Floating connecting mechanism

Abstract

The utility model belongs to the technical field of connecting pieces, and particularly relates to a floating connecting mechanism which comprises a connecting assembly and a connecting support. The connecting assembly comprises a floating arm, a telescopic push rod and a push rod supporting arm, the first end of the floating arm and the second end of the push rod supporting arm are rotationally arranged on a driving body of the modular intelligent trolley, and the first end of the push rod supporting arm is rotationally connected with the second end of the push rod. The first end of the push rod is fixed to the driving body, the push rod supporting arm is provided with a limiting part used for limiting the floating arm, and the limiting part is located below the floating arm; the first end of the connecting support is used for being connected with a functional module, the second end of the connecting support is detachably connected with the connecting assembly through a second quick release assembly, the flexible connecting mechanism combining active height adjustment and up-down and left-right floating along with the terrain is comprehensively provided, and the connecting requirements in different scenes can be met.

Description

Technical Field

[0001] The utility model belongs to the technical field of connectors, and in particular relates to a floating connection mechanism. Background Art

[0002] With the rapid development of my country's forestry, orchards, photovoltaic power plants, and facility agriculture, demand for mowing, spraying, hauling, and fertilizing is growing rapidly. Furthermore, due to the vast territory and diverse planting practices across the country, high demands are placed on machine flexibility, reliability, and applicability. Coupled with labor shortages, the demand for compact, intelligent machines with quick disassembly and easy maintenance is increasing. Currently, mowing, spraying, fertilizing, and hauling are all independent machines, resulting in high idle rates. Furthermore, these machines are bulky, have inflexible steering, are noisy, and have poor adaptability and maneuverability. They are prone to getting stuck or even overturning when climbing hills and over obstacles, posing significant safety risks in complex road conditions.

[0003] To this end, for example, Chinese invention patent publication number CN102369796A discloses a multi-joint contour-adapting floating cutting platform, which can ensure that the cutting platform follows the ground shape in real time without the frame touching the ground, ensuring the lowest cutting stubble while avoiding damage to surface plants.

[0004] For another example, the Chinese utility model patent with publication number CN212876737U discloses an automatic lawn mower, which includes a first floating mechanism, which allows the mowing mechanism to move up and down; the mowing mechanism is located at an initial cutting position within its moving range when not subjected to external force; and also includes a second floating mechanism, which allows the guard shield to move up and down; the guard shield is located at an initial guard setting position within its moving range when not subjected to external force.

[0005] The above solutions all improve the flexibility of the machine to a certain extent. However, the above solutions have at least the following defects:

[0006] 1. Complex structure and poor flexibility;

[0007] 2. The adjustment method and effect are single;

[0008] 3. The connection structure is complex and the disassembly and assembly steps are complicated. Utility Model Content

[0009] The purpose of the present invention is to provide a floating connection mechanism to partially alleviate or solve the above-mentioned problem and improve the flexibility of the connection mechanism.

[0010] In order to solve the technical problems mentioned above, the present invention specifically adopts the following technical solutions: a floating connection mechanism, including a connection component and a connection bracket; the connection component includes a floating arm, a retractable push rod and a push rod support arm, the first end of the floating arm and the second end of the push rod support arm are respectively rotatably arranged on the driving body of the modular intelligent vehicle, the first end of the push rod support arm is rotatably connected to the second end of the push rod, the first end of the push rod is fixed on the driving body, and a limiting part for limiting the floating arm is provided on the push rod support arm, and the limiting part is located at Below the floating arm; the first end of the connecting bracket is used to connect the functional module, and the second end of the connecting bracket is quickly connected to the floating arm through a second quick-release assembly; when the push rod contracts, the push rod drives the push rod support arm to rotate around the driving body toward the first direction, so that the limiting part rests on the floating arm and drives the floating arm to rise; when the push rod extends, the push rod drives the push rod support arm to rotate around the driving body toward the second direction, and the floating arm drops synchronously with the limiting part; wherein, the first direction and the second direction are opposite.

[0011] As an improvement, the floating arm is respectively provided with a first mounting hole and a second mounting hole, and the second end of the connecting bracket is provided with a third mounting hole that cooperates with the first mounting hole, and a fourth mounting hole that cooperates with the second mounting hole; accordingly, the second quick-release assembly includes a first fixing part and a second fixing part, and when the first fixing part is passed through the first mounting hole and the third mounting hole, or the second fixing part is passed through the second mounting hole and the fourth mounting hole, the connecting bracket can rotate relative to the floating arm; when the first fixing part is passed through the first mounting hole and the third mounting hole, and the second fixing part is passed through the second mounting hole and the third mounting hole at the same time, the first fixing part cooperates with the second fixing part to fix the connecting bracket and the floating arm.

[0012] As an improvement, there are at least two fourth mounting holes, and the plurality of fourth mounting holes have different heights; when the second fixing member is passed through the third mounting hole and the fourth mounting holes with different heights respectively, the cutting panel has different heights.

[0013] As an improvement, the connecting assembly further comprises an elastic member, and two ends of the elastic member are respectively connected to the driving body and the functional module.

[0014] As an improvement, a connecting chain with adjustable length is provided on the connecting bracket, and the elastic member is connected to the functional module through the connecting chain, wherein one end of the connecting chain is connected to the connecting bracket, and the other end is detachably connected to the elastic member of the connecting component.

[0015] As an improvement, two floating arms are provided, and the two floating arms are connected by a support rod. Correspondingly, two push rods and two push rod support arms are provided.

[0016] As an improvement, the two floating arms are connected to both ends of the support rod through joint bearings respectively.

[0017] As an improvement, the two push rod arms are connected by a connecting arm, a support rod is fixed on the connecting arm, and the other end of the support rod is rotatably connected to the driving body.

[0018] As an improvement, two connecting brackets are provided, and the two connecting brackets are connected and fixed on the cutting panel via an intermediate bracket.

[0019] As an improvement, the elastic member is a spring.

[0020] The principle and beneficial effects of the present invention are:

[0021] In order to adapt to the working requirements of different robots in different terrains (for example, a cutter needs to adjust the height of the cutting platform to achieve different stubble heights in complex terrain), this application provides a flexible floating connection mechanism that combines active height adjustment with floating up and down and left and right with the terrain.

[0022] Specifically, the present application sets up a pre-adjustment structure in conjunction with a real-time active lifting mechanism, which can set the relative height between the connecting bracket and the connecting component in advance according to the work scene / work requirements. At the same time, during the work process, the height of the connecting bracket can be actively adjusted according to the actual working environment, so that the robot has a larger adjustable height range.

[0023] Furthermore, by cleverly designing the position of the floating arm and push rod arm in the connecting assembly, and coordinating with structures such as support columns and elastic parts, the robot can stably float up and down and left and right with the terrain during operation, thereby adapting to small changes in terrain.

[0024] Furthermore, the connecting bracket and the connecting component in the present application are quickly connected through a second quick-release component, so that the connecting bracket can be quickly fixed to the connecting component, or rotated relative to the connecting component to achieve rapid fixation or flipping of the robot's functional module. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for the embodiments or the description of the prior art. In all drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the various elements or parts are not necessarily drawn according to the actual scale. Obviously, the drawings described below are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without inventive work.

[0026] Figure 1 This is a schematic diagram of the overall structure of a lawn mower equipped with a modular intelligent vehicle in an expanded state according to an exemplary embodiment of the present invention;

[0027] Figure 2 This is a schematic diagram of the overall structure of a lawn mower equipped with a modular intelligent vehicle in a semi-folded state according to an exemplary embodiment of the present invention;

[0028] Figure 3 This is a schematic diagram of the overall structure of a lawn mower equipped with a modular intelligent vehicle in a folded state according to an exemplary embodiment of the present invention;

[0029] Figure 4 This is a schematic diagram of the structure after the modular intelligent car and cutting platform are separated;

[0030] Figure 5 This is a schematic diagram of the overall structure of the modular intelligent car;

[0031] Figure 6 This is a schematic diagram of the modular smart car in its disassembled state;

[0032] Figure 7 This is a schematic diagram of the modular smart car in a disassembled state from another angle;

[0033] Figure 8 This is a schematic diagram of the travel drive module of the modular intelligent car;

[0034] Figure 9 This is a schematic diagram of the power module of the modular smart car;

[0035] Figure 10 This is a schematic diagram of the combination of the power module and the travel drive module of the modular intelligent car;

[0036] Figure 11 This is a schematic diagram of the splitting of the power module and travel drive module of the modular intelligent car;

[0037] Figure 12 This is a structural diagram of the handle of the modular smart car;

[0038] Figure 13Schematic diagram of the structure when the lock is in a locked state;

[0039] Figure 14 Schematic diagram of the structure when the lock is in the open state;

[0040] Figure 15 This is a structural diagram of the foot support;

[0041] Figure 16 A three-dimensional diagram of the connection component and the connection bracket after assembly;

[0042] Figure 17 It is a side view of the connection component and the connection bracket after assembly;

[0043] Figure 18 Schematic diagram of the structure of the push rod support arm;

[0044] Figure 19 It is a schematic diagram of the overall structure of the cutting platform;

[0045] Figure 20 It is a structural diagram of the cutting panel;

[0046] Figure 21 This is an exploded view of the cutting platform;

[0047] Figure 22 It is a structural diagram of the height adjustment module;

[0048] Figure 23 This is a schematic diagram of the installation position of the cutting disc on the cutting panel;

[0049] Figure 24 Schematic diagram of installing one of the energy packs on the power module;

[0050] Figure 25 Schematic diagram of installing another energy pack for the power module;

[0051] Figure 26 Schematic diagram of installing another energy pack on the power module.

[0052] Markings in the figure: 1. Cutting panel; 101. Wear plate; 102. Support wheel; 103. Front guard plate; 104. Rear guard plate; 105. Front mounting seat; 106. Rear mounting seat; 107. Grass guard; 108. Second control module; 2. Connecting assembly; 21. Floating arm; 211. Support rod; 212. Joint bearing; 213. First mounting hole; 214. Second mounting hole; 22. Push rod; 23. Push rod support Arm; 231, limit part; 232, connecting arm; 233, support rod; 234, limit groove; 24, elastic member; 25, base; 3, modular intelligent car; 31, travel drive module; 311, drive body; 312, guide rail; 313, foot support assembly; 3131, support body; 3132, reset member; 3133, upper folding surface; 314, drive deceleration system; 32, power module; 321, travel frame; 3 22. Energy pack; 323. Pulley; 324. Handle; 3241. First handle; 3242. Second handle; 325. First control module; 326. Travel wheel; 327. Universal ball transfer; 331. Locking piece; 332. Lock pin; 333. Limit bolt; 334. Lock; 3341. Front fixing seat; 3342. Rear fixing seat; 4. Connecting bracket; 41. Third mounting hole; 42. Fourth mounting hole; 43. Connecting bracket Connecting chain; 44. Intermediate bracket; 45. Intermediate bracket mounting seat; 51. First fixing member; 52. Second fixing member; 6. Cutting disc; 61. Bending disc; 62. Blade; 63. Driving device; 64. Bolt; 65. Anti-loosening nut sleeve; 66. Anti-loosening spacer; 7. Height adjustment module; 71. Height limiting wheel; 72. Height adjustment bracket; 73. Adjustment pad; 74. Rotating shaft sleeve; 75. Anti-collision plate; 76. Third fixing member. DETAILED DESCRIPTION

[0053] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0054] Herein, the suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present invention and have no specific meaning. Therefore, "module", "component" or "unit" can be used interchangeably.

[0055] As used herein, terms such as "upper," "lower," "inner," "outer," "front," "back," "one end," and "the other end" indicate positions or locations based on those shown in the accompanying drawings. These terms are intended solely to facilitate the description of the present invention and simplify the description. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0056] As used herein, unless otherwise expressly specified or limited, the terms "installed," "provided with," "connected," etc., should be understood broadly. For example, "connected" may refer to a fixed connection, a detachable connection, or an integral connection; it may refer to a mechanical connection, a direct connection, an indirect connection through an intermediate medium, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model on a case-by-case basis.

[0057] As used herein, "and / or" includes any and all combinations of one or more of the associated listed items.

[0058] Herein, "plurality" means two or more than two, ie, it includes two, three, four, five, etc.

[0059] Example 1

[0060] See also Figures 19-23 , the utility model provides a floating connection mechanism, such as Figure 19 , including a cutting panel 1, a connecting bracket 4 and a height adjustment module 7. The cutting panel 1 is respectively provided with a cutting disc 6 and a second control module 108 for controlling the operation of the cutting disc.

[0061] Among them, the cutting panel serves as the main frame of the cutting platform and is used to carry other components. One end of the connecting bracket is connected to the upper surface of the cutting panel through a bolt assembly, and the other end is connected to the connecting assembly of the lawn mower through a locking pin. The cutting disc is assembled on the cutting panel. During implementation, different numbers of cutting discs can be arranged at different positions according to the width of the cutting panel and the working conditions, thereby realizing the function of chopping stems within the width. One end of the height adjustment bracket is hinged to the cutting panel through a rotating sleeve, and the other end is connected to the cutting panel through a quick latch. Different pin positions on the bracket can realize different heights of the cutting panel above the ground. The second control module is connected to the cutting panel through a bolt assembly, which mainly controls the power of the cutting disc and adjusts the disc speed and power output in real time according to the working conditions. The above components work together to achieve high-quality and silent mowing on the cutting platform, and replacement and maintenance are convenient and fast, and the scalability and adaptability are strong.

[0062] Specifically, if Figure 21 The first end of the connecting bracket 4 is fixedly connected to the upper surface of the cutting panel 1, and the second end of the connecting bracket 4 is detachably connected to the connecting component of the lawn mower, wherein the connecting component is respectively provided with a first mounting hole 213 and a second mounting hole 214, and the second end of the connecting bracket 4 is provided with a third mounting hole 41 that cooperates with the first mounting hole 213, and at least two fourth mounting holes 42 of different heights that cooperate with the second mounting hole 214;

[0063] When the first fixing member 51 is passed through the first mounting hole 213 and the third mounting hole 41, or the second fixing member 52 is passed through the second mounting hole 214 and one of the fourth mounting holes 42, the connecting bracket 4 can rotate relative to the connecting component; when the first fixing member 51 is passed through the first mounting hole 213 and the third mounting hole 41, and the second fixing member 52 is passed through the second mounting hole 214 and the fourth mounting hole 42, the first fixing member 51 cooperates with the second fixing member 52 to fix the connecting bracket and the connecting component.

[0064] In some embodiments, a length-adjustable connection chain 43 is provided on the connection bracket, one end of the connection chain 43 is fixed to the connection bracket 4, and the other end is detachably connected to the elastic member (preferably a spring) of the connection assembly.

[0065] In some embodiments, two connecting brackets are provided, and the two connecting brackets are connected and fixed to the cutting panel via an intermediate bracket 44 .

[0066] like Figure 22 The height adjustment module includes a height adjustment bracket 72, a limited height wheel 71 is provided on the first side of the height adjustment bracket 72, and the second side of the height adjustment bracket 72 is rotatably connected to the cutting panel. At least two fifth mounting holes of different heights are provided between the first side and the second side of the height adjustment bracket 72, and the cutting panel is provided with a sixth mounting hole that matches the fifth mounting hole; or at least two sixth mounting holes of different heights are provided on the cutting panel, and the height adjustment bracket is provided with a fifth mounting hole that matches the sixth mounting hole;

[0067] When the third fixing member passes through the fifth mounting hole and the sixth mounting hole, the cutting panel is fixed to the height adjustment bracket.

[0068] In some embodiments, a height adjustment pad 73 is provided between the height limiting wheel and the height adjustment bracket.

[0069] In some embodiments, a collision prevention plate 75 is provided at the front end of the height adjustment bracket.

[0070] like Figure 23 The cutting disc includes a disc body, and a bent disc 61 and a blade 62 are arranged on the bottom of the disc body so as to rotate from top to bottom in sequence. A driving device 63 (preferably a motor) is provided on the disc body for driving the bent disc 61 and the blade 62 to rotate; an installation space is provided inside the cutting panel, and a grass guard plate 107 cooperating with the cutting disc is installed in the installation space, and the grass guard plate 107 cooperates with the inner wall of the cutting panel 1 to form a grass guide channel, and one side of the cutting end of the blade 62 is rolled up toward the bent disc 61 to form a folded angle portion, and the acute angle between the bent disc 61 and the plane where the blade 62 is located is 55°-80°.

[0071] In some embodiments, a first through-hole is provided on the bent cutter disc, and a second through-hole cooperating with the first through-hole is provided on the blade. The bent cutter disc and the blade are connected by a bolt 64, and the bolt 64 shrinks twice from the head to the end toward the center axis of the bolt to form a first step and a second step respectively; when the bolt 64 is passed through the second through-hole and the first through-hole in sequence, the blade and the bent cutter disc are respectively located on the first step and the second step, so that when the resistance applied to the blade is less than or equal to the first force, the blade and the bent cutter disc rotate synchronously, and when the resistance applied to the blade is greater than the first force, the blade can rotate relative to the bent cutter disc.

[0072] In some embodiments, as Figure 20 Wear-resistant plates 101 are provided on both sides of the cutting panel. Front and rear protective baffles 103 and 106 are provided at the front and rear ends of the cutting panel, respectively. Support wheels 102 are provided at the rear end of the cutting panel, and the rear protective baffles 106 cover the support wheels 102. Front and rear mounting seats 105 and 106 are provided on the upper surface of the cutting panel. The sixth mounting hole is provided on the front mounting seat, and the second side of the height adjustment bracket is rotatably mounted on the rear mounting seat via a rotating sleeve. By providing different protective devices at different locations on the cutting panel, safety protection can be achieved and the overall strength of the cutting platform can be increased.

[0073] For example, Figure 23The cutting disc specifically includes a drive motor, a bent cutter disc 61, a blade 62, a cutter disc fixing anti-loosening sleeve 66, a bolt 64 and an anti-loosening nut sleeve 65. Among them, the drive motor is installed on the cutting panel through the motor mounting seat, which directly provides rotational power for the cutter disc, has good balance, low noise, and is easy to install and maintain. The motor mounting seat plays a role in installation positioning and protection of the motor; and the output shaft of the drive motor includes (can be sleeved) a large mounting boss to ensure that it has a larger joint surface with the bent cutter disc, and high-speed rotation is more stable; the bent cutter disc is at a bent angle and cooperates with the grass collecting plate to complete grass collection and guiding. The blade 62 is high-strength alloy steel with a coating to increase cutting performance and cutting life. Combined with the bent cutter disc structure, it has excellent grass chopping and grass removal effects while ensuring neat stubble; with the help of the boss and section structure of the bolt 64, the blade 62 cuts to a larger When the blade 62 cuts a harder object, the blade 62 can rotate around the bolt 64 between the second step and the head of the bolt 64; at the same time, the anti-loosening nut sleeve 65 and the anti-loosening spacer sleeve have the function of preventing the blade 62 and the bent disc from loosening; and the cutting disc blade 62 can be set to a style with an upward bending angle according to the stubble requirements, with the help of the wind cavity formed therein, to achieve better stubble uniformity, grass chopping and grass collecting effects.

[0074] In some embodiments, two semicircular cutter disc slots are provided on the output shaft of the driving motor. Correspondingly, the part of the bent cutter disc 61 that is combined with the motor output shaft is provided with a protrusion that cooperates with the cutter disc slot. The two are engaged to achieve fixation, which can effectively prevent the bent cutter disc 61 from loosening during high-speed rotation, thereby increasing safety and reliability.

[0075] In some embodiments, a protective edge is further provided on the drive motor to prevent the high-speed rotating motor shaft from getting entangled with grass during operation.

[0076] See also Figure 21The connecting brackets comprise a left and right welded bracket (referred to as the two connecting brackets above) with one end secured to the cutting panel 1 by a bolt assembly via a connecting mechanism mounting plate, and the other end connected to the drive body via a quick latch. The left and right welded brackets are symmetrically arranged, and the left and right welded brackets are combined and secured to the cutting panel via an intermediate bracket mounting base 45. A connecting chain is comprised of a plurality of stages connected to the connecting brackets (including the left and right welded brackets) via a bolt assembly at one end and a spring at the other end. The connecting chain 43 has multiple stages and can be adjusted according to the weight of the cutting platform supported by the connecting brackets and the operating conditions. This adjustment, in turn, adjusts the spring force of the spring, changes the load-bearing fulcrum of the cutting platform relative to the modular intelligent vehicle, and adjusts the overall balance and center of gravity distribution to achieve greater maneuverability and flexibility. The quick locking pins are symmetrically used in four pieces here. For the left side, the first fixing piece 51 is connected to the third mounting hole on the front side of the left welding bracket and the first mounting hole on the front side of the connecting component. The second fixing piece 52 is connected to one of the fourth mounting holes on the rear side of the right welding bracket and the second mounting hole on the rear side of the connecting component. At the same time, the rear hole of the connecting component is hinged to the trolley body.

[0077] The locking pin front hole group (including the first and third mounting holes) and the locking pin rear hole group (including the second and fourth mounting holes) constitute a height adjustment system. Specifically, when the first fixing member is inserted into different positions of the locking pin front hole group and the second fixing member is inserted into different positions of the locking pin rear hole group, the connecting bracket drives the cutting panel 1, and thus the cutting disc blade, to different heights relative to the trolley chassis to which the connecting assembly is connected. Simultaneously, when one fixing member (e.g., the second fixing member) is removed from the corresponding hole group (e.g., the locking pin rear hole group), the cutting panel and all its mounted components can be rotated by retracting the fixing member in the other hole group (e.g., the locking pin front hole group). This makes maintenance, transfer, and transportation more flexible and convenient. During this process, the spring maintains spring tension, which is transmitted to the cutting panel by the left and right welding brackets. The cutting panel expands and contracts in response to the varying forces, thereby enabling the cutting panel 1 to float freely relative to the trolley within a small range.

[0078] like Figure 22 and Figure 19The height adjustment module includes a height adjustment bracket 72 (hereinafter referred to as the bracket), a bumper plate 75, a height-limiting wheel 71 (also known as a height-limiting universal wheel), an adjustment pad 73, and a third fixing member 76 (preferably a quick latch). One end of the bracket is hinged to the cutting panel's height adjustment front mounting via a rotating sleeve assembly and can rotate around the rotating sleeve assembly. The other end is fixed to the pin hole group of the rear mounting seat via a quick latch. Because the support wheel mounted on it is always grounded, when the quick latch passes through the bracket and inserts into different holes in the front mounting seat, the cutting panel can be positioned at different relative heights relative to the height-limiting universal wheel, thereby achieving different ground clearance heights for the blade. Furthermore, different ground clearance heights can be further achieved by adding or removing the adjustment pads installed between the height-limiting universal wheel and the bracket. Furthermore, a wear-resistant bumper plate installed in front of the bracket effectively reduces the impact and wear of the crops in front on the bracket and the entire cutting platform during operation, thereby increasing its service life.

[0079] Example 2

[0080] See also Figure 5-Figure 18 The present invention also provides a modular intelligent car, comprising:

[0081] Travel drive module 31, such as Figure 8 , comprising a driving body 311, a connecting assembly for connecting a functional module being provided at a first end of the driving body 311, at least one guide rail 312 being provided at a second end of the driving body 311, and a foot support assembly 313 for supporting the driving body, and a driving deceleration system 314 for driving the driving body to move;

[0082] Power module 32, such as Figure 9 , comprising a walking frame 321 and an energy pack 322 arranged on the walking frame, the first end of the power module is provided with at least one pulley 323 capable of sliding on the guide rail; Figure 10 , walking wheels 326 are provided on both sides of the walking frame 321, and the walking wheels cooperate with the driving wheels on the driving body to realize the walking and transfer of the trolley;

[0083] A first quick-release assembly for connecting the travel drive module and the power module, such as Figure 11 The first quick-release assembly includes a locking member 331 and a locking pin 332. Accordingly, the second end of the driving body is provided with at least one first through hole and at least one first pin hole, and the first end of the walking frame is provided with at least one second through hole cooperating with the first through hole, and at least one second pin hole cooperating with the first pin hole;

[0084] When the pulley is slid along the guide rail to the first position, the first through hole corresponds to the second through hole, the first pin hole corresponds to the second pin hole, the locking pin is passed through the first pin hole and the second pin hole in sequence, and the locking member is passed through the first through hole and the second through hole in sequence, so that the travel drive module and the power module are quickly connected.

[0085] Specifically, the driving and deceleration systems are two independent motor deceleration drive systems, which can realize differential in-situ steering and can start the parking judgment after the whole vehicle is powered off, so as to prevent slipping on sloped roads; the front ends of the walking drive module 31 and the power module 32 are quickly combined into a main vehicle body through the first quick-release component. A connecting component is set in the front of the walking drive module, which can quickly mount a mowing platform, a transport trolley, a spraying platform, a micro-tillage platform, etc. to achieve different operations, and according to the operation requirements, the mounting module can float with the terrain during operation, quickly flip during maintenance, and lift and fold during transportation. In addition, the power module in this application is connected to the walking drive module in a quick-release manner, which can easily and quickly replace the power source that matches the power required by the working platform, see Figure 24-26 , presenting three different power source examples: a pure electric low-energy battery, a high-energy battery, and a hybrid extended-range battery, to accommodate different work platforms. During transport, the walking frame protects the power source from collisions, and the wheels on the driving frame make transport more labor-efficient.

[0086] In some embodiments, the first quick-release assembly further includes at least one lock, and the lock includes a first fastening member provided at the second end of the driving body, and a second fastening member provided on the walking frame; when the pulley slides along the guide rail to the first position, the first fastening member is pressed, and the first fastening member is fastened with the second fastening member, so that the walking drive module and the power module are quickly connected.

[0087] For example, the first quick-release assembly includes a quick lock, a quick-release pin (i.e., a locking pin), a lifting eye limit bolt (i.e., a locking member), a guide pulley, and a universal ball. The above components cooperate with each other to quickly disassemble the travel drive module and the power module. Further, when the power module needs to be disassembled, please refer to Figure 10 and Figure 11 First, unlock the lock. Next, remove the left and right eyebolts from the threaded holes in the traveling frame. Unscrew the other eyebolt from the pin hole on each guide rail. Finally, remove the quick-release pin from the pin hole in the drive unit to release the connection. The guide pulley on the power module automatically slides out along the guide rail and, using the universal ball transfer, separates from the drive unit. During this separation and release process, the quick-release buckle bolted to the traveling frame releases from the frame's connecting tube due to its own elastic force. The entire power pack assembly can then be transported using the traction handle.

[0088] Further, if Figure 13 and Figure 14 The quick lock includes a handle, a front fixing seat 3341, a pin that hinges the handle to the front fixing seat 3341, a pull rod fixed to the handle, and a rear fixing seat 3342. The front fixing seat 3341 is fixed to the driving body 311, and the rear fixing seat 3342 is fixed to the walking frame 321. When disassembling, the handle is rotated outward 90° around its pin to drive and release the pull rod from the lock hook of the rear fixing seat 3342. When clamping, the operation is reversed. After the operating handle hooks the pull rod onto the lock hook of the rear fixing seat 3342, the handle is rotated forward to fasten it. If necessary, a pin can be passed through the handle and the front fixing seat 3341 to lock the handle.

[0089] In some embodiments, the connecting assembly includes a floating arm and an elastic member, the two ends of the elastic member are respectively connected to the driving body and the functional module, the first end of the floating arm is rotatably connected to the driving body, and the second end of the floating arm is detachably fixed to the functional module.

[0090] In other embodiments, the connecting assembly includes a floating arm, a retractable push rod and a push rod support arm, the first end of the floating arm and the second end of the push rod support arm are respectively rotatably arranged on the driving body, the first end of the push rod support arm is rotatably connected to the second end of the push rod, the first end of the push rod is fixed to the driving body, and the push rod support arm is provided with a limiting portion for limiting the floating arm, and the limiting portion is located below the floating arm; when the push rod contracts, the push rod drives the push rod support arm to rotate around the driving body toward the first direction, and the limiting portion abuts against the floating arm, so that the push rod support arm can drive the floating arm to rise; when the push rod is extended, the push rod drives the push rod support arm to rotate around the driving body toward the second direction, and the floating arm descends synchronously with the limiting portion; wherein, the first direction and the second direction are opposite. The connecting assembly further includes an elastic member, both ends of which are respectively connected to the driving body and the functional module, the first end of the floating arm is rotatably connected to the driving body, and the second end of the floating arm is detachably fixed to the functional module.

[0091] In some embodiments, as Figure 16 There are two floating arms, and the two floating arms 21 are connected by a support rod 211. Correspondingly, there are two elastic members, two push rods and two push rod support arms; the two floating arms are respectively connected to the two ends of the support rod through joint bearings; the two push rod support arms are connected by a connecting arm, and a support rod is fixed on the connecting arm, and the other end of the support rod is rotatably connected to the driving body.

[0092] For example, Figure 16-Figure 18 The floating assembly comprises a floating arm 21, a floating spring (elastic member 24), a push rod 22, a push rod support arm 23, a strut 233, a connecting arm 232, a base 25, and a spherical bearing 212. Two symmetrical bases 25 are arranged, each with its front and rear ends bolted to the drive body. The center hole is used to articulate the floating arm 21 and the push rod support arm 23. Two symmetrical floating arms 21 are connected together by a connecting arm 232. Both ends of the connecting arm 232 are equipped with spherical bearings 212 to enable fine-tuned vertical movement of the left and right floating arms. One end of the floating arm 21 is hinged to the center hole of the base 25, and the other end is connected to the mounting platform (e.g., a cutting platform) via a front pin hole (i.e., a first mounting hole) and a waist hole (i.e., a second mounting hole). As the mounting platform rises and falls with the terrain, the floating arm 21 is driven to rotate about its hinge point, enabling the mounting platform to float freely. The floating spring has one end hinged to the drive body and the other end attached to the mounting platform's connecting chain (also known as a chain), providing auxiliary support for the floating arm. The length of the chain attachment point can be adjusted based on the weight of the preceding mounting platform to achieve varying levels of force assistance. Two push rods 22 are also symmetrically arranged, with one end pinned to the drive body and the other to a push rod support arm 23. A portion of each push rod support arm 23 spans the left and right floating arms and is positioned below them. Each push rod support arm is equipped with two stoppers 231 (also known as grooves) to limit the position of the left and right floating arms above them. One end of the push rod support arm 23 is pinned to the push rod 22, and the other end is hinged to the middle hole of the base. During the extension and retraction process of the push rod 22, the push rod support arm 23 is driven to rotate. A limit slot 234 is also provided on the push rod support arm 23 to limit the left and right swing amplitude of the connecting arm 232. Under the push of the push rod 22, the push rod support arm 23 can rotate around the middle hole of the floating arm seat. When it rotates to a certain angle, it drives the left and right floating arms above it to rise and fall, thereby driving the overall rise and fall of the mounting platform. The push rod support arm is also provided with a mounting seat hole for articulating the support rod 233. The other end of the support rod 233 is hinged to the driving body, providing assistance and protection for the push rod. The above structures cooperate with each other to complete the tool-free disassembly, passive floating, active lifting, and folding of the mounting platform. It is convenient, fast, safe and efficient, and has high flexibility, applicability, and machine utilization.

[0093] In some embodiments, the foot support assembly includes a support body, the first end of the support body is rotatably arranged on the second end of the driving body, and the first end of the support body is provided with a reset member (preferably a torsion spring); when the power module is installed to the second end of the walking drive module, the support body rotates along the first direction under the push of the power module, and when the pulley slides to the first position, the support body is parallel to the ground; when the power module and the walking drive module are separated, the support body is reset under the action of the reset member, so that the second end of the support body is against the ground.

[0094] For example, Figure 15 The foot support assembly includes a support body 3131, a reset torsion spring (reset member 3132), and a locking pin assembly. The locking pin assembly pins the reset torsion spring and the support body 3131 to the driving body, and the reset torsion spring is placed between the baffle of the driving body and the upper folding surface 3133 of the support body 3131. When the power module and the travel drive module are separated, the support body 3131 rotates downward around the locking pin assembly under the action of the reset torsion spring until it touches the ground, supporting the travel drive module. When the power module is reinstalled, as the power module slides in, its front and rear cross braces will hit the upper folding surface 3133 of the support body 3131, causing it to rotate upward around the locking pin assembly. When the power module is installed in place, the support body 3131 is retracted to a state parallel to the ground. This part provides support and retraction when the travel drive module and the power module are quickly disassembled and reassembled, making the device more stable, simple in structure, and easy to operate.

[0095] In some embodiments, a handle is further provided at the first end of the power module.

[0096] For example, see Figure 12 The handle is connected to the front of the walking frame via a pin assembly and can be extended and rotated around the waist hole of the locking pin assembly. Specifically, the handle includes a primary handle 3241 and a secondary handle 3242. The secondary handle 3242 can rotate around the rod of the primary handle 3241 to extend the handle length, facilitating operation.

[0097] In some embodiments, as Figure 9The power module is also provided with a first control module 325. For example, the first control module 325 includes a main control, an emergency stop and switch assembly box, a rear junction box, a front junction box, a travel drive controller, a camera assembly, a lighting assembly, and corresponding connecting wiring harnesses. All control and junction box packages are integrated into the corresponding assembly, and the vehicle protection level reaches IP67, which can meet various complex and harsh working conditions. The junction box is provided with multiple quick-plug waterproof expansion connectors to facilitate quick replacement and expansion of functions. The design is simple, maintenance and operation are convenient, reliability is high, and expandability is strong. In other embodiments, the main controller, emergency stop and switch assembly box, and rear junction box are assembled on the power module, and the front junction box, travel drive controller box, camera assembly, and lighting assembly are assembled on the travel drive module. When disassembling, it is only necessary to unplug the positive power connector, negative power connector, and communication connector on the front junction box. The travel drive controller can detect the travel load in real time through the control strategy, adaptively control the power output, and save energy and efficiency. The camera assembly can detect the vehicle's operating conditions in real time under remote control or automatic navigation mode, and transmit images back to assist operators or centers in making decisions.

[0098] Example 3

[0099] The utility model also provides a lawn mower equipped with a modular intelligent vehicle, see Figures 1-4 , the modular intelligent car 3 includes:

[0100] The travel drive module includes a drive body, a connection assembly 2 for detachably connecting a functional module is provided at the first end of the drive body, at least one guide rail is provided at the second end of the drive body, and a drive deceleration system for driving the drive body to travel is also provided on the drive body;

[0101] A power module, comprising a walking frame and an energy pack disposed on the walking frame, wherein a first end of the power module is provided with at least one pulley capable of sliding on the guide rail;

[0102] A first quick-release assembly for connecting the travel drive module and the power module, the first quick-release assembly including a locking member and a locking pin, correspondingly, the second end of the drive body is provided with at least one first through hole and at least one first pin hole, the first end of the travel frame is provided with at least one second through hole cooperating with the first through hole, and at least one second pin hole cooperating with the first pin hole; when the pulley is slid along the guide rail to the first position, the first through hole and the second through hole correspond, the first pin hole and the second pin hole correspond, the locking pin is sequentially passed through the first pin hole and the second pin hole, and the locking member is sequentially passed through the first through hole and the second through hole, so that the travel drive module and the power module are quickly connected;

[0103] The lawn mower further comprises a cutting panel 1 and a connecting bracket, wherein the cutting panel is provided with a cutting disc, a first end of the connecting bracket is fixedly connected to the upper surface of the cutting panel, and a second end of the connecting bracket is quickly connected to the connecting assembly via a second quick-release assembly;

[0104] The second quick-release assembly includes a first fixing member and a second fixing member, the connecting assembly being respectively provided with a first mounting hole and a second mounting hole, the second end of the connecting bracket being provided with a third mounting hole cooperating with the first mounting hole, and a fourth mounting hole cooperating with the second mounting hole; the fourth mounting holes are provided with at least two, and the plurality of fourth mounting holes have different heights; when the second fixing member is respectively passed through the third mounting hole and the fourth mounting holes with different heights, the cutting panels have different heights; when the first fixing member is passed through the first mounting hole and the third mounting hole, or the second fixing member is passed through the second mounting hole and the fourth mounting hole, the connecting bracket can be rotated relative to the connecting assembly; when the first fixing member is passed through the first mounting hole and the third mounting hole, and the second fixing member is passed through the second mounting hole and the third mounting hole, the first fixing member cooperates with the second fixing member to fix the connecting bracket and the connecting assembly.

[0105] It should be noted that the cutting panel and connecting bracket in this embodiment can refer to the specific structure of the cutting platform in Example 1, and other structures in the cutting platform are also applicable to this embodiment; similarly, the specific structure of the modular intelligent vehicle in this embodiment can refer to the relevant description in Example 2.

[0106] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0107] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which are all within the protection of the present invention.

Claims

1. A floating connection mechanism, characterized in that: including a connecting assembly and a connecting bracket; The connecting assembly includes a floating arm, a retractable push rod and a push rod support arm, the first end of the floating arm and the second end of the push rod support arm are respectively rotatably arranged on the driving body of the modular intelligent vehicle, the first end of the push rod support arm is rotatably connected to the second end of the push rod, the first end of the push rod is fixed to the driving body, and a limiting portion for limiting the floating arm is provided on the push rod support arm, and the limiting portion is located below the floating arm; The first end of the connecting bracket is used to connect the functional module, and the second end of the connecting bracket is quickly connected to the floating arm through a second quick-release assembly; When the push rod contracts, the push rod drives the push rod support arm to rotate around the driving body toward a first direction, so that the limiting portion abuts against the floating arm and drives the floating arm to rise; when the push rod extends, the push rod drives the push rod support arm to rotate around the driving body toward a second direction, and the floating arm descends synchronously with the limiting portion; wherein, the first direction and the second direction are opposite.

2. A floating connection mechanism according to claim 1, characterized in that: The floating arm is provided with a first mounting hole and a second mounting hole respectively, and the second end of the connecting bracket is provided with a third mounting hole cooperating with the first mounting hole and a fourth mounting hole cooperating with the second mounting hole; accordingly, the second quick-release assembly includes a first fixing member and a second fixing member, When the first fixing member is passed through the first mounting hole and the third mounting hole, or the second fixing member is passed through the second mounting hole and the fourth mounting hole, the connecting bracket can rotate relative to the floating arm; when the first fixing member is passed through the first mounting hole and the third mounting hole, and the second fixing member is passed through the second mounting hole and the third mounting hole, the first fixing member cooperates with the second fixing member to fix the connecting bracket and the floating arm.

3. A floating connection mechanism according to claim 2, characterized in that: There are at least two fourth mounting holes, and the plurality of fourth mounting holes have different heights; When the second fixing member is passed through the third mounting hole and the fourth mounting hole with different heights respectively, the cut panel has different heights.

4. The floating connection mechanism according to claim 1, characterized in that: The connecting assembly further includes an elastic member, two ends of which are respectively connected to the driving body and the functional module.

5. A floating connection mechanism according to claim 4, characterized in that: The connecting bracket is provided with a connecting chain with adjustable length, and the elastic member is connected to the functional module via the connecting chain, wherein one end of the connecting chain is connected to the connecting bracket, and the other end is detachably connected to the elastic member of the connecting assembly.

6. The floating connection mechanism according to claim 1, characterized in that: There are two floating arms, which are connected via a support rod. Correspondingly, there are two push rods and two push rod support arms.

7. The floating connection mechanism according to claim 6, characterized in that: The two floating arms are respectively connected to the two ends of the support rod through joint bearings.

8. The floating connection mechanism according to claim 6, characterized in that: The two push rod support arms are connected by a connecting arm, a support rod is fixed on the connecting arm, and the other end of the support rod is rotatably connected to the driving body.

9. The floating connection mechanism according to claim 6, characterized in that: Two connecting brackets are provided, and the two connecting brackets are connected through an intermediate bracket and fixed on the cutting panel.

10. A floating connection mechanism according to claim 4 or 5, characterized in that: The elastic member is a spring.

Images