch rod; 305 is the pin hole; 306 is the third connecting seat; 307 is the pin;

[0067] Figure 16 Another perspective exploded view of the stretch connector;

[0068] Wherein, 308 is the first opening; 309 is the second opening;

[0069] Figure 17 The assembly drawing of the stretch connector;

[0070] Figure 18 The bottom view of the first shell;

[0071] Wherein, 216 is the fourth connecting seat;

[0072] Figure 19 The partial enlarged view of A of the fourth connecting seat;

[0073] ​​217 is the connecting slot;

[0074] Figure 20 This is a schematic diagram of the first shell structure;

[0075] Among them, 218 is the installation platform;

[0076] Figure 21 This is a structural diagram of the assembled vehicle body and shell of the present invention;

[0077] Of these, 400 represents the ground level;

[0078] Figure 22 This is a schematic diagram of the structure of the vehicle body when it encounters an obstacle.

[0079] Among them, 500 represents obstacles. Detailed Implementation

[0080] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Example 1

[0081] like Figures 1-2 As shown, it includes a vehicle body 100 and a shell 200;

[0082] The housing 200 includes a first housing 210 and a second housing 220;

[0083] The vehicle body 100 and the shell 200 are movably connected relative to each other, and the shell 200 can swing up and down within a small range;

[0084] A connecting seat 110 is provided at the top rear end of the vehicle body 100 for rotating the connecting housing 200.

[0085] The connecting seat 110 includes a first bracket 111, a second bracket 112, and a positioning bracket 113 disposed on the vehicle body 100 and the connecting platform 101.

[0086] The first support 111 and the second support 112 form a rotating cavity 114, the opening of the rotating cavity 114 being smaller than the inner diameter of the cavity;

[0087] There is a certain distance between the second bracket 112 and the positioning bracket 113, and the second bracket 112 can be flexibly bent to approach the positioning bracket 113;

[0088] A connecting component 211 is provided on the first housing 210 corresponding to the connecting seat 110; a rotating shaft 212 is provided at the end of the connecting component 211, and positioning plates 213 are provided at both ends of the rotating shaft 212;

[0089] During installation, the rotating shaft 212 is embedded in the rotating cavity 114.

[0090] like Figures 6-7As shown, 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. When installed, the second shell 220 is attached to the first shell 210, the limiting column 221 passes through the through hole 214, is embedded in the positioning bracket 213, and abuts against the second bracket 212 to limit the opening size between the second bracket 212 and the first bracket 211. The first shell 210 and the second shell 220 can be connected and fixed by screws and / or buckles.

[0091] As shown, 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. When installed, the second shell 220 is attached to the first shell 210, the limiting column 221 passes through the through hole 214, is embedded in the positioning bracket 213, and abuts against the second bracket 212 to limit the opening size between the second bracket 212 and the first bracket 211. The first shell 210 and the second shell 220 can be connected and fixed by screws and / or buckles. Figure 8

[0092] As shown, 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. When installed, the second shell 220 is attached to the first shell 210, the limiting column 221 passes through the through hole 214, is embedded in the positioning bracket 213, and abuts against the second bracket 212 to limit the opening size between the second bracket 212 and the first bracket 211. The first shell 210 and the second shell 220 can be connected and fixed by screws and / or buckles.

[0093] The front part of the vehicle body 100 is provided with a detection element 120. The detection element can be arranged on the top surface of the vehicle body 110 or inside the vehicle body 110, close to the top part of the vehicle body.

[0094] The first shell is provided with a measured element corresponding to the detection element 120.

[0095] In this embodiment, the detection element 120 is a Hall element, and the measured element 215 is a magnet. Embodiment 2

[0096] Based on embodiment 1, a stretching connecting piece is further arranged between the vehicle body 100 and the shell 200. The front side of the vehicle body 100 is provided with a connecting seat 130 connected with the stretching connecting piece 300. The stretching connecting piece is used to limit the relative floating height of the shell and the vehicle body.

[0097] The stretching connecting piece 300 includes a seat body and a stretching rod 304. The seat body 301 is provided with a connecting seat 303 connected with the connecting seat 130.

[0098] The stretching rod 304 is provided with a pin hole 305 and a connecting seat 306 at both ends. The pin hole 305 is matched with the pin 307 to realize the movable connection of the stretching rod 304 and the seat body 301. The stretching rod 304 is connected with the first shell through the connecting seat 306.

[0099] The middle part of the seat body is provided with a cavity 302.

[0100] The bottom of the seat body 301 is provided with a first opening 307 and a second opening 309. The second opening is a strip-shaped opening arranged in a deflected manner relative to the axis of the installation position of the pin hole. The first opening has a smaller caliber than the length of the pin. The length of the second opening is greater than the length of the pin.

[0101] ​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, and 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.

[0102] 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-rear and left-right directions.

[0103] In the 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.

[0104] The mowing robot shell lifting detection structure can swing up and down relative to the vehicle body by a certain amplitude, when the robot contacts an obstacle 500 or is lifted artificially when the robot walks on the ground 400, 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 robot can perform corresponding operations such as stopping and stopping the function element, thereby enhancing safety.

[0105] By adopting the scheme, the shell and the vehicle body are convenient to connect, when the first shell is hinged with the trolley, the rotating shaft is pressed into the rotating cavity by pressing, then the second shell is installed, the limiting column on the second shell is matched with the positioning support and the second support on the vehicle body, specifically, the limiting column is inserted into the positioning support, and the side wall of the limiting column abuts against the second support to limit the position of the second support, so that the first shell and the vehicle body are stably connected and are not easy to fall off. When disassembly is needed, the second shell is separated from the first shell, and the limiting column is separated from the positioning support and the second support, so that the first shell can be conveniently separated from the vehicle body. The first shell and the second shell are preferably connected by buckles, which further facilitates disassembly, improves convenience while ensuring installation stability.

[0106] The second shell, as a part covering the first shell, can also be used as a decorative part, and different colors and materials are adopted to play a role in enriching product styles.

Claims

1. A mowing robot housing lift detection structure provided between a vehicle body and a housing, characterized by, The application relates to a shell structure of a vehicle, which comprises the following parts: a hinge structure, one end of the shell being capable of rotating relative to a vehicle body through the hinge structure; a floating limiting part, being arranged between the other end of the shell and the vehicle body, the shell being capable of swinging up and down in a small range through the floating limiting part with the hinge structure as a fulcrum; a lifting sensor, the lifting sensor comprising two sensing parts, the lifting sensor being configured to detect the displacement of the shell relative to the vehicle body exceeding a predetermined threshold by detecting the distance change between the two sensing parts during the lifting of the shell, one of the sensing parts being arranged on the vehicle body, and the other sensing part being fixedly arranged on the shell; the hinge structure comprising a connecting seat (110) arranged on the top rear end of the vehicle body (100), the connecting seat (110) being provided with a rotating cavity (114); a connecting part (211) arranged on the shell, the connecting part (211) being provided with a rotating shaft (212) at the end, and the rotating shaft (212) being provided with a positioning plate (213) at both ends; the upper part of the rotating cavity (114) being provided with an opening, and the rotating shaft (212) being capable of being embedded into the rotating cavity (114) through the opening; the vehicle body (100) being provided with a connecting platform (101), and the cavity wall of the rotating cavity (114) being oppositely arranged on the first support (111) and the second support (112) on the connecting platform (101), and the opening of the rotating cavity (114) being smaller than the inner diameter of the cavity; the second support (112) being capable of being elastically bent to enable the rotating shaft to enter the rotating cavity; the hinge structure further comprising a positioning support for limiting the bending angle of the second support (112); the shell (200) comprising a first shell (210) and a second shell (220); the first shell (210) being provided with a through hole (214), and the second shell (220) being provided with a limiting column (221) corresponding to the through hole (214); the middle part of the positioning support (113) being 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 into the embedding groove on the positioning support (113) and abut against the second support (112), so as 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 through screws and / or buckles; the floating limiting part is a stretching connecting part, which comprises a seat body and a stretching rod, the seat body is connected with the vehicle body, the seat body is provided with a cavity (302), one end of the stretching rod is fixedly connected with the shell, and the other end is capable of moving up and down in the cavity relative to the seat body and has a certain displacement space in the front-rear and left-right directions; the vehicle body is provided with a first connecting seat (130); the seat body (301) is provided with a second connecting seat (303) connected with the first connecting seat (130); One end of the stretching rod is provided with a pin hole (305) in which a pin is arranged; the other end of the stretching rod is provided with a third connecting seat (306); The bottom of the seat body (301) is provided with a first opening (307) and a second opening (309); the second opening is a strip-shaped opening which is arranged to be deflected relative to the axis of the pin hole installation position; the caliber of the first opening is smaller than the length of the pin; the length of the second opening is greater than the length of the pin; After the pin in the pin hole of the stretching rod is connected, the stretching rod (304) is inserted into the seat body from the first opening, and is deflected by a certain angle, so that the pin is inserted into the seat body from the second opening; The shell is provided with a connecting groove (217) which is arranged with an opening downward; after the upper end of the stretching rod is inserted into the connecting groove (217), the rotation of the stretching rod in the horizontal direction is limited by the shape of the inner wall of the connecting groove; at this time, there is an included angle between the pin and the second opening; The top of the connecting groove (217) is provided with a fourth connecting seat (216); the stretching rod is fixedly connected between the third connecting seat (306) and the fourth connecting seat (216). During the movement of the stretching rod, the lower end can always be in the cavity under the limiting action of the pin.

2. The mowing robot housing lift detection structure of claim 1, wherein, The outer surface of the first shell is provided with a mounting platform (218); a screw is screwed into the mounting platform (218) to connect and fix the fourth connecting seat (216) and the third connecting seat (306) on the stretching rod.

3. The mowing robot housing lift detection structure of claim 1, wherein, One of the sensing components arranged on the shell is a magnetic element; the other sensing component arranged on the vehicle body is a Hall element for detecting the magnetic field of the magnetic element.

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

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