Axle structure and mowing robot

Abstract

The utility model discloses an axle structure and a mowing robot, and relates to the technical field of robots, the axle structure is applied to the mowing robot, the mowing robot comprises an equipment main body and wheel bodies, the axle structure comprises a supporting beam, a first axle housing, a connecting beam and a second axle housing, the supporting beam is arranged in the first axle housing, and the supporting beam is used for being connected to the equipment main body; the connecting beam is arranged in the second axle housing, the connecting beam is rotatably connected to the supporting beam around the vertical direction, and the lower end of the connecting beam is used for being connected with the wheel body. According to the technical scheme, the strength of the axle structure is guaranteed, the weight of the axle structure is reduced, and therefore the cost of the mowing robot is reduced.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a vehicle axle structure and a lawn mowing robot. Background Technology

[0002] With the development of smart agriculture and garden automation, lawn mowing robots, as efficient, energy-saving, and intelligent horticultural equipment, have been widely used in home gardens, parks, and large lawn management. In lawn mowing robots, the axle structure, as a crucial transmission and load-bearing structure connecting the main body of the device to the wheels, directly affects the robot's operational stability, terrain adaptability, and manufacturing cost.

[0003] In related technologies, the axle structure of lawnmowers is usually made of integral casting or welded steel plates, resulting in a large overall weight. This not only limits the mobility and endurance of the lawnmower robot, but also leads to high manufacturing costs. Utility Model Content

[0004] The main purpose of this invention is to propose an axle structure and a lawn mowing robot, which aims to ensure the strength of the axle structure and reduce its weight, thereby reducing the cost of the lawn mowing robot.

[0005] To achieve the above objectives, the axle structure proposed in this utility model is applied to a lawnmower robot, which includes a main body and wheels. The axle structure includes:

[0006] A support beam and a first bridge housing, the support beam being disposed within the first bridge housing and used for connection to the main body of the equipment; and

[0007] A connecting beam and a second axle housing are provided. The connecting beam is disposed inside the second axle housing and is rotatably connected to the support beam about a vertical direction. The lower end of the connecting beam is used to connect to the wheel body.

[0008] In one embodiment, the support beam and the connecting beam are provided with reinforcing flanges that extend along the edge of the support beam or the connecting beam in the length direction.

[0009] In one embodiment, the support beam is connected to the first axle housing by means of screw fastening, and / or the connecting beam is connected to the second axle housing by means of screw fastening.

[0010] In one embodiment, the first bridge housing and / or the second bridge housing are provided with a plurality of reinforcing ribs.

[0011] In one embodiment, the first bridge housing is configured as two half-shells connected and formed by screw fastening on opposite sides of the support beam;

[0012] In one embodiment, the second bridge housing is configured as two half-shells connected and formed by screw fastening on opposite sides of the connecting beam.

[0013] In one embodiment, the connecting beam includes multiple connecting segments, with adjacent connecting segments connected at an angle, the connecting segment adjacent to the support beam being vertically opposite to the support beam, and the connecting segment adjacent to the wheel being horizontally opposite to the wheel. A reinforcing protrusion is provided at the connection point of adjacent connecting segments.

[0014] In one embodiment, the axle structure further includes a steering assembly disposed on the support beam and located within the first axle housing, the steering assembly being used to drive the connecting beam to rotate.

[0015] In one embodiment, a steering shaft is provided at the end of the connecting beam, a first clearance opening is provided on the lower side of the first axle housing, a second clearance opening is provided on the upper side of the second axle housing, the first clearance opening and the second clearance opening are arranged opposite to each other, the steering shaft passes through the second clearance opening and the first clearance opening, and is rotatably connected to the support beam, and the steering assembly is driven to the steering shaft.

[0016] In one embodiment, the wheel body is provided with a moving drive component, the moving drive component is connected to the connecting beam, a controller is provided in the first axle housing, a wire channel runs through the steering shaft along the axis, and the wire of the controller passes through the first axle housing, the wire channel and the second axle housing in sequence, and is connected to the moving drive component.

[0017] In one embodiment, the support beam is provided with connecting feet folded on opposite sides in the width direction, and the connecting feet are used for rotatable connection to the main body of the equipment.

[0018] In one embodiment, the first bridge housing has recessed relief grooves on opposite sides in the width direction, and the support beam is rotatably connected to a swing shaft. The end of the swing shaft passes through the first bridge housing and is connected to the main body of the equipment in the relief groove.

[0019] In one embodiment, the support beam and the connecting beam are formed by stamping sheet metal parts, and / or, the support beam and the connecting beam are provided with weight-reducing holes.

[0020] In one embodiment, the first bridge housing and the second bridge housing are made of plastic.

[0021] This utility model also proposes a lawn mowing robot, which includes the aforementioned axle structure.

[0022] The technical solution of this utility model involves setting a first axle shell outside the support beam connecting the main body of the device, and setting a second axle shell outside the connecting beam connecting the wheels, thus connecting the support beam and the connecting beam. The support beam and the connecting beam are made of high-strength, high-toughness materials, ensuring the load-bearing capacity of the axle structure. The first and second axle shells are made of lightweight materials, effectively reducing the weight of the axle structure. The first axle shell is connected to the support beam, and the second axle shell is connected to the connecting beam, thereby ensuring the strength of the axle structure while reducing its weight, and consequently reducing the manufacturing cost of the axle structure, which in turn reduces the cost of the lawnmower robot. Simultaneously, the connecting beam connects to the wheels, and the connection method, which allows the wheels to rotate freely relative to the main body of the device within a certain range, improves the lawnmower robot's adaptability in complex terrain, enhances its obstacle-crossing performance, and enables the lawnmower robot to cope more flexibly with different ground conditions. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0024] Figure 1 A schematic diagram of an embodiment of the axle structure and wheel connection provided by this utility model;

[0025] Figure 2 for Figure 1 Exploded view of CRRC bridge structure;

[0026] Figure 3 for Figure 1 A cross-sectional view of the first bridge shell and the supporting beam in conjunction;

[0027] Figure 4 for Figure 1 A schematic diagram of the structure of one half of the first bridge shell;

[0028] Figure 5 for Figure 1 Schematic diagram of the central support beam;

[0029] Figure 6 for Figure 1 Schematic diagram of the middle connecting beam;

[0030] Figure 7 for Figure 1 A schematic diagram of the steering shaft.

[0031] Explanation of icon numbers:

[0032] 100, Support beam; 110, Reinforcing flange; 120, Connecting foot; 130, Weight reduction hole; 200, First axle housing; 210, Reinforcing rib; 220, Clearance groove; 230, First clearance opening;

[0033] 300. Connecting beam; 310. Connecting section; 320. Reinforcing protrusion; 330. Steering shaft; 331. Wire guide channel; 400. Second axle housing; 410. Second clearance opening;

[0034] 500, swing shaft; 600, wheel; 610, moving drive component.

[0035] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0036] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0037] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0038] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0039] This utility model proposes a vehicle axle structure.

[0040] Please refer to Figures 1 to 3 In one embodiment of this utility model, the axle structure is applied to a lawnmower robot. The lawnmower robot includes a main body (not shown) and wheels 600. The axle structure includes:

[0041] A support beam 100 and a first bridge housing 200, the support beam 100 being disposed within the first bridge housing 200, the support beam 100 being used for connection to the equipment body; and

[0042] The connecting beam 300 is located inside the second axle housing 400. The connecting beam 300 is rotatably connected to the support beam 100 about vertically. The lower end of the connecting beam 300 is used to connect the wheel body 600.

[0043] The technical solution of this utility model involves providing a first axle housing 200 outside the support beam 100 connecting the main body of the connecting device, and a second axle housing 400 outside the connecting beam 300 connecting the wheel body 600, thereby connecting the support beam 100 and the connecting beam 300. The support beam 100 and the connecting beam 300 are made of high-strength, high-toughness materials, ensuring the load-bearing capacity of the axle structure. The first axle housing 200 and the second axle housing 400 are made of lightweight materials, effectively reducing the weight of the axle structure. The first axle housing 200 is connected to the support beam 100, and the second axle housing 400 is connected to the connecting beam 300, thus ensuring the strength of the axle structure while reducing its weight, thereby reducing the manufacturing cost of the axle structure, and consequently reducing the cost of the lawnmower robot. Meanwhile, the connecting beam 300 is connected to the wheel 600, and the connection method of rotating around the vertical is connected to the support beam 100, which allows the wheel 600 to turn freely relative to the main body of the equipment within a certain range, improving the adaptability of the lawn mowing robot in complex terrain and enhancing its obstacle crossing performance, so that the lawn mowing robot can cope with different ground conditions more flexibly.

[0044] It should be noted that the first bridge shell 200 covers the support beam 100, and the second bridge shell 400 covers the connecting beam 300. The connecting beam 300 or the support beam 100 can be connected by components such as the steering shaft 330 passing through the first bridge shell 200 and the second bridge shell 400. Alternatively, a portion of the support beam 100 can extend out of the first bridge shell 200, then into the second bridge shell 400, and finally connect to the connecting beam 300. Another possibility is that the end of the connecting beam 300 can extend out of the second bridge shell 400, then into the first bridge shell 200, and finally connect to the support beam 100. Furthermore, the descriptions of "up" and "down" in this technical solution refer to the conventional state of the lawnmower robot walking on flat ground. It is understandable that the main body of the equipment is equipped with a cutting disc, and the wheel 600 can be a non-powered wheel, such as when the axle structure is configured as a front axle; or, the wheel 600 can be a powered wheel, such as when the axle structure is configured as a rear axle. Of course, when the axle structure is configured as a front axle, the wheel 600 can also be a powered wheel, and when the axle structure is configured as a rear axle, the wheel 600 can also be a non-powered wheel. In the case where the wheel 600 is a powered wheel, a moving drive component 610 is provided on the wheel 600. The moving drive component 610 is connected to the connecting beam 300, and the moving drive component 610 drives the wheel 600 to rotate freely. The moving drive component 610 on the wheel 600 is electrically connected to a controller in the main body of the equipment or the second axle housing 400 through a wire, so that the lawnmower robot can control the rotation of the wheel 600 as a powered wheel.

[0045] In one embodiment, please refer to Figure 2 , Figure 5 and Figure 6 The support beam 100 and connecting beam 300 are formed by sheet metal stamping. It can be understood that the support beam 100 and connecting beam 300 are formed by sheet metal stamping using high-strength, high-toughness steel plates. This allows the support beam 100 and connecting beam 300 to meet structural strength requirements while possessing good forming accuracy and quality, improving the consistency and assembly accuracy between various components of the axle structure. Furthermore, the stamping process has advantages such as high material utilization, high processing efficiency, and suitability for mass production, which helps reduce the manufacturing cost of the entire axle structure. In this embodiment, the support beam 100 and connecting beam 300 are provided with weight-reduction holes 130. The weight-reduction holes 130 can be formed simultaneously during stamping, and the position and shape of the weight-reduction holes 130 are optimized based on stress analysis to ensure that while removing excess material to reduce overall weight, the load-bearing capacity and structural rigidity of key components are not affected. In addition, the weight-reducing hole 130 can also avoid components connected to the support beam 100 or connecting beam 300, such as the drive motor and steering assembly that drive the connecting beam 300 to rotate, thereby improving the space utilization rate within the first axle housing 200 and reducing the volume of the axle structure. Of course, in other embodiments, the support beam 100 and connecting beam 300 can also be formed by casting.

[0046] The first axle housing 200 and the second axle housing 400 are respectively used to accommodate and support the support beam 100 and the connecting beam 300, serving as components for their installation and protection. To further achieve a lightweight design for the axle structure, in one embodiment, please refer to... Figures 2 to 4 The first axle housing 200 and the second axle housing 400 are both made of plastic. Specifically, the first axle housing 200 and the second axle housing 400 can be made of high-strength, lightweight plastics, such as polyamide (PA), polycarbonate (PC), or glass fiber reinforced composite materials, which possess good mechanical strength, wear resistance, and corrosion resistance, meeting the usage requirements of the lawnmower robot in complex outdoor environments. Thus, by making the first axle housing 200 and the second axle housing 400 of plastic, not only is the overall weight of the axle structure effectively reduced, improving the lawnmower robot's endurance, but the amount of metal materials used is also reduced, which helps to lower the overall manufacturing cost. Of course, in other embodiments, the first axle housing 200 and the second axle housing 400 can also be made of lightweight, low-cost alloy materials.

[0047] In one embodiment, please refer to Figure 5 and Figure 6 To further enhance the bending and torsional resistance of the axle structure while ensuring its lightweight design, the support beam 100 and connecting beam 300 are equipped with reinforcing flanges 110, which extend along the edges of the support beam 100 or connecting beam 300 in the length direction. It should be noted that the reinforcing flanges 110 are integrally formed at the edges of the support beam 100 or connecting beam 300 through stamping or bending processes, and are continuously or intermittently distributed along their length direction. This increases the moment of inertia of the cross-section of the support beam 100 or connecting beam 300, thereby enhancing its bending stiffness and overall structural stability, effectively preventing deformation or fracture caused by localized stress concentration. Simultaneously, the reinforcing flanges 110 not only improve the structural strength of the support beam 100 and connecting beam 300, but also enhance the stability of their fit with the first axle housing 200 or the second axle housing 400. For example, during assembly, the reinforcing flanges 110 can serve as a positioning guide structure, helping to improve the assembly accuracy of the first axle housing 200 and the second axle housing 400. In addition, the reinforced flange 110 is provided at the edge of the support beam 100 or the connecting beam 300, keeping the beam body flat, which is beneficial to the installation stability of the aforementioned steering drive motor and steering assembly. Of course, in other embodiments, ribs can also be provided on the support beam 100 or the connecting beam 300 to enhance its structural strength.

[0048] Regarding the connection method between the support beam 100 and the first bridge shell 200, the connecting beam 300 and the second bridge shell 400, in one embodiment, please refer to... Figures 2 to 5The support beam 100 is connected to the first axle housing 200 by screw fastening, and / or the connecting beam 300 is connected to the second axle housing 400 by screw fastening. It can be understood that positioning holes or countersunk holes are made at corresponding positions on the support beam 100 and the first axle housing 200, and screws are used for fastening, ensuring that the support beam 100 is stable inside the first axle housing 200, ensuring that the axle structure is not prone to displacement or loosening during operation, thereby guaranteeing the structural stability of the lawnmower robot. Similarly, a similar screw fastening structure is used between the connecting beam 300 and the second axle housing 400 to ensure the stability of the connecting beam 300 within the second axle housing 400. The screw fastening connection method also has good adaptability; the fastening torque can be adjusted according to different strength requirements to meet the usage requirements under different working conditions. Without loss of generality, the first axle housing 200 or the second axle housing 400 has a protruding threaded post inside, and the outer periphery of the threaded post is surrounded by ribs. The threaded post abuts against the support beam 100 or the connecting beam 300, and the threaded hole at the center of the axis is used for screw fastening connection. Of course, in other embodiments, the support beam 100 and the first axle housing 200, the connecting beam 300 and the second axle housing 400 can also be connected by riveting or snap-fitting.

[0049] Regarding the structural strength of the first bridge housing 200 and the second bridge housing 400, in one embodiment, please refer to... Figures 2 to 4 Multiple reinforcing ribs 210 are provided within the first axle housing 200 and / or the second axle housing 400. It is understood that the reinforcing ribs 210 are distributed along the inner wall of the first axle housing 200 or the second axle housing 400, preferably arranged in a crisscross or grid pattern, to enhance the overall rigidity and load-bearing capacity of the axle housing, and also to ensure the external neatness of the first axle housing 200 and the second axle housing 400; wherein, the reinforcing ribs 210 can be integrally formed inside the first axle housing 200 or the second axle housing 400 by injection molding. Thus, by providing multiple reinforcing ribs 210, the deformation resistance of the first axle housing 200 and the second axle housing 400 under external impact, bending moment, or torsional load is effectively improved, thereby ensuring the stability of the support beam 100 and the connecting beam 300 during operation. Of course, in other embodiments, multiple protruding ribs can also be provided on the outside of the first axle housing 200.

[0050] In one embodiment, please refer to Figures 2 to 4The first axle housing 200 is configured as two half-shells connected and fastened to opposite sides of the support beam 100 by screws; the second axle housing 400 is configured as two half-shells connected and fastened to opposite sides of the connecting beam 300 by screws. It can be understood that the first axle housing 200 and / or the second axle housing 400 are formed by connecting two symmetrical or asymmetrical half-shells. Each half-shell is aligned and fitted by multiple positioning holes and countersunk holes located at its periphery or ends, and fastened using standard screws. This reduces the molding difficulty of the first axle housing 200 and the second axle housing 400, helps reduce mold complexity, improves demolding efficiency, and thus reduces manufacturing costs. At the same time, the detachable connection method using screws allows technicians to replace or upgrade parts without damaging the overall structure, extending the product's service life and enhancing the economy of product maintenance. Furthermore, considering the above-mentioned connection of the support beam 100 to the first axle housing 200 by means of screw fastening, and the connection beam 300 to the second axle housing 400 by means of screw fastening, it can be seen that some screw connection positions can be connected to the support beam 100 or the connection beam 300 at the same time as the first axle housing 200 or the second axle housing 400 is formed, thereby simplifying the assembly of the axle structure.

[0051] The two half-shells are located on opposite sides of the support beam 100 or the connecting beam 300, respectively, increasing the cross-sectional width of the support beam 100 or the connecting beam 300. For example, with the support beam 100, the connection between the first axle shell 200 and the support beam 100 improves the structural strength of the bridge formed by the support beam 100 and the first axle shell 200, so that the force exerted by the wheel bodies 600 at both ends of the support beam 100 on the support beam 100 can be partially distributed to the first axle shell 200. Correspondingly, the second axle shell 400 is configured with two half-shells connected on opposite sides of the connecting beam 300 in the same way as the connection between the first axle shell 200 and the support beam 100, and will not be described again here.

[0052] Regarding the structural form of the connecting beam 300, in one embodiment, please refer to... Figure 2 and Figure 6The connecting beam 300 includes multiple connecting segments 310. Adjacent connecting segments 310 are connected at an angle. The connecting segment 310 adjacent to the support beam 100 is vertically opposite to the support beam 100, and the connecting segment 310 adjacent to the wheel 600 is horizontally opposite to the wheel 600. A reinforcing protrusion 320 is provided at the connection point of adjacent connecting segments 310. It can be understood that the vertical extension length of the connecting beam 300 is greater than the radius of the wheel 600, thereby avoiding interference between the support beam 100 and the first axle shell 200 and the rotation of the wheel 600. At the same time, by bending and changing the direction of the connecting segment 310, the connection point of the support beam 100 and the connecting beam 300 is located above the wheel 600, which can shorten the distance between the two wheels 600 on the same axle structure, meet the miniaturization design requirements of the lawnmower robot, and also reduce the probability that the supporting effect of the wheel 600 on the axle structure will interfere with the connection stability of the support beam 100 and the connecting beam 300. Furthermore, the reinforcing protrusion 320 can be integrally formed on the outer or inner side of the connecting portion 310, featuring localized thickening or outward bulging. This effectively improves the bending and torsional strength of the connecting beam 300 at the turning point without significantly increasing its weight, preventing structural fatigue or fracture caused by stress concentration. Of course, in other embodiments, the connecting beam 300 can also be configured as a vertically extending strip beam.

[0053] In one embodiment, please refer to Figures 1 to 3 The axle structure also includes a steering assembly (not shown in the figure), which is disposed on the support beam 100 and located within the first axle housing 200. The steering assembly is used to drive the connecting beam 300 to rotate. It can be understood that the output end of the steering assembly is connected to the connecting beam 300 and is used to drive the connecting beam 300 to rotate around a vertical axis, thereby causing the wheel 600 to adjust its direction. The steering assembly includes, but is not limited to, a steering drive motor and transmission components (such as gear sets or linkage mechanisms). The steering drive motor is fixedly mounted on the support beam 100, and its power output end transmits driving force to the connecting beam 300 through the transmission components, causing it to rotate relative to the support beam 100. Since the steering assembly is integrated inside the first axle housing 200, it effectively utilizes the spatial layout of the axle structure, avoiding the risk of dust contamination and mechanical damage from external exposure, improving the protective performance and operational reliability of the axle structure, and also helping to reduce the space occupied by the axle structure. Of course, in other embodiments, the steering assembly can also be installed outside the first axle housing 200.

[0054] Furthermore, in this embodiment, please refer to Figure 2 , Figure 3 and Figure 7A steering shaft 330 is provided at the end of the connecting beam 300. A first clearance opening 230 is provided on the lower side of the first axle housing 200, and a second clearance opening 410 is provided on the upper side of the second axle housing 400. The first clearance opening 230 and the second clearance opening 410 are arranged opposite to each other. The steering shaft 330 passes through the second clearance opening 410 and the first clearance opening 230 and is rotatably connected to the support beam 100. The steering assembly is driven and connected to the steering shaft 330. It can be understood that the steering shaft 330 serves as the rotation axis between the connecting beam 300 and the support beam 100, and is used to realize the rotational connection of the connecting beam 300 relative to the support beam 100. The first clearance opening 230 and the second clearance opening 410 are arranged opposite to each other to form a channel for the steering shaft 330 to pass through. After the steering shaft 330 passes through the second clearance opening 410 and the first clearance opening 230 in sequence, it cooperates with the bearing or bushing provided on the support beam 100, thereby realizing the rotatable connection between the connecting beam 300 and the support beam 100. In this way, not only is free rotation of the connecting beam 300 around the vertical axis achieved, but the first axle housing 200 and the second axle housing 400 are also effectively prevented from participating in the relative rotation of the connecting beam 300 and the support beam 100. This shortens the vertical distance between the support beam 100 and the connecting beam 300 while avoiding interference with the rotation of the connecting beam 300 relative to the support beam 100, thus ensuring the flexibility of the rotating wheel 600. Of course, in other embodiments, the support beam 100 and the connecting beam 300 can also be rotatably connected through the first axle housing 200 and the second axle housing 400.

[0055] In one embodiment, please refer to Figures 1 to 3The wheel body 600 is equipped with a moving drive component 610, which is connected to the connecting beam 300. A controller is installed inside the first axle housing 200. A wire channel 331 runs through the steering shaft 330 along its axis. The controller's wires pass through the first axle housing 200, the wire channel 331, and the second axle housing 400 in sequence, and connect to the moving drive component 610. It can be understood that the moving drive component 610 is configured as a drive unit with a motor or integrated reduction mechanism, fixedly installed on the connecting beam 300, and used to provide a power source for the lawnmower robot's movement. To achieve reliable power supply and signal control for the moving drive component 610, and to avoid problems such as wire entanglement or breakage due to the rotation of the connecting beam 300 relative to the support beam 100, a wire channel 331 is provided along the axis of the steering shaft 330. This wire channel 331 passes through the central axis of the steering shaft 330, forming a path extending from the first axle housing 200 to the second axle housing 400. It is understood that the controller's wires, after being led out from the control terminal inside the first axle housing 200, sequentially pass through the wiring holes on the first axle housing 200, the wire channel 331 of the steering shaft 330, and the mating holes on the second axle housing 400, and finally connect to the moving drive component 610 mounted on the connecting beam 300. Thus, even if the connecting beam 300 rotates relative to the support beam 100, the wires maintain a stable wiring path, avoiding problems such as pulling, wear, or rotational limitations present in external wiring methods, thereby improving the reliability of the electrical connection and the operational stability of the axle structure. Furthermore, the wires being located within the first axle housing 200, the wire channel 331, and the second axle housing 400 also prevents them from being affected by the external environment, ensuring the controller's stability in controlling the moving drive component 610. Of course, in this embodiment, electrical connection terminals can also be provided between the support beam 100 and the connecting beam 300, and wires can be connected between the corresponding electrical connection terminals on the support beam 100 and the connecting beam 300, so that the controller on the support beam 100 can control the operation of the moving drive component 610 on the connecting beam 300.

[0056] Regarding the connection structure between the support beam 100 and the main body of the equipment, in one embodiment, please refer to... Figure 3 and Figure 5The support beam 100 has connecting feet 120 folded onto opposite sides in the width direction. These connecting feet 120 are used for rotatable connection to the main body of the equipment. It can be understood that the connecting feet 120 are integrally formed on both ends of the support beam 100 through stamping or bending processes, possessing good structural rigidity and load-bearing capacity, thus achieving a reliable rotatable connection between the support beam 100 and the main body of the equipment. Simultaneously, each connecting foot 120 is provided with a through hole or bearing mounting position for engagement with the swing shaft 500 on the main body of the equipment, thereby achieving a rotatable connection of the support beam 100 relative to the main body of the equipment. This allows the axle structure to swing relative to the main body within a certain angle range, helping to improve the ground-hugging performance and traversal capability of the lawnmower robot in complex terrain. Without loss of generality, the opposite sides of the two connecting feet 120 abut against the opposite sides of the interior of the first axle housing 200. The first axle housing 200 or the connecting feet 120 are rotatably clamped onto the mounting base of the main body of the equipment, and bearings are provided in the clamping gap, thereby limiting the swaying of the axle structure in the front-to-back direction of the lawnmower robot and ensuring the controllability of the steering of the lawnmower robot's wheels 600.

[0057] In one embodiment, please refer to Figure 1 and Figure 4 The first axle housing 200 has recessed relief grooves 220 on opposite sides in the width direction. A swing shaft 500 is rotatably connected to the support beam 100. The end of the swing shaft 500 passes through the first axle housing 200 and connects to the main body of the device via the relief grooves 220. It can be understood that the relief grooves 220 are formed on the side wall of the first axle housing 200, and their shape matches the movement trajectory of the end of the swing shaft 500. This ensures that the swing shaft 500 has sufficient space to move when it drives the axle assembly to swing relative to the main body of the device, avoiding structural interference. Simultaneously, it reduces the degree to which the swing shaft 500 protrudes outside the first axle housing 200, reducing the amount of impurities such as weeds entangled in the swing shaft 500. Similarly, it avoids interference with the swing of the first axle housing 200 and the support beam 100 relative to the main body of the device, thus helping the wheels 600 to always remain in contact with the ground and improving the stability of the lawnmower robot on slopes, uneven surfaces, or soft ground. The bearing is sandwiched between the bottom of the relief groove 220 and the mounting base of the main body of the equipment, which restricts the swaying of the axle structure in the front-to-back direction of the lawnmower robot and ensures the controllability of the steering of the lawnmower robot's wheels 600. Of course, in other embodiments, the first axle housing 200 can also be set flush with both sides along its horizontal width, so that the swing shaft 500 protrudes directly and is exposed outside the first axle housing 200.

[0058] This utility model also proposes a lawn mowing robot, which includes a vehicle axle structure. The specific structure of the vehicle axle structure is as described in the above embodiments. Since this lawn mowing robot adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0059] The above description is merely an exemplary embodiment of the present utility model and does not limit the scope of protection of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the scope of protection of the present utility model.

Claims

1. A vehicle axle structure, characterized in that, Applied to a lawnmower robot, the lawnmower robot includes a main body and wheels, and the axle structure includes: A support beam and a first bridge housing, the support beam being disposed within the first bridge housing and used for connection to the main body of the equipment; and A connecting beam and a second axle housing are provided. The connecting beam is disposed inside the second axle housing and is rotatably connected to the support beam about vertically. The lower end of the connecting beam is used to connect to the wheel body.

2. The axle structure as described in claim 1, characterized in that, The supporting beam and the connecting beam are provided with reinforcing flanges, which extend along the edge of the supporting beam or the connecting beam in the length direction; And / or, the support beam is connected to the first axle housing by means of screw fastening, and / or, the connecting beam is connected to the second axle housing by means of screw fastening.

3. The axle structure as described in claim 1, characterized in that, The first bridge housing and / or the second bridge housing are provided with a plurality of reinforcing ribs; And / or, the first bridge housing is configured as two half-shells connected and formed by screw fastening on opposite sides of the support beam; And / or, the second bridge housing is configured as two half-shells connected and formed by screw fastening on opposite sides of the connecting beam.

4. The axle structure as described in claim 1, characterized in that, The connecting beam includes multiple connecting segments, with adjacent connecting segments connected at an angle. The connecting segment adjacent to the support beam is vertically opposite to the support beam, and the connecting segment adjacent to the wheel body is horizontally opposite to the wheel body. A reinforcing protrusion is provided at the connection point of adjacent connecting segments.

5. The axle structure as described in claim 1, characterized in that, The axle structure also includes a steering assembly disposed on the support beam and located within the first axle housing, the steering assembly being used to drive the connecting beam to rotate.

6. The axle structure as described in claim 5, characterized in that, The end of the connecting beam is provided with a steering shaft, the lower side of the first axle housing is provided with a first clearance opening, the upper side of the second axle housing is provided with a second clearance opening, the first clearance opening and the second clearance opening are arranged opposite to each other, the steering shaft passes through the second clearance opening and the first clearance opening, and is rotatably connected to the support beam, and the steering assembly is driven connected to the steering shaft.

7. The axle structure as described in claim 6, characterized in that, The wheel is provided with a moving drive component, which is connected to the connecting beam. A controller is provided inside the first axle housing. A wire channel runs through the steering shaft along its axis. The wires of the controller pass through the first axle housing, the wire channel, and the second axle housing in sequence, and are connected to the moving drive component.

8. The axle structure as described in claim 1, characterized in that, The support beam is provided with connecting feet folded on opposite sides in the width direction, and the connecting feet are used to rotatably connect to the main body of the equipment; And / or, the first bridge housing is recessed with relief grooves on opposite sides in the width direction, the support beam is rotatably connected to a swing shaft, the end of the swing shaft passes through the first bridge housing and is connected to the equipment body in the relief groove.

9. The axle structure as described in any one of claims 1 to 8, characterized in that, The support beam and the connecting beam are formed by stamping sheet metal parts, and / or the support beam and the connecting beam are provided with weight reduction holes; And / or, the first bridge housing and the second bridge housing are made of plastic.

10. A lawnmower robot, characterized in that, Includes the axle structure as described in any one of claims 1 to 9.

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