Vehicle head structure and courtyard robot

Abstract

The utility model relates to a vehicle head structure and a courtyard robot. The vehicle head structure comprises a driving assembly, an output shaft, a frame and a courtyard function executing mechanism. The driving assembly and the courtyard function executing mechanism are both arranged on the frame. An output shaft sleeve is arranged at the output end of the driving assembly, a non-circular hole extending in the axial direction is formed in the output shaft sleeve, one end of the output shaft is matched with the non-circular hole and inserted into the non-circular hole, the output shaft sleeve drives the output shaft to rotate when rotating, and the other end of the output shaft sleeve is in transmission connection with the courtyard function executing mechanism. According to the courtyard function executing mechanism, the non-circular hole of the output shaft sleeve is connected with the output shaft in an inserted mode, when the courtyard function executing mechanism needs to be disassembled and overhauled, only the output shaft needs to be pulled out of the non-circular hole of the output shaft sleeve, and a driving assembly does not need to be additionally disassembled; the output shaft sleeve can drive the output shaft to rotate synchronously, normal work is kept, meanwhile, disassembly is convenient, the disassembly steps are effectively simplified, and later overhaul and maintenance of products are facilitated.

Description

Technical Field

[0001] The utility model relates to the technical field of snow removal, in particular to a vehicle head structure and a garden robot. Background Art

[0002] In the related art, in order to make the snow collecting impeller and the snow throwing impeller on the front of the garden robot work, a driving component needs to be set in the vehicle to drive and control the rotation of the snow collecting impeller and the snow throwing impeller, so as to realize the snow collecting and throwing functions.

[0003] Regarding this type of drive assembly, the patent with authorization announcement number CN220521204U discloses a drive assembly, a snow removal device and a snow removal equipment. The drive assembly uses a synchronous belt drive to reduce speed, and its power output shaft 200 drives and controls the rotation of the snow collecting impeller and the snow throwing impeller. In some scenarios, when only the power output shaft 200 and the snow collecting impeller and the snow throwing impeller connected to the front end of the power output shaft 200 need to be disassembled as a whole, it is necessary to first remove the fixing part 700, and then disassemble the synchronous belt 500, the motor bracket 930 and the motor 100 in a chain manner before the power output shaft 200 can be removed from the driven wheel 400. This is inconvenient when only the front of the vehicle needs to be checked. The maintenance personnel need to additionally disassemble the remaining parts of the drive assembly, which is time-consuming and labor-intensive and needs to be solved urgently. Utility Model Content

[0004] In view of this, the utility model provides a vehicle head structure and a garden robot, which are used to solve the problem in the related art that maintenance personnel need to additionally disassemble the remaining parts of the driving assembly, which is time-consuming and labor-intensive.

[0005] To achieve one or part or all of the above purposes or other purposes, the utility model provides a vehicle head structure, including a drive assembly, an output shaft, a frame and a yard function actuator;

[0006] The driving assembly and the courtyard function execution mechanism are both arranged on the frame;

[0007] The output end of the driving assembly is arranged as an output sleeve, and an axially extending non-circular hole is formed in the output sleeve. One end of the output shaft fits with and is inserted into the non-circular hole. When the output sleeve rotates, the output shaft is driven to rotate. The other end of the output sleeve is transmission-connected to the courtyard function actuator.

[0008] In an optional embodiment, the non-circular hole is a spline hole, and the end of the output shaft plugged into the non-circular hole is a spline shaft.

[0009] In an optional embodiment, the drive assembly includes a motor, a housing, and a gear set;

[0010] The housing is fixed on the frame, the housing cover is arranged outside the gear set, the motor is fixed on the housing, and the motor, the gear set and the output shaft sleeve are sequentially transmission-connected.

[0011] In an optional embodiment, the gear set includes a first gear, a second gear, a third gear and a fourth gear, all of which are disposed in the housing;

[0012] The motor shaft of the motor is connected to and controls the rotation of the first gear, and the first gear is meshed with the second gear;

[0013] An intermediate shaft is provided in the housing, the second gear and the third gear are both sleeved on the intermediate shaft, and the second gear and the third gear rotate synchronously;

[0014] The third gear is meshed with the fourth gear, the output shaft sleeve is arranged at the axis of the fourth gear, and the fourth gear rotates synchronously with the output shaft sleeve.

[0015] In an optional embodiment, both ends of the motor shaft of the motor are rotatably connected to the housing by providing a first bearing;

[0016] Both ends of the intermediate shaft are rotatably connected to the housing by means of second bearings;

[0017] Both ends of the output shaft sleeve are rotatably connected in the housing by arranging a third bearing.

[0018] In an optional embodiment, a first limiting step is formed on the motor shaft of the motor in a radially outward protrusion, a first slot is formed on the motor shaft of the motor, a first limiting member is detachably mounted on the first slot, and the first limiting step and the first limiting member are respectively located on both sides of the first gear to provide axial limitation for the first gear.

[0019] In an optional embodiment, a second limiting step is formed on the output sleeve in a radially outward protrusion, a second slot is formed on the output sleeve, a second limiting member is detachably mounted on the second slot, and the second limiting step and the second limiting member are respectively located on both sides of the fourth gear to provide axial limiting for the fourth gear.

[0020] In an optional embodiment, the courtyard function execution mechanism includes a speed reducer having a worm gear therein;

[0021] One end of the output shaft away from the output shaft sleeve is a worm, and the worm is meshed with the worm wheel.

[0022] In an optional embodiment, the courtyard function execution mechanism further includes a snow collecting impeller, a snow throwing impeller and a transmission shaft assembly;

[0023] A receiving cavity is formed in the frame, and both ends of the transmission shaft assembly are rotatably connected to the cavity wall of the receiving cavity. The transmission shaft assembly is inserted into the worm gear and rotates synchronously with the worm gear.

[0024] The snow collecting impeller is arranged around the outer periphery of the transmission shaft assembly and rotates along with the transmission shaft assembly;

[0025] The snow-throwing impeller is sleeved on the outer periphery of the output shaft, and the snow-throwing impeller rotates along with the output shaft.

[0026] The utility model also provides a garden robot, comprising a self-moving device and any one of the above-mentioned vehicle head structures, wherein the vehicle head structure is connected to the self-moving device.

[0027] Implementing the embodiments of the present utility model will have the following beneficial effects:

[0028] The utility model adopts a method of plugging the non-circular hole of the output shaft sleeve with the output shaft. When the courtyard function actuator needs to be disassembled and repaired, the output shaft only needs to be pulled out from the non-circular hole of the output shaft sleeve, and there is no need to disassemble the drive component additionally. At the same time, since the non-circular hole of the output shaft sleeve fits the output shaft, the output shaft sleeve can drive the output shaft to rotate synchronously, which is convenient for disassembly while maintaining normal operation, effectively simplifying the disassembly steps, facilitating the later inspection and maintenance of the product, saving time and effort.

[0029] The problem that maintenance personnel need to additionally disassemble the remaining parts of the drive assembly, which is time-consuming and labor-intensive, is solved in the related art. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the utility model or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0031] in:

[0032] Figure 1 is a cross-sectional view of a vehicle head structure of an optional embodiment;

[0033] Figure 2 is a three-dimensional diagram of a drive assembly in an optional embodiment;

[0034] Figure 3 is an exploded view of a drive assembly in an optional embodiment;

[0035] Figure 4 is a cross-sectional view of a drive assembly in an optional embodiment;

[0036] Figure 5 is a stereoscopic diagram of a vehicle head structure of an optional embodiment at a first viewing angle;

[0037] Figure 6 It is a stereoscopic view of the front structure of an optional embodiment at a second viewing angle.

[0038] The reference numerals are as follows: 1. driving assembly; 11. motor; 111. first slot; 112. first limiting step; 12. housing; 121. front housing; 122. rear housing; 13. gear set; 131. first gear; 132. second gear; 133. third gear; 134. fourth gear; 141. first bearing; 142. second bearing; 143. third bearing; 151. first limiting member; 152 , second limit member; 16, intermediate shaft; 17, output shaft sleeve; 171, non-circular hole; 172, second slot; 173, second limit step; 2, output shaft; 21, worm; 3, frame; 31, accommodating chamber; 4, courtyard function actuator; 41, reducer; 411, worm wheel; 412, housing; 413, fourth bearing; 42, snow collecting impeller; 43, snow throwing impeller; 44, transmission shaft assembly; 45, locking member. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0040] Please refer to Figure 1 , Figure 3 and Figure 6 The embodiment of the utility model proposes a vehicle head structure, including a driving assembly 1, an output shaft 2, a frame 3 and a courtyard function actuator 4.

[0041] The driving assembly 1 and the courtyard function actuator 4 are both arranged on the frame 3. The driving assembly 1 is used to drive and control the operation of the courtyard function actuator 4. The courtyard function actuator 4 can be but is not limited to an actuator for functions such as snow removal, grass mowing, and leaf blowing.

[0042] The output end of the driving assembly 1 is set as an output shaft sleeve 17, and an axially extending non-circular hole 171 is formed in the output shaft sleeve 17. One end of the output shaft 2 fits with the non-circular hole 171 and is inserted into the non-circular hole 171. When the output shaft sleeve 17 rotates, it drives the output shaft 2 to rotate. The other end of the output shaft sleeve 17 is transmission-connected to the courtyard function actuator 4.

[0043] Since the non-circular hole 171 of the output shaft sleeve 17 matches the shape of the output shaft 2, when assembled, the output shaft 2 is plugged into the non-circular hole 171, and when the drive component 1 is working, the output shaft sleeve 17 rotates to drive the output shaft 2 to rotate; when it is necessary to disassemble and repair the courtyard function actuator 4, it is only necessary to pull the output shaft 2 out of the non-circular hole of the output shaft sleeve 17, and there is no need to disassemble the drive component 1 additionally. At the same time, since the non-circular hole 171 of the output shaft sleeve 17 matches the output shaft 2, the output shaft sleeve 17 can drive the output shaft 2 to rotate synchronously, which is convenient for disassembly while maintaining normal operation, effectively simplifying the disassembly steps, facilitating the later inspection and maintenance of the product, saving time and effort.

[0044] The courtyard function execution mechanism 4 can be various types of mechanisms with snow removal functions. In order to facilitate the description of the disassembly process, Figure 1 , Figure 6 Taking the courtyard function actuator 4 in the figure as an example, when disassembling, first remove the locking piece 45 to make the courtyard function actuator 4 detach from the frame 3, and then pull the output shaft 2 out of the output shaft sleeve 17 to complete the disassembly without disassembling the entire drive assembly 1. Compared with the related art (the patent with authorization announcement number CN220521204U), which almost requires the removal of the entire synchronous belt deceleration structure, this embodiment solves the problems of inconvenient disassembly and extra time and effort.

[0045] In order to make the output sleeve 17 drive the output shaft 2 to rotate, the non-circular hole 171 can adopt various non-circular axially extending hole grooves, and the output shaft 2 is adapted thereto. For example, the non-circular hole 171 adopts a flat key hole or a spline hole, and the output shaft 2 correspondingly adopts a flat key shaft, a spline shaft, etc.

[0046] In some embodiments, please refer to Figures 2 to 4 The non-circular hole 171 is a spline hole, and the end of the output shaft 2 plugged into the non-circular hole 171 is a spline shaft. The non-circular hole 171 is processed into an internal spline, and the output shaft 2 is processed with an external spline. The spline can be a rectangular spline, an involute spline, a triangular spline, etc. Since the spline transmits loads through multiple teeth, the spline connection has a greater load-bearing capacity than the flat key connection, and has better centering and guiding properties.

[0047] In some embodiments, Figure 1 and Figure 5As shown in , the drive assembly 1 includes a motor 11, a housing 12 and a gear set 13. The housing 12 is fixed on the frame 3, and the housing 12 is covered outside the gear set 13. The motor 11 is fixed on the housing 12, and the motor 11, the gear set 13 and the output shaft sleeve 17 are sequentially connected in transmission. The motor 11 drives the gear set 13 to rotate, and the gear set 13 drives the output shaft sleeve 17 to rotate, and the output shaft sleeve 17 then drives the output shaft 2 to rotate. The synchronous belt deceleration belt structure used in the related art is prone to synchronous belt interference and safety problems. If there is uneven tension of the synchronous belt, it may cause the synchronous belt to deviate on its path, thereby causing interference between the synchronous belt and the pulley or other components. However, the utility model adopts the gear set 13, which does not have this problem, is safer and more reliable, does not need to adjust the tension of the belt, reduces maintenance requirements, improves the overall environmental adaptability of the drive assembly 1, and has higher transmission efficiency and torque bearing capacity, and a higher degree of modularization.

[0048] The setting of the gear set 13 can be considered according to actual needs.

[0049] In some embodiments, Figure 3 and Figure 4 As shown in FIG. 1 , the gear set 13 includes a first gear 131 , a second gear 132 , a third gear 133 and a fourth gear 134 , all of which are disposed in the housing 12 .

[0050] The motor shaft of the motor 11 is connected to and controls the rotation of the first gear 131 , and the first gear 131 is meshed with the second gear 132 .

[0051] An intermediate shaft 16 is disposed in the housing 12 . The second gear 132 and the third gear 133 are sleeved on the intermediate shaft 16 . The second gear 132 and the third gear 133 rotate synchronously.

[0052] The intermediate shaft 16 can be a shaft with a flat key. The second gear 132 and the third gear 133 are provided with flat key slots for the flat key to be inserted. When the intermediate shaft 16 rotates, the flat key drives the second gear 132 and the third gear 133 to rotate synchronously.

[0053] The third gear 133 is meshed with the fourth gear 134 . The output shaft sleeve 17 is disposed at the axis of the fourth gear 134 . The fourth gear 134 and the output shaft sleeve 17 rotate synchronously.

[0054] When the motor 11 is working, it drives the first gear 131 to rotate, driving the second gear 132 to rotate, the intermediate shaft 16 and the third gear 133 rotate following the second gear 132, the third gear 133 drives the fourth gear 134 to rotate, the output sleeve 17 rotates following the fourth gear 134, and the output shaft 2 rotates following the output sleeve 17.

[0055] The selection of the above gear set 13 is only a solution designed by the inventor based on comprehensive consideration of factors such as cost, size and reduction ratio of the drive component 1. Alternatively, the gear set 13 can also use two or other numbers and different sizes of gears for meshing transmission.

[0056] In some embodiments, Figure 3 and Figure 4 As shown in FIG. 1 , both ends of the motor shaft of the motor 11 are rotatably connected to the housing 12 by providing a first bearing 141. Both ends of the intermediate shaft 16 are rotatably connected to the housing 12 by providing a second bearing 142. Both ends of the output shaft sleeve 17 are rotatably connected to the housing 12 by providing a third bearing 143. The first bearing 141, the second bearing 142 and the third bearing 143 are used to improve the rotation stability and reduce the rotation friction.

[0057] For example, Figure 3 and Figure 4 As shown in the figure, both side walls of the internal space of the shell 12 are recessed to form first bearing grooves, and two first bearings 141 are respectively installed in the two first bearing grooves. The two first bearings 141 are respectively located on both sides of the first gear 131. The motor shaft of the motor 11 penetrates into the internal space of the shell 12 from the outside of the shell 12, and the two first bearings 141 and the first gear 131 are both sleeved on the motor shaft.

[0058] Similarly, both side walls of the internal space of the shell 12 are recessed to form a second bearing groove, and the two second bearings 142 are respectively installed in the two first bearing grooves. The two second bearings 142 are respectively sleeved on the two ends of the intermediate shaft 16, and the second gear 132 and the third gear 133 overlap, and the second gear 132 and the third gear 133 are located between the two second bearings 142.

[0059] Similarly, both side walls of the internal space of the shell 12 are recessed to form a third bearing groove, and two third bearings 143 are respectively installed in the two third bearing grooves. The two third bearings 143 are respectively located on both sides of the fourth gear 134, and the two third bearings 143 are respectively sleeved on both ends of the output shaft sleeve 17.

[0060] Optional, such as Figure 4 As shown in , the motor shaft of the motor 11 is radially protruded to form a first limiting step 112, the motor shaft of the motor 11 is formed with a first clamping groove 111, and the first clamping groove 111 is detachably mounted with a first limiting member 151, the first limiting step 112 and the first limiting member 151 are respectively located on both sides of the first gear 131 to axially limit the first gear 131. The first limiting member 151 can be a limiting member such as a retaining spring, which is convenient for installation and removal.

[0061] Optional, such as Figure 4As shown in , the output sleeve 17 is radially convex to form a second limiting step 173, the output sleeve 17 is formed with a second clamping groove 172, and the second clamping groove 172 is detachably mounted with a second limiting member 152, the second limiting step 173 and the second limiting member 152 are respectively located on both sides of the fourth gear 134 to axially limit the fourth gear 134. The second limiting member 152 can be a limiting member such as a retaining spring, which is convenient for installation and removal.

[0062] Optionally, the housing 12 can be fixed on the frame 3 by fasteners such as screws. The output shaft sleeve 17 is fixed in the housing 12, and a hole is formed on the housing 12 to expose the non-circular hole 171, so that the output shaft 2 can penetrate.

[0063] Optionally, the housing 12 includes a front housing 121 and a rear housing 122, which cover each other to cover the gear set 13. The front housing 121 and the rear housing 122 can be fixed by fasteners such as screws. A hole is formed on the front housing 121 to allow the motor shaft to pass through, and a hole is formed on the rear housing 122 to expose the non-circular hole 171 to facilitate the output shaft 2 to pass through and plug into the output sleeve 17.

[0064] Optionally, the motor 11 body can be fixed to the housing 12 by fasteners such as screws. In this embodiment, the motor 11 body and the front housing 121 are fixedly connected by screws.

[0065] In some embodiments, please refer to Figure 1 and Figure 6 The courtyard function actuator 4 includes a reducer 41 having a worm gear 411 therein. The end of the output shaft 2 away from the output sleeve 17 is a worm 21, and the worm 21 is meshed with the worm gear 411.

[0066] For example, the reducer 41 includes a housing 412 , one end of the worm 21 of the output shaft 2 is rotatably connected to the housing 412 via a fourth bearing 413 , and the worm wheel 411 is disposed inside the housing 412 .

[0067] In some embodiments, please refer to Figure 1 and Figure 6 The courtyard function actuator 4 also includes a snow collecting impeller 42, a snow throwing impeller 43 and a transmission shaft assembly 44. The snow collecting impeller 42 is used to collect snow, and the snow throwing impeller 43 is used to throw snow. At this time, the courtyard function actuator 4 is used for snow removal. The courtyard function actuator 4 can also be a blade mechanism for mowing grass, a blower mechanism for blowing leaves, etc.

[0068] An accommodating cavity 31 is formed in the frame 3 , and both ends of the transmission shaft assembly 44 are rotatably connected to the cavity wall of the accommodating cavity 31 . The transmission shaft assembly 44 is inserted into the worm gear 411 and rotates synchronously with the worm gear 411 .

[0069] The snow collecting impeller 42 is disposed around the outer circumference of the transmission shaft assembly 44 and rotates along with the transmission shaft assembly 44 .

[0070] The snow throwing impeller 43 is sleeved on the outer periphery of the output shaft 2 , and the snow throwing impeller 43 rotates along with the output shaft 2 .

[0071] During operation, the driving assembly 1 controls the output shaft 2 to rotate, one end of the worm 21 of the output shaft 2 drives the worm wheel 411 to rotate, the worm wheel 411 drives the transmission shaft assembly 44 and the snow collecting impeller 42 to rotate as a whole, and the output shaft 2 drives the snow throwing impeller 43 to rotate.

[0072] The accommodating chamber 31 is used to accommodate the accumulated snow. The snow collecting impeller 42 can collect the accumulated snow in the accommodating chamber 31. The snow throwing impeller 43 can throw the accumulated snow in the accommodating chamber 31 into a snow throwing bucket (not shown in the figure) and then throw it to the outside, thereby realizing the snow removal function.

[0073] The speed reducer 41 is used to adjust the rotation speed of the snow collecting impeller 42 .

[0074] For example, both ends of the transmission shaft assembly 44 are rotatably connected to the cavity wall of the accommodating cavity 31 and can rotate relative to the cavity wall. Both ends of the transmission shaft assembly 44 are installed on the cavity wall through locking members 45. The locking members 45 can be fasteners such as screws. When disassembling, only the locking members 45 need to be removed and the output shaft 2 can be pulled out from the output shaft sleeve 17 to disassemble the courtyard function actuator 4, which is convenient for disassembly.

[0075] The utility model provides a garden robot in one embodiment, comprising a self-moving device and a vehicle head structure in any of the above embodiments, wherein the vehicle head structure is connected to the self-moving device and can be installed on the self-moving device so that the self-moving device can carry the vehicle head structure to work.

[0076] The specific structure of the vehicle head structure refers to the following embodiments. Since the garden robot adopts all the technical solutions of all the above embodiments, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0077] In some embodiments, the self-moving device may include a control structure and a drive structure, the control structure may include components such as a circuit board, and the control structure may control the movement of the drive structure. The drive structure may be used to drive the movement of the vehicle head structure, for example, the drive structure may include a drive wheel or a track, the number of the drive wheels may be multiple, and multiple drive wheels or tracks may be arranged at the bottom of the fuselage to achieve the movement of the self-moving device.

[0078] In some embodiments, the self-moving device can realize the function of path planning by installing various sensors. For small obstacles, the self-moving device can automatically cross, for medium and large obstacles, the self-moving device can avoid them in time and clear the snow around the obstacles to the maximum extent. For example, the self-moving device can also use infrared ranging sensors or laser ranging sensors to avoid obstacles.

[0079] The above is only a preferred implementation mode of the present application, and does not constitute any form of limitation to the present application. Although the present application has been disclosed as a preferred implementation mode as above, it is not used to limit the present application. Any technician familiar with this profession can make some changes or modify the technical contents disclosed above into equivalent implementation modes without departing from the scope of the technical solution of the present application. However, any simple modification, equivalent change and modification made to the above implementation modes based on the technical essence of the present application without departing from the content of the technical solution of the present application still fall within the scope of the technical solution of the present application.

Claims

1. A vehicle head structure, characterized in that: It comprises a driving assembly (1), an output shaft (2), a frame (3) and a courtyard function actuator (4); The driving assembly (1) and the courtyard function execution mechanism (4) are both arranged on the frame (3); The output end of the driving component (1) is arranged as an output shaft sleeve (17), an axially extending non-circular hole (171) is formed in the output shaft sleeve (17), one end of the output shaft (2) fits with the non-circular hole (171) and is inserted into the non-circular hole (171), the output shaft sleeve (17) drives the output shaft (2) to rotate when rotating, and the other end of the output shaft sleeve (17) is drivingly connected to the courtyard function actuator (4).

2. The vehicle head structure according to claim 1, characterized in that: The non-circular hole (171) is a spline hole, and the end of the output shaft (2) plugged into the non-circular hole (171) is a spline shaft.

3. The vehicle head structure according to claim 1, characterized in that: The driving assembly (1) comprises a motor (11), a housing (12) and a gear set (13); The housing (12) is fixed on the frame (3), the housing (12) is covered outside the gear set (13), the motor (11) is fixed on the housing (12), and the motor (11), the gear set (13) and the output shaft sleeve (17) are sequentially connected in transmission.

4. The vehicle head structure according to claim 3, characterized in that: The gear set (13) comprises a first gear (131), a second gear (132), a third gear (133) and a fourth gear (134) which are all arranged in the housing (12); The motor shaft of the motor (11) is connected to and controls the rotation of the first gear (131), and the first gear (131) is meshed with the second gear (132); An intermediate shaft (16) is provided in the housing (12), the second gear (132) and the third gear (133) are both sleeved on the intermediate shaft (16), and the second gear (132) and the third gear (133) rotate synchronously; The third gear (133) is meshed with the fourth gear (134), the output shaft sleeve (17) is arranged at the axis of the fourth gear (134), and the fourth gear (134) and the output shaft sleeve (17) rotate synchronously.

5. The vehicle head structure according to claim 4, characterized in that: Both ends of the motor shaft of the motor (11) are rotatably connected to the housing (12) by providing a first bearing (141); Both ends of the intermediate shaft (16) are rotatably connected to the housing (12) by means of second bearings (142); Both ends of the output shaft sleeve (17) are rotatably connected to the housing (12) by means of a third bearing (143).

6. The vehicle head structure according to claim 4, characterized in that: A first limiting step (112) is formed on the motor shaft of the motor (11) in a radially outwardly protruding manner, a first clamping groove (111) is formed on the motor shaft of the motor (11), a first limiting member (151) is detachably mounted on the first clamping groove (111), and the first limiting step (112) and the first limiting member (151) are respectively located on both sides of the first gear (131) to axially limit the first gear (131).

7. The vehicle head structure according to claim 4, characterized in that: A second limiting step (173) is formed on the output shaft sleeve (17) in a radially outwardly protruding manner, and a second clamping groove (172) is formed on the output shaft sleeve (17). A second limiting member (152) is detachably mounted on the second clamping groove (172), and the second limiting step (173) and the second limiting member (152) are respectively located on both sides of the fourth gear (134) to axially limit the fourth gear (134).

8. The vehicle head structure according to any one of claims 1 to 7, characterized in that: The courtyard function execution mechanism (4) comprises a reducer (41) having a worm gear (411) inside; One end of the output shaft (2) away from the output shaft sleeve (17) is a worm (21), and the worm (21) is meshed with the worm wheel (411).

9. The vehicle head structure according to claim 8, characterized in that: The courtyard function execution mechanism (4) further comprises a snow collecting impeller (42), a snow throwing impeller (43) and a transmission shaft assembly (44); A receiving cavity (31) is formed in the frame (3), two ends of the transmission shaft assembly (44) are rotatably connected to the cavity wall of the receiving cavity (31), and the transmission shaft assembly (44) is inserted into the worm wheel (411) and rotates synchronously with the worm wheel (411); The snow collecting impeller (42) is arranged around the outer circumference of the transmission shaft assembly (44) and rotates along with the transmission shaft assembly (44); The snow-throwing impeller (43) is sleeved on the outer circumference of the output shaft (2), and the snow-throwing impeller (43) rotates along with the output shaft (2).

10. A garden robot, characterized in that: The vehicle comprises a self-moving device and a vehicle head structure according to any one of claims 1 to 9, wherein the vehicle head structure is connected to the self-moving device.

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