CN219938962U

CN219938962U - Autonomous working apparatus

Info

Publication number: CN219938962U
Application number: CN202321012696.0U
Authority: CN
Inventors: 冉沅忠; 王启东
Original assignee: Zhejiang Baima Technology Co ltd
Current assignee: Zhejiang Baima Technology Co ltd
Priority date: 2023-03-03
Filing date: 2023-04-27
Publication date: 2023-11-03
Anticipated expiration: 2033-04-27
Also published as: CN220123451U; CN219938964U; CN219938963U; CN220140192U; CN219893860U; CN220009330U; CN220044195U

Abstract

The utility model discloses an autonomous operation device, which comprises a device body, a seat body, a fork, an auxiliary wheel and an electric wire, wherein a control module is arranged in the device body; the seat body is arranged at the bottom of the equipment body; the wheel fork comprises a fork part and a rotating shaft, the rotating shaft extends along the vertical direction, the top end of the rotating shaft is rotatably connected with the seat body, and the bottom end of the rotating shaft is connected with the wheel fork; the rotating shaft is provided with an axial cavity extending along the axial direction, and the axial cavity is provided with a top opening and a bottom opening; the moving mechanism comprises an auxiliary wheel and at least one driving wheel, and the at least one driving wheel is operable to drive the equipment body to move; the auxiliary wheel is in rolling connection with the wheel fork, and a driving piece is further arranged in the auxiliary wheel and used for driving the auxiliary wheel to roll; the middle part of the electric wire is positioned in the shaft cavity, and the two ends of the electric wire are respectively and electrically connected with the driving piece and the control module. According to the utility model, the electric wire is arranged in the shaft cavity of the rotating shaft, so that the electric wire can be effectively prevented from being wound outside the auxiliary wheel in the rotating process of the auxiliary wheel, and the risk of breakage of the electric wire is reduced.

Description

Autonomous working apparatus

Technical Field

The utility model relates to the field of outdoor operation equipment, in particular to autonomous operation equipment.

Background

Autonomous working devices, such as lawnmowers with a primary function of mowing the lawn, may save the user from complex and confusing labor and are becoming increasingly popular with users. The autonomous working device can automatically move in a preset working area and automatically execute a working task. In order to enable the autonomous operation device to complete automatic work more reliably and safely and provide better service for users, manufacturers continuously upgrade performance for the autonomous operation device, including configuring various functional modules for the autonomous operation device.

The autonomous operation equipment comprises a top cover, a chassis and a moving mechanism, wherein the moving mechanism is used for driving the chassis to move along the direction of a walking path and generally comprises wheels, a motor for driving the wheels to walk and the like. The chassis is connected to a moving mechanism for carrying equipment for operating a work, such as a cutterhead or a motor for cutting lawns or the like. The top cap covers the top on chassis, on the one hand can protect the chassis not receive the damage, on the other hand can also play pleasing to the eye effect.

The moving mechanism generally comprises a left driving wheel, a right driving wheel and an auxiliary wheel, the linear running of the autonomous working equipment is realized by the same-directional constant-speed rotation of the left driving wheel and the right driving wheel, and the steering running is realized by the same-directional differential speed or opposite rotation of the left driving wheel and the right driving wheel. The auxiliary wheels are configured to include a walking prime mover and a steering prime mover, which may drive the auxiliary wheels in steering, and the steering prime mover is generally disposed within the auxiliary wheels for driving the auxiliary wheels to travel. For example, the auxiliary wheel can be configured as an in-wheel motor, which is energized by means of an electric line.

In the prior art, the electric wire is generally required to be directly pulled out from the auxiliary wheel autonomous operation equipment, and then connected to the outside of the auxiliary road and connected to the hub motor inside the auxiliary wheel. However, during the rotational travel of the auxiliary wheel, the electric wire is easily wound outside the auxiliary road, causing a breaking phenomenon. Therefore, there is a need to develop a way to facilitate the electrical connection of the electrical wires to the in-wheel motor inside the auxiliary circuit.

Disclosure of Invention

The object of the present utility model is to provide an autonomous working apparatus to solve the above-mentioned problems.

To solve the above technical problem, an embodiment of the present utility model provides an autonomous working apparatus, including:

the device comprises a device body, wherein a control module is arranged in the device body;

the base body is arranged at the bottom of the equipment body;

the wheel fork comprises a fork part and a rotating shaft, the rotating shaft extends along the vertical direction, the top end of the rotating shaft is rotatably connected with the seat body, and the bottom end of the rotating shaft is connected with the wheel fork; the rotating shaft is provided with an axial cavity extending along the axial direction, and the axial cavity is provided with a top opening and a bottom opening;

a movement mechanism, the movement mechanism comprising:

at least one drive wheel, at least one of the drive wheels being operable to drive movement of the apparatus body; and

the auxiliary wheel is in rolling connection with the wheel fork, and a driving piece is further arranged in the auxiliary wheel and used for driving the auxiliary wheel to roll; and

and the middle part of the electric wire is positioned in the shaft cavity, and two ends of the electric wire are respectively and electrically connected with the driving piece and the control module.

In one embodiment, the shaft cavity comprises a first section and a second section which are communicated with each other from top to bottom along the axial direction, and the diameter of the inner wall of the first section is smaller than that of the inner wall of the second section;

and a sealing plug is sleeved outside the electric wire, the sealing plug is elastic and is positioned in the second section, and the outer diameter of the sealing plug is larger than the diameter of the first section.

In one embodiment, the sealing plug is an interference fit with the inner wall of the second section.

In one embodiment, the radially outer surface of the sealing plug is provided with a collar extending in the circumferential direction of the sealing plug.

In one embodiment, the fork is provided with a threading hole and a plurality of positioning grooves, the threading hole is formed by the concave outer surface of the fork and is communicated with the shaft cavity, and the positioning grooves are positioned on two sides of the threading hole.

In one embodiment, the fork comprises:

the bottom end of the rotating shaft is connected with the top surface of the shoulder, the threading hole is formed by recessing the top surface of the shoulder, and the two positioning grooves are respectively positioned on two sides of the threading hole and penetrate through the shoulder in the vertical direction; and

the top ends of the two arm parts are respectively connected with the two ends of the shoulder part, and the bottom ends of the two arm parts are rotatably connected with the auxiliary wheel.

In one embodiment, the bottom surface of the rotating shaft is further provided with an avoidance groove, and the avoidance groove extends from the radial outer surface of the rotating shaft to the shaft cavity along the radial direction and is located above the threading hole and is used for avoiding the electric wire.

In one embodiment, the base is provided with a receiving cavity extending from the bottom end of the base to the top of the base in a vertical direction, and the rotating shaft is rotatably connected to the inner wall of the receiving cavity through a bearing.

In one embodiment, a protection pad is further sleeved on the periphery of the rotating shaft, and the protection pad sleeve is positioned at the bottom of the accommodating cavity and is connected with the inner wall of the accommodating cavity.

In one embodiment, a steering motor is arranged in the base body, and an output shaft of the steering motor is connected with the rotating shaft through a gear transmission.

According to the utility model, the electric wire is arranged in the shaft cavity of the rotating shaft, so that the electric wire can be effectively prevented from being wound outside the auxiliary wheel in the rotating process of the auxiliary wheel, and the risk of breakage of the electric wire is reduced.

Drawings

Fig. 1 is a perspective view of an autonomous working apparatus of an embodiment of the present utility model.

Fig. 2 is an assembled view of the chassis, the base and the auxiliary wheel of the embodiment of fig. 1.

Fig. 3 is an exploded view of the chassis, the base and the auxiliary wheel of the embodiment of fig. 2.

Fig. 4 is a perspective view of the base and auxiliary wheel of the embodiment of fig. 3.

Fig. 5 is a partial schematic view of the wire and sealing plug.

Fig. 6 is a cross-sectional view of the housing and auxiliary wheel of the embodiment of fig. 2.

Fig. 7 is a partial cross-sectional view of the autonomous working apparatus of the embodiment shown in fig. 1.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present utility model more apparent, embodiments of the present utility model will be described in detail below with reference to the accompanying drawings. However, those of ordinary skill in the art will understand that in various embodiments of the present utility model, numerous technical details have been set forth in order to provide a better understanding of the present utility model. However, the technical solutions claimed in the claims of the present utility model can be realized without these technical details and various changes and modifications based on the following embodiments.

Throughout the specification and claims, unless the context requires otherwise, the word "comprise" and variations such as "comprises" and "comprising" will be understood to be open-ended, meaning of inclusion, i.e. to be interpreted to mean "including, but not limited to.

The following detailed description of various embodiments of the present utility model will be provided in connection with the accompanying drawings to provide a clearer understanding of the objects, features and advantages of the present utility model. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the utility model, but rather are merely illustrative of the true spirit of the utility model.

Reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

As used in this specification and the appended claims, the singular forms "a," "an," and "the" include plural referents unless the context clearly dictates otherwise. It should be noted that the term "or" is generally employed in its sense including "and/or" unless the context clearly dictates otherwise.

In the following description, for the purposes of clarity of presentation of the structure and manner of operation of the present utility model, the description will be made with the aid of directional terms, but such terms as "forward," "rearward," "left," "right," "outward," "inner," "outward," "inward," "upper," "lower," etc. are to be construed as convenience, and are not to be limiting.

The present utility model relates to an autonomous working apparatus 100, as shown in fig. 1 and 2, and in particular, to an autonomous working apparatus 100, such as an intelligent sweeper or cleaner for performing a cleaning operation, or an intelligent mower for performing a mowing operation, etc., which is a robot that can autonomously move within a predetermined area and perform a specific operation. The specific job refers to a job for processing the working surface and changing the state of the working surface. The utility model is described in detail by taking an intelligent mower as an example. The autonomous working apparatus 100 may autonomously walk on the surface of a work area, and may autonomously perform a mowing operation on the ground, particularly as an intelligent mower.

The autonomous working apparatus 100 includes an apparatus body 1, a moving mechanism, a housing 2, a fork 3, and an electric wire 5.

The device body 1 comprises a main body mechanism, a working mechanism, an energy module, a detection module, an interaction module, a control module and the like. The main body mechanism generally includes a chassis 11 and a decorative case, and the chassis 11 is used for mounting and accommodating at least one of a moving mechanism, a working mechanism, an energy module, a detection module, an interaction module, a control module, and other functional mechanisms and functional modules. The decorative shell is generally configured to at least partially encase the chassis 11, primarily to enhance the aesthetics and visibility of the autonomous working apparatus 100.

The work mechanism is configured to perform a specific work task including a work piece and a work prime mover that drives the work piece. The energy module is configured to provide energy for various operations of autonomous working apparatus 100. The detection module is configured as at least one sensor that senses an environmental parameter in which autonomous working device 100 is located or its own operating parameters. The interaction module is configured to at least receive control instruction information input by a user, send out information needing to be perceived by the user, communicate with other systems or devices to send and receive information, and the like. The control module typically includes at least one processor and at least one non-volatile memory, the memory having a pre-written computer program or set of instructions stored therein, according to which the processor controls the execution of actions such as movements, tasks, etc. of autonomous working device 100.

The movement mechanism is configured to support the body mechanism on the ground and drive the body mechanism to move on the ground, and generally includes a wheeled movement mechanism, a crawler or semi-crawler movement mechanism, a walk-behind movement mechanism, or the like. In this embodiment, the movement mechanism is a wheel type movement mechanism and includes at least one drive wheel 12 and one prime mover. In the embodiment shown in fig. 1, the displacement mechanism comprises two drive wheels 12 and two prime movers driving the two drive wheels respectively in operation. The straight traveling of the autonomous working apparatus 100 is achieved by the same-directional constant-speed rotation of the two driving wheels 12, and the steering traveling is achieved by the same-directional differential or opposite rotation of the two driving wheels 12. It should be appreciated that the number of drive wheels 12 may be two or more depending on the actual needs and is not limited to the specific embodiment of the drive wheels 12.

Furthermore, the movement mechanism comprises at least one auxiliary wheel 4, two driving wheels 12 being arranged near the front end of the autonomous working apparatus 100, the auxiliary wheel 4 being arranged near the rear end of the autonomous working apparatus 100.

In the embodiment shown in fig. 3, the auxiliary wheel 4 is a universal wheel, and the auxiliary wheel 4 is connected to the chassis 11 of the apparatus body 1 through the seat 2 and the fork 3.

Specifically, the bottom surface of the chassis 11 is close to the ground, and is provided with a mounting groove 13, the mounting groove 13 has a receiving space for receiving the housing 2, and the top wall of the mounting groove 13 is provided with two openings 14, as shown in fig. 2, the two openings 14 facilitate the introduction of the electric wire 5 from the housing 2 into the apparatus body 1.

The base 2 is located in the installation groove 13 and includes a base 21 and a cover 22 located on top of the base 21, as shown in fig. 4, the base 21 may be connected to the chassis 11 by a screw or connected to the chassis 11 by other means, and the specific connection manner of the base 2 and the chassis 11 is not limited.

The cover 22 covers the top surface of the base 21 and can be clamped with the base 21. Furthermore, the housing 2 is provided with a receiving chamber 23, which receiving chamber 23 extends in a vertical direction from the bottom surface of the base 21 to the top surface of the cover 22, i.e. the receiving chamber 23 penetrates the housing 2 in a numerical direction, and a top opening of the receiving chamber 23 is aligned in a vertical direction with one top wall opening 14 of the mounting groove 13.

The fork 3 includes a fork portion 32 and a rotation shaft 31, the fork portion 32 is U-shaped and includes a shoulder 321 and two arm portions 322, both ends of the shoulder 321 are respectively connected to the top ends of the two arm portions 322, and the bottom ends of the two arm portions 322 are respectively rollably connected to the auxiliary wheel 4. It should be understood that the fork 3 may be provided in other shapes as well, without limiting the specific shape of the fork 3.

The rotation shaft 31 extends in the vertical direction and the bottom end is connected with the top surface of the shoulder 321 and the top end extends in the vertical direction. The top and middle parts of the rotating shaft 31 are located in the accommodating cavity 23 of the base 2 and rotatably connected with the inner wall of the accommodating cavity 23 through two bearings 7, the top end of the rotating shaft 31 is close to the top surface of the base 2, and the bottom of the rotating shaft 31 extends beyond the bottom end of the base 2 and is connected with the shoulder 321.

The inside of pivot 31 is equipped with along axial extension's axle chamber 311, and axle chamber 311 runs through pivot 31 along vertical direction and has top opening and bottom opening, and axle chamber 311 is the through-hole that extends along vertical direction promptly, conveniently provides the passageway for electric wire 5.

The auxiliary wheel 4 is connected with the bottom ends of the two arm portions 322 of the wheel fork 3 in a rolling way, and a driving piece is further arranged in the auxiliary wheel, and in the embodiment shown in fig. 6, the driving piece is a hub motor which can drive the auxiliary wheel 4 to roll after being electrified. To energize the driving member, one end of the electric wire 5 may be electrically connected to the driving member, and the other end penetrates the shaft cavity 311 from the bottom opening of the shaft cavity 311, extends from the top opening of the shaft cavity 311 and the top wall opening 14 of the mounting groove 13 into the apparatus body 1, and is electrically connected to the control module. In the process of rotating the auxiliary wheel 4, the electric wire 5 can slightly shake in the shaft cavity 311 and cannot be wound outside the auxiliary wheel 4, so that the phenomenon of breaking caused by the fact that the electric wire 5 is broken by the auxiliary wheel 4 can be effectively avoided.

Preferably, the shaft cavity 311 includes a first section 312 and a second section 313 that are communicated with each other from top to bottom in the axial direction, and in the embodiment shown in fig. 6, the first section 312 and the second section 313 are both cylindrical, that is, the inner walls of the first section 312 and the second section 313 are cylindrical, it should be understood that in other embodiments, the inner walls of the first section 312 and the inner walls of the second section 313 may be other polygonal columns, and the specific shapes of the inner walls of the first section 312 and the inner walls of the second section 313 are not limited.

The first section 312 is at the top and the diameter of the inner wall of the first section 312 is smaller than the diameter of the inner wall of the second section 313. The outside of the electric wire 5 is also sleeved with a sealing plug 51, and as shown in fig. 5, the sealing plug 51 can be made of silica gel or rubber material and has certain elasticity. The sealing plug 51 is located within the second section 313 of the shaft bore 311 and is an interference fit with the inner wall of the second section 313. When the electric wire is installed, one end of the electric wire 5 can be fixedly connected with the hub motor, then the sealing plug 51 is sleeved on the electric wire, and after the other end of the electric wire 5 penetrates through the bottom opening of the shaft cavity 311, the electric wire can be pulled from the top of the shaft cavity 311. During this process, the sealing plug 51 enters the shaft cavity 311, and the outer diameter of the sealing plug 51 is in interference fit with the inner wall of the second section 313, so that the sealing plug 51 is ensured not to be pulled out from the first section 312. During rotation of the auxiliary wheel 4, the sealing plug 51 can prevent the electric wire 5 from shaking in the shaft cavity 311, and further reduce the risk of breakage of the electric wire 5.

It will be appreciated that the sealing plug 51 may also be slightly smaller than the inner diameter of the second section 313 and larger than the diameter of the first section 312, and that the sealing plug 51 may move slightly within the second section 313 but not into the first section 312, and may also reduce the amplitude of axial movement of the wire 5, and thus reduce the risk of breakage of the wire 5.

Preferably, the outer diameter of the sealing plug 51 is the same as or slightly larger than the diameter of the inner wall of the second section 313, facilitating entry of the sealing plug 51 into the second section 313. The radially outer surface of the sealing plug 51 is provided with a convex ring 52, the convex ring 52 extends along the circumferential direction of the sealing plug 51, and the convex ring 52 can enable the sealing plug 51 to be tightly matched with the inner wall of the second section 313, so that the stability of the electric wire 5 is enhanced.

The shoulder 321 of the fork 3 is further provided with a threading hole 323 and a plurality of positioning grooves 324, the threading hole 323 is formed by recessing the outer surface of the fork 3 and communicated with the shaft cavity 311, and the positioning grooves 324 are positioned on two sides of the threading hole 323. The electric wire 5 can penetrate into the shaft cavity 311 from the threading hole 323 of the fork 3, then the electric wire is pulled continuously to be suitable in length, and the electric wire 5 is fixed by using the binding belt or the buckle to penetrate through the positioning grooves 324 on two sides of the threading hole 323, so that the activity of the electric wire 5 is further reduced.

In the embodiment shown in fig. 6, the threading hole 323 is formed by recessing the top surface of the shoulder 321, two positioning grooves 324 are respectively located at two sides of the threading hole 323, and the two positioning grooves 324 penetrate the shoulder 321 along the vertical direction. One end of the electric wire 5 is connected with the hub motor, and the other end penetrates into the shaft cavity 311 along the threading hole 323, so that the electric wire 5 and the shoulder 321 can be fixedly connected by penetrating two positioning grooves 324 through a binding belt. It should be understood that a through hole may be formed in the shoulder 321, a threading hole 323 may be formed in the bottom surface of the shoulder 321, one end of the wire 5 may be connected to the hub motor, and the other end may be threaded into the through hole along the threading hole 323 and then enter the shaft cavity 311.

As the preferred scheme, the bottom surface of pivot 31 still is equipped with dodges groove 314, should dodge groove 314 and extend to axial cavity 311 along radial direction from the radial surface of pivot 31, dodge groove 314 and through wires hole 323 along vertical direction correspond the setting and to the top of through wires hole 323, dodge groove 314 can be used to dodge electric wire 5. In the rotation process of the auxiliary wheel 4, the electric wire 5 is driven to slightly shake, the electric wire 5 needs to be bent at the threading hole 323 and the rotating shaft 31 by 90 degrees, the avoiding groove 314 is arranged to reduce the bending amplitude of the electric wire 5, friction between the electric wire 5 and the bottom surface of the rotating shaft 31 in the shaking process can be prevented, and the fracture risk of the electric wire 5 is reduced.

The periphery of the rotating shaft 31 is also sleeved with a protection pad 6, and the protection pad 6 is a felt-like pad, is positioned at the bottom of the accommodating cavity 23 and is connected with the inner wall of the accommodating cavity 23, so that foreign matters can be prevented from entering the seat body 2.

A steering motor 24 is arranged in the base 21, and the steering motor 24 is used for driving the auxiliary wheels 4 to steer. Specifically, the output shaft 25 of the steering motor 24 extends in the vertical direction, and the output shaft 25 drives the rotation shaft 31 to rotate through the transmission mechanism of the two gears 26. As shown in fig. 7, the output shaft 25 is in driving connection with one of the gears 26 by a spline, while the top of the rotating shaft 31 is in driving connection with the other gear 26 by a spline, and the two gears 26 are engaged with each other. When the steering motor 24 is operated, the auxiliary wheel 4 can be driven to rotate by the output shaft 25 and the two gears 26.

According to the utility model, the electric wire 5 is arranged in the shaft cavity 311 of the rotating shaft 31, and the electric wire 5 can be effectively prevented from being wound outside the auxiliary wheel 4 in the rotating process of the auxiliary wheel 4, so that the risk of breakage of the electric wire 5 is reduced.

While the preferred embodiments of the present utility model have been described in detail above, it should be understood that aspects of the embodiments can be modified, if necessary, to employ aspects, features and concepts of the various patents, applications and publications to provide yet further embodiments.

These and other changes can be made to the embodiments in light of the above detailed description. In general, in the claims, the terms used should not be construed to be limited to the specific embodiments disclosed in the specification and the claims, but should be construed to include all possible embodiments along with the full scope of equivalents to which such claims are entitled.

It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples of carrying out the utility model and that various changes in form and details may be made therein without departing from the spirit and scope of the utility model.

Claims

1. An autonomous working apparatus, comprising:

the base body is arranged at the bottom of the equipment body;

a movement mechanism, the movement mechanism comprising:

2. The autonomous working apparatus of claim 1, wherein the shaft lumen comprises, from top to bottom in an axial direction, a first section and a second section in communication with each other, an inner wall diameter of the first section being smaller than an inner wall diameter of the second section;

3. The autonomous working device of claim 2, wherein the sealing plug is an interference fit with an inner wall of the second segment.

4. An autonomous working device as claimed in claim 3, characterized in that the radially outer surface of the sealing plug is provided with a collar extending in the circumferential direction of the sealing plug.

5. The autonomous working apparatus of claim 2, wherein the fork is provided with a threading hole formed by recessing an outer surface of the fork and communicating with the shaft cavity, and a plurality of positioning grooves located at both sides of the threading hole.

6. The autonomous working apparatus of claim 5, wherein the fork comprises:

7. The autonomous working apparatus of claim 6, wherein the bottom surface of the shaft is further provided with an avoidance groove extending radially from the radially outer surface of the shaft to the shaft cavity and above the threading hole for avoiding the wire.

8. The autonomous working apparatus of claim 1, wherein the housing is provided with a receiving cavity extending from a bottom end of the housing to a top of the housing in a vertical direction, the rotating shaft being rotatably connected to an inner wall of the receiving cavity through a bearing.

9. The autonomous working apparatus of claim 8, wherein a protective pad is further provided around the outer circumference of the rotating shaft, the protective pad being positioned at the bottom of the accommodating chamber and being connected to the inner wall of the accommodating chamber.

10. The autonomous working apparatus of claim 1, wherein a steering motor is provided in the housing, an output shaft of the steering motor being connected to the rotating shaft by a gear transmission.