Lawn mowing robot

Abstract

The utility model discloses a mowing robot relates to robot technical field, wherein, mowing robot includes equipment main body, axle and wheel body, axle rotation is connected in equipment main body, wheel body is connected in axle's end, wheel body includes a plurality of in axle's extension direction distribution's wheel hub, and the periphery distribution of wheel hub has a plurality of auxiliary wheel, and the periphery rotation of auxiliary wheel is around wheel hub, and the diameter of at least one wheel hub is greater than the diameter of other wheel hub. The utility model provides technical scheme to improve the ability of mowing robot and utilize the steering mode and get out of trouble.

Description

Technical Field

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

[0002] During the use of lawn mowing robots, they often face complex and varied terrain environments, such as uneven grass and soft soil areas. Such terrain can easily cause problems such as jamming, slipping, or even tipping over, affecting the robot's work efficiency and operational stability.

[0003] In related technologies, lawnmower robots typically employ two-wheel differential steering or omnidirectional wheel structures for movement and steering control. However, when facing complex terrain, these wheel steering structures often suffer from insufficient ability to escape obstacles, especially when one wheel is stuck in soft ground or obstructed by obstacles. In such cases, the lawnmower robot struggles to extricate itself effectively using its own structure, leading to interruptions in the mowing task and requiring manual intervention, thus impacting the user experience. Utility Model Content

[0004] The main purpose of this invention is to propose a lawnmower robot that aims to improve the lawnmower robot's ability to escape obstacles by using steering.

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

[0006] Equipment body;

[0007] Axle, the axle being rotatably connected to the main body of the equipment; and

[0008] A wheel body is connected to the end of the axle. The wheel body includes a plurality of hubs distributed in the extension direction of the axle. A plurality of auxiliary wheels are distributed around the outer periphery of the hubs. The auxiliary wheels rotate around the circumference of the hubs. The diameter of at least one hub is larger than the diameter of the other hubs.

[0009] In one embodiment, the plurality of wheel hubs includes a first wheel hub and second wheel hubs distributed on opposite sides of the first wheel hub, wherein the diameter of the first wheel hub is larger than the diameter of the second wheel hub.

[0010] In one embodiment, the auxiliary wheel includes a first auxiliary wheel and a second auxiliary wheel, with a plurality of first auxiliary wheels distributed on the outer periphery of the first hub and the second auxiliary wheels distributed on the outer periphery of the second hub, wherein the diameter of the first auxiliary wheel is larger than the diameter of the second auxiliary wheel.

[0011] In one embodiment, the auxiliary wheels of two adjacent wheel hubs are staggered in the direction of extension of the axle.

[0012] In one embodiment, the axle is configured as a front axle and / or a rear axle.

[0013] In one embodiment, the hub includes a support base and a plurality of mounting shafts, the plurality of mounting shafts and the plurality of auxiliary wheels being alternately distributed along the outer periphery of the support base, and the two ends of one of the auxiliary wheels being rotatably connected to the opposite ends of two adjacent mounting shafts.

[0014] In one embodiment, the auxiliary wheel includes an inner wheel and an outer wheel, the outer wheel is sleeved on the inner wheel, the inner wheel is rotatably connected to the hub, and the materials of the outer wheel and the inner wheel are configured according to a preset material.

[0015] In one embodiment, the wheel body further includes a drive motor, the hub has a mounting hole at its center, the mounting hole has multiple limiting grooves spaced apart around its periphery, the drive motor is configured as an external rotor motor, the drive motor has multiple limiting ribs spaced apart around its outer periphery, and the limiting ribs are engaged with the limiting grooves.

[0016] In one embodiment, the axle includes a connecting rod and at least two swing rods, the connecting rod being rotatably connected to the main body of the equipment about a horizontal direction, the swing rods being rotatably connected to the connecting rod about a horizontal direction, and the wheel being connected to the end of the swing rod away from the connecting rod.

[0017] In one embodiment, the end of the connecting rod is provided with a connecting groove, and the end of the swing rod is rotatably connected to the connecting groove, wherein the connecting groove extends vertically through at least one side of the connecting rod.

[0018] In one embodiment, the groove of the connecting groove includes a first groove portion opening outward toward the end of the connecting rod and a second groove portion opening downward through the connecting rod, wherein the first groove portion and the second groove portion are connected.

[0019] The end of the swing rod is provided with a limiting protrusion, which is located at the lower part of the swing rod and can abut against the bottom wall of the connecting groove at the position of the second groove opening.

[0020] The technical solution of this utility model improves the obstacle-crossing ability and driving stability of the lawnmower robot by rotatably connecting the axle and the main body of the equipment. This allows the wheels on the axle to adaptively swing according to the ground conditions during operation. Simultaneously, multiple wheel hubs are distributed along the extension direction of the axle, increasing the contact area between the wheels and the ground and enhancing the support stability of the lawnmower robot. Multiple auxiliary wheels are arranged around the outer periphery of each wheel hub, allowing the wheels of the lawnmower robot to roll into contact with the grass during turning. This not only reduces the frictional resistance when turning but also enhances its flexibility and adaptability in complex terrain. Furthermore, at least one wheel hub with a larger diameter allows the smaller wheel hub to cross obstacles first during turning, while simultaneously driving the larger wheel hub to move in coordination, forming a combined guiding and supporting walking and turning capability. Combined with the rotation of the axle relative to the main body of the equipment and the circumferential rotation of the auxiliary wheels around the wheel hubs, this improves the lawnmower robot's ability to escape obstacles by turning. Attached Figure Description

[0021] 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.

[0022] Figure 1 A schematic diagram of the structure of an embodiment of the lawnmower robot provided by this utility model;

[0023] Figure 2 for Figure 1 Schematic diagram of the middle wheel body;

[0024] Figure 3 for Figure 1 Another structural diagram of the central wheel body;

[0025] Figure 4 for Figure 1 Explosion diagram of the middle wheel body;

[0026] Figure 5 for Figure 1 A schematic diagram of the structure of the first wheel hub and the first auxiliary wheel;

[0027] Figure 6 for Figure 5 An exploded view of the first wheel hub and the first auxiliary wheel;

[0028] Figure 7 for Figure 5An exploded view of the first wheel hub and the first auxiliary wheel from another perspective;

[0029] Figure 8 for Figure 1 An exploded view of the second wheel hub and the second auxiliary wheel;

[0030] Figure 9 for Figure 8 An exploded view of the second wheel hub and the second auxiliary wheel from another perspective;

[0031] Figure 10 for Figure 1 Schematic diagram of the middle connecting rod;

[0032] Figure 11 for Figure 1 A schematic diagram of the explosion of the swing rod.

[0033] Explanation of icon numbers:

[0034] 100. Main body of the equipment;

[0035] 200. Axle; 210. Connecting rod; 211. Connecting groove; 212. First groove opening; 213. Second groove opening; 214. Limiting wall; 220. Swing rod; 221. Limiting protrusion; 270. Elastic tie rod;

[0036] 300, Wheel body; 310, Drive motor; 311, Limiting rib; 320, Wheel hub; 321, First wheel hub; 322, Second wheel hub; 323, Support base; 324, Mounting shaft; 325, Mounting hole; 326, Limiting groove; 330, Auxiliary wheel; 331, First auxiliary wheel; 332, Second auxiliary wheel; 333, Outer wheel; 334, Inner 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, rotatably connected to equipment body 100; and

[0045] The wheel body 300 is connected to the end of the axle 200. The wheel body 300 includes a plurality of wheel hubs 320 distributed in the extension direction of the axle 200. A plurality of auxiliary wheels 330 are distributed on the outer periphery of the wheel hubs 320. The auxiliary wheels 330 rotate around the circumference of the wheel hubs 320. The diameter of at least one wheel hub 320 is larger than the diameter of the other wheel hubs 320.

[0046] The technical solution of this utility model achieves a rotatable connection between the axle 200 and the main body 100, allowing the wheels 300 on the axle 200 to adaptively swing according to ground conditions during operation, thereby improving the obstacle-crossing ability and driving stability of the lawnmower robot. Simultaneously, multiple wheel hubs 320 are distributed along the extension direction of the axle 200, increasing the contact area between the wheels 300 and the ground, enhancing the support stability for the lawnmower robot. Each wheel hub 320 has multiple auxiliary wheels 330 on its outer periphery, which rotate freely around the circumference of the hub 320, enabling the wheels 300 of the lawnmower robot to roll into contact with the grass during turning. This not only reduces the frictional resistance when the lawnmower robot turns but also enhances its flexibility and adaptability in complex terrain. Furthermore, at least one larger diameter hub 320 allows the smaller hub 320 to pass over obstacles first when turning during the lawnmower robot's movement, while simultaneously driving the larger hub 320 to move in coordination, forming a combined walking and turning capability of guidance and support. Combined with the rotation of the axle 200 relative to the main body 100 and the circumferential rotation of the auxiliary wheel 330 around the hub 320, this enhances the lawnmower robot's ability to escape obstacles by turning during its movement.

[0047] It should be noted that the rotatable connection of the axle 200 to the main body 100 of the equipment is understood to mean that the rotation axis of the axle 200 relative to the main body 100 of the equipment has a component extending horizontally or approximately horizontally. Furthermore, the descriptions of "up" and "down" in this technical solution are based on the conventional state of the lawnmower robot walking on flat ground. Additionally, the main body 100 is equipped with a cutting disc, and the wheel 300 can be a non-powered wheel, such as when the axle 200 is configured as the front axle; or, the wheel 300 can be a powered wheel, such as when the axle 200 is configured as the rear axle. Of course, when the axle 200 is configured as the front axle, the wheel 300 can also be a powered wheel, and when the axle 200 is configured as the rear axle, the wheel 300 can also be a non-powered wheel. In the case where the wheel 300 is a powered wheel, a drive motor 310 is installed on the wheel 300. The drive motor 310 is connected to the axle 200, and drives the wheel hub 320 to rotate freely. The drive motor 310 on the wheel 300 is electrically connected to the main body 100 of the device via wires, so that the lawnmower robot can control the rotation of the wheel 300, which serves as the powered wheel. In addition, the number of auxiliary wheels 330 on the wheel hub 320 is determined by the diameter of the wheel hub 320, but at least two auxiliary wheels 330 should be distributed on the wheel hub 320.

[0048] In one embodiment, please refer to Figures 2 to 5The multiple hubs 320 include a first hub 321 and second hubs 322 distributed on opposite sides of the first hub 321. The diameter of the first hub 321 is larger than the diameter of the second hubs 322. It can be understood that by placing the larger first hub 321 in the middle of the wheel body 300 and arranging smaller second hubs 322 on both sides, the entire wheel body 300 maintains overall compactness while having a more reasonable mechanical distribution. When the lawnmower robot travels to an obstacle or uneven terrain, the axle 200 rotates relative to the main body 100, creating a height difference between the two wheels 300 of the axle 200. As the lawnmower robot continues to travel, for the wheel 300 whose position and height have changed, the second hub 322 located on the side can contact and cross the obstacle first, playing a guiding and supporting role, reducing the risk of the lawnmower robot getting stuck due to local obstruction. Meanwhile, because the first hub 321 has a larger diameter, its linear velocity is higher than that of the second hub 322 at the same rotational speed. Therefore, during the robot's turning process, the first hub 321 can provide greater driving torque and higher obstacle-crossing ability, which helps to drive the smaller hubs 320 on both sides to work together to get out of trouble. Of course, in other embodiments, the diameter of the hub 320 located on the side can also be larger than the diameter of the hub 320 located in the middle.

[0049] Furthermore, in this embodiment, please refer to Figures 2 to 4 The auxiliary wheel 330 includes a first auxiliary wheel 331 and a second auxiliary wheel 332. Multiple first auxiliary wheels 331 are distributed around the outer periphery of the first hub 321, and the second auxiliary wheels 332 are distributed around the outer periphery of the second hub 322. The diameter of the first auxiliary wheel 331 is larger than the diameter of the second auxiliary wheel 332. It can be understood that the wheel body 300 in this embodiment forms a multi-layered, differentiated rolling unit. Because the diameter of the first hub 321 is larger than that of the second hub 322, and the first auxiliary wheels 331 on it have even larger diameters, the rolling contact surface of the first hub 321 and its periphery is generally lower than that of the second hub 322. This allows the second hub 322 and its second auxiliary wheels 332 to preferentially contact the ground or obstacles during the robot's movement. When the lawnmower robot uses steering to escape obstacles, the second hub 322 and the second auxiliary wheels 332 guide it through obstacles, improving the lawnmower robot's ability to overcome difficulties. Furthermore, auxiliary wheels 330 of different sizes are arranged circumferentially around their respective hubs 320, forming a composite walking structure with multi-point contact and free rolling in multiple directions. During turning or getting out of trouble, the contact points and rolling directions of each auxiliary wheel 330 can be automatically adjusted according to the force state, working together to disperse pressure and reduce local stress concentration, significantly improving the adaptability and getting-out-of-troubles efficiency of the lawnmower robot in complex terrain. Of course, in other embodiments, the diameter of the first auxiliary wheel 331 on the first hub 321 may be less than or equal to the diameter of the second auxiliary wheel 332 on the second hub 322.

[0050] Regarding the distribution of auxiliary wheels 330 on different wheel hubs 320, in one embodiment, please refer to... Figures 2 to 4 In the extension direction of the axle 200, the auxiliary wheels 330 of two adjacent hubs 320 are staggered. This means that, in the axial direction of the wheel body 300, the auxiliary wheels 330 on one hub 320 are not aligned with the auxiliary wheels 330 on the adjacent hub 320 in the circumferential direction, but are offset and staggered. This allows the wheel body 300 to form a more continuous and uniform contact surface with the ground during movement, improving not only the grip of the wheel body 300 on soft ground (such as grass or mud) but also reducing the risk of sinking due to localized pressure concentration, thereby enhancing the lawnmower robot's ability to traverse complex terrain. When encountering obstacles (such as rocks, tree roots, or uneven ground), the staggered distribution of the auxiliary wheels 330 allows for individual, buffered contact, preventing multiple auxiliary wheels 330 from simultaneously impacting the same obstacle and generating excessive impact force. This reduces the overall wobbling and loss of control risk of the lawnmower robot, improving its driving stability and obstacle-crossing stability. Furthermore, the staggered arrangement of the auxiliary wheels 330 helps improve the adaptability of the wheel body 300 to irregular terrain, making it easier for the lawnmower robot to find effective support points during turning or getting out of trouble, thereby enhancing its autonomous escape capability. Additionally, when the robot performs a turning operation, the auxiliary wheels 330 on different hubs 320 can sequentially participate in the turning force, reducing the lateral friction force borne by a single auxiliary wheel 330, lowering turning resistance, and improving turning flexibility. Of course, in other embodiments, the auxiliary wheels 330 on different hubs 320 can also be aligned in a straight line along the extension direction of the axle 200.

[0051] Regarding the structural form of the hub 320, in one embodiment, please refer to... Figure 6 , Figure 7 and Figure 8The hub 320 includes a support base 323 and multiple mounting shafts 324. The mounting shafts 324 and multiple auxiliary wheels 330 are alternately distributed along the outer periphery of the support base 323. The two ends of each auxiliary wheel 330 are rotatably connected to the opposite ends of two adjacent mounting shafts 324. It can be understood that by alternately arranging the multiple mounting shafts 324 and auxiliary wheels 330 along the outer periphery of the support base 323, and connecting the two ends of each auxiliary wheel 330 to two adjacent mounting shafts 324, a mutually supporting and cooperatively stressed ring structure is constructed. This not only improves the mechanical strength and bending / torsional resistance of the hub 320, but also effectively enhances the connection stability between the hub 320 and the auxiliary wheels 330. When facing irregular impacts from complex terrain, it can better maintain the structural integrity of the wheel body 300, preventing deformation or damage due to excessive local stress. Meanwhile, each auxiliary wheel 330 is straddling two adjacent mounting shafts 324, resulting in a more rational force path, enabling uniform load distribution and efficient transmission. This also clarifies the connection between each auxiliary wheel 330 and the mounting shaft 324, facilitating assembly, replacement, and maintenance. Alternatively, in other embodiments, a rotating shaft can be provided on the auxiliary wheel 330, and multiple mounting lugs can be protruding from the outer periphery of the hub 320, with the rotating shaft on the auxiliary wheel 330 rotatably connected to the mounting lugs.

[0052] Regarding the structural form of the auxiliary wheel 330, please refer to the following in this embodiment: Figures 6 to 9The auxiliary wheel 330 includes an inner wheel 334 and an outer wheel 333. The outer wheel 333 is fitted onto the inner wheel 334, and the inner wheel 334 is rotatably connected to the hub 320. The materials of the outer wheel 333 and the inner wheel 334 are configured according to a preset material scheme. It can be understood that the outer wheel 333 can be made of a specific material and can be configured differently from the material of the inner wheel 334 according to actual usage requirements. That is, materials with different performance characteristics can be selected according to a preset material combination scheme to meet the functional requirements of different terrain environments. Thus, by designing the auxiliary wheel 330 as a composite structure with an inner wheel 334 and an outer wheel 333 nested together, the auxiliary wheel 330 not only has good rolling performance but can also optimize its contact surface characteristics according to different ground conditions. For example, when facing hard surfaces (such as cement or stone slabs), a soft material with a certain elasticity and coefficient of friction can be used as the material for the outer wheel 333 to enhance grip and prevent slippage. Conversely, when facing muddy or soft grassy environments prone to adhesion, a hard material with a smooth surface and high wear resistance can be used as the material for the outer wheel 333 to reduce resistance and prevent mud adhesion from affecting operating efficiency. Furthermore, since the outer wheel 333 is fitted outside the inner wheel 334, and the two are assembled using a method that allows for relative rotation or a fixed connection, this structure allows for flexible replacement of outer wheels 333 with different materials, thicknesses, or functional characteristics without changing the transmission relationship of the wheel body 300. This enables rapid adjustment of the adaptability of the walking mechanism, reducing maintenance difficulty and costs. Of course, in other embodiments, the auxiliary wheel 330 can also be configured as an integrated structure.

[0053] Regarding the structural form of the wheel 300, in one embodiment, please refer to... Figure 3 and Figure 4The wheel body 300 also includes a drive motor 310. The hub 320 has a mounting hole 325 at its center, and multiple limiting grooves 326 are spaced around the periphery of the mounting hole 325. The drive motor 310 is configured as an external rotor motor, and multiple limiting ribs 311 are spaced around its outer periphery, with the limiting ribs 311 engaging with the limiting grooves 326. It can be understood that the cooperation between the limiting ribs 311 and the limiting grooves 326 enables the transmission connection between the drive motor 310 and the hub 320, and provides axial positioning for installation. The use of an external rotor motor as the drive motor 310 allows the motor housing to directly participate in the rotational motion, eliminating the need for traditional reduction or transmission mechanisms (such as gearboxes, couplings, etc.). This not only simplifies the overall structure but also improves transmission efficiency, reduces energy consumption and noise, and facilitates the miniaturization of the wheel body 300, meeting the requirements of lightweight and compact layout for lawnmower robots. Meanwhile, by setting multiple limiting grooves 326 around the mounting hole 325 of the hub 320 and setting a corresponding number of limiting ribs 311 on the outer periphery of the drive motor 310, a mechanical fitting connection structure is formed between the drive motor 310 and the hub 320. This not only effectively transmits driving torque and ensures that the hub 320 rotates synchronously with the drive motor 310, but also plays a guiding and positioning role during assembly, improving assembly accuracy and connection stability, and avoiding operating vibration or power loss caused by loosening or eccentricity. In addition, when the drive motor 310 malfunctions or needs to be replaced with a motor of different power, the motor can be quickly disassembled and replaced by releasing the locking state between the limiting ribs 311 and the limiting grooves 326, without destructive operation on the hub 320 body, significantly improving the product's maintainability and user convenience. Of course, in other embodiments, the mounting hole 325 of the hub 320 and the housing of the drive motor 310 can also be welded together.

[0054] In one embodiment, please refer to Figure 1 , Figure 10 and Figure 11The axle 200 includes a connecting rod 210 and at least two swing rods 220. The connecting rod 210 is rotatably connected to the main body 100 of the device in a horizontal direction, and the swing rods 220 are rotatably connected to the connecting rod 210 in a horizontal direction. Wheels 300 are connected to the ends of the swing rods 220 away from the connecting rod 210. It can be understood that the axle 200 is divided into at least three segments, and the swing rods 220 at the edge ends can rotate horizontally relative to the connecting rod 210, allowing the wheels 300 on any swing rod 220 to automatically swing up and down. For example, when the lawnmower robot travels to uneven ground or a sloping area, because the swing rods 220 can swing up and down at a certain angle around the connecting rod 210, even if one wheel 300 is at a high or low point, it can still maintain contact with the ground through the adaptive adjustment of the swing rods 220, avoiding suspension or imbalance of force. At the same time, the main body 100 of the device can maintain a stable posture for lawnmowing operations. In this way, each wheel 300 of the lawnmower robot can independently adapt to changes in ground height, ensuring that each wheel 300 maintains effective contact with the ground at all times, thus improving the lawnmower robot's ability to get out of trouble in complex terrain. Furthermore, when encountering local obstacles (such as tree roots, rocks, or depressions), the wheel 300 on one side of the axle 200 can actively avoid them by freely swinging the swing arm 220 up and down, while the wheel 300 on the other side still maintains sufficient support and driving force, helping the lawnmower robot smoothly cross obstacles, reducing the occurrence of jamming, and improving the lawnmower robot's ability to get out of trouble.

[0055] Combining the above-mentioned settings of wheel hubs 320 and auxiliary wheels 330 with different diameters, when the lawnmower robot uses steering to get out of trouble or during the lawnmower robot's movement, the wheel body 300 itself can ensure the grip on the grass, and the wheel hubs 320 of different sizes also enhance the pressure between the wheel body 300 and the grass. Furthermore, different wheel hubs 320 can form a guiding and supporting interaction, thereby improving the lawnmower robot's ability to get out of trouble.

[0056] In one embodiment, please refer to Figure 1 , Figure 10 and Figure 11To achieve a flexible rotatable connection between the swing rod 220 and the connecting rod 210, the connecting rod 210 and the swing rod 220 are rotatably connected via a plug-in rotatable structure. Specifically, one of the connecting rod 210 and the swing rod 220 has a connecting groove 211 at its end, and the end of the other is inserted into and rotatably connected to the connecting groove 211, thereby forming a stable rotatable fit structure. By inserting the end of the swing rod 220 or the connecting rod 210 into the connecting groove 211 of the other, and equipping it with appropriate rotating shafts or bearing components, a reliable rotatable connection can be achieved, while effectively limiting unnecessary forward and backward swaying and lateral displacement, preventing loosening of the connection, and improving the stability and durability of the lawnmower robot. Of course, in other embodiments, the swing rod 220 and the connecting rod 210 can also be connected in parallel in the forward and backward direction.

[0057] Furthermore, in this embodiment, please refer to Figure 1 , Figure 10 and Figure 11 To further enhance the rotational flexibility and structural stability between the swing rod 220 and the connecting rod 210, the connecting groove 211 is provided at the end of the connecting rod 210 and forms a rotatable connection with the insertion end of the swing rod 220. Here, the connecting groove 211 includes two interconnected first groove portions 212 and second groove portions 213. The first groove portion 212 is opened along the extending direction of the end of the connecting rod 210, i.e., facing the left and right outer sides of the equipment body 100, facilitating the side insertion of the end of the swing rod 220; while the second groove portion 213 is disposed downward through the connecting rod 210 and communicates with the first groove portion 212, used to limit the rotational path of the swing rod 220 and provide space for downward movement. Thus, the swing arm 220 can be laterally inserted into the connecting groove 211 through the first slot 212. After assembly, guided by the second slot 213, the swing arm 220 can swing up and down around the horizontal direction. This not only improves the convenience of the assembly process but also effectively ensures that the swing arm 220 has sufficient swing angle and degree of freedom during rotation, thereby better adapting to complex terrain changes. In addition, by rationally arranging the size and angle relationship between the first slot 212 and the second slot 213, the swing arm 220 can effectively limit its deviation in unexpected directions while ensuring rotational flexibility, preventing the swing arm 220 from falling off or shaking during the operation of the lawnmower robot, thereby enhancing the reliability and safety of the axle 200. Of course, in other embodiments, the second slot 213 can also be arranged to pass through the connecting rod 210 with the second slot facing upwards.

[0058] Specifically, in this embodiment, please refer to Figure 1 , Figure 10 and Figure 11To better control the range of motion of the swing arm 220 during operation and improve its connection stability, the upper wall of the connecting groove 211 is configured as a limiting wall 214, which is vertically opposite to the second groove opening 213. When the lawnmower robot runs on uneven grass, causing the swing arm 220 to swing the wheel 300 up and down, the limiting wall 214 can stop the swing arm 220 during its upward swing, preventing it from rising excessively and detaching from the connecting groove 211 or causing structural instability; the second groove opening 213 allows the swing arm 220 to swing downward to a certain angle, ensuring that the wheel 300 always keeps in contact with the ground, maintaining good traction and obstacle-crossing ability. Meanwhile, while ensuring that the swing arm 220 has sufficient degrees of freedom to adapt to terrain changes, the limiting wall 214 also provides limiting support to keep the swing arm 220 and the connecting rod 210 in a horizontal state, thereby ensuring the stability of the lawnmower robot during travel and effectively avoiding the risk of structural loosening or detachment caused by excessive swing amplitude of the swing arm 220, thus improving the mechanical stability and operational safety of the axle 200. In addition, the limiting wall 214 also helps to improve the load-bearing capacity of the connecting groove 211, so that the swing arm 220 can still maintain a reliable connection state when subjected to large external forces, further enhancing the lawnmower robot's ability to escape from difficult environments and its operational continuity. Of course, in other embodiments, the connecting groove 211 can also be provided with the connecting rod 210 passing through both the top and bottom, and the upper and lower sides of the end of the swing arm 220 that is rotatably inserted into the connecting groove 211 are provided with limiting structures to limit the amplitude of the swing arm 220's vertical rotation relative to the connecting rod 210.

[0059] In one embodiment, please refer to Figure 1 , Figure 10 and Figure 11To further enhance the structural stability and motion controllability of the swing arm 220 during its swing within the connecting groove 211, this embodiment provides a limiting protrusion 221 at the end of the swing arm 220. The limiting protrusion 221 is located at the lower part of the swing arm 220. After the swing arm 220 is inserted into the connecting groove 211, if the swing arm 220 rotates downwards to a predetermined angle, the limiting protrusion 221 can abut against the bottom wall of the groove in the second groove opening 213 region of the connecting groove 211. Thus, when the lawnmower robot moves to a lower ground area or the wheel 300 sinks, the swing arm 220 will swing downwards until the limiting protrusion 221 contacts the bottom of the connecting groove 211, thereby limiting its continued downward deflection and preventing the wheel 300 from sinking excessively, causing the main body 100 to touch the ground or lose forward momentum. In other words, the limiting protrusion 221 ensures that the swing arm 220 has a clear limit position during its downward swing. Conversely, during the upward swing, the aforementioned limiting wall 214 can also limit the upper part of the swing rod 220, thereby achieving motion constraints in both the vertical and horizontal directions. This ensures that the swing rod 220 always swings flexibly within the set range, possessing good terrain adaptability without affecting the stability of the lawnmower robot due to excessive swing amplitude. Of course, in other embodiments, the swing rod 220 can also be equipped with an elastic pull rod 270, which is connected to the main body 100 of the device to pull the swing rod 220 upward, limiting the downward swing amplitude of the swing rod 220.

[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; Axle, which is rotatably connected to the main body of the equipment; as well as A wheel body is connected to the end of the axle. The wheel body includes a plurality of hubs distributed in the extension direction of the axle. A plurality of auxiliary wheels are distributed around the outer periphery of the hubs. The auxiliary wheels rotate around the circumference of the hubs. The diameter of at least one hub is larger than the diameter of the other hubs.

2. The lawnmower robot as described in claim 1, characterized in that, The plurality of wheel hubs includes a first wheel hub and second wheel hubs distributed on opposite sides of the first wheel hub, wherein the diameter of the first wheel hub is larger than the diameter of the second wheel hub.

3. The lawnmower robot as described in claim 2, characterized in that, The auxiliary wheel includes a first auxiliary wheel and a second auxiliary wheel. A plurality of the first auxiliary wheels are distributed on the outer periphery of the first hub, and the second auxiliary wheels are distributed on the outer periphery of the second hub. The diameter of the first auxiliary wheel is larger than the diameter of the second auxiliary wheel.

4. The lawnmower robot as described in claim 1, characterized in that, In the extending direction of the axle, the auxiliary wheels of two adjacent wheel hubs are staggered. And / or, the axle is configured as a front axle and / or a rear axle.

5. The lawnmower robot as described in claim 1, characterized in that, The hub includes a support base and multiple mounting shafts. The multiple mounting shafts and multiple auxiliary wheels are alternately distributed along the outer periphery of the support base. The two ends of one of the auxiliary wheels are rotatably connected to the opposite ends of two adjacent mounting shafts.

6. The lawnmower robot as described in claim 1, characterized in that, The auxiliary wheel includes an inner wheel and an outer wheel. The outer wheel is fitted onto the inner wheel, and the inner wheel is rotatably connected to the hub. The materials of the outer wheel and the inner wheel are configured according to a preset material.

7. The lawnmower robot as described in claim 1, characterized in that, The wheel body also includes a drive motor. The hub has a mounting hole at its center. Multiple limiting grooves are distributed at intervals around the mounting hole. The drive motor is configured as an external rotor motor. Multiple limiting ribs are distributed at intervals around the outer periphery of the drive motor. The limiting ribs are engaged in the limiting grooves.

8. The lawnmower robot as described in any one of claims 1 to 7, characterized in that, The axle includes a connecting rod and at least two swing rods. The connecting rod is rotatably connected to the main body of the equipment in a horizontal direction, and the swing rods are rotatably connected to the connecting rod in a horizontal direction. The wheel is connected to the end of the swing rod away from the connecting rod.

9. The lawnmower robot as described in claim 8, characterized in that, The end of the connecting rod is provided with a connecting groove, and the end of the swing rod is rotatably connected to the connecting groove. The connecting groove extends vertically through at least one side of the connecting rod.

10. The lawnmower robot as described in claim 9, characterized in that, The groove of the connecting groove includes a first groove portion opening outward toward the end of the connecting rod and a second groove portion opening downward through the connecting rod, wherein the first groove portion and the second groove portion are connected. The end of the swing rod is provided with a limiting protrusion, which is located at the lower part of the swing rod and can abut against the bottom wall of the connecting groove at the position of the second groove opening.

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