Intelligent mower and universal wheel integrated component

Abstract

The embodiment of the invention provides an intelligent mower and a universal wheel integrated component. The intelligent mower comprises a first part, a second part, a third part and a fourth part, the second part comprises a support and two universal wheel assemblies, and the universal wheel assemblies can float up and down relative to the second part; wherein the support is connected with the first part through the rotating shaft, one of the first part and the support is provided with the rotating shaft, and the other one is provided with a shaft hole matched with the rotating shaft; the axis of the rotating shaft is parallel to the advancing direction of the intelligent mower; when the support rotates, the support inclines relative to the first part, so that the driving wheel and the universal wheel assembly are in contact with the ground or an obstacle. In the scheme provided by the embodiment of the invention, when the intelligent mower advances on the uneven ground, the first part and the second part relatively rotate by a certain angle, and the driving wheels and the universal wheels also rotate along with the first part and the second part, so that the two driving wheels and the two universal wheels are always in contact with the ground or an obstacle; and the adaptability and obstacle crossing ability of the intelligent mower are improved.

Description

Technical Field

[0001] The present application relates to the field of electrical equipment, and in particular to an intelligent lawn mower and a universal wheel integrated component. Background Art

[0002] The smart lawn mower can move on the lawn according to a planned path and complete lawn maintenance work during the movement, such as mowing the lawn, fertilizing, and watering.

[0003] Most smart lawn mowers use a rear-drive four-wheel travel solution. When the lawn surface is uneven, the four wheels cannot touch the ground at the same time. When only two or three wheels touch the ground, the smart lawn mower will be in an unbalanced state, the equipment will bump or slip while moving, and may also damage the lawn. Summary of the invention

[0004] In view of the above problems, the present application is proposed to solve the above problems or at least partially solve the above problems, thereby providing an intelligent lawn mower and a universal wheel integrated component.

[0005] In one embodiment of the present application, a smart lawn mower is provided. The body of the smart lawn mower includes:

[0006] The first part has two drive feed wheels;

[0007] The second part includes a bracket and two universal wheel assemblies, and the universal wheel assemblies can float up and down relative to the second part;

[0008] The bracket is connected to the first part through a rotating shaft, one of the first part and the bracket is provided with the rotating shaft, and the other is provided with an axial hole adapted to the rotating shaft; the axis of the rotating shaft is parallel to the travel direction of the intelligent lawn mower;

[0009] When the bracket rotates, the bracket tilts relative to the first part, so that the driving wheel and the universal wheel assembly are in contact with the ground or an obstacle.

[0010] The universal wheel integrated component in the embodiment of the present application can be used as a separate component and installed on various types of equipment (such as smart lawn mowers, cleaning robots, delivery robots, etc.) to improve the travel stability and adaptability to the working environment. That is, the present application also provides a universal wheel integrated component in an embodiment, including: a bracket and two universal wheel assemblies arranged on the bracket; wherein the universal wheel assembly includes:

[0011] A wheel frame, on which rollers are arranged;

[0012] A connecting shaft having a first end and a second end; the wheel frame is connected to the first end of the connecting shaft, and the wheel frame can rotate around the connecting shaft; the connecting shaft and the roller are eccentrically arranged;

[0013] A bracket connected to the second end of the connecting shaft through a connecting rod mechanism, so that the roller can float up and down relative to the bracket;

[0014] Wherein, the bracket is provided with a structure for rotationally connecting with an external component.

[0015] The present application also provides another universal wheel integrated component, comprising a bracket and two universal wheel assemblies arranged on the bracket; wherein the universal wheel assemblies include:

[0016] A wheel frame, on which rollers are arranged;

[0017] A connecting arm, one end of which is connected to the wheel frame through a connecting rod mechanism so that the roller and the wheel frame can float up and down relative to the connecting arm; and the other end of which is connected to the bracket through a connecting shaft so that the connecting arm can rotate around the connecting shaft;

[0018] Wherein, the connecting shaft and the roller are eccentrically arranged, and the bracket is provided with a structure for rotationally connecting with an external component.

[0019] An embodiment of the present application provides an intelligent lawn mower including any one of the two universal wheel integrated components. Specifically, the intelligent lawn mower includes a main body and a universal wheel integrated component. The main body is provided with a cutting device, a detection device to assist autonomous movement, a control device, and two driving wheels; the bracket in the universal wheel integrated component is rotatably connected to the front side of the main body, and the two universal wheel assemblies in the universal wheel integrated component and the two driving wheels form a four-wheel travel mechanism of the intelligent lawn mower.

[0020] In the technical solution of the present application, the body of the smart lawn mower includes a first part and a second part. The first part is provided with two driving wheels, and the second part is provided with two universal wheel assemblies. The two universal wheel assemblies and the two driving wheels form a four-wheel travel mechanism of the smart lawn mower. Among them, the second part can rotate at a certain angle relative to the first part, and the rollers in the universal wheel assembly can float up and down relative to the bracket through the connecting rod mechanism. When encountering uneven ground, the rotatable second part rotates adaptively, and the rollers in the universal wheel assembly that can float up and down can contact the uneven ground, so that the four wheels on the smart lawn mower can effectively contact the ground, thereby improving the adaptability and obstacle surmounting ability of the smart lawn mower. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 A schematic diagram of a smart lawn mower provided in an embodiment of the present application;

[0023] Figure 2 A schematic diagram of the second part of the intelligent lawn mower provided in an embodiment of the present application;

[0024] Figure 3 A schematic diagram of an intelligent lawn mower provided in an embodiment of the present application when overcoming an obstacle;

[0025] Figure 4 A schematic diagram of a smart lawn mower provided in another embodiment of the present application;

[0026] Figure 5 A schematic diagram of a second part of a smart lawn mower provided in another embodiment of the present application;

[0027] Figure 6a A schematic diagram of a smart lawn mower provided by another embodiment of the present application when crossing a raised obstacle;

[0028] Figure 6b A schematic diagram of a smart lawn mower provided by another embodiment of the present application passing over a bumpy road;

[0029] Figure 7 A schematic diagram of an intelligent lawn mower with a detection device and a trigger member provided in an embodiment of the present application;

[0030] Figure 8 for Figure 7 A schematic diagram showing the front portion of the smart lawn mower being raised;

[0031] Fig. 9 A schematic diagram of the principle structure of the second component of the intelligent lawn mower provided in one embodiment of the present application;

[0032] Fig.10 A schematic diagram of the structure of an intelligent lawn mower provided in another embodiment of the present application;

[0033] Fig.11 for Fig.10 A schematic structural diagram of the second part of the intelligent lawn mower shown;

[0034] Fig.12 for Fig.10 The schematic diagram of the smart lawn mower when it overcomes an obstacle is shown;

[0035] Fig.13 A specific implementation structure diagram of a universal wheel assembly is shown. DETAILED DESCRIPTION

[0036] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution 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.

[0037] The embodiments described in this application are only part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application. The "including" mentioned in the entire specification and claims is an open term, so it should be interpreted as "including but not limited to". "Approximately" means that within an acceptable error range, those skilled in the art can solve the technical problems within a certain error range and basically achieve the technical effects. In addition, in the embodiments of this application, multiple refers to two or more. In the absence of mutual contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples. The descriptions of "first", "second", etc. in this article are used to distinguish different directions, structures, components, etc., and do not represent the order of precedence. In addition, the embodiments described below are only part of the embodiments of this application, rather than all the embodiments.

[0038] The technical solutions provided in the embodiments of the present application can enable the device to operate on uneven ground with all four wheels (two drive wheels and two universal wheels) in contact with the ground, which is beneficial to improving the adhesion ability of the entire machine, and coordinating with the layout of the entire machine to ensure the smooth operation of the equipment, while improving the adaptability and obstacle surmounting ability of the equipment.

[0039] Figure 1 A schematic diagram of an intelligent lawn mower provided in an embodiment of the present application, Figure 2 A schematic diagram of the state of the first part of an intelligent lawn mower provided by an embodiment of the present application when it is on flat ground. Figure 1 and Figure 2The body of the intelligent lawn mower provided in the embodiment of the present application includes: a first part 1 and a second part 2. The first part 1 is provided with two driving wheels 3; the second part 2 is rotatably connected to the front side of the first part 2. The second part 2 has a bracket 4 and two universal wheel assemblies 5. The two universal wheel assemblies 5 and the two driving wheels 3 form a four-wheel travel mechanism of the intelligent lawn mower. The bracket 4 is connected to the first part 1 through a rotating shaft 6, and one of the first part 1 and the bracket 4 is provided with a rotating shaft 6, and the other is provided with an axial hole adapted to the rotating shaft 6. The axis of the rotating shaft 6 is parallel to the travel direction of the intelligent lawn mower. When the bracket 4 rotates, the bracket 4 tilts relative to the first part 1, so that the driving wheel 3 and the universal wheel assembly 5 contact the ground or an obstacle. The first part 1 rotates a certain angle relative to the second part 2 along the axis of the rotating shaft 6 to effectively adapt to the ground with different inclinations. In addition, when the two universal wheel assemblies 5 and the two driving wheels 3 are respectively located on the ground with different inclinations and different heights, the two universal wheel assemblies 5 and the two driving wheels 3 can simultaneously contact the ground or obstacles through the up and down floating action of the universal wheel assembly 5 and the relative rotation of the first part 1 and the second part 2.

[0040] In one embodiment, the universal wheel assembly 5 includes a roller 51, a wheel frame 52 and a connecting shaft 53. The roller 51 is rotatably connected to the wheel frame 52; the wheel frame 52 is connected to the first end of the connecting shaft 53 and can rotate around the connecting shaft 53 (such as Figure 1 and Figure 2 The wheel frame 52 can rotate counterclockwise or clockwise around the connecting shaft 53. The roller 51 is eccentrically arranged with respect to the connecting shaft 53. Figure 1 As shown, the auxiliary line 54 passing through the center of the roller 51 deviates from one side of the connecting shaft 53, that is, the auxiliary line 54 is parallel to the axis of the connecting shaft 53 and has a certain distance. The specific value of the distance is not limited in this embodiment. The second end of the connecting shaft 53 is connected to the bracket 4 through the connecting rod mechanism 20, so that the universal wheel assembly 5 can float up and down relative to the bracket 4.

[0041] Furthermore, the first part 1 also includes a driving motor, which provides driving force for the driving wheel 3 to move the driving wheel 3. When the smart lawn mower needs to turn during the movement, the two driving wheels 3 respectively output different rotation speeds or driving forces, so that the smart lawn mower has a steering force, and the steering force acts on the universal wheel assembly 5, thereby driving different universal wheel assemblies 5 to rotate a certain angle around the axis of the connecting shaft 53, and finally realizing the steering of the smart lawn mower.

[0042] In the technical solution of this embodiment, the second part can rotate a certain angle relative to the first part, and the universal wheel assembly can float up and down relative to the second part through the connecting rod mechanism. When encountering uneven ground, the rotatable second part can rotate adaptively, and the universal wheel assembly that can float up and down can contact the uneven ground, so that the four wheels on the smart lawn mower can effectively contact the ground, improving the adaptability and obstacle-crossing ability of the smart lawn mower.

[0043] In a specific embodiment, Figure 1 As shown, the second part 2 is connected to the first part 1 through the rotating shaft 6. One of the first part 1 and the second part 2 is provided with the rotating shaft 6, and the other is provided with an axial hole adapted to the rotating shaft 6. The axis of the rotating shaft 6 is parallel to the travel direction of the intelligent lawn mower (such as Figure 1 in the X direction). Figure 1 In the example shown, the second part 2 is provided with a rotating shaft 6, and the first part 1 is provided with an axial hole; the rotating shaft 6 is connected in the axial hole. Of course, the axial hole is also provided with a structure to limit the movement of the rotating shaft 6 along the X direction, that is, the rotating shaft 6 cannot escape from the axial hole, and the rotating shaft 6 can only rotate around its own axis.

[0044] See also Figure 3 In the example of FIG. 1 , when encountering an obstacle, one of the universal wheel assemblies moves over the obstacle, while the other universal wheel assembly can still contact the ground due to the combined effect of the adaptively rotating second part 2 and the connecting rod mechanism 20.

[0045] like Figure 1 and 2 As shown, the bracket 4 is arranged along the width direction of the first part 1 (such as Figure 2 The first part 1 is connected to the bracket 4 in the width direction Y and is rotatably connected to the front side of the first part 1. The width direction Y of the first part is parallel to the traveling plane and perpendicular to the traveling direction X of the smart lawn mower. The universal wheel assembly 5 is connected to the bracket 4 through a connecting rod mechanism 20. The two universal wheel assemblies 5 are symmetrically located at both ends of the bracket 4. The front and rear sides of the first part 1 are defined with reference to the traveling direction X of the smart lawn mower. When the smart lawn mower is working, the front side corresponding to the forward direction is the front side, and the front side corresponding to the backward direction is the rear side. From the perspective of looking from front to back, the two ends of the second part of the smart lawn mower are the left side and the right side, that is, Figure 2 As shown, the two universal wheel assemblies 5 are respectively located on the left and right sides of the bracket 4 .

[0046] For example, the bracket 4 is provided with a rotating shaft 6, the first part 1 is provided with an adapted shaft hole, and the bracket 4 is rotatably connected to the first part 1 via the rotating shaft 6. The rotating shaft 6 can be arranged at the symmetry center of the bracket 4, and the two universal wheel assemblies and the two corresponding connecting rod mechanisms are symmetrically arranged relative to the symmetry axis passing through the symmetry center.

[0047] In specific implementation, the rotation angle of the second part 2 still needs to be limited. Figure 4 As shown, a limit plate 41 is provided on the top surface of the second part. The limit plate 41 extends to the top of the first part 1 and has a gap D with the top surface of the first part 1. The limit plate 41 is used to limit the maximum angle of rotation of the second part 2 relative to the first part 1. The ratio of the height H of the top surface of the first part to the gap D can be any value in the range of 18 to 25.

[0048] The maximum angle limited by the gap D is related to the size of the gap D, the vertical floating amount of the connecting rod mechanism 20, the size (such as width) of the limit plate 41 and the size of the first part 1. Therefore, in specific implementation, the maximum angle can be determined by adjusting the above parameters.

[0049] For example, the rotation angle of the second part 2 relative to the first part 1 may be [-10 degrees to 10 degrees].

[0050] Another feasible solution to limit the rotation angle of the second component 2 is to set a limit groove on the hole wall of the shaft hole, and the length of the limit groove along the circumference of the hole axis (i.e. the central angle corresponding to the limit groove) is the maximum angle of the rotating shaft. A protrusion adapted to the limit groove is provided at a corresponding position on the rotating shaft 6.

[0051] In addition, in this embodiment, the first part 1 and the second part 2 are of equal height. The higher the second part 2 is, the larger the floating space of the universal wheel assembly is, and the higher the obstacle-crossing ability of the smart lawn mower is. However, for the sake of the appearance of the whole machine, the height of the second part 2 is equal to that of the first part 1, so as to ensure the floating space of the universal wheel assembly and take into account the overall aesthetics of the equipment. Accordingly, the rotating shaft 6 and the shaft hole can be set on the upper part of the first part 1 and the second part 2. Specifically, as Figure 1 As shown, the height of the rotating shaft 6 is h=(0.6-0.9)H.

[0052] In some embodiments, the linkage mechanism 20 may include at least two parallel links 7. Figure 1-6b In the example shown, the link mechanism 20 includes two parallel links 7. One end of the link 7 is connected to the connecting shaft 53, and the other end is connected to the bracket 4. Figure 2 As shown, the second end of the connecting shaft 53 may be provided with a mounting seat 9, and accordingly, one end of the connecting rod 7 may be provided on the mounting seat 9, and the other end may be connected to the bracket 4. The bracket 4 may include a horizontal frame and two vertical frames provided at both ends of the horizontal frame. The other end of the connecting rod 7 may be connected to the vertical frame.

[0053] Furthermore, in order to ensure the support stability of the structure, the solution provided in this embodiment may also include an elastic member 8. The elastic member 8 may be a spring or other specific elastic component that can be deformed and restored. Figure 2In the example shown, one end of the elastic member 8 is connected to the bracket 4, and the other end is connected to the second end of the connecting shaft 53. The inclination angle of the elastic member 8 is different from the inclination angle of the connecting rod. When the universal wheel assembly 5 floats upward, the distance between the second end of the connecting shaft 53 and the bracket 4 is shortened in the horizontal direction, thereby compressing the elastic member 8. When the universal wheel assembly 5 floats downward, the distance between the second end of the connecting shaft 53 and the bracket 4 is increased in the horizontal direction, thereby extending the elastic member 8.

[0054] Or, if Figure 5 In the example shown, one end of the elastic member 8 is connected to the limit plate 41 above the bracket 4, and the other end is connected to the mounting seat 9 connected to the second end of the connecting shaft 53. The elastic member 8 can be roughly considered to be arranged in a vertical state, so when the universal wheel assembly 5 floats upward or downward, the elastic force of the elastic member 8 is roughly parallel to the floating direction of the universal wheel assembly 5. The elastic force of the vertically arranged elastic member 8 is more likely to act on the universal wheel assembly 5.

[0055] In a specific implementation, if the elastic member 8 is a spring, the spring can be sleeved outside the telescopic rod, and the telescopic rod can change its length as the spring is deformed.

[0056] See also Figure 3 and Figure 6a In the example shown, when the roller 51 of one of the universal wheel assemblies 5 moves onto an obstacle, the second portion 2 adaptively rotates counterclockwise and tilts, and the roller 51 of the universal wheel assembly 5 located on the obstacle ( Figure 6a The connecting rod mechanism connected to the right roller in the middle) and the roller ( Figure 6a The connecting rod mechanisms connected to the left and right rollers in the middle are displaced at the same time to ensure the force balance of the two connecting rod mechanisms, thereby preventing the two universal wheel assemblies 5 from being suspended in the air.

[0057] Figure 6b In the example shown, when the roller 51 of one of the universal wheel assemblies 5 moves to a pothole, the second portion 2 is also adaptively rotated and tilted clockwise, and the roller 51 of the universal wheel assembly 5 located above the pothole ( Figure 6b The connecting rod mechanism connected to the right roller in the middle) and the roller of another universal wheel assembly ( Figure 6b The connecting rod mechanisms connected to the left roller in the middle are displaced at the same time to ensure the force balance of the two connecting rod mechanisms so that the two universal wheel assemblies 5 are not suspended in the air.

[0058] To improve the connection stability between the universal wheel assembly and the bracket, see Figure 1As shown, along the travel direction (X direction) of the intelligent lawn mower, the front side of the mounting seat 9 is provided with a connecting rod mechanism 20 and an elastic member 8; that is, the front side of the mounting seat 9 is connected to the front side of the bracket 4 through the connecting rod mechanism 20, and the front side of the mounting seat 9 and the front side of the bracket 4 are connected with an elastic member 8. The rear side of the mounting seat 9 is also provided with a connecting rod mechanism 20 and an elastic member 8; that is, the rear side of the mounting seat 9 is connected to the rear side of the bracket 4 through the connecting rod mechanism 20, and the rear side of the mounting seat 9 and the rear side of the bracket 4 are connected with an elastic member 8. The two sets of connecting rod mechanisms and elastic members on the front and rear sides can be symmetrical.

[0059] Fig. 9 A schematic diagram of a specific embodiment is shown. Fig. 9 As shown, a connecting rod 7 and an elastic member 8 are provided on the front side of the mounting seat 9; and / or a connecting rod 7 and an elastic member 8 are provided on the rear side of the mounting seat 9. The connecting rod 7 and the elastic member 8 are substantially parallel. Although the structure of providing a connecting rod 7 on the front side and the rear side respectively is not stable, the two ends of the elastic member 8 are respectively connected to the bracket and the mounting seat, and the stability of the structure is improved through the synergy of the two.

[0060] like Figure 7 As shown, the connection between the second end of the connecting shaft 53 and the mounting seat 9 can be a sliding connection. That is, the second end of the connecting shaft 53 can slide along its own axis relative to the mounting seat 9. One of the mounting seat 9 and the connecting shaft 53 is provided with a detection device, and the other is provided with a trigger. Figure 7 In the example shown, a slide groove is provided on the mounting seat 9 , a detection device 10 is provided at the bottom of the slide groove (ie, the top of the mounting seat), and a trigger member 16 is provided at the second end of the connecting shaft 53 .

[0061] When the second end of the connecting shaft 53 is at the first set position on the mounting seat, the detection device 10 is triggered by the trigger member 16 to generate a detection signal.

[0062] After the second end of the connecting shaft 53 slides away from the first set position, the detection signal of the detection device 10 disappears, and the control device on the intelligent lawn mower is triggered to determine whether the intelligent lawn mower is lifted based on the disappeared detection signal.

[0063] In a specific implementation, the detection device 10 may be a Hall element, a reed switch or a proximity switch, etc. The triggering member may be a magnetic material.

[0064] Figure 7 and Figure 8 The second end of the connecting shaft 53 slides away from the first setting position. When the connecting shaft 53 is in the first setting position, the second end of the connecting shaft 53 extends into the bottom of the slide slot, that is, the trigger member 16 contacts the detection device 10 or the distance is less than the set value.

[0065] Along the axis B direction of the connecting shaft 53, the universal wheel assembly 5 can move downward relative to the mounting seat 9. In addition to being able to rotate around the axis B of the connecting shaft 53, the universal wheel assembly 5 can also move downward along the axis B direction of the connecting shaft 53. When the intelligent lawn mower is lifted and the universal wheel assembly 5 is in a suspended state, the universal wheel assembly 5 will move downward under the action of gravity, thereby triggering the detection device 10. For example, the detection device 10 is a Hall sensor, which is arranged at the bottom of the cavity of the accommodating cavity on the mounting seat 9 or on the end surface outside the mounting cavity; the end of the connecting shaft 53 is provided with a magnetic trigger member 16. When the roller 51 moves downward, the distance between the trigger member 16 and the Hall sensor increases, and the Hall sensor will be triggered when the distance exceeds the limit value. The intelligent lawn mower is also provided with a body posture determination device, and the detection device 10 is electrically connected to the body posture determination device. The sensing signal generated by the detection device 10 is sent to the body posture determination device, and the body posture determination device can determine that the universal wheel assembly 5 is suspended or the front side of the intelligent lawn mower is lifted.

[0066] In order to improve the accuracy of detecting that the smart lawn mower is lifted, the two universal wheel assemblies 5 on the bracket 4 are respectively provided with a detection device 10. Only when the two detection devices 10 are triggered at the same time can it be determined that the smart lawn mower is lifted.

[0067] In summary, the smart lawn mower provided in this embodiment adopts a two-part structure, namely a first part and a second part. The first part has two driving wheels. In addition, the first part may also include but is not limited to: a cutting device, a detection device to assist autonomous movement, a control device, and the like. The second part has a bracket and two universal wheel assemblies. The first part and the second part can be connected by a rotating shaft to ensure that a certain angle is formed between the first part and the second part. The universal wheel assembly and the bracket are connected by a connecting rod mechanism, and elastic parts are added to ensure the support stability of the structure. When the machine encounters an obstacle or a pothole, the second part forms a certain angle relative to the first part, and the connecting rod is also adjusted according to the position change, thereby ensuring that the four wheels of the smart lawn mower can be fully in contact with the ground at a certain obstacle height.

[0068] In addition, this embodiment ensures the safety of the whole machine on the basis of improving the passability. The second end of the connecting shaft in the universal wheel assembly of the smart lawn mower is connected to the mounting seat by sliding, and the mounting seat is connected to the mounting seat by a connecting rod mechanism. When the machine encounters an obstacle or a pothole, due to the rotation of the first part and the second part and the adaptability of the connecting rod mechanism, the detection device will not be triggered by mistake. When the second part is lifted, the two universal wheels leave the ground at the same time, and the detection device detects that the whole machine has been lifted (such as Figure 7 and 8 The situation shown in the figure triggers the safety protection (such as the cutting device shutting down, etc.).

[0069] The first part and the second part are controlled by the angle, and the first part and the second part rotate through the rotating shaft. The limit plate rotates with the second part. When rotating to a certain angle, the limit plate contacts the top surface of the first part and plays a certain limiting role. When the angle is too large, the limit plate and the top surface of the first part squeeze each other. Since the universal wheel and the bracket are connected by a connecting rod mechanism and an elastic member, it can play a certain buffering role.

[0070] Fig.10 and 11 The structure schematic diagram of the intelligent lawn mower provided by another embodiment of the present application is shown. The body of the intelligent lawn mower includes: a first part 1 and a second part 2. The first part 1 has two driving wheels 3. The second part 2 is rotatably connected to the front side of the first part 1. The second part 2 has a bracket 4 and two universal wheel assemblies. The two universal wheel assemblies and the two driving wheels 3 form a four-wheel travel mechanism of the intelligent lawn mower.

[0071] The universal wheel assembly includes a roller 51, a wheel frame 52, a connecting rod mechanism 20, a connecting arm 55 and a connecting shaft 53. The roller 51 is rotatably connected to the wheel frame 52. The wheel frame 52 is connected to the connecting arm 55 through the connecting rod mechanism 20, so that the roller 51 and the wheel frame 52 can float up and down relative to the connecting arm 55. The roller 51 and the connecting shaft 53 are eccentrically arranged, such as Fig.10 As shown, the auxiliary line 54 of the roller 51 deviates from one side of the axis of the connecting shaft 53, and the auxiliary line 54 is parallel to the axis of the connecting shaft 53 and has a certain distance. The connecting arm 55 is connected to the bracket 4 through the connecting shaft 54, so that the connecting arm 55 can rotate around the connecting shaft 53. Fig.11 As shown, the connecting arm 55 can rotate around the axis C of the connecting shaft 53 to achieve the universal function of the roller 51.

[0072] Similar to the above embodiment, the first part and the second part in this embodiment can also be connected via the rotating shaft 6 to enable the second part to rotate relative to the first part.

[0073] In a specific embodiment, Fig.11 As shown, viewed from the front side to the rear, the connecting arm 55 is L-shaped. The first straight side of the L-shape is connected to the connecting mechanism 20 , and the end of the second straight side is connected to the connecting shaft 53 .

[0074] Furthermore, the solution provided in this embodiment may also include an elastic member 8. One end of the elastic member 8 is connected to the wheel frame 52, and the other end is connected to the connecting arm 54. Fig.11 The elastic member 8 may be a spring, which may be sleeved on a telescopic rod, and end caps may be provided at both ends of the telescopic rod, which abut against the ends of the spring to limit the spring in the telescopic rod. When the compression amount of the spring changes, the telescopic rod will extend or shorten with the change of the spring.

[0075] Furthermore, the connecting shaft 53 is slidably connected to the bracket 4 and can be slidably connected to the bracket 4 along its own axis ( Fig.11 The connecting arm 53 and the bracket 4 are provided with a detection device on one side and a trigger on the other side; or the connecting arm 55 and the bracket 4 are provided with a detection device on one side and a trigger on the other side.

[0076] When the connecting shaft 53 is at the second set position on the bracket, the detection device is triggered by the trigger member to generate a detection signal;

[0077] After the connecting shaft 53 slides away from the second set position, the detection signal of the detection device disappears, and the control device on the intelligent lawn mower is triggered to determine whether the intelligent lawn mower is lifted based on the disappeared detection signal.

[0078] In a specific implementation, the detection device may be a Hall element, a reed switch or a proximity switch, etc. The triggering member may be a magnetic material.

[0079] The second set position can be understood as a position where the detection device is in contact with the trigger element or the distance therebetween is less than a set value.

[0080] Fig.12 The diagram shows a state where, when the intelligent lawn mower provided by the present embodiment encounters an obstacle, one of the universal wheel assemblies moves above the obstacle, and the other universal wheel assembly sinks under the action of the connecting rod mechanism and the elastic member to avoid being suspended in the air.

[0081] In addition, the universal wheel integrated component in each embodiment of the present application can be used as a separate component and installed on various types of equipment (such as smart lawn mowers, cleaning robots, delivery robots, etc.) to improve the travel stability and adaptability to the working environment. That is, an embodiment of the present application provides a universal wheel integrated component, such as Figure 2 , 5 As shown in Figure 7, it includes a bracket and two universal wheel assemblies arranged on the bracket. The universal wheel assembly includes: a wheel frame 52, a connecting shaft 53 and a bracket 4. A roller 51 is provided on the wheel frame 52. The connecting shaft 53 has a first end and a second end. The wheel frame 52 is connected to the first end of the connecting shaft 53, and the wheel frame 52 can rotate around the connecting shaft 53. The connecting shaft 53 and the roller 51 are eccentrically arranged. The bracket 4 is connected to the second end of the connecting shaft 53 through a connecting rod mechanism 20, so that the roller 51 can float up and down relative to the bracket 4; wherein, the bracket 4 is provided with a structure for rotationally connecting with an external component.

[0082] For example, the bracket 4 is provided with a rotating shaft 6, and the rotating shaft 6 is used to be rotatably connected with the external component. Further, this embodiment may also include some structures, devices or components described in the above embodiments, and the specific contents can be found above, which will not be repeated here.

[0083] like Fig.11 The universal wheel integrated component shown includes a bracket and two universal wheel assemblies arranged on the bracket. The universal wheel assembly includes: a bracket 4, a wheel frame 52 and a connecting arm 54. A roller 51 is arranged on the wheel frame 52. One end of the connecting arm 54 is connected to the wheel frame 52 through a connecting rod mechanism 20, so that the roller 51 and the wheel frame 52 can float up and down relative to the connecting arm 54; the other end is connected to the bracket 4 through a connecting shaft 53, so that the connecting arm 54 can rotate around the connecting shaft 53. The connecting shaft 53 is eccentrically arranged with the roller 51, and a structure for rotationally connecting with an external component is arranged on the bracket 4.

[0084] Similarly, for the specific structures of the above components, please refer to the relevant contents above. Further, this embodiment may also include some structures, devices or components described in the above embodiments, and the specific contents may be referred to above, which will not be described here.

[0085] See also Fig.13 As shown, the universal wheel assembly 5 mentioned in each embodiment of the present application may include at least one auxiliary wheel 57 in addition to the roller 51. Along the moving direction of the universal wheel assembly 5, the auxiliary wheel 57 may be arranged on the front side of the roller 51. In the height direction, the lowest point of the auxiliary wheel 57 is higher than the lowest point of the roller 51. When encountering an obstacle, the auxiliary wheel 57 first contacts the obstacle and crosses the obstacle before the roller 51. At this time, the auxiliary wheel 57 will play a major supporting role. Under the action of the auxiliary wheel 57, the roller 51 will be lifted off the ground. As the universal wheel assembly 5 continues to move forward, the roller 51 can smoothly cross the obstacle after contacting the obstacle. Since the roller 51 is lifted a certain distance, the obstacle crossing height of the roller 51 will be increased.

[0086] Furthermore, an embodiment of the present application provides an intelligent lawn mower. The intelligent lawn mower robot may include a main body and a universal wheel integrated component provided by any of the above embodiments. Among them, the main body may be provided with but not limited to: a cutting device, a detection device for assisting autonomous movement, a control device and two drive wheels. The detection device may include but is not limited to: a radar, a fisheye camera, a camera, a ranging sensor, etc. The bracket in the universal wheel integrated component is rotatably connected to the front side of the main body, and the two universal wheel assemblies in the universal wheel integrated component and the two drive wheels form a four-wheel travel mechanism of the intelligent lawn mower.

[0087] For the specific implementation of the universal wheel integrated component, please refer to the above content, which will not be repeated here.

[0088] The solution provided in the embodiments of the present application is not only applicable to smart lawn mowers, but can also be applied to cleaning robots (sweeping robots, etc.), agricultural robots (such as fertilizer applicators, pesticide sprayers, seeders, sprinklers, etc.), outdoor service robots, etc.

[0089] In order to facilitate the understanding of the technical solution of the present application, a specific application scenario is given below to describe the technical solution of the present application in detail.

[0090] Application scenario 1

[0091] The smart lawn mower includes a first part and a second part. The first part is provided with a driving wheel; a blade disc is provided at the bottom of the first part; the second part can rotate relative to the first part, and the universal wheel assembly provided on the second part can float up and down relative to the second part. When the lawn mower moves on an uneven ground, the second part rotates adaptively and the universal wheel assembly floats adaptively, so that the two driving wheels and two universal wheels on the smart lawn mower can maintain contact with the ground. The lawn mower can also run smoothly on an uneven lawn.

[0092] Application scenario 2

[0093] When the smart lawn mower encounters an obstacle while performing the mowing task according to the planned path, the roller in one universal wheel assembly moves onto the obstacle, the other universal wheel assembly floats adaptively, and at the same time, the bracket of the second part of the lawn mower rotates adaptively so that the roller contacts the ground and does not hang in the air.

[0094] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An intelligent lawn mower, characterized in that: The body of the smart lawn mower includes: The first part has two drive feed wheels; The second part includes a bracket and two universal wheel assemblies, and the universal wheel assemblies can float up and down relative to the second part; The bracket is connected to the first part through a rotating shaft, one of the first part and the bracket is provided with the rotating shaft, and the other is provided with an axial hole adapted to the rotating shaft; the axis of the rotating shaft is parallel to the travel direction of the intelligent lawn mower; When the bracket rotates, the bracket tilts relative to the first part, so that the driving wheel and the universal wheel assembly are in contact with the ground or an obstacle.

2. The intelligent lawn mower according to claim 1, characterized in that: The universal wheel assembly comprises a roller, a wheel frame and a connecting shaft; The roller is rotatably connected to the wheel frame; the wheel frame is connected to the first end of the connecting shaft and can rotate around the connecting shaft; the roller is eccentrically arranged with respect to the connecting shaft; The second end of the connecting shaft is connected to the bracket through a connecting rod mechanism, so that the universal wheel assembly can float up and down relative to the bracket.

3. The intelligent lawn mower according to claim 1, characterized in that: The bracket extends along the width direction of the first portion; The width direction of the first part is parallel to the traveling surface and perpendicular to the traveling direction of the intelligent lawn mower; The two universal wheel assemblies are symmetrically located at two ends of the bracket.

4. The intelligent lawn mower according to claim 1, characterized in that: A limiting plate is provided above the bracket; The limiting plate extends to above the first part and has a gap with the top surface of the first part; The limiting plate is used to limit the maximum rotation angle of the second part relative to the first part.

5. The intelligent lawn mower according to claim 4, characterized in that: The ratio of the height of the first portion to the gap is 18-25.

6. The intelligent lawn mower according to claim 1, characterized in that: Also includes a mount; The second end of the connecting shaft is connected to the mounting seat and can slide relative to the mounting seat along its own axis direction; The mounting seat is connected to the bracket through a connecting rod mechanism.

7. The intelligent lawn mower according to claim 6, characterized in that: One of the mounting seat and the connecting shaft is provided with a detection device, and the other is provided with a trigger member; When the second end of the connecting shaft is at the first set position on the mounting seat, the detection device is triggered by the trigger member to generate a detection signal; After the second end of the connecting shaft slides away from the first set position, the detection signal of the detection device disappears, and the control device on the intelligent lawn mower is triggered to determine whether the intelligent lawn mower is lifted based on the disappeared detection signal.

8. The intelligent lawn mower according to claim 2, characterized in that: The connecting rod mechanism includes at least two parallel connecting rods; One end of the connecting rod is connected to the connecting shaft, and the other end is connected to the bracket.

9. The intelligent lawn mower according to claim 8, characterized in that: Also included is an elastic member; One end of the elastic member is connected to the bracket, and the other end is connected to the second end of the connecting shaft; or One end of the elastic member is connected to the limiting plate above the bracket, and the other end is connected to the mounting seat connected to the second end of the connecting shaft.

10. The intelligent lawn mower according to any one of claims 1 to 7, characterized in that: The first portion and the second portion have equal heights.

11. The intelligent lawn mower according to claim 1, characterized in that: The universal wheel assembly includes a roller, a wheel frame, a connecting rod mechanism, a connecting arm and a connecting shaft; The roller is rotatably connected to the wheel frame; the wheel frame is connected to the connecting arm through the connecting rod mechanism, so that the roller and the wheel frame can float up and down relative to the connecting arm; the roller is eccentrically arranged with the connecting shaft, and the connecting arm is connected to the bracket through the connecting shaft, so that the connecting arm can rotate around the connecting shaft.

12. The intelligent lawn mower according to claim 11, characterized in that: The connecting arm is L-shaped; The first straight side of the L-shape is connected to the connecting mechanism, and the end of the second straight side is connected to the connecting shaft.

13. The intelligent lawn mower according to claim 11, characterized in that: Also included is an elastic member; One end of the elastic member is connected to the wheel frame, and the other end is connected to the connecting arm.

14. The intelligent lawn mower according to any one of claims 11 to 13, characterized in that: The connecting shaft is slidably connected to the bracket and can slide relative to the bracket along its own axis direction; One of the connecting shaft and the bracket is provided with a detection device, and the other is provided with a trigger; or one of the connecting arm and the bracket is provided with a detection device, and the other is provided with a trigger; When the connecting shaft is at the second set position on the bracket, the detection device is triggered by the trigger member to generate a detection signal; After the connecting shaft slides away from the second set position, the detection signal of the detection device disappears, and the control device on the intelligent lawn mower is triggered to determine whether the intelligent lawn mower is lifted based on the disappeared detection signal.

15. A universal wheel integrated component, characterized in that: The invention comprises a bracket and two universal wheel assemblies arranged on the bracket; wherein the universal wheel assemblies comprise: A wheel frame, on which rollers are arranged; A connecting shaft having a first end and a second end; the wheel frame is connected to the first end of the connecting shaft, and the wheel frame can rotate around the connecting shaft; the connecting shaft and the roller are eccentrically arranged; A bracket connected to the second end of the connecting shaft through a connecting rod mechanism, so that the roller can float up and down relative to the bracket; Wherein, the bracket is provided with a structure for rotationally connecting with an external component.

16. A universal wheel integrated component, characterized in that: The invention comprises a bracket and two universal wheel assemblies arranged on the bracket; wherein the universal wheel assemblies comprise: A wheel frame, on which rollers are arranged; A connecting arm, one end of which is connected to the wheel frame through a connecting rod mechanism so that the roller and the wheel frame can float up and down relative to the connecting arm; and the other end of which is connected to the bracket through a connecting shaft so that the connecting arm can rotate around the connecting shaft; Wherein, the connecting shaft and the roller are eccentrically arranged, and the bracket is provided with a structure for rotationally connecting with an external component.

17. An intelligent lawn mower, characterized in that: include: The main body is provided with a cutting device, a detection device to assist in autonomous movement, a control device and two driving wheels; The universal wheel integrated component as described in claim 15 or 16; The bracket in the universal wheel integrated component is rotatably connected to the front side of the main body, and the two universal wheel assemblies in the universal wheel integrated component and the two driving wheels form a four-wheel travel mechanism of the intelligent lawn mower.

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