CN220571016U - Lifting detection mechanism and robot mowing - Google Patents

Abstract

The embodiment of the utility model discloses a lifting detection mechanism and a mowing robot, and relates to the field of automatic walking equipment. The lifting detection mechanism is applied to the mowing robot, and can avoid the influence of an external magnetic field on lifting detection besides the excellent lifting detection efficiency of the mowing robot. Specifically, the lifting detection mechanism comprises a lifting sensing structure, a first elastic piece, a trigger piece and a photoelectric sensing unit. The lifting sensing structure is connected to the shell of the mowing robot, and can move when lifting occurs. Further, the first elastic member is hinged with the lifting sensing structure. The trigger piece is connected with the lifting sensing structure through the first elastic piece, so that the trigger piece can move along with the lifting sensing structure, the photoelectric sensing unit can be triggered to generate a photoelectric lifting signal when lifting occurs, the magnetoelectric effect is replaced through the photoelectric effect, the influence of an external magnetic field on lifting detection is avoided, and the lifting detection precision is improved.

Description

Lifting detection mechanism and robot mowing

Technical Field

The utility model relates to the field of automatic walking equipment, in particular to a lifting detection mechanism and a mowing robot

Background

An automatic walking device such as a mowing robot is an automatic working device which autonomously moves in a set area and performs a mowing task, and generally includes a robot body and a housing. The shell covers the robot body and can move relative to the robot body. By providing a lifting detection mechanism between the robot body and the housing, lifting events of the housing can be detected.

However, the existing lifting detection mechanism generally adopts a hall sensor utilizing a magneto-electric effect to carry out lifting detection, and in the advancing process of the mowing robot, the measured value of the hall sensor can be influenced by an external magnetic field, so that the lifting detection is inaccurate.

Disclosure of Invention

Based on the above, it is necessary to provide a lifting detection mechanism and a mowing robot, and the lifting detection mechanism aims to solve the technical problem that the lifting detection is inaccurate due to the influence of an external magnetic field in the existing lifting detection mechanism.

In order to solve the technical problems, the first technical scheme adopted by the utility model is as follows:

lifting detection mechanism includes:

a lifting sensing structure;

the first elastic piece is hinged with the lifting sensing structure;

the trigger piece is connected with the lifting sensing structure through the first elastic piece so as to be capable of moving along with the lifting sensing structure;

the photoelectric sensing unit is positioned on the moving path of the trigger piece and can be triggered by the movable trigger piece to generate a photoelectric lifting signal.

In some embodiments of the lifting detection mechanism, the lifting detection mechanism further comprises a guide member and a fixing member fixedly connected to the guide member, the guide member is in limit connection with the trigger member so as to prevent the trigger member from moving in a direction deviating from the lifting direction, and the photoelectric unit comprises a photoelectric transmitting module and a photoelectric receiving module, and the photoelectric transmitting module and the photoelectric receiving module are oppositely arranged on the fixing member so as to form a moving space for enabling the trigger member to move when the trigger member moves in the guide member.

In some embodiments of the lifting detection mechanism, a light passing space is arranged at one end of the trigger piece at intervals, so that light emitted by the photoelectric emission module passes through the light passing space, the light is received by the photoelectric receiving module to generate the photoelectric lifting signal, and the moving distance of the trigger piece is determined through the photoelectric lifting signal.

In some embodiments of the lift detection mechanism, one of the lift sensing structure and the first resilient member has a ball portion and the other has a mounting portion, the ball portion being hinged to the mounting portion to form a gimbal structure;

the mounting part is provided with a limiting part, the limiting part is arranged on the mounting part in a surrounding mode, a limiting space is formed inside the mounting part, and the first elastic piece is arranged in the limiting space in a penetrating mode, and the limiting part is arranged on the first elastic piece in a surrounding mode.

In some embodiments of the lift detection mechanism, the lift detection mechanism further comprises a housing and a second elastic member, the second elastic member is looped around the guide member, and the guide member is elastically abutted to the housing through the second elastic member.

In some embodiments of the lifting detection mechanism, the guide member is provided with an abutting portion, the housing is provided with a through hole penetrating through the housing, the guide member penetrates through the housing via the through hole, the abutting portion is accommodated in the housing, and the second elastic member is accommodated in the housing, and then the abutting portion elastically abuts against the housing.

In some embodiments of the lifting detection mechanism, the housing is provided with a first sinking groove and a second sinking groove, and one end of the second elastic piece is accommodated in the first sinking groove and is limited in the housing; the other end of the second elastic piece is accommodated in the second sinking groove and limited on the abutting surface.

In some embodiments of the lifting detection mechanism, the trigger member is provided with a first limiting portion, the guide member is provided with a second limiting portion, and the first limiting portion penetrates through the second limiting portion and is movably connected with the second limiting portion, so that the movement range of the trigger member relative to the guide member is limited when the trigger member moves along the lifting direction.

In some embodiments of the lifting detection mechanism, a third limiting portion is disposed on the trigger member, a fourth limiting portion is disposed on the guide member, and the third limiting portion abuts against the fourth limiting portion to limit the movement range of the trigger member relative to the guide member when the trigger member moves along the descending direction.

In order to solve the technical problems, the second technical scheme adopted by the utility model is as follows:

a robot lawnmower comprising:

the shell is covered on the robot body;

the robot body comprises the lifting detection mechanism, and a lifting sensing structure in the lifting detection mechanism is connected with the shell.

The implementation of the embodiment of the utility model has the following beneficial effects:

the lifting detection mechanism is applied to the mowing robot, so that the mowing robot has excellent lifting detection efficiency, and the influence of an external magnetic field on lifting detection can be avoided. Specifically, the lifting detection mechanism comprises a lifting sensing structure, a first elastic piece, a trigger piece and a photoelectric sensing unit. The lifting sensing structure is connected to the shell of the mowing robot, and can move when lifting occurs. Further, the first elastic member is hinged with the lifting sensing structure. The trigger piece is connected with the lifting sensing structure through the first elastic piece, so that the trigger piece can move along with the lifting sensing structure, the photoelectric sensing unit can be triggered to generate a photoelectric lifting signal when lifting occurs, the magnetoelectric effect is replaced through the photoelectric effect, the influence of an external magnetic field on lifting detection is avoided, and the lifting detection precision is improved.

Drawings

In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Wherein:

FIG. 1 is a schematic view of a lawn mowing robot in one embodiment;

FIG. 2 is a top view of the mowing robot shown in FIG. 1;

FIG. 3 is a cross-sectional view taken along line A-A of FIG. 2;

FIG. 4 is an enlarged view of the portion B of FIG. 3;

FIG. 5 is an enlarged schematic view of the portion C in FIG. 4;

FIG. 6 is an enlarged schematic view of the portion D in FIG. 4;

FIG. 7 is an enlarged view of the portion E of FIG. 4;

FIG. 8 is a schematic view of a lift detection mechanism in the lawn mower robot shown in FIG. 1;

FIG. 9 is an enlarged schematic view of the portion F in FIG. 8;

FIG. 10 is a schematic view of a lift detection mechanism of the lawn mower robot shown in FIG. 1 from another perspective;

fig. 11 is an enlarged view of the G portion in fig. 10.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

In the description of the present utility model, it should be noted that, if the terms "upper", "lower", "inner", "outer", and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, or the azimuth or the positional relationship in which the inventive product is conventionally put in use, it is merely for convenience of describing the present utility model and simplifying the description, and it is not indicated or implied that the apparatus or element referred to must have a specific azimuth, be configured and operated in a specific azimuth, and thus it should not be construed as limiting the present utility model.

Furthermore, the terms "first," "second," and the like, if any, are used merely for distinguishing between descriptions and not for indicating or implying a relative importance.

It should be noted that the features of the embodiments of the present utility model may be combined with each other without conflict.

An automatic walking device such as a mowing robot is an automatic working device which autonomously moves in a set area and performs a mowing task, and generally includes a robot body and a housing. The shell covers the robot body and can move relative to the robot body. By providing a lifting detection mechanism between the robot body and the housing, lifting events of the housing can be detected.

However, the existing lifting detection mechanism generally adopts a hall sensor utilizing a magneto-electric effect to carry out lifting detection, and in the advancing process of the mowing robot, the measured value of the hall sensor can be influenced by an external magnetic field, so that the lifting detection is inaccurate.

The utility model provides a lifting detection mechanism and a mowing robot for solving the technical problems. As shown in fig. 1 to 3, the mowing robot provided by the present utility model will now be described. The mowing robot includes a housing 10 and a robot body 20. Wherein the housing 10 is covered on the robot body 20. The robot body 20 can autonomously move in a set area and control the cutterhead to trim the herbaceous plants on the traveling path. Further, referring to fig. 4, 5 and 8 to 11, the robot body 20 includes a lift detection mechanism 30. The lifting detection mechanism 30 includes a lifting sensing structure 31, a first elastic member 32, a trigger member 33, and a photoelectric sensing unit 34. Wherein the lift sensing structure 31 is connected to the housing 10. The first elastic member 32 is hinged with the lift sensing structure 31. The trigger member 33 is connected to the lift sensing structure 31 by a first resilient member 32 to be able to follow the movement of the lift sensing structure 31. The photoelectric sensing unit 34 is located on the moving path of the trigger 33 to be triggered by the moving trigger 33 to generate a photoelectric lifting signal.

In summary, the implementation of the embodiment of the utility model has the following beneficial effects: the lifting detection mechanism 30 of the above scheme is applied to a mowing robot, and can avoid the influence of an external magnetic field on lifting detection besides the excellent lifting detection efficiency of the mowing robot. Specifically, the lift detection mechanism 30 includes a lift sensing structure 31, a first elastic member 32, a trigger member 33, and a photo-sensing unit 34. Wherein, the lifting sensing structure 31 is connected to the housing 10 of the mowing robot, and when lifting occurs, the lifting sensing structure 31 can move. Further, the first elastic member 32 is hinged with the lift sensing structure 31. The trigger piece 33 is connected with the lifting sensing structure 31 through the first elastic piece 32 so as to move along with the lifting sensing structure 31, and the photoelectric sensing unit 34 is guaranteed to be triggered to generate a photoelectric lifting signal when lifting occurs, so that the magnetoelectric effect is replaced by the photoelectric effect, the influence of an external magnetic field on lifting detection is avoided, and the precision of lifting detection is improved.

In one embodiment, referring to fig. 5 and 8 to 11, the lifting detection mechanism 30 further includes a guide 35 and a fixing member 36 fixedly connected to the guide 35. The guide 35 is in a positive connection with the trigger 33 to prevent the trigger 33 from moving away from the lifting direction. This allows the trigger member 33 to be restrained from moving in the lifting direction by the guide member 35, ensuring that the photoelectric sensing unit 34 located in the moving path of the trigger member 33 can be triggered to generate a photoelectric lifting signal when lifting occurs. Further, referring to fig. 5, 9 and 11 together, the photo-sensing unit 34 includes a photo-transmitting module 341 and a photo-receiving module 342. The photo-emission module 341 and the photo-receiving module 342 are disposed on the fixing member 36, so that when the trigger member 33 moves in the guiding member 35, a movement space 100 is formed for moving the trigger member 33, so that the light emitted from the photo-emission module 341 to the photo-receiving module 342 can be located on the movement path of the trigger member 33, and the trigger member 33 can shield the light or conduct the light, so as to generate a photo-lifting signal. In this embodiment, a light passing space 200 is disposed at one end of the trigger member 33 at intervals, so that the light emitted by the photo-emission module 341 passes through the light passing space 200, is received by the photo-receiving module 342 to generate a photo-lifting signal, and determines the moving distance of the trigger member 33 according to the photo-lifting signal. Specifically, a plurality of groups of photoelectric emission modules 341 and photoelectric receiving modules 342 are sequentially distributed on the moving path of the trigger member 33, so that a plurality of groups of light rays emitted from the photoelectric emission modules 341 to the photoelectric receiving modules 342 can be formed, each group of light rays has a corresponding light ray passing space 200, so that when the trigger member 33 moves in the guide member 35, the light rays can be partially or completely blocked in the corresponding light ray passing space 200, and the moving distance of the trigger member 33 and thus the lifting distance can be determined by acquiring the position of the light rays blocked by the trigger member 33 and the position of the light rays which can be emitted to the photoelectric receiving modules 342 through the light ray passing space 200.

In this embodiment, the fixing member 36 is a circuit board. The photoelectric transmitting module 341 and the photoelectric receiving module 342 are disposed on the circuit board and electrically connected to the circuit board. Further, a base 343 is further disposed on the circuit board to conveniently supply power to the optoelectronic transmitting module 341 and the optoelectronic receiving module 342.

In one embodiment, as shown in fig. 6, one of the lift sensing structure 31 and the first elastic member 32 has a ball 321, and the other has a mounting portion 311. The ball 321 is hinged to the mounting portion 311 to form a gimbal structure. Specifically, the mounting portion 311 is provided with a mounting groove. The spherical portion 321 can slide relative to the mounting groove to form a universal joint structure, so that when the lifting sensing structure 31 receives tangential force forming an included angle with the lifting direction, stress concentration is avoided being generated through the universal joint structure, and accordingly the risk of fatigue fracture between the first elastic piece 32 and the lifting sensing structure 31 is avoided or reduced, the service life of the mowing robot is prolonged, and the maintenance cost is reduced.

Further, the mounting portion 311 is provided with a limiting portion 3111, the limiting portion 3111 is disposed around the mounting portion 311 and forms a limiting space 300 inside the mounting portion 311, and after the first elastic member 32 is disposed through the limiting space 300, the limiting portion 3111 is disposed around the first elastic member 32. The swing range of the first elastic member 32 can be limited through the setting of the limiting part 3111, and the installation of the lifting sensing structure 31 and the photoelectric sensing unit 34 is facilitated.

In one embodiment, referring to fig. 4 and 7 together, the lift detection mechanism 30 further includes a housing 37 and a second elastic member 38. The second elastic member 38 is disposed around the guide member 35, and the guide member 35 is elastically abutted against the housing 37 by the second elastic member 38. The provision of the second elastic member 38 prevents the guide 35 from being excessively separated from the initial position when it is moved. Further, the triggering piece 33 can drive the guiding piece 35 to move when moving relative to the guiding piece 35, so that larger stress concentration is avoided, and meanwhile, the second elastic piece 38 can limit the position of the guiding piece 35, so that the triggering piece 33 can move relative to the guiding piece 35, and the photoelectric sensing unit 34 can be triggered to generate a photoelectric lifting signal.

In one embodiment, referring to fig. 4 and 7, the guide 35 is provided with an abutment 351. The housing 37 is provided with a through hole 400 penetrating the housing 37. The guide 35 is penetrated through the housing 37 via the through hole 400. The contact portion 351 is accommodated in the housing 37, and the second elastic member 38 is accommodated in the housing 37, and then the contact portion 351 elastically contacts the housing 37. The provision of the abutment 351 thus facilitates the transmission of force between the guide 35, the housing 37 and the second elastic member 38.

In one embodiment, as shown in fig. 4 and 7, an abutment surface 3511 is provided on the abutment portion 351. The housing 37 is provided with an abutment surface 371, and the second elastic member 38 can abut the abutment surface 3511 against the abutment surface 371. The arrangement of the abutting surface 3511 and the abutting surface 371 can increase the connection area between the guide member 35 and the housing 37, and the limit of the housing 37 ensures that the guide member 35 can move within a certain range, so that the guide member 35 is prevented from being separated from the initial position too much.

In one embodiment, as shown in fig. 4, the housing 37 includes a first housing portion 372 and a second housing portion 373. The first housing portion 372 is disposed apart from the lift sensing structure 31. The through holes 400 penetrate the first and second housing portions 372 and 373, respectively, so that the first and second housing portions 372 and 373 can be looped around the guide 35, respectively. Further, the first housing portion 372 and the second housing portion 373 are fixedly connected to the inner housing of the robot body 20. The abutment surface 371 is located on the second housing portion 373.

In one embodiment, as shown in fig. 4, 6 and 7, the housing 37 is provided with a first sink 500 and a second sink 600. One end of the second elastic member 38 is accommodated in the first sinking groove 500 and limited in the housing 37; the other end of the second elastic member 38 is accommodated in the second recess 600 and is limited to the abutting portion 351. This stabilizes the position of the second elastic member 38, and when the second elastic member 38 itself and/or the guide member 35 are rotated, both ends of the second elastic member 38 can still be positioned in the first sink 500 and the second sink 600, and can also facilitate the rotation of the second elastic member 38. The lift detection mechanism 30 further includes a third elastic member 39. The third elastic member 39 is provided outside the housing 37, has one end connected to the housing 37 and the other end connected to the trigger member 33, and seals the through hole 400. So through the cooperation of third elastic component 39 and casing 37, can make things convenient for trigger piece 33 to reset, prevent simultaneously that impurity from getting into casing 37 from through-hole 400, the normal operation of interference lifting detection mechanism 30. Through the arrangement of the first elastic piece 38 and the shell 37, the guide piece 35 can be prevented from being separated from the initial position too much when moving, meanwhile, the guide piece 35 is convenient to reset and is matched with the third elastic piece 39, the trigger piece 33 can be further guaranteed to return to the initial position after lifting is finished, and the next lifting detection can be guaranteed to be carried out smoothly.

In this embodiment, the first sink 500 is located on the first housing 372, and the second sink 600 is located on the second housing 373. One end of the third elastic member 39 is connected to the housing 37 by being sandwiched between the first housing portion 372 and the second housing portion 373.

In one embodiment, referring to fig. 5, 9 and 11, the trigger member 33 is provided with a first limiting portion 331, the guide member 35 is provided with a second limiting portion 352, and the first limiting portion 331 penetrates the second limiting portion 352 and is movably connected with the second limiting portion 352 so as to limit the moving range of the trigger member 33 relative to the guide member 35 when moving along the lifting direction. So can guarantee through the cooperation of first spacing portion 331 and second spacing portion 352 that trigger piece 33 can be stable in direction piece 35 to through the restriction of direction piece 35, increase its moving accuracy and guarantee the range of movement, and then guarantee the stability that triggers to photoelectric sensing unit 34. Further, as shown in fig. 6, the trigger 33 is provided with a third limiting portion 332, the guide 35 is provided with a fourth limiting portion 353, and the third limiting portion 332 abuts against the fourth limiting portion 353 to limit the moving range of the trigger 33 relative to the guide 35 when the trigger 33 moves in the descending direction, so as to further ensure that the trigger 33 can be stably located in the guide 35, so as to increase the moving precision and ensure the moving range by the limitation of the guide 35.

In one embodiment, as shown in fig. 5, the end of the trigger member 33 facing the photoelectric transmitting module 341 and the photoelectric receiving module 342 has an inclined surface 333, and the inclined surface 33 forms an included angle relative to the case of forming a right angle, so that the problem that the processing process is too urgent and is easily interrupted can be prevented.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The foregoing disclosure is illustrative of the present utility model and is not to be construed as limiting the scope of the utility model, which is defined by the appended claims.

Claims (10)

1. Lifting detection mechanism (30), its characterized in that includes:

a lift sensing structure (31);

a first elastic member (32) hinged to the lift sensing structure (31);

a trigger (33) connected to the lift sensing structure (31) by the first elastic member (32) so as to be able to follow the movement of the lift sensing structure (31);

and the photoelectric sensing unit (34) is positioned on the moving path of the trigger piece (33) so as to be triggered by the movable trigger piece (33) to generate a photoelectric lifting signal.

2. The lift detection mechanism (30) according to claim 1, wherein the lift detection mechanism (30) further comprises a guide member (35) and a fixing member (36) fixedly connected to the guide member (35), the guide member (35) being in limit connection with the trigger member (33) to prevent the trigger member (33) from moving away from the lift direction _， The photoelectric sensing unit (34) comprises a photoelectric transmitting module (341) and a photoelectric receiving module (342), wherein the photoelectric transmitting module (341) and the photoelectric receiving module (342) are oppositely arranged on the fixing piece (36), and when the trigger piece (33) moves in the guide piece (35), a moving space (100) for enabling the trigger piece (33) to move is formed.

3. The lifting detection mechanism (30) according to claim 2, wherein a light passing space (200) is arranged at one end of the trigger piece (33) at intervals, so that light emitted by the photoelectric emission module (341) passes through the light passing space (200), the photoelectric lifting signal is generated after the light is received by the photoelectric receiving module (342), and the moving distance of the trigger piece (33) is determined by the photoelectric lifting signal.

4. The lift detection mechanism (30) of claim 1, wherein one of the lift sensing structure (31) and the first resilient member (32) has a ball portion (321) and the other has a mounting portion (311), the ball portion (321) being hinged with the mounting portion (311) to form a gimbal structure;

the mounting part (311) is provided with a limiting part (3111), the limiting part (3111) is annularly arranged on the mounting part (311) and forms a limiting space (300) inside the mounting part (311), and the limiting part (3111) is annularly arranged on the first elastic piece (32) after the first elastic piece (32) is penetrated in the limiting space (300).

5. The lift detection mechanism (30) according to claim 2, wherein the lift detection mechanism (30) further comprises a housing (37) and a second elastic member (38), the second elastic member (38) is annularly arranged on the guide member (35), and the guide member (35) is elastically abutted to the housing (37) through the second elastic member (38).

6. The lift detection mechanism (30) according to claim 5, wherein the guide member (35) is provided with an abutting portion (351), the housing (37) is provided with a through hole (400) penetrating through the housing (37), the guide member (35) is inserted into the housing (37) through the through hole (400), the abutting portion (351) is accommodated in the housing (37), and the second elastic member (38) is accommodated in the housing (37) and then the abutting portion (351) is elastically abutted against the housing (37).

7. The lift detection mechanism (30) of claim 6, wherein the housing (37) is provided with a first sink (500) and a second sink (600), and wherein one end of the second elastic member (38) is received in the first sink (500) and is limited to the housing (37); the other end of the second elastic member (38) is accommodated in the second sinking groove (600) and is limited to the abutting part (351).

8. The lifting detection mechanism (30) according to claim 2, wherein the trigger piece (33) is provided with a first limiting portion (331), the guide piece (35) is provided with a second limiting portion (352), and the first limiting portion (331) penetrates through the second limiting portion (352) and is movably connected with the second limiting portion (352) so as to limit the movement range of the trigger piece (33) relative to the guide piece (35) when the trigger piece moves along the lifting direction.

9. The lifting detection mechanism (30) according to claim 2, wherein a third limiting portion (332) is provided on the trigger member (33), a fourth limiting portion (353) is provided on the guide member (35), and the third limiting portion (332) abuts against the fourth limiting portion (353) to limit the movement range of the trigger member (33) relative to the guide member (35) when the trigger member (33) moves in the descending direction.

10. Mowing robot, its characterized in that includes:

a housing (10) which covers the robot body (20);

robot body (20) comprising a lift detection mechanism (30) according to any of claims 1 to 9, a lift sensing structure (31) in the lift detection mechanism (30) being connected to the housing (10).