Mowing robot

Abstract

The utility model provides a mowing robot which comprises a robot body, a first wheel set and a second wheel set. The first wheel set and the second wheel set are connected to the opposite front and rear ends of the machine body respectively. The first wheel set comprises two omni-directional wheels and a connecting rod assembly, the two omni-directional wheels are symmetrically arranged on the two sides of the center line of the machine body, a preset included angle is formed between each omni-directional wheel and the center line of the machine body, certain deflection force can be provided for the mowing robot during steering, and the resistance of the mowing robot during steering is reduced. First hub motors are arranged in the two omnidirectional wheels, motor rotating shafts of the first hub motors are fixedly connected with connecting rod assemblies, and the middle parts of the connecting rod assemblies are rotationally connected to the front end of the machine body, so that the two omnidirectional wheels can be driven to float up and down; therefore, when the mowing robot runs on an uneven road surface, the four wheels of the mowing robot can be ensured to be in contact with the ground, the road holding force of the wheels is improved, and the trafficability of the mowing robot is further improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electric screwdrivers, in particular to a mowing robot. BACKGROUND

[0002] With the development of science and technology, the types and functions of robots are also increasing. More and more robots are used to replace manual work for agricultural work, such as using a mowing robot to mow grass. In the prior art, the front wheels of the mowing robot generally use omni-directional wheels to reduce the grass mowing problem when the mowing robot turns. However, the front wheels of most mowing robots are arranged in parallel forward, and the front two wheels do not provide a turning force of the vehicle body when turning, so that the lateral movement of the front two wheels will generate a large resistance. Moreover, since the four wheels and the vehicle body are rigidly connected, the wheels will be suspended when driving on uneven road, which not only increases the burden of the wheels, but also affects the steering and grip of the wheels. CONTENT OF THE UTILITY MODEL

[0003] To solve the above technical problems, the present application provides a mowing robot, which comprises a body, a first wheel set and a second wheel set. The first wheel set and the second wheel set are respectively connected to opposite front and rear ends of the body. The first wheel set comprises two omni-directional wheels and a connecting rod assembly, the two omni-directional wheels are symmetrically arranged on both sides of the center line of the body, each omni-directional wheel has a predetermined included angle with the center line, the inside of each omni-directional wheel is provided with a first hub motor, the motor shaft of the first hub motor is fixedly connected with the connecting rod assembly, the middle part of the connecting rod assembly is rotatably connected to the front end of the body, and the connecting rod assembly can drive the two omni-directional wheels to float up and down. The second wheel set comprises two walking wheels, each walking wheel is provided with a second hub motor, and the shaft of the second hub motor is fixedly connected with the body.

[0004] Since the two omni-directional wheels have a certain angle with the center line of the body, a certain turning force can be provided for the mowing robot when turning, thereby reducing the resistance of the mowing robot when turning. Moreover, since the two omni-directional wheels can float up and down, the four wheels of the mowing robot can be in contact with the ground when driving on uneven road, thereby reducing the burden of the wheels and improving the grip of the wheels. Moreover, the two omni-directional wheels and the two walking wheels are provided with hub motors, thereby further improving the passing ability of the mowing robot.

[0005] In some embodiments, the connecting rod assembly comprises a connecting beam, the two ends of the connecting beam are respectively connected with one of the omni-directional wheels, a rotating shaft sleeve is arranged at the middle position of the connecting beam, a rotating shaft is arranged on the body along the center line, and the rotating shaft is inserted into the rotating shaft sleeve. The structure of the rotating shaft and the sleeve is a conventional design for rotation, which is simple and reliable in structure and low in cost.

[0006] In some embodiments, the linkage assembly further comprises two motor mounting plates, each of the two motor mounting plates having a first recess, and the two ends of the connecting beam having a second recess, the first recess and the second recess cooperating to form a space for accommodating the motor shaft, and the motor mounting plates being used to clamp the motor shaft in cooperation with the ends of the connecting beam. When the wheels need to be repaired, the corresponding wheels can be individually disassembled for convenient repair.

[0007] Further, the motor shaft is provided with two first limiting planes parallel to each other, the first recess has a second limiting plane in contact with one of the first limiting planes, and the second recess has a third limiting plane in contact with the other first limiting plane. Through the cooperation of the two first limiting planes with the second limiting plane and the third limiting plane respectively, the rotation of the motor shaft is limited, and the fixing of the hub motor is more secure.

[0008] In some embodiments, the linkage assembly comprises a connecting beam, a left wheel connecting piece, a right wheel connecting piece, and a body connecting piece. The middle position of the body connecting piece is provided with a shaft sleeve, the body is provided with a shaft along the center line, the shaft is inserted into the shaft sleeve, the connecting beam is detachably connected with the body connecting piece, the two ends of the connecting beam are respectively detachably connected with the left wheel connecting piece and the right wheel connecting piece, and the left wheel connecting piece and the right wheel connecting piece are respectively detachably connected with one omnidirectional wheel. When it is necessary to adjust the included angle between the omnidirectional wheels and the center line of the vehicle body in order to adapt to different use scenarios, only the left wheel connecting piece and the right wheel connecting piece need to be replaced, which is convenient and low in cost.

[0009] In some embodiments, the body connecting piece has a third recess for accommodating the connecting beam, the length direction of the third recess is perpendicular to the center line, the body connecting piece is further provided with a first mounting plate, and the connecting beam is clamped between the first mounting plate and the body connecting piece. During installation, the connecting beam can slide in the third recess, so as to adjust the position of the omnidirectional wheel by adjusting the position of the connecting beam, and ensure that the two omnidirectional wheels are symmetrical to the center line.

[0010] Further, the left wheel connecting piece is provided with a fourth groove for accommodating the connecting beam, the fourth groove extends towards the machine body connecting piece along a direction perpendicular to the center line, the left wheel connecting piece is provided with a second mounting plate, and the connecting beam is clamped between the second mounting plate and the left wheel connecting piece. The right wheel connecting piece is provided with a fifth groove for accommodating the connecting beam, the fifth groove extends towards the machine body connecting piece along a direction perpendicular to the center line, the right wheel connecting piece is provided with a third mounting plate, and the connecting beam is clamped between the third mounting plate and the right wheel connecting piece. The two ends of the connecting beam are respectively inserted into the fourth groove and the fifth groove, and the spacing of the two omnidirectional wheels is adjusted by adjusting the insertion amount, so as to adapt to different use scenarios.

[0011] Further, the left wheel connecting piece and the right wheel connecting piece are both provided with a plurality of weight reduction holes, so as to reduce the self weight, reduce the use of production materials, and reduce the production cost.

[0012] The two omnidirectional wheels of the application can adopt an inner eight arrangement or an outer eight arrangement, and the predetermined included angle of the omnidirectional wheels with the center line can be any angle. When the inner eight arrangement is adopted, the angle is preferably 1°-79°, and when the outer eight arrangement is adopted, the angle is preferably 101°-179°.

[0013] The application has the following beneficial effects: the mowing robot comprises a machine body, a first wheel set and a second wheel set. The first wheel set and the second wheel set are respectively connected to opposite front and rear ends of the machine body. The first wheel set comprises two omnidirectional wheels and a connecting rod assembly. The two omnidirectional wheels are symmetrically arranged on both sides of the center line of the machine body, and each omnidirectional wheel has a predetermined included angle with the center line of the machine body. When turning, the omnidirectional wheels can provide a certain deflection force for the mowing robot, thereby reducing the resistance when the mowing robot turns. The first wheel hub motor is arranged in the interior of each omnidirectional wheel, the motor shaft of the first wheel hub motor is fixedly connected with the connecting rod assembly, the middle part of the connecting rod assembly is rotationally connected to the front end of the machine body, so that the two omnidirectional wheels can float up and down, and thus when driving on uneven road surfaces, the four wheels of the mowing robot can be ensured to be in contact with the ground, the wheel grip is improved, and the passing capacity of the mowing robot is further improved. BRIEF DESCRIPTION OF DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0015] Figure 1 is a top view of the first embodiment of the application;

[0016] Figure 2 is a three-dimensional view of the connecting rod assembly in the first embodiment of the present application;

[0017] Figure 3 is a bottom view of the connecting rod assembly in the first embodiment of the present application;

[0018] Figure 4 This is a cross-sectional view of the connecting rod assembly AA in the first embodiment of the present application;

[0019] Figure 5 is a perspective view of a connecting rod assembly in a second embodiment of the present application;

[0020] Figure 6 is an exploded view of a connecting rod assembly in a second embodiment of the present application;

[0021] Figure 7 This is a top view of the omnidirectional wheels in this application when they are arranged in an outward-facing toe configuration. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other alternative implementations obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0023] Figure 1 and Figure 2 The first embodiment of the present application is shown, which provides a lawn mowing robot, including a body 1, a first wheel group 2, and a second wheel group 3. The first wheel group 2 and the second wheel group 3 are respectively connected to the front and rear opposite ends of the body 1. The first wheel group 2 includes two omnidirectional wheels 21 and a connecting rod assembly 22. The two omnidirectional wheels 21 are symmetrically arranged on both sides of the center line 11 of the body 1. Each omnidirectional wheel 21 has a predetermined angle a with the center line 11. The two omnidirectional wheels 21 are each provided with a first hub motor 211. The motor shaft 2111 of the first hub motor 211 is fixedly connected to the connecting rod assembly 22. The middle portion of the connecting rod assembly 22 is rotatably connected to the front end of the body 1, thereby driving the two omnidirectional wheels 21 to float up and down. The second wheel group 3 includes two running wheels 31. The running wheels 31 are provided with a second hub motor 311. The shaft of the second hub motor 311 is fixedly connected to the body 1.

[0024] Since the two omni-directional wheels 21 and the center line 11 of the body form a predetermined angle, a certain deflection force can be provided to the mowing robot when steering, and since the two omni-directional wheels 21 can float up and down, the four wheels of the mowing robot can be ensured to be in contact with the ground when driving on uneven road, not only reducing the burden of the wheels, but also improving the grip of the wheels, and the two omni-directional wheels and the two walking wheels are provided with wheel hub motors, thereby further improving the passing ability of the mowing robot.

[0025] In the first embodiment, as shown in Figure 2 , the connecting rod assembly 22 includes a connecting beam 221, the two ends of the connecting beam 221 are respectively connected with an omni-directional wheel 21, and a rotating shaft sleeve 222 is arranged at the middle position of the connecting beam 221. A rotating shaft 12 is arranged on the body 1 along the center line, and the rotating shaft 12 is inserted into the rotating shaft sleeve 222. This structure is simple and reliable, and the cost is low. And the friction between the rotating shaft sleeve 222 and the rotating shaft 12 can be reduced by arranging a bearing, and the reliability of the rotating connection can be improved.

[0026] The connecting beam 221 can be made of a round pipe as shown in Figure 2 , or other profiles such as rectangular pipes, solid round steels, etc., as long as the strength and rigidity meet the requirements. The profile bending process is simple and low in cost.

[0027] In the first embodiment, as shown in Figure 3 and Figure 4 , the connecting rod assembly 22 further includes two motor mounting plates 223, each of the two motor mounting plates 223 has a first groove 2231, and the two ends of the connecting beam 221 have a second groove 2211, the first groove 2231 and the second groove 2211 cooperate to form a space for accommodating the motor rotating shaft 2111, and the two motor mounting plates 223 are connected with the end of the connecting beam 221 by bolts, so as to clamp the motor rotating shaft. When the wheel needs to be repaired, the corresponding wheel can be disassembled separately, which is convenient for maintenance.

[0028] Further, as shown in Figure 4 , the motor rotating shaft 2111 is provided with two first limiting planes 2112 parallel to each other, the first groove 2231 has a second limiting plane 2232 abutting against one of the first limiting planes 2112, and the second groove 2211 has a third limiting plane 2212 abutting against the other first limiting plane 2112. Through the cooperation of the two first limiting planes 2112 and the second limiting plane 2232 and the third limiting plane 2212, the rotation of the motor rotating shaft is limited, and the fixing of the wheel hub motor is more reliable.

[0029] The second embodiment of the present application is different from the first embodiment in that the connecting rod assembly 22 is different, and the rest is the same. As shown inFigure 5 As shown, the connecting rod assembly 22 includes a connecting beam 221, a left wheel connecting member 224, a right wheel connecting member 225, and a body connecting member 226. A rotating shaft sleeve 2261 is provided in the middle of the body connecting member 226. A rotating shaft 12 is provided along the centerline 11 of the body 1 and inserted into the rotating shaft sleeve 2261. The connecting beam 221 is detachably connected to the body connecting member 226. The ends of the connecting beam 221 are detachably connected to the left wheel connecting member 224 and the right wheel connecting member 225, respectively. The left wheel connecting member 224 and the right wheel connecting member 225 are each detachably connected to an omnidirectional wheel 21. When the angle between the omnidirectional wheel 21 and the centerline 11 needs to be adjusted to suit different usage scenarios, only the left wheel connecting member 224 and the right wheel connecting member 225 need to be replaced, which is convenient, fast, and low-cost.

[0030] Specifically, such as Figure 6 As shown, the body connector 226 has a third groove 2262 for accommodating the connecting beam 221. The length of the third groove 2262 is perpendicular to the centerline 11. The body connector 226 is also provided with a first mounting plate 2263. The first mounting plate 2263 is bolted to the body connector 226 to clamp the connecting beam 221. The connecting beam 221 can slide in the third groove 2262. During installation, the position of the omnidirectional wheels can be adjusted by adjusting the position of the connecting beam, ensuring that the two omnidirectional wheels 21 are symmetrically arranged with respect to the centerline 11.

[0031] Furthermore, the left wheel connector 224 has a fourth groove 2241 for accommodating the connecting beam 221. The fourth groove 2241 extends perpendicularly to the axis of symmetry 11 toward the body connector 226. A second mounting plate 2242 is provided on the left wheel connector 224. The second mounting plate 2242 is bolted to the left wheel connector 224 to clamp the connecting beam 221. The right wheel connector 225 has a fifth groove 2251 for accommodating the connecting beam 221. The fifth groove 2251 extends perpendicularly to the centerline 11 toward the body connector 226. A third mounting plate 2252 is provided on the right wheel connector 225 to clamp the connecting beam 221. The ends of the connecting beam 221 are inserted into the fourth groove 2241 and the fifth groove 2251, respectively. By adjusting the amount of insertion, the spacing between the two omnidirectional wheels 21 can be adjusted to suit different usage scenarios.

[0032] Furthermore, if Figure 5 As shown, a plurality of weight-reducing holes 227 can be provided on the left wheel connecting member 224 and the right wheel connecting member 225, thereby reducing the dead weight, reducing the use of production materials, and lowering production costs.

[0033] The two omnidirectional wheels 21 of the present application can be Figure 1 The inner eight arrangement is shown, and it can also be asFigure 7 The predetermined included angle a between the omni-directional wheel 21 and the center line 11 of the body 1 can be any angle when the outer eight arrangement is adopted, and preferably a = 1°-79° when the inner eight arrangement is adopted, and preferably a = 101°-179° when the outer eight arrangement is adopted.

[0034] Finally, it should be noted that if the application embodiments involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement, etc. between the components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications will also change accordingly.

[0035] In addition, if the application embodiments involve descriptions of "first", "second", etc., the "first", "second", etc. descriptions are only for descriptive purposes, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist, nor within the scope of protection claimed by the present application.

[0036] The above is only an embodiment of the present application, and does not limit the patent scope of the present application, any equivalent structure or equivalent process transformation using the content of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A mowing robot, characterized in that, The machine body, the first wheel set and the second wheel set; The first wheel set and the second wheel set are respectively connected to opposite front and rear ends of the machine body; The first wheel set comprises two omni-directional wheels and a connecting rod assembly, the two omni-directional wheels are symmetrically arranged on both sides of the center line of the machine body, each omni-directional wheel has a predetermined included angle with the center line, the inside of each omni-directional wheel is provided with a first hub motor, the motor shaft of the first hub motor is fixedly connected with the connecting rod assembly, the middle part of the connecting rod assembly is rotatably connected to the front end of the machine body, and the connecting rod assembly can drive the two omni-directional wheels to float up and down. The second wheel set comprises two walking wheels, each walking wheel is provided with a second hub motor, and the shaft of the second hub motor is fixedly connected with the machine body.

2. The mowing robot of claim 1, wherein, The connecting rod assembly comprises a connecting beam, the two ends of the connecting beam are respectively connected with an omni-directional wheel, the middle part of the connecting beam is provided with a shaft sleeve, the machine body is provided with a shaft along the center line, and the shaft is inserted into the shaft sleeve.

3. The mowing robot of claim 2, wherein, The connecting rod assembly further comprises two motor mounting plates, each of the two motor mounting plates is provided with a first recess, the two ends of the connecting beam are provided with second recesses, the first recess and the second recess cooperatively form a space for accommodating the motor shaft, and the motor mounting plate is used for clamping the motor shaft in cooperation with the end of the connecting beam.

4. The mowing robot of claim 3, wherein, The motor shaft is provided with two first limiting planes which are parallel to each other, the first recess is provided with a second limiting plane which is in contact with one of the first limiting planes, and the second recess is provided with a third limiting plane which is in contact with the other first limiting plane.

5. The lawn mowing robot according to claim 1, characterized in that: The connecting rod assembly comprises a connecting beam, a left wheel connecting piece, a right wheel connecting piece and a machine body connecting piece; The middle part of the machine body connecting piece is provided with a shaft sleeve, the machine body is provided with a shaft along the center line, the shaft is inserted into the shaft sleeve, the connecting beam is detachably connected with the machine body connecting piece, the two ends of the connecting beam are respectively detachably connected with the left wheel connecting piece and the right wheel connecting piece, and the left wheel connecting piece and the right wheel connecting piece are respectively detachably connected with an omni-directional wheel.

6. The mowing robot of claim 5, wherein, The machine body connecting piece is provided with a third recess for accommodating the connecting beam, the length direction of the third recess is perpendicular to the center line, the machine body connecting piece is further provided with a first mounting plate, and the connecting beam is clamped between the first mounting plate and the machine body connecting piece.

7. The mowing robot of claim 6, wherein, The left wheel connecting piece is provided with a fourth recess for accommodating the connecting beam, the fourth recess extends towards the machine body connecting piece in a direction perpendicular to the center line, the left wheel connecting piece is provided with a second mounting plate, and the connecting beam is clamped between the second mounting plate and the left wheel connecting piece. The right wheel connecting piece is provided with a fifth recess for accommodating the connecting beam, the fifth recess extends towards the machine body connecting piece in a direction perpendicular to the center line, the right wheel connecting piece is provided with a third mounting plate, and the connecting beam is clamped between the third mounting plate and the right wheel connecting piece.

8. The mowing robot of claim 7, wherein, A plurality of lightening holes are arranged on the left wheel connecting piece and the right wheel connecting piece.

9. The mowing robot of claim 1, wherein, Two of the omnidirectional wheels are arranged inside, and the predetermined included angle between the omnidirectional wheels and the center line is 1°-79°.

10. The mowing robot of claim 1, wherein, Two of the omnidirectional wheels are arranged outside, and the predetermined included angle between the omnidirectional wheels and the center line is 101°-179°.

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