Universal connecting structure, intelligent mower and self-moving equipment

Abstract

The invention provides a universal connecting structure, an intelligent mower and a self-moving device, the universal connecting structure comprises a bearing seat, a connecting piece and a connecting shaft, the connecting shaft is matched in a first through hole of the bearing seat, and the hole diameter of the first through hole is larger than the outer diameter of the connecting shaft. The connecting shaft can rotate along the first axis of the first through hole and in the direction perpendicular to the first axis so as to achieve universal rotation. In addition, the universal connecting structure can further comprise a quick-release matching piece and a limiting piece, and therefore quick assembly and disassembly between the universal connecting structure and the driving head are achieved. The intelligent mower and the self-moving equipment comprise the universal connecting structure which is used for being connected with a driving head such as a body of the intelligent mower, the universal connecting structure enables the collecting box to rotate relative to the driving head, and therefore when the collecting box is driven by the driving head, movement of the collecting box is more flexible. Therefore, the intelligent mower and the self-moving equipment can better move on the working ground and carry out corresponding work.

Description

Technical Field

[0001] The present application relates to the technical field of self-moving equipment, and in particular to a universal connection structure, an intelligent lawn mower and a self-moving equipment. Background Art

[0002] Existing self-moving devices such as intelligent lawn mowing robots and automatic transport equipment are operated on the working ground, but the working ground includes different working conditions such as lawn, mud and concrete, and there may be obstacles such as stones on the working ground. If the self-moving device cannot float and adjust the height, it may not be able to adapt to the uneven working ground or be blocked by obstacles. Therefore, it is necessary to set up a structure that can float and adjust the height. Summary of the invention

[0003] The present application provides a universal connection structure, an intelligent lawn mower and a self-moving device to improve the effect of the universal connection.

[0004] The present application provides a universal connection structure, which includes a bearing seat, a connecting member, and a connecting shaft, wherein the bearing seat has a head, the head is provided with a first through hole, the first through hole has a first axis, and the end of the bearing seat away from the head is used to be connected to the driving head; the connecting member is provided with a groove, and the head of the bearing seat is accommodated in the groove; the connecting shaft is passed through the first through hole and is connected to the connecting member, and the aperture of the first through hole is larger than the outer diameter of the connecting shaft, so that the connecting shaft can rotate along the first axis and in a direction perpendicular to the first axis.

[0005] In some embodiments, the first through hole is a waist-shaped hole.

[0006] In some embodiments, a rotating member is disposed in the first through hole, the rotating member is disposed with a second through hole, the connecting shaft passes through the second through hole, and a spherical wall is disposed on the outer wall of the rotating member.

[0007] In some embodiments, the rotating member includes a first extension segment, a second extension segment and a third extension segment connected in sequence, the outer walls of the first extension segment and the third extension segment are spherical walls, and the outer wall of the second extension segment forms a cylindrical surface.

[0008] In some embodiments, the universal connection structure also includes a drive head connecting component, the drive head connecting component has a mating cavity, the bearing seat is rotatably connected to the mating cavity, and the bearing seat can rotate relative to the drive head connecting component along a second axis, and the second axis is perpendicular to the first axis.

[0009] In some embodiments, the universal connection structure also includes a limit piece and a quick-release fitting, the limit piece is fixed to one of the bearing seat and the fitting cavity, and rotatably cooperates with the other; the quick-release fitting can be switchably connected to the drive head connecting component, and the quick-release fitting can be switched between a fixed position and a disassembly position, in the fixed position, the quick-release fitting cooperates with the limit piece to fix the limit piece in the fitting cavity.

[0010] In some embodiments, the bearing seat is provided with a first protrusion and a second protrusion that protrude radially outward along the bearing seat. The first protrusion and the second protrusion are spaced apart in the extension direction of the second rotation axis, and a portion of the limiting member is limited between the first protrusion and the second protrusion.

[0011] In some embodiments, the quick-release fitting is rotatably engaged with the drive head connecting component, and a limiting groove is provided on the limiting member. In a fixed position, the quick-release fitting is rotated to the position of the limiting groove and pressed against a side of the limiting member away from the engaging cavity.

[0012] Correspondingly, the present application also provides an intelligent lawn mower, wherein the intelligent lawn mower includes a body of the intelligent lawn mower, a collection box, moving wheels, a roller brush assembly and the aforementioned universal connection structure.

[0013] The main body of the intelligent lawn mower comprises a main body and a walking device, a cutting assembly and a navigation assembly arranged on the main body, wherein the walking device is used to drive the main body to move; a collection box has a first receiving space and a first opening connected to the first receiving space; a moving wheel is arranged on the collection box; a roller brush assembly is arranged on the collection box and includes a roller brush, and the roller brush is located at the first opening; and a connecting piece of the universal connection structure is arranged between the collection box and the main body.

[0014] Correspondingly, the present application also provides a self-moving device, which includes a driving head, a collection box, a moving wheel, a roller brush assembly and the aforementioned universal connection structure.

[0015] The driving head has a walking device; the collecting box has a first receiving space and a first opening connected to the first receiving space; the moving wheel is arranged on the collecting box; the cleaning assembly is arranged on the collecting box and includes a cleaning element, and the cleaning element is located at the first opening; the connecting piece of the universal connection structure is arranged between the collecting box and the main body.

[0016] The present application has the following beneficial effects: The present application provides a universal connection structure, an intelligent lawn mower and a self-moving device, wherein the universal connection structure includes a bearing seat, a connecting member and a connecting shaft, wherein the connecting shaft is fitted in the first through hole of the bearing seat, and the aperture of the first through hole is larger than the outer diameter of the connecting shaft, thereby the connecting shaft can rotate along the first axis of the first through hole and in a direction perpendicular to the first axis to achieve universal rotation. In addition, the universal connection structure may also include a quick-release fitting and a limiter, thereby achieving rapid assembly and disassembly between the universal connection structure and the drive head. The intelligent lawn mower and the self-moving device include a universal connection structure for connecting to a drive head such as the body of the intelligent lawn mower, and the universal connection structure enables the collection box to rotate relative to the drive head, thereby making the movement of the collection box more flexible when driven by the drive head. Thus, the intelligent lawn mower and the self-moving device can better move on the working ground and perform corresponding work. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 A schematic diagram of the structure of a self-moving device is shown as an example;

[0019] Figure 2 Exemplary illustration Figure 1 The main half-section view;

[0020] Figure 3 An exemplary front view showing the connection member and the collection box in a mating state;

[0021] Figure 4 An exemplary top view showing the connection member and the collection box in a mating state;

[0022] Figure 5 A schematic diagram showing the structure of a connecting piece is shown as an example;

[0023] Figure 6 A schematic diagram showing the cooperation between the connecting piece and the drive head connecting component is exemplified;

[0024] Figure 7 The diagram of the matching between the connecting shaft, the rotating part and the bearing seat is shown as an example.

[0025] The main components in this embodiment are marked with the following figures: drive head 10, walking device 11, universal connection structure 200, connecting shaft 210, rotating part 220, spherical wall 221, second through hole 222, bearing seat 230, head 231, first through hole 232, first protrusion 233, second protrusion 234, drive head connecting part 240, matching cavity 241, limiting part 250, limiting groove 251, quick-release matching part 260, connecting part 270, groove 271, collection box 400, first opening 411, moving wheel 420, roller brush assembly 500, shell 510, roller brush 520, connecting rod assembly 530, scraper strip 540. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application. In addition, it should be understood that the specific implementation methods described herein are only used to illustrate and explain the present application and are not used to limit the present application. In the present application, unless otherwise stated, the directional words used, such as "up", "down", "left", and "right", generally refer to the up, down, left, and right of the device in actual use or working state, specifically the drawing direction in the accompanying drawings.

[0027] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features.

[0028] The present application provides a universal connection structure, an intelligent lawn mower and a self-moving device, which are described in detail below. It should be noted that the description order of the following embodiments does not limit the preferred order of the embodiments of the present application. In the following embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0029] A universal connection structure 200 is provided in an embodiment of the present application. Here, the universal connection structure 200 can be applied to structures in multiple scenarios such as material collection, material crushing, fallen leaf collection, lawn mower weed collection and crushing, and outdoor sweepers to achieve a multi-degree-of-freedom matching connection between two components. Of course, the examples in this embodiment do not constitute an undue limitation thereto.

[0030] Here, see Figure 5The universal connection structure 200 includes a bearing seat 230 and a connecting shaft 210. Here, the connecting shaft 210 of the universal connection structure 200 is used to be installed on a connecting member 270. In some embodiments of the present application, the connecting member 270 is regarded as a part of the universal connection structure 200. The connecting member 270 can be used to connect to other external components. Of course, in other embodiments, the connecting member 270 itself can also be an external component rather than a component dedicated to connecting to an external component. For example, the connecting member 270 itself can be a box body component of a collection box, etc. The example in this embodiment does not constitute an undue limitation to the present application.

[0031] Here, see Figure 5 The bearing seat 230 has a head 231, and the head 231 is provided with a first through hole 232. Figure 6 , the first through hole 232 has a first axis A. Opposite to the head 231, the end of the bearing seat 230 away from the head 231 is used to be directly or indirectly connected to the drive head 10. The drive head 10 can be a lawn mower, a snow sweeper, or a drive component with only a power function, etc. This embodiment does not impose improper restrictions on the drive head 10. Here, in Figure 5 and Figure 6 In the illustrated direction, the head 231 is located at the end of the bearing seat 230 that is in the positive direction of the second direction Y, and the end connected to the drive head 10 is located at the end of the bearing seat 230 that is in the opposite direction of the second direction Y. The second direction Y can be a vertical direction. Of course, the example in this embodiment does not constitute an undue limitation to the present application.

[0032] Please continue reading Figure 6 The connecting member 270 is provided with a groove 271, and the head 231 of the bearing seat 230 is accommodated in the groove 271. Here, the opening of the groove 271 faces the head 231 of the bearing seat 230. Figure 6 In the illustrated direction, the opening of the groove 271 faces in the opposite direction of the second direction Y.

[0033] The connecting shaft 210 is inserted into the first through hole 232 and connected to the connecting member 270. Here, the diameter of the first through hole 232 is larger than the outer diameter of the connecting shaft 210, so that the connecting shaft 210 can rotate around the first axis A of the first through hole 232 as an axis and can also rotate around an axis perpendicular to the first axis A. For example, Figure 6 A second axis B perpendicular to the first axis A is shown in the figure. Here, the second axis B is parallel to the second direction Y. The connecting shaft 210 can also rotate along the second axis B. Of course, it can be understood that the range of rotation along the second axis B is limited by the aperture of the first through hole 232.

[0034] Therefore, by setting the aperture of the first through hole 232 to be larger than the outer diameter of the connecting shaft 210, the degree of freedom of the connecting shaft 210 is increased, and multi-directional rotation of the connecting shaft 210 is achieved, thereby enabling multi-directional rotation between the connecting member 270 and the driving head 10 to achieve a universal connection between the connecting member 270 and the driving head 10.

[0035] In some embodiments, the first through hole 232 is configured as a waist-shaped hole, and the waist-shaped hole is configured along the second direction Y, that is, the first through hole 232 is arc-shaped at both ends in the second direction Y. Thus, the connecting shaft 210 can move along the second direction Y in the first through hole 232, so that the connecting shaft 210 has the freedom to move in the second direction Y, thereby more effectively realizing the universal connection between the connecting member 270 and the driving head 10.

[0036] In some embodiments, please refer to Figure 6 A rotating member 220 is also disposed in the aforementioned first through hole 232. The rotating member 220 may be a bearing, etc. Of course, the example in this embodiment does not constitute an improper limitation thereto. A second through hole 222 is disposed on the rotating member 220. The aforementioned connecting shaft 210 is passed through the second through hole 222. A spherical wall 221 is disposed on the outer wall of the rotating member 220. The spherical wall 221 may be spherical or quasi-spherical, such as a rugby ball shape. Thus, the rotating member 220 may swing relative to the first through hole 232 through the spherical wall 221, thereby driving the connecting shaft 210 to swing, so as to better realize the universal connection between the connecting member 270 and the drive head 10.

[0037] Here, by way of example, see Figure 7 Here, the rotating member 220 includes a first extension section 223, a second extension section 224 and a third extension section 225 connected in sequence, the outer walls of the first extension section 223 and the third extension section 225 are spherical walls 221, and the outer wall of the second extension section 224 forms a cylindrical surface. Here, when the outer wall of the entire rotating member 220 is a spherical wall 221, the contact between the rotating member 220 and the first through hole 232 is a line contact, and the contact area between the two is small, which will lead to greater wear. Here, the outer walls on both sides of the rotating member 220 are spherical walls 221, and the outer wall in the middle is a cylindrical surface, so that the contact area between the rotating member 220 and the first through hole 232 is larger, the wear is smaller, and the rotation is more stable.

[0038] In some embodiments, please refer to Figure 5 and Figure 6The universal connection structure 200 further includes a drive head connection component 240, which is used to be connected to the drive head 10. Here, the drive head connection component 240 has a matching cavity 241, and the aforementioned bearing seat 230 is rotatably connected to the matching cavity 241. The rotation axis of the bearing seat 230 is the second axis, and the axial direction of the second axis is parallel to the second direction Y. For example, in Figure 5 and Figure 6 In the embodiment, axis B is the second axis. With axis B as the rotation axis, the connector 270 can rotate relative to the drive head connection component 240 to improve the flexibility of movement. For example, when the connector 270 is connected to the collection box 400 and the drive head connection component 240 is connected to the drive head 10, this arrangement can improve the flexibility of movement of the collection box 400 when it is driven by the drive head 10. Generally, the axis B is arranged along the vertical direction, so that when the drive head 10 drives the collection box 400 to move and turn, the movement radius of the collection box 400 will be smaller.

[0039] Here, for example, with axis B as the rotation axis, the angle range of the connection member 270 that can rotate relative to the drive head connection member 240 is ±90°. For example, taking it as an example of applying it to a smart lawn mower, the angle range of the connection member 270 and the collection box 400 that can rotate relative to the drive head 10 is ±90°, that is, Figure 4 In the direction shown, the collection box 400 can rotate 90° forward and backward along the B' direction in the illustrated state. Here, the rotation angle of the connecting member 270 and the collection box 400 can be limited by setting a limit block at the position of the 90° forward and backward rotation. Of course, the example in this embodiment does not constitute an improper restriction. In other embodiments, the angle range of the connecting member 270 and the collection box 400 relative to the drive head 10 can also be other angles. Generally, when the axis B is set along the vertical direction, the B' direction is parallel to the horizontal plane. Of course, the example in this embodiment does not constitute an improper restriction on this application.

[0040] In some embodiments, in order to facilitate the assembly and disassembly between the bearing seat 230 and the drive head connecting component 240, please refer to Figure 6 A limiting member 250 may also be provided between the bearing seat 230 and the mating cavity 241. The limiting member 250 is fixed to one of the bearing seat 230 and the mating cavity 241 and is rotatably matched with the other. The limiting member 250 is used to limit the matching between the bearing seat 230 and the mating cavity 241. Of course, in other embodiments, the limiting member 250 may not be provided, and this embodiment does not constitute an improper restriction thereto.

[0041] Exemplarily, the bearing seat 230 is provided with a first protrusion 233 and a second protrusion 234 protruding outward along the radial direction of the bearing seat 230, and the first protrusion 233 and the second protrusion 234 are arranged at intervals in the extension direction of the axis B, that is, usually arranged at intervals along the vertical direction. The first protrusion 233 and the second protrusion 234 can be integrally formed on the bearing seat 230, or can be separately assembled to the bearing seat 230, and this embodiment does not limit them. For example, here, the first protrusion 233 is integrally formed on the bearing seat 230, and the second protrusion 234 is a baffle connected to the bearing seat 230. The space between the first protrusion 233 and the second protrusion 234 is equipped with the aforementioned limiter 250, and the first protrusion 233 and the second protrusion 234 are used to limit the limiter 250.

[0042] In addition, in some embodiments, the second protrusion 234 may also be a split pin disposed on the bearing seat 230, and the split pin passes through the bearing seat 230 in the radial direction, so as to be limited on the side of the limiting member 250 away from the first protrusion 233. Alternatively, the second protrusion 234 includes both the aforementioned baffle and the split pin. Of course, it is understood that in other embodiments, the structure for limiting the limiting member 250 may not be limited to the aforementioned structure, and the relevant examples in this embodiment do not constitute an improper limitation on the present application.

[0043] Here, see Figure 6 A quick-release fitting 260 is also provided on one side of the limiter 250. The quick-release fitting 260 can be switchably connected to the drive head connecting component 240, and the quick-release fitting 260 can be switched between a fixed position and a disassembly position. Figure 6 In the state shown, the quick-release fitting 260 is located in a fixed position, and the quick-release fitting 260 cooperates with the limiting member 250 to fix the limiting member 250 in the matching cavity 241; when the quick-release fitting 260 is moved to the disassembly position, the quick-release fitting 260 releases the restriction on the limiting member 250, and the limiting member 250 and the bearing seat 230 can be disassembled from the matching cavity 241.

[0044] Exemplarily, the quick-release fitting 260 is rotationally engaged with the drive head connecting component 240 through a rotating shaft or the like, and can be rotated and switched between a fixed position and a disassembly position. A limiting groove 251 is provided on the limiting member 250. In the fixed position, the quick-release fitting 260 rotates to the position 251 of the limiting groove, and presses against the side of the limiting member 250 away from the matching cavity 241, thereby limiting the limiting member 250 and the bearing seat 230 in the matching cavity 241. In the disassembly position, the quick-release fitting 260 rotates to a position away from the limiting groove 251, and the limiting member 250 is no longer pressed by the quick-release fitting 260, thereby the limiting member 250 and the bearing seat 230 can be disassembled, that is, the drive head 10 and the collection box 400 can be separated from each other. Of course, it is understandable that in other embodiments, the quick-release fitting 260 can also be switchably engaged with the fixed component of the drive head 10 through structures such as slide rails and guide rods, and can be moved along structures such as slide rails and guide rods to achieve switching between a fixed position and a disassembled position, etc. The examples in this embodiment do not constitute an undue limitation to the present application.

[0045] It can be seen that in the embodiment of the present application, by providing the quick-release fitting 260 and the stopper 250, the connection and disassembly between the drive head connecting member 240 and the connecting member 270 can be quickly realized, that is, the connection and disassembly between the drive head 10 and the collection box 400 can be quickly realized. In addition, the structure is simple and compact, and the space occupied is small.

[0046] Accordingly, in order to better achieve the technical effects in the embodiments of the present application, the embodiments of the present application also provide an intelligent lawn mower. Figure 1 The smart lawn mower includes a main body of the smart lawn mower, a collection box 400 , a moving wheel 420 , a roller brush assembly 500 and a universal connection structure 200 .

[0047] Among them, the body of the smart lawn mower has a main body and a walking device and a cutting assembly arranged on the main body, the walking device is used to drive the main body to move; the collection box 400 is connected to the main body of the smart lawn mower, and has a first receiving space and a first opening 411 connected to the first receiving space; the moving wheel 420 is arranged on the collection box 400; the roller brush assembly 500 is connected to the collection box 400 and includes a roller brush 520, and the roller brush 520 is located at the first opening 411; the universal connection structure 200 is connected between the connecting member 270 and the main body of the smart lawn mower, so that the connecting member 270 and the collection box 400 can rotate relative to the main body of the smart lawn mower.

[0048] Here, the main body may also be provided with a navigation component. Exemplarily, the navigation component may be any one of a visual positioning component, a laser positioning component, and an ultrasonic positioning component. The visual positioning component collects environmental information through visual sensors such as cameras, and obtains the position and posture information of the target object through image processing technology, thereby realizing the positioning and navigation of the intelligent lawn mower; the laser positioning component uses a laser sensor to emit a laser beam, and obtains the position and contour information of the object according to the interactive reflection between the laser beam and the environmental object, thereby realizing the positioning and navigation of the intelligent lawn mower; the ultrasonic positioning component emits an ultrasonic wave through an ultrasonic sensor and receives its echo, and obtains the distance and direction information of the target object through processing and analysis of the echo, thereby realizing the positioning and navigation of the intelligent lawn mower. Of course, it can be understood that the method for navigating a self-moving robot such as an intelligent lawn mower is a conventional technology in the art, and the examples in this embodiment do not constitute an improper limitation to this application.

[0049] Here, the collection box 400 has a first receiving space, see Figure 2 , a first opening 411 is provided on the collection box 400, and the first opening 411 is connected to the first receiving space. Usually, the first opening 411 is located near the bottom of the collection box 400, so that the objects to be collected on the working ground can enter the first receiving space through the first opening 411. Exemplarily, here, a first direction X and a second direction Y perpendicular to each other are defined, the first direction X is parallel to the working ground, and the second direction Y points to a direction away from the working ground. Usually, the first direction X is a direction pointing to the front side of the collection box 400, that is, a direction pointing to the collection box 400 close to the drive head 10 (the relevant content of the drive head 10 will be described later). Here, the first opening 411 is provided at a position near the bottom of the front side of the collection box 400 in the first direction X. Usually, when the collection box 400 moves, the first direction X is the forward direction of the collection box 400, and of course, this embodiment does not constitute an improper limitation thereto.

[0050] In addition, in some embodiments, the collection box 400 may also have a second opening (not shown), which is connected to the first receiving space. Here, the second opening is used to allow the objects to be collected in the first receiving space to leave the first receiving space. For example, the second opening can be directly or indirectly connected to a storage component such as a storage bag, that is, the first opening 411 is used as the entrance of the first receiving space, and the second opening is used as the exit of the first receiving space. In addition, the first receiving space can also be connected to a suction source such as a fan to suck the objects to be collected into the first receiving space and / or suck out the objects to be collected in the first receiving space. Of course, the examples in this embodiment do not constitute an undue limitation to the present application.

[0051] A moving wheel 420 is provided on the side of the collection box 400 close to the working ground, usually at the bottom of the collection box 400, so that the collection box 400 can be moved on the working ground by the moving wheel 420. Here, the number of the moving wheels 420 can be 1, 2, 3, etc. For example, in the example of this embodiment, with a straight line parallel to the first direction X as the central axis, two moving wheels 420 are provided at the bottom of the collection box 400 symmetrically about the central axis. Of course, the example in this embodiment does not constitute an improper limitation thereto.

[0052] Furthermore, it is understandable that the moving wheel 420 can be a driving wheel or a driven wheel. When the moving wheel 420 is a driving wheel with power, the collection box 400 can move by itself. When the moving wheel 420 is a driven wheel without power, the collection box 400 needs to be driven by the drive head 10. The drive head 10 can be a smart lawn mower or other drive body, etc., and this embodiment does not constitute an undue limitation to it.

[0053] Here, see Figure 2 The roller brush assembly 500 includes a housing 510 and a roller brush 520 rotatably connected to the housing 510. The housing 510 is rotatably connected to the collection box 400, for example, the housing 510 is hinged to the collection box 400 through a hinge, a rotating shaft, or a connecting rod, so that the housing 510 can rotate relative to the collection box 400. Of course, the example in this embodiment does not constitute an improper limitation to it. In other embodiments, the housing 510 can also be connected to the collection box 400 in other ways.

[0054] For example, see Figure 3 In the example of the embodiment of the present application, the roller brush assembly 500 further includes a connecting rod assembly 530, which is connected between the housing 510 and the collection box 400. The connecting rod assembly 530 is specifically a parallel four-link assembly. The housing 510 of the roller brush assembly 500 is provided with two parallel connecting rods on both the front and rear sides in a direction perpendicular to both the first direction X and the second direction Y. One end of each connecting rod is hinged to the collection box 400 and the other end is connected to the housing 510, so that the housing 510 is rotatably connected to the collection box 400. Here, when the collection box 400 moves on the working ground, based on the setting of the connecting rod assembly 530, the collection box 400 can adapt to the ups and downs and bumps of the working ground and float accordingly, and then can float to avoid obstacles.

[0055] Of course, it can be understood that in other embodiments, the connecting rod assembly 530 is not limited to a parallel four-bar linkage assembly, and the number and arrangement of the connecting rods can be different from the above examples. It only requires that the shell 510 is rotatably connected to the collection box 400 and can be rotated relative to the collection box 400 to change the relative position relationship between the roller brush assembly 500 and the collection box 400. The example in this embodiment does not constitute an undue limitation to the present application.

[0056] The roller brush 520 of the roller brush assembly 500 is rotatably connected to the housing 510, for example, connected to the housing 510 via a rotating shaft. It is understandable that the roller brush assembly 500 also includes a driving source such as a motor (not shown), and the roller brush 520 is connected to the driving source such as the motor, so that the roller brush 520 can rotate around its axis through the drive of the driving source such as the motor. Figure 2 The roller brush 520 is located near the first opening 411. For example, a portion of the roller brush 520 may extend from the first opening 411 into the first receiving space. Of course, the example in this embodiment does not constitute an improper limitation. When the roller brush 520 rotates, it can lift the objects to be collected and allow the objects to be collected to enter the first receiving space through the first opening 411.

[0057] Also, see Figure 2 and Figure 3 The roller brush assembly 500 may further include a scraper bar 540, which is disposed near the bottom of the housing 510. Generally, the scraper bar 540 may be located at the front side of the housing 510 in the first direction X, that is, the side of the housing 510 away from the collection box 400. By providing the scraper bar 540, the objects to be collected on the working floor may be scraped and collected better, so that the roller brush 520 may lift the objects to be collected and store them in the first storage space of the collection box 400. Of course, in other embodiments, the scraper bar 540 may not be provided, and the example in this embodiment does not constitute an improper limitation thereto.

[0058] Here, the collection box 400 can be used to collect leaves, grass leaves, and other collectibles. For example, in places such as sports fields, farms, parks, and garden green spaces, smart lawn mowers need to be used regularly for trimming and tidying. The smart lawn mower has a cutting component, which is used to cut grass leaves of a certain height. Here, please refer to Figure 1 The collection box 400 is assembled on the body of the smart lawn mower to collect the grass leaves formed after cutting by the smart lawn mower. The body of the smart lawn mower is used as a driving head 10 to drive the collection box 400 to move.

[0059] For example, see Figure 2 and Figure 3The universal connection structure 200 further includes a connection member 270, which is disposed on the collection box 400, and the connection member 270 and the housing 510 may be located on the same side of the collection box 400. Exemplarily, the connection member 270 and the housing 510 are both disposed on the front side of the collection box 400 in the first direction X. Here, one end of the connection member 270 is connected to the collection box 400, and the other end may be used to connect to the driving head 10 such as the body of the smart lawn mower, thereby realizing the connection between the body of the smart lawn mower and the collection box 400.

[0060] Of course, it can be understood that in this embodiment, the collection box 400 is driven to move by the body of the intelligent lawn mower as the driving head 10. The body of the intelligent lawn mower includes a main body, a walking device 11 and a cutting assembly. The walking device 11 is arranged on the main body to drive the main body to move, so that the main body of the intelligent lawn mower can be moved from one position to another. The cutting assembly is arranged on the main body to cut grass leaves, etc., which can be a cutting knife, etc. Among them, the walking device 11 can be a crawler structure, a wheel structure or a bionic structure, etc., and this embodiment does not limit it. Exemplarily, when the walking device 11 is a wheel structure, the walking device includes a wheel and a motor for driving the wheel to rotate, and the motor drives the wheel to rotate to drive the main body to move.

[0061] It is understandable that in other embodiments, the specific application scenarios may be different, and the main body of the smart lawn mower may be replaced by other movable drive heads 10, etc. to drive the collection box 400 to move, or the collection box 400 may be independently operated and self-driven and move, etc. The examples in this embodiment do not constitute an undue limitation to the present application.

[0062] As mentioned above, please refer to Figure 2 , the collection box 400 may be provided with a connector 270, and the connector 270 is used to connect the collection box 400 to a drive head 10. In some embodiments, a universal connection structure 200 is provided at one end of the connector 270 close to the drive head 10, and the universal connection structure 200 is used to connect to the drive head 10, so that the connector 270 and the collection box 400 can rotate relative to the drive head 10. Therefore, when the drive head 10 drives the collection box 400, the collection box 400 can move freely and is not prone to jamming. In particular, in some embodiments, the collection box 400 can also move with multiple degrees of freedom.

[0063] See also Figure 5, illustratively, the universal joint structure 200 includes a connecting shaft 210, a rotating member 220 and a bearing seat 230. Here, the connecting shaft 210 is connected to the connecting member 270, the connecting shaft 210 is rotatably connected to the rotating member 220, the rotating member 220 is disposed on the bearing seat 230, and the bearing seat 230 is used to connect to the drive head 10 (see Figure 1 and Figure 2 ), thereby realizing the rotation connection between the connecting member 270 and the driving head 10, wherein the axial direction of the connecting shaft 210 is perpendicular to the first direction X and the second direction Y, and the axis of the connecting shaft 210 is the aforementioned first axis A (see Figure 6 ). The rotating member 220 may be a bearing or the like. Since the connecting member 270 is connected to the collecting box 400, the collecting box 400 is rotatably connected to the driving head 10. Here, through the connecting shaft 210, the connecting member 270 and the collecting box 400 can rotate relative to the driving head 10 with the first axis A as the axis.

[0064] Here, please refer to Figure 6 In some embodiments, the bearing seat 230 has a first through hole 232, and the rotating member 220 is fitted in the first through hole 232 to form a connection with the bearing seat 230. Moreover, here, the mating surface between the rotating member 220 and the first through hole 232 is a convex arc surface, so that the rotating member 220 can swing relative to the bearing seat 230 around an axis parallel to the first direction X. Exemplarily, the outer wall of the rotating member 220 has a spherical wall 221. Thus, in Figure 6 In the illustrated direction, the rotating member 220 can swing forward and backward along the C direction relative to the first through hole 232, so that the connecting member 270 connected to the rotating member 220 and the collecting box 400 can swing accordingly to better adapt to the working surface.

[0065] In some embodiments, the universal connection structure 200 further includes a bearing seat 230 and a drive head connection component 240. The bearing seat 230 is connected to the connection member 270, and the drive head connection component 240 has a matching cavity 241. The bearing seat 230 is rotatably connected to the matching cavity 241, and the bearing seat 230 can rotate relative to the drive head connection component 240 with the second axis B as the axis.

[0066] In some embodiments, the second axis B is perpendicular to the working ground, that is, the second axis B is parallel to the second direction Y.

[0067] In some embodiments, the connecting member 270 rotates relative to the drive head connecting component 240 with the second axis B as the axis within an angular range of ±90°.

[0068] In some embodiments, the universal connection structure 200 further includes a connecting shaft 210 and a rotating member 220. The connecting shaft 210 is disposed on the connecting member 270; the rotating member 220 is fitted on the connecting shaft 210; the bearing seat 230 is connected to the body of the intelligent lawn mower and is provided with a first through hole 232, the rotating member 220 is fitted in the first through hole 232, and the fitting surface between the rotating member 220 and the first through hole 232 is a convex arc surface, so that the rotating member 220 can swing relative to the bearing seat 230 with an axis parallel to the first direction X as an axis. Here, the first direction X can be parallel to the working ground.

[0069] In some embodiments, the universal connection structure 200 further includes a limiter 250 and a quick-release fitting 260. The limiter 250 is fixed to one of the bearing seat 230 and the fitting cavity 241, and is rotationally matched with the other; the quick-release fitting 260 is switchably connected to the drive head connecting component 240, and the quick-release fitting 260 can be switched between a fixed position and a disassembly position. In the fixed position, the quick-release fitting 260 cooperates with the limiter 250 to fix the limiter 250 in the fitting cavity 241.

[0070] In some embodiments, the quick-release fitting 260 is rotatably engaged with the drive head connecting component 240, and a limiting groove 251 is provided on the limiting member 250. In a fixed position, the quick-release fitting 260 is rotated to the position of the limiting groove 251 and pressed against the side of the limiting member 250 away from the engaging cavity 241.

[0071] In some embodiments, the smart lawn mower includes the universal connection structure 200 in the aforementioned universal connection structure 200 embodiment. The body of the smart lawn mower in this embodiment can be the drive head 10 in the aforementioned universal connection structure 200. The corresponding specific structure can refer to the aforementioned universal connection structure 200 embodiment, and this embodiment will not be repeated.

[0072] Accordingly, in order to better achieve the technical effects in the embodiments of the present application, the embodiments of the present application also provide a self-moving device, which includes a drive head 10, and the drive head 10 has a walking device. In addition, the self-moving device also includes a collection box 400, a moving wheel 420, a cleaning component, and the aforementioned universal connection structure 200. The collection box 400 has a first receiving space and a first opening 411 connected to the first receiving space; the moving wheel 420 is arranged on the collection box 400; the cleaning component is arranged on the collection box 400 and includes a cleaning element, and the cleaning element is located at the first opening 411, wherein the cleaning component can be a roller brush assembly 500, and the cleaning element can be a roller brush 520; the connector 270 of the universal connection structure 200 is arranged between the collection box 400 and the drive head 10.

[0073] Application Example 1

[0074] In application example 1, a self-moving device is provided. The self-moving device includes a driving head 10 and a collection box 400 . The collection box 400 is provided with a moving wheel 420 and a roller brush assembly 500 .

[0075] Furthermore, the self-moving device also includes a connecting member 270, one end of which is connected to the collection box 400, and the other end is provided with a connecting shaft 210, the connecting shaft 210 is rotatably connected to the rotating member 220, and the rotating member 220 is arranged on a bearing seat 230, and the bearing seat 230 is used to connect to the drive head 10.

[0076] Here, the bearing seat 230 has a first through hole 232, and the rotating member 220 is fitted in the first through hole 232. The outer wall of the rotating member 220 has a spherical wall 221. Figure 6 In the illustrated direction, the rotating member 220 can swing forward and backward along the C direction relative to the first through hole 232, so that the connecting member 270 connected to the rotating member 220 and the collecting box 400 can swing accordingly to better adapt to the working surface.

[0077] Application Example 2

[0078] In application example 2, a self-moving device is provided, which is substantially the same as the self-moving device provided in application example 1.

[0079] Furthermore, in application example 2, the self-moving device also includes a drive head connecting component 240 , which is used to cooperate with and connect to the drive head 10 , and the aforementioned bearing seat 230 is connected to the drive head connecting component 240 .

[0080] The drive head connecting component 240 has a mating cavity 241, and the bearing seat 230 is rotatably connected to the mating cavity 241. The direction of the rotation axis of the bearing seat 230 is the second direction, and the second direction is the vertical direction. The angle range of rotation of the connecting member 270 and the collection box 400 relative to the drive head 10 is ±90°.

[0081] Application Example 3

[0082] In application example three, a self-moving device is provided, which is substantially the same as the self-moving device provided in application example two.

[0083] Furthermore, in application example 3, a limiting member 250 may be provided between the bearing seat 230 and the matching cavity 241, and the limiting member 250 is rotationally matched with the bearing seat 230 and fixed with the matching cavity 241. A quick-release fitting member 260 is also connected to the drive head connecting member 240, and a limiting groove 251 is provided on the limiting member 250. In the fixed position, the quick-release fitting member 260 rotates to the position of the limiting groove 251 and presses against the side of the limiting member 250 away from the matching cavity 241, thereby limiting the limiting member 250 and the bearing seat 230 in the matching cavity 241. In the disassembly position, the quick-release fitting member 260 rotates to a position away from the limiting groove 251, and the limiting member 250 is no longer pressed by the quick-release fitting member 260, thereby the limiting member 250 and the bearing seat 230 can be disassembled, that is, the drive head 10 and the collection box 400 can be separated from each other.

[0084] Application Example 4

[0085] In application example four, a self-moving device is provided, wherein the driving head 10 and the collection box 400 of the self-moving device are connected via a universal connection structure 200. The universal connection structure 200 includes a bearing seat 230 and a connecting shaft 210. The bearing seat 230 has a head 231, and a first through hole 232 is provided on the head 231. The connecting member 270 is provided with a groove 271, and the head 231 of the aforementioned bearing seat 230 is accommodated in the groove 271. The connecting shaft 210 is penetrated in the aforementioned first through hole 232 and is connected to the connecting member 270. Here, the aperture of the first through hole 232 is larger than the outer diameter of the connecting shaft 210, so that the connecting shaft 210 can rotate around the first axis A of the first through hole 232 as an axis, and can also rotate around an axis direction perpendicular to the first axis A.

[0086] Application Example 5

[0087] In application example five, there is provided a self-moving device provided in any of the aforementioned application examples, which is specifically a smart lawn mower. The body of the smart lawn mower is the aforementioned drive head 10. The body of the smart lawn mower has wheels and a cutting knife. The body of the smart lawn mower is connected to the collection box 400 via a connector 270 and can drive the collection box 400 to move.

[0088] It can be understood that the meanings of the terms in the embodiments of the present application are the same. For the content not described in detail in a certain embodiment, the specific implementation details can refer to the descriptions in other embodiments. The example descriptions and technical effects shown in the aforementioned embodiments can be implemented accordingly. For the repeated parts, this embodiment will not go into details.

[0089] The universal connection structure, intelligent lawn mower and self-moving device provided by the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A universal connection structure, characterized in that: It includes: The bearing seat has a head, the head is provided with a first through hole, the first through hole has a first axis, and an end of the bearing seat away from the head is used to be connected to the driving head; A connecting piece, provided with a groove, in which the head of the bearing seat is accommodated; The connecting shaft is inserted into the first through hole and connected to the connecting member. The diameter of the first through hole is larger than the outer diameter of the connecting shaft so that the connecting shaft can rotate along the first axis and in a direction perpendicular to the first axis.

2. The universal connection structure according to claim 1, characterized in that: The first through hole is a waist-shaped hole.

3. The universal connection structure according to claim 1, characterized in that: A rotating member is arranged in the first through hole, the rotating member is arranged with a second through hole, the connecting shaft is passed through the second through hole, and a spherical wall is arranged on the outer wall of the rotating member.

4. The universal connection structure according to claim 3, characterized in that: The rotating member comprises a first extension section, a second extension section and a third extension section which are connected in sequence. The outer walls of the first extension section and the third extension section are spherical walls, and the outer wall of the second extension section forms a cylindrical surface.

5. The universal connection structure according to claim 1, characterized in that: It also includes a drive head connecting component, which has a matching cavity, the bearing seat is rotatably connected to the matching cavity, and the bearing seat can rotate relative to the drive head connecting component along a second axis, and the second axis is perpendicular to the first axis.

6. The universal connection structure according to claim 5, characterized in that: Also includes, a stopper, fixed to one of the bearing seat and the matching cavity, and rotationally matched with the other; The quick-release fitting is switchably connected to the drive head connecting component, and the quick-release fitting can be switched between a fixed position and a disassembly position. In the fixed position, the quick-release fitting cooperates with a limiting member to fix the limiting member in the matching cavity.

7. The universal connection structure according to claim 6, characterized in that: The bearing seat is provided with a first protrusion and a second protrusion protruding radially outward along the bearing seat. The first protrusion and the second protrusion are spaced apart in the extension direction of the second rotation axis, and a part of the limiting member is limited between the first protrusion and the second protrusion.

8. The universal connection structure according to claim 6, characterized in that: The quick-release fitting is rotatably fitted on the drive head connecting component, and a limiting groove is provided on the limiting member. In a fixed position, the quick-release fitting is rotated to the position of the limiting groove and pressed against a side of the limiting member away from the fitting cavity.

9. An intelligent lawn mower, characterized in that: include, The main body of the intelligent lawn mower comprises a main body and a walking device, a cutting assembly and a navigation assembly arranged on the main body, wherein the walking device is used to drive the main body to move; A collection box having a first receiving space and a first opening connected to the first receiving space; A moving wheel, arranged on the collection box; A roller brush assembly, disposed on the collection box and comprising a roller brush, wherein the roller brush is located at the first opening; as well as According to any one of claims 1 to 8, the connecting member of the universal connection structure is arranged between the collection box and the main body.

10. A self-propelled device, characterized in that: include, A driving head having a traveling device; A collection box having a first receiving space and a first opening connected to the first receiving space; A moving wheel, arranged on the collection box; A cleaning assembly, disposed on the collection box and comprising a cleaning element, wherein the cleaning element is located at the first opening; as well as According to the universal connection structure as described in any one of claims 1 to 8, the connecting member of the universal connection structure is arranged between the collection box and the drive head.

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