Lawn mowing robot

Abstract

The utility model discloses a mowing robot relates to robot technical field, wherein, mowing robot includes equipment main part, axle and monitoring switch, axle includes connecting rod, and two swing rods of rotating connection in the both ends of connecting rod respectively around horizontal direction, and the end of swing rod away from connecting rod is provided with the wheel body, and axle has normal state and the off -the -ground state of two swing rods rotating to predetermined angle, monitoring switch sets up in connecting rod or equipment main part, and one monitoring switch is correspondingly seted up to one swing rod, and monitoring switch has the initial state of adapting normal state and the trigger state of identifying off -the -ground state, wherein, after axle switches to off -the -ground state, two monitoring switches switch from initial state to trigger state. The utility model provides technical scheme to guarantee the reliability of off -the -ground detection, and then guarantees the stable operation and use experience of mowing robot.

Description

Technical Field

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

[0002] For lawn mowing robots, they are usually equipped with a ground-lift detection device. The lawn mowing robot can retract the cutting disc in time to avoid the cutting disc from hitting hard objects and being damaged, or stop the cutting disc from being exposed, thus ensuring the safety of personnel.

[0003] In related technologies, lawnmower robots use Hall effect sensors to detect whether the wheels are off the ground. However, in complex and varied grassland environments such as uneven surfaces, slopes, and ditches, the wheels may experience various undulations, leading to misjudgments by the off-ground detection device. This affects the operation of the lawnmower and reduces the mowing effect. Utility Model Content

[0004] The main purpose of this invention is to propose a lawnmower robot that aims to ensure the reliability of off-ground detection, thereby ensuring the stable operation and user experience of the lawnmower robot.

[0005] To achieve the above objectives, the lawnmower robot proposed in this utility model includes:

[0006] Equipment body;

[0007] An axle includes a connecting rod and two swing arms rotatably connected to both ends of the connecting rod in a horizontal direction. Wheels are mounted on the ends of the swing arms away from the connecting rod. The axle has a normal state and a state where the two swing arms are rotated to a predetermined angle off the ground.

[0008] A monitoring switch is provided on the connecting rod or the main body of the device. One monitoring switch is provided for each swing rod. The monitoring switch has an initial state that adapts to the normal state and a trigger state that identifies the off-ground state.

[0009] Specifically, after the axle switches to the off-ground state, the two monitoring switches switch from the initial state to the triggered state.

[0010] In one embodiment, the monitoring switch includes a movable triggering part. After the swing arm rotates to the predetermined angle, the swing arm pushes against the triggering part until the monitoring switch switches to the triggering state.

[0011] In one embodiment, the monitoring switch is disposed on the connecting rod and adjacent to the corresponding swing rod, and at least a portion of the trigger portion protrudes outside the connecting rod.

[0012] In one embodiment, the trigger part is slidably disposed on the connecting rod along the vertical direction, and the end of the swing rod is provided with a pressing protrusion, which is located on the lower side of the connecting rod and abuts against the lower end of the trigger part.

[0013] In one embodiment, the end of the connecting rod is provided with a connecting groove, the swing rod is rotatably connected to the connecting groove, and the monitoring switch and the pressing protrusion are located on the side of the connecting groove away from the corresponding wheel body.

[0014] In one embodiment, the connecting groove extends through the lower side of the connecting rod, and a limiting protrusion is provided at the end of the swing rod. The limiting protrusion is located at the lower part of the swing rod. In the off-ground state, the limiting protrusion abuts against the lower edge of the connecting groove, and the pressing protrusion protrudes from the limiting protrusion in a direction away from the corresponding wheel body.

[0015] In one embodiment, the connecting rod is provided with an installation channel, the monitoring switch further includes an identification component, the triggering part includes a push pin and a stop block disposed at one end of the push pin, the push pin is movably disposed in the installation channel, and the end of the push pin away from the stop block protrudes outside the installation channel. In the triggered state, the swing rod pushes the push pin until the stop block triggers the identification component.

[0016] In one embodiment, the monitoring switch further includes a protective housing, the mounting channel extends through the connecting rod, the protective housing covers the end of the mounting channel away from the swing rod, the identification component is disposed inside the protective housing, the push pin slides through the mounting channel, and the stop block is located inside the protective housing, the size of the stop block being larger than the diameter of the mounting channel.

[0017] In one embodiment, the monitoring switch further includes an elastic element, a limiting outer ring protruding from the end of the push pin away from the stop block, a limiting inner ring protruding from the end of the mounting channel away from the swing rod, the elastic element being sleeved on the outer periphery of the push pin and clamped between the limiting inner ring and the limiting outer ring along the axial direction of the mounting channel.

[0018] In one embodiment, the identification component is configured as a photoelectric switch.

[0019] In one embodiment, the axle is configured as a front axle and / or a rear axle.

[0020] In one embodiment, the two monitoring switches are located on adjacent or opposite sides of the rotation axes of the two swing arms.

[0021] The technical solution of this utility model involves rotating the swing arms relative to the connecting rod. When the axle is in its normal state, the two swing arms maintain a relatively stable position, with the wheels in contact with the ground and driving the lawnmower robot. When encountering uneven grass causing the wheels to swing downwards, or when the main body of the device is lifted, the two swing arms will rotate downwards around the connecting rod to reach a predetermined angle, thus switching the axle to an off-ground state. Correspondingly, when the axle is in its normal state, the monitoring switches are in their initial state; when the axle switches to an off-ground state due to the wheels swinging downwards or the main body of the device being lifted, both monitoring switches switch from the initial state to the triggered state. In this way, the state changes of the two monitoring switches can accurately reflect whether the axle is off the ground, thereby determining whether the lawnmower robot's wheels have swung downwards to a predetermined extent, causing the cutting disc to touch an obstacle, or whether the main body of the device has been lifted, exposing the cutting disc. This reduces the risk of misjudgment of ground clearance caused by the swaying of one side of the wheels. Once both monitoring switches of this solution are switched to the triggered state, the risk of ground clearance can be identified in a timely manner, and the cutting disc can be retracted or stopped accordingly, thereby avoiding damage to the cutting disc or causing personal injury, ensuring the reliability of ground clearance detection, and thus ensuring the stable operation of the lawnmower robot and the user experience. Attached Figure Description

[0022] 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.

[0023] Figure 1 A schematic diagram of the structure of an embodiment of the lawnmower robot provided by this utility model;

[0024] Figure 2 for Figure 1 Cross-sectional view of the CRRC bridge and wheel body;

[0025] Figure 3 for Figure 2 A magnified view of a section at point A in the middle;

[0026] Figure 4 for Figure 1 A partial sectional view of the CRRC axle and wheel assembly in one state;

[0027] Figure 5 for Figure 4 A magnified view of a section at point B in the middle;

[0028] Figure 6 for Figure 4 A cross-sectional view of the CRRC axle and wheel body from another perspective;

[0029] Figure 7 for Figure 1 A partial sectional view of the CRRC axle and wheel assembly in another configuration;

[0030] Figure 8 for Figure 7 A magnified view of a section at point C;

[0031] Figure 9 for Figure 4 A cross-sectional view of the CRRC axle and wheel body from another perspective;

[0032] Figure 10 for Figure 1 Schematic diagram of the monitoring switch in the middle;

[0033] Figure 11 for Figure 1 An explosion diagram of the monitoring switch.

[0034] Explanation of icon numbers:

[0035] 100. Equipment body; 200. Axle; 210. Connecting rod; 211. Connecting groove; 212. Installation channel; 213. Limiting inner ring; 220. Swing rod; 221. Pressing protrusion; 222. Limiting protrusion;

[0036] 300. Monitoring switch; 310. Trigger; 311. Push pin; 312. Stop; 313. Limiting outer ring; 320. Identification component; 330. Elastic element; 340. Protective shell; 400. Wheel.

[0037] 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

[0038] 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.

[0039] 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.

[0040] 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.

[0041] This utility model proposes a lawn mowing robot.

[0042] Please refer to Figures 1 to 3 In one embodiment of this utility model, the lawnmower robot includes:

[0043] Equipment body 100;

[0044] Axle 200 includes a connecting rod 210 and two swing rods 220 rotatably connected to both ends of the connecting rod 210 about a horizontal direction. Wheels 400 are provided at the ends of the swing rods 220 away from the connecting rod 210. The axle 200 has a normal state and a state where the two swing rods 220 are rotated to a predetermined angle and off the ground.

[0045] A monitoring switch 300 is installed on the connecting rod 210 or the main body of the equipment 100. A corresponding monitoring switch 300 is installed on a swing rod 220. The monitoring switch 300 has an initial state that adapts to the normal state and a trigger state that identifies the off-ground state.

[0046] When the axle 200 switches to the off-ground state, the two monitoring switches 300 switch from the initial state to the triggered state.

[0047] The technical solution of this utility model involves rotating the swing arm 220 relative to the connecting rod 210. When the axle 200 is in its normal state, the two swing arms 220 maintain a relatively stable position, and the wheels 400 contact the ground, driving the lawnmower robot to move. When encountering a depression in the grass causing the two wheels 400 to swing downwards, or when the main body 100 of the device is lifted, the two swing arms 220 will rotate downwards around the connecting rod 210 to reach a predetermined angle, thereby switching the axle 200 to the off-ground state. Correspondingly, when the axle 200 is in its normal state, the monitoring switch 300 is in the initial state; when the axle 200 switches to the off-ground state due to the downward swing of the wheels 400 or the lifting of the main body 100 of the device, both monitoring switches 300 switch from the initial state to the triggered state. In this way, the state changes of the two monitoring switches 300 can accurately reflect whether the axle 200 is off the ground, thereby determining whether the lawnmower robot's wheel 400 swings downward to a predetermined extent, causing the cutting disc to touch an obstacle, or whether the main body of the device 100 is lifted, causing the cutting disc to be exposed. This reduces the risk of misjudgment of ground clearance caused by the undulating swing of one side of the wheel 400. Once both monitoring switches 300 of this solution are switched to the triggered state, they can promptly identify the current risk of ground clearance and control the cutting disc to retract or stop operation accordingly, thereby avoiding damage to the cutting disc from collision or causing personal injury, ensuring the reliability of ground clearance detection, and thus ensuring the stable operation of the lawnmower robot and the user experience.

[0048] It should be noted that the starting point for the predetermined angle of rotation of the swing arm 220 is the stable connection state of the swing arm 220 and the connecting rod 210 under normal conditions, that is, the connection state of the swing arm 220 and the connecting rod 210 when the lawnmower robot is walking on flat ground; the endpoint after the swing arm 220 rotates to the predetermined angle is the connection state with the connecting rod 210 when the corresponding monitoring switch 300 switches from the initial state to the trigger state. At this point, it can correspond to the extreme position of the downward rotation of the swing arm 220, or it can be a position before that extreme position. The predetermined angles corresponding to the two swing arms 220 can be the same, or they can be adaptively adjusted according to the length relationship of the two swing arms 220, the positional relationship of the two monitoring switches 300, etc., so that the predetermined angles corresponding to the two swing arms 220 differ. Furthermore, the ability of the swing arm 220 to rotate at least horizontally relative to the connecting rod 210 is understood as having at least a horizontal rotation component on the rotation axis at the rotational connection point of the swing arm 220 and the connecting rod 210. Meanwhile, the horizontal direction can be understood as follows: the axis of rotation of the swing rod 220 relative to the connecting rod 210 extends horizontally or approximately horizontally.

[0049] It is understandable that, in addition, the main body 100 of the equipment is equipped with a cutting disc, and the wheel 400 can be a non-powered wheel, such as when the axle 200 is configured as a front axle; or, the wheel 400 can be a powered wheel, such as when the axle 200 is configured as a rear axle. Of course, when the axle 200 is configured as a front axle, the wheel 400 can also be a powered wheel, and when the axle 200 is configured as a rear axle, the wheel 400 can also be a non-powered wheel. In the case where the wheel 400 is a powered wheel, a drive component is provided on the wheel 400. The drive component is connected to the swing arm 220, and the drive component drives the wheel 400 to rotate freely. The drive component on the wheel 400 is electrically connected to the main body 100 of the equipment via a wire, so that the lawnmower robot can control the rotation of the wheel 400 as a powered wheel. Correspondingly, the wire connecting the monitoring switch 300 is also connected to the controller inside the main body 100 of the equipment. Furthermore, the descriptions of directions such as up and down in this technical solution are based on the normal state of the lawnmower robot walking on flat ground.

[0050] In one embodiment, please refer to Figure 2 , Figure 4 and Figure 7 The monitoring switch 300 includes a movable trigger part 310. After the swing arm 220 rotates to a predetermined angle, the swing arm 220 pushes against the trigger part 310, causing the monitoring switch 300 to switch to the triggered state. It can be understood that the trigger part 310 is configured to respond to the movement of the swing arm 220, and is pushed by the swing arm 220 during the transition of the axle 200 from its normal state to its off-ground state. When the lawnmower robot travels on complex terrain (such as uneven ground, slopes, or ditches), the wheels 400 swing up and down with the terrain, causing the connected swing arm 220 to rotate around the connecting rod 210. When the swing arm 220 rotates to a predetermined angle due to the downward movement of the wheels 400 or the lifting of the main body 100, its corresponding part pushes against the trigger part 310 of the corresponding monitoring switch 300, causing the trigger part 310 to shift or rotate, thereby causing the monitoring switch 300 to switch from its initial state to the triggered state. Thus, the triggering mechanism of the monitoring switch 300 is directly related to the mechanical movement of the swing arm 220. This physical contact triggering method can more realistically and accurately reflect the actual state changes of the axle 200, avoiding misjudgments caused by brief bounces or slight lift of the wheel 400 off the ground. Of course, in other embodiments, a non-contact monitoring switch 300, such as a laser sensor, can also be used to identify when the swing arm 220 has rotated to a predetermined angle.

[0051] Furthermore, in this embodiment, please refer to Figure 3 , Figure 5 and Figure 8The monitoring switch 300 is disposed on the connecting rod 210 and adjacent to the corresponding swing rod 220, with at least a portion of the trigger part 310 protruding from the connecting rod 210. It can be understood that the proximity of the monitoring switch 300 and the swing rod 220, and the protrusion of the trigger part 310, facilitates effective linkage between the swing rod 220 and the trigger part 310. This ensures that during rotation, the swing rod 220 accurately pushes against the trigger part 310 when it reaches a predetermined angle, thereby causing the monitoring switch 300 to switch from its initial state to the triggered state. Simultaneously, this not only makes the axle 200 structurally compact but also ensures that the monitoring switch 300 responds quickly, accurately reflecting the mechanical displacement of the axle 200 due to terrain changes, thus improving the real-time performance and accuracy of the detection. Of course, in other embodiments, the monitoring switch 300 can also be set on the main body 100 of the device, with the trigger part 310 located near the swing arm 220, and the monitoring switch 300 configured to be triggered by power failure. In the normal state of the axle 200, the swing arm 220 pushes against the trigger part 310 until the trigger part 310 is recognized. At this time, the monitoring switch 300 is in the power-on state, i.e., the initial state. In the state of the axle 200 off the ground, the swing arm 220 rotates to a predetermined angle, and the trigger part 310 is disengaged and no longer recognized. At this time, the monitoring switch 300 is in the power-off state, i.e., the triggered state.

[0052] Furthermore, in this embodiment, please refer to Figure 3 , Figure 5 and Figure 8The trigger part 310 is slidably disposed vertically on the connecting rod 210. The end of the swing rod 220 has a protruding pressing protrusion 221, which is located below the connecting rod 210 and abuts against the lower end of the trigger part 310. It can be understood that the trigger part 310 is slidably disposed vertically within or on the connecting rod 210, allowing it to move vertically under external force. Correspondingly, the end of the swing rod 220 near the connecting rod 210 has a protruding pressing protrusion 221, which is located below the connecting rod 210. When the axle 200 switches from its normal state to its off-ground state, it abuts against the lower end of the trigger part 310, causing displacement by pushing the trigger part 310 upwards. During normal operation of the lawnmower robot, the wheel 400 is in contact with the ground, and the swing arm 220 is in a stable position. At this time, the pressing protrusion 221 and the trigger part 310 maintain a certain distance or slight contact, but not enough to trigger the monitoring switch 300. When encountering terrain undulations or obstacles that cause the wheel 400 to swing downwards, or when the main body 100 of the device is lifted, the swing arm 220 swings downwards around the connecting rod 210 and reaches a predetermined angle. At this time, the pressing protrusion 221 moves together with the swing arm 220 and pushes upwards against the lower end of the trigger part 310, causing the trigger part 310 to slide vertically, thereby driving the monitoring switch 300 to switch from the initial state to the triggered state. In this way, a precise and stable mechanical linkage between the swing arm 220 and the trigger part 310 is achieved, ensuring that it can accurately identify whether the wheel 400 is truly off the ground even in complex terrain environments, rather than misjudging due to brief vibrations or slight undulations. At the same time, since the trigger part 310 operates by sliding vertically, the structure is simple, the response is reliable, and the trigger sensitivity and trigger threshold are easy to adjust, adapting to the usage requirements under different terrain conditions. Of course, in other embodiments, the sliding direction of the trigger part 310 is also set horizontally, and a pushing step is provided at the end of the rotatable connection of the swing rod 220 to push the trigger part 310 to slide.

[0053] Regarding the connection method of the connecting rod 210 and the swing rod 220, in one embodiment, please refer to... Figures 7 to 9The connecting rod 210 has a connecting groove 211 at its end, and the swing rod 220 is rotatably connected to the connecting groove 211. The monitoring switch 300 and the pressing protrusion 221 are located on the side of the connecting groove 211 away from the corresponding wheel 400. It can be understood that by having a connecting groove 211 at the end of the connecting rod 210, and the swing rod 220 connected to this groove 211 via a pivot or other rotatable structure, the swing rod 220 can swing around a horizontal axis within the connecting groove 211, reducing the probability of the swing rod 220 swaying in the forward and backward direction of the lawnmower robot, thereby enabling the axle 200 to adapt to terrain undulations. Simultaneously, by placing the monitoring switch 300 and the pressing protrusion 221 within the connecting groove 211 and close to the side away from the wheel 400, this arrangement places the monitoring switch 300 in a relatively protected position, avoiding excessive exposure to the external environment. This effectively reduces the risk of debris such as grass clippings, mud, or rainwater entering the monitoring switch 300, improving its operational stability and service life. Furthermore, since the pressing protrusion 221 moves together with the swing arm 220 and cooperates with the trigger part 310, its placement inside the connecting groove 211 near the non-wheel body 400 side helps ensure that the swing arm 220 can accurately and stably push the trigger part 310 when it reaches a predetermined angle, thus improving the reliability of the detection action. Of course, in other embodiments, the swing arm 220 and the connecting rod 210 can also be connected in parallel in the front-rear direction of the lawnmower robot.

[0054] Specifically, in this embodiment, please refer to Figures 4 to 6The connecting groove 211 penetrates the lower side of the connecting rod 210. A limiting protrusion 222 protrudes from the end of the swing rod 220. The limiting protrusion 222 is located at the lower part of the swing rod 220. In the off-ground state, the limiting protrusion 222 abuts against the lower edge of the connecting groove 211. The pressing protrusion 221 protrudes from the limiting protrusion 222 in a direction away from the corresponding wheel body 400. It can be understood that the connecting groove 211 penetrates the lower side of the connecting rod 210 vertically, allowing the swing rod 220 to swing downwards with the terrain and achieve structural limiting engagement when a predetermined angle is reached. Correspondingly, the end of the swing rod 220 near the connecting rod 210 has a limiting protrusion 222 protruding at its lower position. This limiting protrusion 222 abuts against the lower edge of the connecting groove 211 when the axle 200 switches to the off-ground state, thereby limiting the angle at which the swing rod 220 continues to swing downwards, preventing excessive deflection that could cause structural damage or detection failure. The pressing protrusion 221 extends from the limiting protrusion 222 in a direction away from the corresponding wheel 400, so that it can accurately align with and push the lower end of the trigger part 310 when the swing rod 220 swings, thereby causing the monitoring switch 300 to switch from the initial state to the triggered state. Since the pressing protrusion 221 is directly formed on the limiting protrusion 222, its movement path and amplitude are consistent with the rotation path and amplitude of the swing rod 220, thus ensuring the stability and repeatability of the triggering action while achieving mechanical limiting. Of course, in other embodiments, the limiting protrusion 222 and the pressing protrusion 221 can be independently provided on the swing rod 220 to reduce the interference between the triggering of the monitoring switch 300 and the movement of the swing rod 220.

[0055] In one embodiment, please refer to Figure 5 , Figure 8 , Figure 10 and Figure 11The connecting rod 210 is provided with a mounting channel 212. The monitoring switch 300 also includes an identification component 320. The trigger part 310 includes a push pin 311 and a stop 312 disposed at one end of the push pin 311. The push pin 311 is movably disposed in the mounting channel 212, and the end of the push pin 311 away from the stop 312 protrudes out of the mounting channel 212. In the triggered state, the swing rod 220 pushes the push pin 311 to the stop 312 to trigger the identification component 320. It can be understood that the connecting rod 210 is provided with a mounting channel 212 extending along its length or vertically to accommodate and guide the movement of the trigger part 310 of the monitoring switch 300. The push pin 311 is slidably mounted in the mounting channel 212, and its end away from the stop 312 protrudes out of the mounting channel 212 to receive external forces. In the normal operation state of the lawnmower robot, the wheel 400 is in contact with the ground, the axle 200 is in the normal state, the pusher 311 is not subjected to external force, and maintains the initial position of the corresponding monitoring switch 300. The stop block 312 is outside the sensing area of ​​the recognition component 320, and the monitoring switch 300 is in the initial state. When encountering terrain undulations or obstacles that cause the wheel 400 to swing down, or when the main body of the device 100 is lifted, the swing arm 220 swings down around the connecting rod 210 to a predetermined angle. The pressing protrusion 221 on it pushes the exposed end of the pusher 311 to slide upward, causing the stop block 312 to rise synchronously and enter the sensing range of the recognition component 320, thereby prompting the monitoring switch 300 to switch to the trigger state. Furthermore, the combination of the push pin 311 and the stop block 312 in the mounting channel 212 of the connecting rod 210 results in a compact and rational overall structure. This not only improves space utilization but also enhances the protective performance of the monitoring switch 300, reducing the impact of external environmental factors (such as rainwater, mud, and grass clippings) on the components of the monitoring switch 300 and extending its service life. Of course, in other embodiments, the identification component 320 and the trigger part 310 can also be disposed on the outside of the connecting rod 210.

[0056] For the portion of the monitoring switch 300 exposed outside the mounting channel 212, in one embodiment, please refer to... Figure 5 , Figure 8 , Figure 10 and Figure 11The monitoring switch 300 also includes a protective housing 340. A mounting channel 212 extends through the connecting rod 210. The protective housing 340 covers the end of the mounting channel 212 away from the swing rod 220. An identification component 320 is disposed inside the protective housing 340. A push pin 311 slides through the mounting channel 212. A stop block 312 is located inside the protective housing 340, and the size of the stop block 312 is larger than the diameter of the mounting channel 212. It can be understood that the connecting rod 210 has a mounting channel 212 extending through its length or vertically to accommodate and guide the movement path of the trigger part 310. The protective housing 340 covers the end of the mounting channel 212 away from the swing rod 220 and is fixedly connected to the connecting rod 210, forming a relatively enclosed accommodating space. The identification component 320 is disposed inside the protective housing 340, for example, fixed to the bottom wall or side wall of the protective housing 340, and is used to detect whether the stop 312 enters the sensing area, thereby determining whether the axle 200 is in a state of being off the ground; one end of the push pin 311 extends out of the mounting channel 212 to receive the pushing action of the swing rod 220, and the other end extends into the interior of the protective housing 340 and is connected to the stop 312. The outer dimensions of the stop 312 are larger than the inner diameter of the mounting channel 212, so that it cannot be dislodged from the protective housing 340 into the mounting channel 212, thereby realizing the limiting function of the trigger part 310 and ensuring that the trigger part 310 is always kept within the range of motion defined by the mounting channel 212 and the protective housing 340. Furthermore, the protective shell 340 effectively isolates the external environment (such as rainwater, mud, grass clippings, etc.) from the influence of the identification component 320 and the stop 312, improving the operational stability and service life of the monitoring switch 300. Simultaneously, since the stop 312 is confined within the protective shell 340, the risk of detachment due to vibration or impact is avoided, enhancing the safety and reliability of the monitoring switch 300. Of course, in other embodiments, both the identification component 320 and the stop 312 are located within the mounting channel 212. The mounting channel 212 is configured as a blind hole on the connecting rod 210, and the diameter of the mounting channel 212 corresponding to the identification component 320 and the stop 312 is relatively large to prevent the identification component 320 and the stop 312 from detaching from the mounting channel 212.

[0057] In one embodiment, please refer to Figure 5 , Figure 8 , Figure 10 and Figure 11The monitoring switch 300 also includes an elastic element 330. A limiting outer ring 313 protrudes from the end of the push pin 311 away from the stop block 312, and a limiting inner ring 213 protrudes from the end of the mounting channel 212 away from the swing rod 220. The elastic element 330 is sleeved on the outer periphery of the push pin 311 and clamped between the limiting inner ring 213 and the limiting outer ring 313 along the axial direction of the mounting channel 212. It can be understood that the elastic element 330 provides a reset function for the trigger part 310, and the limiting outer ring 313 and the limiting inner ring 213 provide stable elastic support for the elastic element 330. When the lawnmower robot is in its normal operating state, the wheel 400 is in contact with the ground, the swing arm 220 does not apply force to the pusher 311, and the elastic element 330 is in a naturally compressed state, keeping the pusher 311 in the initial position corresponding to the initial state, so that the stop 312 is outside the sensing area of ​​the recognition component 320, and the monitoring switch 300 remains in the initial state; when the wheel 400 swings downward due to terrain undulations or obstacles, or when the main body 100 of the device is lifted, the swing arm 220 swings downward and pushes the pusher 311 to slide upward, the elastic element 330 is further compressed, the stop 312 rises and enters the sensing range of the recognition component 320, causing the monitoring switch 300 to switch to the triggered state; when the axle 200 returns to the normal state, the elastic element 330 releases the compression force, pushing the pusher 311 and the stop 312 downward to reset to the initial position, so that the monitoring switch 300 returns to the initial state. Thus, the elastic element 330 provides a reliable reset capability for the trigger part 310, ensuring that the monitoring switch 300 can automatically return to its initial state after being triggered, avoiding the need for manual intervention or additional drive mechanisms. Secondly, the cooperation between the inner limiting ring 213 and the outer limiting ring 313 not only provides a stable support point for the elastic element 330, but also effectively prevents the push pin 311 from disengaging from the mounting channel 212, improving the safety and operational reliability of the overall structure. Of course, a compression spring can also be provided inside the protective housing 340. After the stop block 312 moves to the recognition position of the recognition component 320, the compression spring is compressed. After the axle 200 returns to its normal state, the compression spring pushes the stop block 312 away from the recognition position of the recognition component 320, until the monitoring switch 300 switches back to its initial state.

[0058] In one embodiment, please refer to Figure 5 , Figure 8 , Figure 10 and Figure 11The identification component 320 is configured as a photoelectric switch, specifically including a transmitter and a receiver, used to detect whether the stop 312 enters the sensing area, thereby determining whether the monitoring switch 300 is triggered. When the lawnmower robot is in normal operation, the wheels 400 are in contact with the ground, the swing arm 220 does not push the pusher 311, and the stop 312 is outside the optical path of the photoelectric switch. At this time, the photoelectric switch outputs an initial signal. When the wheels 400 swing downwards due to terrain undulations or obstacles, or when the main body 100 of the equipment is lifted, the swing arm 220 pushes the pusher 311 upwards, causing the stop 312 to enter the optical path of the photoelectric switch, blocking the beam, causing the photoelectric switch to output a trigger signal, indicating that the axle 200 has switched to the off-ground state. The control system uses this signal to control the cutting disc to retract or stop working, to ensure equipment safety and personnel safety. In this way, by utilizing the characteristics of photoelectric switches such as fast response speed, high detection accuracy, no mechanical wear, and the characteristic that photoelectric switches are not easily affected by magnetic field interference in complex outdoor environments, the reliability of the monitoring switch 300 in detecting the lawnmower robot's off-ground status is ensured. Of course, in other embodiments, the monitoring switch 300 may also be configured as a power micro switch.

[0059] Regarding the configuration relationship of the two monitoring switches 300, in one embodiment, please refer to... Figure 1 , Figure 2 and Figure 7 The two monitoring switches 300 are located on adjacent or opposite sides of the rotation axes of the two swing arms 220. It should be noted that, using the rotation axes of the two swing arms 220 and the connecting rod 210 as the dividing line, adjacent sides mean that the two monitoring switches 300 are arranged close to each other, allowing for a more compact space in the axle 200; opposite sides mean that the two monitoring switches 300 are arranged facing opposite directions, which helps improve the independence and non-interference of monitoring actions. Specifically, when the two monitoring switches 300 are located on adjacent sides of the rotation axes of the two swing arms 220, the monitoring switches 300 can be configured as normally open microswitches; when the two monitoring switches 300 are located on opposite sides of the rotation axes of the two swing arms 220, the monitoring switches 300 can be configured as normally closed microswitches. Regardless of whether the two monitoring switches 300 are located on adjacent or opposite sides of the rotation axis of the two swing arms 220, the switching of the monitoring switches 300 between the initial state and the triggered state can be adapted to the rotation position of the swing arms 220, thereby improving the effectiveness and reliability of the monitoring switches 300 in monitoring the lawnmower robot's off-ground status.

[0060] 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 lawnmower robot, characterized in that, include: Equipment body; The axle includes a connecting rod and two swing rods rotatably connected to both ends of the connecting rod in a horizontal direction. The ends of the swing rods away from the connecting rod are provided with wheels. The axle has a normal state and a state in which the two swing rods are rotated to a predetermined angle off the ground. as well as A monitoring switch is provided on the connecting rod or the main body of the device. One monitoring switch is provided for each swing rod. The monitoring switch has an initial state that adapts to the normal state and a trigger state that identifies the off-ground state. Specifically, after the axle switches to the off-ground state, the two monitoring switches switch from the initial state to the triggered state.

2. The lawnmower robot as described in claim 1, characterized in that, The monitoring switch includes a movable trigger part. After the swing arm rotates to the predetermined angle, the swing arm pushes against the trigger part until the monitoring switch switches to the trigger state.

3. The lawnmower robot as described in claim 2, characterized in that, The monitoring switch is disposed on the connecting rod and adjacent to the corresponding swing rod, and at least a portion of the trigger portion protrudes from the connecting rod.

4. The lawnmower robot as described in claim 3, characterized in that, The trigger part is slidably disposed on the connecting rod along the vertical direction, and the end of the swing rod is provided with a pressing protrusion. The pressing protrusion is located on the lower side of the connecting rod and abuts against the lower end of the trigger part.

5. The lawnmower robot as described in claim 4, characterized in that, The end of the connecting rod is provided with a connecting groove, the swing rod is rotatably connected to the connecting groove, and the monitoring switch and the pressing protrusion are located on the side of the connecting groove away from the corresponding wheel body.

6. The lawnmower robot as described in claim 5, characterized in that, The connecting groove passes through the lower side of the connecting rod, and the end of the swing rod is provided with a limiting protrusion. The limiting protrusion is located at the lower part of the swing rod. In the off-ground state, the limiting protrusion abuts against the lower edge of the connecting groove, and the pressing protrusion protrudes from the limiting protrusion in a direction away from the corresponding wheel body.

7. The lawnmower robot as described in claim 3, characterized in that, The connecting rod is provided with an installation channel, the monitoring switch further includes an identification component, the trigger part includes a push pin and a stop block disposed at one end of the push pin, the push pin is movably disposed in the installation channel, and the end of the push pin away from the stop block protrudes out of the installation channel; In the triggered state, the swing lever pushes against the push pin until the stop block triggers the recognition component.

8. The lawnmower robot as described in claim 7, characterized in that, The monitoring switch also includes a protective shell, the mounting channel is provided through the connecting rod, the protective shell covers the end of the mounting channel away from the swing rod, the identification component is provided inside the protective shell, the push pin slides through the mounting channel, the stop block is located inside the protective shell, and the size of the stop block is larger than the diameter of the mounting channel.

9. The lawnmower robot as described in claim 7, characterized in that, The monitoring switch also includes an elastic element. The end of the push pin away from the stop block has a protruding limiting outer ring, and the end of the mounting channel away from the swing rod has a protruding limiting inner ring. The elastic element is sleeved on the outer periphery of the push pin and is clamped between the limiting inner ring and the limiting outer ring along the axial direction of the mounting channel. And / or, the identification component is configured as a photoelectric switch.

10. The lawnmower robot as described in any one of claims 1 to 9, characterized in that, The axle is configured as a front axle and / or a rear axle; And / or, the two monitoring switches are located on adjacent or opposite sides of the rotation axes of the two swing arms.

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