Suspension mechanism and mowing robot

Abstract

The utility model discloses a suspension mechanism and a mowing robot, the suspension mechanism comprises a cross beam, the cross beam is provided with a moving part, the cross beam can move along the height direction relative to a robot chassis through the moving part; the two supporting wheels are arranged at the two ends of the cross beam, and the two supporting wheels are located on the front side and the rear side of the cross beam respectively; the lifting detection mechanism comprises a trigger part and an induction part, the trigger part is arranged on the cross beam, and the induction part is used for being arranged on the robot chassis and matched with the trigger part to detect the relative position of the cross beam and the robot chassis. The lifting detection device for the mowing robot has good stability and good obstacle crossing ability, and lifting detection of the mowing robot can be achieved only by arranging one lifting detection mechanism to detect the relative position of the cross beam and the robot chassis.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and further to a suspension mechanism and a lawnmower robot. Background Technology

[0002] Mobile robot chassis typically have three or four wheels, including two drive wheels and one or two support wheels. Three-wheeled mobile robots have better ground traction; the three points define a plane, ensuring that these three points remain in contact with the ground almost constantly during robot movement. However, the stability of three support points is lower than that of a four-wheeled robot. When a four-wheeled robot walks on uneven ground, especially in outdoor environments, one wheel often hangs in the air, causing some tilting of the overall support and affecting the robot's movement. Furthermore, because three-wheeled robots have one less wheel to traverse obstacles, their obstacle-crossing ability is superior to that of four-wheeled robots.

[0003] In addition, to detect the lifting of the lawnmower robot, the lifting detection mechanism is generally installed on the axle of the support wheel. The up-and-down movement of the support wheel axle triggers the sensor to detect the lifting action. Since a four-wheeled robot has two support wheels, two sets of detection mechanisms are required, which makes the structural design of the front axle more complex and the cost higher.

[0004] Therefore, it is necessary to design a suspension mechanism and a lawnmower robot to solve the above problems. Utility Model Content

[0005] To address the aforementioned technical problems, the purpose of this utility model is to provide a suspension mechanism and a lawnmower robot that have good stability and obstacle-crossing ability. Furthermore, the lawnmower robot can be lifted and detected simply by setting up a lifting detection mechanism to detect the relative position of the crossbeam and the robot chassis.

[0006] To achieve the above objectives, this utility model provides a suspension mechanism for mounting on a robot chassis, comprising:

[0007] A crossbeam, which is equipped with a movable component, is able to move relative to the robot chassis along the height direction via the movable component;

[0008] Two support wheels are provided at both ends of the crossbeam, and the two support wheels are respectively located on the front and rear sides of the crossbeam;

[0009] The lifting detection mechanism includes a trigger and a sensor. The trigger is disposed on the crossbeam, and the sensor is disposed on the robot chassis and cooperates with the trigger to detect the relative position of the crossbeam and the robot chassis.

[0010] In some embodiments, the moving part is arranged at a middle position of the beam in the axial direction, and the moving part is further used to rotationally connect the beam with the robot chassis.

[0011] In some embodiments, the moving part comprises two rotation bosses, which are symmetrically arranged at two sides of the middle part of the beam, and the rotation bosses are used to rotationally connect with the robot chassis and are capable of moving along the height direction relative to the robot chassis.

[0012] In some embodiments, the end of at least one of the rotation bosses is provided with a mounting port, and the trigger part is adapted to be mounted in the mounting port.

[0013] In some embodiments, the moving part comprises a rotating shaft, the beam is provided with a rotating shaft hole penetrating through the beam, the rotating shaft is inserted into the rotating shaft hole, and the two ends of the rotating shaft protrude out of the rotating shaft hole and are used to connect with the robot chassis.

[0014] In some embodiments, the trigger part comprises a magnet, and the sensing part comprises a Hall sensor, and the Hall sensor detects the relative position of the beam and the robot chassis by sensing the distance between the magnet and the Hall sensor.

[0015] In some embodiments, the two ends of the beam are respectively provided with mounting bosses, and the two mounting bosses are respectively located at the front and rear sides of the beam, and each of the mounting bosses is provided with a mounting hole.

[0016] The support wheel comprises a support shaft and a wheel, the bottom of the support shaft is connected with the wheel, and the top of the support shaft is adapted to be mounted in the mounting hole.

[0017] According to another aspect of the utility model, the utility model further provides a mowing robot, which comprises the suspension mechanism in any one of the above aspects, and further comprises:

[0018] The robot chassis is provided with a mounting groove at the bottom, the beam is mounted in the mounting groove through the moving part and is capable of moving along the height direction relative to the robot chassis.

[0019] The sensing part is arranged on the robot chassis, and when the mowing robot is placed on the ground to be processed and is not lifted, the trigger part is spaced apart from the sensing part.

[0020] When the mowing robot is lifted, the trigger part is moved away from the robot chassis under the driving of the beam to be dislocated from the sensing part.

[0021] In some embodiments, the moving part comprises two rotating bosses, and the opposite two side walls of the mounting slot are provided with guide slots arranged along the height direction of the mounting slot, and the rotating bosses are adapted to be arranged in the corresponding guide slots, so that the cross beam can rotate relative to the robot chassis and move along the height direction relative to the robot chassis.

[0022] In some embodiments, the robot chassis further comprises a fixing plate, the cross beam is arranged in the mounting slot, and the fixing plate is arranged on the cross beam and fixedly or detachably connected with the robot chassis to limit the cross beam from being separated from the mounting slot.

[0023] The robot chassis is further provided with a mounting slot, the mounting slot is arranged at intervals with the mounting slot, and the mounting slot and the mounting slot have a connecting channel therebetween, and the sensing part is arranged in the mounting slot, and the trigger part and the sensing part are at two ends of the connecting channel when the lawn mower robot is placed on the ground to be processed and is not lifted.

[0024] Compared with the prior art, the suspension mechanism and the lawn mower robot provided by the utility model have the following beneficial effects:

[0025] In the utility model, two supporting wheels are arranged at the front and back of the two ends of the cross beam, when obstacles are encountered, the two supporting wheels arranged at intervals will cross the obstacles in turn, and the cross beam can rotate left and right relative to the robot chassis, so that the supporting wheels not contacting the obstacles can always contact the ground, the stability of the whole machine during obstacle crossing is ensured, the lawn mower robot can also have good obstacle crossing ability, and only one lifting detection mechanism is needed to detect the relative position of the cross beam and the robot chassis to realize the lifting detection of the lawn mower robot. BRIEF DESCRIPTION OF DRAWINGS

[0026] The above characteristics, technical features, advantages and implementation modes of the utility model will be further described in the following preferred embodiments combined with the drawings in an explicit and understandable manner.

[0027] Figure 1 is the exploded structural schematic view of the suspension mechanism of the preferred embodiment of the utility model;

[0028] Figure 2 is the exploded structural schematic view of the lawn mower robot of the preferred embodiment of the utility model;

[0029] Figure 3 is the structural schematic view of the lawn mower robot when crossing obstacles of the preferred embodiment of the utility model;

[0030] Figure 4 is the structural schematic view of the lawn mower robot when not being lifted of the preferred embodiment of the utility model;

[0031] Figure 5 is a preferred embodiment of the utility model mower robot structure schematic diagram when being lifted.

[0032] BRIEF DESCRIPTION OF DRAWINGS

[0033] Beam 1, moving piece 11, rotating boss 111, installation mouth 112, installation boss 12, installation hole 121, support wheel 2, support shaft 21, wheel 22, lifting detection mechanism 3, trigger piece 31, inductive piece 32, robot chassis 4, installation groove 41, guide groove 411, fixed plate 42, installation slot 43, drive wheel 44, obstacle 5. DETAILED DESCRIPTION

[0034] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or prior art, specific embodiments of the utility model will be described below with reference to the drawings. Obviously, the drawings described below are only some embodiments of the utility model, and for those skilled in the art, other drawings can be obtained according to these drawings without creating labor, and other embodiments can be obtained.

[0035] In order to make the drawing simple, only the part related to the utility model is shown in each drawing, which does not represent the actual structure of the product. In addition, in order to make the drawing simple and easy to understand, in some drawings, only one of the components with the same structure or function is shown, or only one of them is marked. In this paper, "one" not only means "only one", but also means "more than one".

[0036] It should be further understood that the term "and / or" used in the specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes these combinations.

[0037] In this paper, it should be noted that, unless otherwise specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected, it can be mechanically connected, or it can be electrically connected, it can be directly connected, or indirectly connected through an intermediate medium, it can be the communication inside two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0038] In addition, in the description of the present application, the terms "first", "second" and the like are only used for distinction and description, and cannot be understood as indicating or implying relative importance.

[0039] In one embodiment, reference is made to the descriptionFigure 1 、 Figure 2 The utility model provides a kind of suspension mechanism for installing on robot chassis 4, comprising: crossbeam 1, two support wheels 2, lifting detection mechanism 3, crossbeam 1 is provided with moving piece 11, crossbeam 11 can be moved along height direction relative to robot chassis 4 by moving piece 11;Two support wheels 2 are arranged at the both ends of crossbeam 1, and two support wheels 2 are located at the front and back sides of crossbeam 1 respectively;Lifting detection mechanism 3 includes trigger piece 31 and inductive piece 32, trigger piece 31 is arranged on crossbeam 1, and inductive piece 32 is used to be arranged on robot chassis 4, and with trigger piece 31 cooperation to detect the relative position of crossbeam 1 and robot chassis 4.

[0040] In the utility model, by being arranged at the front and back sides of the both ends of crossbeam 1, when encountering obstacle, two support wheels 2 misaligned are over obstacle in turn, and only need to set one lifting detection mechanism 3 to detect the relative position of crossbeam 1 and robot chassis 4, so as to realize the lifting detection of lawn mower robot, reduce cost, and simultaneously, trigger piece 31 is arranged on crossbeam 1, need not be installed on the support shaft of support wheel 2, can make the structure of support shaft be relatively simple, facilitate the structural design layout of support shaft.

[0041] In one embodiment, referring to the drawings attached Figure 1 Moving piece 11 is arranged at the intermediate position of the axis direction of crossbeam 1, and moving piece 11 is also used to rotateally connect crossbeam 1 and robot chassis 4.By being arranged as can rotate left and right relative to robot chassis 4, make support wheel 2 without contacting obstacle can always contact ground, guarantee the stability of whole machine in the process of obstacle crossing, and also can have good obstacle crossing ability.

[0042] Illustratively, referring to the drawings attached Figure 1 Moving piece 11 includes two rotating bosses 111, and the two rotating bosses 111 are symmetrically arranged at the both sides of the middle part of crossbeam 1, rotating boss 111 is used to rotateally connect with robot chassis 4, and can move along height direction relative to robot chassis 4.Rotating boss 111 is cylindrical structure, and rotating boss 111 is fixed on the side wall of crossbeam 1.In order to improve the stability of rotating boss 11, reinforcing rib can be arranged at the connection of crossbeam 1 and rotating boss 111.

[0043] Further, the end of at least one rotating boss 111 is provided with mounting port 112, and trigger piece 31 is adapted to be arranged in mounting port 112.By being arranged in mounting port 112, the height position of trigger piece 31 does not change when crossbeam 1 rotates left and right around rotating boss 111, and the height position of trigger piece 31 changes when rotating boss 111 slides up and down along robot chassis 4, to realize detection lifting.

[0044] For example, the moving part 11 comprises a rotating shaft, the crossbeam 1 is provided with a rotating shaft hole penetrating through the crossbeam 1, the rotating shaft is inserted into the rotating shaft hole, and both ends of the rotating shaft extend out of the rotating shaft hole for connecting with the robot chassis 4.

[0045] It should be noted that the specific structure of the moving part 11 is described in correspondence with the drawings of the specification, and in actual use, the structure of the moving part 11 can also be designed according to actual needs as long as the above functions can be realized. Here, only in order to better illustrate the utility model, it should not constitute a limitation on the utility model.

[0046] In one embodiment, referring to the drawings of the specification Figure 1 The trigger part 31 comprises a magnet, and the inductive part 32 comprises a Hall inductor, which detects the relative position of the crossbeam 1 and the robot chassis 4 by sensing the distance between the magnet and the Hall inductor.

[0047] When the suspension mechanism is applied to a mowing robot, the magnet and the Hall inductor are spaced apart relative to each other when the mowing robot is placed on the ground to be processed and is not lifted; when the mowing robot is lifted, the magnet is moved away from the robot chassis 4 under the driving of the crossbeam 1 to be out of position with the Hall inductor. The lifting detection of the mowing robot is realized by the magnet and the Hall inductor, which is relatively simple in implementation. Of course, devices such as micro switches and infrared sensors can also be used to realize the above functions.

[0048] Further, both ends of the crossbeam 1 are provided with mounting bosses 12, the two mounting bosses 12 are respectively located on the front and rear sides of the crossbeam 1, and each mounting boss 12 is provided with a mounting hole 121. In order to improve the structural stability of the mounting boss 12, a reinforcing rib can be arranged at the connection between the mounting boss 12 and the crossbeam 1, or the mounting boss 12 and the crossbeam 1 can be integrally arranged. The support wheel 2 comprises a support shaft 21 and a wheel 22, the bottom of the support shaft 21 is connected with the wheel 22, and the top of the support shaft 21 is adapted to be arranged in the mounting hole 121.

[0049] In this embodiment, by arranging two support wheels 2 on the front and rear sides of both ends of the crossbeam 1, when encountering an obstacle, the two support wheels 2 arranged in different positions will pass over the obstacle in turn, and the crossbeam 1 can rotate left and right relative to the robot chassis 4, so that the support wheel 2 not in contact with the obstacle can always contact the ground, ensuring the stability of the whole machine during obstacle crossing, and also having good obstacle crossing ability, and only one lifting detection mechanism 3 is needed to detect the relative position of the crossbeam 1 and the robot chassis 4 to realize the lifting detection of the mowing robot.

[0050] It should be noted that the specific connection structure of the support wheel 2 and the cross beam 1 is described in correspondence with the drawings of the specification, and in actual use, the connection structure can be designed according to actual needs, as long as the structure of the two support wheels 2 can be set in front of and behind each other, which is only for better description of the utility model and should not constitute a limitation on the utility model.

[0051] According to another aspect of the utility model, with reference to the drawings of the specification Figures 1 to 5 The utility model further provides a mowing robot, comprising the suspension mechanism of any one of the above, further comprising: a robot chassis 4, the bottom of the robot chassis 4 is provided with a mounting groove 41, the cross beam 1 is installed in the mounting groove 41 through the moving piece 11 and can move along the height direction relative to the robot chassis 4;The sensing piece 32 is arranged on the robot chassis 4, when the mowing robot is placed on the ground to be processed and is not lifted, the trigger piece 31 is spaced apart from the sensing piece 32;When the mowing robot is lifted, the trigger piece 31 is driven by the cross beam 1 and moves away from the robot chassis 4 to be dislocated with the sensing piece 32.

[0052] Specifically, the moving piece 11 includes two rotating bosses 111, the opposite two side walls of the mounting groove 41 are provided with guide grooves 411, the guide grooves 411 are arranged along the height direction of the mounting groove 41, and the rotating bosses 111 are adaptively arranged in the corresponding guide grooves 411, so that the cross beam 1 can rotate relative to the robot chassis 4 and can move along the height direction relative to the robot chassis 4.

[0053] Further, the robot chassis 4 further includes a fixed plate 42, the cross beam 1 is arranged in the mounting groove 41, the fixed plate 42 is pressed on the cross beam 1 and is fixed or detachably connected with the robot chassis 4, so as to limit the cross beam 1 from being separated from the mounting groove 41.

[0054] The robot chassis 4 is further provided with a mounting slot 43, the mounting slot 43 is arranged in a spaced-apart manner with the mounting groove 41, and the mounting slot 41 and the mounting groove 41 have a connecting channel therebetween, and the sensing piece 32 is installed in the mounting slot 43, when the mowing robot is placed on the ground to be processed and is not lifted, the trigger piece 31 and the sensing piece 32 are at both ends of the connecting channel. Of course, if the trigger piece 31 is a magnet and the sensing piece 32 is a hall sensor, when the structure between the mounting slot 43 and the mounting groove 41 does not affect the induction between the magnet and the hall sensor, the connecting channel does not need to be arranged.

[0055] In the embodiment, the suspension mechanism is installed in the mounting groove 41 of the robot chassis 4 through the guide groove structure, so that the suspension mechanism is extremely convenient to mount and dismount, and the suspension mechanism can move up and down on the robot chassis 4; the rotating boss 111 of the cross beam 1 is provided with a magnet, and the lifting of the lawn mower robot is detected through the combination of the magnet and the Hall sensor; after the lawn mower robot is lifted, the suspension mechanism falls under the action of gravity in the guide groove 411, the signal value of the magnet and the Hall sensor changes, and it is detected that the lifting is triggered.

[0056] The accompanying drawings are referred to in the description of the specification, Figures 2 to 5 The lawn mower robot is supported by four wheels, including two support wheels 2 and two drive wheels 44, the support wheels 2 can be universal wheel mechanisms, and the size thereof is smaller than the diameter of the drive wheels 44 in order to ensure a small rotating radius. Since the obstacle crossing ability of the small-diameter wheels is lower than that of the large-diameter wheels, if the two support wheels 2 of the four-wheel robot are in the same movement plane, the two support wheels 2 need to cross the obstacle at the same time after encountering the obstacle, and the requirements on the robot are relatively high. The suspension mechanism in the above structure is adopted, the four wheels are supported on the ground, the frontmost support wheel 2 can cross the obstacle alone when encountering the obstacle, and the relatively rear support wheel continues to cross the obstacle after the obstacle crossing is completed, so that the dynamic performance requirements on the robot can be reduced, and the obstacle crossing performance is improved. Since the cross beam 1 can rotate left and right, the support wheel 2 that does not contact the obstacle can always contact the ground, and the stability of the whole machine during the obstacle crossing process is ensured.

[0057] In the conventional state, the rotating boss 111 of the suspension mechanism is located at the upper part of the guide groove 411, at this time, the magnet is close to the Hall sensor, and the detection signal value A is detected; when the lawn mower robot is lifted, the rotating boss 111 of the suspension mechanism slides downward by a height H in the guide groove 411 under the action of gravity, and is located at the lower part of the guide groove 411, at this time, the magnet is away from the Hall sensor, and the detection signal value B is detected, and since the sensor signal changes, the lifting can be detected.

[0058] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described or recorded in detail in a certain embodiment can be referred to the related description of other embodiments.

[0059] It should be noted that the above embodiments can be freely combined as needed. The above is only a preferred embodiment of the present application, and it should be pointed out that, for ordinary skilled persons in the technical field, on the premise of not departing from the principle of the present application, a number of improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection range of the present application.

Claims

1. A suspension mechanism for mounting on a robot chassis, characterized in that, include: A crossbeam, which is equipped with a movable component, is able to move relative to the robot chassis along the height direction via the movable component; Two support wheels are provided at both ends of the crossbeam, and the two support wheels are respectively located on the front and rear sides of the crossbeam; The lifting detection mechanism includes a trigger and a sensor. The trigger is disposed on the crossbeam, and the sensor is disposed on the robot chassis and cooperates with the trigger to detect the relative position of the crossbeam and the robot chassis.

2. The suspension mechanism according to claim 1, characterized in that, The movable component is located at the middle position along the axial direction of the crossbeam, and the movable component is also used to rotatably connect the crossbeam to the robot chassis.

3. The suspension mechanism according to claim 2, characterized in that, The moving component includes two rotating bosses, which are symmetrically arranged on both sides of the middle part of the crossbeam. The rotating bosses are used to rotate and connect with the robot chassis and can move relative to the robot chassis in the height direction.

4. The suspension mechanism according to claim 3, characterized in that, At least one of the rotating bosses has a mounting port at its end, and the trigger is adapted to be installed in the mounting port.

5. The suspension mechanism according to claim 2, characterized in that, The moving component includes a pivot shaft, the crossbeam is provided with a pivot shaft hole, the pivot shaft hole passes through the crossbeam, the pivot shaft is inserted into the pivot shaft hole, and both ends of the pivot shaft extend out of the pivot shaft hole for connection with the robot chassis.

6. The suspension mechanism according to claim 1, characterized in that, The trigger includes a magnet, and the sensing element includes a Hall sensor, which detects the relative position of the crossbeam and the robot chassis by sensing the distance between the magnet and the Hall sensor.

7. The suspension mechanism according to claim 1, characterized in that, The crossbeam has mounting bosses at both ends, and the two mounting bosses are located on the front and rear sides of the crossbeam respectively. Each mounting boss has a mounting hole. The support wheel includes a support shaft and a wheel. The bottom of the support shaft is connected to the wheel, and the top of the support shaft is fitted into the mounting hole.

8. A lawnmower robot, characterized in that, Including the suspension mechanism as described in any one of claims 1-7, further comprising: A robot chassis, the bottom of which is provided with a mounting groove, the crossbeam is mounted in the mounting groove via the moving part, and can move relative to the robot chassis in the height direction; The sensor is mounted on the robot chassis. When the lawnmower robot is placed on the ground to be treated and is not lifted, the trigger and the sensor are spaced apart and opposite to each other. When the lawnmower robot is lifted, the trigger moves away from the robot chassis under the action of the crossbeam to offset the sensor.

9. The lawnmower robot according to claim 8, characterized in that, The moving component includes two rotating bosses, and guide grooves are provided on the opposite side walls of the mounting groove. The guide grooves are arranged along the height direction of the mounting groove, and the rotating bosses are adapted to be disposed in the corresponding guide grooves, so that the crossbeam can rotate relative to the robot chassis and can move relative to the robot chassis along the height direction.

10. The lawnmower robot according to claim 8, characterized in that, The robot chassis also includes a fixing plate. The crossbeam is disposed in the mounting groove. The fixing plate is pressed onto the crossbeam and is fixedly or detachably connected to the robot chassis to prevent the crossbeam from detaching from the mounting groove. The robot chassis is also provided with a mounting slot, which is arranged at intervals with the mounting groove. There is a connecting channel between the mounting slot and the mounting groove. The sensor is installed in the mounting slot. When the lawnmower is placed on the ground to be treated and is not lifted, the trigger and the sensor are at both ends of the connecting channel.

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