Lawn mowing robot

Abstract

The utility model discloses a mowing robot relates to mowing robot technical field, wherein, mowing robot includes equipment main body, axle, drive wheel and elastic pull rod, axle configuration is mowing robot's front axle and rear axle, and axle includes the cantilever bridge and the connecting bridge of being connected, and the cantilever bridge is rotatably connected in equipment main body, and the cantilever bridge is provided with the steering assembly, and the steering assembly is used to drive connecting bridge around vertical rotation, drive wheel is connected in the lower end of connecting bridge, and elastic pull rod is located below equipment main body, and one end of elastic pull rod is rotatably connected in the cantilever bridge, and the other end is rotatably connected in equipment main body. The utility model provides technical scheme aims at improving the ability of mowing robot's getting rid of trouble, and reduces the height of mowing robot, and improves the traffic capacity 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] In related technologies, lawnmower robots employ a four-wheel drive structure to enhance their ability to overcome obstacles in soft, uneven, or sloping terrain. However, these four-wheel drive structures often use rigid axles or independent suspension structures, lacking effective adaptability to terrain changes. This can cause some wheels to become suspended or experience uneven stress in complex terrain, thus affecting overall drive efficiency. Furthermore, traditional four-wheel drive structures typically occupy a large amount of vertical space, resulting in a relatively high overall height for the lawnmower robot. This is detrimental to its operation under low vegetation and also affects the robot's center of gravity stability. Utility Model Content

[0003] The main purpose of this invention is to propose a lawnmower robot that aims to improve the lawnmower robot's ability to get out of trouble, reduce the height of the lawnmower robot, and improve the lawnmower robot's mobility.

[0004] To achieve the above objectives, the lawnmower robot proposed in this utility model includes:

[0005] Equipment body;

[0006] The axle is configured as the front axle and rear axle of the lawnmower robot. The axle includes a cantilever bridge and a connecting bridge connected to each other. The cantilever bridge is rotatably connected to the main body of the device. The cantilever bridge is provided with a steering component, which is used to drive the connecting bridge to rotate vertically.

[0007] A drive wheel, the drive wheel being connected to the lower end of the connecting bridge; and

[0008] An elastic tie rod is located below the main body of the equipment. One end of the elastic tie rod is rotatably connected to the cantilever bridge, and the other end is rotatably connected to the main body of the equipment.

[0009] In one embodiment, a steering assembly is provided for each of the axles, and a drive wheel and an elastic tie rod are provided for each of the axles.

[0010] In one embodiment, one end of the cantilever bridge is rotatably connected to the main body of the equipment at least in the horizontal direction, and the other end is rotatably connected to the connecting bridge.

[0011] In one embodiment, a mounting base is provided on the lower side of the main body of the equipment. In the extension direction of the axle, elastic tie rods are respectively provided on opposite sides of the mounting base. The lower end of the elastic tie rod is rotatably connected to the mounting base, and the upper end is rotatably connected to the lower side of the cantilever bridge, and is set at an acute angle with the cantilever bridge.

[0012] In one embodiment, the steering assembly includes a steering drive, a first transmission member, and a second transmission member. The steering drive is horizontally mounted on the upper side of the cantilever bridge. The first transmission member is disposed at the output end of the steering drive, and the second transmission member is disposed on the connecting bridge and rotates about the vertical direction. The first transmission member and the second transmission member are connected in a horizontal direction.

[0013] In one embodiment, the steering assembly further includes a protective housing that covers the steering drive member, the first transmission member, and the second transmission member, and is connected to the upper side of the cantilever bridge.

[0014] In one embodiment, the cantilever bridge has a clearance opening at its end, the connecting bridge has a steering shaft at its upper end, the second transmission member is sleeved on the steering shaft and located above the clearance opening, and the first transmission member and the second transmission member are configured as bevel gears.

[0015] In one embodiment, the first transmission member and the second transmission member are configured as a bevel gear, a belt and pulley, a worm gear and worm, a crankshaft and push rod.

[0016] In one embodiment, the axle further includes a bearing bracket and two steering bearings. The bearing bracket is connected to the upper side of the cantilever bridge. The steering shaft is rotatably passed through the bearing bracket and fixedly sleeved on the steering shaft. One steering bearing is fixedly disposed on the upper side of the bearing bracket, and the other steering bearing is fixedly disposed on the lower side of the cantilever bridge.

[0017] In one embodiment, the drive wheel includes a movable drive component and a wheel body, the connecting bridge includes an inner support beam and a bridge shell, the inner support beam is disposed inside the bridge shell and rotatably connected to the cantilever bridge, the movable drive component is disposed on the inner support beam and is drivenly connected to the wheel body, and the bridge shell is used for the wires of the movable drive component to pass through and be electrically connected to the main body of the equipment.

[0018] In one embodiment, the connecting bridge includes a first connecting segment and a second connecting segment connected at an angle. The first connecting segment is rotatably connected to the cantilever bridge and is vertically opposite to the cantilever bridge. The second connecting segment is connected to the drive wheel and is horizontally opposite to the drive wheel. In the extension direction of the front axle or the rear axle, the two drive wheels are respectively disposed on opposite sides of the corresponding second connecting segments.

[0019] This invention's technical solution involves configuring the front and rear axles of the equipment body as axles including cantilever bridges and connecting bridges. A steering component on the cantilever bridge drives the connecting bridge to rotate around a vertical axis, causing the drive wheels at the lower end of the connecting bridge to steer. This enables the lawnmower to flexibly steer across multiple wheels on the front and rear axles. Furthermore, the connection between the front and rear axles and the drive wheels helps ensure the consistency of the lawnmower's turning path and steering progress, providing a smaller turning radius. Additionally, the cantilever bridge's rotatable connection to the equipment body allows the elastic rod to absorb vibrations through its elastic deformation when the terrain changes, while also causing the cantilever bridge to swing at a certain angle. This guides the connecting bridge and drive wheels to swing up and down, ensuring the drive wheels maintain effective contact with the ground and improving the four-wheel contact rate. Combined with the steering flexibility and vertical floating setting of any drive wheel, the drive wheels can be steered to a more stable state with respect to the ground, facilitating rapid escape from uneven terrain and thus enhancing the lawnmower's ability to overcome obstacles. Meanwhile, the elastic tie rod is located below the main body of the equipment and acts between the cantilever bridge and the main body of the equipment, reducing the space occupied on the upper part of the main body of the equipment, thereby reducing the height of the lawnmower robot and improving its mobility. Attached Figure Description

[0020] 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.

[0021] Figure 1 A schematic diagram of the structure of an embodiment of the lawnmower robot provided by this utility model;

[0022] Figure 2 for Figure 1 A structural schematic diagram of a lawnmower robot from another perspective;

[0023] Figure 3 for Figure 1 Another structural diagram of the lawnmower robot;

[0024] Figure 4 for Figure 1 A schematic diagram of the structure of the drive wheel, steering assembly, and connecting axle;

[0025] Figure 5 for Figure 4 A magnified view of a section at point A in the middle;

[0026] Figure 6 for Figure 4 An exploded view of the drive wheel, steering assembly, and connecting axle in operation;

[0027] Figure 7 for Figure 1 A schematic diagram of the lawnmower robot in another state;

[0028] Figure 8 for Figure 1 A schematic diagram of the structure of the lawnmower robot in another state.

[0029] Explanation of icon numbers:

[0030] 100. Equipment body; 110. Mounting base; 200. Axle; 210. Cantilever bridge; 220. Connecting bridge; 221. First connecting section; 222. Second connecting section; 223. Inner support beam; 224. Axle housing; 225. Steering shaft; 230. Steering assembly; 231. Steering drive component; 232. First transmission component; 233. Second transmission component; 240. Bearing bracket; 250. Steering bearing; 260. Protective shell; 270. Test bracket; 271. Test object; 280. Encoded angle sensor;

[0031] 300, Elastic tie rod; 400, Drive wheel; 410, Motion drive component; 420, Wheel body; 500, Cutting blade.

[0032] 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

[0033] 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.

[0034] 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.

[0035] 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.

[0036] This utility model proposes a lawn mowing robot.

[0037] Please refer to Figures 1 to 3 , Figure 7 and Figure 8 In one embodiment of this utility model, the lawnmower robot includes:

[0038] Equipment body 100;

[0039] The axle 200 is configured as the front and rear axles of the lawnmower robot. The axle 200 includes a cantilever bridge 210 and a connecting bridge 220 connected to each other. The cantilever bridge 210 is rotatably connected to the main body 100 of the equipment. The cantilever bridge 210 is provided with a steering component 230, which is used to drive the connecting bridge 220 to rotate vertically.

[0040] Drive wheel 400, drive wheel 400 is connected to the lower end of connecting bridge 220; and

[0041] The elastic tie rod 300 is located below the main body 100 of the equipment. One end of the elastic tie rod 300 is rotatably connected to the cantilever bridge 210, and the other end is rotatably connected to the main body 100 of the equipment.

[0042] The technical solution of this utility model involves configuring the front and rear axles of the main body 100 of the equipment as axles 200, including a cantilever bridge 210 and a connecting bridge 220. The steering component 230 on the cantilever bridge 210 drives the connecting bridge 220 to rotate around a vertical axis, causing the drive wheels 400 at the lower end of the connecting bridge 220 to turn. This enables the lawnmower to flexibly turn on multiple wheels 420 of the front and rear axles. Furthermore, the connection between the front and rear axles and the drive wheels 400 helps ensure the consistency of the lawnmower's turning path and turning progress, providing a smaller turning radius. Moreover, the cantilever bridge 210 is rotatably connected to the main body 100. When the terrain changes, the elastic rod 300 absorbs vibrations through its own elastic deformation and also causes the cantilever bridge 210 to swing at a certain angle, thereby guiding the connecting bridge 220 and the drive wheels 400 to swing up and down, ensuring that the drive wheels 400 maintain effective contact with the ground and improving the four-wheel contact rate. By combining the steering flexibility of the arbitrary drive wheel 400 with its vertical floating setting, the drive wheel 400 can be turned to a state with relatively stable ground force, which helps it quickly get out of uneven terrain and thus improves the lawnmower robot's ability to escape obstacles. Meanwhile, the elastic lever 300 is located below the main body 100 and acts between the cantilever bridge 210 and the main body 100, reducing the space occupied on the upper part of the main body 100 and thus lowering the height of the lawnmower robot, thereby improving its mobility.

[0043] It should be noted that the elastic tie rod 300 has a telescopic component at least in the vertical direction and can be connected to the equipment body 100 and the cantilever bridge 210 in an inclined state. Therefore, the equipment body 100 must have a portion extending downwards relative to the cantilever bridge 210 for the elastic tie rod 300 to connect to. Furthermore, a cutting disc 500 is provided at the lower part of the equipment body 100. During normal use, the elastic tie rod 300 is in a retracted state to ensure the axle 200 supports the equipment body 100. At the moment the drive wheel 400 gets into a pothole, the elastic tie rod 300 is in a compressed and extended state to help the drive wheel disengage from the pothole. Alternatively, one axle 200 can connect two connecting axles 220, with a steering component 230 corresponding to each connecting axle 220. Simultaneously, a drive wheel 400 and a flexible tie rod 300 are provided corresponding to each connecting axle 220. Alternatively, two axles 200 can form the front or rear axle of the lawnmower robot, with the cantilever bridges 210 of the two axles distributed on the left and right sides of the main body 100 of the device, and correspondingly provided with a connecting axle 220, a steering component 230, a drive wheel 400, and a flexible tie rod 300. Furthermore, the descriptions of "up" and "down" in this technical solution refer to the normal state of the lawnmower robot walking on flat ground.

[0044] In one embodiment, please refer to Figure 3 , Figure 7 and Figure 8 Each axle 200 is equipped with a steering component 230, a drive wheel 400, and a flexible tie rod 300. It can be understood that an axle 200, a steering component 230, a drive wheel 400, and a flexible tie rod 300 form a travel component for the lawnmower robot. The number of travel components corresponds to the number of drive wheels 400 of the lawnmower robot. Each drive wheel 400 can be steered via an independent steering component 230, and can also float via an independent cantilever bridge 210 rotatably connected to the main body 100, and an independent flexible tie rod 300. This enhances the independent steering and travel capabilities of the drive wheels 400, allowing any drive wheel 400 of the lawnmower robot to adjust to the most suitable force state on its ground surface, thereby improving the lawnmower robot's ability to escape obstacles. Of course, in other embodiments, a cantilever bridge 210 of axle 200 may connect two connecting bridges 220, and a steering assembly 230, a drive wheel 400 and an elastic tie rod 300 may be provided for each connecting bridge 220.

[0045] Furthermore, in this embodiment, please refer to Figure 1 , Figure 3 , Figure 7 and Figure 8 One end of the cantilever bridge 210 is rotatably connected to the main body 100 of the device at least in the horizontal direction, and the other end is rotatably connected to the connecting bridge 220. It can be understood that the elastic tie rod 300 is connected to the main body 100 on the lower side of the cantilever bridge 210. The rotatable connection of one end of the cantilever bridge 210 to the main body 100 around the horizontal axis allows the cantilever bridge 210 to swing up and down relative to the main body 100 in the vertical plane. This allows the axle 200 to automatically adapt to terrain changes when encountering ground undulations or obstacles, ensuring that the drive wheels 400 maintain constant contact with the ground. This improves the four-wheel contact rate of the lawnmower robot and enhances its traction and obstacle-avoidance capabilities on uneven ground. The connecting bridge 220, which connects the drive wheels 400 to the other end of the cantilever bridge 210, amplifies the vertical swing range of the drive wheels 400, further enhancing their flexibility in adapting to terrain changes and reducing the area occupied by the lawnmower robot. Of course, in other embodiments, the connecting bridge 220 may be rotatably connected to the middle of the cantilever bridge 210 so that the cantilever bridge 210 can extend to the upper part of the drive wheel 400 to form protection for the drive wheel 400.

[0046] For the installation of the elastic tie rod 300, in one embodiment, please refer to... Figure 3 , Figure 7 and Figure 8A mounting base 110 is provided on the lower side of the main body 100 of the equipment. On opposite sides of the mounting base 110 along the extension direction of the axle 200, elastic tie rods 300 are respectively provided. The lower end of the elastic tie rod 300 is rotatably connected to the mounting base 110, and the upper end is rotatably connected to the lower side of the cantilever bridge 210, forming an acute angle with the cantilever bridge 210. It can be understood that the elastic tie rods 300, the mounting base 110, and the cantilever bridge 210 form a triangular space. When the lawnmower robot travels on uneven ground, the axle 200 will sway up and down due to terrain changes. The cantilever bridge 210 will then rotate around its connection point with the main body 100 of the equipment. The elastic tie rods 300 can generate corresponding tensile or compressive deformation according to the sway angle of the cantilever bridge 210, thereby providing an elastic restoring force opposite to the direction of movement of the axle 200, preventing the axle 200 from excessively sagging or lifting, and ensuring that the drive wheel 400 always has good grounding performance. The elastic tie rods 300 are symmetrically arranged on both sides of the mounting base 110, so that when the drive wheels 400 on both sides of the main body 100 are subjected to asymmetrical loads (such as one drive wheel 400 pressing on an obstacle), the elastic tie rods 300 can absorb part of the unbalanced force through deformation, reducing the risk of tilting or slipping of the equipment and improving the stability and maneuverability of the lawnmower robot in complex terrain. Of course, in other embodiments, the mounting base 110 can also extend a support rod along the extension direction of the cantilever bridge 210, and the elastic tie rods 300 are vertically clamped between the cantilever bridge 210 and the support rod.

[0047] In one embodiment, please refer to Figure 3 , Figures 4 to 6The steering assembly 230 includes a steering drive component 231, a first transmission component 232, and a second transmission component 233. The steering drive component 231 is horizontally mounted on the upper side of the cantilever bridge 210. The first transmission component 232 is located at the output end of the steering drive component 231. The second transmission component 233 is located on the connecting bridge 220 and rotates vertically. The first transmission component 232 and the second transmission component 233 are connected in a horizontal direction. It can be understood that through the transmission connection between the first transmission component 232 and the second transmission component 233, the steering drive component 231 can drive the connecting bridge 220 to rotate vertically relative to the cantilever bridge 210, allowing the connecting bridge 220 to rotate independently vertically. This enables flexible control of the steering angle of the wheels 420 on the connecting bridge 220, ensuring that the robot can flexibly turn in narrow spaces and reducing the turning radius of the lawnmower robot. Meanwhile, the steering drive component 231 is horizontally mounted on the cantilever bridge 210, the second transmission component 233 rotates around the vertical, and the first transmission component 232 and the second transmission component 233 drive horizontally, realizing the reversal of the first transmission component 232 and the second transmission component 233. Compared with the steering drive component 231 being arranged vertically and driving the second transmission component 233 vertically, in this embodiment, the steering drive component 231 and the first transmission component 232 are set to output power in a horizontal or near-horizontal state, thereby avoiding the steering component 230 occupying too much height space, which helps to reduce the overall height of the lawnmower robot, reduce the probability of the lawnmower robot tipping over, and also improve the lawnmower robot's ability to pass through various vegetation terrains, that is, improve the applicability of the lawnmower robot.

[0048] The first transmission component 232 and the second transmission component 233 can be directly connected or connected via a transmission wheel. The steering drive component 231 is configured as a steering drive motor. It should be noted that the first transmission component 232 and the second transmission component 233 can be configured as bevel gears, worm gears, belts and pulleys, crankshafts and push rods, etc., and the corresponding steering drive component 231 can be a motor or a cylinder, etc. The first transmission component 232 and the second transmission component 233 are connected in a horizontal direction, meaning that the first transmission component 232 is in a horizontally movable state, transmitting the power output from the steering drive component 231 to the second transmission component 233 in a horizontal direction. This can be because the first transmission component 232 rotates around the horizontal direction, such as when the first transmission component 232 and the second transmission component 233 are configured as bevel gears or worm gears; or the first transmission component can move in a horizontal plane, such as when the first transmission component 232 and the second transmission component 233 are configured as push rods and crankshafts or belts and pulleys.

[0049] Furthermore, in this embodiment, please refer to Figure 3 , Figure 4 and Figure 6The steering assembly 230 also includes a protective shell 260, which covers the steering drive component 231, the first transmission component 232, and the second transmission component 233, and is connected to the upper side of the cantilever bridge 210. It is understood that the protective shell 260 is made of a material with certain strength and sealing performance, and its shape matches the layout of the steering drive component 231, the first transmission component 232, and the second transmission component 233, allowing these transmission components to be completely enclosed within its internal space. This not only provides shielding and sealing but also prevents rainwater, mud, grass clippings, and other impurities from entering the steering assembly 230 within the protective shell 260, avoiding problems such as transmission jamming and accelerated wear caused by foreign objects entering. The lower side of the protective shell 260 can be fixed to the upper side of the cantilever beam using bolts, clips, or other connection methods. Of course, in other embodiments, a shell can also be provided on the outer periphery of the cantilever bridge 210, covering both the cantilever bridge 210 and the steering assembly 230.

[0050] Regarding the connection method between the cantilever bridge 210 and the connecting bridge 220, in one embodiment, please refer to... Figures 4 to 6 The cantilever bridge 210 has a clearance opening (not shown in the figure) at its end. The upper end of the connecting bridge 220 has a steering shaft 225. The second transmission component 233 is sleeved on the steering shaft 225 and located above the clearance opening. The first transmission component 232 and the second transmission component 233 are configured as bevel gears. It can be understood that the clearance opening is located in the rotation area of ​​the connecting bridge 220 corresponding to the cantilever bridge 210 to provide sufficient space for the rotation of the connecting bridge 220 and the second transmission component 233, so as to avoid limiting the steering angle or causing damage to components due to structural interference. The connecting bridge 220 is rotatably connected to the cantilever bridge 210 through the steering shaft 225. The second transmission component 233 is directly sleeved on the steering shaft 225 so that it can rotate synchronously with the connecting bridge 220, thereby realizing the drive control of the direction of the connecting bridge 220. Meanwhile, the second transmission member 233 is located above the clearance opening, with the steering shaft 225 passing through the clearance opening. It is then connected to the first transmission member 232 via the second transmission member 233, thus reducing the vertical space occupied by the connection between the cantilever bridge 210 and the connecting bridge 220. The first transmission member 232 and the second transmission member 233 are bevel gears, meaning their tooth surfaces are tapered, enabling power transmission between the horizontal and vertical directions. Of course, in other embodiments, the first transmission member 232 and the second transmission member 233 can also be configured as worm gears; or, the second transmission member 233 and the first transmission member 232 can be connected on the lower side of the cantilever bridge 210.

[0051] To achieve a stable rotational connection between the connecting bridge 220 and the cantilever bridge 210, and to improve the structural strength and steering stability of the lawnmower robot when driving in complex terrain, in one embodiment, please refer to... Figures 4 to 6The axle 200 also includes a bearing bracket 240 and two steering bearings 250. The bearing bracket 240 is connected to the upper side of the cantilever bridge 210. The steering shaft 225 is rotatably passed through the bearing bracket 240 and fixedly sleeved on the steering shaft 225. One steering bearing 250 is fixedly installed on the upper side of the bearing bracket 240, and the other steering bearing 250 is fixedly installed on the lower side of the cantilever bridge 210. It can be understood that when the axle 200 is lifted, the steering bearing 250 located above the bearing bracket 240 bears the axial and radial loads from the falling of the connecting bridge 220 and the wheel 420, ensuring the connection stability between the connecting bridge 220 and the cantilever bridge 210 and the rotational stability of the wheel 420 during steering. During the movement of the lawnmower robot, the steering bearing 250 located below the cantilever bridge 210 can bear the load transmitted from the wheel 420 and the ground reaction force, playing an auxiliary support and guiding role. The arrangement of the two steering bearings 250 provides excellent vertical bidirectional support for the connecting bridge 220 during rotation, improving its anti-tipping ability and rotational coaxiality, thereby enhancing the lawnmower robot's stability and handling responsiveness on uneven terrain. Furthermore, since the upper steering bearing 250 is mounted on the bearing bracket 240, and given that the second transmission component 233 is configured as a bevel gear, this steering bearing 250 can also be located near the clearance opening, improving the space utilization of the steering assembly 230 at that location. The bearing bracket 240 also has a mounting opening for the first transmission component 232 to be placed and engage with the second transmission component 233, improving the compactness of the steering assembly 230's position, reducing its space occupation, and enhancing the lawnmower robot's maneuverability. Simultaneously, the bearing bracket 240 and the upper steering bearing 250 are both located within the protective housing 260. Of course, in other embodiments, the steering shaft 225 may pass through the cantilever bridge 210, and the two steering bearings 250 may be sandwiched on the vertical sides of the cantilever bridge 210.

[0052] To achieve precise sensing and feedback control of the lawnmower robot's turning angle, and to improve its path planning accuracy and autonomous navigation capabilities in complex working environments, in one embodiment, please refer to... Figures 4 to 6The axle 200 also includes an coded angle sensor 280 and a test bracket 270. The test bracket 270 is provided with a test object 271. The test bracket 270 is connected to the end of the steering shaft 225 away from the drive wheel 400 and abuts against the corresponding steering bearing 250. The coded angle sensor 280 is provided on the cantilever axle 210. The coded angle sensor 280 and the test object 271 are arranged opposite each other along the axial direction of the steering shaft 225. It is understood that the test bracket 270 is fixedly connected to the top of the steering shaft 225 (i.e., the end away from the drive wheel 400) and rotates synchronously with the steering shaft 225. The test object 271 can preferably be a magnetic element or a metal / non-metal sensing component with a specific shape, which can form a matching signal sensing relationship with the coded angle sensor 280. The coded angle sensor 280 is mounted on the cantilever bridge 210, and its position is axially opposite to that of the test object 271 on the steering shaft 225, so that when the connecting bridge 220 deflects, the test object 271 rotates accordingly and generates a corresponding angle change signal with the coded angle sensor 280.

[0053] Furthermore, the test bracket 270 is positioned adjacent to the upper steering bearing 250 and maintains vertical contact with the inner circumference of the steering bearing 250. The test bracket 270 is fixedly connected to the end of the steering shaft 225. This helps ensure the stability of the steering shaft 225 in limiting the steering bearing 250 on the bearing bracket 260, thereby ensuring the stability of the steering shaft 225 in the vertical and horizontal directions within the cantilever bridge 210, and further ensuring the reliability of the connection between the connecting bridge 220 and the cantilever bridge 210. The coded angle sensor 280 is configured as a magnetically encoded angle sensor, and the test object 271 is configured as a magnet. It should be noted that after the wire passes through the wire cavity within the steering shaft 225, it extends from the test bracket 270 to the controller. Since the test bracket 270 and the steering shaft 225 rotate synchronously, the wire does not pull against the test bracket 270 during the rotation of the drive wheel 400. Of course, in other embodiments, an encoder can also be installed within the steering drive component 231 to identify the steering state of the drive wheel 400.

[0054] In one embodiment, please refer to Figure 4 and Figure 6The drive wheel 400 includes a movable drive component 410 and a wheel body 420. The connecting bridge 220 includes an inner support beam 223 and a bridge housing 224. The inner support beam 223 is disposed within the bridge housing 224 and rotatably connected to the cantilever bridge 210. The movable drive component 410 is disposed within the inner support beam 223 and is drivenly connected to the wheel body 420. The bridge housing 224 is used for the wires of the movable drive component 410 to pass through and electrically connect to the main body 100 of the equipment. It can be understood that the bridge housing 224 is an external shell structure, preferably made of metal casting or high-strength engineering plastic injection molding, with good impact resistance and sealing performance, used to protect the internal inner support beam 223 and wires from external environmental influences, such as rainwater, dust, grass clippings, etc. The inner support beam 223 is disposed inside the bridge housing 224 and rotatably connected to the cantilever bridge 210 through a steering shaft 225, serving as a force-bearing component connecting the movable drive component 410 of the drive wheel 400 and the cantilever bridge 210. The inner support beam 223 can be connected to the bridge housing 224 via screws or snap-fit ​​connections. This protects the wires on the inner support beam 223 that provide electrical connection between the moving drive component 410 and the main body 100, and also provides mounting support for the bridge housing 224. Compared to existing technologies that configure the connecting bridge 220 as a single metal beam with exposed wires, this embodiment ensures both wire protection and the strength of the connecting bridge 220, while also reducing its weight and cost, thereby lowering the cost of the lawnmower robot. Furthermore, in this embodiment, the inner support beam 223 is configured as a sheet metal part formed by stamping. Of course, in other embodiments, the connecting bridge 220 can also be configured as a single metal beam.

[0055] Regarding the structural form of the connecting bridge 220, in one embodiment, please refer to... Figure 3 , Figure 4 , Figure 7 and Figure 8The connecting bridge 220 includes a first connecting section 221 and a second connecting section 222 connected at an angle. The first connecting section 221 is rotatably connected to the cantilever bridge 210 and is vertically opposite to the cantilever bridge 210. The second connecting section 222 is connected to the drive wheel 400 and is horizontally opposite to the drive wheel 400. In the extension direction of the front axle or the rear axle, the two drive wheels 400 are respectively located on opposite sides of the corresponding second connecting section 222. It is understandable that the vertical extension length of the connecting bridge 220 is greater than the radius of the drive wheel 400, thereby avoiding interference of the cantilever bridge 210 with the rotation of the drive wheel 400. At the same time, through the bending and reversal of the first connecting section 221 and the second connecting section 222, the connection point of the cantilever bridge 210 and the connecting bridge 220 is located above the drive wheel 400. The two drive wheels 400 on the front or rear axle are set opposite to the corresponding second connecting section 222, with the second connecting section 222 bent downward inside the first connecting section 221. This reduces the distance between the two drive wheels 400 on the front or rear axle, meets the miniaturization design requirements of the lawnmower robot, reduces the probability that the support effect of the drive wheel 400 on the axle 200 structure will interfere with the connection stability of the support beam and the connecting bridge 220, and improves the lawnmower robot's ability to traverse complex terrain. Without loss of generality, a reinforcing structure can be provided at the angled connection between the first connecting segment 221 and the second connecting segment 222 to effectively improve the bending and torsional strength of the connecting bridge 220 at the turning point, preventing structural fatigue or fracture caused by stress concentration, and ensuring the connection stability of the first connecting segment 221 and the second connecting segment 222. Of course, in other embodiments, the connecting bridge 220 can also be configured as a vertically extending strip beam; or, the connecting bridge 220 can be configured as multiple connecting segments connected at an angle, with at least one connecting segment with a steering shaft 225 and the cantilever bridge 210 vertically opposite each other, and the connecting segment connected to the drive wheel 400 horizontally opposite the drive wheel 400.

[0056] 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 mowing robot, characterized in that, include: Equipment body; The axle is configured as the front axle and rear axle of the lawnmower robot. The axle includes a cantilever bridge and a connecting bridge connected to each other. The cantilever bridge is rotatably connected to the main body of the device. The cantilever bridge is provided with a steering component, which is used to drive the connecting bridge to rotate vertically. A drive wheel, the drive wheel being connected to the lower end of the connecting bridge; and An elastic tie rod is located below the main body of the equipment. One end of the elastic tie rod is rotatably connected to the cantilever bridge, and the other end is rotatably connected to the main body of the equipment.

2. The mowing robot of claim 1, wherein, The axle is provided with a steering component, a drive wheel, and an elastic tie rod.

3. The mowing robot of claim 2, wherein, One end of the cantilever bridge is rotatably connected to the main body of the equipment at least in the horizontal direction, and the other end is rotatably connected to the connecting bridge.

4. The mowing robot of claim 2, wherein, A mounting base is provided on the lower side of the main body of the equipment. In the extension direction of the axle, elastic tie rods are respectively provided on opposite sides of the mounting base. The lower end of the elastic tie rod is rotatably connected to the mounting base, and the upper end is rotatably connected to the lower side of the cantilever bridge, and is set at an acute angle with the cantilever bridge.

5. The mowing robot of claim 1, wherein, The steering assembly includes a steering drive component, a first transmission component, and a second transmission component. The steering drive component is horizontally mounted on the upper side of the cantilever bridge. The first transmission component is located at the output end of the steering drive component. The second transmission component is located on the connecting bridge and rotates about the vertical direction. The first transmission component and the second transmission component are connected in a horizontal direction.

6. The mowing robot of claim 5, wherein, The steering assembly also includes a protective shell, which covers the steering drive component, the first transmission component and the second transmission component, and is connected to the upper side of the cantilever bridge; And / or, the first transmission member and the second transmission member are configured as bevel gears, belts and pulleys, worm gears and worms, crankshafts and push rods.

7. The mowing robot of claim 5, wherein, The cantilever bridge has a clearance opening at its end, and the connecting bridge has a steering shaft at its upper end. The second transmission component is sleeved on the steering shaft and located above the clearance opening. The first transmission component and the second transmission component are configured as bevel gears.

8. The mowing robot of claim 7, wherein, The axle also includes a bearing bracket and two steering bearings. The bearing bracket is connected to the upper side of the cantilever bridge. The steering shaft is rotatably passed through the bearing bracket and fixedly sleeved on the steering shaft. One steering bearing is fixedly installed on the upper side of the bearing bracket, and the other steering bearing is fixedly installed on the lower side of the cantilever bridge.

9. The mowing robot of any one of claims 1 to 8, wherein, The drive wheel includes a moving drive component and a wheel body. The connecting bridge includes an inner support beam and a bridge shell. The inner support beam is disposed inside the bridge shell and rotatably connected to the cantilever bridge. The moving drive component is disposed on the inner support beam and is drivenly connected to the wheel body. The bridge shell is used for the wires of the moving drive component to pass through and be electrically connected to the main body of the equipment.

10. The mowing robot of any one of claims 1 to 8, wherein, The connecting bridge includes a first connecting segment and a second connecting segment connected at an angle. The first connecting segment is rotatably connected to the cantilever bridge and is vertically opposite to the cantilever bridge. The second connecting segment is connected to the drive wheel and is horizontally opposite to the drive wheel. In the extension direction of the front axle or the rear axle, the two drive wheels are respectively located on opposite sides of the corresponding second connecting segments.

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