Damping wheel and mowing robot

Abstract

The utility model discloses a damping wheel and a mowing robot. The damping wheel comprises a wheel body and a crankshaft assembly rotationally connected with the wheel body. The crankshaft assembly comprises an upper connecting shaft and a lower connecting shaft which are connected through a rotating shaft, and a buffer piece which is arranged on the rotating shaft and matched with the upper connecting shaft and the lower connecting shaft, and the upper connecting shaft and the lower connecting shaft are arranged in an included angle mode. According to the damping wheel, the wheel body is connected with the robot body through the crankshaft assembly, the upper connecting shaft and the lower connecting shaft are rotationally connected in the included angle mode, the buffering piece is arranged on the rotating shaft between the upper connecting shaft and the lower connecting shaft, and the buffering piece also acts on the upper connecting shaft and the lower connecting shaft at the same time, so that the damping wheel is more stable in operation. When the damping wheel passes through the potholes or pebbles, the included angle between the upper connecting shaft and the lower connecting shaft can be changed in time, so that the wheel body has the allowance for up-and-down movement adjustment, the wheel body can adapt to different ground environments, and when the ground is uneven or jolts, the damping effect can be achieved.

Description

Technical Field

[0001] The utility model relates to the field of lawn mowing robots, and more specifically, to a shock-absorbing wheel and a lawn mowing robot. Background Art

[0002] A lawn mower robot is an intelligent garden care device that can automatically mow a large area according to a planned path, saving time and effort. However, when the existing lawn mower robot passes through potholes or encounters small obstacles such as pebbles during walking, the wheel body will jump violently, causing the lawn mower robot to shake, resulting in the blade being deflected during work, affecting the mowing effect of the lawn mower robot. Utility Model Content

[0003] The utility model aims to overcome at least one defect of the above-mentioned prior art and provides a shock-absorbing wheel and a lawn mowing robot, which are used to solve the problem that when the existing lawn mowing robot passes through a pothole or encounters small obstacles such as pebbles during walking, the wheel body will jump violently, causing the lawn mowing robot to shake, thereby causing the blade to deviate during work, affecting the mowing effect of the lawn mowing robot.

[0004] The technical solution adopted by the utility model is as follows:

[0005] A shock-absorbing wheel comprises: a wheel body and a crankshaft assembly rotatably connected to the wheel body; wherein the crankshaft assembly comprises an upper connecting shaft and a lower connecting shaft connected by a rotating shaft, and a buffer member arranged on the rotating shaft and cooperating with both the upper connecting shaft and the lower connecting shaft, and the upper connecting shaft and the lower connecting shaft are arranged at an angle.

[0006] In one embodiment, the buffer member is a torsion spring.

[0007] In one embodiment, the torsion spring includes a middle structure and a first torsion arm and a second torsion arm connected to the middle structure, the middle structure is sleeved on the rotating shaft, the first torsion arm abuts against the upper connecting shaft, and the second torsion arm abuts against the lower connecting shaft.

[0008] In one embodiment, the upper connecting shaft is provided with a first abutting groove cooperating with the first torsion arm; and / or the lower connecting shaft is provided with a second abutting groove cooperating with the second torsion arm.

[0009] In one of the embodiments, the crankshaft assembly is provided with a limit assembly for limiting the angle range between the upper connecting shaft and the lower connecting shaft.

[0010] In one embodiment, the limit assembly includes a limit groove provided on the upper connecting shaft, and a limit column or a limit block provided on the lower connecting shaft and cooperating with the limit groove; or, the limit assembly includes a limit groove provided on the lower connecting shaft, and a limit column or a limit block provided on the upper connecting shaft and cooperating with the limit groove.

[0011] In one embodiment, the bottom of the limiting groove is arc-shaped.

[0012] In one embodiment, limiting ears are provided at both ends of the limiting groove.

[0013] The present technical solution also provides a lawn mowing robot, comprising a robot body, a blade disc arranged on the robot body, a first motor for driving the blade disc, and a shock-absorbing wheel arranged on the robot body; wherein the shock-absorbing wheel is the shock-absorbing wheel described in any one of the above items, and the crankshaft assembly of the shock-absorbing wheel is connected to the robot body.

[0014] In one embodiment, the shock-absorbing wheel further comprises a gear connected to the crankshaft assembly, and the lawn mowing robot comprises a second motor for driving the gear to rotate.

[0015] Compared with the prior art, the beneficial effects of the utility model include at least:

[0016] The shock-absorbing wheel of the present technical solution connects the wheel body to the robot body through a crankshaft assembly. Since the upper connecting shaft and the lower connecting shaft are connected to rotate at an angle, and a buffer is provided on the rotating shaft between the upper connecting shaft and the lower connecting shaft, the buffer also acts on the upper connecting shaft and the lower connecting shaft at the same time. Therefore, when the shock-absorbing wheel passes through potholes or pebbles, the angle between the upper connecting shaft and the lower connecting shaft can be changed in time, so that the wheel body has a margin for up and down movement adjustment, so that the wheel body can adapt to different ground environments. When the ground is uneven or bumpy, it can play a buffering and shock-absorbing effect, avoid damage to the wheel body, and extend its service life.

[0017] The lawn mowing robot of the present technical solution includes the above-mentioned shock-absorbing wheel, and the upper connecting shaft of the shock-absorbing wheel is connected to the robot body, so that when the lawn mowing robot passes through an uneven or bumpy road surface, the angle between the upper connecting shaft and the lower connecting shaft can be changed in time, so that the wheel body has a margin for up and down movement adjustment, can adapt to different ground environments, ensure the normal operation of the lawn mowing robot, and avoid the deviation of the blade caused by uneven road surface, which affects the mowing effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 The structure of the shock-absorbing wheel according to the embodiment of the utility model is schematically shown. Figure 1 .

[0019] Figure 2It is a schematic structural diagram of a crankshaft assembly according to an embodiment of the utility model.

[0020] Figure 3 The structure of the shock-absorbing wheel according to the embodiment of the utility model is schematically shown. Figure 2 .

[0021] Figure numerals: 10, wheel body; 20, crankshaft assembly; 21, upper connecting shaft; 22, lower connecting shaft; 23, rotating shaft; 24, torsion spring; 241, middle structure; 242, first torsion arm; 243, second torsion arm; 30, limiting assembly; 31, limiting groove; 32, limiting column; 33, limiting ear; 40, gear. DETAILED DESCRIPTION

[0022] The drawings of the present invention are only used for illustrative purposes and cannot be construed as limiting the present invention. In order to better illustrate the following embodiments, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0023] like Figure 1-Figure 2 A shock-absorbing wheel shown includes: a wheel body and a crankshaft assembly rotatably connected to the wheel body; wherein the crankshaft assembly includes an upper connecting shaft and a lower connecting shaft connected by a rotating shaft, and a buffer member arranged on the rotating shaft and cooperating with both the upper connecting shaft and the lower connecting shaft, and the upper connecting shaft and the lower connecting shaft are arranged at an angle.

[0024] The shock-absorbing wheel in this embodiment connects the wheel body to the robot body through a crankshaft assembly. Since the upper connecting shaft and the lower connecting shaft are connected to rotate at an angle, and a buffer is provided on the rotating shaft between the upper connecting shaft and the lower connecting shaft, the buffer also acts on the upper connecting shaft and the lower connecting shaft at the same time. Therefore, when the shock-absorbing wheel passes through potholes or pebbles, the angle between the upper connecting shaft and the lower connecting shaft can be changed in time, so that the wheel body has a margin for up and down movement adjustment, so that the wheel body can adapt to different ground environments. When the ground is uneven or bumpy, it can play a buffering and shock-absorbing effect, avoid damage to the wheel body, and extend its service life.

[0025] Preferably, the buffer member described in this embodiment is a torsion spring, which has good shock-absorbing and buffering effects, is a standard product, has low cost, and is easy to assemble. In other embodiments, the buffer member may be other elastic reset members, such as an elastic block.

[0026] Specifically, the torsion spring includes a middle structure and a first torsion arm and a second torsion arm connected to the middle structure, the middle structure is sleeved on the rotating shaft, the first torsion arm abuts against the upper connecting shaft, and the second torsion arm abuts against the lower connecting shaft. This embodiment uses the torsion of the first torsion arm and the second torsion arm of the torsion spring to provide a buffering effect during the rotation of the crankshaft assembly, so that when the shock-absorbing wheel passes through an uneven road surface, the angle between the upper connecting shaft and the lower connecting shaft can be changed, and the wheel body timely buffers and adjusts its upper and lower positions.

[0027] In order to ensure the stability of the cooperation between the torsion spring and the upper connecting shaft and the lower connecting shaft, the upper connecting shaft is provided with a first abutment groove that cooperates with the first torsion arm; the lower connecting shaft is provided with a second abutment groove that cooperates with the second torsion arm, so as to avoid the torsion spring from being separated from the upper connecting shaft or the lower connecting shaft due to bumpy road conditions, thereby affecting the buffering and shock absorption effect.

[0028] like Figure 3 As shown, in order to prevent the wheel body from jumping too much, the crankshaft assembly described in this embodiment is provided with a limit assembly for limiting the angle range between the upper connecting shaft and the lower connecting shaft.

[0029] The limit assembly of this embodiment includes a limit slot provided on the upper connecting shaft, and a limit column provided on the lower connecting shaft and cooperating with the limit slot. The length direction of the limit slot is the direction of rotation around the rotating shaft, that is, the limit slot is arranged in an arc shape, so that the rotation limit of the lower connecting shaft is limited by the two end portions of the limit slot. In other embodiments, the limit column can also be replaced by a limit block.

[0030] In other embodiments, the limiting assembly may include a limiting groove provided on the lower connecting shaft, and a limiting column or a limiting block provided on the upper connecting shaft and cooperating with the limiting groove.

[0031] The bottom of the limit groove described in this embodiment is arc-shaped. When the limit column cooperates with the limit groove, the limit column contacts the bottom of the limit groove, so that the bottom of the groove plays a certain guiding role for the limit column. Moreover, since the bottom of the groove is arc-shaped, the limit column moves smoothly on the bottom of the groove, making the rotation of the lower connecting shaft smoother.

[0032] In this embodiment, both ends of the limiting groove are provided with limiting ears. When the limiting ears abut against the limiting posts, the crankshaft assembly rotates to its limit position, and the limiting ears at both ends limit the distance of the up and down movement of the wheel body.

[0033] This embodiment also provides a lawn mowing robot, comprising a robot body, a blade disc provided on the robot body, a first motor driving the blade disc, and a shock absorbing wheel provided on the robot body; wherein the shock absorbing wheel is any of the shock absorbing wheels described above, and the crankshaft assembly of the shock absorbing wheel is connected to the robot body. Specifically, the upper connecting shaft is connected to the robot body.

[0034] In this embodiment, the damping wheel further comprises a gear connected to the crankshaft assembly, and the lawn mowing robot comprises a second motor for driving the gear to rotate. The gear is connected to the upper connecting shaft, and the second motor drives the gear to rotate, so that the gear drives the crankshaft assembly to rotate, thereby realizing the steering of the wheel body.

[0035] The lawn mowing robot of this embodiment includes the above-mentioned shock-absorbing wheel, and the upper connecting shaft of the shock-absorbing wheel is connected to the robot body, so that when the lawn mowing robot passes through an uneven or bumpy road surface, the angle between the upper connecting shaft and the lower connecting shaft can be changed in time, so that the wheel body has a margin for up and down movement adjustment, and can adapt to different ground environments, thereby ensuring the normal operation of the lawn mowing robot and avoiding the deviation of the blade caused by uneven road surface, which affects the mowing effect.

[0036] When the lawn mower robot of this embodiment is working, the first motor drives the cutter disc to operate to achieve mowing, and the second motor drives the shock-absorbing wheel to turn, so that the lawn mower robot can mow along a preset path.

[0037] Obviously, the above embodiments of the utility model are only examples for clearly explaining the technical solution of the utility model, and are not intended to limit the specific implementation methods of the utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the claims of the utility model shall be included in the protection scope of the claims of the utility model.

Claims

1. A shock absorbing wheel, characterized in that: include: A wheel body and a crankshaft assembly rotatably connected to the wheel body; wherein the crankshaft assembly includes an upper connecting shaft and a lower connecting shaft connected by a rotating shaft, and a buffer member arranged on the rotating shaft and cooperating with both the upper connecting shaft and the lower connecting shaft, and the upper connecting shaft and the lower connecting shaft are arranged at an angle.

2. The shock absorbing wheel according to claim 1, characterized in that: The buffer member is a torsion spring.

3. The shock absorbing wheel according to claim 2, characterized in that: The torsion spring comprises a middle structure and a first torsion arm and a second torsion arm connected to the middle structure. The middle structure is sleeved on the rotating shaft. The first torsion arm abuts against the upper connecting shaft, and the second torsion arm abuts against the lower connecting shaft.

4. The shock absorbing wheel according to claim 3, characterized in that: The upper connecting shaft is provided with a first abutting groove matched with the first torsion arm; and / or the lower connecting shaft is provided with a second abutting groove matched with the second torsion arm.

5. The shock absorbing wheel according to any one of claims 1 to 4, characterized in that: The crankshaft assembly is provided with a limit assembly for limiting the angle range between the upper connecting shaft and the lower connecting shaft.

6. The shock absorbing wheel according to claim 5, characterized in that: The limiting assembly includes a limiting groove provided on the upper connecting shaft, and a limiting column or a limiting block provided on the lower connecting shaft and cooperating with the limiting groove; or, the limiting assembly includes a limiting groove provided on the lower connecting shaft, and a limiting column or a limiting block provided on the upper connecting shaft and cooperating with the limiting groove.

7. The shock absorbing wheel according to claim 6, characterized in that: The bottom of the limiting groove is arc-shaped.

8. The shock absorbing wheel according to claim 6, characterized in that: Limiting ears are arranged at both ends of the limiting groove.

9. A lawn mowing robot, characterized in that: It comprises a robot body, a cutter disc arranged on the robot body, a first motor for driving the cutter disc, and a shock-absorbing wheel arranged on the robot body; wherein the shock-absorbing wheel is the shock-absorbing wheel according to any one of claims 1-8.

10. The lawn mowing robot according to claim 9, characterized in that: The damping wheel further comprises a gear connected to the crankshaft assembly, and the lawn mowing robot comprises a second motor for driving the gear to rotate.

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