Cruise device of self-moving equipment and self-moving equipment

Abstract

The utility model relates to a cruise device, in particular to a cruise device of self-moving equipment and the self-moving equipment, which are used for solving the technical problems that when a module in a cruise shell needs to be maintained, a machine body shell needs to be disassembled firstly, the operation process is tedious, and the maintenance efficiency is influenced. The cruising device of the self-moving equipment comprises a cruising shell, a shell fixing plate and a lateral pressing block, transition connection between the cruising shell and a machine body shell is achieved through the shell fixing plate, a positioning fixing rod is combined with a positioning fixing hole to form stable connection, and the lateral pressing block provides transverse pressing force to improve sealing performance and fix a structure. The cruise shell can be disassembled only by disassembling the connecting piece of the cruise shell and the shell fixing plate without disassembling the main machine shell, and the cruise device can be conveniently disassembled, assembled and maintained on the premise that the sealing performance is guaranteed.

Description

Technical Field

[0001] This utility model relates to a cruise device, and more particularly to a cruise device and a self-moving device. Background Technology

[0002] A cruise device is an intelligent navigation system that integrates at least one of a communication module, a camera module, a voice module, and a lighting module. It is used to realize functions such as navigation and positioning, environmental perception, data acquisition, and control feedback for self-moving devices (such as snow removal robots, leaf blowing robots, etc.).

[0003] Chinese patent CN220985280U discloses a mobile device including a housing, an electronic control box, and a cruise control device. The electronic control box is assembled inside the housing, and the cruise control device includes a cruise control housing and multiple modules disposed within the cruise control housing. The cruise control housing is assembled to the housing via snap-fit ​​connections, threaded connections, or welding connections. To improve sealing, the connection between the cruise control device and the housing is located inside the housing. However, when maintenance is required on the modules within the cruise control housing, the housing must be disassembled first, making the process cumbersome and affecting maintenance efficiency. Utility Model Content

[0004] The present invention aims to provide a cruise device and a self-moving device for a self-moving device, which can solve the technical problem that when it is necessary to repair the module inside the cruise housing, the main body housing must be disassembled first, which is a cumbersome operation process and affects the repair efficiency.

[0005] A cruise control device for a self-moving device, comprising a cruise housing;

[0006] Its special feature is that it also includes a housing fixing plate and a lateral clamping block;

[0007] The shell fixing plate includes a first fixing plate fixed to the bottom surface of the cruise shell and a second fixing plate connected to the first fixing plate and used to fix to the fuselage shell; the top surface of the first fixing plate is provided with a plurality of positioning fixing rods, and the bottom surface of the cruise shell is provided with a plurality of positioning fixing holes that respectively cooperate with the plurality of positioning fixing rods;

[0008] One side of the lateral clamping block is used to fix it to the fuselage housing, and the other side is connected to the side wall of the cruise housing.

[0009] Optionally, the second fixing plate is used to fit against the side wall of the fuselage housing, and the first fixing plate is horizontally arranged.

[0010] Optionally, the first fixing plate and the second fixing plate are perpendicular to each other and are an integral structure.

[0011] Optionally, the included angle between each of the positioning fixing rods and the top surface of the first fixing plate is 80° to 90°, or 60° to 75°.

[0012] Optionally, the included angle between each of the positioning fixing rods and the top surface of the first fixing plate is 90°.

[0013] Optionally, one side of the lateral clamping block is used to fix it to the fuselage housing, and the other side is provided with a protrusion or lug structure for inserting into or clamping the snap-fit ​​groove of the cruise housing.

[0014] Optionally, it also includes multiple modules disposed within the cavity of the cruise housing;

[0015] The cruise housing is provided with a wiring through hole that connects to the inner cavity of the cruise housing. A connector is provided in the wiring through hole. The side wall of the connector is sealed with the wiring through hole. The connector is located at one end of the inner cavity of the cruise housing and connects to multiple modules. The other end of the connector is located outside the cruise housing and is used to connect to the main control board of the self-moving device.

[0016] Optionally, the top surface of the cruise housing is a first inclined surface, a second inclined surface, and a third inclined surface that are connected sequentially along the direction away from the lateral clamping block and have increasing slopes.

[0017] Optionally, the slope of the first inclined plane is ≥5°, the slope of the third inclined plane is ≤30°, and the slope difference between the first and second inclined planes and between the second and third inclined planes is 5° to 15°.

[0018] This utility model also provides a self-moving device, which is characterized in that it includes: a body housing, and at least one cruise device as described above, disposed on the body housing.

[0019] Compared with the prior art, the beneficial effects of this utility model are:

[0020] (1) The present invention provides a cruise device for a self-moving device, comprising a cruise housing, a housing fixing plate and a lateral clamping block, wherein the housing fixing plate realizes the transition connection between the cruise housing and the main body housing, the positioning fixing rod and the positioning fixing hole form a stable connection, and the lateral clamping block provides lateral clamping force to improve the sealing performance and fix the structure, so that the cruise housing can be disassembled without disassembling the main body housing, only by disassembling the connecting part between the cruise housing and the housing fixing plate. This embodiment realizes convenient disassembly and maintenance of the cruise device while ensuring the sealing performance.

[0021] (2) In this utility model, the first fixing plate and the second fixing plate adopt an L-shaped integrated structure, which is easy to process and has good support rigidity.

[0022] (3) In this utility model, the included angle between each positioning and fixing rod and the top surface of the first fixing plate is 80° to 90° to realize up and down insertion and gravity-assisted positioning, or the included angle between each positioning and fixing rod and the top surface of the first fixing plate is 60° to 75° to solve the problem of limited installation space or disassembly and assembly direction.

[0023] (4) In this utility model, one side of the lateral clamping block is used to fix it to the fuselage housing, and the other side is provided with a protrusion or lug structure for inserting or clamping the snap-fit ​​groove of the cruise housing, realizing a connection method that allows the cruise housing to be quickly released without disassembling the fuselage housing; and the clamping block can stabilize the cruise housing on the fuselage housing by inserting or clamping, and provides lateral sealing and anti-shaking function.

[0024] (5) In this utility model, by setting a sealed connector and wiring through hole on the cruise housing, the internal and external electrical interfaces are decoupled, the cruise housing can be plugged and unplugged independently, and the module is disconnected from the main control board without internal wiring operation. Attached Figure Description

[0025] Figure 1 This is an isometric structural diagram of an embodiment of the self-moving device of the present invention (the lower half of the body shell is not shown);

[0026] Figure 2 This is a schematic diagram of the structure of a cruise device for a self-moving device according to the present invention. Figure 1 ;

[0027] Figure 3 This is a schematic diagram of the structure of an embodiment of the present utility model. Figure 2 (The lateral clamping block is not shown);

[0028] Figure 4 This is an exploded view of the cruise device in an embodiment of this utility model;

[0029] Figure 5 This is a schematic diagram of the structure of the first housing in an embodiment of the present utility model;

[0030] Figure 6 This is a schematic diagram of the structure of the second shell in an embodiment of the present invention;

[0031] Figure 7 This is a schematic diagram of the structure of the housing fixing plate and the side clamping block installed on the body housing in this embodiment of the present invention.

[0032] The reference numerals in the attached drawings are explained as follows: 10-body housing, 11-handle; 20-cruising housing, 21-first housing, 22-second housing, 231-first slope, 232-second slope, 233-third slope, 24-antenna opening, 25-camera opening, 26-fill light opening, 27-microphone opening, 28-wiring through hole, 29-slot; 30-housing mounting plate, 31-first mounting plate, 311-positioning mounting rod, 32-second mounting plate; 40-lateral clamping block; 51-camera module, 52-voice module, 53-lighting module, 54-antenna assembly; 60-connector. Detailed Implementation

[0033] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0034] Reference Figure 1 This embodiment provides a self-moving device, including a housing 10 and at least one cruise device for the self-moving device disposed on the housing 10. In this embodiment, two cruise devices for the self-moving device are symmetrically disposed on both sides of the housing 10. In other embodiments, only one cruise device may be provided, or more may be provided.

[0035] Understandably, the aforementioned self-moving equipment refers to a device that can move autonomously or semi-autonomously without external power traction. It can be engineering equipment (such as tracked robots and automatic compactors), service / inspection robots (such as security tracked platforms), agricultural robots (such as seeding robots), etc.

[0036] The side wall of the housing 10 can be provided with multiple handles 11. In this embodiment, there are two handles 11. The handles 11 are used for the operator to hold when moving the self-moving equipment.

[0037] Reference Figures 2-7 The cruise device of the aforementioned self-moving device includes a cruise housing 20, a housing fixing plate 30, and a lateral clamping block 40. The housing fixing plate 30 includes a first fixing plate 31 fixed to the bottom surface of the cruise housing 20 and a second fixing plate 32 connected to the first fixing plate 31 and used for fixing to the body housing 10; the top surface of the first fixing plate 31 is provided with a plurality of positioning fixing rods 311, and the bottom surface of the cruise housing 20 is provided with a plurality of positioning fixing holes that respectively cooperate with the plurality of positioning fixing rods 311; one side of the lateral clamping block 40 is used for fixing to the body housing 10, and the other side is connected to the side wall of the cruise housing 20.

[0038] The cruise housing 20 adopts a split structure, with its inner cavity for installing various modules. The walls are provided with openings adapted to each module, such as antenna opening 24, camera opening 25, fill light opening 26, and microphone opening 27. The first fixing plate 31 connects to the cruise housing 20 and supports the positioning fixing rod 311, forming a plug-in positioning platform. The second fixing plate 32 connects to the fuselage housing 10, serving to fix the cruise device housing. The positioning fixing rod 311 and positioning fixing holes enable rapid connection between the cruise housing 20 and the fixing plate. For proper alignment and secure installation (to prevent rotation or misalignment), specifically, the number of positioning fixing rods 311 and positioning fixing holes are both 3; the lateral clamping block 40 connects the body housing 10 and the side wall of the cruise housing 20, forming lateral pressure to press the edge of the cruise housing 20, improving sealing performance and suppressing shaking; specifically, the lateral clamping block 40 can be set on the body housing 10, so that the side wall of the cruise housing 20 is engaged with the lateral clamping block 40, and the body housing 10 is engaged with the lateral clamping block 40.

[0039] The principle of this embodiment is as follows:

[0040] During installation, first install the housing fixing plate 30 (second fixing plate 32) and the lateral clamping block 40 onto the fuselage housing 10. Then, align the multiple positioning and fixing holes on the bottom surface of the cruise housing 20 with the multiple positioning and fixing rods 311 on the fixing plate, insert them, and complete the alignment. At the same time, snap the lateral clamping block 40 into the side wall of the cruise housing 20. Then, use multiple connectors (such as screws) to extend from the bottom surface of the first fixing plate 31 to fix the housing fixing plate 30 and the cruise housing 20, thus completing the installation. During disassembly, remove the multiple connectors on the bottom surface of the first fixing plate 31, and the cruise housing 20 can be lifted for quick disassembly.

[0041] Alternatively, during installation, first install the housing fixing plate 30 (second fixing plate 32) onto the fuselage housing 10, then align the multiple positioning fixing holes on the bottom surface of the cruise housing 20 with the multiple positioning fixing rods 311 on the fixing plate, insert and align them, and simultaneously snap the lateral clamping block 40 into the fuselage housing 10. Then, use multiple connectors (such as screws) to extend from the bottom surface of the first fixing plate 31 to fix the housing fixing plate 30 and the cruise housing 20, thus completing the installation. During disassembly, remove the multiple connectors on the bottom surface of the first fixing plate 31 to lift the cruise housing 20 for quick disassembly.

[0042] In some embodiments, refer to Figure 4 The inner cavity of the cruise housing 20 is provided with multiple modules. Specifically, the inner cavity of the cruise housing 20 is provided with a communication module, a camera module 51, a voice module 52 and a lighting module 53. In other embodiments, it may include only two or three of them.

[0043] Understandably, the communication module is a component used to realize data transmission and information exchange between the self-moving device and an external terminal, supporting wireless or wired communication protocols. In this embodiment, the communication module includes an antenna assembly 54. The camera module 51 is an image acquisition unit used to capture environmental images or videos around the self-moving device, and to achieve visual perception functions in conjunction with image processing algorithms, such as visible light cameras, infrared cameras, depth cameras, etc. The voice module 52 is a human-machine interface module for voice interaction, including functions such as voice recognition, voice synthesis, and sound playback, such as microphone arrays, speakers, DSP audio processors, etc. The lighting module 53 is a light source device for ambient lighting or assisting visual perception, such as LED lights and their control circuits.

[0044] The cruise housing 20 is provided with a wiring through hole 28 that connects to the inner cavity of the cruise housing 20. A connector 60 is provided in the wiring through hole 28. The side wall of the connector 60 is sealed with the wiring through hole 28. One end of the connector 60 located in the inner cavity of the cruise housing 20 is connected to multiple modules, and the other end located outside the cruise housing 20 is used to connect to the main control board of the self-moving device (located inside the body housing 10). The main control board refers to the core circuit board in the self-moving device used for control, scheduling, calculation and communication.

[0045] Understandably, the communication module, camera module 51, voice module 52, and lighting module 53 need to be connected to the interface port of the main control board of the self-moving device via wires to achieve communication and control; specifically, the cruise housing 20 has a functional integrated control board inside its cavity. Figure 4 (Not shown in the image) The communication module, camera module 51, voice module 52 and lighting module 53 are respectively connected to the functional integrated control board via wires. The functional integrated control board is connected to the cruise housing 20 via a bus connection connector 60 that is bundled together and has a shielding layer at one end of the inner cavity of the cruise housing 20. The interface port connection connector 60 of the self-moving device's main control board is located at the other end of the cruise housing 20, so as to achieve unified communication and control.

[0046] In some embodiments, refer to Figures 5-6 The cruise housing 20 includes a first housing 21 and a second housing 22. The first housing 21 forms the top surface and outer sidewall of the cruise housing 20, and the second housing 22 forms the bottom surface and inner sidewall of the cruise housing 20. The first housing 21 and the second housing 22 form the inner cavity of the cruise housing 20. The inner cavity of the cruise housing 20 can be equipped with a communication module, a camera module 51, a lighting module 53 and a voice module 52. The first housing 21 is provided with an antenna opening 24, a camera opening 25, a fill light opening 26 and a microphone opening 27 corresponding to the communication module, the camera module 51, the lighting module 53 and the voice module 52, respectively.

[0047] In some embodiments, refer to Figures 2-4 , Figure 7 The second fixing plate 32 is used to fit the side wall of the body shell 10, and the first fixing plate 31 is set horizontally.

[0048] The first fixing plate 31 and the second fixing plate 32 can be an integral structure, which is easy to process and has strong structural integrity. The first fixing plate 31 and the second fixing plate 32 can be connected by connectors to form an adjustable or detachable structure to adapt to different structural deviations. For example, the first fixing plate 31 and the second fixing plate 32 can be connected by a metal hinge with a positioning gear disk embedded in the middle. After adjusting the angle, it can be locked with screws. Alternatively, an arc-shaped guide groove can be provided between the first fixing plate 31 and the second fixing plate 32. The first fixing plate 31 can slide in the arc-shaped guide groove with screws. After changing the angle, the screws can be tightened.

[0049] In some embodiments, refer to Figures 2-3 , Figure 7 The first fixing plate 31 and the second fixing plate 32 are perpendicular to each other and are an integral structure. In this embodiment, the second fixing plate 32 is used to fit against the side wall of the fuselage housing 10, the first fixing plate 31 is horizontally arranged, and forms an L-shape with the second fixing plate 32. The L-shape has good supporting rigidity.

[0050] In some embodiments, refer to Figure 4 , Figure 7 The included angle between each of the positioning and fixing rods 311 and the top surface of the first fixing plate 31 is 80° to 90° or 60° to 75°.

[0051] The angle between each positioning and fixing rod 311 and the top surface of the first fixing plate 31 is 80° to 90°, which can realize up and down insertion and gravity-assisted positioning.

[0052] However, if the installation space or disassembly direction is limited, the included angle between each positioning fixing rod 311 and the top surface of the first fixing plate 31 can be 60° to 75°, which can be used in conjunction with the sliding guide slope and locking buckle.

[0053] In some embodiments, the angle between each positioning and fixing rod 311 and the top surface of the first fixing plate 31 is 90°, which provides the strongest stability, strong pull-out resistance, and simple structure.

[0054] In some embodiments, refer to Figure 4 , Figure 7 The lateral clamping block 40 is a locking block, with one side for fixing to the fuselage housing 10 and the other side for engaging with the locking groove 29 provided on the side wall of the cruise housing 20; specifically, the side of the lateral clamping block 40 used for engaging has a protrusion or lug structure for inserting into or clamping the locking groove 29 of the cruise housing 20, such as... Figure 3 As shown.

[0055] In other embodiments, the lateral clamping block 40 may be an elastic protrusion provided on the side wall of the cruise housing 20, used to engage and lock with the locking groove provided on the fuselage housing 10.

[0056] In some embodiments, refer to Figure 2 , Figure 5 The top surface of the cruise housing 20 consists of a first inclined surface 231, a second inclined surface 232, and a third inclined surface 233 connected sequentially along a direction away from the lateral clamping block 40, with increasing slopes. Specifically, the first inclined surface 231, the second inclined surface 232, and the third inclined surface 233 are disposed on the top surface of the first housing 21.

[0057] The three-section continuous sloping structure allows rainwater or snow to slide off naturally, preventing water from entering the cruise housing 20, and also helps dust and fallen leaves slide off, reducing the frequency of cleaning.

[0058] In some embodiments, considering that an excessively large slope may affect the height center of gravity of the equipment, and that a small increase in slope may result in insignificant improvement in airflow, the slope of the first inclined plane 231 is ≥5°, the slope of the third inclined plane 233 is ≤30°, and the slopes between the first inclined plane 231 and the second inclined plane 232, and between the second inclined plane 232 and the third inclined plane 233, can differ by 5° to 15°. For example, the slopes of the first inclined plane 231, the second inclined plane 232, and the third inclined plane 233 can be 5°, 10°, and 20°, or 8°, 15°, and 25°, or 10°, 18°, and 30°, respectively.

[0059] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. For those skilled in the art, modifications can be made to the specific technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. However, these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions protected by the present invention.

Claims

1. A cruise device for a self-moving device, comprising a cruise housing (20); Its features are: It also includes a housing fixing plate (30) and a lateral clamping block (40); The housing fixing plate (30) includes a first fixing plate (31) fixed to the bottom surface of the cruise housing (20) and a second fixing plate (32) connected to the first fixing plate (31) and used to fix to the fuselage housing (10); the top surface of the first fixing plate (31) is provided with a plurality of positioning fixing rods (311), and the bottom surface of the cruise housing (20) is provided with a plurality of positioning fixing holes that respectively cooperate with the plurality of positioning fixing rods (311); The lateral clamping block (40) is used to fix one side to the fuselage housing (10) and the other side to the side wall of the cruise housing (20).

2. The cruise device for a self-moving device according to claim 1, characterized in that: The second fixing plate (32) is used to fit the side wall of the fuselage housing (10), and the first fixing plate (31) is set horizontally.

3. The cruise device for a self-moving device according to claim 2, characterized in that: The first fixing plate (31) and the second fixing plate (32) are perpendicular to each other and are an integral structure.

4. A cruise device for a self-moving device according to any one of claims 1 to 3, characterized in that: The included angle between each of the positioning fixing rods (311) and the top surface of the first fixing plate (31) is 80° to 90° or 60° to 75°.

5. A cruise device for a self-moving device according to claim 4, characterized in that: The included angle between each of the positioning fixing rods (311) and the top surface of the first fixing plate (31) is 90°.

6. A cruise device for a self-moving device according to claim 5, characterized in that: The lateral clamping block (40) has one side for fixing to the fuselage housing (10), and the other side is provided with a protrusion or lug structure for inserting into or clamping the snap-fit ​​groove (29) of the cruise housing (20).

7. A cruise device for a self-moving device according to claim 5, characterized in that: It also includes multiple modules disposed within the cavity of the cruise housing (20); The cruise housing (20) is provided with a wiring through hole (28) that connects to the inner cavity of the cruise housing (20). A connector (60) is provided in the wiring through hole (28). The side wall of the connector (60) is sealed with the wiring through hole (28). One end of the connector (60) located in the inner cavity of the cruise housing (20) is connected to multiple modules, and the other end located outside the cruise housing (20) is used to connect to the main control board of the self-moving device.

8. A cruise device for a self-moving device according to claim 1, characterized in that: The top surface of the cruise housing (20) consists of a first inclined surface (231), a second inclined surface (232), and a third inclined surface (233) connected sequentially along the direction away from the lateral clamping block (40) with increasing slope.

9. A cruise device for a self-moving device according to claim 8, characterized in that: The slope of the first inclined plane (231) is ≥5°, the slope of the third inclined plane (233) is ≤30°, and the slopes of the first inclined plane (231) and the second inclined plane (232), and the slopes of the second inclined plane (232) and the third inclined plane (233) differ by 5° to 15°.

10. A self-moving device, characterized in that, include: The fuselage housing (10), and at least one cruise device of the self-moving device as described in any one of claims 1 to 9 disposed on the fuselage housing (10).

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