Walking device of mowing robot and mowing robot

Abstract

The walking device of the mowing robot is arranged at the bottom of a machine body of the mowing robot and comprises a swing arm, one end of the swing arm is rotatably arranged on the side portion of the machine body, and the end, away from the machine body, of the swing arm is rotatably connected with a wheel; the walking device of the mowing robot further comprises a Hall assembly, the Hall assembly is electrically connected with the cutter head on the machine body and used for sensing the distance between the swing arm and the machine body, when the swing arm is located at the initial position, the Hall assembly controls the cutter head to be powered on, and when the distance exceeds a certain distance, the Hall assembly enables the cutter head to be powered off and stop running. The utility model further discloses the mowing robot which comprises a robot body and the walking device of the mowing robot. According to the walking device of the mowing robot and the mowing robot, due to the arrangement of the Hall assembly, when the mowing robot encounters the protruding ground or is accidentally lifted by people, the cutter head does not idle, and workers cannot be cut.

Description

Technical Field

[0001] This utility model relates to the field of intelligent gardening equipment technology, especially field mowing technology, and more specifically, to a walking device for a mowing robot and a mowing robot. Background Technology

[0002] Against the backdrop of booming technological innovation and high-end manufacturing, the robotics industry has undoubtedly become a global focus. Particularly in the smart home sector, robots are deeply integrated into daily life, with various types gradually replacing human labor to perform complex household chores.

[0003] Specifically in the field of lawn mowing technology, lawn mowing robots have been widely used in lawn trimming and maintenance. Existing lawn mowing robots possess a variety of advanced functions, greatly facilitating lawn maintenance. They feature automatic walking capabilities, allowing them to operate autonomously on lawns along preset paths without requiring full manual control; they are equipped with collision prevention sensors to effectively avoid collisions with surrounding obstacles, ensuring operational safety; they also have a line-avoidance mechanism, enabling them to operate within a limited area and ensuring accuracy in the mowing area; and they can automatically return to their charging station to maintain continuous operation. They also have safety detection and battery level monitoring functions, further enhancing the reliability and safety of the equipment. Furthermore, they possess a certain climbing ability, making them suitable for various terrains such as home gardens and public green spaces, efficiently completing lawn trimming and maintenance tasks.

[0004] However, current lawnmower robots still face several pressing issues in practical use. When encountering uneven ground or being accidentally lifted, their blades continue to operate, posing a serious safety hazard and potentially causing injury. Furthermore, when idling, the blades continuously rub against the air and other components, causing unnecessary wear and tear on the robot itself, shortening its overall lifespan, and increasing operating costs.

[0005] For example, Chinese invention patent CN115705046A, published on February 7, 2023, includes a walking device for facilitating the walking of a lawnmower robot along a first direction on a physical surface; a power device for driving the walking device; a detection device for detecting the posture of the lawnmower robot; and a control device for applying a control signal to the lawnmower robot when the posture meets predetermined conditions. The control signal generates resistance in the walking device, which hinders the tendency of at least a portion of the walking device to move along the first direction. Its main purpose is to achieve better control over its own operating or working state in various non-ideal working environments or when needed, such as one or more of faster braking, more precise turning, and more robust balance; or to enable the lawnmower robot to have more precise control capabilities in non-ideal working environments or when needed, such as improving the balance of the lawnmower robot, increasing its work efficiency, such as enabling rapid and accurate response in the event of abnormal events or when needed. However, this solution failed to address the issue of the lawnmower's blades continuing to operate when encountering raised ground or being accidentally lifted by someone.

[0006] Based on the above problems, it is particularly important to develop a new technology that can effectively prevent lawn mowing robots from operating under abnormal conditions. This would not only improve the safety of lawn mowing robots but also extend their service life, and would have significant market demand and application value. Utility Model Content

[0007] The present invention aims to overcome the shortcomings of the prior art and provide a walking device and a lawn mowing robot to solve the problem that the blade of the existing lawn mowing robot is still running when it encounters a raised ground or is accidentally lifted by a person.

[0008] The technical solution adopted by this utility model is to provide a walking device for a lawn mowing robot, which is set at the bottom of the body of the lawn mowing robot and includes a swing arm. One end of the swing arm is rotatably set on the side of the body, and the end of the swing arm away from the body is rotatably connected to a wheel.

[0009] The walking mechanism of the lawnmower robot also includes a Hall effect sensor, which is electrically connected to the blade disc on the robot body. It is used to sense the distance between the swing arm and the robot body. When the swing arm is in the initial position, the Hall effect sensor controls the blade disc to be powered on. When the swing arm swings beyond the magnetic induction range of the Hall effect sensor, the Hall effect sensor causes the blade disc to be powered off and stop operating.

[0010] In one embodiment, the Hall component includes a magnetic block and a Hall switch. The magnetic block is mounted on the swing arm, and the Hall switch is mounted on the machine body. The Hall switch senses the distance between the magnetic block and the Hall switch through a magnetic field. The Hall switch is electrically connected to the cutter head on the machine body. By electronically sensing the distance between the swing arm and the machine body, the method is highly accurate, has a long service life, and is not easily damaged.

[0011] In one embodiment, a limiting component is provided between the body and the swing arm to limit the rotation amplitude of the swing arm and prevent the wheel from falling downwards indefinitely.

[0012] Furthermore, the limiting component includes a first limiting rod located at the bottom of the body, a first sliding groove formed on the swing arm for the first limiting rod to move up and down, and a first baffle is provided at the end of the first limiting rod away from the body to prevent the swing arm from falling endlessly downwards. The way the first sliding groove is provided on the swing arm allows the swing arm to swing a larger range, thereby allowing the sensing range of the Hall switch to be set larger, and preventing the blade disc from losing power due to vibration when the lawnmower walks on uneven roads.

[0013] Furthermore, a first spring is provided between the body and the swing arm. The first spring is sleeved outside the first limiting rod. When the lawnmower robot encounters potholes, the first spring plays a role in damping the vibration of the body. Sleeving the first spring outside the first limiting rod can effectively utilize space and make the structure of the walking device more compact.

[0014] In one embodiment, the limiting assembly includes a second limiting rod disposed at the bottom of the machine body and a hollow cylindrical limiting seat disposed on the swing arm. The end of the limiting seat near the machine body has a second sliding groove for the second limiting rod to move up and down. The end of the second limiting rod away from the machine body is provided with a second baffle to prevent the second limiting rod from falling out of the limiting seat. The second baffle is used to limit the endless falling of the limiting seat and the swing arm. The limiting seat can be installed on the swing arm in subsequent processing without needing to be processed directly on the swing arm, thus reducing the processing difficulty.

[0015] Furthermore, a second spring is provided between the body and the swing arm. The second spring is sleeved outside the second limit rod and the limit seat. While making reasonable and effective use of space and making the structure of the walking device more compact, it can also maintain the vibration damping capacity of the second spring to the greatest extent. This avoids the phenomenon that if the second spring is set in other positions, it would be necessary to reduce the length of the second spring, thereby reducing the vibration damping capacity of the second spring.

[0016] In one embodiment, a damping element is provided at the connection between the swing arm and the wheel. The damping element is used to reduce the vibration experienced by the lawnmower robot when it walks, thereby improving its stability and service life.

[0017] A lawnmower robot includes a body and the aforementioned walking mechanism for the lawnmower robot.

[0018] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0019] The walking device and the lawn mowing robot provided by this utility model, through the setting of Hall effect components, ensure that the blade will not spin idly when the lawn mowing robot encounters a raised ground or is accidentally lifted by a person, and will not cut the workers. Attached Figure Description

[0020] Figure 1 This is a front view of the walking device of a lawnmower robot in Embodiment 1;

[0021] Figure 2 This is a cross-sectional view of the walking device of a lawnmower robot in Example 1;

[0022] Figure 3 This is a front sectional view of the walking device of a lawnmower robot in Example 3;

[0023] Figure 4 for Figure 3 Enlarged view of the structure at point A in the middle;

[0024] Figure 5 This is a schematic diagram of the structure of a lawnmower robot in Example 1.

[0025] Labeling: Body 100, swing arm 200, first slide rail 201, wheel 300, Hall effect assembly 400, magnetic block 401, Hall effect switch 402, limit assembly 500, first limit rod 501, first baffle 502, second limit rod 503, limit seat 504, second slide rail 505, second baffle 506, first spring 600, second spring 700. Detailed Implementation

[0026] The accompanying drawings are for illustrative purposes only and should not be construed as limiting the scope of this invention. To better illustrate the following embodiments, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0027] Example 1

[0028] like Figures 1-2 As shown, this embodiment provides a walking device for a lawnmower robot, used to drive the lawnmower robot to walk, in order to solve the problem that existing lawnmower robots are prone to cutting workers when they lift up.

[0029] Specifically, in this embodiment, a walking device for a lawnmower robot is provided, which is set at the bottom of the body 100 of the lawnmower robot and includes a swing arm 200. One end of the swing arm 200 is rotatably set on the side of the body 100, and the end of the swing arm 200 away from the body 100 is rotatably connected to a wheel 300. When the lawnmower robot is lifted, due to the gravity of the wheel 300, the end of the swing arm 200 connected to the wheel 300 rotates downward.

[0030] The walking device also includes a Hall effect sensor 400, which is electrically connected to the cutter head on the body 100. The Hall effect sensor 400 is used to sense the distance between the swing arm 200 and the body 100. When the swing arm 200 is in the initial position, the Hall effect sensor 400 controls the cutter head to be powered on. When the swing arm 200 swings beyond the magnetic induction range of the Hall effect sensor 400 (the Hall effect sensor 400 includes a release device for releasing the magnetic field and a receiver device for sensing the magnetic field. The release device is used to release the magnetic field, and the receiver device is used to sense the magnetic field strength. When the external magnetic field strength reaches a certain threshold, the receiver device controls the cutter head to be powered on; when the external magnetic field strength is less than the threshold, the receiver device controls the cutter head to be powered off. The magnetic induction range refers to the range within which the receiver device receives the magnetic field strength released by the release device, which can reach the threshold), the Hall effect sensor 400 causes the cutter head to be powered off and stop operating, preventing the cutter head from continuing to operate when the lawnmower robot is lifted, thereby cutting the workers.

[0031] In one embodiment, the Hall component 400 includes a magnetic block 401 and a Hall switch 402. The magnetic block 401 is disposed on the swing arm 200, and the Hall switch 402 is disposed on the machine body 100. The Hall switch 402 senses the distance between the magnetic block 401 and the Hall switch 402 through a magnetic field. The Hall switch 402 is electrically connected to the cutter head on the machine body 100 (when the magnetic field strength of the magnetic block 401 is less than the magnetic field strength threshold for triggering the Hall switch 402, the Hall switch 402 controls the cutter head on the machine body 100 to cut off the power in various embodiments in the prior art. The specific structure of the Hall switch 402 and the magnetic block 401 will not be described in detail here). By electronically sensing the distance between the swing arm 200 and the machine body 100, the method has high accuracy, long service life, and is not easily damaged.

[0032] In one embodiment, a limiting component 500 is provided between the body 100 and the swing arm 200. The limiting component 500 is used to limit the rotation amplitude of the swing arm 200 and prevent the wheel 300 from falling downwards indefinitely.

[0033] In this embodiment, the limiting component 500 includes a first limiting rod 501 disposed at the bottom of the body 100, and a first sliding groove 201 formed on the swing arm 200 for the first limiting rod 501 to move up and down. A first baffle 502 is disposed at the end of the first limiting rod 501 away from the body 100, and the first baffle 502 restricts the swing arm 200 from falling down endlessly. By providing the first sliding groove 201 on the swing arm 200, the swing range of the swing arm 200 can be increased, thereby allowing the magnetic induction range of the Hall switch 402 to be set larger, and preventing the blade disc from losing power due to vibration when the lawnmower robot walks on uneven roads.

[0034] In one embodiment, a first spring 600 is provided between the body 100 and the swing arm 200. The function of the first spring 600 is to dampen the vibration of the body 100 when the lawnmower robot encounters potholes.

[0035] In this embodiment, the first spring 600 is sleeved outside the first limiting rod 501. Sleeving the first spring 600 outside the first limiting rod 501 can effectively utilize space and make the structure of the walking device more compact.

[0036] In one embodiment, a damping element is provided at the connection between the swing arm 200 and the wheel 300, which can effectively reduce the vibration experienced by the lawnmower robot when it walks, thereby improving its stability and service life.

[0037] like Figure 5 As shown, this utility model also provides a lawn mowing robot, including a body 100 and the aforementioned walking device for the lawn mowing robot.

[0038] Example 2

[0039] In this embodiment, the magnetic block 401 is disposed on the body 100, and the Hall switch 402 is disposed on the swing arm 200 at the end away from the body 100.

[0040] In this embodiment, the effect is the same as that in Embodiment 1 (where the magnetic block 401 is disposed on the swing arm 200 at the end away from the body 100, and the Hall switch 402 is disposed on the body 100).

[0041] Other solutions are consistent with Embodiment 1 and have the same technical effects as Embodiment 1, and will not be described in detail in this embodiment.

[0042] Example 3

[0043] In this embodiment, such as Figure 3-4As shown, the limiting assembly 500 includes a second limiting rod 503 disposed at the bottom of the body 100 and a hollow cylindrical limiting seat 504 disposed on the swing arm 200. The end of the limiting seat 504 near the body 100 has a second sliding groove 505 for the second limiting rod 503 to move up and down. The end of the second limiting rod 503 away from the body 100 is provided with a second baffle 506 to prevent the second limiting rod 503 from falling out of the limiting seat 504. The second baffle 506 is used to limit the endless falling of the limiting seat 504 and the swing arm 200.

[0044] In this embodiment, the limiting seat 504 can be installed on the swing arm 200 in subsequent processing, without needing to be processed directly on the swing arm 200, thus reducing the processing difficulty.

[0045] In one embodiment, a second spring 700 is provided between the body 100 and the swing arm 200, and the second spring 700 is sleeved on the second limiting rod 503 and the limiting seat 504. While making reasonable and effective use of space and making the structure of the walking device more compact, the vibration damping capacity of the second spring 700 can be maintained to the greatest extent. This avoids the situation where the second spring 700 is placed in other positions, which would require reducing the length of the second spring 700 and thus reducing its vibration damping capacity.

[0046] Other solutions are consistent with Embodiment 1 and have the same technical effects as Embodiment 1, and will not be described in detail in this embodiment.

[0047] The walking device and the lawn mowing robot provided by this invention, through the Hall component 400, ensure that the blade will not spin idly when the lawn mowing robot encounters a raised ground or is accidentally lifted by someone, and will not cut the workers.

[0048] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the technical solution of this utility model, and are not intended to limit the specific implementation of this utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the claims of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A walking device for a lawnmower robot, disposed at the bottom of the robot's body (100), characterized in that, Includes a swing arm (200), one end of which is rotatably disposed on the side of the body (100), and the end of the swing arm (200) away from the body (100) is rotatably connected to a wheel; The walking device of the lawnmower robot also includes a Hall effect sensor (400), which is electrically connected to the blade disc on the body (100) to sense the distance between the swing arm (200) and the body (100). When the swing arm (200) is in the initial position, the Hall effect sensor (400) controls the blade disc to be powered on. When the swing arm (200) swings beyond the magnetic induction range of the Hall effect sensor (400), the Hall effect sensor (400) causes the blade disc to be de-powered and stop operating.

2. The walking device of the lawnmower robot according to claim 1, characterized in that, The Hall component (400) includes a magnetic block (401) and a Hall switch (402). The magnetic block (401) is mounted on the swing arm (200), and the Hall switch (402) is mounted on the machine body (100). The Hall switch (402) senses the distance between the magnetic block (401) and the Hall switch (402) through a magnetic field. The Hall switch (402) is electrically connected to the cutter head on the machine body (100).

3. The walking device of the lawnmower robot according to claim 1, characterized in that, A limit component (500) is provided between the body (100) and the swing arm (200), and the limit component (500) is used to limit the rotation amplitude of the swing arm (200).

4. The walking device of the lawnmower robot according to claim 3, characterized in that, The limiting assembly (500) includes a first limiting rod (501) disposed at the bottom of the body (100), a first sliding groove (201) formed on the swing arm (200) for the first limiting rod (501) to move up and down, and a first baffle (502) for limiting the swing arm (200) to fall downwards is provided at the end of the first limiting rod (501) away from the body (100).

5. The walking device of the lawnmower robot according to claim 4, characterized in that, A first spring (600) is provided between the body (100) and the swing arm (200), and the first spring (600) is sleeved on the outside of the first limiting rod (501).

6. The walking device of the lawnmower robot according to claim 5, characterized in that, A second spring (700) is provided between the body (100) and the swing arm (200), and the second spring (700) is sleeved on the outside of the second limiting rod (503) and the limiting seat (504).

7. The walking device of the lawnmower robot according to claim 3, characterized in that, The limiting assembly (500) includes a second limiting rod (503) disposed at the bottom of the body (100) and a hollow cylindrical limiting seat (504) disposed on the swing arm (200). The end of the limiting seat (504) near the body (100) is provided with a second sliding groove (505) for the second limiting rod (503) to move up and down. The end of the second limiting rod (503) away from the body (100) is provided with a second baffle (506) to prevent the second limiting rod (503) from falling out of the limiting seat (504). The second baffle (506) is used to limit the falling of the limiting seat (504) and the swing arm (200).

8. The walking device of the lawnmower robot according to claim 1, characterized in that, A damping element is provided at the connection between the swing arm (200) and the wheel (300) to reduce the vibration experienced by the lawnmower robot when it walks.

9. A lawnmower robot, characterized in that, It includes a body (100) and a walking device for a lawnmower robot according to any one of claims 1-8.

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