Vehicle head structure and courtyard robot

Abstract

The utility model relates to a vehicle head structure and a courtyard robot, and the vehicle head structure comprises a mounting frame, a first rotating shaft and a vehicle head main body, the first rotating shaft is rotationally connected to the mounting frame, the headstock body is connected with the first rotating shaft, and the headstock body and the first rotating shaft rotate synchronously. A first swinging part is arranged on the first rotating shaft and rotates along with the first rotating shaft. A limiting structure is arranged on the mounting frame, and a first blocking wall and a second blocking wall which are arranged at intervals are formed on the limiting structure. The first swing part is located between the first blocking wall and the second blocking wall, and the first blocking wall and the second blocking wall are matched to limit the rotation amplitude of the first swing part. The rotation amplitude of the first swinging piece is limited through the limiting structure, so that the rotation amplitude of the vehicle head body is limited, the vehicle head body and the vehicle body do not interfere with each other, meanwhile, the avoiding space needing to be reserved between the vehicle head body and the vehicle body can be reduced, the gap between the vehicle head body and the vehicle body is reduced, and the courtyard robot is prevented from being too large in size.

Description

Technical Field

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

[0002] In the related art, a courtyard robot is divided into two parts: a vehicle head and a vehicle body. The vehicle body can move by itself and drive the vehicle head to move. A courtyard function execution module can be mounted on the vehicle head. In order to improve the adaptability of the vehicle head to uneven ground, the applicant sets the vehicle head as a structure that can rotate relative to the vehicle body. During the driving process of the courtyard robot, the vehicle head swings under the action of the uneven ground, so as to adapt to the ground undulation.

[0003] However, the applicant finds that since the swing of the vehicle head requires a large space, a large avoidance space needs to be reserved between the vehicle head and the vehicle body to prevent interference between the vehicle head and the vehicle body caused by the swing of the vehicle head. However, the reserved avoidance space will cause too large a gap between the vehicle head and the vehicle body, thereby affecting the overall size of the courtyard robot, which needs to be improved.

[0004] The above content is only used to assist in understanding the technical solution of the present application, and does not represent an admission that the above content is the prior art. Summary of the Utility Model

[0005] In view of this, the utility model provides a vehicle head structure and a courtyard robot, which are used to solve the problem that the large reserved gap required between the vehicle head and the vehicle body due to the swing of the vehicle head of the courtyard robot in the related art affects the overall size of the courtyard robot.

[0006] To achieve one or part or all of the above purposes or other purposes, the utility model proposes a vehicle head structure, including a mounting bracket, a first rotating shaft and a vehicle head main body;

[0007] The first rotating shaft is rotatably connected to the mounting bracket, the vehicle head main body is connected to the first rotating shaft, and the vehicle head main body and the first rotating shaft rotate synchronously;

[0008] A first swinging member is arranged on the first rotating shaft, and the first swinging member rotates along with the first rotating shaft;

[0009] A limiting structure is arranged on the mounting bracket, and a first stop wall and a second stop wall are formed on the limiting structure at intervals;

[0010] The first swinging member is located between the first stop wall and the second stop wall, and the first stop wall and the second stop wall cooperate to limit the rotation amplitude of the first swinging member.

[0011] In some alternative embodiments, a first limiting groove is concavely provided on the limiting structure, and the first blocking wall and the second blocking wall are formed on the groove wall of the first limiting groove;

[0012] The first swing member is located and swings within the first limiting groove.

[0013] In some alternative embodiments, the mounting bracket includes a rear end wall and two side end walls respectively connected to the left and right ends of the rear end wall;

[0014] Both ends of the first rotating shaft are respectively rotatably connected to the two side end walls.

[0015] In some alternative embodiments, a third limiting groove is formed on the side end wall, a convex block is formed on the limiting structure, the convex block is located within the third limiting groove, and the third limiting groove restricts the displacement of the convex block in the front-rear direction.

[0016] In some alternative embodiments, a second fastener is provided on the side end wall, and the second fastener fixes the limiting structure on the side end wall.

[0017] In some alternative embodiments, a first positioning groove is concavely provided on the first rotating shaft, the shape of the first positioning groove is adapted to the first swing member, the first swing member is inserted into the first positioning groove, and a first fastener is provided on the first rotating shaft, and the first fastener fixes the first swing member in the first positioning groove.

[0018] In some alternative embodiments, a connecting seat is provided on the first rotating shaft, and a bearing is provided on the connecting seat;

[0019] The bearing includes a relatively rotatable bearing outer ring and a bearing inner ring. The bearing outer ring is connected to the connecting seat, and one end of the vehicle head main body facing the first rotating shaft has a second rotating shaft, and the second rotating shaft is inserted into the bearing inner ring.

[0020] In some alternative embodiments, a third blocking wall and a fourth blocking wall are formed along the circumferential direction on the bearing outer ring;

[0021] A second swing member is provided on the second rotating shaft. The second swing member is located between the third blocking wall and the fourth blocking wall, and the third blocking wall and the fourth blocking wall cooperate to limit the rotation amplitude of the second swing member.

[0022] In some alternative embodiments, a second positioning groove is concavely provided on the second rotating shaft, the shape of the second positioning groove is adapted to the second swing member, the second swing member is inserted into the second positioning groove, and a third fastener is provided on the second rotating shaft, and the third fastener fixes the second swing member in the second positioning groove.

[0023] The present utility model also provides a courtyard robot, which includes the front head structure described in any one of the above, and further includes a vehicle body, and the mounting frame is connected to the vehicle body.

[0024] Implementing the embodiments of the present utility model will have the following beneficial effects:

[0025] The present utility model restricts the rotation amplitude of the first swing member through a limiting structure, thereby restricting the rotation amplitude of the front head main body. Since the undulation degree of the ground on which the courtyard robot travels is usually limited and does not require a large swing of the front head main body, therefore, by restricting the rotation amplitude of the front head main body, while meeting the requirement of the front head main body to adapt to the undulating ground, it can also avoid a large rotation of the front head main body relative to the vehicle body. Furthermore, while the front head main body and the vehicle body do not interfere with each other, the reserved avoidance space required between the two can be reduced, the gap between the front head main body and the vehicle body can be narrowed, and the situation of the overall size of the courtyard robot being too large can be avoided.

[0026] It solves the problem in the related art that the large swing of the front head of the courtyard robot leads to a large reserved gap between the front head and the vehicle body, affecting the overall size of the courtyard robot. Description of the Drawings

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the related art, the following will briefly introduce the drawings required for use in the description of the embodiments or the related art. Obviously, the drawings in the following description are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0028] Among them:

[0029] Figure 1 It is a cross-sectional view of a partial structure of the front head structure in an optional embodiment;

[0030] Figure 2 It is an exploded view of a partial structure of the front head structure in an optional embodiment;

[0031] Figure 3 It is a three-dimensional view of the first swing member and the limiting structure in an optional embodiment;

[0032] Figure 4 It is an exploded view of a partial structure of the front head structure in an optional embodiment;

[0033] Figure 5 It is an exploded view of a partial structure of the front head structure in an optional embodiment;

[0034] Figure 6 It is a side view of the front head structure in an optional embodiment;

[0035] Figure 7 It is a top view of an optional embodiment of a courtyard robot.

[0036] The description of the reference numerals in the drawings is as follows: 1, mounting bracket; 11, rear end wall; 12, side end wall; 121, assembly hole; 122, third limit groove; 13, bushing; 14, bushing fastener; 2, first rotating shaft; 3, limiting structure; 31, first limit groove; 311, first stop wall; 312, second stop wall; 32, bump; 33, avoidance groove; 4, first swinging member; 5, connecting seat; 6, bearing; 61, bearing outer ring; 611, second limit groove; 6111, third stop wall; 6121, fourth stop wall; 62, bearing inner ring; 7, second swinging member; 8, vehicle head main body; 81, bracket; 82, mowing module; 83, moving wheel module; 84, second rotating shaft; 841, second positioning groove; 9, vehicle body; 01, first fastener; 02, second fastener; 03, third fastener; 001, avoidance space. Detailed implementation manners

[0037] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0038] The present invention provides a vehicle head structure, which can be applied to devices such as courtyard robots, to avoid the situation that the overall size of the courtyard robot is too large due to a large rotation amplitude of the vehicle head main body 8.

[0039] An embodiment of a vehicle head structure of the present invention, please refer to comprehensively Figure 2 and Figure 6 , and includes a mounting bracket 1, a first rotating shaft 2 and a vehicle head main body 8.

[0040] The first rotating shaft 2 is rotatably connected to the mounting bracket 1, the vehicle head main body 8 is connected to the first rotating shaft 2, and the vehicle head main body 8 and the first rotating shaft 2 rotate synchronously.

[0041] A first swinging member 4 is provided on the first rotating shaft 2, and the first swinging member 4 rotates with the first rotating shaft 2.

[0042] A limiting structure 3 is provided on the mounting bracket 1, as Figure 1 shown, a first stop wall 311 and a second stop wall 312 are formed on the limiting structure 3 at intervals.

[0043] The first swing member 4 is located between the first stop wall 311 and the second stop wall 312, and the first stop wall 311 and the second stop wall 312 cooperate to limit the rotation amplitude of the first swing member 4.

[0044] When this embodiment is applied to devices such as garden robots, when the vehicle head main body 8 has a large swing movement tendency under the action of an external force, the first swing member 4 abuts against the first stop wall 311 or the second stop wall 312, thereby restricting the rotation of the first swing member 4 to keep the vehicle head main body 8 always within the permitted rotation angle range.

[0045] The included angle between the first stop wall 311 and the second stop wall 312 can be adjusted according to actual needs, so as to control the rotation of the first swing member 4 within the required angle range.

[0046] Optionally, in order to adapt to most ground undulation degrees and ensure that the avoidance space 001 is small, the included angle between the first stop wall 311 and the second stop wall 312 is between twenty degrees and forty degrees. Preferably, the included angle between the first stop wall 311 and the second stop wall 312 is thirty degrees. In some alternative embodiments, taking the initial position of the first swing member 4 as zero degree, the first swing member 4 can swing forward by fifteen degrees and swing backward by fifteen degrees.

[0047] In this embodiment, the rotation amplitude of the first swing member 4 is restricted by the limiting structure 3, thereby restricting the rotation amplitude of the vehicle head main body 8. Since the undulation degree of the ground where the garden robot travels, such as a lawn, is usually limited and does not require the vehicle head main body 8 to swing greatly to adapt, therefore, by restricting the rotation amplitude of the vehicle head main body 8, the requirement for the vehicle head main body 8 to adapt to the undulating ground can be met while avoiding large rotation of the vehicle head main body 8 relative to the vehicle body 9. Furthermore, while the vehicle head main body 8 and the vehicle body 9 do not interfere with each other, the required avoidance space 001 between the two can be reduced. Refer to Figure 7 to narrow the gap between the vehicle head main body 8 and the vehicle body 9 and avoid the situation where the overall size of the garden robot is too large.

[0048] On the other hand, when the rotation angle between the vehicle head main body 8 and the vehicle body 9 has a tendency to exceed the range, the limiting structure 3 can be used to provide structural support and restrict the rotation amplitude of the first swing member 4, which has a protective effect. For example, when the garden robot collides with an external object, the vehicle head main body 8 and the vehicle body 9 are bent, and the limiting structure 3 is stressed to avoid excessive bending between the vehicle head main body 8 and the vehicle body 9 and provide a protective effect; for another example, when the garden robot is lifted, the vehicle head main body 8 and the vehicle body 9 rotate relative to each other, restricting the rotation amplitude of the first swing member 4 to avoid excessive bending between the vehicle head main body 8 and the vehicle body 9 and provide a protective effect.

[0049] Optionally, different types of courtyard function execution modules can be carried on the vehicle head main body 8 according to requirements. The courtyard function execution modules can be used for, but not limited to, functions such as mowing grass, removing snow, and blowing leaves.

[0050] In some alternative embodiments, as Figures 1 to 5 shown in, a first limiting groove 31 is concavely provided on the limiting structure 3, and a first stop wall 311 and a second stop wall 312 are formed on the groove wall of the first limiting groove 31. The first swinging member 4 is located and swings within the first limiting groove 31.

[0051] As Figure 3 shown in, the first limiting groove 31 can be similar to a fan-shaped groove, and the first stop wall 311 and the second stop wall 312 are respectively located on the front side groove wall and the rear side groove wall of the first limiting groove 31.

[0052] In some other alternative embodiments, the limiting structure 3 can be two stoppers. The two stoppers are arranged on the mounting frame 1, and the two stoppers are spaced apart from the first swinging member 4. The first swinging member 4 is located between the two stoppers. The two stoppers are used to abut against the first swinging member 4 to limit the rotation amplitude of the first swinging member 4. The limiting structure 3 can also be arranged in other forms as long as it can limit the rotation amplitude of the first swinging member 4, and details are not described here.

[0053] In some alternative embodiments, the mounting frame 1 includes a rear end wall 11 and two side end walls 12 respectively connected to the left and right ends of the rear end wall 11. The two ends of the first rotating shaft 2 are respectively rotatably connected to the two side end walls 12. The first rotating shaft 2 and the vehicle head main body 8 perform pitching swings synchronously.

[0054] In some other alternative embodiments, as Figure 4 and Figure 6 shown in, a third limiting groove 122 is formed on the side end wall 12, a convex block 32 is formed on the limiting structure 3, the convex block 32 is located within the third limiting groove 122, and the third limiting groove 122 restricts the displacement of the convex block 32 in the front-rear direction. The third limiting groove 122 is used to limit the rotation of the third limiting groove 122 in the front-rear direction and at the same time share the force, so that the limiting structure 3 is more firmly positioned on the side end wall 12.

[0055] Optionally, as Figure 2 shown in, a second fastener 02 is provided on the side end wall 12, and the second fastener 02 fixes the limiting structure 3 on the side end wall 12. The third limiting groove 122 can share the force of the second fastener 02. The second fastener 02 can be, but not limited to, a screw.

[0056] As an alternative example, the number of the second fasteners 02 is two, and the two second fasteners 02 are respectively located on the front and rear sides of the third limiting groove 122, and the second fasteners 02 fix the second fasteners 02 on the side end wall 12.

[0057] Optionally, for the convenience of assembling the limiting structure 3, the third limiting groove 122 is a strip-shaped groove extending along the vertical direction. During installation, the bump 32 of the limiting structure 3 can slide upward along the third limiting groove 122 until it reaches the assembly position.

[0058] In some alternative embodiments, please refer comprehensively to Figure 3 and Figure 4 , assembly holes 121 are provided on both side end walls 12, and bushings 13 are provided on both assembly holes 121. A bushing fastener 14 is provided on the bushing 13, and the bushing fastener 14 locks the bushing 13 on the side end wall 12. Optionally, the limiting structure 3 is located at the bottom of the bushing 13, and the shape of the top of the limiting structure 3 is adapted to the shape of the bushing 13, making the overall structure compact and reducing the occupied space. The top of the limiting structure 3 can provide partial support for the bushing 13. An avoidance groove 33 can be provided at the top of the limiting structure 3 for the bushing fastener 14 to enter.

[0059] In some alternative embodiments, as shown in Figure 2 , a first positioning groove is recessed on the first rotating shaft 2, the shape of the first positioning groove is adapted to the first swinging member 4, the first swinging member 4 is inserted into the first positioning groove, and a first fastener 01 is provided on the first rotating shaft 2. The first fastener 01 fixes the first swinging member 4 in the first positioning groove. The first positioning groove is used to limit the first swinging member 4, share the force, and prevent the first swinging member 4 from being impacted when abutting against the first stop wall 311 and the second stop wall 312, resulting in loosening or detachment of the first swinging member 4, and improving the stability and reliability of the first swinging member 4.

[0060] Furthermore, the first swinging member 4 is welded to the edge of the first positioning groove to enhance the stability and increase the force-bearing strength. The first fastener 01 and the first rotating shaft 2 can also be connected by electric welding to prevent the first fastener 01 from rotating and loosening, which is safer and more reliable.

[0061] In some alternative embodiments, please refer comprehensively to Figure 5 and Figure 6 , a connecting seat 5 is provided on the first rotating shaft 2, and a bearing 6 is provided on the connecting seat 5. The bearing 6 includes a relatively rotatable bearing outer ring 61 and a bearing inner ring 62. The bearing outer ring 61 is connected to the connecting seat 5, and one end of the vehicle head main body 8 facing the first rotating shaft 2 has a second rotating shaft 84, and the second rotating shaft 84 is inserted into the bearing inner ring 62. In this way, the second rotational degree of freedom of the vehicle head main body 8 can be realized, and the vehicle head main body 8 can swing left and right with the second rotating shaft 84 as the rotating shaft. The first rotational degree of freedom is the pitching swing with the first rotating shaft 2. When the vehicle head structure moves on uneven ground, the vehicle head main body 8 can swing left and right and up and down under the action of external forces to adapt to different terrains, further improving the adaptability of the vehicle head main body 8 to ground undulations.

[0062] Further, the second swing member 7 is welded to the edge of the second positioning groove 841 to enhance stability and improve the force-bearing strength. Electric welding can also be used to connect the third fastener 03 and the second rotating shaft 84 to prevent the third fastener 03 from rotating and loosening, which is safer and more reliable.

[0063] In some alternative embodiments, third retaining walls 6111 and fourth retaining walls 6121 are formed along the circumference on the outer ring 61 of the bearing. A second swing member 7 is provided on the second rotating shaft 84. The second swing member 7 is located between the third retaining wall 6111 and the fourth retaining wall 6121, and the third retaining wall 6111 and the fourth retaining wall 6121 cooperate to limit the rotation amplitude of the second swing member 7.

[0064] Similarly, in this embodiment, the rotation amplitude of the second swing member 7 is limited by the third retaining wall 6111 and the fourth retaining wall 6121, thereby limiting the rotation amplitude of the vehicle head main body 8 in the left-right swing direction. The first retaining wall 311 and the second retaining wall 312 limit the rotation amplitude of the vehicle head main body 8 in the pitch swing direction. Since the undulation degree of the ground is limited, it is not necessary for the vehicle head main body 8 to swing greatly to adapt. Therefore, by limiting the rotation amplitude of the vehicle head main body 8, while meeting the requirement of the vehicle head main body 8 to adapt to the undulating ground, it is also possible to prevent the vehicle head main body 8 from rotating greatly relative to the vehicle body 9. Furthermore, while the vehicle head main body 8 and the vehicle body 9 do not interfere with each other in the left-right swing direction, the reserved clearance space 001 between the two can be reduced, the gap between the vehicle head main body 8 and the vehicle body 9 can be narrowed, and the overall size of the courtyard robot can be prevented from being too large.

[0065] Optionally, in order to adapt to most of the ground undulation degrees and ensure that the clearance space 001 is small, the included angle between the third retaining wall 6111 and the fourth retaining wall 6121 is between twenty degrees and forty degrees. Preferably, the included angle between the third retaining wall 6111 and the fourth retaining wall 6121 is thirty degrees. In some alternative embodiments, with the initial position of the second swing member 7 being zero degree, the second swing member 7 can rotate within a range of plus or minus fifteen degrees.

[0066] In some alternative embodiments, as Figure 5 shown in, a second positioning groove 841 is recessed on the second rotating shaft 84. The shape of the second positioning groove 841 is adapted to the second swing member 7. The second swing member 7 is inserted into the second positioning groove 841. A third fastener 03 is provided on the second rotating shaft 84, and the third fastener 03 fixes the second swing member 7 in the second positioning groove 841.

[0067] The second positioning groove 841 is used to limit the second swing member 7, share the force, prevent the second swing member 7 from being impacted when abutting against the third retaining wall 6111 and the fourth retaining wall 6121, resulting in loosening or detachment of the second swing member 7, and improve the stability and reliability of the second swing member 7.

[0068] In some alternative embodiments, two protruding portions are formed on the outer ring 61 of the bearing and protrude axially. There is a gap between the two protruding portions, and a second limiting groove 611 is formed at the position of the gap between the two protruding portions. The second swing member 7 is located in the second limiting groove 611, and the two groove walls in the circumferential direction of the second limiting groove 611 are the third blocking wall 6111 and the fourth blocking wall 6121.

[0069] In some alternative embodiments, as Figure 6 shown in, the vehicle head main body 8 includes a bracket 81, the bracket 81 is connected to the second rotating shaft 84, and the bracket 81 rotates synchronously with the second rotating shaft 84. Function modules required can be carried on the bracket 81. By way of example, a mowing module 82 and a moving wheel module 83 are provided on the bracket 81. The mowing module 82 is used for mowing, and the moving wheel module 83 is used for rolling.

[0070] An embodiment of a courtyard robot according to the present utility model, please refer comprehensively to Figure 6 and Figure 7 , includes the vehicle head structure described in any of the above embodiments, and further includes a vehicle body 9, and a mounting frame 1 is connected to the vehicle body 9. The vehicle body 9 can be a wheeled or tracked self-propelled vehicle body, and the vehicle body 9 can move itself and drive the vehicle head structure to move.

[0071] The above is only a preferred embodiment of the present application, and does not impose any form of limitation on the present application. Although the present application has been disclosed above in a preferred embodiment, it is not intended to limit the present application. Any person skilled in the art, without departing from the technical solution of the present application, can make some changes or modifications to the above-disclosed technical content to be equivalent change equivalent embodiments. However, as long as it does not depart from the technical solution of the present application, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present application still fall within the scope of the technical solution of the present application.

Claims

1. A front-end structure, characterized in that: It comprises a mounting frame (1), a first rotating shaft (2) and a vehicle head body (8); The first rotating shaft (2) is rotatably connected to the mounting frame (1), the vehicle head body (8) is connected to the first rotating shaft (2), and the vehicle head body (8) and the first rotating shaft (2) rotate synchronously; A first swinging member (4) is provided on the first rotating shaft (2), and the first swinging member (4) rotates along with the first rotating shaft (2); A limiting structure (3) is provided on the mounting frame (1), and a first retaining wall (311) and a second retaining wall (312) are formed on the limiting structure (3), the first swinging member (4) is located between the first retaining wall (311) and the second retaining wall (312), and the first retaining wall (311) and the second retaining wall (312) cooperate to limit the rotation range of the first swinging member (4).

2. The front-end structure according to claim 1, wherein: The limiting structure (3) is provided with a first limiting groove (31), and the first retaining wall (311) and the second retaining wall (312) are formed on the groove wall of the first limiting groove (31); The first swinging member (4) is located and swings in the first limiting groove (31).

3. The vehicle head structure according to claim 1, wherein: The mounting frame (1) comprises a rear end wall (11) and two side end walls (12) respectively connected to the left and right ends of the rear end wall (11); Both ends of the first rotating shaft (2) are rotatably connected to the two side end walls (12).

4. The front-end structure according to claim 3, characterized in that: A third limiting groove (122) is provided on the side end wall (12), a protrusion (32) is formed on the limiting structure (3), the protrusion (32) is located in the third limiting groove (122), and the third limiting groove (122) limits the displacement of the protrusion (32) in the front-back direction.

5. The front-end structure according to claim 4, characterized in that: A second fastener (02) is provided on the side end wall (12), and the second fastener (02) fixes the limiting structure (3) on the side end wall (12).

6. The front-end structure according to claim 1, characterized in that: A first positioning groove is recessed on the first rotating shaft (2), the shape of the first positioning groove being adapted to the first swinging member (4), the first swinging member (4) being inserted into the first positioning groove, and a first fastener (01) is provided on the first rotating shaft (2), the first fastener (01) fixing the first swinging member (4) in the first positioning groove.

7. The front-end structure according to any one of claims 1 to 6, characterized in that: A connecting seat (5) is provided on the first rotating shaft (2), and a bearing (6) is provided on the connecting seat (5); The bearing (6) includes a relatively rotatable bearing outer ring (61) and a bearing inner ring (62), wherein the bearing outer ring (61) is connected to the connecting seat (5), and the end of the vehicle head body (8) facing the first rotating shaft (2) has a second rotating shaft (84), and the second rotating shaft (84) is inserted into the bearing inner ring (62).

8. The front-end structure according to claim 7, wherein: A third retaining wall (6111) and a fourth retaining wall (6121) are formed on the bearing outer ring (61) along the circumferential direction; A second swinging member (7) is provided on the second rotating shaft (84), and the second swinging member (7) is located between the third retaining wall (6111) and the fourth retaining wall (6121), and the third retaining wall (6111) and the fourth retaining wall (6121) cooperate to limit the rotation range of the second swinging member (7).

9. The front-end structure according to claim 8, characterized in that: A second positioning groove (841) is recessed on the second rotating shaft (84), the shape of the second positioning groove (841) is adapted to the second swinging member (7), the second swinging member (7) is inserted into the second positioning groove (841), and a third fastener (03) is provided on the second rotating shaft (84), the third fastener (03) fixes the second swinging member (7) in the second positioning groove (841).

10. A garden robot, characterized in that: The vehicle comprises a vehicle head structure as claimed in any one of claims 1 to 9, and further comprises a vehicle body (9), wherein the mounting frame (1) is connected to the vehicle body (9).

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